# Project
cmake_minimum_required(VERSION 2.6)
project(lm_pose)

# Make release version
#set(CMAKE_BUILD_TYPE Release)
#set(CMAKE_CXX_FLAGS “${CMAKE_CXX_FLAGS} -stdlib=libstdc++”)

# OpenCV
#-------------------------------------------------------------------------------
find_package(OpenCV REQUIRED)

# Eigen
#-------------------------------------------------------------------------------
find_package(Eigen3 REQUIRED)
include_directories("${EIGEN3_INCLUDE_DIR}")
message(STATUS "EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR}")

# LIBICP
#-------------------------------------------------------------------------------
#set(LIBICP_SRC_DIR ../libicp/src)
#
#file(GLOB LIBICP_SRC_FILES "${LIBICP_SRC_DIR}/*.cpp")
#list(REMOVE_ITEM LIBICP_SRC_FILES "${CMAKE_CURRENT_SOURCE_DIR}/${LIBICP_SRC_DIR}/demo.cpp")
#
#find_path(BOOST_DIR "boost")
#
## Include directories
#include_directories("${LIBICP_SRC_DIR}")
#include_directories("${BOOST_DIR}")
#
## Determine if OpenMP can/should be used
#option(USE_OPENMP "Enable OpenMP?" ON) # set to OFF to disable
#if(USE_OPENMP)
# find_package(OpenMP)
# if(OPENMP_FOUND OR OpenMP_FOUND)
#  message(STATUS "OpenMP flags = ${OpenMP_CXX_FLAGS}")
#  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
#  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
# else(OPENMP_FOUND OR OpenMP_FOUND)
#  message(STATUS "OpenMP not supported")
# endif(OPENMP_FOUND OR OpenMP_FOUND)
#endif(USE_OPENMP)

# PCL
#-------------------------------------------------------------------------------
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

#-------------------------------------------------------------------------------
#add_executable(icp icp.cpp ${LIBICP_SRC_FILES})
add_executable(lm_pose lm_pose.cpp)
target_link_libraries(lm_pose ${PCL_LIBRARIES} ${OpenCV_LIBS})