cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

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

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native  -Wno-unused-function  -Wno-return-type")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3 -march=native  -Wno-unused-function  -Wno-return-type")

# set carv needed flags
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -D__STDC_CONSTANT_MACROS -DGL_GLEXT_PROTOTYPES -D_LINUX -D_REENTRANT -DCGAL_USE_F2C -DCGAL_DISABLE_ROUNDING_MATH_CHECK")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D__STDC_CONSTANT_MACROS -DGL_GLEXT_PROTOTYPES -D_LINUX -D_REENTRANT -DCGAL_USE_F2C -DCGAL_DISABLE_ROUNDING_MATH_CHECK")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${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++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
    find_package(OpenCV 2.4.3 QUIET)
    if(NOT OpenCV_FOUND)
        message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
    endif()
endif()
message(STATUS "Using opencv version ${OpenCV_VERSION}")
find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

# find openmp
find_package(OpenMP)
if (OPENMP_FOUND)
    message("-- OpenMP found")
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

# Find CGAL
set(CMAKE_BUILD_TYPE_BACKUP ${CMAKE_BUILD_TYPE})
set(CMAKE_BUILD_TYPE "Release")
find_package(CGAL REQUIRED COMPONENTS Core)
include( ${CGAL_USE_FILE} )
set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE_BACKUP})

# Find Boost
find_package(Boost REQUIRED)
include_directories(${Boost_INCLUDE_DIR})
link_directories(${Boost_LIBRARY_DIR})
# BLAS and LAPACK
find_package(LAPACK REQUIRED)
link_directories(${LAPACK_LIBRARY_DIR})


include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}/Thirdparty/Line3Dpp
${PROJECT_SOURCE_DIR}/Thirdparty/Line3Dpp/build
${PROJECT_SOURCE_DIR}/Thirdparty/EDTest
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
src/ProbabilityMapping.cc
src/Modeler.cc
src/LineDetector.cc
src/CARV/FreespaceDelaunayAlgorithm.cc
src/CARV/GraphWrapper_Boost.cc
src/CARV/lovimath.cc
src/CARV/SFMTranscript.cpp
src/CARV/SFMTranscriptInterface_Delaunay.cpp
src/CARV/Matrix.cc
src/CARV/StringFunctions.cpp
src/CARV/Exception.cpp
src/CARV/SFMTranscriptInterface_ORBSLAM.cpp
src/Object.cc      # NOTE [EAO-SLAM]
#src/G2OObject.cc      # NOTE [EAO-SLAM] for optimization.

# [EAO-SLAM]
src/line_detect/line_lbd_allclass.cpp
# [EAO-SLAM]
src/line_detect/libs/binary_descriptor.cpp 
src/line_detect/libs/binary_descriptor_matcher.cpp 
src/line_detect/libs/LSDDetector.cpp  
src/line_detect/libs/lsd.cpp 
src/line_detect/libs/bitarray.hpp  
src/line_detect/libs/bitops.hpp
src/line_detect/libs/draw.cpp
src/line_detect/libs/precomp.hpp
src/line_detect/libs/types.hpp
# [EAO-SLAM]
src/detect_3d_cuboid/box_proposal_detail.cpp
src/detect_3d_cuboid/object_3d_util.cpp
src/detect_3d_cuboid/matrix_utils.cpp
)

target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/Thirdparty/EDLines/EDLinesLib.a
${PROJECT_SOURCE_DIR}/Thirdparty/EDTest/EDLib.a
${PROJECT_SOURCE_DIR}/Thirdparty/Line3Dpp/build/libline3Dpp.so
boost_system boost_filesystem boost_serialization
lapack blas
)

# Build examples

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

# add_executable(rgbd_tum
# Examples/RGB-D/rgbd_tum.cc)
# target_link_libraries(rgbd_tum ${PROJECT_NAME})

# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

# add_executable(stereo_kitti
# Examples/Stereo/stereo_kitti.cc)
# target_link_libraries(stereo_kitti ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

# add_executable(LineAlignment
# Examples/Monocular/LineAlignment.cc)
# target_link_libraries(LineAlignment ${PROJECT_NAME})

# add_executable(mono_kitti
# Examples/Monocular/mono_kitti.cc)
# target_link_libraries(mono_kitti ${PROJECT_NAME})

# add_executable(mono_euroc
#         Examples/Monocular/mono_euroc.cc)
# target_link_libraries(mono_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/tools)
add_executable(bin_vocabulary
 tools/bin_vocabulary.cc)
target_link_libraries(bin_vocabulary ${PROJECT_NAME})