SET(PROJECT_NAME DSO)

PROJECT(${PROJECT_NAME})

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

#set(CMAKE_VERBOSE_MAKEFILE ON)

set(BUILD_TYPE Release)

#set(BUILD_TYPE RelWithDebInfo)

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)

# optional libraries

find_package(LibZip QUIET)

find_package(Pangolin 0.2 QUIET)

find_package(OpenCV QUIET)

# flags

add_definitions("-DENABLE_SSE")

set(CMAKE_CXX_FLAGS

"${SSE_FLAGS} -O3 -g -std=c++0x -march=native"

# "${SSE_FLAGS} -O3 -g -std=c++0x -fno-omit-frame-pointer"

)

if (MSVC)

set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc")

endif (MSVC)

# 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

)

include_directories(

${PROJECT_SOURCE_DIR}/src

${PROJECT_SOURCE_DIR}/thirdparty/Sophus

${PROJECT_SOURCE_DIR}/thirdparty/sse2neon

${EIGEN3_INCLUDE_DIR}

)

# decide if we have pangolin

if (Pangolin_FOUND)

message("--- found PANGOLIN, compiling dso_pangolin library.")

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)

set(HAS_PANGOLIN 1)

else ()

message("--- could not find PANGOLIN, not compiling dso_pangolin library.")

message(" this means there will be no 3D display / GUI available for dso_dataset.")

set(dso_pangolin_SOURCE_FILES )

set(HAS_PANGOLIN 0)

endif ()

# decide if we have openCV

if (OpenCV_FOUND)

message("--- found OpenCV, compiling dso_opencv library.")

include_directories( ${OpenCV_INCLUDE_DIRS} )

set(dso_opencv_SOURCE_FILES

${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageDisplay_OpenCV.cpp

${PROJECT_SOURCE_DIR}/src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp)

set(HAS_OPENCV 1)

else ()

message("--- could not find OpenCV, not compiling dso_opencv library.")

message(" this means there will be no image display, and image read / load functionality.")

set(dso_opencv_SOURCE_FILES

${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageDisplay_dummy.cpp

${PROJECT_SOURCE_DIR}/src/IOWrapper/ImageRW_dummy.cpp)

set(HAS_OPENCV 0)

endif ()

# decide if we have ziplib.

if (LIBZIP_LIBRARY)

message("--- found ziplib (${LIBZIP_VERSION}), compiling with zip capability.")

add_definitions(-DHAS_ZIPLIB=1)

include_directories( ${LIBZIP_INCLUDE_DIR_ZIP} ${LIBZIP_INCLUDE_DIR_ZIPCONF} )

else()

message("--- not found ziplib (${LIBZIP_LIBRARY}), compiling without zip capability.")

set(LIBZIP_LIBRARY "")

endif()

# compile main library.

include_directories( ${CSPARSE_INCLUDE_DIR} ${CHOLMOD_INCLUDE_DIR})

add_library(dso ${dso_SOURCE_FILES} ${dso_opencv_SOURCE_FILES} ${dso_pangolin_SOURCE_FILES})

#set_property( TARGET dso APPEND_STRING PROPERTY COMPILE_FLAGS -Wall )

if (${CMAKE_SYSTEM_NAME} MATCHES "Darwin") # OSX

set(BOOST_THREAD_LIBRARY boost_thread-mt)

else()

set(BOOST_THREAD_LIBRARY boost_thread)

endif()

# build main executable (only if we have both OpenCV and Pangolin)

if (OpenCV_FOUND AND Pangolin_FOUND)

message("--- compiling dso_dataset.")

add_executable(dso_dataset ${PROJECT_SOURCE_DIR}/src/main_dso_pangolin.cpp )

target_link_libraries(dso_dataset dso boost_system cxsparse ${BOOST_THREAD_LIBRARY} ${LIBZIP_LIBRARY} ${Pangolin_LIBRARIES} ${OpenCV_LIBS})

else()

message("--- not building dso_dataset, since either don't have openCV or Pangolin.")

endif()