rtabmap/CMakeLists.txt

# Top-Level CmakeLists.txt
# For GNUInstallDirs
cmake_minimum_required(VERSION 2.8.5)
PROJECT( RTABMap )
SET(PROJECT_PREFIX rtabmap)

# Catkin doesn't support multiarch library path, 
# fix to "lib" if not set by user.
OPTION(MULTI_ARCH "Activate multi-arch lib directory (debian)" OFF)
IF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)
   set(CMAKE_INSTALL_LIBDIR "lib")
ENDIF(NOT MULTI_ARCH AND NOT DEFINED CMAKE_INSTALL_LIBDIR)

INCLUDE(GNUInstallDirs)

####### local cmake modules #######
SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")

#######################
# VERSION
#######################
SET(RTABMAP_MAJOR_VERSION 0)
SET(RTABMAP_MINOR_VERSION 20)
SET(RTABMAP_PATCH_VERSION 10)
SET(RTABMAP_VERSION
  ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}.${RTABMAP_PATCH_VERSION})
  
SET(PROJECT_VERSION "${RTABMAP_VERSION}")

SET(PROJECT_VERSION_MAJOR ${RTABMAP_MAJOR_VERSION})
SET(PROJECT_VERSION_MINOR ${RTABMAP_MINOR_VERSION})
SET(PROJECT_VERSION_PATCH ${RTABMAP_PATCH_VERSION})

SET(PROJECT_SOVERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}")

####### COMPILATION PARAMS #######
# In case of Makefiles if the user does not setup CMAKE_BUILD_TYPE, assume it's Release:
IF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")
    IF("${CMAKE_BUILD_TYPE}" STREQUAL "")
        set(CMAKE_BUILD_TYPE Release)
    ENDIF("${CMAKE_BUILD_TYPE}" STREQUAL "")
ENDIF(${CMAKE_GENERATOR} MATCHES ".*Makefiles")

IF(NOT ANDROID)
    SET(CMAKE_DEBUG_POSTFIX "d")
    option(FLANN_KDTREE_MEM_OPT  "Disable multi-threaded FLANN kd-tree to minimize memory allocations"   OFF)
ELSE()
    option(FLANN_KDTREE_MEM_OPT  "Disable multi-threaded FLANN kd-tree to minimize memory allocations"   ON)
ENDIF()

IF(FLANN_KDTREE_MEM_OPT)
    ADD_DEFINITIONS("-DFLANN_KDTREE_MEM_OPT")
ENDIF(FLANN_KDTREE_MEM_OPT)

IF(WIN32 AND NOT MINGW)
    ADD_DEFINITIONS("-DNOMINMAX")
    ADD_DEFINITIONS("-wd4100 -wd4127 -wd4150 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
ELSE ()
    ADD_DEFINITIONS( "-Wall" )
    ADD_DEFINITIONS("-Wno-unknown-pragmas")
ENDIF()

if(POLICY CMP0020)
    cmake_policy(SET CMP0020 NEW)
endif()
if(POLICY CMP0043)
    cmake_policy(SET CMP0043 OLD)
endif()

IF(MINGW)
    # Hide the --enable-auto-import warning
    SET(CMAKE_EXE_LINKER_FLAGS "-Wl,--enable-auto-import")
    SET(CMAKE_MODULE_LINKER_FLAGS "-Wl,--enable-auto-import")
    SET(CMAKE_SHARED_LINKER_FLAGS "-Wl,--enable-auto-import")
ENDIF(MINGW)

# GCC 4 required
IF(UNIX OR MINGW)
    EXEC_PROGRAM( gcc ARGS "-dumpversion" OUTPUT_VARIABLE GCC_VERSION )
    IF(GCC_VERSION VERSION_LESS "4.0.0")
        MESSAGE(FATAL_ERROR "GCC ${GCC_VERSION} found, but version 4.x.x minimum is required")
    ENDIF(GCC_VERSION VERSION_LESS "4.0.0")
ENDIF(UNIX OR MINGW)

#The CDT Error Parser cannot handle error messages that span 
#more than one line, which is the default gcc behavior. 
#In order to force gcc to generate single line error messages with no line wrapping
IF(CMAKE_COMPILER_IS_GNUCC)
  SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fmessage-length=0")
ENDIF(CMAKE_COMPILER_IS_GNUCC)
IF(CMAKE_COMPILER_IS_GNUCXX)
  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fmessage-length=0")
ENDIF(CMAKE_COMPILER_IS_GNUCXX)

if(MSVC)
  if(MSVC_VERSION GREATER 1500 AND ${CMAKE_VERSION} VERSION_GREATER "2.8.6")
    include(ProcessorCount)
    ProcessorCount(N)
    if(NOT N EQUAL 0)
      SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /MP${N}")
      SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP${N}")
    endif()
  endif()
endif()

# [Eclipse] Automatic Discovery of Include directories (Optional, but handy) 
#SET(CMAKE_VERBOSE_MAKEFILE ON)

#Other paths...
IF(APPLE)
   # For Mac ports
   SET(CMAKE_INCLUDE_PATH "/opt/local/include;${CMAKE_INCLUDE_PATH}")
   SET(CMAKE_LIBRARY_PATH "/opt/local/lib;${CMAKE_LIBRARY_PATH}")
ENDIF()

####### Build libraries as shared or static #######
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON )


####### OUTPUT DIR #######
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

# Avoid Visual Studio bin/Release and bin/Debug sub directories
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE "${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
SET( CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")
SET( CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}")

####### INSTALL DIR #######
set(INSTALL_INCLUDE_DIR include/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
if(WIN32 AND NOT CYGWIN)
  set(DEF_INSTALL_CMAKE_DIR CMake)
else()
  set(DEF_INSTALL_CMAKE_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_PREFIX}-${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION})
endif()
set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR})
  
####### BUILD OPTIONS #######

# ANDROID_PREBUILD (early exit if true)
OPTION( ANDROID_PREBUILD "Set to ON to build rtabmap resource build tool (required for android build)" OFF )
IF(ANDROID_PREBUILD)
   MESSAGE("Option ANDROID_PREBUILD is set, only rtabmap resource tool will be built. You can use android toolchain after that.")
   ADD_SUBDIRECTORY( utilite )
   return()
ENDIF(ANDROID_PREBUILD)

IF(APPLE OR WIN32)
    OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle with all embedded dependencies (DragNDrop for Mac, installer for Windows)" OFF)
ENDIF(APPLE OR WIN32)
OPTION(BUILD_APP "Build main application" ON)
OPTION(BUILD_TOOLS "Build tools" ON)
OPTION(BUILD_EXAMPLES "Build examples" ON)

####### DEPENDENCIES #######
IF(ANDROID)
option(WITH_QT            "Include Qt support"                   OFF)
ELSE()
option(WITH_QT            "Include Qt support"                   ON)
ENDIF()
option(WITH_ORB_OCTREE    "Include ORB Octree feature support"   ON)
option(WITH_TORCH         "Include Torch support (SuperPoint)"   OFF)
option(WITH_PYTHON        "Include Python3 support (PyMatcher, PyDetector)"  OFF)
option(WITH_PYTHON_THREADING  "Use more than one Python interpreter."  OFF)
option(WITH_PDAL          "Include PDAL support"                 ON)
option(WITH_FREENECT      "Include Freenect support"             ON)
option(WITH_FREENECT2     "Include Freenect2 support"            ON)
option(WITH_K4W2          "Include Kinect for Windows v2 support" ON)
option(WITH_K4A           "Include Kinect for Azure support"     ON)
option(WITH_OPENNI2       "Include OpenNI2 support"              ON)
option(WITH_DC1394        "Include dc1394 support"               ON)
option(WITH_G2O           "Include g2o support"                  ON)
option(WITH_GTSAM         "Include GTSAM support"                ON)
option(WITH_TORO          "Include TORO support"                 ON)
option(WITH_CERES         "Include Ceres support"                ON)
option(WITH_VERTIGO       "Include Vertigo support"              ON)
option(WITH_CVSBA         "Include cvsba support"                ON)
option(WITH_POINTMATCHER  "Include libpointmatcher support"      ON)
option(WITH_CCCORELIB     "Include CCCoreLib support"            ON)
option(WITH_LOAM          "Include LOAM support"                 ON)
option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED           "Include ZED sdk support"              ON)
option(WITH_ZEDOC         "Include ZED Open Capture support"     ON)
option(WITH_REALSENSE     "Include RealSense support"            ON)
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support"       ON)
option(WITH_REALSENSE2    "Include RealSense support"            ON)
option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
option(WITH_DEPTHAI       "Include depthai-core support"         ON)
option(WITH_OCTOMAP       "Include Octomap support"              ON)
option(WITH_CPUTSDF       "Include CPUTSDF support"              ON)
option(WITH_OPENCHISEL    "Include open_chisel support"          ON)
option(WITH_ALICE_VISION  "Include AliceVision support"          OFF)
option(WITH_FOVIS         "Include FOVIS support"                ON)
option(WITH_VISO2         "Include VISO2 support"                ON)
option(WITH_DVO           "Include DVO support"                  ON)
option(WITH_ORB_SLAM      "Include ORB_SLAM2 or ORB_SLAM3  support" ON)
option(WITH_OKVIS         "Include OKVIS support"                ON)
option(WITH_MSCKF_VIO     "Include MSCKF_VIO support"           OFF)
option(WITH_VINS          "Include VINS-Fusion support"          ON)
option(WITH_OPENVINS      "Include OpenVINS support"             ON)
option(WITH_MADGWICK      "Include Madgwick IMU filtering support" ON)
option(WITH_FASTCV        "Include FastCV support"               ON)
IF(ANDROID)
option(PCL_OMP            "With PCL OMP implementations"         OFF)
ELSE()
option(PCL_OMP            "With PCL OMP implementations"         ON)
ENDIF()

set(RTABMAP_QT_VERSION AUTO CACHE STRING "Force a specific Qt version.")
set_property(CACHE RTABMAP_QT_VERSION PROPERTY STRINGS AUTO 4 5)

FIND_PACKAGE(OpenCV REQUIRED QUIET)

IF(WITH_QT)
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation visualization)
ELSE()
FIND_PACKAGE(PCL 1.7 REQUIRED QUIET COMPONENTS common io kdtree search surface filters registration sample_consensus segmentation )
ENDIF()
if(PCL_COMPILE_OPTIONS)
  if("${PCL_COMPILE_OPTIONS}" MATCHES "-march=native")
    MESSAGE(WARNING "PCL compile options contain \"-march=native\", make sure all libraries using Eigen are also compiled with that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  else()
    MESSAGE(STATUS "PCL compile options don't contain \"-march=native\", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  endif()
else()
  if("${PCL_DEFINITIONS}" MATCHES "-march=native")
    MESSAGE(WARNING "PCL definitions contain \"-march=native\", make sure all libraries using Eigen are also compiled with that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  else()
    MESSAGE(STATUS "PCL definitions don't contain \"-march=native\", make sure all libraries using Eigen are also compiled without that flag to avoid some segmentation faults (with gdb referring to some Eigen functions).")
  endif()
endif()

FIND_PACKAGE(ZLIB REQUIRED QUIET)

FIND_PACKAGE(Sqlite3 QUIET)
IF(Sqlite3_FOUND)
   MESSAGE(STATUS "Found Sqlite3: ${Sqlite3_INCLUDE_DIRS} ${Sqlite3_LIBRARIES}")
ENDIF(Sqlite3_FOUND)

if(NOT "${PCL_LIBRARIES}" STREQUAL "")
   # fix libproj.so not found on Xenial
   list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")
endif()

# OpenMP ("-fopenmp" should be added for flann included in PCL)
# the gcc-4.2.1 coming with MacOS X is not compatible with the OpenMP pragmas we use, so disabling OpenMP for it
if((NOT APPLE) OR (NOT CMAKE_COMPILER_IS_GNUCXX) OR (GCC_VERSION VERSION_GREATER 4.2.1) OR (CMAKE_CXX_COMPILER_ID STREQUAL "Clang"))
  find_package(OpenMP)
endif()
if(OPENMP_FOUND)
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
  set(CMAKE_INSTALL_OPENMP_LIBRARIES TRUE)
  message (STATUS "Found OpenMP")
  if(PCL_OMP)
    add_definitions(-DPCL_OMP)
  endif(PCL_OMP)
else(OPENMP_FOUND)
  message (STATUS "Not found OpenMP")
endif()

IF(OpenCV_FOUND)
   MESSAGE(STATUS "Found OpenCV: ${OpenCV_INCLUDE_DIRS}")
ENDIF(OpenCV_FOUND)
IF(PCL_FOUND)
   MESSAGE(STATUS "Found PCL: ${PCL_INCLUDE_DIRS}")
ENDIF(PCL_FOUND)
IF(ZLIB_FOUND)
   MESSAGE(STATUS "Found ZLIB: ${ZLIB_INCLUDE_DIRS}")
ENDIF(ZLIB_FOUND)

SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF FALSE)
IF(WITH_QT)
    FIND_PACKAGE(VTK)
    IF(NOT VTK_FOUND)
        MESSAGE(FATAL_ERROR "VTK is required when using Qt. Set -DWITH_QT=OFF if you don't want gui tools.")
    ENDIF(NOT VTK_FOUND)

    # If Qt is here, the GUI will be built
    # look for Qt5 (if vtk>5 is installed) before Qt4
    IF("${VTK_MAJOR_VERSION}" GREATER 5)
        if(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
            FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui QUIET)
            IF(Qt5_FOUND)
                FIND_PACKAGE(Qt5 COMPONENTS Widgets Core Gui OPTIONAL_COMPONENTS Svg)
            ENDIF(Qt5_FOUND)
        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "5")
    ENDIF("${VTK_MAJOR_VERSION}" GREATER 5)

    IF(NOT Qt5_FOUND)
        IF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
            FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui OPTIONAL_COMPONENTS QtSvg)
        ENDIF(RTABMAP_QT_VERSION STREQUAL "AUTO" OR RTABMAP_QT_VERSION STREQUAL "4")
    ENDIF(NOT Qt5_FOUND)
        
    IF(QT4_FOUND OR Qt5_FOUND)
        IF("${VTK_MAJOR_VERSION}" EQUAL 5)
            FIND_PACKAGE(QVTK REQUIRED) # only for VTK 5
        ELSE()
            list(FIND PCL_LIBRARIES vtkGUISupportQt value)
            IF(value EQUAL -1)
                SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkGUISupportQt")
                SET(ADD_VTK_GUI_SUPPORT_QT_TO_CONF TRUE)
            ENDIF(value EQUAL -1)
            MESSAGE(STATUS "VTK_RENDERING_BACKEND=${VTK_RENDERING_BACKEND}")

            IF(VTK_RENDERING_BACKEND STREQUAL "OpenGL2")
                ADD_DEFINITIONS("-DVTK_OPENGL2")
                # see issue #525
                list(FIND PCL_LIBRARIES vtkRenderingVolumeOpenGL2 value)
                IF(value EQUAL -1)
                    SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkRenderingVolumeOpenGL2")
                ENDIF(value EQUAL -1)
            ELSEIF(VTK_RENDERING_BACKEND STREQUAL "OpenGL")
                # PCL 1.9 not adding vtkRenderingVolumeOpenGL as dependency anymore, so add it for us
                list(FIND PCL_LIBRARIES vtkRenderingVolumeOpenGL value)
                IF(value EQUAL -1)
                    SET(PCL_LIBRARIES "${PCL_LIBRARIES};vtkRenderingVolumeOpenGL")
                ENDIF(value EQUAL -1)
            ENDIF()

        ENDIF()
        ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals/foreach and Qt macros
    ENDIF(QT4_FOUND OR Qt5_FOUND)
ENDIF(WITH_QT)

IF(WITH_TORCH)
    FIND_PACKAGE(Torch QUIET)
    IF(TORCH_FOUND)
        MESSAGE(STATUS "Found Torch: ${TORCH_INCLUDE_DIRS}")
    ENDIF(TORCH_FOUND)
ENDIF(WITH_TORCH)

IF(WITH_PYTHON)
    FIND_PACKAGE(Python3 COMPONENTS Interpreter Development)
    IF(Python3_FOUND)
        MESSAGE(STATUS "Found Python3")
    ENDIF(Python3_FOUND)
ENDIF(WITH_PYTHON)

IF(WITH_PDAL)
    FIND_PACKAGE(PDAL QUIET)
    IF(PDAL_FOUND)
       MESSAGE(STATUS "Found PDAL ${PDAL_VERSION}: ${PDAL_INCLUDE_DIRS}")
    ENDIF(PDAL_FOUND)
ENDIF(WITH_PDAL)

IF(WITH_FREENECT)
    FIND_PACKAGE(Freenect QUIET)
    IF(Freenect_FOUND)
       MESSAGE(STATUS "Found Freenect: ${Freenect_INCLUDE_DIRS}")
    ENDIF(Freenect_FOUND)
ENDIF(WITH_FREENECT)

IF(WITH_FREENECT2)
    FIND_PACKAGE(freenect2 QUIET)
    IF(freenect2_FOUND)
       IF(NOT freenect2_INCLUDE_DIRS)
          SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR})
       ENDIF(NOT freenect2_INCLUDE_DIRS)
       MESSAGE(STATUS "Found freenect2: ${freenect2_INCLUDE_DIRS}")
       # Explicitly link to OpenCL (in case of CUDA installed)
       FIND_PACKAGE(OpenCL QUIET)
       IF(OpenCL_FOUND)
          SET(freenect2_LIBRARIES
            ${OpenCL_LIBRARIES}
            ${freenect2_LIBRARIES}
          )
       ENDIF(OpenCL_FOUND)
    ENDIF(freenect2_FOUND)
ENDIF(WITH_FREENECT2)

IF(WITH_K4W2 AND WIN32)
    FIND_PACKAGE(KinectSDK2 QUIET)
	IF(KinectSDK2_FOUND)
       MESSAGE(STATUS "Found Kinect for Windows 2: ${KinectSDK2_INCLUDE_DIRS}")
    ENDIF(KinectSDK2_FOUND)
ENDIF(WITH_K4W2 AND WIN32)

IF(WITH_K4A)
    IF(WIN32)
        FIND_PACKAGE(K4A QUIET)
    ELSE()
        FIND_PACKAGE(k4a QUIET)
        FIND_PACKAGE(k4arecord QUIET)
        IF(NOT (k4a_FOUND AND k4arecord_FOUND))
            SET(k4a_FOUND FALSE)
        ENDIF(NOT (k4a_FOUND AND k4arecord_FOUND))
    ENDIF()
	IF(k4a_FOUND)
       MESSAGE(STATUS "Found Kinect for Azure: ${k4a_INCLUDE_DIRS}")
    ENDIF(k4a_FOUND)
ENDIF(WITH_K4A)

# IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
IF(WITH_OPENNI2 OR OpenNI2_FOUND)
    FIND_PACKAGE(OpenNI2 QUIET)
    IF(OpenNI2_FOUND)
       MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_INCLUDE_DIRS}")
    ENDIF(OpenNI2_FOUND)
ENDIF(WITH_OPENNI2 OR OpenNI2_FOUND)

IF(WITH_DC1394)
    FIND_PACKAGE(DC1394 QUIET)
    IF(DC1394_FOUND)
       MESSAGE(STATUS "Found DC1394: ${DC1394_INCLUDE_DIRS}")
    ENDIF(DC1394_FOUND)
ENDIF(WITH_DC1394)

IF(WITH_G2O)
    FIND_PACKAGE(G2O QUIET)
    IF(G2O_FOUND)
       MESSAGE(STATUS "Found g2o: ${G2O_INCLUDE_DIRS}")
    ELSE()
       FIND_PACKAGE(g2o QUIET)
       IF(g2o_FOUND)
	  SET(G2O_FOUND ${g2o_FOUND})
	  SET(G2O_CPP11 1)
	  MESSAGE(STATUS "Found g2o (targets)")
       ENDIF(g2o_FOUND)
    ENDIF()
ENDIF(WITH_G2O)

IF(WITH_GTSAM)
    # Force config mode to ignore PCL's findGTSAM.cmake file
    FIND_PACKAGE(GTSAM CONFIG QUIET)
ENDIF(WITH_GTSAM)

IF(WITH_FLYCAPTURE2)
    FIND_PACKAGE(FlyCapture2 QUIET)
    IF(FlyCapture2_FOUND)
       MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_INCLUDE_DIRS}")
    ENDIF(FlyCapture2_FOUND)
ENDIF(WITH_FLYCAPTURE2)

IF(WITH_CVSBA)
    FIND_PACKAGE(cvsba QUIET)
    IF(cvsba_FOUND)
       MESSAGE(STATUS "Found cvsba: ${cvsba_INCLUDE_DIRS}")
    ENDIF(cvsba_FOUND)
ENDIF(WITH_CVSBA)

IF(WITH_POINTMATCHER)
    find_package(libpointmatcher QUIET)
    IF(libpointmatcher_FOUND)
       MESSAGE(STATUS "Found libpointmatcher: ${libpointmatcher_INCLUDE_DIRS}")
    ENDIF(libpointmatcher_FOUND)
ENDIF(WITH_POINTMATCHER)

IF(libpointmatcher_FOUND OR GTSAM_FOUND)
    find_package(Boost COMPONENTS thread filesystem system program_options date_time REQUIRED)
    IF(Boost_MINOR_VERSION GREATER 47)
        find_package(Boost COMPONENTS thread filesystem system program_options date_time chrono timer REQUIRED)
    ENDIF(Boost_MINOR_VERSION GREATER 47)
    IF(WIN32)
	    MESSAGE(STATUS "Boost_LIBRARY_DIRS=${Boost_LIBRARY_DIRS}")
	    link_directories(${Boost_LIBRARY_DIRS})
    ENDIF(WIN32)
ENDIF(libpointmatcher_FOUND OR GTSAM_FOUND)

IF(WITH_CCCORELIB)
    find_package(CCCoreLib QUIET)
    IF(CCCoreLib_FOUND)
       MESSAGE(STATUS "Found CCCoreLib: ${CCCoreLib_INCLUDE_DIRS}")
    ENDIF(CCCoreLib_FOUND)
ENDIF(WITH_CCCORELIB)

IF(WITH_LOAM)
    find_package(loam_velodyne QUIET)
    IF(loam_velodyne_FOUND)
       MESSAGE(STATUS "Found loam_velodyne: ${loam_velodyne_INCLUDE_DIRS}")
    ENDIF(loam_velodyne_FOUND)
ENDIF(WITH_LOAM)

SET(ZED_FOUND FALSE)
IF(WITH_ZED)
    find_package(ZED 2 QUIET)
    
    IF(ZED_FOUND)
       MESSAGE(STATUS "Found ZED sdk: ${ZED_INCLUDE_DIRS}")
       ## look for CUDA
       find_package(CUDA)
       IF(CUDA_FOUND)
        MESSAGE(STATUS "Found CUDA: ${CUDA_INCLUDE_DIRS}")
       ELSE()
        MESSAGE(FATAL_ERROR "CUDA is required to build with Zed sdk! Set -DWITH_ZED=OFF if you don't have CUDA.")
       ENDIF()
    ENDIF(ZED_FOUND)
ENDIF(WITH_ZED)

IF(WITH_ZEDOC)
    find_package(ZEDOC QUIET)
    IF(ZEDOC_FOUND)
       MESSAGE(STATUS "Found ZED Open Capture: ${ZEDOC_INCLUDE_DIRS}")
       ## look for HIDAPI
       find_package(HIDAPI)
       IF(HIDAPI_FOUND)
          MESSAGE(STATUS "Found HIDAPI: ${HIDAPI_INCLUDE_DIRS}")
       ELSE()
          MESSAGE(FATAL_ERROR "HIDAPI is required to build with Zed Open Capture! Set -DWITH_ZEDOC=OFF if you don't have HIDAPI.")
       ENDIF()
    ENDIF(ZEDOC_FOUND)
ENDIF(WITH_ZEDOC)

IF(WITH_REALSENSE)
    IF(WITH_REALSENSE_SLAM)
       FIND_PACKAGE(RealSense QUIET COMPONENTS slam)
    ELSE()
       FIND_PACKAGE(RealSense QUIET)
    ENDIF()
    IF(RealSense_FOUND)
       MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
    ENDIF(RealSense_FOUND)
    IF(RealSenseSlam_FOUND)
       MESSAGE(STATUS "Found RealSenseSlam: ${RealSense_INCLUDE_DIRS}")
    ENDIF(RealSenseSlam_FOUND)
ENDIF(WITH_REALSENSE)

IF(WITH_REALSENSE2)
    IF(WIN32)
        FIND_PACKAGE(RealSense2 QUIET)
    ELSE()
        FIND_PACKAGE(realsense2 QUIET)
    ENDIF()
    IF(realsense2_FOUND)
       MESSAGE(STATUS "Found RealSense2: ${realsense2_INCLUDE_DIRS}")
    ENDIF(realsense2_FOUND)
ENDIF(WITH_REALSENSE2)

IF(WITH_MYNTEYE)
    FIND_PACKAGE(mynteye QUIET)
    IF(mynteye_FOUND)
       MESSAGE(STATUS "Found mynteye-s: ${mynteye_INCLUDE_DIRS}")
    ENDIF(mynteye_FOUND)
ENDIF(WITH_MYNTEYE)

IF(WITH_DEPTHAI)
    FIND_PACKAGE(depthai 2 QUIET)
    IF(depthai_FOUND)
       MESSAGE(STATUS "Found depthai-core (targets)")
    ENDIF(depthai_FOUND)
ENDIF(WITH_DEPTHAI)

IF(WITH_OCTOMAP)
    FIND_PACKAGE(octomap QUIET)
    IF(octomap_FOUND)
       MESSAGE(STATUS "Found octomap ${octomap_VERSION}: ${OCTOMAP_INCLUDE_DIRS}")
       IF(octomap_VERSION VERSION_LESS 1.8)
          ADD_DEFINITIONS("-DOCTOMAP_PRE_18")
       ENDIF(octomap_VERSION VERSION_LESS 1.8)
    ENDIF(octomap_FOUND)
ENDIF(WITH_OCTOMAP)

IF(WITH_CPUTSDF)
    FIND_PACKAGE(CPUTSDF QUIET)
    IF(CPUTSDF_FOUND)
       MESSAGE(STATUS "Found CPUTSDF: ${CPUTSDF_INCLUDE_DIRS}")
    ENDIF(CPUTSDF_FOUND)
ENDIF(WITH_CPUTSDF)

IF(WITH_OPENCHISEL)
    find_package(open_chisel QUIET)
    if(open_chisel_FOUND)
        MESSAGE(STATUS "Found open_chisel: ${open_chisel_INCLUDE_DIRS}")
    endif(open_chisel_FOUND)
ENDIF(WITH_OPENCHISEL)

IF(WITH_ALICE_VISION)
    find_package(AliceVision CONFIG QUIET)
    IF(AliceVision_FOUND)
        SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH};/usr/local/lib/cmake/modules")
        find_package(Geogram REQUIRED QUIET)
        add_definitions("-DRTABMAP_ALICE_VISION_MAJOR=${AliceVision_VERSION_MAJOR}")
        add_definitions("-DRTABMAP_ALICE_VISION_MINOR=${AliceVision_VERSION_MINOR}")
        add_definitions("-DRTABMAP_ALICE_VISION_PATCH=${AliceVision_VERSION_PATCH}")
    ENDIF(AliceVision_FOUND)
ENDIF(WITH_ALICE_VISION)

IF(WITH_FOVIS)
    FIND_PACKAGE(libfovis QUIET)
    IF(libfovis_FOUND)
       MESSAGE(STATUS "Found libfovis: ${libfovis_INCLUDE_DIRS}")
    ENDIF(libfovis_FOUND)
ENDIF(WITH_FOVIS)

IF(WITH_VISO2)
    FIND_PACKAGE(libviso2 QUIET)
    IF(libviso2_FOUND)
       MESSAGE(STATUS "Found libviso2: ${libviso2_INCLUDE_DIRS}")
    ENDIF(libviso2_FOUND)
ENDIF(WITH_VISO2)

IF(WITH_DVO)
    FIND_PACKAGE(dvo_core QUIET)
    IF(dvo_core_FOUND)
       MESSAGE(STATUS "Found dvo_core: ${dvo_core_INCLUDE_DIRS}")
    ENDIF(dvo_core_FOUND)
ENDIF(WITH_DVO)

IF(WITH_OKVIS)
    FIND_PACKAGE(okvis 1.1 QUIET)
    IF(okvis_FOUND)
       MESSAGE(STATUS "Found okvis: ${OKVIS_INCLUDE_DIRS}")
       find_package(brisk 2 REQUIRED)
       MESSAGE(STATUS "Found brisk: ${BRISK_INCLUDE_DIRS}")
       find_package(opengv REQUIRED)
       MESSAGE(STATUS "Found opengv: ${OPENGV_INCLUDE_DIRS}")
       find_package(Ceres 1.9.0 REQUIRED EXACT) # OKVIS requires this specific version
       MESSAGE(STATUS "Found ceres ${Ceres_VERSION}: ${CERES_INCLUDE_DIRS}")
    ENDIF(okvis_FOUND)
ENDIF(WITH_OKVIS)

# If built with okvis, we found already ceres above
IF(NOT okvis_FOUND AND WITH_CERES)
    FIND_PACKAGE(Ceres QUIET)
ENDIF(NOT okvis_FOUND AND WITH_CERES)

IF(WITH_MSCKF_VIO)
    FIND_PACKAGE(msckf_vio QUIET)
    IF(msckf_vio_FOUND)
       MESSAGE(STATUS "Found msckf_vio: ${msckf_vio_INCLUDE_DIRS}")
    ENDIF(msckf_vio_FOUND)
ENDIF(WITH_MSCKF_VIO)

IF(WITH_VINS)
    FIND_PACKAGE(vins QUIET)
    IF(vins_FOUND)
       MESSAGE(STATUS "Found vins: ${vins_INCLUDE_DIRS}")
       IF(okvis_FOUND)
           MESSAGE(WARNING "VINS and OKVIS will be both linked to project, make sure VINS has been built with against same Ceres version than OKVIS to avoid some crashes.")
       ENDIF(okvis_FOUND)
    ENDIF(vins_FOUND)
ENDIF(WITH_VINS)

IF(WITH_OPENVINS)
    FIND_PACKAGE(ov_msckf QUIET)
    IF(ov_msckf_FOUND)
       MESSAGE(STATUS "Found ov_msckf: ${ov_msckf_INCLUDE_DIRS}")
    ENDIF(ov_msckf_FOUND)
ENDIF(WITH_OPENVINS)

IF(WITH_FASTCV)
    FIND_PACKAGE(FastCV QUIET)
    IF(FastCV_FOUND)
       MESSAGE(STATUS "Found FastCV: ${FastCV_INCLUDE_DIRS}")
    ENDIF(FastCV_FOUND)
ENDIF(WITH_FASTCV)

IF(WITH_ORB_SLAM AND NOT G2O_FOUND)
    FIND_PACKAGE(ORB_SLAM QUIET)
    IF(ORB_SLAM_FOUND)
       MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_INCLUDE_DIRS}")
    ENDIF(ORB_SLAM_FOUND)
ENDIF(WITH_ORB_SLAM AND NOT G2O_FOUND)

IF(NOT MSVC)
	IF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)
	 #LOAM, PCL>=1.10, latest g2o and CCCoreLib require c++14
	 include(CheckCXXCompilerFlag)
	  CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
	  IF(COMPILER_SUPPORTS_CXX14)
	    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
	    set(CMAKE_CXX_STANDARD 14)
	  ELSE()
	    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler if you want to use LOAM, latest PCL or g2o.")
	  ENDIF()
	ENDIF(loam_velodyne_FOUND OR PCL_VERSION VERSION_GREATER "1.9.1" OR TORCH_FOUND OR G2O_FOUND OR CCCoreLib_FOUND)

	IF( (NOT (${CMAKE_CXX_STANDARD} STREQUAL "14")) AND (
	       G2O_FOUND OR
	       GTSAM_FOUND OR
	       CERES_FOUND OR
	       ZED_FOUND OR
	       ZEDOC_FOUND OR
	       ANDROID OR
	       RealSense_FOUND OR
	       realsense2_FOUND OR
	       ORB_SLAM_FOUND OR
	       okvis_FOUND OR
	       open_chisel_FOUND OR
	       msckf_vio_FOUND OR
	       vins_FOUND OR
	       ov_msckf_FOUND OR
	       libpointmatcher_FOUND))
	 #Newest versions require std11
	 include(CheckCXXCompilerFlag)
	  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
	  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
	  IF(COMPILER_SUPPORTS_CXX11)
	    set(CMAKE_CXX_FLAGS "${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()
	ENDIF()
ENDIF()

####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
  IF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
       
    # Required when packaging, and set CMAKE_INSTALL_PREFIX to "/".
    SET(CMAKE_INSTALL_PREFIX "/")
    SET(CPACK_SET_DESTDIR TRUE) 
    
    SET(CMAKE_BUNDLE_NAME "${PROJECT_NAME}")
    SET(CMAKE_BUNDLE_LOCATION "${CMAKE_INSTALL_PREFIX}")
    
    # make sure CMAKE_INSTALL_PREFIX ends in /
    STRING(LENGTH "${CMAKE_INSTALL_PREFIX}" LEN)
    MATH(EXPR LEN "${LEN} -1" )
    STRING(SUBSTRING "${CMAKE_INSTALL_PREFIX}" ${LEN} 1 ENDCH)
    IF(NOT "${ENDCH}" STREQUAL "/")
      SET(CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}/")
    ENDIF(NOT "${ENDCH}" STREQUAL "/")
    SET(CMAKE_INSTALL_PREFIX 
      "${CMAKE_INSTALL_PREFIX}${CMAKE_BUNDLE_NAME}.app/Contents")
  ELSE()
    
    #If Qt is not here, no need to build a bundle
    SET(BUILD_AS_BUNDLE OFF)
  ENDIF()
ENDIF(APPLE AND BUILD_AS_BUNDLE)


####### SOURCES (Projects) #######

# CONF_DEPENDENCIES contains only dependencies not required by the headers
SET(CONF_DEPENDENCIES 
    ${ZLIB_LIBRARIES}
)

# OpenCV2 has nonfree if OPENCV_NONFREE_FOUND
# OpenCV<=3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND
# OpenCV>3.4.2 has nonfree if OPENCV_XFEATURES2D_FOUND and OPENCV_ENABLE_NONFREE is defined
IF(NOT (OPENCV_NONFREE_FOUND OR OPENCV_XFEATURES2D_FOUND))
   SET(NONFREE "//")
ELSEIF(OpenCV_VERSION VERSION_GREATER "3.4.2")
  FIND_FILE(OpenCV_MODULES_HPP opencv2/opencv_modules.hpp 
    PATHS ${OpenCV_INCLUDE_DIRS}
    NO_DEFAULT_PATH)
  FILE(READ ${OpenCV_MODULES_HPP} TMPTXT)
  STRING(FIND "${TMPTXT}" "#define OPENCV_ENABLE_NONFREE" matchres)
  IF(${matchres} EQUAL -1)
    SET(NONFREE "//")
  ENDIF(${matchres} EQUAL -1)
ENDIF()

IF(NOT G2O_FOUND)
   SET(G2O "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${G2O_LIBRARIES})
   IF(NOT G2O_CPP11)
   SET(G2O_CPP_CONF "//")
   ENDIF(NOT G2O_CPP11)
ENDIF()
IF(NOT GTSAM_FOUND)
   SET(GTSAM "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${GTSAM_LIBRARIES})
ENDIF()
IF(NOT CERES_FOUND)
   SET(CERES "//")
ENDIF(NOT CERES_FOUND)
IF(NOT WITH_TORO)
   SET(TORO "//")
ENDIF(NOT WITH_TORO)
IF(NOT WITH_VERTIGO)
   SET(VERTIGO "//")
ENDIF(NOT WITH_VERTIGO)
IF(NOT cvsba_FOUND)
   SET(CVSBA "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${cvsba_LIBRARIES})
ENDIF()
IF(NOT libpointmatcher_FOUND)
   SET(POINTMATCHER "//")
ENDIF(NOT libpointmatcher_FOUND)
IF(NOT CCCoreLib_FOUND)
   SET(CCCORELIB "//")
ENDIF(NOT CCCoreLib_FOUND)
IF(NOT FastCV_FOUND)
   SET(FASTCV "//")
ENDIF(NOT FastCV_FOUND)
IF(NOT PDAL_FOUND)
   SET(PDAL "//")
ENDIF(NOT PDAL_FOUND)
IF(NOT loam_velodyne_FOUND)
   SET(LOAM "//")
ENDIF(NOT loam_velodyne_FOUND)
IF(NOT Freenect_FOUND)
   SET(FREENECT "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${Freenect_LIBRARIES})
ENDIF()
IF(NOT freenect2_FOUND)
   SET(FREENECT2 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${freenect2_LIBRARIES})
ENDIF()
IF(NOT KinectSDK2_FOUND)
   SET(K4W2 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${KinectSDK2_LIBRARIES})
ENDIF()
IF(NOT k4a_FOUND)
   SET(K4A "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${k4a_LIBRARIES})
ENDIF()
IF(NOT OpenNI2_FOUND)
   SET(OPENNI2 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OpenNI2_LIBRARIES})
ENDIF()
IF(NOT DC1394_FOUND)
   SET(DC1394 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${DC1394_LIBRARIES})
ENDIF()
IF(NOT FlyCapture2_FOUND)
   SET(FLYCAPTURE2 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${FlyCapture2_LIBRARIES})
ENDIF()
IF(NOT ZED_FOUND)
   SET(ZED "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
ENDIF()
IF(NOT ZEDOC_FOUND)
   SET(ZEDOC "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZEDOC_LIBRARIES}) 
ENDIF()
IF(NOT RealSense_FOUND)
   SET(REALSENSE "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${RealSense_LIBRARIES}) 
ENDIF()
IF(NOT RealSenseSlam_FOUND)
   SET(REALSENSESLAM "//")
ENDIF(NOT RealSenseSlam_FOUND)
IF(NOT realsense2_FOUND)
   SET(REALSENSE2 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${realsense2_LIBRARIES}) 
ENDIF()
IF(NOT mynteye_FOUND)
   SET(MYNTEYE "//")
ENDIF(NOT mynteye_FOUND)
IF(NOT depthai_FOUND)
   SET(DEPTHAI "//")
ENDIF(NOT depthai_FOUND)
IF(NOT octomap_FOUND)
   SET(OCTOMAP "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
ENDIF()
IF(NOT CPUTSDF_FOUND)
   SET(CPUTSDF "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${CPUTSDF_LIBRARIES}) 
ENDIF()
IF(NOT open_chisel_FOUND)
   SET(OPENCHISEL "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${open_chisel_LIBRARIES}) 
ENDIF()
IF(NOT AliceVision_FOUND)
   SET(ALICE_VISION "//")
ENDIF(NOT AliceVision_FOUND)
IF(NOT libfovis_FOUND)
   SET(FOVIS "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libfovis_LIBRARIES}) 
ENDIF()
IF(NOT libviso2_FOUND)
   SET(VISO2 "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${libviso2_LIBRARIES}) 
ENDIF()
IF(NOT dvo_core_FOUND)
   SET(DVO "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${dvo_core_LIBRARIES}) 
ENDIF()
IF(NOT okvis_FOUND)
   SET(OKVIS "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OKVIS_LIBRARIES}) 
ENDIF()
IF(NOT msckf_vio_FOUND)
   SET(MSCKF_VIO "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${msckf_vio_LIBRARIES}) 
ENDIF()
IF(NOT vins_FOUND)
   SET(VINS "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${vins_LIBRARIES}) 
ENDIF()
IF(NOT ov_msckf_FOUND)
   SET(OPENVINS "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ov_msckf_LIBRARIES}) 
ENDIF()
IF(NOT ORB_SLAM_FOUND)
   SET(ORB_SLAM "//")
ELSE()
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ORB_SLAM_LIBRARIES})
ENDIF()
IF(NOT WITH_ORB_OCTREE)
   SET(ORB_OCTREE "//")
ENDIF()
IF(NOT TORCH_FOUND)
   SET(TORCH "//")
ENDIF()
IF(NOT Python3_FOUND)
   SET(PYTHON "//")
ENDIF()
IF(ADD_VTK_GUI_SUPPORT_QT_TO_CONF)
   SET(CONF_VTK_QT true)
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} vtkGUISupportQt)
ELSE()
   SET(CONF_VTK_QT false)
ENDIF()
IF(VTK_USE_QVTK)
   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${QVTK_LIBRARY}) 
ENDIF(VTK_USE_QVTK)
IF(NOT WITH_MADGWICK)
   SET(MADGWICK "//")
ENDIF()

CONFIGURE_FILE(Version.h.in ${PROJECT_SOURCE_DIR}/corelib/include/${PROJECT_PREFIX}/core/Version.h)

ADD_SUBDIRECTORY( utilite )
ADD_SUBDIRECTORY( corelib )

IF(ANDROID)
   IF(BUILD_APP)
      ADD_SUBDIRECTORY( app )
   ENDIF(BUILD_APP)
ELSEIF(Qt5_FOUND OR (QT4_FOUND AND QT_QTCORE_FOUND AND QT_QTGUI_FOUND))
   ADD_SUBDIRECTORY( guilib )
   IF(BUILD_APP)
      ADD_SUBDIRECTORY( app )
   ENDIF(BUILD_APP)
ELSEIF(WITH_QT)
   MESSAGE(WARNING "Qt not found, the GUI lib and the stand-alone application will not be compiled...")
ENDIF()

IF(BUILD_TOOLS)
   ADD_SUBDIRECTORY( tools )
ENDIF(BUILD_TOOLS)
IF(BUILD_EXAMPLES)
   ADD_SUBDIRECTORY( examples )
ENDIF(BUILD_EXAMPLES)

#######################
# Uninstall target, for "make uninstall"
#######################
CONFIGURE_FILE(
  "${CMAKE_CURRENT_SOURCE_DIR}/cmake_uninstall.cmake.in"
  "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
  IMMEDIATE @ONLY)

ADD_CUSTOM_TARGET(uninstall
  "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake")

####
# Setup RTABMapConfig.cmake
####
# Create the RTABMapConfig.cmake and RTABMapConfigVersion files
file(RELATIVE_PATH REL_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${INSTALL_INCLUDE_DIR}")
file(RELATIVE_PATH REL_LIB_DIR "${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}" "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}")
   
# ... for the build tree
set(CONF_INCLUDE_DIRS "${PROJECT_SOURCE_DIR}/corelib/include" 
                      "${PROJECT_SOURCE_DIR}/guilib/include" 
                      "${PROJECT_SOURCE_DIR}/utilite/include")
set(CONF_LIB_DIR "${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}")
IF(QT4_FOUND OR Qt5_FOUND)
   set(CONF_WITH_GUI ON)
   IF(QT4_FOUND)
      set(CONF_QT_VERSION 4)
   ELSE()
      set(CONF_QT_VERSION 5)
   ENDIF()
ELSE()
   set(CONF_WITH_GUI OFF)
ENDIF()
configure_file(RTABMapConfig.cmake.in
  "${PROJECT_BINARY_DIR}/RTABMapConfig.cmake" @ONLY)
  
# ... for the install tree
set(CONF_INCLUDE_DIRS "\${RTABMap_CMAKE_DIR}/${REL_INCLUDE_DIR}")
set(CONF_LIB_DIR "\${RTABMap_CMAKE_DIR}/${REL_LIB_DIR}")
configure_file(RTABMapConfig.cmake.in
  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/RTABMapConfig.cmake" @ONLY)
  
# ... for both
configure_file(RTABMapConfigVersion.cmake.in
  "${PROJECT_BINARY_DIR}/RTABMapConfigVersion.cmake" @ONLY)

# Install the RTABMapConfig.cmake and RTABMapConfigVersion.cmake
install(FILES
  "${PROJECT_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/RTABMapConfig.cmake"
  "${PROJECT_BINARY_DIR}/RTABMapConfigVersion.cmake"
  DESTINATION "${INSTALL_CMAKE_DIR}" COMPONENT devel)
####

### Install package.xml for catkin
install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_PREFIX}")

#######################
# CPACK (Packaging)
#######################
IF(BUILD_AS_BUNDLE)
  INCLUDE(InstallRequiredSystemLibraries)
ENDIF(BUILD_AS_BUNDLE)

SET(CPACK_PACKAGE_NAME "${PROJECT_NAME}")
SET(CPACK_PACKAGE_VENDOR "${PROJECT_NAME} project")
SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "RTAB-MAP is a Real-Time Appearance-Based Mapping approach.")
#SET(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/Description.txt")
#SET(CPACK_RESOURCE_FILE_README "${CMAKE_SOURCE_DIR}/README.txt")
SET(CPACK_PACKAGE_VERSION_MAJOR "${PROJECT_VERSION_MAJOR}")
SET(CPACK_PACKAGE_VERSION_MINOR "${PROJECT_VERSION_MINOR}")
SET(CPACK_PACKAGE_VERSION_PATCH "${PROJECT_VERSION_PATCH}")
#SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}")
#SET(CPACK_PACKAGE_EXECUTABLES "")
#SET(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
SET(CPACK_PACKAGE_CONTACT "matlabbe@gmail.com")

set(CPACK_SOURCE_IGNORE_FILES 
  "\\\\.svn/" 
  "\\\\.settings/" 
  "${PROJECT_SOURCE_DIR}/build/[a-zA-Z0-9_]+" 
  "~$" 
  "${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_PREFIX}"
  "${PROJECT_SOURCE_DIR}/bin/.*${PROJECT_NAME}"
  "${PROJECT_SOURCE_DIR}/bin/.*[tT]est"
  "${PROJECT_SOURCE_DIR}/bin/.*[eE]xample"
  "${PROJECT_SOURCE_DIR}/bin/.*uresourcegenerator"
  "\\\\.DS_Store"
)

IF(WIN32)
  SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
  IF(CMAKE_CL_64) 
    SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64") 
  ELSE() 
    SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES") 
  ENDIF()
  IF(BUILD_AS_BUNDLE)
    SET(CPACK_GENERATOR "ZIP;NSIS")
  ELSE()
    SET(CPACK_GENERATOR "ZIP")
  ENDIF()
  SET(CPACK_SOURCE_GENERATOR "ZIP")
  SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}")
  SET(ICON_PATH "${PROJECT_SOURCE_DIR}/app/src/${PROJECT_NAME}.ico")
  SET(CPACK_NSIS_MUI_ICON ${ICON_PATH})
  SET(CPACK_NSIS_MUI_UNIICON ${ICON_PATH})
  SET(CPACK_PACKAGE_INSTALL_DIRECTORY "${PROJECT_NAME}")
  #SET(CPACK_PACKAGE_ICON ${ICON_PATH})
  #SET(CPACK_NSIS_INSTALLED_ICON_NAME ${ICON_PATH})
  #SET(CPACK_NSIS_HELP_LINK "http:\\\\\\\\www.${PROJECT_PREFIX}.googlecode.com")
  #SET(CPACK_NSIS_URL_INFO_ABOUT "http:\\\\\\\\www.${PROJECT_PREFIX}.googlecode.com")
  SET(CPACK_NSIS_DISPLAY_NAME "${PROJECT_NAME}")
  SET(CPACK_NSIS_CONTACT ${CPACK_PACKAGE_CONTACT})
  # Set the icon used for the Windows "Add or Remove Programs" tool.
  SET(CPACK_NSIS_INSTALLED_ICON_NAME bin\\\\${PROJECT_NAME}.exe)
  # Desktop link ("executableName" "linkName")
  SET(CPACK_PACKAGE_EXECUTABLES "${PROJECT_NAME}" "${PROJECT_NAME}" ${CPACK_PACKAGE_EXECUTABLES}) 
  SET(CPACK_CREATE_DESKTOP_LINKS "${PROJECT_NAME}" ${CPACK_CREATE_DESKTOP_LINKS}) 
  SET(CPACK_NSIS_MODIFY_PATH ON)
  
ELSEIF(APPLE)
  # The project is created as a bundle over the main app (see ./app/src).
  # Here we package only this bundle. Note that we set 
  # CMAKE_INSTALL_PREFIX to "/" when packaging...
  IF(BUILD_AS_BUNDLE)
    SET(CPACK_GENERATOR "DragNDrop")
  ELSE()
    SET(CPACK_GENERATOR "PackageMaker;TBZ2")
  ENDIF()
  
  SET(CPACK_SOURCE_GENERATOR "ZIP")

  SET(CPACK_PACKAGE_ICON "${PROJECT_SOURCE_DIR}/app/src/${PROJECT_NAME}.icns")

ELSE()
  SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
  SET(CPACK_GENERATOR "TBZ2")
  SET(CPACK_SOURCE_GENERATOR "ZIP")
ENDIF()

INCLUDE(CPack)

MESSAGE(STATUS "--------------------------------------------")
MESSAGE(STATUS "Info :")
MESSAGE(STATUS "  RTAB-Map Version =     ${RTABMAP_VERSION}")
MESSAGE(STATUS "  CMAKE_VERSION =        ${CMAKE_VERSION}")
MESSAGE(STATUS "  CMAKE_INSTALL_PREFIX = ${CMAKE_INSTALL_PREFIX}")
MESSAGE(STATUS "  CMAKE_BUILD_TYPE =     ${CMAKE_BUILD_TYPE}")
MESSAGE(STATUS "  CMAKE_INSTALL_LIBDIR = ${CMAKE_INSTALL_LIBDIR}")
MESSAGE(STATUS "  BUILD_APP =            ${BUILD_APP}")
MESSAGE(STATUS "  BUILD_TOOLS =          ${BUILD_TOOLS}")
MESSAGE(STATUS "  BUILD_EXAMPLES =       ${BUILD_EXAMPLES}")
IF(NOT WIN32)
    # see comment above for the BUILD_SHARED_LIBS option on Windows
    MESSAGE(STATUS "  BUILD_SHARED_LIBS =    ${BUILD_SHARED_LIBS}")
ENDIF(NOT WIN32)
IF(APPLE OR WIN32)
MESSAGE(STATUS "  BUILD_AS_BUNDLE =      ${BUILD_AS_BUNDLE}")
ENDIF(APPLE OR WIN32)
MESSAGE(STATUS "  CMAKE_CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
MESSAGE(STATUS "  FLANN_KDTREE_MEM_OPT = ${FLANN_KDTREE_MEM_OPT}")
MESSAGE(STATUS "  PCL_DEFINITIONS = ${PCL_DEFINITIONS}")
MESSAGE(STATUS "  PCL_VERSION = ${PCL_VERSION}")
IF(PCL_COMPILE_OPTIONS)
MESSAGE(STATUS "  PCL_COMPILE_OPTIONS = ${PCL_COMPILE_OPTIONS}")
ENDIF(PCL_COMPILE_OPTIONS)

MESSAGE(STATUS "")
MESSAGE(STATUS "Optional dependencies ('*' affects some default parameters) :")
IF(OpenCV_FOUND)
  IF(OpenCV_VERSION_MAJOR EQUAL 2)
    IF(OPENCV_NONFREE_FOUND)
      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = YES (License: Non commercial)")
    ELSE()
      MESSAGE(STATUS " *With OpenCV 2 nonfree module (SIFT/SURF) = NO (not found, License: BSD)")
    ENDIF()
  ELSE()
    IF(OPENCV_XFEATURES2D_FOUND)
      IF(NONFREE STREQUAL "//")
        IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: BSD)")
        ELSE()
          MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = NO (License: Apache 2)")
        ENDIF()
      ELSE()
        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = YES, nonfree = YES (License: Non commercial)")
      ENDIF()
    ELSE()
      IF((OpenCV_VERSION_MAJOR LESS 4) OR ((OpenCV_VERSION_MAJOR EQUAL 4) AND (OpenCV_VERSION_MINOR LESS 5)))
        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: BSD)")
      ELSE()
        MESSAGE(STATUS " *With OpenCV ${OpenCV_VERSION} xfeatures2d = NO, nonfree = NO (License: Apache 2)")
      ENDIF()
    ENDIF()
  ENDIF()
ENDIF(OpenCV_FOUND)

IF(QT4_FOUND)
MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")
ELSEIF(Qt5_FOUND)
MESSAGE(STATUS "  With Qt ${Qt5_VERSION}            = YES (License: Open Source or Commercial)")
MESSAGE(STATUS "  With VTK ${VTK_MAJOR_VERSION}.${VTK_MINOR_VERSION}              = YES (License: BSD)")

ELSEIF(NOT WITH_QT)
MESSAGE(STATUS "  With Qt                   = NO (WITH_QT=OFF)")
ELSE()
MESSAGE(STATUS "  With Qt                   = NO (Qt not found)")
ENDIF()

IF(Sqlite3_FOUND)
MESSAGE(STATUS "  With external SQLite3     = YES (License: Public Domain)")
ELSE()
MESSAGE(STATUS "  With external SQLite3     = NO (sqlite3 not found, internal version is used for convenience)")
ENDIF()

IF(WITH_ORB_OCTREE)
MESSAGE(STATUS "  With ORB OcTree           = YES (License: GPLv3)")
ELSE()
MESSAGE(STATUS "  With ORB OcTree           = NO (WITH_ORB_OCTREE=OFF)")
ENDIF()

IF(TORCH_FOUND)
MESSAGE(STATUS "  With SupertPoint          = YES (License: GPLv3) libtorch=${Torch_VERSION}")
ELSEIF(NOT WITH_TORCH)
MESSAGE(STATUS "  With SupertPoint          = NO (WITH_TORCH=OFF)")
ELSE()
MESSAGE(STATUS "  With SupertPoint          = NO (libtorch not found)")
ENDIF()

IF(Python3_FOUND)
MESSAGE(STATUS "  With Python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}            = YES (License: PSF)")
ELSEIF(NOT WITH_PYTHON)
MESSAGE(STATUS "  With Python3              = NO (WITH_PYTHON=OFF)")
ELSE()
MESSAGE(STATUS "  With Python3              = NO (python not found)")
ENDIF()

IF(WITH_MADGWICK)
MESSAGE(STATUS "  With Madgwick             = YES (License: GPL)")
ELSE()
MESSAGE(STATUS "  With Madgwick             = NO (WITH_MADGWICK=OFF)")
ENDIF()

IF(FastCV_FOUND)
MESSAGE(STATUS "  With FastCV               = YES (License: Apache v2)")
ELSEIF(NOT WITH_FASTCV)
MESSAGE(STATUS "  With FastCV               = NO (WITH_FASTCV=OFF)")
ELSE()
MESSAGE(STATUS "  With FastCV               = NO (FastCV not found)")
ENDIF()

IF(PDAL_FOUND)
MESSAGE(STATUS "  With PDAL                 = YES (License: BSD)")
ELSEIF(NOT WITH_PDAL)
MESSAGE(STATUS "  With PDAL                 = NO (WITH_PDAL=OFF)")
ELSE()
MESSAGE(STATUS "  With PDAL                 = NO (PDAL not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Solvers:")
IF(WITH_TORO)
MESSAGE(STATUS "  With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])")
ELSE()
MESSAGE(STATUS "  With TORO                 = NO (WITH_TORO=OFF)")
ENDIF()

IF(G2O_FOUND)
MESSAGE(STATUS " *With g2o                  = YES (License: BSD)")
ELSEIF(NOT WITH_G2O)
MESSAGE(STATUS " *With g2o                  = NO (WITH_G2O=OFF)")
ELSE()
MESSAGE(STATUS " *With g2o                  = NO (g2o not found)")
ENDIF()

IF(GTSAM_FOUND)
MESSAGE(STATUS " *With GTSAM                = YES (License: BSD)")
ELSEIF(NOT WITH_GTSAM)
MESSAGE(STATUS " *With GTSAM                = NO (WITH_GTSAM=OFF)")
ELSE()
MESSAGE(STATUS " *With GTSAM                = NO (GTSAM not found)")
ENDIF()

IF(CERES_FOUND)
MESSAGE(STATUS " *With Ceres                = YES (License: BSD)")
ELSEIF(NOT WITH_CERES)
MESSAGE(STATUS " *With Ceres                = NO (WITH_CERES=OFF)")
ELSE()
MESSAGE(STATUS " *With Ceres                = NO (Ceres not found)")
ENDIF()

IF(G2O_FOUND OR GTSAM_FOUND)
IF(WITH_VERTIGO)
MESSAGE(STATUS "  With VERTIGO              = YES (License: GPLv3)")
ELSE()
MESSAGE(STATUS "  With VERTIGO              = NO (WITH_VERTIGO=OFF)")
ENDIF()
ELSE()
MESSAGE(STATUS "  With VERTIGO              = NO (GTSAM or g2o required)")
ENDIF()

IF(cvsba_FOUND)
MESSAGE(STATUS "  With cvsba                = YES (License: GPLv2)")
ELSEIF(NOT WITH_CVSBA)
MESSAGE(STATUS "  With cvsba                = NO (WITH_CVSBA=OFF)")
ELSE()
MESSAGE(STATUS "  With cvsba                = NO (cvsba not found)")
ENDIF()

IF(libpointmatcher_FOUND)
MESSAGE(STATUS " *With libpointmatcher      = YES (License: BSD)")
ELSEIF(NOT WITH_POINTMATCHER)
MESSAGE(STATUS " *With libpointmatcher      = NO (WITH_POINTMATCHER=OFF)")
ELSE()
MESSAGE(STATUS " *With libpointmatcher      = NO (libpointmatcher not found)")
ENDIF()

IF(CCCoreLib_FOUND)
MESSAGE(STATUS "  With CCCoreLib            = YES (License: GPLv2)")
ELSEIF(NOT WITH_POINTMATCHER)
MESSAGE(STATUS "  With CCCoreLib            = NO (WITH_CCCORELIB=OFF)")
ELSE()
MESSAGE(STATUS "  With CCCoreLib            = NO (CCCoreLib not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Reconstruction Approaches:")
IF(octomap_FOUND)
MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)
MESSAGE(STATUS "  With OCTOMAP              = NO (WITH_OCTOMAP=OFF)")
ELSE()
MESSAGE(STATUS "  With OCTOMAP              = NO (octomap not found)")
ENDIF()

IF(CPUTSDF_FOUND)
MESSAGE(STATUS "  With CPUTSDF              = YES (License: BSD)")
ELSEIF(NOT WITH_CPUTSDF)
MESSAGE(STATUS "  With CPUTSDF              = NO (WITH_CPUTSDF=OFF)")
ELSE()
MESSAGE(STATUS "  With CPUTSDF              = NO (CPUTSDF not found)")
ENDIF()

IF(open_chisel_FOUND)
MESSAGE(STATUS "  With OpenChisel           = YES (License: ???)")
ELSEIF(NOT WITH_OPENCHISEL)
MESSAGE(STATUS "  With OpenChisel           = NO (WITH_OPENCHISEL=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenChisel           = NO (open_chisel not found)")
ENDIF()

IF(AliceVision_FOUND)
MESSAGE(STATUS "  With AliceVision ${AliceVision_VERSION}    = YES (License: MPLv2)")
ELSEIF(NOT WITH_ALICE_VISION)
MESSAGE(STATUS "  With AliceVision          = NO (WITH_ALICE_VISION=OFF)")
ELSE()
MESSAGE(STATUS "  With AliceVision          = NO (AliceVision not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Camera Drivers:")
IF(Freenect_FOUND)
MESSAGE(STATUS "  With Freenect             = YES (License: Apache v2 and/or GPLv2)")
ELSEIF(NOT WITH_FREENECT)
MESSAGE(STATUS "  With Freenect             = NO (WITH_FREENECT=OFF)")
ELSE()
MESSAGE(STATUS "  With Freenect             = NO (libfreenect not found)")
ENDIF()

IF(OpenNI2_FOUND)
MESSAGE(STATUS "  With OpenNI2              = YES (License: Apache v2)")
ELSEIF(NOT WITH_OPENNI2)
MESSAGE(STATUS "  With OpenNI2              = NO (WITH_OPENNI2=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenNI2              = NO (OpenNI2 not found)")
ENDIF()

IF(freenect2_FOUND)
MESSAGE(STATUS "  With Freenect2            = YES (License: Apache v2 and/or GPLv2)")
ELSEIF(NOT WITH_FREENECT2)
MESSAGE(STATUS "  With Freenect2            = NO (WITH_FREENECT2=OFF)")
ELSE()
MESSAGE(STATUS "  With Freenect2            = NO (libfreenect2 not found)")
ENDIF()

IF(KinectSDK2_FOUND)
MESSAGE(STATUS "  With Kinect for Windows 2 = YES (License: Apache v2 and/or GPLv2)")
ELSEIF(NOT WITH_K4W2)
MESSAGE(STATUS "  With Kinect for Windows 2 = NO (WITH_K4W2=OFF)")
ELSE()
MESSAGE(STATUS "  With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)")
ENDIF()

IF(k4a_FOUND)
MESSAGE(STATUS "  With Kinect for Azure     = YES (License: MIT)")
ELSEIF(NOT WITH_K4A)
MESSAGE(STATUS "  With Kinect for Azure     = NO (WITH_K4A=OFF)")
ELSE()
MESSAGE(STATUS "  With Kinect for Azure     = NO (Kinect for Azure SDK not found)")
ENDIF()

IF(DC1394_FOUND)
MESSAGE(STATUS "  With dc1394               = YES (License: LGPL)")
ELSEIF(NOT WITH_DC1394)
MESSAGE(STATUS "  With dc1394               = NO (WITH_DC1394=OFF)")
ELSE()
MESSAGE(STATUS "  With dc1394               = NO (dc1394 not found)")
ENDIF()

IF(FlyCapture2_FOUND)
MESSAGE(STATUS "  With FlyCapture2/Triclops = YES")
ELSEIF(NOT WITH_FLYCAPTURE2)
MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (WITH_FLYCAPTURE2=OFF)")
ELSE()
MESSAGE(STATUS "  With FlyCapture2/Triclops = NO (Point Grey SDK not found)")
ENDIF()

IF(ZED_FOUND AND CUDA_FOUND)
MESSAGE(STATUS "  With ZED                  = YES")
ELSEIF(NOT WITH_ZED)
MESSAGE(STATUS "  With ZED                  = NO (WITH_ZED=OFF)")
ELSE()
MESSAGE(STATUS "  With ZED                  = NO (ZED sdk and/or cuda not found)")
ENDIF()

IF(ZEDOC_FOUND)
MESSAGE(STATUS "  With ZEDOC                = YES")
ELSEIF(NOT WITH_ZEDOC)
MESSAGE(STATUS "  With ZEDOC                = NO (WITH_ZEDOC=OFF)")
ELSE()
MESSAGE(STATUS "  With ZEDOC                = NO (ZED Open Capture not found)")
ENDIF()

IF(RealSense_FOUND)
MESSAGE(STATUS "  With RealSense            = YES (License: Apache-2)")
IF(RealSenseSlam_FOUND)
MESSAGE(STATUS "  With RealSenseSlam        = YES")
ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS "  With RealSenseSlam        = NO (librealsense_slam not found)")
ELSE()
MESSAGE(STATUS "  With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)")
ENDIF()
ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS "  With RealSense            = NO (WITH_REALSENSE=OFF)")
ELSE()
MESSAGE(STATUS "  With RealSense            = NO (librealsense not found)")
ENDIF()

IF(realsense2_FOUND)
MESSAGE(STATUS "  With RealSense2           = YES (License: Apache-2)")
ELSEIF(NOT WITH_REALSENSE2)
MESSAGE(STATUS "  With RealSense2           = NO (WITH_REALSENSE2=OFF)")
ELSE()
MESSAGE(STATUS "  With RealSense2           = NO (librealsense2 not found)")
ENDIF()

IF(mynteye_FOUND)
MESSAGE(STATUS "  With MyntEyeS             = YES (License: Apache-2)")
ELSEIF(NOT WITH_MYNTEYE)
MESSAGE(STATUS "  With MyntEyeS             = NO (WITH_MYNTEYE=OFF)")
ELSE()
MESSAGE(STATUS "  With MyntEyeS             = NO (mynteye s sdk not found)")
ENDIF()

IF(depthai_FOUND)
MESSAGE(STATUS "  With DepthAI              = YES (License: MIT)")
ELSEIF(NOT WITH_DEPTHAI)
MESSAGE(STATUS "  With DepthAI              = NO (WITH_DEPTHAI=OFF)")
ELSE()
MESSAGE(STATUS "  With DepthAI              = NO (depthai-core not found)")
ENDIF()

MESSAGE(STATUS "")
MESSAGE(STATUS " Odometry Approaches:")
IF(loam_velodyne_FOUND)
MESSAGE(STATUS "  With loam_velodyne        = YES (License: BSD)")
ELSEIF(NOT WITH_LOAM)
MESSAGE(STATUS "  With loam_velodyne        = NO (WITH_LOAM=OFF)")
ELSE()
MESSAGE(STATUS "  With loam_velodyne        = NO (loam_velodyne not found)")
ENDIF()

IF(libfovis_FOUND)
MESSAGE(STATUS "  With libfovis             = YES (License: GPLv2)")
ELSEIF(NOT WITH_FOVIS)
MESSAGE(STATUS "  With libfovis             = NO (WITH_FOVIS=OFF)")
ELSE()
MESSAGE(STATUS "  With libfovis             = NO (libfovis not found)")
ENDIF()

IF(libviso2_FOUND)
MESSAGE(STATUS "  With libviso2             = YES (License: GPLv3)")
ELSEIF(NOT WITH_VISO2)
MESSAGE(STATUS "  With libviso2             = NO (WITH_VISO2=OFF)")
ELSE()
MESSAGE(STATUS "  With libviso2             = NO (libviso2 not found)")
ENDIF()

IF(dvo_core_FOUND)
MESSAGE(STATUS "  With dvo_core             = YES (License: GPLv3)")
ELSEIF(NOT WITH_DVO)
MESSAGE(STATUS "  With dvo_core             = NO (WITH_DVO=OFF)")
ELSE()
MESSAGE(STATUS "  With dvo_core             = NO (dvo_core not found)")
ENDIF()

IF(okvis_FOUND)
MESSAGE(STATUS "  With okvis                = YES (License: BSD)")
ELSEIF(NOT WITH_OKVIS)
MESSAGE(STATUS "  With okvis                = NO (WITH_OKVIS=OFF)")
ELSE()
MESSAGE(STATUS "  With okvis                = NO (okvis not found)")
ENDIF()

IF(msckf_vio_FOUND)
MESSAGE(STATUS "  With msckf_vio            = YES (License: Penn Software License)")
ELSEIF(NOT WITH_MSCKF_VIO)
MESSAGE(STATUS "  With msckf_vio            = NO (WITH_MSCKF_VIO=OFF)")
ELSE()
MESSAGE(STATUS "  With msckf_vio            = NO (msckf_vio not found)")
ENDIF()

IF(vins_FOUND)
MESSAGE(STATUS "  With VINS-Fusion          = YES (License: GPLv3)")
ELSEIF(NOT WITH_VINS)
MESSAGE(STATUS "  With VINS-Fusion          = NO (WITH_VINS=OFF)")
ELSE()
MESSAGE(STATUS "  With VINS-Fusion          = NO (VINS-Fusion not found)")
ENDIF()

IF(ov_msckf_FOUND)
MESSAGE(STATUS "  With OpenVINS             = YES (License: GPLv3)")
ELSEIF(NOT WITH_OPENVINS)
MESSAGE(STATUS "  With OpenVINS             = NO (WITH_OPENVINS=OFF)")
ELSE()
MESSAGE(STATUS "  With OpenVINS             = NO (ov_msckf not found)")
ENDIF()

IF(ORB_SLAM_FOUND)
MESSAGE(STATUS "  With ORB_SLAM${ORB_SLAM_VERSION}            = YES (License: GPLv3)")
ELSEIF(NOT WITH_ORB_SLAM)
MESSAGE(STATUS "  With ORB_SLAM             = NO (WITH_ORB_SLAM=OFF)")
ELSEIF(G2O_FOUND)
MESSAGE(STATUS "  With ORB_SLAM             = NO (WITH_G2O should be OFF as ORB_SLAM uses its own g2o version)")
ELSE()
MESSAGE(STATUS "  With ORB_SLAM             = NO (ORB_SLAM2 and ORB_SLAM3 not found, make sure environment variable ORB_SLAM_ROOT_DIR is set)")
ENDIF()

MESSAGE(STATUS "Show all options with: cmake -LA | grep WITH_")
MESSAGE(STATUS "--------------------------------------------")

IF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT CERES_FOUND)
MESSAGE(SEND_ERROR "No graph optimizer found! You should have at least one of these options:
       g2o (https://github.com/RainerKuemmerle/g2o)
       GTSAM (https://collab.cc.gatech.edu/borg/gtsam)
       Ceres (http://ceres-solver.org)
       set -DWITH_TORO=ON")
ENDIF(NOT GTSAM_FOUND AND NOT G2O_FOUND AND NOT WITH_TORO AND NOT CERES_FOUND)

# vim: set et ft=cmake fenc=utf-8 ff=unix sts=0 sw=2 ts=2 :