cmake_minimum_required(VERSION 2.8)
project(Align)
add_definitions(-w)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "-g  -O3 -march=native")	# 设置调试信息


include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()


find_package(Eigen3 3.1.0 REQUIRED)
find_package(Glog REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${GLOG_INCLUDE_DIRS}
)


add_library(${PROJECT_NAME} SHARED
src/Optimizer.cpp
)

target_link_libraries(${PROJECT_NAME}
${EIGEN3_LIBS}

# ${PCL_LIBRARIES}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/3rd_party/g2o/lib/libg2o.so
)
target_link_libraries(${PROJECT_LIB_NAME} glog)

add_executable(main main.cpp)
target_link_libraries(main ${PROJECT_NAME})