CMakeLists.txt

cmake_minimum_required( VERSION 3.5.1 )

# Set project name.
project(solution-simple-vo)

# Set executable name.
set(exe_name solution-simple-vo)

# Make cmake first look for "Find<package>.cmake" functions generated by conan.
list(PREPEND CMAKE_MODULE_PATH ${CMAKE_BINARY_DIR})

# Export commands for vscode.
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

# Find required libraries.
find_package(OpenCV 4 REQUIRED)
find_package(Eigen3 3.3.4 REQUIRED)
find_package(Sophus REQUIRED)
find_package(tek5030 CONFIG REQUIRED OPTIONAL_COMPONENTS rs2)

# We use the "OpenCV_LIBS" variable for backward compatibility with the old lab setup.
if (NOT OpenCV_LIBS)
  set(OpenCV_LIBS "opencv::opencv")
endif()

# Add an executable target to the project with the specified source files.
add_executable(${exe_name})
target_sources(${exe_name} PRIVATE
  lab_vo.h
  lab_vo.cpp
  pose_measurement.h
  pose_measurement.cpp
  calibrated_camera.h
  calibrated_opencv_camera.h
  calibrated_opencv_camera.cpp
  correspondences.h
  correspondences.cpp
  feature_utils.h
  feature_utils.cpp
  frame.h
  frame.cpp
  intrinsic_calibration.h
  intrinsic_calibration.cpp
  main.cpp
  matcher.h
  matcher.cpp
  map.h
  map.cpp
  moba_pose_estimator.h
  moba_pose_estimator.cpp
  pose_estimator.h
  point_measurement.h
  point_measurement.cpp
  pnp_pose_estimator.h
  pnp_pose_estimator.cpp
  two_view_relative_pose_estimator.h
  two_view_relative_pose_estimator.cpp
  relative_pose_estimate.h
  relative_pose_estimate.cpp
  scene_3d.h
  scene_3d.cpp
  points_estimator.h
  dlt_points_estimator.h
  dlt_points_estimator.cpp
  soba_points_estimator.h
  soba_points_estimator.cpp)

# Specify libraries that will be linked with the executable target.
target_link_libraries(${exe_name}
  ${OpenCV_LIBS}
  Eigen3::Eigen
  Sophus::Sophus
  tek5030::tek5030
  )

if(TARGET tek5030::rs2)  #  if(tek5030_rs2_FOUND) does also work
  message(STATUS "* Support for Intel® RealSense™ ENABLED")
  target_compile_definitions(${exe_name} PUBLIC TEK5030_REALSENSE)
  target_link_libraries(${exe_name} tek5030::rs2)
  target_sources(${exe_name} PRIVATE
    calibrated_realsense_camera.h
    calibrated_realsense_camera.cpp
    )
else()
  message(STATUS "* Support for Intel® RealSense™ DISABLED because component tek5030::rs2 was not found")
endif()

# Set properties for the executable target.
set_target_properties(${exe_name} PROPERTIES
  CXX_STANDARD_REQUIRED ON
  CXX_STANDARD 17
  )

# Define two groups of supported compilers.
set(gcc_like_cxx "$<COMPILE_LANG_AND_ID:CXX,ARMClang,AppleClang,Clang,GNU,LCC>")
set(msvc_cxx "$<COMPILE_LANG_AND_ID:CXX,MSVC>")

# Set compiler specific flags and definitions.
target_compile_options(${exe_name} PRIVATE
  "$<${gcc_like_cxx}:$<BUILD_INTERFACE:-Wall;-Wextra;-Wpedantic;-Wshadow;-Wformat=2>>"
  "$<${msvc_cxx}:$<BUILD_INTERFACE:-W4>>"
  )
target_compile_definitions(${exe_name} PUBLIC
  "$<${msvc_cxx}:-D_USE_MATH_DEFINES>"
  )