i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

RealSense driver: added odometry option (ZR300)

Browse Source
This commit is contained in:
matlabbe
2017-04-21 21:24:23 -04:00
parent 2e515f5fc7
commit bc2da10713
8 changed files with 509 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cmake_modules/FindRealSense.cmake
+27
View File
@@ -4,6 +4,7 @@
#
# It sets the following variables:
# RealSense_FOUND - Set to false, or undefined, if RealSense isn't found.
# RealSenseSlam_FOUND - Set to false, or undefined, if RealSense slam module isn't found.
# RealSense_INCLUDE_DIRS - The RealSense include directory.
# RealSense_LIBRARIES - The RealSense library to link against.
@@ -19,9 +20,35 @@ IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
SET(RealSense_FOUND TRUE)
ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
#SLAM
find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include)
if(CMAKE_CL_64)
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(RealSenseImage_LIBRARY NAMES realsense_image 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()
IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
SET(RealSenseSlam_FOUND TRUE)
ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
IF (RealSense_FOUND)
# show which RealSense was found only if not quiet
SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
IF (RealSenseSlam_FOUND)
SET(RealSense_LIBRARIES
${RealSense_LIBRARIES}
${RealSenseSlam_LIBRARY}
${RealSenseImage_LIBRARY}
${RealSenseSP_Core_LIBRARY}
${RealSenseTracker_LIBRARY})
ENDIF(RealSenseSlam_FOUND)
IF (NOT RealSense_FIND_QUIETLY)
MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
ENDIF (NOT RealSense_FIND_QUIETLY)