CMakeLists.txt

SET(PROJECT_NAME hso)

PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED(VERSION 2.8.3)

SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo

SET(CMAKE_VERBOSE_MAKEFILE OFF)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")


SET(ENABLE_BACKWARD TRUE)
IF (ENABLE_BACKWARD)
    ADD_DEFINITIONS(-D USB_BACKWARD)
    SET(LIBDW "dw")
ELSE ()
    set(LIBDW "")
ENDIF ()

# Set definitions
IF (TRACE)
    ADD_DEFINITIONS(-DHSO_TRACE)
ENDIF ()

IF (DEBUG_OUTPUT)
    ADD_DEFINITIONS(-DHSO_DEBUG_OUTPUT)
ENDIF ()

# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
# Set build flags. Set IS_ARM on odroid board as environment variable
SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
IF (DEFINED ENV{ARM_ARCHITECTURE})
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE ()
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
ENDIF ()

IF (CMAKE_COMPILER_IS_GNUCC)
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
ELSEIF ()
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
ELSEIF ()
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF ()
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ENDIF ()

SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")

#set(OpenCV_DIR "/home/wzh/Downloads/pack/opencv-3.3.1/install/share/OpenCV")
# Add plain cmake packages 
find_package(OpenCV 4.0)
if (NOT OpenCV_FOUND)
    find_package(OpenCV 3.3.1 REQUIRED)
    if (NOT OpenCV_FOUND)
        message(FATAL_ERROR "OpenCV > 3.0 not found.")
    endif ()
endif ()
MESSAGE("OpenCV VERSION:" ${OpenCV_VERSION})
MESSAGE("OpenCV DIR:" ${OpenCV_DIR})
FIND_PACKAGE(Eigen3 REQUIRED)
FIND_PACKAGE(Boost REQUIRED COMPONENTS thread system)
FIND_PACKAGE(Pangolin REQUIRED)


# Include dirs
INCLUDE_DIRECTORIES(
        ${PROJECT_SOURCE_DIR}/thirdparty/g2o            # g2o
        ${PROJECT_SOURCE_DIR}/thirdparty/fast/include   # fast
        ${PROJECT_SOURCE_DIR}/thirdparty/Sophus         # sophus
        ${PROJECT_SOURCE_DIR}/include     # hso
        ${Eigen_INCLUDE_DIRS}
        ${OpenCV_INCLUDE_DIRS}
        ${Boost_INCLUDE_DIRS}
        ${Pangolin_INCLUDE_DIRS}
        # /usr/include/suitesparse # for cholmod
)

# Set link libraries
LIST(APPEND LINK_LIBS
        ${OpenCV_LIBS}
        ${Boost_LIBRARIES}
        ${Pangolin_LIBRARIES}
        )


# Set sourcefiles
LIST(APPEND SOURCEFILES
        ${PROJECT_SOURCE_DIR}/src/system.cpp

        ${PROJECT_SOURCE_DIR}/src/frame_handler_mono.cpp
        ${PROJECT_SOURCE_DIR}/src/frame_handler_base.cpp
        ${PROJECT_SOURCE_DIR}/src/frame.cpp
        ${PROJECT_SOURCE_DIR}/src/point.cpp
        ${PROJECT_SOURCE_DIR}/src/map.cpp
        ${PROJECT_SOURCE_DIR}/src/pose_optimizer.cpp
        ${PROJECT_SOURCE_DIR}/src/initialization.cpp
        ${PROJECT_SOURCE_DIR}/src/matcher.cpp
        ${PROJECT_SOURCE_DIR}/src/reprojector.cpp
        ${PROJECT_SOURCE_DIR}/src/feature_alignment.cpp
        ${PROJECT_SOURCE_DIR}/src/feature_detection.cpp
        ${PROJECT_SOURCE_DIR}/src/depth_filter.cpp
        ${PROJECT_SOURCE_DIR}/src/config.cpp
        ${PROJECT_SOURCE_DIR}/src/viewer.cpp
        # ${PROJECT_SOURCE_DIR}/src/PhotomatricCalibration.cpp
        ${PROJECT_SOURCE_DIR}/src/CoarseTracker.cpp
        ${PROJECT_SOURCE_DIR}/src/camera.cpp
        ${PROJECT_SOURCE_DIR}/src/ImageReader.cpp
        ${PROJECT_SOURCE_DIR}/src/bundle_adjustment.cpp

        ${PROJECT_SOURCE_DIR}/src/vikit/robust_cost.cpp
        ${PROJECT_SOURCE_DIR}/src/vikit/math_utils.cpp
        ${PROJECT_SOURCE_DIR}/src/vikit/vision.cpp
        ${PROJECT_SOURCE_DIR}/src/vikit/homography.cpp
        ${PROJECT_SOURCE_DIR}/src/vikit/performance_monitor.cpp

        ${PROJECT_SOURCE_DIR}/src/backward.cpp
        )

#set(HSO_LIBS ${PROJECT_SOURCE_DIR}/build/lib/libhso.so)
set(G2O_LIBS ${PROJECT_SOURCE_DIR}/thirdparty/g2o/lib/libg2o.so)
set(FAST_LIBS ${PROJECT_SOURCE_DIR}/thirdparty/fast/build/libfast.so)
set(SOPHUS_LIBS ${PROJECT_SOURCE_DIR}/thirdparty/Sophus/build/libSophus.so)

#add_subdirectory(thirdparty/g2o)

# Create hso library
ADD_LIBRARY(hso SHARED ${SOURCEFILES})
TARGET_LINK_LIBRARIES(hso
        ${LINK_LIBS}
        ${G2O_LIBS}
        ${FAST_LIBS}
        ${SOPHUS_LIBS}
        ${LIBDW}
        )

################################################################################
# TESTS
ADD_EXECUTABLE(test_dataset test/test_dataset.cpp)
TARGET_LINK_LIBRARIES(test_dataset hso)