cmake_minimum_required(VERSION 2.8.3)
project(vins_estimator)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_STANDARD 14)
#-DEIGEN_USE_MKL_ALL")
set(CMAKE_CXX_FLAGS_RELEASE "-O1 -Wall -g3")

find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    geometry_msgs
    nav_msgs
    tf
    cv_bridge
    #ips
    message_generation
)

find_package(OpenCV REQUIRED)

# message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")

find_package(Ceres REQUIRED)

include_directories(${catkin_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS})

set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3)

add_message_files (
  FILES
  StateWithCov.msg
)

generate_messages (
  DEPENDENCIES
  std_msgs
  nav_msgs
  geometry_msgs
)

catkin_package(
  CATKIN_DEPENDS
  message_runtime
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
  ../../devel/include/ips
)




add_executable(vins_estimator
    src/estimator_node.cpp
    src/parameters.cpp
    src/estimator.cpp
    src/feature_manager.cpp
    src/factor/pose_local_parameterization.cpp
    src/factor/projection_factor.cpp
    src/factor/projection_td_factor.cpp
    src/factor/marginalization_factor.cpp
    src/factor/pose_anchor_factor.cpp
    src/utility/utility.cpp
    src/utility/visualization.cpp
    src/utility/CameraPoseVisualization.cpp
    src/initial/solve_5pts.cpp
    src/initial/initial_aligment.cpp
    src/initial/initial_sfm.cpp
    src/initial/initial_ex_rotation.cpp
    src/utility/VioWindowStatePub.cpp

    )


target_link_libraries(vins_estimator ${catkin_LIBRARIES} ${OpenCV_LIBS} ${CERES_LIBRARIES})