CMakeLists.txt

cmake_minimum_required(VERSION 2.8...3.20)
project(R-VIWO-ARK)

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

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})
option(BUILD_EXAMPLES "Build Examples " OFF)

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall   -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-error=unused-parameter   -O3")
#set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -march=native")
#set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -march=native")
set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} ")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ")

# 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++0x" COMPILER_SUPPORTS_CXX0X)
if (COMPILER_SUPPORTS_CXX14)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
    add_definitions(-DCOMPILEDWITHC11)
    message(STATUS "Using flag -std=c++11.")
elseif (COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${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 ()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

# find_package(PythonLibs REQUIRED)

find_package(OpenCV 4)
if (NOT OpenCV_FOUND)
    message(FATAL_ERROR "OpenCV > 4.4 not found.")
endif ()

# Glog

find_package(GLOG REQUIRED)

MESSAGE("OPENCV VERSION:")
MESSAGE(${OpenCV_VERSION})

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED PATHS "/home/vuong/Code/local_lib")
find_package(realsense2)

find_package(TBB REQUIRED)
message(STATUS "Found TBB ${TBB_VERSION_MAJOR}.${TBB_VERSION_MINOR} (interface version ${TBB_INTERFACE_VERSION}) headers in: ${TBB_INCLUDE_DIRS}")
if (TBB_INTERFACE_VERSION LESS 11004)
    # enable global_control header for earlier TBB versions (Ubuntu 16.04, 18.04)
    add_definitions(-DTBB_PREVIEW_GLOBAL_CONTROL)
endif ()

include_directories(
        ${PROJECT_SOURCE_DIR}
        ${PROJECT_SOURCE_DIR}/include
        ${PROJECT_SOURCE_DIR}/include/CameraModels
        ${PROJECT_SOURCE_DIR}/Thirdparty/Sophus
        # ${PYTHON_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIR}
        ${Pangolin_INCLUDE_DIRS}
        ${TBB_INCLUDE_DIR}
        ${GLOG_INCLUDE_DIRS}
        -lboost_system
        /usr/local/include
        # /usr/local/cuda-11.2/include
        # /usr/local/cuda-10.2/targets/x86_64-linux/include
        # /usr/include/hdf5/serial
        /usr/include
)

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/DynamicCulling.cc
#        src/DynamicDetector.cc
#        src/Segment.cc
#        src/libsegmentation.cpp
        # src/pyhelper.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/DynamicCulling.h
#        include/DynamicDetector.h
#        include/Segment.h
#        include/libsegmentation.hpp
        # include/pyhelper.hpp
        src/OdomTypes.cpp include/OdomTypes.h
        src/OdomFactor.cpp include/OdomFactor.h
        include/sophus_utilis.hpp)

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
        ${GLOG_LIBRARIES}
        -lboost_serialization
        -lcrypto
        -lboost_system
        ${TBB_LIBRARIES}
        )

# 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 ()

#TUM example

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum_seg
        Examples/RGB-D/rgbd_tum_seg.cc)
target_link_libraries(rgbd_tum_seg ${PROJECT_NAME})

#Stereo Inertial examples
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)

add_executable(stereo_inertial_euroc
        Examples/Stereo-Inertial/stereo_inertial_euroc.cc)
target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})

add_executable(stereo_inertial_tum_vi
        Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})

add_executable(stereo_inertial_zed2
        Examples/Stereo-Inertial/stereo_inertial_zed2.cpp)
target_link_libraries(stereo_inertial_zed2 ${PROJECT_NAME})

add_executable(stereo_inertial_uzh
        Examples/Stereo-Inertial/stereo_intertial_uzh.cpp)
target_link_libraries(stereo_inertial_uzh ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial-W)

add_executable(stereo_inertial_w_zed2
        Examples/Stereo-Inertial-W/stereo_inertial_w_zed2.cpp)
target_link_libraries(stereo_inertial_w_zed2 ${PROJECT_NAME})

add_executable(stereo_inertial_w_openloris
        Examples/Stereo-Inertial-W/stereo_inertial_w_openloris.cpp)
target_link_libraries(stereo_inertial_w_openloris ${PROJECT_NAME})

add_executable(stereo_inertial_w_seg_openloris
        Examples/Stereo-Inertial-W/stereo_inertial_w_seg_openloris.cpp)
target_link_libraries(stereo_inertial_w_seg_openloris ${PROJECT_NAME})

add_executable(stereo_semantic_openloris
            Examples/Stereo/stereo_semantic_openloris.cpp)
target_link_libraries(stereo_semantic_openloris ${PROJECT_NAME})

# Build examples
if (BUILD_EXAMPLES)
    # RGB-D examples
    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})

    if (realsense2_FOUND)
        add_executable(rgbd_realsense_D435i
                Examples/RGB-D/rgbd_realsense_D435i.cc)
        target_link_libraries(rgbd_realsense_D435i ${PROJECT_NAME})
    endif ()


    # RGB-D inertial examples
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D-Inertial)

    if (realsense2_FOUND)
        add_executable(rgbd_inertial_realsense_D435i
                Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
        target_link_libraries(rgbd_inertial_realsense_D435i ${PROJECT_NAME})
    endif ()

    #Stereo examples
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

    add_executable(stereo_kitti
            Examples/Stereo/stereo_kitti.cc)
    target_link_libraries(stereo_kitti ${PROJECT_NAME})

    add_executable(stereo_euroc
            Examples/Stereo/stereo_euroc.cc)
    target_link_libraries(stereo_euroc ${PROJECT_NAME})

    add_executable(stereo_tum_vi
            Examples/Stereo/stereo_tum_vi.cc)
    target_link_libraries(stereo_tum_vi ${PROJECT_NAME})

    add_executable(stereo_zed2
            Examples/Stereo/stereo_zed2.cpp)
    target_link_libraries(stereo_zed2 ${PROJECT_NAME})

    if (realsense2_FOUND)
        add_executable(stereo_realsense_t265
                Examples/Stereo/stereo_realsense_t265.cc)
        target_link_libraries(stereo_realsense_t265 ${PROJECT_NAME})

        add_executable(stereo_realsense_D435i
                Examples/Stereo/stereo_realsense_D435i.cc)
        target_link_libraries(stereo_realsense_D435i ${PROJECT_NAME})
    endif ()

    #Monocular examples
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

    add_executable(mono_tum
            Examples/Monocular/mono_tum.cc)
    target_link_libraries(mono_tum ${PROJECT_NAME})

    add_executable(mono_kitti
            Examples/Monocular/mono_kitti.cc)
    target_link_libraries(mono_kitti ${PROJECT_NAME})

    add_executable(mono_euroc
            Examples/Monocular/mono_euroc.cc)
    target_link_libraries(mono_euroc ${PROJECT_NAME})

    add_executable(mono_tum_vi
            Examples/Monocular/mono_tum_vi.cc)
    target_link_libraries(mono_tum_vi ${PROJECT_NAME})

    add_executable(mono_see3cam
            Examples/Monocular/mono_see3cam.cc)
    target_link_libraries(mono_see3cam ${PROJECT_NAME})

    if (realsense2_FOUND)
        add_executable(mono_realsense_t265
                Examples/Monocular/mono_realsense_t265.cc)
        target_link_libraries(mono_realsense_t265 ${PROJECT_NAME})

        add_executable(mono_realsense_D435i
                Examples/Monocular/mono_realsense_D435i.cc)
        target_link_libraries(mono_realsense_D435i ${PROJECT_NAME})
    endif ()

    #Monocular inertial examples
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular-Inertial)

    add_executable(mono_inertial_euroc
            Examples/Monocular-Inertial/mono_inertial_euroc.cc)
    target_link_libraries(mono_inertial_euroc ${PROJECT_NAME})

    add_executable(mono_inertial_tum_vi
            Examples/Monocular-Inertial/mono_inertial_tum_vi.cc)
    target_link_libraries(mono_inertial_tum_vi ${PROJECT_NAME})

    add_executable(mono_inertial_see3cam Examples/Monocular-Inertial/mono_inertial_see3cam.cpp)
    target_link_libraries(mono_inertial_see3cam ${PROJECT_NAME})

    add_executable(mono_inertial_zed2 Examples/Monocular-Inertial/mono_inertial_zed2.cpp)
    target_link_libraries(mono_inertial_zed2 ${PROJECT_NAME})

    if (realsense2_FOUND)
        add_executable(mono_inertial_realsense_t265
                Examples/Monocular-Inertial/mono_inertial_realsense_t265.cc)
        target_link_libraries(mono_inertial_realsense_t265 ${PROJECT_NAME})

        add_executable(mono_inertial_realsense_D435i
                Examples/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
        target_link_libraries(mono_inertial_realsense_D435i ${PROJECT_NAME})
    endif ()

    #Stereo Inertial examples
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo-Inertial)

    add_executable(stereo_inertial_euroc
            Examples/Stereo-Inertial/stereo_inertial_euroc.cc Examples/Stereo-Inertial/stereo_intertial_uzh.cpp)
    target_link_libraries(stereo_inertial_euroc ${PROJECT_NAME})

    add_executable(stereo_inertial_tum_vi
            Examples/Stereo-Inertial/stereo_inertial_tum_vi.cc)
    target_link_libraries(stereo_inertial_tum_vi ${PROJECT_NAME})

    add_executable(stereo_inertial_zed2
            Examples/Stereo-Inertial/stereo_inertial_zed2.cpp)
    target_link_libraries(stereo_inertial_zed2 ${PROJECT_NAME})

    add_executable(stereo_inertial_d455
            Examples/Stereo-Inertial/stereo_inertial_d455.cpp)
    target_link_libraries(stereo_inertial_d455 ${PROJECT_NAME})

    if (realsense2_FOUND)
        add_executable(stereo_inertial_realsense_t265
                Examples/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
        target_link_libraries(stereo_inertial_realsense_t265 ${PROJECT_NAME})

        add_executable(stereo_inertial_realsense_D435i
                Examples/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
        target_link_libraries(stereo_inertial_realsense_D435i ${PROJECT_NAME})
    endif ()

    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Calibration)
    if (realsense2_FOUND)
        add_executable(recorder_realsense_D435i
                Examples/Calibration/recorder_realsense_D435i.cc)
        target_link_libraries(recorder_realsense_D435i ${PROJECT_NAME})

        add_executable(recorder_realsense_T265
                Examples/Calibration/recorder_realsense_T265.cc)
        target_link_libraries(recorder_realsense_T265 ${PROJECT_NAME})
    endif ()

    #Old examples

    # RGB-D examples
    # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D)

    # add_executable(rgbd_tum_old
    #         Examples_old/RGB-D/rgbd_tum.cc)
    # target_link_libraries(rgbd_tum_old ${PROJECT_NAME})

    # if(realsense2_FOUND)
    #     add_executable(rgbd_realsense_D435i_old
    #             Examples_old/RGB-D/rgbd_realsense_D435i.cc)
    #     target_link_libraries(rgbd_realsense_D435i_old ${PROJECT_NAME})
    # endif()


    # RGB-D inertial examples
    # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/RGB-D-Inertial)

    # if(realsense2_FOUND)
    #     add_executable(rgbd_inertial_realsense_D435i_old
    #             Examples_old/RGB-D-Inertial/rgbd_inertial_realsense_D435i.cc)
    #     target_link_libraries(rgbd_inertial_realsense_D435i_old ${PROJECT_NAME})
    # endif()

    #Stereo examples
    # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo)

    # add_executable(stereo_kitti_old
    #         Examples_old/Stereo/stereo_kitti.cc)
    # target_link_libraries(stereo_kitti_old ${PROJECT_NAME})

    # add_executable(stereo_euroc_old
    #         Examples_old/Stereo/stereo_euroc.cc)
    # target_link_libraries(stereo_euroc_old ${PROJECT_NAME})

    # add_executable(stereo_tum_vi_old
    #         Examples_old/Stereo/stereo_tum_vi.cc)
    # target_link_libraries(stereo_tum_vi_old ${PROJECT_NAME})

    # if(realsense2_FOUND)
    #     add_executable(stereo_realsense_t265_old
    #             Examples_old/Stereo/stereo_realsense_t265.cc)
    #     target_link_libraries(stereo_realsense_t265_old ${PROJECT_NAME})

    #     add_executable(stereo_realsense_D435i_old
    #             Examples_old/Stereo/stereo_realsense_D435i.cc)
    #     target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME})
    # endif()

    #Monocular examples
    # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular)

    # add_executable(mono_tum_old
    #         Examples_old/Monocular/mono_tum.cc)
    # target_link_libraries(mono_tum_old ${PROJECT_NAME})

    # add_executable(mono_kitti_old
    #         Examples_old/Monocular/mono_kitti.cc)
    # target_link_libraries(mono_kitti_old ${PROJECT_NAME})

    # add_executable(mono_euroc_old
    #         Examples_old/Monocular/mono_euroc.cc)
    # target_link_libraries(mono_euroc_old ${PROJECT_NAME})

    # add_executable(mono_tum_vi_old
    #         Examples_old/Monocular/mono_tum_vi.cc)
    # target_link_libraries(mono_tum_vi_old ${PROJECT_NAME})

    # if(realsense2_FOUND)
    #     add_executable(mono_realsense_t265_old
    #             Examples_old/Monocular/mono_realsense_t265.cc)
    #     target_link_libraries(mono_realsense_t265_old ${PROJECT_NAME})

    #     add_executable(mono_realsense_D435i_old
    #             Examples_old/Monocular/mono_realsense_D435i.cc)
    #     target_link_libraries(mono_realsense_D435i_old ${PROJECT_NAME})
    # endif()

    #Monocular inertial examples
    # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Monocular-Inertial)

    # add_executable(mono_inertial_euroc_old
    #         Examples_old/Monocular-Inertial/mono_inertial_euroc.cc)
    # target_link_libraries(mono_inertial_euroc_old ${PROJECT_NAME})

    # add_executable(mono_inertial_tum_vi_old
    #         Examples_old/Monocular-Inertial/mono_inertial_tum_vi.cc)
    # target_link_libraries(mono_inertial_tum_vi_old ${PROJECT_NAME})

    # if(realsense2_FOUND)
    #     add_executable(mono_inertial_realsense_t265_old
    #             Examples_old/Monocular-Inertial/mono_inertial_realsense_t265.cc)
    #     target_link_libraries(mono_inertial_realsense_t265_old ${PROJECT_NAME})

    #     add_executable(mono_inertial_realsense_D435i_old
    #             Examples_old/Monocular-Inertial/mono_inertial_realsense_D435i.cc)
    #     target_link_libraries(mono_inertial_realsense_D435i_old ${PROJECT_NAME})
    # endif()

    #Stereo Inertial examples
    # set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples_old/Stereo-Inertial)

    # add_executable(stereo_inertial_euroc_old
    #         Examples_old/Stereo-Inertial/stereo_inertial_euroc.cc)
    # target_link_libraries(stereo_inertial_euroc_old ${PROJECT_NAME})

    # add_executable(stereo_inertial_tum_vi_old
    #         Examples_old/Stereo-Inertial/stereo_inertial_tum_vi.cc)
    # target_link_libraries(stereo_inertial_tum_vi_old ${PROJECT_NAME})

    # if(realsense2_FOUND)
    #     add_executable(stereo_inertial_realsense_t265_old
    #             Examples_old/Stereo-Inertial/stereo_inertial_realsense_t265.cc)
    #     target_link_libraries(stereo_inertial_realsense_t265_old ${PROJECT_NAME})

    #     add_executable(stereo_inertial_realsense_D435i_old
    #             Examples_old/Stereo-Inertial/stereo_inertial_realsense_D435i.cc)
    #     target_link_libraries(stereo_inertial_realsense_D435i_old ${PROJECT_NAME})
    # endif()
else ()
    MESSAGE("BUILD EXAMPLES: OFF")
endif (BUILD_EXAMPLES)