libpointmatcher integration

CMakeLists.txt

@@ -155,6 +155,7 @@ option(WITH_GTSAM         "Include GTSAM support"                ON)
 option(WITH_TORO          "Include TORO support"                 ON)
 option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
+option(WITH_POINTMATCHER  "Include libpointmatcher 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)
@@ -302,6 +303,13 @@ IF(WITH_CVSBA)
     ENDIF(cvsba_FOUND)
 ENDIF(WITH_CVSBA)
 
+IF(WITH_POINTMATCHER)
+    find_package(libpointmatcher QUIET)
+    IF(libpointmatcher_FOUND)
+       MESSAGE(STATUS "Found libpointmatcher: ${libpointmatcher_INCLUDE_DIRS}")
+    ENDIF(libpointmatcher_FOUND)
+ENDIF(WITH_POINTMATCHER)
+
 IF(WITH_ZED)
     IF(WIN32) # Windows
         SET(ZED_INCLUDE_DIRS $ENV{ZED_INCLUDE_DIRS})
@@ -471,6 +479,9 @@ IF(NOT cvsba_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${cvsba_LIBRARIES})
 ENDIF()
+IF(NOT libpointmatcher_FOUND)
+   SET(POINTMATCHER "//")
+ENDIF(NOT libpointmatcher_FOUND)
 IF(NOT Freenect_FOUND)
    SET(FREENECT "//")
 ELSE()
@@ -823,6 +834,14 @@ ELSE()
 MESSAGE(STATUS "  With cvsba                = NO (cvsba not found)")
 ENDIF()
 
+IF(libpointmatcher_FOUND)
+MESSAGE(STATUS "  With libpointmatcher      = YES (License: BSD)")
+ELSEIF(NOT WITH_POINTMATCHER)
+MESSAGE(STATUS "  With libpointmatcher      = NO (WITH_POINTMATCHER=OFF)")
+ELSE()
+MESSAGE(STATUS "  With libpointmatcher      = NO (libpointmatcher not found)")
+ENDIF()
+
 IF(ZED_FOUND)
 IF(CUDA_FOUND)
 MESSAGE(STATUS "  With ZED                  = YES (With CUDA)")