cmake_minimum_required(VERSION 3.8)

project(rgbd_slam)

set(CMAKE_BUILD_TYPE Release)

set(CMAKE_CXX_FLAGS "-std=c++14 -Wall")

set(CMAKE_CXX_FLAGS_RELEASE "-std=c++14 -O3 -fopenmp -pthread")

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

## Dependencies

set( DBoW3_INCLUDE_DIRS "/usr/local/include" )

set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" )

include_directories(${DBoW3_INCLUDE_DIRS})

# Eigen

include_directories("/usr/include/eigen3")

# OpenCV

find_package(OpenCV 4.5 REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})

# pangolin

find_package(Pangolin REQUIRED)

include_directories(${Pangolin_INCLUDE_DIRS})

# Sophus

find_package(Sophus REQUIRED)

include_directories(${Sophus_INCLUDE_DIRS})

# Ceres

find_package(Ceres REQUIRED)

include_directories(${Ceres_INCLUDE_DIRS})

# glog

find_package(Glog REQUIRED)

include_directories(${GLOG_INCLUDE_DIRS})

# csparse

find_package(CSparse REQUIRED)

include_directories(${CSPARSE_INCLUDE_DIR})

# fmt

find_package(fmt REQUIRED)

find_package(PCL REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})

include_directories(${PROJECT_SOURCE_DIR})

# #${Pangolin_LIBRARIES} GL GLU GLEW glut

set(THIRD_PARTY_LIBS

${OpenCV_LIBS}

pthread

${Sophus_LIBRARIES}

${CERES_LIBRARIES}

${GLOG_LIBRARIES}

${CSPARSE_LIBRARY}

Sophus::Sophus

${PCL_LIBRARIES}

${Pangolin_LIBRARIES}

${DBoW3_LIBS}

#${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so

)

include_directories(${PROJECT_SOURCE_DIR}/include)

add_subdirectory(src)

add_subdirectory(app)