i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 16:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

updated FindRealSense.cmake

Browse Source
This commit is contained in:
matlabbe
2017-05-05 16:10:09 -04:00
parent c3ec7fbbe4
commit 4d025568dc
2 changed files with 37 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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_FLYCAPTURE2 "Include FlyCapture2/Triclops support" ON)
option(WITH_ZED "Include ZED sdk support" ON) option(WITH_ZED "Include ZED sdk support" ON)
option(WITH_REALSENSE "Include RealSense 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(WITH_OCTOMAP "Include Octomap support" ON)
option(PCL_OMP "With PCL OMP implementations" ON) option(PCL_OMP "With PCL OMP implementations" ON)
@@ -315,7 +316,11 @@ IF(WITH_ZED)
ENDIF(WITH_ZED) ENDIF(WITH_ZED)
IF(WITH_REALSENSE) 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) IF(RealSense_FOUND)
MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}") MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
ENDIF(RealSense_FOUND) ENDIF(RealSense_FOUND)
@@ -744,8 +749,10 @@ IF(RealSense_FOUND)
MESSAGE(STATUS " With RealSense = YES (License: Apache-2)") MESSAGE(STATUS " With RealSense = YES (License: Apache-2)")
IF(RealSenseSlam_FOUND) IF(RealSenseSlam_FOUND)
MESSAGE(STATUS " With RealSenseSlam = YES") MESSAGE(STATUS " With RealSenseSlam = YES")
ELSE() ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS " With RealSenseSlam = NO (librealsense_slam not found)") MESSAGE(STATUS " With RealSenseSlam = NO (librealsense_slam not found)")
ELSE()
MESSAGE(STATUS " With RealSenseSlam = NO (WITH_REALSENSE_SLAM=OFF)")
ENDIF() ENDIF()
ELSEIF(NOT WITH_REALSENSE) ELSEIF(NOT WITH_REALSENSE)
MESSAGE(STATUS " With RealSense = NO (WITH_REALSENSE=OFF)") 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_INCLUDE_DIRS - The RealSense include directory.
# RealSense_LIBRARIES - The RealSense library to link against. # 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 #RealSense library
find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include) find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include)
if(CMAKE_CL_64) if(CMAKE_CL_64)
@@ -21,17 +29,21 @@ IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY) ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
#SLAM #SLAM
find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include) if(REALSENSE_USE_SLAM)
if(CMAKE_CL_64) find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include)
find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64) if(CMAKE_CL_64)
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(RealSenseSlam_LIBRARY NAMES realsense_slam 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(RealSenseImage_LIBRARY NAMES realsense_image 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) 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() 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) set(RealSenseSlam_INCLUDE_DIRS "")
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() endif()
IF (RealSense_FOUND) IF (RealSense_FOUND)
@@ -40,19 +52,20 @@ IF (RealSense_FOUND)
SET(RealSenseSlam_FOUND TRUE) SET(RealSenseSlam_FOUND TRUE)
ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY) 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}) SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
IF (RealSenseSlam_FOUND) IF (RealSenseSlam_FOUND)
IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY) IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSenseSlam_FOUND TRUE) SET(RealSenseSlam_FOUND TRUE)
ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY) ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSense_LIBRARIES SET(RealSense_LIBRARIES
${RealSense_LIBRARIES} ${RealSense_LIBRARIES}
${RealSenseSlam_LIBRARY} ${RealSenseSlam_LIBRARY}
${RealSenseImage_LIBRARY} ${RealSenseImage_LIBRARY}
${RealSenseSP_Core_LIBRARY} ${RealSenseSP_Core_LIBRARY}
${RealSenseTracker_LIBRARY}) ${RealSenseTracker_LIBRARY})
ENDIF(RealSenseSlam_FOUND) ENDIF(RealSenseSlam_FOUND)
# show which RealSense was found only if not quiet
IF (NOT RealSense_FIND_QUIETLY) IF (NOT RealSense_FIND_QUIETLY)
MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}") MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
ENDIF (NOT RealSense_FIND_QUIETLY) ENDIF (NOT RealSense_FIND_QUIETLY)