Added FindRTABMap.cmake

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@700 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-10 21:40:19 +08:00 · 2013-01-10 21:25:15 +00:00
parent b032699860
commit e1304ed2b5
3 changed files with 135 additions and 0 deletions
@@ -11,6 +11,8 @@ SET(PROJECT_PREFIX rtabmap)
 ####### local cmake modules #######
 SET(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")

+CONFIGURE_FILE(FindRTABMap.cmake.in FindRTABMap.cmake @ONLY)
+
 #######################
 # VERSION
 #######################
@@ -230,6 +232,9 @@ INSTALL(FILES
 ${PROJECT_SOURCE_DIR}/Matlab/ShowLogs/importfile.m 
 DESTINATION share/${PROJECT_PREFIX} 
 COMPONENT runtime)
+ 
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/FindRTABMap.cmake DESTINATION share/${PROJECT_PREFIX} COMPONENT devel)
+

 IF(WIN32)
  SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/COPYING.txt")
@@ -0,0 +1,65 @@
+# - Find RTABMap
+# This module finds an installed RTABMap package.
+#
+# It sets the following variables:
+#  RTABMap_FOUND              - Set to false, or undefined, if RTABMap isn't found.
+#  RTABMap_INCLUDE_DIRS        - The RTABMap include directory.
+#  RTABMap_LIBRARIES            - The RTABMap library to link against.
+#
+# Look up for rtabmap ros package first, if not found search system wide.
+# 
+
+SET(RTABMap_ROOT)
+
+# Add ROS RTABMap directory if ROS is installed
+FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
+IF(ROSPACK_EXEC)  
+	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find rtabmap_lib 
+			   	    OUTPUT_VARIABLE RTABMap_ROS_PATH
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	IF(RTABMap_ROS_PATH)
+	    MESSAGE(STATUS "Found RTABMap ROS pkg : ${RTABMap_ROS_PATH}")
+	    SET(RTABMap_ROOT
+	        ${RTABMap_ROS_PATH}/rtabmap
+	        ${RTABMap_ROOT}
+	    )
+	ENDIF(RTABMap_ROS_PATH)
+ENDIF(ROSPACK_EXEC)
+
+IF(WIN32)
+	FIND_PATH(RTABMap_INCLUDE_DIRS 
+			rtabmap/core/Rtabmap.h
+			PATH_SUFFIXES "../include")
+
+	FIND_LIBRARY(RTABMap_LIBRARIES 
+			NAMES rtabmap_core
+		 	PATH_SUFFIXES "../lib")
+
+ELSE()
+	FIND_PATH(RTABMap_INCLUDE_DIRS 
+			rtabmap/core/Rtabmap.h
+			PATHS ${RTABMap_ROOT}/include)
+
+	FIND_LIBRARY(RTABMap_LIBRARIES 
+			NAMES rtabmap_core
+			PATHS ${RTABMap_ROOT}/lib)
+ENDIF()
+
+	
+IF (RTABMap_INCLUDE_DIRS AND RTABMap_LIBRARIES)
+   SET(RTABMap_FOUND TRUE)
+ENDIF (RTABMap_INCLUDE_DIRS AND RTABMap_LIBRARIES)
+
+IF (RTABMap_FOUND)
+   # show which RTABMap was found only if not quiet
+   IF (NOT RTABMap_FIND_QUIETLY)
+      MESSAGE(STATUS "Found RTABMap ${RTABMap_VERSION}")
+   ENDIF (NOT RTABMap_FIND_QUIETLY)
+ELSE ()
+   # fatal error if RTABMap is required but not found
+   IF (RTABMap_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find RTABMap. Verify your PATH if it is already installed or download it at http://rtabmap.googlecode.com")
+   ENDIF (RTABMap_FIND_REQUIRED)
+ENDIF ()
@@ -0,0 +1,65 @@
+# - Find RTABMap
+# This module finds an installed RTABMap package.
+#
+# It sets the following variables:
+#  RTABMap_FOUND              - Set to false, or undefined, if RTABMap isn't found.
+#  RTABMap_INCLUDE_DIRS        - The RTABMap include directory.
+#  RTABMap_LIBRARIES            - The RTABMap library to link against.
+#
+# Look up for rtabmap ros package first, if not found search system wide.
+# 
+
+SET(RTABMap_ROOT)
+
+# Add ROS RTABMap directory if ROS is installed
+FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)  
+IF(ROSPACK_EXEC)  
+	EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find rtabmap_lib 
+			   	    OUTPUT_VARIABLE RTABMap_ROS_PATH
+					OUTPUT_STRIP_TRAILING_WHITESPACE
+					WORKING_DIRECTORY "./"
+	)
+	IF(RTABMap_ROS_PATH)
+	    MESSAGE(STATUS "Found RTABMap ROS pkg : ${RTABMap_ROS_PATH}")
+	    SET(RTABMap_ROOT
+	        ${RTABMap_ROS_PATH}/rtabmap
+	        ${RTABMap_ROOT}
+	    )
+	ENDIF(RTABMap_ROS_PATH)
+ENDIF(ROSPACK_EXEC)
+
+IF(WIN32)
+	FIND_PATH(RTABMap_INCLUDE_DIRS 
+			rtabmap/core/Rtabmap.h
+			PATH_SUFFIXES "../include")
+
+	FIND_LIBRARY(RTABMap_LIBRARIES 
+			NAMES rtabmap_core
+		 	PATH_SUFFIXES "../lib")
+
+ELSE()
+	FIND_PATH(RTABMap_INCLUDE_DIRS 
+			rtabmap/core/Rtabmap.h
+			PATHS ${RTABMap_ROOT}/include)
+
+	FIND_LIBRARY(RTABMap_LIBRARIES 
+			NAMES rtabmap_core
+			PATHS ${RTABMap_ROOT}/lib)
+ENDIF()
+
+	
+IF (RTABMap_INCLUDE_DIRS AND RTABMap_LIBRARIES)
+   SET(RTABMap_FOUND TRUE)
+ENDIF (RTABMap_INCLUDE_DIRS AND RTABMap_LIBRARIES)
+
+IF (RTABMap_FOUND)
+   # show which RTABMap was found only if not quiet
+   IF (NOT RTABMap_FIND_QUIETLY)
+      MESSAGE(STATUS "Found RTABMap ${RTABMap_VERSION}")
+   ENDIF (NOT RTABMap_FIND_QUIETLY)
+ELSE ()
+   # fatal error if RTABMap is required but not found
+   IF (RTABMap_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find RTABMap. Verify your PATH if it is already installed or download it at http://rtabmap.googlecode.com")
+   ENDIF (RTABMap_FIND_REQUIRED)
+ENDIF ()