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updated FindRealSense.cmake

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matlabbe
2017-05-05 16:10:09 -04:00
parent c3ec7fbbe4
commit 4d025568dc
2 changed files with 37 additions and 17 deletions
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CMakeLists.txt
+9 -2
View File
@@ -149,6 +149,7 @@ option(WITH_CVSBA "Include cvsba support" ON)
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_OCTOMAP "Include Octomap support" ON)
option(PCL_OMP "With PCL OMP implementations" ON)
@@ -315,7 +316,11 @@ IF(WITH_ZED)
ENDIF(WITH_ZED)
IF(WITH_REALSENSE)
FIND_PACKAGE(RealSense QUIET)
IF(WITH_REALSENSE_SLAM)
FIND_PACKAGE(RealSense QUIET COMPONENTS slam)
ELSE()
FIND_PACKAGE(RealSense QUIET)
ENDIF()
IF(RealSense_FOUND)
MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
ENDIF(RealSense_FOUND)
@@ -744,8 +749,10 @@ IF(RealSense_FOUND)
MESSAGE(STATUS " With RealSense = YES (License: Apache-2)")
IF(RealSenseSlam_FOUND)
MESSAGE(STATUS " With RealSenseSlam = YES")
ELSE()
ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS " With RealSenseSlam = NO (librealsense_slam not found)")
ELSE()
MESSAGE(STATUS " With RealSenseSlam = NO (WITH_REALSENSE_SLAM=OFF)")
ENDIF()
ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS " With RealSense = NO (WITH_REALSENSE=OFF)")
cmake_modules/FindRealSense.cmake
+28 -15
View File
@@ -8,6 +8,14 @@
# RealSense_INCLUDE_DIRS - The RealSense include directory.
# RealSense_LIBRARIES - The RealSense library to link against.
# Use find_package( RealSense COMPONENTS slam ) to search for realsense slam library
if( RealSense_FIND_COMPONENTS )
foreach( component ${RealSense_FIND_COMPONENTS} )
string( TOUPPER ${component} _COMPONENT )
set( REALSENSE_USE_${_COMPONENT} 1 )
endforeach()
endif()
#RealSense library
find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include)
if(CMAKE_CL_64)
@@ -21,17 +29,21 @@ IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
#SLAM
find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include)
if(CMAKE_CL_64)
find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
find_library(RealSenseSP_Core_LIBRARY NAMES SP_Core PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
if(REALSENSE_USE_SLAM)
find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include)
if(CMAKE_CL_64)
find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
find_library(RealSenseSP_Core_LIBRARY NAMES SP_Core PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
else()
find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
find_library(RealSenseSP_Core_LIBRARY NAMES SP_Core PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
endif()
else()
find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
find_library(RealSenseSP_Core_LIBRARY NAMES SP_Core PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
set(RealSenseSlam_INCLUDE_DIRS "")
endif()
IF (RealSense_FOUND)
@@ -40,19 +52,20 @@ IF (RealSense_FOUND)
SET(RealSenseSlam_FOUND TRUE)
ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
# show which RealSense was found only if not quiet
SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
IF (RealSenseSlam_FOUND)
IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSenseSlam_FOUND TRUE)
ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSense_LIBRARIES
IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSenseSlam_FOUND TRUE)
ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSense_LIBRARIES
${RealSense_LIBRARIES}
${RealSenseSlam_LIBRARY}
${RealSenseImage_LIBRARY}
${RealSenseSP_Core_LIBRARY}
${RealSenseTracker_LIBRARY})
ENDIF(RealSenseSlam_FOUND)
# show which RealSense was found only if not quiet
IF (NOT RealSense_FIND_QUIETLY)
MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
ENDIF (NOT RealSense_FIND_QUIETLY)