Ouster SDK integration

CMakeLists.txt

@@ -205,6 +205,7 @@ option(WITH_REALSENSE2    "Include RealSense support"            ON)
 option(WITH_MYNTEYE       "Include mynteye-s support"            ON)
 option(WITH_DEPTHAI       "Include depthai-core support"         OFF)
 option(WITH_XVSDK         "Include XVisio SDK support"           OFF)
+option(WITH_OUSTER        "INclude Ouster SDK support"           ON)
 option(WITH_OCTOMAP       "Include OctoMap support"              ON)
 option(WITH_GRIDMAP       "Include GridMap support"              ON)
 option(WITH_CPUTSDF       "Include CPUTSDF support"              OFF)
@@ -671,6 +672,13 @@ IF(WITH_XVSDK)
     ENDIF(xvsdk_FOUND)
 ENDIF(WITH_XVSDK)
 
+IF(WITH_OUSTER)
+    FIND_PACKAGE(OusterSDK QUIET)
+    IF(OusterSDK_FOUND)
+       MESSAGE(STATUS "Found OusterSDK (targets)")
+    ENDIF(OusterSDK_FOUND)
+ENDIF(WITH_OUSTER)
+
 IF(WITH_OCTOMAP)
     FIND_PACKAGE(octomap QUIET)
     IF(octomap_FOUND)
@@ -1018,6 +1026,9 @@ IF(NOT xvsdk_FOUND)
 ELSE()
    SET(CONF_WITH_XVSDK 1)
 ENDIF()
+IF(NOT OusterSDK_FOUND)
+   SET(OUSTER "//")
+ENDIF()
 IF(NOT octomap_FOUND)
    SET(OCTOMAP "//")
    SET(CONF_WITH_OCTOMAP 0)
@@ -1674,6 +1685,16 @@ ELSE()
 MESSAGE(STATUS "  With XVisio SDK           = NO (xvsdk not found)")
 ENDIF()
 
+MESSAGE(STATUS "")
+MESSAGE(STATUS " LiDAR Drivers:")
+IF(OusterSDK_FOUND)
+MESSAGE(STATUS "  With Ouster SDK ${OusterSDK_VERSION}  = YES")
+ELSEIF(NOT WITH_OUSTER)
+MESSAGE(STATUS "  With Ouster SDK           = NO (WITH_OUSTER=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Ouster SDK           = NO (OusterSDK not found)")
+ENDIF()
+
 MESSAGE(STATUS "")
 MESSAGE(STATUS " Odometry Approaches:")
 IF(loam_velodyne_FOUND)