Added FindRTABMap.cmake

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@700 f169173b-cf89-36c8-b27e-44dbe73f0c83

doc/FindRTABMap.cmake

@@ -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 ()