cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native")

# Check C++11 or C++0x support
if(MSVC)
    message(MSVC_VERSION "Using MSVC, Skipping std=c++11 check support...")
    find_package(Threads)
    add_definitions(-DCOMPILEDWITHC11)
    set(CMAKE_TOOLCHAIN_FILE "C:/Users/dell/work_drivecast/thirdparty/vcpkg/scripts/buildsystems/vcpkg.cmake")
else()
    include(CheckCXXCompilerFlag)
    CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
    CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
    if(COMPILER_SUPPORTS_CXX11)
       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
       add_definitions(-DCOMPILEDWITHC11)
       message(STATUS "Using flag -std=c++11.")
    elseif(COMPILER_SUPPORTS_CXX0X)
       set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
       add_definitions(-DCOMPILEDWITHC0X)
       message(STATUS "Using flag -std=c++0x.")
    else()
       message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
    endif()
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

# set(OpenCV_DIR "C:/Users/dell/work_drivecast/thirdparty/opencv/build")
find_package(OpenCV 3 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 REQUIRED NO_MODULE)
set(Pangolin_DIR "C:/Users/dell/work_drivecast/slams/thirdparty/Pangolin/build")
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/Debug/DBoW2.lib
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/build/Debug/g2o.lib
)

# Build examples

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

