Added librealsense support #100

CMakeLists.txt

@@ -138,6 +138,7 @@ option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 option(WITH_ZED           "Include ZED sdk support"              ON)
+option(WITH_REALSENSE     "Include RealSense support"            ON)
 option(WITH_OCTOMAP       "Include Octomap support"              ON)
 option(PCL_OMP            "With PCL OMP implementations"         ON)
 
@@ -285,6 +286,13 @@ IF(WITH_ZED)
     ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
 
+IF(WITH_REALSENSE)
+	FIND_PACKAGE(RealSense QUIET)
+    IF(RealSense_FOUND)
+       MESSAGE(STATUS "Found RealSense: ${RealSense_INCLUDE_DIRS}")
+    ENDIF(RealSense_FOUND)
+ENDIF(WITH_REALSENSE)
+
 IF(WITH_OCTOMAP)
 	FIND_PACKAGE(OCTOMAP QUIET)
     IF(OCTOMAP_FOUND)
@@ -396,6 +404,11 @@ IF(NOT ZED_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
 ENDIF()
+IF(NOT RealSense_FOUND)
+   SET(REALSENSE "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${RealSense_LIBRARIES}) 
+ENDIF()
 IF(NOT OCTOMAP_FOUND)
    SET(OCTOMAP "//")
 ELSE()
@@ -687,6 +700,14 @@ ELSE()
 MESSAGE(STATUS "  With ZED                  = NO (ZED sdk not found)")
 ENDIF()
 
+IF(RealSense_FOUND)
+MESSAGE(STATUS "  With RealSense            = YES (License: Apache-2)")
+ELSEIF(NOT WITH_REALSENSE)
+MESSAGE(STATUS "  With RealSense            = NO (WITH_REALSENSE=OFF)")
+ELSE()
+MESSAGE(STATUS "  With RealSense            = NO (librealsense not found)")
+ENDIF()
+
 IF(OCTOMAP_FOUND)
 MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
 ELSEIF(NOT WITH_OCTOMAP)