cmake_minimum_required(VERSION 2.8.3)
project(feature_tracker)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++11")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    sensor_msgs
    cv_bridge
    camera_model
    message_filters
    )
#set(OpenCV_DIR "~/opencv-3.2.0/installed") 
find_package(OpenCV 4 QUIET)

catkin_package()
#catkin_package(INCLUDE_DIRS include)#llg add
include_directories(
    ${catkin_INCLUDE_DIRS}
    )

set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3  REQUIRED)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
  ./src/line_descriptor/include # find LSD 
) 

add_executable(feature_tracker
    src/feature_tracker_node.cpp
    src/parameters.cpp
    src/feature_tracker.cpp
    )
#add_library(${PROJECT_NAME} include/feature_tracker/feature_tracker.h)#llg add
target_link_libraries(feature_tracker ${catkin_LIBRARIES} ${OpenCV_LIBS})

# line detect and match
add_executable(LineFeature_tracker    
    src/linefeature_tracker_node.cpp
    src/parameters.cpp
    src/linefeature_tracker.cpp
    src/tic_toc.h

    src/line_descriptor/src/binary_descriptor_custom.cpp
    src/line_descriptor/src/binary_descriptor_matcher.cpp
    src/line_descriptor/src/bitarray_custom.hpp
    src/line_descriptor/src/bitops_custom.hpp
    src/line_descriptor/src/draw_custom.cpp
    src/line_descriptor/src/LSDDetector_custom.cpp
    src/line_descriptor/src/precomp_custom.hpp
    src/line_descriptor/src/types_custom.hpp
)
# /home/healer/PL-VINS/PLVINS/PL-VINS/feature_tracker
target_link_libraries(LineFeature_tracker 
${catkin_LIBRARIES} 
${OpenCV_LIBS}
/home/llg/PL_VINS/src/feature_tracker/src/line_descriptor/lib/liblinedesc.so  # line feature
)