cmake_minimum_required(VERSION 3.0.2)
project(orb_slam3)

set(CMAKE_CXX_FLAGS "-std=c++14")
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  cv_bridge
  image_transport
  message_filters
)

find_package(Eigen3 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(OpenCV REQUIRED)


include_directories(
${catkin_INCLUDE_DIRS} 
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/slam_module
${PROJECT_SOURCE_DIR}/src/AR
)

add_subdirectory(slam_module)


set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/src)
add_executable(orb_slam3_mono_node src/ros_mono.cc)
add_dependencies(orb_slam3_mono_node ORB_SLAM3)
target_link_libraries(orb_slam3_mono_node 
${catkin_LIBRARIES} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/slam_module/lib/libORB_SLAM3.so

)

add_executable(orb_slam3_stereo_node src/ros_stereo.cc)
add_dependencies(orb_slam3_stereo_node ORB_SLAM3)
target_link_libraries(orb_slam3_stereo_node
${catkin_LIBRARIES} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/slam_module/lib/libORB_SLAM3.so
)

add_executable(orb_slam3_rgbd_node src/ros_rgbd.cc)
add_dependencies(orb_slam3_rgbd_node ORB_SLAM3)
target_link_libraries(orb_slam3_rgbd_node 
${catkin_LIBRARIES} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/slam_module/lib/libORB_SLAM3.so
)


add_executable(orb_slam3_mono_inertial_node src/ros_mono_inertial.cc)
add_dependencies(orb_slam3_mono_inertial_node ORB_SLAM3)
target_link_libraries(orb_slam3_mono_inertial_node 
${catkin_LIBRARIES} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/slam_module/lib/libORB_SLAM3.so
)

add_executable(orb_slam3_stereo_inertial_node src/ros_stereo_inertial.cc)
add_dependencies(orb_slam3_stereo_inertial_node ORB_SLAM3)
target_link_libraries(orb_slam3_stereo_inertial_node 
${catkin_LIBRARIES} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/slam_module/lib/libORB_SLAM3.so
)


add_executable(orb_slam3_mono_ar_node 
src/AR/ros_mono_ar.cc
src/AR/ViewerAR.cc
)
add_dependencies(orb_slam3_mono_ar_node ORB_SLAM3)
target_link_libraries(orb_slam3_mono_ar_node 
${catkin_LIBRARIES} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${OpenCV_LIBS}
${PROJECT_SOURCE_DIR}/slam_module/Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/slam_module/lib/libORB_SLAM3.so
)