CMakeLists.txt

cmake_minimum_required(VERSION 2.8...3.22)
project(vio-hello-world)

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++17 -Wall -fopenmp -fPIC")
set(CMAKE_CXX_FLAGS_RELEASE "-O3")

# Unless you know what you are doing, please comment out the following statement
add_definitions("-w")

include_directories(
        ${PROJECT_SOURCE_DIR}/tiny_ceres_solver/include
        ${PROJECT_SOURCE_DIR}/tiny_ceres_solver/internal
        ${PROJECT_SOURCE_DIR}/thirdparty/Sophus
        ${PROJECT_SOURCE_DIR}/thirdparty/DBoW2
        ${PROJECT_SOURCE_DIR}
)

add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/backward-cpp)
add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/DBoW2)

find_package(OpenCV 4 REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})

set(THIRD_PARTY_LIBS
        gtest
        gtest_main
        glog
        gflags
)

enable_testing()

option(ENABLE_DEEP_FEATURE_MATCHER "Enable SuperPoint And LightGlue" OFF)
if (ENABLE_DEEP_FEATURE_MATCHER)
    # TensorRT include and lib file have been install to the cuda dir
    # The tensorrt version in this project is [TensorRT-8.6.1]
    find_package(CUDA 11.8 REQUIRED)
    include_directories(${CUDA_INCLUDE_DIRS})
    include_directories(${PROJECT_SOURCE_DIR}/dfm/3rdparty/tensorrt_utils)
    add_compile_definitions(ENABLE_DFM=1)
    add_subdirectory(dfm)
    message(STATUS "Enable DFM Support")
else ()
    message(STATUS "Not Enable DFM Support")
endif ()

add_subdirectory(tiny_ceres_solver)
add_subdirectory(feat)
add_subdirectory(backend)
add_subdirectory(geometry)
add_subdirectory(vio_hw)
add_subdirectory(tool)