CMakeLists.txt

SET(PROJECT_NAME DSO)

PROJECT(${PROJECT_NAME})
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

set(BUILD_TYPE Release)
set(USE_PANGOLIN ON)
set(DEBUG OFF)

set(EXECUTABLE_OUTPUT_PATH bin)
set(LIBRARY_OUTPUT_PATH lib)
set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

# required libraries
find_package(SuiteParse REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost COMPONENTS system thread)
find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
 find_package(OpenCV 2.4.3 REQUIRED)
endif()

# optional libraries
if(USE_PANGOLIN)
    find_package(Pangolin REQUIRED)
endif()

# flags
if(DEBUG)
  ADD_DEFINITIONS(-ggdb)
endif()

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native -std=c++11")

# Sources files
set(dso_SOURCE_FILES
  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystem.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptimize.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemOptPoint.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemDebugStuff.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/FullSystemMarginalize.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/Residuals.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseTracker.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/CoarseInitializer.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/ImmaturePoint.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/HessianBlocks.cpp
  ${PROJECT_SOURCE_DIR}/src/FullSystem/PixelSelector2.cpp
  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctional.cpp
  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedTopHessian.cpp
  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/AccumulatedSCHessian.cpp
  ${PROJECT_SOURCE_DIR}/src/OptimizationBackend/EnergyFunctionalStructs.cpp
  ${PROJECT_SOURCE_DIR}/src/util/settings.cpp
  ${PROJECT_SOURCE_DIR}/src/util/Undistort.cpp
  ${PROJECT_SOURCE_DIR}/src/util/globalCalib.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageDisplay.cpp
  ${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageRW.cpp
)

include_directories(
  ${PROJECT_SOURCE_DIR}/src
  ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
  ${EIGEN3_INCLUDE_DIR}
)

# decide if we have pangolin
if(USE_PANGOLIN)
	include_directories( ${Pangolin_INCLUDE_DIRS} ) 
	set(dso_pangolin_SOURCE_FILES 
	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp
	  ${PROJECT_SOURCE_DIR}/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp)
else ()
	set(dso_pangolin_SOURCE_FILES )
endif ()

# compile main library.
include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR}) 
add_library(dso SHARED ${dso_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})

LIST(APPEND REQUIRED_LIBRARIES boost_system cxsparse boost_thread ${OpenCV_LIBS})
if(USE_PANGOLIN)
	LIST(APPEND REQUIRED_LIBRARIES ${Pangolin_LIBRARIES})
endif()
target_link_libraries(dso ${REQUIRED_LIBRARIES})

# build main executable (only if we use Pangolin)
if (USE_PANGOLIN)
	message("--- compiling dso_dataset.")
	add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )
    target_link_libraries(dso_dataset dso)
endif()