cmake_minimum_required(VERSION 2.8)

project(PI-SLAM)


list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
include(cmake/PICMake.cmake)


# set default built type to Release
if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE Release)
endif()
message("-- Build type: " ${CMAKE_BUILD_TYPE})


# set compile options
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGLEW_BUILD -DGLEW_NO_GLU -DGLEW_STATIC -D_GNU_SOURCE")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DGDAL_COMPILATION -DBIGTIFF_SUPPORT")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wignored-attributes -Wdeprecated-declarations")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")

if(CMAKE_BUILD_TYPE STREQUAL "Release")
    message("Build with -O3")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DG2O_OPENMP -fopenmp")
endif()

include_directories(GSLAM
                    GSLAM-DIYSLAM/src
                    ${CMAKE_CURRENT_LIST_DIR})


# build of PI-SLAM
pi_collect_packages(VERBOSE REQUIRED System MODULES # System dependency -dl is essential
                    Eigen3                          # Dependency for Optimizer
                    Qt OPENGL GLEW GLUT QGLViewer   # Dependency for GUI
                    OpenCV                          # Dependency for IO
                    )


if(QT4_FOUND)
    qt4_add_resources(QRC_FILES gui/gui_res.qrc)
elseif(QT5_FOUND)
    qt5_add_resources(QRC_FILES gui/gui_res.qrc)
endif()


# build of PI-SLAM
pi_add_target(pislam BIN
    gui tests
    GSLAM-DIYSLAM/src
    ${QRC_FILES}
    cmake/glew cmake/QGLViewer
    REQUIRED QGLViewer Qt GLEW GLUT OPENGL Eigen3 System
    MODULES OpenCV)

pi_report_target()


MESSAGE(STATUS "INCLUDE_DIRECTORIES = ")
get_property(dirs DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
foreach(dir ${dirs})
    MESSAGE(STATUS "   ${dir}")
endforeach()
message(STATUS "CMAKE_CXX_FLAGS: ${CMAKE_CXX_FLAGS}")
message(STATUS "CMAKE_C_FLAGS  : ${CMAKE_C_FLAGS}")