cmake_minimum_required(VERSION 2.8)

project(DSDTM)

set(CMAKE_BUILD_TYPE Release)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -o3")

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV REQUIRED)

include_directories(${Opencv_INCLUDE_DIRS})

message(STATUS " version: ${OpenCV_VERSION}")

find_package(Ceres REQUIRED)

include_directories(${Ceres_INCLUDE_DIRS})

find_package(Sophus REQUIRED)

set(Sophus_LIBRARIES libSophus.so)

include_directories(${Sophus_INCLUDE_DIRS})

include_directories("/usr/include/eigen3")

find_package(Glog REQUIRED)

include_directories(${GLOG_INCLUDE_DIRS})

find_package(Pangolin REQUIRED)

include_directories(${Pangolin_INCLUDE_DIRS})

include_directories(

${PROJECT_SOURCE_DIR}/include

${PROJECT_SOURCE_DIR}/Thirdparty/fast/include

${PROJECT_SOURCE_DIR}/Thirdparty/fastMCD/include)

add_library(${PROJECT_NAME} SHARED

src/Frame.cpp

src/Feature_detection.cpp

src/Config.cpp

src/Camera.cpp

src/Tracking.cpp

src/Initializer.cpp

src/Rarsac_base.cpp

src/MapPoint.cpp

src/Map.cpp

src/Keyframe.cpp

src/Optimizer.cpp

src/LocalMapping.cpp

src/Moving_Detection.cpp

src/Feature_alignment.cpp

src/Sprase_ImageAlign.cpp

src/Viewer.cpp

src/System.cpp

src/Utils.cpp)

target_link_libraries(${PROJECT_NAME}

${OpenCV_LIBS}

${CERES_LIBRARIES}

${Sophus_LIBRARIES}

${GLOG_LIBARIES}

${Pangolin_LIBRARIES}

${PROJECT_SOURCE_DIR}/Thirdparty/fast/lib/libfast.so

${PROJECT_SOURCE_DIR}/Thirdparty/fastMCD/lib/libfastMCD.so)

add_executable(test_Feature_detection Test/test_Feature_detection.cpp)

target_link_libraries(test_Feature_detection ${PROJECT_NAME})

add_executable(test_Tracking Test/test_Tracking.cpp)

target_link_libraries(test_Tracking ${PROJECT_NAME})

add_executable(test_Combination Test/test_Combination.cpp)

target_link_libraries(test_Combination ${PROJECT_NAME})

add_executable(test_Jotting Test/test_Jotting.cpp)

target_link_libraries(test_Jotting ${PROJECT_NAME})

add_executable(test_Motion_dection Test/test_Motion_detection.cpp)

target_link_libraries(test_Motion_dection ${PROJECT_NAME})

add_executable(test_Feature_alignemnt Test/test_Feature_alignment.cpp)

target_link_libraries(test_Feature_alignemnt ${PROJECT_NAME})

add_executable(test_uzhsin Test/test_uzhsin.cpp)

target_link_libraries(test_uzhsin ${PROJECT_NAME})