cmake_minimum_required(VERSION 3.17)
project(madpose VERSION 0.0.1)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
if(CMAKE_CXX_COMPILER_VERSION VERSION_LESS 9.1)
    message(FATAL_ERROR "GCC version needs to be at least 9.1")
endif()

if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif()
add_compile_options(-O3 -ffast-math -fno-associative-math -DNDEBUG)

# Options
option(FETCH_POSELIB "Whether to use PoseLib with FetchContent or with self-installed software" ON)

# Dependencies
find_package(Eigen3 3.4 REQUIRED)
find_package(Ceres 2.0.0 REQUIRED)
find_package(OpenCV REQUIRED)

# PoseLib
include(FetchContent)
FetchContent_Declare(PoseLib
    GIT_REPOSITORY    https://github.com/PoseLib/PoseLib.git
    GIT_TAG           v2.0.4
    EXCLUDE_FROM_ALL
)
message(STATUS "Configuring PoseLib...")
if (FETCH_POSELIB) 
    FetchContent_MakeAvailable(PoseLib)
else()
    find_package(PoseLib REQUIRED)
endif()
message(STATUS "Configuring PoseLib... done")

# Configure Ceres 
if(${CERES_VERSION} VERSION_LESS "2.2.0")
    # ceres 2.2.0 changes the interface of local parameterization
    add_definitions("-DCERES_PARAMETERIZATION_ENABLED")
endif()

add_subdirectory(ext/pybind11)

include_directories(
    ${pybind11_INCLUDE_DIR}
    ${EIGEN3_INCLUDE_DIR}
    ${PROJECT_SOURCE_DIR}
    ${OpenCV_INCLUDE_DIRS}
    ext/RansacLib
)

get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
foreach(dir ${dirs})
  message(STATUS "dir='${dir}'")
endforeach()

add_subdirectory(src)