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Added CameraRealsSense2 driver (tested only with D435)

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matlabbe
2018-06-15 12:24:00 -04:00
parent dfcd7ae1a8
commit 2060e0b1da
7 changed files with 468 additions and 7 deletions
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25
CMakeLists.txt
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@@ -159,6 +159,7 @@ option(WITH_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON)
option(WITH_REALSENSE "Include RealSense support" ON)
option(WITH_REALSENSE_SLAM "Include RealSenseSlam support" ON)
option(WITH_REALSENSE2 "Include RealSense support" ON)
option(WITH_OCTOMAP "Include Octomap support" ON)
option(WITH_CPUTSDF "Include CPUTSDF support" ON)
option(WITH_OPENCHISEL "Include open_chisel support" ON)
@@ -372,6 +373,13 @@ IF(WITH_REALSENSE)
ENDIF(RealSenseSlam_FOUND)
ENDIF(WITH_REALSENSE)
IF(WITH_REALSENSE2)
FIND_PACKAGE(realsense2 QUIET)
IF(realsense2_FOUND)
MESSAGE(STATUS "Found RealSense2: ${realsense2_INCLUDE_DIRS}")
ENDIF(realsense2_FOUND)
ENDIF(WITH_REALSENSE2)
IF(WITH_OCTOMAP)
FIND_PACKAGE(OCTOMAP QUIET)
IF(OCTOMAP_FOUND)
@@ -446,7 +454,7 @@ IF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
ENDIF(ORB_SLAM2_FOUND)
ENDIF(WITH_ORB_SLAM2 AND NOT G2O_FOUND)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND)
IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR realsense2_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND)
#Newest versions require std11
IF(NOT MSVC)
include(CheckCXXCompilerFlag)
@@ -460,7 +468,7 @@ IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SL
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler if you want to use g2o or gtsam (set \"-DWITH_G2O=OFF -DWITH_GTSAM=OFF\" to build without g2o and gtsam).")
ENDIF()
ENDIF()
ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND)
ENDIF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND OR ANDROID OR RealSense_FOUND OR realsense2_FOUND OR ORB_SLAM2_FOUND OR okvis_FOUND OR open_chisel_FOUND)
####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
IF(APPLE AND BUILD_AS_BUNDLE)
@@ -569,6 +577,11 @@ ENDIF()
IF(NOT RealSenseSlam_FOUND)
SET(REALSENSESLAM "//")
ENDIF(NOT RealSenseSlam_FOUND)
IF(NOT realsense2_FOUND)
SET(REALSENSE2 "//")
ELSE()
SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${realsense2_LIBRARIES})
ENDIF()
IF(NOT OCTOMAP_FOUND)
SET(OCTOMAP "//")
ELSE()
@@ -941,6 +954,14 @@ ELSE()
MESSAGE(STATUS " With RealSense = NO (librealsense not found)")
ENDIF()
IF(realsense2_FOUND)
MESSAGE(STATUS " With RealSense2 = YES (License: Apache-2)")
ELSEIF(NOT WITH_REALSENSE2)
MESSAGE(STATUS " With RealSense2 = NO (WITH_REALSENSE2=OFF)")
ELSE()
MESSAGE(STATUS " With RealSense2 = NO (librealsense2 not found)")
ENDIF()
IF(OCTOMAP_FOUND)
MESSAGE(STATUS " With OCTOMAP = YES (License: BSD)")
ELSEIF(NOT WITH_OCTOMAP)