Added rtabmap-kitti_dataset tool

tools/KittiDataset/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 2.8)
+
+IF(DEFINED PROJECT_NAME)
+   set(internal TRUE)
+ENDIF(DEFINED PROJECT_NAME)
+
+if(internal)
+	# inside rtabmap project (see below for external build)
+	SET(RTABMap_INCLUDE_DIRS 
+	    ${PROJECT_SOURCE_DIR}/utilite/include
+		${PROJECT_SOURCE_DIR}/corelib/include
+	)
+	SET(RTABMap_LIBRARIES 
+	    rtabmap_core
+		rtabmap_utilite
+	)  
+else()
+	# external build
+	PROJECT( MyProject )
+	
+	FIND_PACKAGE(RTABMap REQUIRED)
+	FIND_PACKAGE(OpenCV REQUIRED)
+	FIND_PACKAGE(PCL 1.7 REQUIRED)
+endif()
+
+if(POLICY CMP0020)
+	cmake_policy(SET CMP0020 OLD)
+endif()
+
+SET(INCLUDE_DIRS
+	${RTABMap_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+)
+
+SET(LIBRARIES
+	${RTABMap_LIBRARIES}
+	${OpenCV_LIBRARIES}
+	${PCL_LIBRARIES}
+)
+
+INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
+
+ADD_EXECUTABLE(kitti_dataset main.cpp)
+  
+TARGET_LINK_LIBRARIES(kitti_dataset ${LIBRARIES})
+
+if(internal)
+  SET_TARGET_PROPERTIES( kitti_dataset 
+    PROPERTIES OUTPUT_NAME ${PROJECT_PREFIX}-kitti_dataset)
+endif(internal)