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34 lines
1.7 KiB
CMake
34 lines
1.7 KiB
CMake
# - Find ORB_SLAM2
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#
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# It sets the following variables:
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# ORB_SLAM2_FOUND - Set to false, or undefined, if ORB_SLAM2 isn't found.
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# ORB_SLAM2_INCLUDE_DIRS - The ORB_SLAM2 include directory.
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# ORB_SLAM2_LIBRARIES - The ORB_SLAM2 library to link against.
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#
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# Set ORB_SLAM2_ROOT_DIR environment variable as the path to ORB_SLAM2 root folder.
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find_path(ORB_SLAM2_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/include)
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find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/lib)
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find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
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find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
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find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM2_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
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IF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
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SET(ORB_SLAM2_FOUND TRUE)
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SET(ORB_SLAM2_INCLUDE_DIRS ${ORB_SLAM2_INCLUDE_DIR} ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM2_ROOT_DIR})
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SET(ORB_SLAM2_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM2_LIBRARY} ${DBoW2_LIBRARY})
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ENDIF (ORB_SLAM2_INCLUDE_DIR AND ORB_SLAM2_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
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IF (ORB_SLAM2_FOUND)
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# show which ORB_SLAM2 was found only if not quiet
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IF (NOT ORB_SLAM2_FIND_QUIETLY)
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MESSAGE(STATUS "Found ORB_SLAM2: ${ORB_SLAM2_LIBRARIES}")
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ENDIF (NOT ORB_SLAM2_FIND_QUIETLY)
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ELSE (ORB_SLAM2_FOUND)
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# fatal error if ORB_SLAM2 is required but not found
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IF (ORB_SLAM2_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find ORB_SLAM2")
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ENDIF (ORB_SLAM2_FIND_REQUIRED)
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ENDIF (ORB_SLAM2_FOUND)
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