cmake_minimum_required( VERSION 2.8 )
project(Struct-Stereo-Inertial)

# uncommont this to use release
#set( CMAKE_BUILD_TYPE "Release" )
 set( CMAKE_BUILD_TYPE "Debug" )

# make sure we use Release and warn otherwise
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
  message(STATUS "Setting build type to 'Release' as none was specified.")
  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
  # Set the possible values of build type for cmake-gui
  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release"
    "MinSizeRel" "RelWithDebInfo")
endif()


if (NOT "${CMAKE_BUILD_TYPE}" STREQUAL "Release")
  message(WARNING "CMAKE_BUILD_TYPE not set to 'Release'. Performance may be terrible.")
    # set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}     -Wall -march=native -Wno-reorder -pthread")
    # set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -march=native -pthread")
else()
  message(STATUS "Building with build type '${CMAKE_BUILD_TYPE}', turn on the compiler optimization")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}     -Wall -march=native -O3 -Wno-reorder -pthread -fopenmp")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -march=native -O3 -pthread -fopenmp")
endif()

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

# 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()

# arm and intel cpu configurations
IF(DEFINED ENV{ARM_ARCHITECTURE})
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE()
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -march=native")
ENDIF()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake-modules)

# thirdparty libs 
find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
    message(STATUS "Don't get Opencv 3.0, looking for OpenCV 2.4.")
   find_package(OpenCV 2.4 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package( Glog REQUIRED )

set(DUO_SDK ${PROJECT_SOURCE_DIR}/util/SDK)
include_directories(${DUO_SDK}/include)

if (CMAKE_SYSTEM_PROCESSOR STREQUAL armv7l OR CMAKE_SYSTEM_PROCESSOR STREQUAL aarch64)
    set(DUOLib_ARCH arm)
else ()
    if (CMAKE_SIZEOF_VOID_P EQUAL 8)
        set(DUOLib_ARCH x64)
    else ()
        set(DUOLib_ARCH x86)
    endif ()
endif ()
find_library(DUO_LIBRARY DUO HINTS ${DUO_SDK}/linux/${DUOLib_ARCH})


# to show 'include' in QtCreator
FILE(GLOB_RECURSE INC_ALL "*/*.h")
add_custom_target(headers SOURCES ${INC_ALL})

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${PROJECT_SOURCE_DIR}/src
${PROJECT_SOURCE_DIR}/Thirdparty/fast/include
${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2
${PROJECT_SOURCE_DIR}/Thirdparty/g2o/
${PROJECT_SOURCE_DIR}/Thirdparty/lsd/include/
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
)


# thirdparty
set(THIRD_PARTY_LIBS
        ${OpenCV_LIBS}
        ${EIGEN3_LIBS}
        ${Pangolin_LIBRARIES}
        ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/fast/build/libfast.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/lsd/build/liblsd.so
        ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
        ${BLAS_LIBRARIES}
        ${LAPACK_LIBRARIES}
        ${GLOG_LIBRARY}
        ${DUO_LIBRARY}
)

# subdirectories
include_directories(
        util/include
        cv/include
        common/include
        backend/include
        system/include
)


add_subdirectory(util)

add_subdirectory(common)

add_subdirectory(cv)

add_subdirectory(backend)

add_subdirectory(system)

set(YGZ_LIBS ygz-common ygz-cv ygz-util ygz-backend ygz-system)

# build tests
add_subdirectory( test )

# build examples
add_subdirectory( examples )