CMakeLists.txt

cmake_minimum_required( VERSION 2.8 )
project ( stereo_vo )

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

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 ######################
# Eigen
#include_directories( "/usr/include/eigen3" )
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIRS})
# OpenCV
find_package( OpenCV 3.1 REQUIRED )
include_directories( ${OpenCV_INCLUDE_DIRS} )
# Sophus 
find_package( Sophus REQUIRED )
include_directories( ${Sophus_INCLUDE_DIRS} )
# G2O
find_package( G2O REQUIRED )
include_directories( ${G2O_INCLUDE_DIRS} )
message(${G2O_TYPES_SBA})
# Pangolin
find_package( Pangolin REQUIRED )
include_directories( ${Pangolin_INCLUDE_DIRS} )

set( THIRD_PARTY_LIBS 
    ${OpenCV_LIBS}
    ${Sophus_LIBRARIES}
    ${G2O_CORE_LIBRARY}
    ${G2O_STUFF_LIBRARY}
    ${G2O_TYPES_SBA}
    ${Pangolin_LIBRARIES}
)
############### dependencies ######################
include_directories( ${PROJECT_SOURCE_DIR}/include )
add_subdirectory( src )
add_subdirectory( test )