CMakeLists.txt

cmake_minimum_required(VERSION 3.0)
project(openvslam LANGUAGES CXX C)

if(POLICY CMP0042)
    cmake_policy(SET CMP0042 NEW)
endif()
if(POLICY CMP0074)
    cmake_policy(SET CMP0074 OLD)
endif()

list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

##################
# Set build type #
##################

if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
    set(CMAKE_BUILD_TYPE "Release")
    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
endif()

message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")

###########################
# Set application options #
###########################

set(USE_SANITIZER OFF CACHE BOOL "Enable Address/Memory sanitizer (set env as ASAN_OPTIONS=detect_leaks=1)")

if(USE_SANITIZER)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
    set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fno-omit-frame-pointer -fsanitize=address")
    message(STATUS "Address/Memory sanitizer: ENABLED")
else()
    message(STATUS "Address/Memory sanitizer: DISABLED")
endif()

set(USE_STACK_TRACE_LOGGER OFF CACHE BOOL "Enable automatic stack trace logger of google-glog")

if(USE_STACK_TRACE_LOGGER)
    message(STATUS "Stack trace logger: ENABLED")
    # Glog
    find_package(Glog REQUIRED)
    include_directories(${GLOG_INCLUDE_DIR})
else()
    message(STATUS "Stack trace logger: DISABLED")
endif()

set(USE_GOOGLE_PERFTOOLS OFF CACHE BOOL "Enable profiler of google-perftools")

if(USE_GOOGLE_PERFTOOLS)
    message(STATUS "Google Perftools: ENABLED")
    # Gperftools
    find_package(Gperftools REQUIRED)
    include_directories(${GPERFTOOLS_INCLUDE_DIRS})
else()
    message(STATUS "Google Perftools: DISABLED")
endif()

########################
# Set compiler options #
########################

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")

set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -Og")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Og")

set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3 -ffast-math")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -ffast-math")

set(BUILD_WITH_MARCH_NATIVE OFF CACHE BOOL "Enable architecture-aware optimization (-march=native)")

if(BUILD_WITH_MARCH_NATIVE)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
    set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native -march=native")
    message(STATUS "Architecture-aware optimization (-march=native): ENABLED")
else()
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
    set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -mtune=native")
    message(STATUS "Architecture-aware optimization (-march=native): DISABLED")
endif()

#######################
# Check C++11 support #
#######################

include(CheckCXXCompilerFlag)
check_cxx_compiler_flag("-std=c++11" COMPILER_SUPPORTS_CXX11)
check_cxx_compiler_flag("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
    message(STATUS "C++11 support: OK (-std=c++11)")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
    message(STATUS "C++11 support: OK (-std=c++0x)")
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

#################
# Find packages #
#################

find_package(OpenMP)
if(OpenMP_FOUND)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

include_directories(${PROJECT_SOURCE_DIR}/src)

# OpenCV
find_package(OpenCV 3.4)
if(NOT OpenCV_FOUND)
    find_package(OpenCV 4.0)
    if(NOT OpenCV_FOUND)
        message(FATAL_ERROR "OpenCV > 3.4.0 not found")
    endif()
endif()
message(STATUS "Use OpenCV ${OpenCV_VERSION}")
include_directories(${OpenCV_INCLUDE_DIRS})

# Eigen
find_package(Eigen3 3.2 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})

# g2o
find_package(G2O REQUIRED)
include_directories(${G2O_INCLUDE_DIR})

# CXSparse for g2o
find_package(CXSparse)
if(CXSPARSE_FOUND)
    include_directories(${CXSPARSE_INCLUDE_DIRS})
endif()

# SuiteSparse for g2o
find_package(SuiteSparse)
if(SUITESPARSE_FOUND)
    include_directories(${SUITESPARSE_INCLUDE_DIRS})
endif()

# yaml-cpp
find_package(YamlCpp REQUIRED)
include_directories(${YAMLCPP_INCLUDE_DIRS})

# spdlog
set(spdlog_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/spdlog/include)
include_directories(${spdlog_INCLUDE_DIR})

# popl
set(popl_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/popl/include)
include_directories(${popl_INCLUDE_DIR})

# json
set(json_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/3rd/json/include)
include_directories(${json_INCLUDE_DIR})

# pangolin viewer
set(USE_PANGOLIN_VIEWER ON CACHE BOOL "Enable Pangolin Viewer")
if(USE_PANGOLIN_VIEWER)
    find_package(Pangolin REQUIRED)
endif()

# socket publisher
set(USE_SOCKET_PUBLISHER OFF CACHE BOOL "Enable Socket Publisher")
if(USE_SOCKET_PUBLISHER)
    find_package(sioclient REQUIRED)
    find_package(Protobuf REQUIRED)
    if(NOT PROTOBUF_PROTOC_EXECUTABLE)
        message(FATAL_ERROR "Could not find protoc executable (PROTOBUF_PROTOC_EXECUTABLE)")
    endif()
    message(STATUS "Found protoc executable: ${PROTOBUF_PROTOC_EXECUTABLE}")
endif()

#################
# BoW framework #
#################

set(BOW_FRAMEWORK "DBoW2" CACHE STRING "DBoW2 or FBoW")
set_property(CACHE BOW_FRAMEWORK PROPERTY STRINGS "DBoW2" "FBoW")

if(BOW_FRAMEWORK MATCHES "DBoW2")
    find_package(DBoW2 REQUIRED)
    set(BOW_INCLUDE_DIRS ${DBoW2_INCLUDE_DIRS})
    set(BOW_LIBS ${DBoW2_LIBS})
    add_definitions(-DUSE_DBOW2)
elseif(BOW_FRAMEWORK MATCHES "FBoW")
    find_package(fbow REQUIRED)
    set(BOW_INCLUDE_DIRS ${fbow_INCLUDE_DIRS})
    set(BOW_LIBS ${fbow_LIBS})
else()
    message(FATAL_ERROR "Invalid BoW framework: ${BOW_FRAMEWORK}")
endif()
include_directories(${BOW_INCLUDE_DIRS})
message(STATUS "BoW framework: ${BOW_FRAMEWORK} (found in ${BOW_INCLUDE_DIRS})")

##############################
# Select g2o library modules #
##############################

set(USE_G2O_DEBUG OFF CACHE BOOL "Use the debug build of g2o")

if(USE_G2O_DEBUG)
    set(G2O_LIBS
            ${G2O_CORE_LIBRARY_DEBUG}
            ${G2O_STUFF_LIBRARY_DEBUG}
            ${G2O_SOLVER_DENSE_DEBUG}
            ${G2O_SOLVER_EIGEN_DEBUG}
            ${G2O_SOLVER_CHOLMOD_DEBUG}
            ${G2O_SOLVER_CSPARSE_DEBUG}
            ${G2O_SOLVER_CSPARSE_EXTENSION_DEBUG}
            ${G2O_TYPES_SBA_DEBUG}
            ${G2O_TYPES_SIM3_DEBUG})
else()
    set(G2O_LIBS
            ${G2O_CORE_LIBRARY}
            ${G2O_STUFF_LIBRARY}
            ${G2O_SOLVER_DENSE}
            ${G2O_SOLVER_EIGEN}
            ${G2O_SOLVER_CHOLMOD}
            ${G2O_SOLVER_CSPARSE}
            ${G2O_SOLVER_CSPARSE_EXTENSION}
            ${G2O_TYPES_SBA}
            ${G2O_TYPES_SIM3})
endif()

###################
# Build Selection #
###################

add_subdirectory(src)
add_subdirectory(example)

set(BUILD_TESTS OFF CACHE BOOL "Build tests")
if(BUILD_TESTS)
    enable_testing()
    add_subdirectory(test)
endif()