GAAS

# ----------------------------------------------------------------------------
#   Basic Configuration
# ----------------------------------------------------------------------------
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)

Project (MultiCamSLAM)


#------------------------------------------------------
# Compiler 
#------------------------------------------------------
add_definitions(-std=c++14)


#------------------------------------------------------
# Build type
#------------------------------------------------------
#IF(NOT CMAKE_BUILD_TYPE )
#   #SET( CMAKE_BUILD_TYPE "Release" )
#   SET( CMAKE_BUILD_TYPE "Debug" )
#ENDIF()
SET( CMAKE_BUILD_TYPE "Debug" )

#------------------------------------------------------
# Lib Names and Dirs
#------------------------------------------------------
#
OPTION(BUILD_UTILS	"Set to OFF to not build utils" ON)
OPTION(USE_CONTRIB 	"Set to ON if contrib are installed" OFF)
OPTION(BUILD_SHARED_LIBS 	"Set to OFF to build static libraries" ON)


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

# ----------------------------------------------------------------------------
#   Find Dependencies
# ----------------------------------------------------------------------------
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake-modules)
find_package(OpenCV 3.4.5 EXACT REQUIRED) # same with ros.
find_package(GTSAM REQUIRED)
find_package(Eigen3 3.1.0 REQUIRED)
find_package(catkin REQUIRED COMPONENTS
                                cv_bridge
                                image_transport
                                roscpp
                                sensor_msgs
				geometry_msgs
                                roseus
                                visualization_msgs
				)

find_package(PCL REQUIRED)

find_package (DBoW3 REQUIRED PATH ../loop_closing/DBow3/)
find_package (Glog REQUIRED)
set (OpenCV_LIB_DIR "/home/gi/Downloads/opencv-3.4.5/build/lib")
find_package(OpenCV 3.4.5 REQUIRED)

IF(USE_CONTRIB)
add_definitions(-DUSE_CONTRIB)
ENDIF()


include_directories(${OpenCV_INCLUDE_DIRS}
			${PCL_INCLUDE_DIRS}
			../loop_closing/DBow3/src
			./include/
            ${catkin_INCLUDE_DIRS}
            ${EIGEN3_INCLUDE_DIR}
			${catkin_INCLUDE_DIRS}
                        ../multi_cam_utils/
                        ./src/
                        ./src/utils/
            ${GTSAM_INCLUDE_DIR}
            ${GLOG_INCLUDE_DIRS}
                        )

MESSAGE("DBOW3 LIBS:${DBoW3_LIBS}")
SET(REQUIRED_LIBRARIES ${REQUIRED_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES} ${catkin_LIBRARIES} ${DBoW3_LIBS} ${GLOG_LIBRARIES} -lpthread gtsam gtsam_unstable;${Boost_PROGRAM_OPTIONS_LIBRARY} glog::glog)


# ----------------------------------------------------------------------------
#   PROJECT CONFIGURATION
#   force some variables that could be defined in the command line to be written to cache
# ----------------------------------------------------------------------------
 
# ----------------------------------------------------------------------------
#   Uninstall target, for "make uninstall"
# ----------------------------------------------------------------------------
ADD_CUSTOM_TARGET(uninstall "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")

# ----------------------------------------------------------------------------
# create configuration file from .in file (If you use windows take care with paths)
# ----------------------------------------------------------------------------

INSTALL(FILES "${PROJECT_BINARY_DIR}/Find${PROJECT_NAME}.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/ )
INSTALL(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake" DESTINATION ${LIB_INSTALL_DIR}/cmake/${PROJECT_NAME} )

# ----------------------------------------------------------------------------
#   Program Optimization and debug (Extracted from OpenCV)
# ----------------------------------------------------------------------------
set(WARNINGS_ARE_ERRORS 		OFF CACHE BOOL "Treat warnings as errors")
set(WHOLE_PROGRAM_OPTIMIZATION 	OFF CACHE BOOL "Flags for whole program optimization.")

set(EXTRA_C_FLAGS "")
set(EXTRA_C_FLAGS_RELEASE "")
set(EXTRA_C_FLAGS_DEBUG "")
set(EXTRA_EXE_LINKER_FLAGS "")
set(EXTRA_EXE_LINKER_FLAGS_RELEASE "")
set(EXTRA_EXE_LINKER_FLAGS_DEBUG "")

#set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wall -Wextra -Wno-sign-compare")
IF(CMAKE_COMPILER_IS_GNUCXX OR MINGW)
    set(ENABLE_PROFILING 		OFF CACHE BOOL "Enable profiling in the GCC compiler (Add flags: -g -pg)")
    set(USE_OMIT_FRAME_POINTER 	ON CACHE BOOL "Enable -fomit-frame-pointer for GCC")
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES arm*) # We can use only -O2 because the -O3 causes gcc crash
        set(USE_O2 ON CACHE BOOL "Enable -O2 for GCC")
        set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
    endif()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES powerpc*)
        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
        set(USE_POWERPC ON CACHE BOOL "Enable PowerPC for GCC")
    endif ()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64*)
        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
        set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
        set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
        set(USE_SSE ON CACHE BOOL "Enable SSE for GCC")
        set(USE_SSE2 ON CACHE BOOL "Enable SSE2 for GCC")
        set(USE_SSE3 ON CACHE BOOL "Enable SSE3 for GCC")
    endif()
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES i686* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES x86)
        set(USE_O3 ON CACHE BOOL "Enable -O3 for GCC")
        set(USE_FAST_MATH OFF CACHE BOOL "Enable -ffast-math for GCC")
        set(USE_MMX ON CACHE BOOL "Enable MMX for GCC")
        set(USE_SSE OFF CACHE BOOL "Enable SSE for GCC")
        set(USE_SSE2 OFF CACHE BOOL "Enable SSE2 for GCC")
        set(USE_SSE3 OFF CACHE BOOL "Enable SSE3 for GCC")
    endif ()


    if(WARNINGS_ARE_ERRORS)
        set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Werror")
    endif()

    # The -Wno-long-long is required in 64bit systems when including system headers.
    if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64* OR ${CMAKE_SYSTEM_PROCESSOR} MATCHES amd64*)
                set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -Wno-long-long")
    endif()

    # Whole program optimization
    if(WHOLE_PROGRAM_OPTIMIZATION)
        set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fwhole-program --combine")
    endif()

    # Other optimizations
    if(USE_OMIT_FRAME_POINTER)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -fomit-frame-pointer")
    endif()
    if(USE_O2)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O2")
    endif()
    if(USE_O3)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -O3")
    endif()
    if(USE_FAST_MATH)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -ffast-math")
    endif()
    if(USE_POWERPC)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mcpu=G3 -mtune=G5")
    endif()
    if(USE_MMX)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -mmmx")
    endif()
    if(USE_SSE)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse")
    endif()
    if(USE_SSE2)
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse2")
    endif()
    if(USE_SSE3 AND NOT MINGW) # SSE3 should be disabled under MingW because it generates compiler errors
       set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -msse3")
    endif()

    if(ENABLE_PROFILING)
        set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -pg -g")
    else()
        if(NOT APPLE)
            set(EXTRA_C_FLAGS "${EXTRA_C_FLAGS} -ffunction-sections")
        endif()
    endif()


    set(EXTRA_C_FLAGS_RELEASE "${EXTRA_C_FLAGS_RELEASE} -DNDEBUG   ")
    set(EXTRA_C_FLAGS_DEBUG "-g3 -O0 -DDEBUG -D_DEBUG -Wall -Wextra -Wno-sign-compare")

    MESSAGE( STATUS "-------------------------------------------------------------------------------" )
    message( STATUS "GNU COMPILER")
    MESSAGE( STATUS "-------------------------------------------------------------------------------" )




ELSE()  # MSVC


ENDIF()#END OF COMPILER SPECIFIC OPTIONS
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} ${EXTRA_C_FLAGS_RELEASE}")
SET(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS}  ${EXTRA_C_FLAGS_DEBUG}")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -std=c++11")
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -std=c++11")
set(CMAKE_C_FLAGS_RELWITHDEBINFO "${CMAKE_C_FLAGS_RELEASE} ${CMAKE_C_FLAGS_DEBUG}")
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${EXTRA_EXE_LINKER_FLAGS}")
SET(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${EXTRA_EXE_LINKER_FLAGS_RELEASE}")
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "${CMAKE_EXE_LINKER_FLAGS_DEBUG} ${EXTRA_EXE_LINKER_FLAGS_DEBUG}")
#------------------------------------------------
# DIRS
#------------------------------------------------

find_package(OpenCV 3.4.5 REQUIRED)

ADD_SUBDIRECTORY(src)

#target_link_libraries(demo ${PROJECT_NAME} ${OpenCV_LIBS})
#  file(COPY demo/images DESTINATION ${CMAKE_BINARY_DIR}/)

MESSAGE( STATUS "-------------------------------------------------------------------------------" )
message( STATUS "General configuration for ${PROJECT_NAME} ${PROJECT_VERSION}")
MESSAGE( STATUS "-------------------------------------------------------------------------------" )
message("    Built as dynamic libs?:" ${BUILD_SHARED_LIBS})
message("    Compiler:"                   "${CMAKE_COMPILER}"   "${CMAKE_CXX_COMPILER}")

message( STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
message( STATUS "C++ flags (Release):       ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_RELEASE}")
message( STATUS "C++ flags (Debug):         ${CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS_DEBUG}")
message( STATUS "C++ flags (Relase+Debug):         ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")

message( STATUS "CMAKE_CXX_FLAGS:         ${CMAKE_CXX_FLAGS}")
message( STATUS "CMAKE_BINARY_DIR:         ${CMAKE_BINARY_DIR}")

MESSAGE( STATUS )
MESSAGE( STATUS "CMAKE_SYSTEM_PROCESSOR = ${CMAKE_SYSTEM_PROCESSOR}" )
MESSAGE( STATUS "CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}" )
MESSAGE( STATUS "CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}" )
MESSAGE( STATUS "CMAKE_MODULE_PATH = ${CMAKE_MODULE_PATH}" )
MESSAGE( STATUS "BUILD_UTILS= ${BUILD_UTILS}" )
MESSAGE( STATUS "BUILD_TESTS= ${BUILD_TESTS}" )
MESSAGE( STATUS "OPENCV_DIR= ${OpenCV_DIR} VERSION=${OpenCV_VERSION}" )

MESSAGE( STATUS "USE_CONTRIB= ${USE_CONTRIB}" )

MESSAGE( STATUS "OpenCV_LIB_DIR=${OpenCV_LIB_DIR}")
MESSAGE( STATUS "CMAKE_INSTALL_PREFIX=${CMAKE_BINARY_DIR}")