moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-12 14:30:19 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
@@ -0,0 +1,30 @@
+# - Find CppUnit
+# This module finds an installed CppUnit package.
+#
+# It sets the following variables:
+#  CPPUNIT_FOUND       - Set to false, or undefined, if CppUnit isn't found.
+#  CPPUNIT_INCLUDE_DIR - The CppUnit include directory.
+#  CPPUNIT_LIBRARY     - The CppUnit library to link against.
+#  CPPUNIT_DEFINITIONS - The CppUnit definitions.
+
+FIND_PATH(CPPUNIT_INCLUDE_DIR cppunit/Test.h)
+
+FIND_LIBRARY(CPPUNIT_LIBRARY NAMES cppunit_dll cppunit)
+
+IF (CPPUNIT_INCLUDE_DIR AND CPPUNIT_LIBRARY)
+   SET(CPPUNIT_FOUND TRUE)
+   SET(CPPUNIT_DEFINITIONS "-DCPPUNIT_DLL")
+ENDIF (CPPUNIT_INCLUDE_DIR AND CPPUNIT_LIBRARY)
+
+IF (CPPUNIT_FOUND)
+   # show which CppUnit was found only if not quiet
+   IF (NOT CppUnit_FIND_QUIETLY)
+      MESSAGE(STATUS "Found CppUnit")
+   ENDIF (NOT CppUnit_FIND_QUIETLY)
+ELSE (CPPUNIT_FOUND)
+   # fatal error if CppUnit is required but not found
+   IF (CppUnit_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find CppUnit")
+   ENDIF (CppUnit_FIND_REQUIRED)
+ENDIF (CPPUNIT_FOUND)
+
@@ -0,0 +1,323 @@
+###########################################################
+#                  Find OpenCV Library
+# See http://sourceforge.net/projects/opencvlibrary/
+#----------------------------------------------------------
+#
+## 1: Setup:
+# The following variables are optionally searched for defaults
+#  OpenCV_DIR:            Base directory of OpenCv tree to use.
+#
+## 2: Variable
+# The following are set after configuration is done: 
+#  
+#  OpenCV_FOUND
+#  OpenCV_LIBS
+#  OpenCV_INCLUDE_DIR
+#  OpenCV_VERSION (OpenCV_VERSION_MAJOR, OpenCV_VERSION_MINOR, OpenCV_VERSION_PATCH)
+#
+#
+# Deprecated variable are used to maintain backward compatibility with
+# the script of Jan Woetzel (2006/09): www.mip.informatik.uni-kiel.de/~jw
+#  OpenCV_INCLUDE_DIRS
+#  OpenCV_LIBRARIES
+#  OpenCV_LINK_DIRECTORIES
+# 
+## 3: Version
+#
+# 2010/04/07 Benoit Rat, Correct a bug when OpenCVConfig.cmake is not found.
+# 2010/03/24 Benoit Rat, Add compatibility for when OpenCVConfig.cmake is not found.
+# 2010/03/22 Benoit Rat, Creation of the script.
+#
+#
+# tested with:
+# - OpenCV 2.1:  MinGW, MSVC2008
+# - OpenCV 2.0:  MinGW, MSVC2008, GCC4
+#
+#
+## 4: Licence:
+#
+# LGPL 2.1 : GNU Lesser General Public License Usage
+# Alternatively, this file may be used under the terms of the GNU Lesser
+
+# General Public License version 2.1 as published by the Free Software
+# Foundation and appearing in the file LICENSE.LGPL included in the
+# packaging of this file.  Please review the following information to
+# ensure the GNU Lesser General Public License version 2.1 requirements
+# will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+# 
+#----------------------------------------------------------
+
+# typical root dirs of installations, exactly one of them is used
+SET (OpenCV_POSSIBLE_ROOT_DIRS
+  "$ENV{OpenCV_DIR}"
+  /usr/local
+  /usr/opt
+  /usr
+  )
+  
+# Add ROS OpenCV directory if ROS is installed
+FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
+IF(ROSPACK_EXEC)  
+    MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
+	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find opencv2 
+			   	    OUTPUT_VARIABLE OPENCV_ROS_PATH
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	IF(OPENCV_ROS_PATH)
+	    MESSAGE(STATUS "Found OpenCV ROS pkg : ${OPENCV_ROS_PATH}")
+	    SET(OpenCV_POSSIBLE_ROOT_DIRS
+	        ${OPENCV_ROS_PATH}/opencv
+	        ${OpenCV_POSSIBLE_ROOT_DIRS}
+	    )
+	ENDIF(OPENCV_ROS_PATH)
+ENDIF(ROSPACK_EXEC)
+
+find_path(OpenCV_DIR "OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} DOC "Root directory of OpenCV")
+if(NOT EXISTS "${OpenCV_DIR}")
+  if(NOT WIN32)
+     find_path(OpenCV_DIR "share/opencv/OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} DOC "Root directory of OpenCV")
+     if(NOT OpenCV_DIR)  
+       include(FindPkgConfig)
+       if(PKG_CONFIG_FOUND)
+         pkg_check_modules(OPENCV_PKGCONF opencv)
+         set(OpenCV_DIR ${OPENCV_PKGCONF_PREFIX})
+       endif(PKG_CONFIG_FOUND)
+     endif(NOT OpenCV_DIR)
+  else()
+    set(OpenCV_DIR "$ENV{OpenCV_DIR}")
+  endif ()
+endif(NOT EXISTS "${OpenCV_DIR}")
+
+##====================================================
+## Find OpenCV libraries
+##----------------------------------------------------
+if(EXISTS "${OpenCV_DIR}")
+
+  set(OpenCV_configScript "${OpenCV_DIR}/OpenCVConfig.cmake")
+  if(NOT EXISTS "${OpenCV_configScript}")
+    set(OpenCV_configScript "${OpenCV_DIR}/share/opencv/OpenCVConfig.cmake")
+  endif(NOT EXISTS "${OpenCV_configScript}")
+
+
+  #When its possible to use the Config script use it.
+  if(EXISTS "${OpenCV_configScript}")
+
+    MESSAGE(STATUS "OpenCV: using configuration file ${OpenCV_configScript}")
+
+    ## Include the standard CMake script
+    include("${OpenCV_configScript}")
+
+    ## Search for a specific version
+    if(WIN32 OR NOT PKG_CONFIG_FOUND)
+      set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
+    endif(WIN32 OR NOT PKG_CONFIG_FOUND)
+
+    ##Boris:TODO: check for correct OpenCV version in pkg-config case !!!
+
+
+    #Otherwise it try to guess it.
+  else(EXISTS "${OpenCV_configScript}")
+
+
+    find_path(OpenCV_INCLUDE_DIR "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "")
+    if(EXISTS  ${OpenCV_INCLUDE_DIR})
+      include_directories(${OpenCV_INCLUDE_DIR})
+    endif(EXISTS  ${OpenCV_INCLUDE_DIR})
+
+    if(NOT EXISTS ${VERSION_FILE_DIR}) #may alreay be in cache
+
+      #Find OpenCV version by looking at cvver.h or core/version.hpp
+      find_path(VERSION_FILE_DIR "version.hpp" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" "include/opencv2" "include/opencv2/core" DOC "")
+      if(NOT EXISTS ${VERSION_FILE_DIR})
+	find_path(VERSION_FILE_DIR "cvver.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "")
+	if(NOT EXISTS ${VERSION_FILE_DIR})
+	  message(FATAL_ERROR "OpenCV version file not found")
+	else(NOT EXISTS ${VERSION_FILE_DIR})
+	  set(VERSION_FILE ${VERSION_FILE_DIR}/cvver.h)  
+	endif(NOT EXISTS ${VERSION_FILE_DIR})
+
+      else(NOT EXISTS ${VERSION_FILE_DIR})
+	set(VERSION_FILE ${VERSION_FILE_DIR}/version.hpp)
+
+      endif(NOT EXISTS ${VERSION_FILE_DIR})
+
+      #file(STRINGS ${OpenCV_INCLUDE_DIR}/cvver.h OpenCV_VERSIONS_TMP REGEX "^#define CV_[A-Z]+_VERSION[ \t]+[0-9]+$")
+      file(STRINGS ${VERSION_FILE} OpenCV_VERSIONS_TMP REGEX "^#define CV_[A-Z]+_VERSION[ \t]+[0-9]+$")
+
+      string(REGEX REPLACE ".*#define CV_MAJOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_MAJOR ${OpenCV_VERSIONS_TMP})
+      string(REGEX REPLACE ".*#define CV_MINOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_MINOR ${OpenCV_VERSIONS_TMP})
+      string(REGEX REPLACE ".*#define CV_SUBMINOR_VERSION[ \t]+([0-9]+).*" "\\1" OpenCV_VERSION_PATCH ${OpenCV_VERSIONS_TMP})
+      set(OpenCV_VERSION ${OpenCV_VERSION_MAJOR}.${OpenCV_VERSION_MINOR}.${OpenCV_VERSION_PATCH} CACHE STRING "" FORCE)
+
+      if(WIN32 OR NOT PKG_CONFIG_FOUND)
+	set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
+      endif(WIN32 OR NOT PKG_CONFIG_FOUND)
+      
+      ##Boris:TODO: check for correct OpenCV version in pklg-config case !!!
+
+
+    endif(NOT EXISTS ${VERSION_FILE_DIR})
+
+    if(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
+      set(OPENCV_LIB_COMPONENTS calib3d contrib core features2d ffmpeg flann gpu highgui imgproc legacy ml objdetect ts video)
+
+      #Add parent directory of ${OpenCV_INCLUDE_DIR} to ${OpenCV_INCLUDE_DIR} itself
+      #to be able to do both
+      #include <cv.h> and #include <opencv2/core/core.hpp>
+      get_filename_component(PARENT_DIR ${OpenCV_INCLUDE_DIR} PATH)
+      set(OpenCV_INCLUDE_DIR "${OpenCV_INCLUDE_DIR};${PARENT_DIR}")
+	
+    else(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
+      set(OPENCV_LIB_COMPONENTS cxcore cv ml highgui cvaux)
+    endif(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
+    
+  endif(EXISTS "${OpenCV_configScript}")
+
+
+  if(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
+
+    set(CVLIB_SUFFIX ".${OpenCV_VERSION}")
+    if(WIN32 OR NOT PKG_CONFIG_FOUND)
+      set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
+    endif(WIN32 OR NOT PKG_CONFIG_FOUND)
+
+    ## Initiate the variable before the loop
+    set(OpenCV_LIBS "")
+    set(OpenCV_FOUND_TMP true)
+
+    ## Loop over each components
+    foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
+
+      find_library(OpenCV_${__CVLIB}_LIBRARY_DEBUG NAMES "${__CVLIB}${CVLIB_SUFFIX}d" "lib${__CVLIB}${CVLIB_SUFFIX}d" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
+      find_library(OpenCV_${__CVLIB}_LIBRARY_RELEASE NAMES "${__CVLIB}${CVLIB_SUFFIX}" "lib${__CVLIB}${CVLIB_SUFFIX}" "opencv_${__CVLIB}${CVLIB_SUFFIX}" "opencv_${__CVLIB}" "${__CVLIB}" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
+	  
+      #On MacOSX libraries are named:  libopencv_${__CVLIB}${CVLIB_SUFFIX}.dylib
+      #On Linux libraries are named:  libopencv_${__CVLIB}.so${CVLIB_SUFFIX}
+      # but with pkg-config ${OPENCV_LIB_COMPONENTS} are already prefixed with opencv_ ?
+
+      #we add: "opencv_${__CVLIB}${CVLIB_SUFFIX}" for MacOSX
+      #we add: "${__CVLIB}" for linux (but version is not checked !)
+      
+      
+      #Remove the cache value
+      set(OpenCV_${__CVLIB}_LIBRARY "" CACHE STRING "" FORCE)
+      
+      #both debug/release
+      if(OpenCV_${__CVLIB}_LIBRARY_DEBUG AND OpenCV_${__CVLIB}_LIBRARY_RELEASE)
+        set(OpenCV_${__CVLIB}_LIBRARY debug ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} optimized ${OpenCV_${__CVLIB}_LIBRARY_RELEASE}  CACHE STRING "" FORCE)
+
+        #only debug
+      elseif(OpenCV_${__CVLIB}_LIBRARY_DEBUG)
+        set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_DEBUG}  CACHE STRING "" FORCE)
+
+        #only release
+      elseif(OpenCV_${__CVLIB}_LIBRARY_RELEASE)
+        set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_RELEASE}  CACHE STRING "" FORCE)
+
+        #no library found
+      else()
+        set(OpenCV_FOUND_TMP false)
+
+      endif()
+      
+
+      #Add to the general list
+      if(OpenCV_${__CVLIB}_LIBRARY)
+        set(OpenCV_LIBS ${OpenCV_LIBS} ${OpenCV_${__CVLIB}_LIBRARY})
+      endif(OpenCV_${__CVLIB}_LIBRARY)
+
+    endforeach(__CVLIB)
+
+
+    set(OpenCV_FOUND ${OpenCV_FOUND_TMP} CACHE BOOL "" FORCE)
+
+
+  else(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
+
+
+    ## Initiate the variable before the loop
+    set(OpenCV_LIBS "")
+    set(OpenCV_FOUND_TMP true)
+
+    ## Loop over each components
+    foreach(__CVLIB ${OPENCV_LIB_COMPONENTS})
+
+      find_library(OpenCV_${__CVLIB}_LIBRARY_DEBUG NAMES "${__CVLIB}${CVLIB_SUFFIX}d" "lib${__CVLIB}${CVLIB_SUFFIX}d" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
+      find_library(OpenCV_${__CVLIB}_LIBRARY_RELEASE NAMES "${__CVLIB}${CVLIB_SUFFIX}" "lib${__CVLIB}${CVLIB_SUFFIX}" PATHS "${OpenCV_DIR}/lib" NO_DEFAULT_PATH)
+
+
+      
+      #Remove the cache value
+      set(OpenCV_${__CVLIB}_LIBRARY "" CACHE STRING "" FORCE)
+      
+      #both debug/release
+      if(OpenCV_${__CVLIB}_LIBRARY_DEBUG AND OpenCV_${__CVLIB}_LIBRARY_RELEASE)
+        set(OpenCV_${__CVLIB}_LIBRARY debug ${OpenCV_${__CVLIB}_LIBRARY_DEBUG} optimized ${OpenCV_${__CVLIB}_LIBRARY_RELEASE}  CACHE STRING "" FORCE)
+
+        #only debug
+      elseif(OpenCV_${__CVLIB}_LIBRARY_DEBUG)
+        set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_DEBUG}  CACHE STRING "" FORCE)
+
+        #only release
+      elseif(OpenCV_${__CVLIB}_LIBRARY_RELEASE)
+        set(OpenCV_${__CVLIB}_LIBRARY ${OpenCV_${__CVLIB}_LIBRARY_RELEASE}  CACHE STRING "" FORCE)
+
+        #no library found
+      else()
+        set(OpenCV_FOUND_TMP false)
+
+      endif()
+      
+      #Add to the general list
+      if(OpenCV_${__CVLIB}_LIBRARY)
+        set(OpenCV_LIBS ${OpenCV_LIBS} ${OpenCV_${__CVLIB}_LIBRARY})
+      endif(OpenCV_${__CVLIB}_LIBRARY)
+
+      
+    endforeach(__CVLIB)
+
+
+    set(OpenCV_FOUND ${OpenCV_FOUND_TMP} CACHE BOOL "" FORCE)
+
+  endif(${OpenCV_VERSION} VERSION_GREATER 2.1.0)
+
+
+else(EXISTS "${OpenCV_DIR}")
+  set(ERR_MSG "Please specify OpenCV directory using OpenCV_DIR env. variable")
+endif(EXISTS "${OpenCV_DIR}")
+##====================================================
+
+##====================================================
+## Print message
+##----------------------------------------------------
+if(NOT OpenCV_FOUND)
+  # make FIND_PACKAGE friendly
+  if(NOT OpenCV_FIND_QUIETLY)
+    if(OpenCV_FIND_REQUIRED)
+      message(FATAL_ERROR "OpenCV required but some headers or libs not found. ${ERR_MSG}")
+    else(OpenCV_FIND_REQUIRED)
+      message(STATUS "WARNING: OpenCV was not found. ${ERR_MSG}")
+    endif(OpenCV_FIND_REQUIRED)
+  endif(NOT OpenCV_FIND_QUIETLY)
+else()
+   if(NOT OpenCV_FIND_QUIETLY)
+     message(STATUS "Found OpenCV ${OpenCV_VERSION}")
+   endif(NOT OpenCV_FIND_QUIETLY)
+endif()
+##====================================================
+
+
+##====================================================
+## Backward compatibility
+##----------------------------------------------------
+if(OpenCV_FOUND)
+  set(OpenCV_INCLUDE_DIRS "${OpenCV_INCLUDE_DIR}")
+  #option(OpenCV_BACKWARD_COMPA "Add some variable to make this script compatible with the other version of FindOpenCV.cmake" false)
+  #if(OpenCV_BACKWARD_COMPA)
+  #  find_path(OpenCV_INCLUDE_DIRS "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory") 
+  #  find_path(OpenCV_INCLUDE_DIR "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory")
+  #  set(OpenCV_LIBRARIES "${OpenCV_LIBS}" CACHE STRING "" FORCE)
+  #endif(OpenCV_BACKWARD_COMPA)
+endif(OpenCV_FOUND)
+##====================================================
@@ -0,0 +1,98 @@
+# - Find the Pthreads library
+# This module searches for the Pthreads library (including the
+# pthreads-win32 port).
+#
+# This module defines these variables:
+#
+#  PTHREADS_FOUND
+#      True if the Pthreads library was found
+#  PTHREADS_LIBRARY
+#      The location of the Pthreads library
+#  PTHREADS_INCLUDE_DIR
+#      The include path of the Pthreads library
+#  PTHREADS_DEFINITIONS
+#      Preprocessor definitions to define
+#
+# This module responds to the PTHREADS_EXCEPTION_SCHEME
+# variable on Win32 to allow the user to control the
+# library linked against.  The Pthreads-win32 port
+# provides the ability to link against a version of the
+# library with exception handling.  IT IS NOT RECOMMENDED
+# THAT YOU USE THIS because most POSIX thread implementations
+# do not support stack unwinding.
+#
+#  PTHREADS_EXCEPTION_SCHEME
+#      C  = no exceptions (default)
+#         (NOTE: This is the default scheme on most POSIX thread
+#          implementations and what you should probably be using)
+#      CE = C++ Exception Handling
+#      SE = Structure Exception Handling (MSVC only)
+#
+
+#
+# Define a default exception scheme to link against
+# and validate user choice.
+#
+IF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
+    # Assign default if needed
+    SET(PTHREADS_EXCEPTION_SCHEME "C")
+ELSE(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
+    # Validate
+    IF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
+       NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
+       NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+
+    MESSAGE(FATAL_ERROR "See documentation for FindPthreads.cmake, only C, CE, and SE modes are allowed")
+
+    ENDIF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
+          NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
+          NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+
+     IF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+         MESSAGE(FATAL_ERROR "Structured Exception Handling is only allowed for MSVC")
+     ENDIF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
+
+ENDIF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
+
+#
+# Find the header file
+#
+FIND_PATH(PTHREADS_INCLUDE_DIR pthread.h)
+
+#
+# Find the library
+#
+SET(names)
+IF(MSVC)
+    SET(names
+            pthreadV${PTHREADS_EXCEPTION_SCHEME}2
+            pthread
+    )
+ELSEIF(MINGW)
+    SET(names
+            pthreadG${PTHREADS_EXCEPTION_SCHEME}2
+            pthread
+    )
+ELSE(MSVC) # Unix / Cygwin / Apple
+    SET(names pthread)
+ENDIF(MSVC)
+    
+FIND_LIBRARY(PTHREADS_LIBRARY ${names}
+    DOC "The Portable Threads Library")
+
+IF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
+    SET(PTHREADS_FOUND true)
+    SET(PTHREADS_DEFINITIONS -DHAVE_PTHREAD_H)
+    SET(PTHREADS_INCLUDE_DIRS ${PTHREADS_INCLUDE_DIR})
+    SET(PTHREADS_LIBRARIES    ${PTHREADS_LIBRARY})
+ENDIF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
+
+IF(PTHREADS_FOUND)
+    IF(NOT PTHREADS_FIND_QUIETLY)
+        MESSAGE(STATUS "Found Pthreads: ${PTHREADS_LIBRARY}")
+    ENDIF(NOT PTHREADS_FIND_QUIETLY)
+ELSE(PTHREADS_FOUND) 
+    IF(PTHREADS_FIND_REQUIRED)
+        MESSAGE(FATAL_ERROR "Could not find the Pthreads Library")
+    ENDIF(PTHREADS_FIND_REQUIRED)
+ENDIF(PTHREADS_FOUND)
@@ -0,0 +1,25 @@
+# - Find ROS
+# This module finds an installed ROS package.
+#
+# It sets the following variables:
+#  ROS_FOUND       - Set to false, or undefined, if ROS isn't found.
+
+IF(UNIX)
+	FIND_PROGRAM(ROS_EXEC NAME rosrun PATHS)  
+	IF(ROS_EXEC)
+        SET(ROS_FOUND TRUE)
+	ENDIF(ROS_EXEC)
+ENDIF(UNIX)
+
+IF (ROS_FOUND)
+   # show which ROS was found only if not quiet
+   IF (NOT ROS_FIND_QUIETLY)
+      MESSAGE(STATUS "Found ROS")
+   ENDIF (NOT ROS_FIND_QUIETLY)
+ELSE (ROS_FOUND)
+   # fatal error if ROS is required but not found
+   IF (ROS_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find ROS")
+   ENDIF (ROS_FIND_REQUIRED)
+ENDIF (ROS_FOUND)
+
@@ -0,0 +1,47 @@
+# - Find Sqlite3
+# This module finds an installed Sqlite3 package.
+#
+# It sets the following variables:
+#  SQLITE3_FOUND       - Set to false, or undefined, if Sqlite3 isn't found.
+#  SQLITE3_INCLUDE_DIR - The Sqlite3 include directory.
+#  SQLITE3_LIBRARY     - The Sqlite3 library to link against.
+
+SET(SQLITE3_VERSION_REQUIRED "3.6.0")
+
+IF(UNIX)
+	FIND_PROGRAM(SQLITE3_EXEC NAME sqlite3 PATHS)  
+	IF(SQLITE3_EXEC)  
+        MESSAGE(STATUS "Found Sqlite3 executable : ${SQLITE3_EXEC}")
+		EXECUTE_PROCESS(COMMAND ${SQLITE3_EXEC} --version 
+				   	    OUTPUT_VARIABLE SQLITE3_VERSION
+						OUTPUT_STRIP_TRAILING_WHITESPACE
+						WORKING_DIRECTORY "./"
+   		)
+		IF(SQLITE3_VERSION VERSION_LESS SQLITE3_VERSION_REQUIRED)
+		    MESSAGE(FATAL_ERROR "Sqlite ${SQLITE3_VERSION} found, but version ${SQLITE3_VERSION_REQUIRED} minimum is required")
+		ENDIF(SQLITE3_VERSION VERSION_LESS SQLITE3_VERSION_REQUIRED)
+	ELSE(SQLITE3_EXEC)
+		MESSAGE(FATAL_ERROR "Could not find Sqlite3 executable")
+	ENDIF(SQLITE3_EXEC)
+ENDIF(UNIX)
+
+FIND_PATH(SQLITE3_INCLUDE_DIR sqlite3.h PATH_SUFFIXES sqlite3)
+
+FIND_LIBRARY(SQLITE3_LIBRARY NAMES sqlite3.dll sqlite3)
+
+IF (SQLITE3_INCLUDE_DIR AND SQLITE3_LIBRARY)
+   SET(SQLITE3_FOUND TRUE)
+ENDIF (SQLITE3_INCLUDE_DIR AND SQLITE3_LIBRARY)
+
+IF (SQLITE3_FOUND)
+   # show which Sqlite3 was found only if not quiet
+   IF (NOT Sqlite3_FIND_QUIETLY)
+      MESSAGE(STATUS "Found Sqlite3")
+   ENDIF (NOT Sqlite3_FIND_QUIETLY)
+ELSE (SQLITE3_FOUND)
+   # fatal error if Sqlite3 is required but not found
+   IF (Sqlite3_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find Sqlite3")
+   ENDIF (Sqlite3_FIND_REQUIRED)
+ENDIF (SQLITE3_FOUND)
+
@@ -0,0 +1,62 @@
+# - Find UTILITE
+# This module finds an installed UTILITE package.
+#
+# It sets the following variables:
+#  UTILITE_FOUND              - Set to false, or undefined, if UTILITE isn't found.
+#  UTILITE_INCLUDE_DIR        - The UTILITE include directory.
+#  UTILITE_LIBRARY            - The UTILITE library to link against.
+#  URESOURCEGENERATOR_EXEC    - The resource generator tool executable
+#
+# 
+
+SET(UTILITE_VERSION_REQUIRED 0.2.11)
+
+FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS)  
+IF(URESOURCEGENERATOR_EXEC)  
+	EXECUTE_PROCESS(COMMAND ${URESOURCEGENERATOR_EXEC} -v 
+			   	    OUTPUT_VARIABLE UTILITE_VERSION
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	
+	IF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
+	    IF(UtiLite_FIND_REQUIRED)
+	    	MESSAGE(FATAL_ERROR "Your version of UtiLite is too old (${UTILITE_VERSION}), UtiLite ${UTILITE_VERSION_REQUIRED} is required.")
+	    ENDIF(UtiLite_FIND_REQUIRED)
+	ENDIF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
+
+	IF(WIN32)
+		FIND_PATH(UTILITE_INCLUDE_DIR 
+				  utilite/UEventsManager.h
+				  PATH_SUFFIXES "../include")
+	
+		FIND_LIBRARY(UTILITE_LIBRARY NAMES utilite
+					PATH_SUFFIXES "../lib")
+	
+	ELSE()
+		FIND_PATH(UTILITE_INCLUDE_DIR 
+				  utilite/UEventsManager.h)
+	
+		FIND_LIBRARY(UTILITE_LIBRARY NAMES utilite)
+	ENDIF()
+	
+	IF (UTILITE_INCLUDE_DIR AND UTILITE_LIBRARY)
+	   SET(UTILITE_FOUND TRUE)
+	ENDIF (UTILITE_INCLUDE_DIR AND UTILITE_LIBRARY)
+ENDIF(URESOURCEGENERATOR_EXEC)
+
+IF (UTILITE_FOUND)
+   # show which UTILITE was found only if not quiet
+   IF (NOT UtiLite_FIND_QUIETLY)
+      MESSAGE(STATUS "Found UtiLite ${UTILITE_VERSION}")
+   ENDIF (NOT UtiLite_FIND_QUIETLY)
+   IF (NOT URESOURCEGENERATOR_EXEC)
+      MESSAGE(STATUS "uresourcegenerator was not found")
+   ENDIF (NOT URESOURCEGENERATOR_EXEC)
+ELSE ()
+   # fatal error if UTILITE is required but not found
+   IF (UtiLite_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com")
+   ENDIF (UtiLite_FIND_REQUIRED)
+ENDIF ()
+