CMakeLists.txt

cmake_minimum_required(VERSION 2.8)
project(primerStereoSlam)

set(CMAKE_BUILD_TYPE RELEASE)

set(CMAKE_CXX_STANDARD 11)

set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
set(CMAKE_CXX_FLAGS_RELEASE "-std=c++11 -O3 -fopenmp -pthread")


# find cmake file
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmakeModules)
# determine the target path
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

############### dependencies ######################

# Eigen3
find_package(Eigen3)
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})

# OPENCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})

# pangolin
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})

# G2O
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIRS})

# glog
find_package(Glog REQUIRED)
include_directories(${GLOG_INCLUDE_DIRS})

# csparse
find_package(CSparse REQUIRED)
include_directories(${CSPARSE_INCLUDE_DIR})

set(THIRD_PARTY_LIBS
        ${OpenCV_LIBS}
        ${Sophus_LIBRARIES}
        ${Pangolin_LIBRARIES} GL GLU GLEW glut
        g2o_core g2o_stuff g2o_types_sba g2o_solver_csparse g2o_csparse_extension
        ${GLOG_LIBRARIES}
        pthread
        ${CSPARSE_LIBRARY}
        )

############### source and test ######################
include_directories(${PROJECT_SOURCE_DIR}/include)
add_subdirectory(src)
add_subdirectory(unitTest)
add_subdirectory(app)