mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
MERGE branch STM 325:449 into trunk
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@450 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -0,0 +1,34 @@
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# - Find FFTW3F
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# This module finds an installed FFTW3F package.
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#
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# It sets the following variables:
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# FFTW3F_FOUND - Set to false, or undefined, if FFTW3F isn't found.
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# FFTW3F_INCLUDE_DIRS - The FFTW3F include directory.
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# FFTW3F_LIBRARIES - The FFTW3F library to link against.
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#
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#
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FIND_PATH(FFTW3F_INCLUDE_DIRS
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fftw3.h
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PATHS fftw/)
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FIND_LIBRARY(FFTW3F_LIBRARIES NAMES fftw3f-3 fftw3f libfftw3f-3)
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IF (FFTW3F_INCLUDE_DIRS AND FFTW3F_LIBRARIES)
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SET(FFTW3F_FOUND TRUE)
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ENDIF (FFTW3F_INCLUDE_DIRS AND FFTW3F_LIBRARIES)
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IF (FFTW3F_FOUND)
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# show which FFTW3F was found only if not quiet
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IF (NOT FFTW3F_FIND_QUIETLY)
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MESSAGE(STATUS "Found FFTW3F: ${FFTW3F_LIBRARIES}")
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ENDIF (NOT FFTW3F_FIND_QUIETLY)
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ELSE (FFTW3F_FOUND)
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# fatal error if FFTW3F is required but not found
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IF (FFTW3F_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find FFTW3F")
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ENDIF (FFTW3F_FIND_REQUIRED)
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ENDIF (FFTW3F_FOUND)
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@@ -1,133 +0,0 @@
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###########################################################
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# Find OpenCV Library
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# See http://sourceforge.net/projects/opencvlibrary/
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#----------------------------------------------------------
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#
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## 1: Setup:
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# The following variables are optionally searched for defaults
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# OpenCV_DIR: Base directory of OpenCv tree to use.
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#
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## 2: Variable
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# The following are set after configuration is done:
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#
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# OpenCV_FOUND
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# OpenCV_LIBS
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# OpenCV_INCLUDE_DIR
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# OpenCV_VERSION (OpenCV_VERSION_MAJOR, OpenCV_VERSION_MINOR, OpenCV_VERSION_PATCH)
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#
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#
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# Deprecated variable are used to maintain backward compatibility with
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# the script of Jan Woetzel (2006/09): www.mip.informatik.uni-kiel.de/~jw
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# OpenCV_INCLUDE_DIRS
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# OpenCV_LIBRARIES
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# OpenCV_LINK_DIRECTORIES
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#
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## 3: Version
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#
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# 2010/04/07 Benoit Rat, Correct a bug when OpenCVConfig.cmake is not found.
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# 2010/03/24 Benoit Rat, Add compatibility for when OpenCVConfig.cmake is not found.
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# 2010/03/22 Benoit Rat, Creation of the script.
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#
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#
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# tested with:
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# - OpenCV 2.1: MinGW, MSVC2008
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# - OpenCV 2.0: MinGW, MSVC2008, GCC4
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#
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#
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## 4: Licence:
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#
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# LGPL 2.1 : GNU Lesser General Public License Usage
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# Alternatively, this file may be used under the terms of the GNU Lesser
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# General Public License version 2.1 as published by the Free Software
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# Foundation and appearing in the file LICENSE.LGPL included in the
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# packaging of this file. Please review the following information to
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# ensure the GNU Lesser General Public License version 2.1 requirements
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# will be met: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
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#
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#----------------------------------------------------------
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SET(OpenCV_DIR "$ENV{OpenCV_DIR}")
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if(NOT OpenCV_DIR)
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# Add ROS OpenCV directory if ROS is installed
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FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
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IF(ROSPACK_EXEC)
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#MESSAGE(STATUS "Found rospack executable : ${ROSPACK_EXEC}")
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EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find opencv2
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OUTPUT_VARIABLE OPENCV_ROS_PATH
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(OPENCV_ROS_PATH)
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#MESSAGE(STATUS "Found OpenCV ROS pkg : ${OPENCV_ROS_PATH}")
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SET(OpenCV_DIR ${OPENCV_ROS_PATH}/opencv/share/opencv)
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ENDIF(OPENCV_ROS_PATH)
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ENDIF(ROSPACK_EXEC)
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endif(NOT OpenCV_DIR)
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if(NOT OpenCV_DIR)
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# typical root dirs of installations, exactly one of them is used
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SET (OpenCV_POSSIBLE_ROOT_DIRS
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/usr/local
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/usr/opt
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/usr
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)
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find_path(OpenCV_PATH "OpenCVConfig.cmake" HINTS ${OpenCV_POSSIBLE_ROOT_DIRS} PATH_SUFFIXES "share/opencv")
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SET(OpenCV_DIR ${OpenCV_PATH})
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endif(NOT OpenCV_DIR)
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##====================================================
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## Find OpenCV libraries
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##----------------------------------------------------
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if(EXISTS "${OpenCV_DIR}")
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## Include the standard CMake script
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include("${OpenCV_DIR}/OpenCVConfig.cmake")
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## Search for a specific version
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set(CVLIB_SUFFIX "${OpenCV_VERSION_MAJOR}${OpenCV_VERSION_MINOR}${OpenCV_VERSION_PATCH}")
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if(OpenCV_INCLUDE_DIRS AND OpenCV_LIBS)
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set(OpenCV_FOUND true)
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endif(OpenCV_INCLUDE_DIRS AND OpenCV_LIBS)
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else(EXISTS "${OpenCV_DIR}")
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set(ERR_MSG "Please specify OpenCV directory using OpenCV_DIR env. variable (the folder containing OpenCVConfig.cmake)")
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endif(EXISTS "${OpenCV_DIR}")
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##====================================================
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##====================================================
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## Print message
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##----------------------------------------------------
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if(NOT OpenCV_FOUND)
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# make FIND_PACKAGE friendly
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if(NOT OpenCV_FIND_QUIETLY)
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if(OpenCV_FIND_REQUIRED)
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message(FATAL_ERROR "OpenCV required but some headers or libs not found. ${ERR_MSG}")
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else(OpenCV_FIND_REQUIRED)
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message(STATUS "WARNING: OpenCV was not found. ${ERR_MSG}")
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endif(OpenCV_FIND_REQUIRED)
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endif(NOT OpenCV_FIND_QUIETLY)
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else()
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if(NOT OpenCV_FIND_QUIETLY)
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message(STATUS "Found OpenCV ${OpenCV_VERSION} : ${OpenCV_DIR}")
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endif(NOT OpenCV_FIND_QUIETLY)
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endif()
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##====================================================
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##====================================================
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## Backward compatibility ${OpenCV_POSSIBLE_ROOT_DIRS}
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##----------------------------------------------------
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if(OpenCV_FOUND)
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set(OpenCV_INCLUDE_DIRS "${OpenCV_INCLUDE_DIR}")
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set(OpenCV_LIBRARIES "${OpenCV_LIBS}")
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#option(OpenCV_BACKWARD_COMPA "Add some variable to make this script compatible with the other version of FindOpenCV.cmake" false)
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#if(OpenCV_BACKWARD_COMPA)
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# find_path(OpenCV_INCLUDE_DIRS "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory")
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# find_path(OpenCV_INCLUDE_DIR "cv.h" PATHS "${OpenCV_DIR}" PATH_SUFFIXES "include" "include/opencv" DOC "Include directory")
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# set(OpenCV_LIBRARIES "${OpenCV_LIBS}" CACHE STRING "" FORCE)
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#endif(OpenCV_BACKWARD_COMPA)
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endif(OpenCV_FOUND)
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##====================================================
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@@ -1,80 +1,80 @@
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# - Find UTILITE
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# This module finds an installed UTILITE package.
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#
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# It sets the following variables:
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# UTILITE_FOUND - Set to false, or undefined, if UTILITE isn't found.
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# UTILITE_INCLUDE_DIR - The UTILITE include directory.
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# UTILITE_LIBRARY - The UTILITE library to link against.
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# URESOURCEGENERATOR_EXEC - The resource generator tool executable
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#
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#
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SET(UTILITE_VERSION_REQUIRED 0.2.12)
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SET(UTILITE_ROOT)
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# Add ROS UtiLite directory if ROS is installed
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FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
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IF(ROSPACK_EXEC)
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EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite
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OUTPUT_VARIABLE UTILITE_ROS_PATH
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(UTILITE_ROS_PATH)
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MESSAGE(STATUS "Found UtiLite ROS pkg : ${UTILITE_ROS_PATH}")
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SET(UTILITE_ROOT
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${UTILITE_ROS_PATH}/utilite
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${UTILITE_ROOT}
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)
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ENDIF(UTILITE_ROS_PATH)
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ENDIF(ROSPACK_EXEC)
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FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS ${UTILITE_ROOT}/bin)
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IF(URESOURCEGENERATOR_EXEC)
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EXECUTE_PROCESS(COMMAND ${URESOURCEGENERATOR_EXEC} -v
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OUTPUT_VARIABLE UTILITE_VERSION
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
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IF(UtiLite_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Your version of UtiLite is too old (${UTILITE_VERSION}), UtiLite ${UTILITE_VERSION_REQUIRED} is required.")
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ENDIF(UtiLite_FIND_REQUIRED)
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ENDIF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
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IF(WIN32)
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FIND_PATH(UTILITE_INCLUDE_DIR
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utilite/UEventsManager.h
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PATH_SUFFIXES "../include")
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FIND_LIBRARY(UTILITE_LIBRARY NAMES utilite
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PATH_SUFFIXES "../lib")
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ELSE()
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FIND_PATH(UTILITE_INCLUDE_DIR
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utilite/UEventsManager.h
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PATHS ${UTILITE_ROOT}/include)
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FIND_LIBRARY(UTILITE_LIBRARY
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NAMES utilite
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PATHS ${UTILITE_ROOT}/lib)
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ENDIF()
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IF (UTILITE_INCLUDE_DIR AND UTILITE_LIBRARY)
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SET(UTILITE_FOUND TRUE)
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ENDIF (UTILITE_INCLUDE_DIR AND UTILITE_LIBRARY)
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ENDIF(URESOURCEGENERATOR_EXEC)
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IF (UTILITE_FOUND)
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# show which UTILITE was found only if not quiet
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IF (NOT UtiLite_FIND_QUIETLY)
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MESSAGE(STATUS "Found UtiLite ${UTILITE_VERSION}")
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ENDIF (NOT UtiLite_FIND_QUIETLY)
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ELSE ()
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# fatal error if UTILITE is required but not found
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IF (UtiLite_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com")
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ENDIF (UtiLite_FIND_REQUIRED)
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ENDIF ()
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# - Find UTILITE
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# This module finds an installed UTILITE package.
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#
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# It sets the following variables:
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# UTILITE_FOUND - Set to false, or undefined, if UTILITE isn't found.
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# UTILITE_INCLUDE_DIRS - The UTILITE include directory.
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# UTILITE_LIBRARIES - The UTILITE library to link against.
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# URESOURCEGENERATOR_EXEC - The resource generator tool executable
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#
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#
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SET(UTILITE_VERSION_REQUIRED 0.2.13)
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SET(UTILITE_ROOT)
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# Add ROS UtiLite directory if ROS is installed
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FIND_PROGRAM(ROSPACK_EXEC NAME rospack PATHS)
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IF(ROSPACK_EXEC)
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EXECUTE_PROCESS(COMMAND ${ROSPACK_EXEC} find utilite
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OUTPUT_VARIABLE UTILITE_ROS_PATH
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(UTILITE_ROS_PATH)
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MESSAGE(STATUS "Found UtiLite ROS pkg : ${UTILITE_ROS_PATH}")
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SET(UTILITE_ROOT
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${UTILITE_ROS_PATH}/utilite
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${UTILITE_ROOT}
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)
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ENDIF(UTILITE_ROS_PATH)
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ENDIF(ROSPACK_EXEC)
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FIND_PROGRAM(URESOURCEGENERATOR_EXEC NAME uresourcegenerator PATHS ${UTILITE_ROOT}/bin)
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IF(URESOURCEGENERATOR_EXEC)
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EXECUTE_PROCESS(COMMAND ${URESOURCEGENERATOR_EXEC} -v
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OUTPUT_VARIABLE UTILITE_VERSION
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OUTPUT_STRIP_TRAILING_WHITESPACE
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WORKING_DIRECTORY "./"
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)
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IF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
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IF(UtiLite_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Your version of UtiLite is too old (${UTILITE_VERSION}), UtiLite ${UTILITE_VERSION_REQUIRED} is required.")
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ENDIF(UtiLite_FIND_REQUIRED)
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ENDIF(UTILITE_VERSION VERSION_LESS UTILITE_VERSION_REQUIRED)
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IF(WIN32)
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FIND_PATH(UTILITE_INCLUDE_DIRS
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utilite/UEventsManager.h
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PATH_SUFFIXES "../include")
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FIND_LIBRARY(UTILITE_LIBRARIES NAMES utilite
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PATH_SUFFIXES "../lib")
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ELSE()
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FIND_PATH(UTILITE_INCLUDE_DIRS
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utilite/UEventsManager.h
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PATHS ${UTILITE_ROOT}/include)
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FIND_LIBRARY(UTILITE_LIBRARIES
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NAMES utilite
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PATHS ${UTILITE_ROOT}/lib)
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ENDIF()
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IF (UTILITE_INCLUDE_DIRS AND UTILITE_LIBRARIES)
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SET(UTILITE_FOUND TRUE)
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ENDIF (UTILITE_INCLUDE_DIRS AND UTILITE_LIBRARIES)
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ENDIF(URESOURCEGENERATOR_EXEC)
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IF (UTILITE_FOUND)
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# show which UTILITE was found only if not quiet
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IF (NOT UtiLite_FIND_QUIETLY)
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MESSAGE(STATUS "Found UtiLite ${UTILITE_VERSION}")
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ENDIF (NOT UtiLite_FIND_QUIETLY)
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ELSE ()
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# fatal error if UTILITE is required but not found
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IF (UtiLite_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find UtiLite. Verify your PATH if it is already installed or download it at http://utilite.googlecode.com")
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ENDIF (UtiLite_FIND_REQUIRED)
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ENDIF ()
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Block a user