cmake_minimum_required(VERSION 3.5)
project(VISMA)

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/CMakeModules)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3 -Wall -g -fopenmp -fPIC")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-sign-compare -Wno-unused-function -Wno-unused-variable -Wno-narrowing")
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin )
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib )

# MACROS eigen
add_definitions(-DEIGEN_INITIALIZE_MATRICES_BY_ZERO)
add_definitions(-DEIGEN_DEFAULT_TO_ROW_MAJOR)

# Eigen
find_package(Eigen3 REQUIRED)
# Google log
find_package(Glog REQUIRED)
# Protobuf
find_package(Protobuf REQUIRED)
PROTOBUF_GENERATE_CPP(PROTO_SRCS PROTO_HDRS ${PROJECT_SOURCE_DIR}/protocols/vlslam.proto)

add_subdirectory(thirdparty/abseil-cpp)

include_directories(
        ${CMAKE_CURRENT_BINARY_DIR}
        ${PROJECT_SOURCE_DIR}/core
        ${PROJECT_SOURCE_DIR}/render
        ${PROJECT_SOURCE_DIR}/include
        ${PROJECT_SOURCE_DIR}/thirdparty/libigl/include
        ${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/include
        ${PROJECT_SOURCE_DIR}/thirdparty/abseil-cpp

        ${EIGEN3_INCLUDE_DIR}
        ${PROTOBUF_INCLUDE_DIRS}
        ${GLOG_INCLUDE_DIRS}
)
message(STATUS "Found Eigen at ${EIGEN3_INCLUDE_DIR}")

link_directories(
        ${PROJECT_SOURCE_DIR}/lib
        ${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/lib
        /usr/local/lib
        /usr/lib
        /usr/x86_64-linux-gnu
)


link_libraries(
        protobuf
        glog
        jsoncpp

        opencv_highgui
        opencv_core
        opencv_imgproc
        opencv_video
        opencv_calib3d)

add_library(core SHARED
        core/utils.cpp
        ${PROTO_SRCS})

add_library(visma SHARED
        src/dataloader.cpp
        src/undistorter.cpp
        ${PROTO_SRCS})

link_libraries(core visma absl::str_format)

add_executable(example_load example/example_load.cpp)
# target_link_libraries(example_load visma core)

add_executable(example_dump example/example_dump.cpp)
# target_link_libraries(example_dump visma core)

add_executable(undistort_images example/undistort_images.cpp)
# target_link_libraries(undistort_images visma core)

add_executable(generate_depthmaps example/generate_depthmaps.cpp)
# target_link_libraries(generate_depthmaps visma core)

set(BUILD_CORE_TESTS False)
if (${build_core_tests})
  add_executable(test_rodrigues core/test/test_rodrigues.cpp)
  target_link_libraries(test_rodrigues gtest gtest_main)
  # add_executable(test_se3 core/test_se3.cpp)
endif(${build_core_tests})


set(BUILD_EVALUATION False)
if (${build_evaluation})
    include_directories(
            ${PROJECT_SOURCE_DIR}/thirdparty/Open3D/include/Open3D)
    link_directories(
            ${PROJECT_SOURCE_DIR}/thirdparty/Open3D/lib
    )
    add_library(visma_eval SHARED
            src/constrained_ICP.cpp
            src/evaluation.cpp
            src/visualization.cpp)
          target_link_libraries(visma_eval ${PROJECT_SOURCE_DIR}/thirdparty/jsoncpp/lib/libjsoncpp.so)

    add_executable(example_evaluate example/example_evaluate.cpp)
    target_link_libraries(example_evaluate visma_eval visma core Open3D)
endif(${build_evaluation})

set(build_tools True)
if (${build_tools})
  add_subdirectory(render)
endif(${build_tools})