OBJECT=src/main.o src/body.o src/state.o src/feature.o src/camera.o src/ourerr.o src/vision.o #src/filter.o
SRCS=$(patsubst %.o,%.cpp,$(OBJECT))
CXXFLAGS+=-O2 -std=c++11 -pipe -msse3 
CXXFLAGS+=-g
CXXFLAGS+=$(shell pkg-config --cflags eigen3 yaml-cpp)
CXXFLAGS+=$(shell pkg-config --cflags opencv)
LIBS+=$(shell pkg-config --libs eigen3 yaml-cpp)
LIBS+=$(shell pkg-config --libs opencv)


slam: ${OBJECT}
	$(CXX) -o $@ $^ $(CXXFLAGS) $(CPPFLAGS) ${LIBS}

#.cpp.o:
%.o: %.cpp %.h src/types.h
	$(CXX) $(CXXFLAGS) $(CPPFLAGS) ${LIBS} -c $< -o $@

.PHONY: clean
clean:
	rm -f slam *.o src/*.o