cmake_minimum_required(VERSION 3.0 FATAL_ERROR)
project(ORB_SLAM2)

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

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")

#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()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

if( TORCH_PATH ) 
   message("TORCH_PATH set to: ${TORCH_PATH}")
   set(Torch_DIR ${TORCH_PATH})
else()
   message(FATAL_ERROR "Need to specify Torch path, e.g., pytorch/torch/share/cmake/Torch ")
endif()

find_package(Torch REQUIRED)
message(STATUS "Torch version is: ${Torch_VERSION}")
if(Torch_VERSION GREATER 1.0.1)
   message(STATUS "Torch version is newer than v1.0.1, will use new api")
   add_definitions(-DTORCH_NEW_API)
endif()

include_directories(
  ${PROJECT_SOURCE_DIR}
  ${PROJECT_SOURCE_DIR}/include
  ${EIGEN3_INCLUDE_DIR}
  ${Pangolin_INCLUDE_DIRS}
)

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/GCNextractor.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
)

target_link_libraries(${PROJECT_NAME}
    ${OpenCV_LIBS}
    ${EIGEN3_LIBS}
    ${Pangolin_LIBRARIES}
    ${TORCH_LIBRARIES}
    ${PROJECT_SOURCE_DIR}/Thirdparty/DBoW2/lib/libDBoW2.so
    ${PROJECT_SOURCE_DIR}/Thirdparty/g2o/lib/libg2o.so
)


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/GCN2)
add_executable(rgbd_gcn GCN2/rgbd_gcn.cc)
target_link_libraries(rgbd_gcn ${PROJECT_NAME} ${TORCH_LIBRARIES})
set_property(TARGET rgbd_gcn PROPERTY CXX_STANDARD 11)