CMakeLists.txt

cmake_minimum_required(VERSION 3.14)
set(CMAKE_CXX_STANDARD 14)
project(DeformableSLAM VERSION 0.1 LANGUAGES CXX)
set(CMAKE_CXX_STANDARD 14)

#SET(CMAKE_BUILD_TYPE RELEASE)

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



# Check C++14 or C++0x support
#include(CheckCXXCompilerFlag)
#CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
#CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)

#if(COMPILER_SUPPORTS_CXX14)
#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
#   add_definitions(-DCOMPILEDWITHC14)
#   message(STATUS "Using flag -std=c++14.")
#elseif(COMPILER_SUPPORTS_CXX0X)
#   set(CMAKE_CXX_FLAGS "${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++14 support. Please use a different C++ compiler.")
#endif() 
 
#LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
IF (WIN32)
    add_compile_options("/openmp:experimental")
   # add_compile_options("/Z7")
   # add_link_options("/DEBUG:FASTLINK")
   # add_link_options("/OPT:REF")
    set(LIB_TYPE)
ELSE()
    set(LIB_TYPE SHARED)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall -fPIC -O3 -march=native -fopenmp -Wno-deprecated-declarations" )
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -fPIC -O3 -march=native -fopenmp -Wno-deprecated-declarations")
ENDIF()
find_package(OpenCV 4.0.0 CONFIG REQUIRED)
find_package(Pangolin CONFIG REQUIRED)
find_package(Eigen3 3.3 CONFIG REQUIRED NO_MODULE)
find_package(Ceres REQUIRED)
set( CMAKE_EXPORT_COMPILE_COMMANDS ON )

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/Thirdparty/ORBSLAM_2/include/
${PROJECT_SOURCE_DIR}/Thirdparty/BBS
${PROJECT_SOURCE_DIR}/Modules/Common
${PROJECT_SOURCE_DIR}/Modules/GroundTruth
${PROJECT_SOURCE_DIR}/Modules/Mapping
${PROJECT_SOURCE_DIR}/Modules/Matching
${PROJECT_SOURCE_DIR}/Modules/Settings
${PROJECT_SOURCE_DIR}/Modules/Template
${PROJECT_SOURCE_DIR}/Modules/Tracking
${PROJECT_SOURCE_DIR}/Modules/Viewer
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

FILE(GLOB SRC_DEFSLAM_FILES
     "Modules/Common/*.cc"
     "Modules/GroundTruth/*.cc"
     "Modules/Mapping/*.cc"
     "Modules/Matching/*.cc"
     "Modules/Template/*.cc"
     "Modules/Tracking/*.cc"
     "Modules/Viewer/*.cc")

add_library(${PROJECT_NAME}  ${LIB_TYPE}
${SRC_DEFSLAM_FILES}
)

add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/g2o)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/BBS)
add_subdirectory(${PROJECT_SOURCE_DIR}/Thirdparty/ORBSLAM_2)
add_subdirectory(${PROJECT_SOURCE_DIR}/Modules/ToolsPCL)

target_link_libraries(${PROJECT_NAME} 
${OpenCV_LIBS}
${EIGEN3_LIBS} 
${Pangolin_LIBRARIES}
${CERES_LIBRARIES}
DBoW2
g2o
BBS
ORBSLAM
ToolsPCL
)
IF (WIN32)
 target_compile_options(${PROJECT_NAME} PRIVATE /bigobj)
ENDIF()
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Apps)

## Just receive image from a camera or a video and process them.
add_executable(DefSLAM Apps/simple_camera.cc) 
target_link_libraries(DefSLAM ${PROJECT_NAME})

add_executable(DefSLAMGTCT Apps/simple_CT.cc) 
target_link_libraries(DefSLAMGTCT ${PROJECT_NAME})

add_executable(DefSLAMGT Apps/stereo_groundtruth.cc)
target_link_libraries(DefSLAMGT ${PROJECT_NAME})