SET(SRC_FILES
	Rtabmap.cpp
	RtabmapThread.cpp
	
	Statistics.cpp
	
	Memory.cpp
	
	DBDriver.cpp
	DBDriverSqlite3.cpp
	DBReader.cpp
	
	Recovery.cpp
	
    Camera.cpp
    CameraThread.cpp
    CameraRGB.cpp
    CameraRGBD.cpp
    CameraStereo.cpp
    CameraModel.cpp
    
    EpipolarGeometry.cpp
	VisualWord.cpp
	VWDictionary.cpp
	BayesFilter.cpp
	Parameters.cpp
    Signature.cpp
	Features2d.cpp
	Transform.cpp
	GeodeticCoords.cpp
	
	util2d.cpp
	
	util3d.cpp
	util3d_filtering.cpp
	util3d_mapping.cpp
	util3d_transforms.cpp
	util3d_registration.cpp
	util3d_surface.cpp
	util3d_features.cpp
	util3d_correspondences.cpp
	util3d_motion_estimation.cpp
	
	SensorData.cpp
	Graph.cpp
	Compression.cpp
	Link.cpp
	LaserScan.cpp
	
	Optimizer.cpp
	OptimizerTORO.cpp
	OptimizerG2O.cpp
	OptimizerGTSAM.cpp
	OptimizerCVSBA.cpp
	
	Registration.cpp
	RegistrationIcp.cpp
	RegistrationVis.cpp
	
	Odometry.cpp
	OdometryThread.cpp
	OdometryF2M.cpp
	OdometryMono.cpp
	OdometryF2F.cpp
	OdometryFovis.cpp
	OdometryViso2.cpp
	OdometryDVO.cpp
	OdometryOkvis.cpp
	OdometryORBSLAM2.cpp
	OdometryLOAM.cpp
	OdometryMSCKF.cpp
	
	IMUThread.cpp
	
	Stereo.cpp
	StereoDense.cpp
	StereoCameraModel.cpp
	
	OccupancyGrid.cpp
	
	GainCompensator.cpp
		
	rtflann/ext/lz4.c
	rtflann/ext/lz4hc.c
	FlannIndex.cpp
	
	sqlite3/sqlite3.c	
	
	#clams stuff
	clams/discrete_depth_distortion_model_helpers.cpp
	clams/discrete_depth_distortion_model.cpp
	clams/frame_projector.cpp
	clams/slam_calibrator.cpp
)

IF(OpenCV_VERSION_MAJOR EQUAL 2)
SET(SRC_FILES
    ${SRC_FILES}
    opencv/Orb.cpp
)
ENDIF(OpenCV_VERSION_MAJOR EQUAL 2)
SET(SRC_FILES
    ${SRC_FILES}
    opencv/solvepnp.cpp
)

# to get includes in visual studio
IF(MSVC)
    FILE(GLOB HEADERS
       ../include/${PROJECT_PREFIX}/core/*.h
    )
    SET(SRC_FILES ${SRC_FILES} ${HEADERS})
ENDIF(MSVC)

SET(INCLUDE_DIRS
    ${PROJECT_SOURCE_DIR}/utilite/include
	${CMAKE_CURRENT_SOURCE_DIR}/../include
	${CMAKE_CURRENT_SOURCE_DIR}
	${CMAKE_CURRENT_BINARY_DIR}
    ${OpenCV_INCLUDE_DIRS}
	${PCL_INCLUDE_DIRS}
	${ZLIB_INCLUDE_DIRS}
)

SET(LIBRARIES
	${OpenCV_LIBS} 
	${PCL_LIBRARIES} 
	${ZLIB_LIBRARIES} 
)

IF(Freenect_FOUND)
	IF(Freenect_DASH_INCLUDES)
	   ADD_DEFINITIONS("-DFREENECT_DASH_INCLUDES")
	ENDIF(Freenect_DASH_INCLUDES)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${Freenect_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${Freenect_LIBRARIES}
	)
ENDIF(Freenect_FOUND)

IF(OpenNI2_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${OpenNI2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${OpenNI2_LIBRARIES}
	)
ENDIF(OpenNI2_FOUND)

IF(freenect2_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${freenect2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${freenect2_LIBRARIES}
	)
ENDIF(freenect2_FOUND)

IF(KinectSDK2_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${KinectSDK2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${KinectSDK2_LIBRARIES}
	)
ENDIF(KinectSDK2_FOUND)

IF(RealSense_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${RealSense_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${RealSense_LIBRARIES}
	)
ENDIF(RealSense_FOUND)

IF(realsense2_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${realsense2_INCLUDE_DIRS}
	)
	IF(WIN32)
	    SET(LIBRARIES
			${LIBRARIES}
			${RealSense2_LIBRARIES}
		)
	ELSE()
		SET(LIBRARIES
			${LIBRARIES}
			realsense2
		)
	ENDIF()
ENDIF(realsense2_FOUND)

IF(DC1394_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${DC1394_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${DC1394_LIBRARIES}
	)
ENDIF(DC1394_FOUND)

IF(FlyCapture2_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${FlyCapture2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${FlyCapture2_LIBRARIES}
	)
ENDIF(FlyCapture2_FOUND)

IF(WITH_TORO)
	SET(SRC_FILES
    	${SRC_FILES}
		toro3d/posegraph3.cpp
		toro3d/treeoptimizer3_iteration.cpp
		toro3d/treeoptimizer3.cpp
	
		toro3d/posegraph2.cpp
		toro3d/treeoptimizer2.cpp
	)
ENDIF(WITH_TORO)

IF(G2O_FOUND)
	SET(INCLUDE_DIRS 
		${INCLUDE_DIRS} 
		${G2O_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${G2O_LIBRARIES}
	)
	
	IF(WITH_VERTIGO)
		SET(SRC_FILES
    		${SRC_FILES}
			vertigo/g2o/edge_se2Switchable.cpp
			vertigo/g2o/edge_se3Switchable.cpp
			vertigo/g2o/edge_switchPrior.cpp
			vertigo/g2o/types_g2o_robust.cpp
			vertigo/g2o/vertex_switchLinear.cpp
		)
	ENDIF(WITH_VERTIGO)
ENDIF(G2O_FOUND)

IF(cvsba_FOUND)
	SET(INCLUDE_DIRS 
		${INCLUDE_DIRS} 
		${cvsba_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${cvsba_LIBS}
	)
ENDIF(cvsba_FOUND)

IF(libpointmatcher_FOUND)
	SET(INCLUDE_DIRS 
		${INCLUDE_DIRS} 
		${libpointmatcher_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${libpointmatcher_LIBRARIES}
	)
ENDIF(libpointmatcher_FOUND)

IF(loam_velodyne_FOUND)
	SET(INCLUDE_DIRS 
		${INCLUDE_DIRS} 
		${loam_velodyne_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${loam_velodyne_LIBRARIES}
	)
ENDIF(loam_velodyne_FOUND)

IF(ZED_FOUND)
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${ZED_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${ZED_LIBRARIES}
	)
	IF(CUDA_FOUND)
		SET(INCLUDE_DIRS
			${INCLUDE_DIRS}
			${CUDA_INCLUDE_DIRS}
		)
		SET(LIBRARIES
			${LIBRARIES}
			${CUDA_LIBRARIES}
		)
	ENDIF(CUDA_FOUND)
ENDIF(ZED_FOUND)

IF(OCTOMAP_FOUND)
    SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${OCTOMAP_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${OCTOMAP_LIBRARIES}
	)
	SET(SRC_FILES
    	${SRC_FILES}
		OctoMap.cpp
	)
ENDIF(OCTOMAP_FOUND)

IF(libfovis_FOUND)
    SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${libfovis_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${libfovis_LIBRARIES}
	)
ENDIF(libfovis_FOUND)

IF(libviso2_FOUND)
    SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${libviso2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${libviso2_LIBRARIES}
	)
ENDIF(libviso2_FOUND)

IF(dvo_core_FOUND)
    SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${dvo_core_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${dvo_core_LIBRARIES}
	)
ENDIF(dvo_core_FOUND)

IF(okvis_FOUND)
    SET(INCLUDE_DIRS
		${OKVIS_INCLUDE_DIRS}
		${BRISK_INCLUDE_DIRS}
		${OPENGV_INCLUDE_DIRS}
		${CERES_INCLUDE_DIRS}
		${INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${OKVIS_LIBRARIES}
		${BRISK_LIBRARIES}
		${OPENGV_LIBRARIES}
		${CERES_LIBRARIES}
		${LIBRARIES}
	)
ENDIF(okvis_FOUND)

IF(msckf_vio_FOUND)
    SET(INCLUDE_DIRS
		${msckf_vio_INCLUDE_DIRS}
		${INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${msckf_vio_LIBRARIES}
		${LIBRARIES}
	)
ENDIF(msckf_vio_FOUND)

IF(ORB_SLAM2_FOUND)
    SET(INCLUDE_DIRS
        ${ORB_SLAM2_INCLUDE_DIRS} #before so that g2o includes are taken from ORB_SLAM2 directory before the official g2o one
		${INCLUDE_DIRS}
	)
	SET(LIBRARIES
	    ${ORB_SLAM2_LIBRARIES}
		${LIBRARIES}
	)
ENDIF(ORB_SLAM2_FOUND)

IF(GTSAM_FOUND)
	# Make sure GTSAM is built with system Eigen, not the included one in its package
	IF(GTSAM_INCLUDE_DIR)
		SET(INCLUDE_DIRS 
			${INCLUDE_DIRS} 
			${GTSAM_INCLUDE_DIR} 
		)
	ELSE()
		SET(INCLUDE_DIRS 
			${INCLUDE_DIRS} 
			${GTSAM_INCLUDE_DIRS}
		)
	ENDIF()
	IF(WIN32)
		# GTSAM should be built in STATIC on Windows to avoid "error C2338: THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS" when building GTSAM
		add_definitions("-DGTSAM_IMPORT_STATIC") 
	ENDIF(WIN32)
	SET(LIBRARIES
		${LIBRARIES}
		gtsam # Windows: Place static libs at the end
	)
ENDIF(GTSAM_FOUND)

####################################
# Generate resources files
####################################
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql.in ${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql)

SET(R
	${CMAKE_CURRENT_SOURCE_DIR}/resources/DatabaseSchema.sql
)

#replace semicolons by spaces
foreach(arg ${R})
   set(RESOURCES "${RESOURCES}" "${arg}")
endforeach(arg ${R})

SET(RESOURCES_HEADERS 
	${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h 
)

IF(ANDROID)

   IF(NOT RTABMAP_RES_TOOL)
      find_host_program(RTABMAP_RES_TOOL rtabmap-res_tool PATHS ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
      IF(NOT RTABMAP_RES_TOOL)
         MESSAGE( FATAL_ERROR "RTABMAP_RES_TOOL is not defined (it is the path to \"rtabmap-res_tool\" application created by a non-Android build)." )
      ENDIF(NOT RTABMAP_RES_TOOL)
   ENDIF(NOT RTABMAP_RES_TOOL)

   ADD_CUSTOM_COMMAND(
      OUTPUT ${RESOURCES_HEADERS}
      COMMAND ${RTABMAP_RES_TOOL} -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
      COMMENT "[Creating resources]"
      DEPENDS ${R}
   )
ELSE()
   ADD_CUSTOM_COMMAND(
      OUTPUT ${RESOURCES_HEADERS}
      COMMAND ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/rtabmap-res_tool -n rtabmap -p ${CMAKE_CURRENT_BINARY_DIR} ${RESOURCES}
      COMMENT "[Creating resources]"
      DEPENDS ${R} res_tool
   )
ENDIF()

####################################
# Generate resources files END
####################################

add_definitions(${PCL_DEFINITIONS})


# Make sure the compiler can find include files from our library.
INCLUDE_DIRECTORIES(${INCLUDE_DIRS})

# Add binary that is built from the source file "main.cpp".
# The extension is automatically found.
ADD_LIBRARY(rtabmap_core ${SRC_FILES} ${RESOURCES_HEADERS})
TARGET_LINK_LIBRARIES(rtabmap_core rtabmap_utilite ${LIBRARIES})

SET_TARGET_PROPERTIES(
     rtabmap_core
   PROPERTIES
     VERSION ${RTABMAP_VERSION}
     SOVERSION ${RTABMAP_MAJOR_VERSION}.${RTABMAP_MINOR_VERSION}
)

INSTALL(TARGETS rtabmap_core
        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT runtime
        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel
        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT devel)
		
install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../include/ 
		DESTINATION "${INSTALL_INCLUDE_DIR}"
		COMPONENT devel 
		FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" 
		PATTERN ".svn" EXCLUDE)