CMakeLists.txt

cmake_minimum_required(VERSION 3.1)
project(stereo_vo)

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++14 -O3 -fopenmp -pthread")

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

# eigen3
include_directories(/usr/include/eigen3)

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

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

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

# g2o
find_package(g2o REQUIRED)
include_directories(${G2O_INCLUDE_DIR})

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

# gtest
find_package(GTest REQUIRED)
include_directories(${GTEST_INCLUDE_DIRS})

# gflags
find_package(GFlags REQUIRED)
include_directories(${GFLAGS_INCLUDE_DIRS})

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

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

include_directories(${PROJECT_SOURCE_DIR}/include)
add_subdirectory(src)
add_subdirectory(test)
add_subdirectory(app)