CMakeLists.txt

cmake_minimum_required(VERSION 2.8...3.1)
project(ORB_SLAM3_Icarus)

IF(NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
ENDIF()

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

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

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if (COMPILER_SUPPORTS_CXX14)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC14)
    message(STATUS "Using flag -std=c++14.")
elseif(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${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++14 support. Please use a different C++ compiler.")
endif()

# add_definitions(-w)

find_package(OpenCV 3)
if(NOT OpenCV_FOUND)
    message(FATAL_ERROR "OpenCV > 4.0 not found.")
endif()
MESSAGE("OPENCV VERSION:" ${OpenCV_VERSION})

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  cv_bridge
  image_transport
  sensor_msgs
  tf
  tf_conversions
  octomap_ros
)

include_directories(
    ${catkin_INCLUDE_DIRS}
)

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
set(CMAKE_PREFIX_PATH ${PROJECT_SOURCE_DIR}/Thirdparty/libtorch) # must put it at last

find_package(Eigen3 3.3.1 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(realsense2)  # if not find it, there maybe be short-term errors in build process
find_package(Torch REQUIRED)
find_package(Sophus REQUIRED)
find_package(PCL 1.12 REQUIRED)

include_directories(
        ${PROJECT_SOURCE_DIR}
        ${PROJECT_SOURCE_DIR}/include
        ${PROJECT_SOURCE_DIR}/include/CameraModels
        # ${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
        ${EIGEN3_INCLUDE_DIR}
        ${Pangolin_INCLUDE_DIRS}
        ${TORCH_INCLUDE_DIRS}
        ${PCL_INCLUDE_DIRS}
)

add_definitions( ${PCL_DEFINITIONS} )
link_directories( ${PCL_LIBRARY_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/ORBmatcher.cc
        src/FrameDrawer.cc
        src/Converter.cc
        src/MapPoint.cc
        src/KeyFrame.cc
        src/Atlas.cc
        src/Map.cc
        src/MapDrawer.cc
        src/Optimizer.cc
        src/Frame.cc
        src/KeyFrameDatabase.cc
        src/Sim3Solver.cc
        src/Viewer.cc
        src/ImuTypes.cc
        src/G2oTypes.cc
        src/CameraModels/Pinhole.cpp
        src/CameraModels/KannalaBrandt8.cpp
        src/OptimizableTypes.cpp
        src/MLPnPsolver.cpp
        src/GeometricTools.cc
        src/TwoViewReconstruction.cc
        src/Config.cc
        src/Settings.cc
        src/YoloDetect.cpp
        src/PointCloudMapper.cpp
        src/globalPlannerLib.cpp
        include/System.h
        include/Tracking.h
        include/LocalMapping.h
        include/LoopClosing.h
        include/ORBextractor.h
        include/ORBmatcher.h
        include/FrameDrawer.h
        include/Converter.h
        include/MapPoint.h
        include/KeyFrame.h
        include/Atlas.h
        include/Map.h
        include/MapDrawer.h
        include/Optimizer.h
        include/Frame.h
        include/KeyFrameDatabase.h
        include/Sim3Solver.h
        include/Viewer.h
        include/ImuTypes.h
        include/G2oTypes.h
        include/CameraModels/GeometricCamera.h
        include/CameraModels/Pinhole.h
        include/CameraModels/KannalaBrandt8.h
        include/OptimizableTypes.h
        include/MLPnPsolver.h
        include/GeometricTools.h
        include/TwoViewReconstruction.h
        include/SerializationUtils.h
        include/Config.h
        include/Settings.h
        include/YoloDetect.h
        include/PointCloudMapper.h
        include/BoundedPQueue.h
        include/KDTree.h
        include/Point.h
        include/rrtBase.h
        include/rrtOctomap.h
        include/utils.h)

add_subdirectory(Thirdparty/g2o)

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

# If RealSense SDK is found the library is added and its examples compiled
if(realsense2_FOUND)
    include_directories(${PROJECT_NAME}
            ${realsense_INCLUDE_DIR}
            )
    target_link_libraries(${PROJECT_NAME}
            ${realsense2_LIBRARY}
            )
endif()

# Build RGB-D TUM
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
add_executable(rgbd_tum
        Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

# Build RGB-D ROS
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/ROS)
add_executable(RGBD
        Examples/ROS/ros_rgbd.cc
)
target_link_libraries(RGBD ${PROJECT_NAME})

# Build Realsense
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)
if(realsense2_FOUND)
    add_executable(rgbd_realsense_D435i
            Examples/RGB-D/rgbd_realsense_D435i.cc)
    target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
endif()

# Build Path Planner
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Planner)
add_executable(path_planner
        Examples/Planner/rrtInteractiveNode.cpp
)
target_link_libraries(path_planner ${PROJECT_NAME})