cmake_minimum_required( VERSION 2.8 )
project ( myslam )

set( CMAKE_CXX_COMPILER "g++" )
set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -march=native -O3" )

#PROJECT_SOURCE_DIR為工程的根目錄
#cmake_modules裡面存放自動獲取依賴庫的路徑資訊
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 )

############### dependencies 依賴關係######################
#include_directories：新增標頭檔案路徑

# Eigen
include_directories( "/usr/include/eigen3" )

# OpenCV
find_package( OpenCV 3.1 REQUIRED )
include_directories
 
( ${OpenCV_INCLUDE_DIRS} )
#include_directories( "/usr/local/include/opencv" )
#include_directories( "/usr/local/include")
#通過find_package( OpenCV 3.1 REQUIRED )，輸出CMAKE為你找到的有關OPENCV的資訊
message(STATUS "OpenCV library status:") 
message(STATUS "    version: ${OpenCV_VERSION}") 
message(STATUS "    libraries: ${OpenCV_LIBS}"
 
) 
message(STATUS "    include path: ${OpenCV_INCLUDE_DIRS}")



# Sophus 
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
message(STATUS "Sophus library status:") 
message(STATUS "    version: ${Sophus_VERSION}") 
message(STATUS "    libraries: ${Sophus_LIBRARIES}") 
message(STATUS "    include path: ${Sophus_INCLUDE_DIRS}")

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

set( THIRD_PARTY_LIBS 
    ${OpenCV_LIBS}
    ${Sophus_LIBRARIES}
    g2o_core g2o_stuff g2o_types_sba
)

############### 新增工程的.cpp source 以及自己建立的.h 庫 ######################
include_directories( ${PROJECT_SOURCE_DIR}/include )
add_subdirectory( src )
add_subdirectory( test )