cmake_minimum_required(VERSION 3.5)
project(orbslam3)

# You should set the PYTHONPATH to your own python site-packages path
set(ENV{PYTHONPATH} "/opt/ros/humble/lib/python3.10/site-packages")

# set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
set(CMAKE_MODULE_PATH 
${CMAKE_MODULE_PATH} 
${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules 
"~/thirdparty/ORB_SLAM3/CMakeModules")

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(message_filters REQUIRED)
find_package(Sophus REQUIRED)
find_package(Pangolin REQUIRED)
find_package(epoxy REQUIRED)
find_package(OpenGL REQUIRED COMPONENTS OpenGL EGL)
find_package(ORB_SLAM3 REQUIRED)
find_package(OpenCV REQUIRED)

include_directories(
  include
  ${ORB_SLAM3_ROOT_DIR}/include
  ${ORB_SLAM3_ROOT_DIR}/include/CameraModels
  ${ORB_SLAM3_ROOT_DIR}/Thirdparty/Sophus
)

link_directories(
  include
)
add_executable(mono
  src/monocular/mono.cpp
  src/monocular/monocular-slam-node.cpp
)
ament_target_dependencies(mono rclcpp sensor_msgs cv_bridge ORB_SLAM3 Pangolin OpenCV)
# target_include_directories(
#   mono 
#   PUBLIC 
#   ${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
# )

add_executable(rgbd
  src/rgbd/rgbd.cpp
  src/rgbd/rgbd-slam-node.cpp
)
ament_target_dependencies(rgbd rclcpp sensor_msgs cv_bridge message_filters ORB_SLAM3 Pangolin OpenCV)
# target_include_directories(
#   rgbd
#   PUBLIC 
#   ${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
# )

add_executable(stereo
  src/stereo/stereo.cpp
  src/stereo/stereo-slam-node.cpp
  src/ros_utils.cpp
)
ament_target_dependencies(stereo rclcpp sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros cv_bridge message_filters ORB_SLAM3 Pangolin OpenCV)
# target_include_directories(
#   stereo
#   PUBLIC 
#   ${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
# )

add_executable(stereo-inertial
  src/stereo-inertial/stereo-inertial.cpp
  src/stereo-inertial/stereo-inertial-node.cpp
  src/ros_utils.cpp
)
ament_target_dependencies(stereo-inertial rclcpp sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros cv_bridge ORB_SLAM3 Pangolin OpenCV)
# target_include_directories(
#   stereo-inertial
#   PUBLIC 
#   ${PROJECT_SOURCE_DIR}/include ${ORB_SLAM3_INCLUDE_DIRS}/include ${ORB_SLAM3_INCLUDE_DIRS}/include/CameraModels
# )

install(TARGETS mono rgbd stereo stereo-inertial
  DESTINATION lib/${PROJECT_NAME})

# Install config files
install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}/
)

# Install vocab files
install(DIRECTORY
  vocabulary
  DESTINATION share/${PROJECT_NAME}/
)

# Install launch files.
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()