CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(dre_slam)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
set(CMAKE_BUILD_TYPE Release)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
   roscpp
   cv_bridge
   image_transport
   geometry_msgs
   message_filters
   pcl_ros
)

catkin_package(
)

## System dependencies are found with CMake's conventions
find_package(PCL REQUIRED)
find_package(OpenCV 3 REQUIRED)
find_package(Eigen3  REQUIRED)
find_package(Ceres REQUIRED )
find_package(Sophus REQUIRED)
find_package(octomap REQUIRED)

include_directories(
	${catkin_INCLUDE_DIRS}
	${OpenCV_INCLUDE_DIRS}
	${EIGEN3_INCLUDE_DIR}
	${PCL_INCLUDE_DIRS}
	${CERES_INCLUDE_DIRS}
	${Sophus_INCLUDE_DIRS}
	${OCTOMAP_INCLUDE_DIRS}
	${PROJECT_SOURCE_DIR}
	${PROJECT_SOURCE_DIR}/core/include/
        ${PROJECT_SOURCE_DIR}/third_party/
)

## Declare a C++ library
add_library(${PROJECT_NAME}_lib
	core/src/dre_slam.cpp
 	core/src/config.cpp
 	core/src/ORBextractor.cpp
 	core/src/camera.cpp
 	core/src/tracking.cpp
 	core/src/local_mapping.cpp
 	core/src/loop_closing.cpp
 	core/src/map.cpp
 	core/src/map_point.cpp
 	core/src/feature_detector.cpp
 	core/src/frame.cpp
 	core/src/keyframe.cpp
 	core/src/encoder_integration.cpp
 	core/src/common.cpp
 	core/src/optimizer.cpp
 	core/src/dynamic_pixel_detector.cpp
 	core/src/dynamic_pixel_culling.cpp
 	core/src/ros_puber.cpp
 	core/src/octomap_fusion.cpp
 	core/src/sub_octomap.cpp
 	core/src/sub_octomap_construction.cpp
)

target_link_libraries(${PROJECT_NAME}_lib
	${catkin_LIBRARIES}
	${OpenCV_LIBS}
	${EIGEN3_LIBS}
	${PCL_LIBRARIES}
	${CERES_LIBRARIES}
	${Sophus_LIBRARIES}
	${PROJECT_SOURCE_DIR}/third_party/DBoW2/lib/libDBoW2.so
	${PROJECT_SOURCE_DIR}/object_detector/lib/libobject_detector.so
	${OCTOMAP_LIBRARIES}
)


# dre_slam_node
add_executable(dre_slam_node
	node/dre_slam_node.cpp)
target_link_libraries(dre_slam_node
	${PROJECT_NAME}_lib
	${catkin_LIBRARIES}
)