CMakeLists.txt

cmake_minimum_required(VERSION 3.0)

set(PACKAGE_NAME Visual_Odometry)
set(PACKAGE_VERSION 1.0.0)
set(CMAKE_BUILD_TYPE Release)

project(${PACKAGE_NAME} 
    VERSION ${PACKAGE_VERSION} 
    LANGUAGES CXX)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
set(CMAKE_CXX_FLAGS "-std=c++17 -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "-std=c++17 -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)

set(CPACK_PROJECT_NAME ${PROJECT_NAME})
set(CPACK_PROJECT_VERSION ${PROJECT_VERSION})

set(${PACKAGE_NAME}_PATH ${CMAKE_CURRENT_SOURCE_DIR})
set(${PACKAGE_NAME}_SOURCE_PATH "${${PACKAGE_NAME}_PATH}/src")
set(${PACKAGE_NAME}_INCLUDE_PATH "${${PACKAGE_NAME}_PATH}/include")

message(STATUS "PACKAGE_NAME: ${PACKAGE_NAME}")
message(STATUS "PACKAGE_NAME: ${PACKAGE_VERSION}")
message(STATUS "${PACKAGE_NAME}_PATH: ${${PACKAGE_NAME}_PATH}")
message(STATUS "${PACKAGE_NAME}_SOURCE_PATH: ${${PACKAGE_NAME}_SOURCE_PATH}")
message(STATUS "${PACKAGE_NAME}_INCLUDE_PATH: ${${PACKAGE_NAME}_INCLUDE_PATH}")

# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# Eigen3
include_directories("/usr/include/eigen3")
include_directories(${EIGEN3_INCLUDE_DIRS})

# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

# G2O
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})

# Pangolin
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

# glog
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})

# gtest
find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})

# gflags
find_package(GFlags REQUIRED)
include_directories(${GFLAGS_INCLUDE_DIRS})

# csparse
find_package(CSparse REQUIRED)
include_directories(${CSPARSE_INCLUDE_DIRS})

# fmt
find_package(fmt REQUIRED)

set(THIRD_PARTY_LIBS
    ${OpenCV_LIBS}
    ${Sophus_LIBRARIES}
    ${Pangolin_LIBRARIES} GL GLU GLEW glut
    g2o_core g2o_stuff g2o_types_sba g2o_solver_csparse g2o_csparse_extension
    ${GTEST_BOTH_LIBRARIES}
    ${GLOG_LIBRARIES}
    ${GFLAGS_LIBRARIES}
    pthread
    ${CSPARSE_LIBRARY}
    fmt::fmt
)

# if you have test
# set(${PACKAGE_NAME}_TEST_PATH "${${PACKAGE_NAME}_PATH}/test")
# add_subdirectory(${${PACKAGE_NAME}_TEST_PATH})
# enable_testing()

include_directories(${${PACKAGE_NAME}_INCLUDE_PATH})
add_subdirectory(${${PACKAGE_NAME}_SOURCE_PATH})
add_subdirectory(app)