cmake_minimum_required(VERSION 2.8.3)
project(space_slam)

set (CMAKE_BUILD_TYPE Release)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
set(CMAKE_CXX_FLAGS "-std=c++0x -Wno-deprecated")

find_package(Boost REQUIRED COMPONENTS system thread)
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  base_msgs
  tf
)

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


# LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
find_package(Eigen3 REQUIRED)
#generate_messages(DEPENDENCIES std_msgs geometry_msgs nav_msgs)
find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})

find_package(OpenCV REQUIRED)
INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIRS})

catkin_package(
#   CATKIN_DEPENDS message_runtime
)

include_directories(
    ${catkin_INCLUDE_DIRS}
    ${EIGEN_INCLUDE_DIRS}
)

link_directories(
    /usr/lib/
    /usr/local/lib/
    /usr/local/libstatic/
)

INCLUDE_DIRECTORIES(
  ${PROJECT_SOURCE_DIR}
  )

add_executable(slam_node
  ros_node.cpp
  map/map.cpp
  odom/odom.cpp
  slam/slam.cpp
  filter/filter.cpp
  
  pose_graph/pose_cost_function.cpp
  pose_graph/occupied_space_cost_function.cc
  pose_graph/pose_graph.cpp

  real_match_2d/real_match_2d.cpp
  ceres_matcher/ceres_scan_matcher_2d.cc
  ceres_matcher/occupied_space_cost_function_2d.cc
)

target_link_libraries(slam_node
  ${catkin_LIBRARIES}
  ${Boost_LIBRARIES}
  ${CERES_LIBRARIES}
  ${OpenCV_LIBRARIES}
  libspace_lib.so
  glog
  # libspace_key.a
)

install(TARGETS slam_node
  slam_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY
 DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 USE_SOURCE_PERMISSIONS
)