SET(SRC_FILES
	Rtabmap.cpp
	RtabmapThread.cpp
	
	Statistics.cpp
	
	Memory.cpp
	
	DBDriver.cpp
	DBDriverSqlite3.cpp
	DBReader.cpp
	
    Camera.cpp
    CameraThread.cpp
    CameraRGBD.cpp
    CameraModel.cpp
    
    EpipolarGeometry.cpp
	VisualWord.cpp
	VWDictionary.cpp
	BayesFilter.cpp
	Parameters.cpp
    Signature.cpp
	Features2d.cpp
	Transform.cpp
	
	util3d.cpp
	SensorData.cpp
	Graph.cpp
	Compression.cpp
	
	Odometry.cpp
	OdometryThread.cpp
	OdometryBOW.cpp
	OdometryOpticalFlow.cpp
	OdometryMono.cpp
	OdometryICP.cpp
	
	toro3d/posegraph3.cpp
	toro3d/treeoptimizer3_iteration.cpp
	toro3d/treeoptimizer3.cpp
	
	toro3d/posegraph2.cpp
	toro3d/treeoptimizer2.cpp
	
	sqlite3/sqlite3.c
)

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)
	ADD_DEFINITIONS("-DWITH_FREENECT")
	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)
	ADD_DEFINITIONS("-DWITH_OPENNI2")
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${OpenNI2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${OpenNI2_LIBRARIES}
	)
ENDIF(OpenNI2_FOUND)

IF(freenect2_FOUND)
	ADD_DEFINITIONS("-DWITH_FREENECT2")
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${freenect2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${freenect2_LIBRARIES}
	)
ENDIF(freenect2_FOUND)

IF(DC1394_FOUND)
	ADD_DEFINITIONS("-DWITH_DC1394")
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${DC1394_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${DC1394_LIBRARIES}
	)
ENDIF(DC1394_FOUND)

IF(FlyCapture2_FOUND)
	ADD_DEFINITIONS("-DWITH_FLYCAPTURE2")
	SET(INCLUDE_DIRS
		${INCLUDE_DIRS}
		${FlyCapture2_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${FlyCapture2_LIBRARIES}
	)
ENDIF(FlyCapture2_FOUND)

IF(G2O_FOUND)
	ADD_DEFINITIONS("-DWITH_G2O")
	SET(INCLUDE_DIRS 
		${INCLUDE_DIRS} 
		${G2O_INCLUDE_DIRS}
	)
	SET(LIBRARIES
		${LIBRARIES}
		${G2O_LIBRARIES}
	)
ENDIF(G2O_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 
)

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

####################################
# 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)