feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,31 @@
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# - Find ARCore
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# This module finds an installed ARCore client C-API package.
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#
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# It sets the following variables:
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# ARCore_FOUND - Set to false, or undefined, if ARCore isn't found.
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# ARCore_INCLUDE_DIRS - The ARCore include directory.
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# ARCore_LIBRARIES - The ARCore library to link against.
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FIND_PATH(ARCore_INCLUDE_DIR arcore_c_api.h)
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FIND_LIBRARY(ARCore_c_LIBRARY NAMES arcore_sdk_c PATH_SUFFIXES ${ANDROID_ABI})
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FIND_LIBRARY(ARCore_jni_LIBRARY NAMES arcore_sdk_jni PATH_SUFFIXES ${ANDROID_ABI})
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IF (ARCore_INCLUDE_DIR AND ARCore_c_LIBRARY AND ARCore_jni_LIBRARY)
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SET(ARCore_FOUND TRUE)
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SET(ARCore_INCLUDE_DIRS ${ARCore_INCLUDE_DIR})
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SET(ARCore_LIBRARIES ${ARCore_c_LIBRARY} ${ARCore_jni_LIBRARY})
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ENDIF (ARCore_INCLUDE_DIR AND ARCore_c_LIBRARY AND ARCore_jni_LIBRARY)
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IF (ARCore_FOUND)
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# show which ARCore was found only if not quiet
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IF (NOT ARCore_FIND_QUIETLY)
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MESSAGE(STATUS "Found ARCore: ${ARCore_INCLUDE_DIRS}")
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ENDIF (NOT ARCore_FIND_QUIETLY)
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ELSE (ARCore_FOUND)
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# fatal error if ARCore is required but not found
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IF (ARCore_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find ARCore (client and/or support libraries)")
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ENDIF (ARCore_FIND_REQUIRED)
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ENDIF (ARCore_FOUND)
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@@ -0,0 +1,32 @@
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# - Find AREngine
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# This module finds an installed AREngine client C-API package.
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#
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# It sets the following variables:
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# AREngine_FOUND - Set to false, or undefined, if AREngine isn't found.
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# AREngine_INCLUDE_DIRS - The AREngine include directory.
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# AREngine_LIBRARIES - The AREngine library to link against.
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FIND_PATH(AREngine_INCLUDE_DIR huawei_arengine_interface.h)
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FIND_LIBRARY(AREngine_impl_LIBRARY NAMES huawei_arengine_impl PATH_SUFFIXES ${ANDROID_ABI})
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FIND_LIBRARY(AREngine_jni_LIBRARY NAMES huawei_arengine_jni PATH_SUFFIXES ${ANDROID_ABI})
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FIND_LIBRARY(AREngine_ndk_LIBRARY NAMES huawei_arengine_ndk PATH_SUFFIXES ${ANDROID_ABI})
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IF (AREngine_INCLUDE_DIR AND AREngine_impl_LIBRARY AND AREngine_jni_LIBRARY AND AREngine_ndk_LIBRARY)
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SET(AREngine_FOUND TRUE)
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SET(AREngine_INCLUDE_DIRS ${AREngine_INCLUDE_DIR})
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SET(AREngine_LIBRARIES ${AREngine_impl_LIBRARY} ${AREngine_jni_LIBRARY} ${AREngine_ndk_LIBRARY})
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ENDIF (AREngine_INCLUDE_DIR AND AREngine_impl_LIBRARY AND AREngine_jni_LIBRARY AND AREngine_ndk_LIBRARY)
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IF (AREngine_FOUND)
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# show which AREngine was found only if not quiet
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IF (NOT AREngine_FIND_QUIETLY)
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MESSAGE(STATUS "Found AREngine: ${AREngine_INCLUDE_DIRS}")
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ENDIF (NOT AREngine_FIND_QUIETLY)
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ELSE (AREngine_FOUND)
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# fatal error if AREngine is required but not found
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IF (AREngine_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find AREngine's impl, jni and ndk libraries)")
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ENDIF (AREngine_FIND_REQUIRED)
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ENDIF (AREngine_FOUND)
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@@ -0,0 +1,33 @@
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# - Find DC1394 alias libdc1394
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# This module finds an installed DC1394 package.
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#
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# It sets the following variables:
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# DC1394_FOUND - Set to false, or undefined, if DC1394 isn't found.
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# DC1394_INCLUDE_DIRS - The DC1394 include directory.
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# DC1394_LIBRARIES - The DC1394 library to link against.
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find_path(DC1394_INCLUDE_DIRS NAMES dc1394.h PATH_SUFFIXES dc1394)
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find_library(DC1394_LIBRARIES NAMES dc1394)
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IF (DC1394_INCLUDE_DIRS AND DC1394_LIBRARIES)
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SET(DC1394_FOUND TRUE)
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#On Mac OS X
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#if(CMAKE_SYSTEM_NAME MATCHES "Darwin")
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# set(DC1394_LIBRARIES ${DC1394_LIBRARIES} "-framework CoreServices")
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#endif(CMAKE_SYSTEM_NAME MATCHES "Darwin")
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ENDIF (DC1394_INCLUDE_DIRS AND DC1394_LIBRARIES)
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IF (DC1394_FOUND)
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# show which DC1394 was found only if not quiet
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IF (NOT DC1394_FIND_QUIETLY)
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MESSAGE(STATUS "Found DC1394: ${DC1394_LIBRARIES}")
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ENDIF (NOT DC1394_FIND_QUIETLY)
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ELSE (DC1394_FOUND)
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# fatal error if DC1394 is required but not found
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IF (DC1394_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find DC1394 (libdc1394)")
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ENDIF (DC1394_FIND_REQUIRED)
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ENDIF (DC1394_FOUND)
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@@ -0,0 +1,107 @@
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# - Try to find Eigen3 lib
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#
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# This module supports requiring a minimum version, e.g. you can do
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# find_package(Eigen3 3.1.2)
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# to require version 3.1.2 or newer of Eigen3.
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#
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# Once done this will define
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#
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# EIGEN3_FOUND - system has eigen lib with correct version
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# EIGEN3_INCLUDE_DIR - the eigen include directory
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# EIGEN3_VERSION - eigen version
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#
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# and the following imported target:
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#
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# Eigen3::Eigen - The header-only Eigen library
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#
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# This module reads hints about search locations from
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# the following environment variables:
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#
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# EIGEN3_ROOT
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# EIGEN3_ROOT_DIR
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# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
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# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
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# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
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# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
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if(NOT Eigen3_FIND_VERSION)
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if(NOT Eigen3_FIND_VERSION_MAJOR)
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set(Eigen3_FIND_VERSION_MAJOR 2)
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endif()
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if(NOT Eigen3_FIND_VERSION_MINOR)
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set(Eigen3_FIND_VERSION_MINOR 91)
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endif()
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if(NOT Eigen3_FIND_VERSION_PATCH)
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set(Eigen3_FIND_VERSION_PATCH 0)
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endif()
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set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
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endif()
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macro(_eigen3_check_version)
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file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
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string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
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set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
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string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
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set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
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string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
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set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
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set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
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if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
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set(EIGEN3_VERSION_OK FALSE)
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else()
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set(EIGEN3_VERSION_OK TRUE)
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endif()
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if(NOT EIGEN3_VERSION_OK)
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message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
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"but at least version ${Eigen3_FIND_VERSION} is required")
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endif()
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endmacro()
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if (EIGEN3_INCLUDE_DIR)
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# in cache already
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_eigen3_check_version()
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set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
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set(Eigen3_FOUND ${EIGEN3_VERSION_OK})
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else ()
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# search first if an Eigen3Config.cmake is available in the system,
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# if successful this would set EIGEN3_INCLUDE_DIR and the rest of
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# the script will work as usual
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find_package(Eigen3 ${Eigen3_FIND_VERSION} NO_MODULE QUIET)
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if(NOT EIGEN3_INCLUDE_DIR)
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find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
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HINTS
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ENV EIGEN3_ROOT
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ENV EIGEN3_ROOT_DIR
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PATHS
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${CMAKE_INSTALL_PREFIX}/include
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${KDE4_INCLUDE_DIR}
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PATH_SUFFIXES eigen3 eigen
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)
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endif()
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if(EIGEN3_INCLUDE_DIR)
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_eigen3_check_version()
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endif()
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include(FindPackageHandleStandardArgs)
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find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
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mark_as_advanced(EIGEN3_INCLUDE_DIR)
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endif()
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if(EIGEN3_FOUND AND NOT TARGET Eigen3::Eigen)
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add_library(Eigen3::Eigen INTERFACE IMPORTED)
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set_target_properties(Eigen3::Eigen PROPERTIES
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INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIR}")
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endif()
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@@ -0,0 +1,37 @@
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# - Find FastCV (https://developer.qualcomm.com/software/fastcv-sdk)
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#
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# It sets the following variables:
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# FastCV_FOUND - Set to false, or undefined, if FastCV isn't found.
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# FastCV_INCLUDE_DIRS - The FastCV include directory.
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# FastCV_LIBRARIES - The FastCV library to link against.
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IF(NOT WIN32 AND NOT APPLE)
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EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
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MESSAGE( STATUS "Architecture: ${ARCHITECTURE}" )
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# Currently only tested on aarch64!
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IF(${ARCHITECTURE} STREQUAL "aarch64")
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find_path(FastCV_INCLUDE_DIRS NAMES fastcv.h PATH_SUFFIXES fastcv)
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find_library(FastCV_LIBRARY NAMES fastcvopt fastcv)
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ENDIF(${ARCHITECTURE} STREQUAL "aarch64")
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ENDIF(NOT WIN32 AND NOT APPLE)
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IF (FastCV_INCLUDE_DIRS AND FastCV_LIBRARY)
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SET(FastCV_FOUND TRUE)
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ENDIF (FastCV_INCLUDE_DIRS AND FastCV_LIBRARY)
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IF (FastCV_FOUND)
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SET(FastCV_LIBRARIES ${FastCV_LIBRARY})
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# show which RealSense was found only if not quiet
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IF (NOT FastCV_FIND_QUIETLY)
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MESSAGE(STATUS "Found FastCV: ${FastCV_LIBRARIES}")
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ENDIF (NOT FastCV_FIND_QUIETLY)
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ELSE (FastCV_FOUND)
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# fatal error if RealSense is required but not found
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IF (FastCV_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find FastCV")
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ENDIF (FastCV_FIND_REQUIRED)
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ENDIF (FastCV_FOUND)
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@@ -0,0 +1,55 @@
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# - Find FlyCapture2
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# This module finds an installed FlyCapture2+Triclops stereo camera package. (Point Grey SDK)
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#
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# It sets the following variables:
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# FlyCapture2_FOUND - Set to false, or undefined, if FlyCapture2 isn't found.
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# FlyCapture2_INCLUDE_DIRS - The FlyCapture2 include directory.
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# FlyCapture2_LIBRARIES - The FlyCapture2 library to link against.
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if(CMAKE_CL_64)
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set(FlyCapture2_LIBDIR $ENV{FlyCapture2_ROOT_DIR}/lib64 $ENV{FC2LIB}/lib64)
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else()
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set(FlyCapture2_LIBDIR $ENV{FlyCapture2_ROOT_DIR}/lib $ENV{FC2LIB}/lib)
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endif()
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if(CMAKE_CL_64)
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set(Triclops_LIBDIR $ENV{Triclops_ROOT_DIR}/lib64 $ENV{TRICLOPSLIB}/lib64)
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else()
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set(Triclops_LIBDIR $ENV{Triclops_ROOT_DIR}/lib $ENV{TRICLOPSLIB}/lib)
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endif()
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#FlyCapture2 SDK
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find_path(FlyCapture2_INCLUDE_DIR NAMES FlyCapture2.h PATHS $ENV{FlyCapture2_ROOT_DIR}/include $ENV{FlyCapture2_ROOT_DIR}/include/flycapture $ENV{FC2LIB}/include $ENV{FC2LIB}/include/flycapture)
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find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v140 FlyCapture2_v100 FlyCapture2 flycapture2 flycapture NO_DEFAULT_PATH PATHS ${FlyCapture2_LIBDIR}/vs2015 ${FlyCapture2_LIBDIR})
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MESSAGE(STATUS "FlyCapture2_INCLUDE_DIR=${FlyCapture2_INCLUDE_DIR}")
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MESSAGE(STATUS "FlyCapture2_LIBRARY=${FlyCapture2_LIBRARY}")
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# Triclops SDK
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find_path(Triclops_INCLUDE_DIR NAMES triclops.h PATHS $ENV{Triclops_ROOT_DIR}/include $ENV{Triclops_ROOT_DIR}/include/triclops $ENV{TRICLOPSLIB}/include $ENV{TRICLOPSLIB}/include/triclops)
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find_library(Triclops_LIBRARY NAMES triclops triclops_v140 triclops_v100 libtriclops.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
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find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v140 flycapture2bridge_v100 libflycapture2bridge.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
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find_library(pnmutils_LIBRARY NAMES pnmutils pnmutils_v140 pnmutils_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
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MESSAGE(STATUS "Triclops_INCLUDE_DIR=${Triclops_INCLUDE_DIR}")
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MESSAGE(STATUS "Triclops_LIBRARY=${Triclops_LIBRARY}")
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MESSAGE(STATUS "FlyCaptureBridge_LIBRARY=${FlyCaptureBridge_LIBRARY}")
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IF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY)
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SET(FlyCapture2_FOUND TRUE)
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SET(FlyCapture2_INCLUDE_DIRS ${FlyCapture2_INCLUDE_DIR} ${Triclops_INCLUDE_DIR})
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SET(FlyCapture2_LIBRARIES ${FlyCapture2_LIBRARY} ${Triclops_LIBRARY} ${FlyCaptureBridge_LIBRARY})
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ENDIF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY)
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IF (FlyCapture2_FOUND)
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# show which FlyCapture2 was found only if not quiet
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IF (NOT FlyCapture2_FIND_QUIETLY)
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MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_LIBRARIES}")
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ENDIF (NOT FlyCapture2_FIND_QUIETLY)
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ELSE (FlyCapture2_FOUND)
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# fatal error if FlyCapture2 is required but not found
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IF (FlyCapture2_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find FlyCapture2 (FlyCapture2 Stereo Vision SDK)")
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ENDIF (FlyCapture2_FIND_REQUIRED)
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ENDIF (FlyCapture2_FOUND)
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@@ -0,0 +1,37 @@
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# - Find Freenect alias libfreenect
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# This module finds an installed Freenect package.
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#
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# It sets the following variables:
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# Freenect_FOUND - Set to false, or undefined, if Freenect isn't found.
|
||||
# Freenect_INCLUDE_DIRS - The Freenect include directory.
|
||||
# Freenect_LIBRARIES - The Freenect library to link against.
|
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# Freenect_DASH_INCLUDES - If includes have "-" instead of "_" in their names. New libfreenect has "_".
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FIND_PATH(Freenect_INCLUDE_DIRS libfreenect-registration.h libfreenect_registration.h PATH_SUFFIXES libfreenect)
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|
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FIND_LIBRARY(Freenect_LIBRARY NAMES freenect)
|
||||
FIND_LIBRARY(Freenect_sync_LIBRARY NAMES freenect_sync)
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FIND_FILE(tmp libfreenect-registration.h PATH_SUFFIXES libfreenect)
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SET(Freenect_DASH_INCLUDES 0)
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IF(tmp)
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SET(Freenect_DASH_INCLUDES 1)
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||||
ENDIF(tmp)
|
||||
|
||||
IF (Freenect_INCLUDE_DIRS AND Freenect_LIBRARY AND Freenect_sync_LIBRARY)
|
||||
SET(Freenect_FOUND TRUE)
|
||||
ENDIF (Freenect_INCLUDE_DIRS AND Freenect_LIBRARY AND Freenect_sync_LIBRARY)
|
||||
|
||||
IF (Freenect_FOUND)
|
||||
# show which Freenect was found only if not quiet
|
||||
SET(Freenect_LIBRARIES ${Freenect_LIBRARY} ${Freenect_sync_LIBRARY})
|
||||
IF (NOT Freenect_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found Freenect: ${Freenect_LIBRARIES}")
|
||||
ENDIF (NOT Freenect_FIND_QUIETLY)
|
||||
ELSE (Freenect_FOUND)
|
||||
# fatal error if Freenect is required but not found
|
||||
IF (Freenect_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find Freenect (libfreenect)")
|
||||
ENDIF (Freenect_FIND_REQUIRED)
|
||||
ENDIF (Freenect_FOUND)
|
||||
|
||||
@@ -0,0 +1,140 @@
|
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#Pre-requisites: Look for csparse
|
||||
MESSAGE(STATUS "RTAB-Map's cmake g2o find module used for convenience (for older g2o versions)")
|
||||
FIND_PATH(CSPARSE_INCLUDE_DIR NAMES cs.h PATH_SUFFIXES suitesparse csparse EXTERNAL/suitesparse EXTERNAL/csparse g2o/EXTERNAL/suitesparse g2o/EXTERNAL/csparse
|
||||
PATHS "C:\\Program Files\\g2o\\include\\EXTERNAL")
|
||||
FIND_LIBRARY(CSPARSE_LIBRARY NAMES cxsparse g2o_ext_csparse
|
||||
PATHS "C:\\Program Files\\g2o\\lib")
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(CSPARSE DEFAULT_MSG CSPARSE_INCLUDE_DIR CSPARSE_LIBRARY)
|
||||
|
||||
# chmold dependency
|
||||
FIND_PATH(CHOLMOD_INCLUDE_DIR NAMES cholmod.h PATH_SUFFIXES suitesparse ufsparse
|
||||
PATHS $ENV{CHOLMODDIR} ${INCLUDE_INSTALL_DIR} )
|
||||
FIND_LIBRARY(CHOLMOD_LIB cholmod)
|
||||
|
||||
# G2O: Find the header files
|
||||
|
||||
FIND_PATH(G2O_INCLUDE_DIR g2o/core/base_vertex.h
|
||||
PATHS "C:\\Program Files\\g2o\\include")
|
||||
|
||||
FIND_FILE(G2O_CONFIG_FILE g2o/config.h
|
||||
PATHS ${G2O_INCLUDE_DIR}
|
||||
NO_DEFAULT_PATH)
|
||||
|
||||
FIND_FILE(G2O_FACTORY_FILE g2o/core/factory.h
|
||||
PATHS ${G2O_INCLUDE_DIR}
|
||||
NO_DEFAULT_PATH)
|
||||
|
||||
#ifdef G2O_NUMBER_FORMAT_STR
|
||||
#define G2O_CPP11 // we assume that if G2O_NUMBER_FORMAT_STR is defined, this is the new g2o code with c++11 interface
|
||||
#endif
|
||||
|
||||
# Macro to unify finding both the debug and release versions of the
|
||||
# libraries; this is adapted from the rtabmap config
|
||||
|
||||
MACRO(FIND_G2O_LIBRARY MYLIBRARY MYLIBRARYNAME)
|
||||
|
||||
FIND_LIBRARY("${MYLIBRARY}_DEBUG"
|
||||
NAMES "g2o_${MYLIBRARYNAME}_d"
|
||||
PATHS "C:\\Program Files\\g2o\\lib")
|
||||
|
||||
FIND_LIBRARY(${MYLIBRARY}
|
||||
NAMES "g2o_${MYLIBRARYNAME}"
|
||||
PATHS "C:\\Program Files\\g2o\\lib")
|
||||
|
||||
IF(${MYLIBRARY}_DEBUG AND ${MYLIBRARY})
|
||||
SET(${MYLIBRARY}
|
||||
debug ${${MYLIBRARY}_DEBUG}
|
||||
optimized ${${MYLIBRARY}}
|
||||
)
|
||||
ELSEIF(${MYLIBRARY}_DEBUG)
|
||||
SET(${MYLIBRARY} ${${MYLIBRARY}_DEBUG})
|
||||
ENDIF()
|
||||
|
||||
ENDMACRO(FIND_G2O_LIBRARY LIBRARY LIBRARYNAME)
|
||||
|
||||
# Find the core elements
|
||||
FIND_G2O_LIBRARY(G2O_STUFF_LIBRARY stuff)
|
||||
FIND_G2O_LIBRARY(G2O_CORE_LIBRARY core)
|
||||
|
||||
# Find the CLI library
|
||||
FIND_G2O_LIBRARY(G2O_CLI_LIBRARY cli)
|
||||
|
||||
# Find the pluggable solvers
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_CHOLMOD solver_cholmod)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE solver_csparse)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_CSPARSE_EXTENSION csparse_extension)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_DENSE solver_dense)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_PCG solver_pcg)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_SLAM2D_LINEAR solver_slam2d_linear)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_STRUCTURE_ONLY solver_structure_only)
|
||||
FIND_G2O_LIBRARY(G2O_SOLVER_EIGEN solver_eigen)
|
||||
|
||||
# Find the predefined types
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_DATA types_data)
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_ICP types_icp)
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_SBA types_sba)
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_SCLAM2D types_sclam2d)
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_SIM3 types_sim3)
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_SLAM2D types_slam2d)
|
||||
FIND_G2O_LIBRARY(G2O_TYPES_SLAM3D types_slam3d)
|
||||
|
||||
# G2O solvers declared found if we found at least one solver
|
||||
SET(G2O_SOLVERS_FOUND "NO")
|
||||
IF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
|
||||
SET(G2O_SOLVERS_FOUND "YES")
|
||||
ENDIF(G2O_SOLVER_CHOLMOD OR G2O_SOLVER_CSPARSE OR G2O_SOLVER_DENSE OR G2O_SOLVER_PCG OR G2O_SOLVER_SLAM2D_LINEAR OR G2O_SOLVER_STRUCTURE_ONLY OR G2O_SOLVER_EIGEN)
|
||||
|
||||
# G2O itself declared found if we found the core libraries and at least one solver
|
||||
SET(G2O_FOUND "NO")
|
||||
IF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_FACTORY_FILE AND G2O_SOLVERS_FOUND)
|
||||
SET(G2O_INCLUDE_DIRS ${G2O_INCLUDE_DIR})
|
||||
SET(G2O_LIBRARIES
|
||||
${G2O_CORE_LIBRARY}
|
||||
${G2O_TYPES_SLAM2D}
|
||||
${G2O_TYPES_SLAM3D}
|
||||
${G2O_TYPES_SBA}
|
||||
${G2O_STUFF_LIBRARY})
|
||||
|
||||
IF(CSPARSE_FOUND)
|
||||
SET(G2O_INCLUDE_DIRS
|
||||
${G2O_INCLUDE_DIRS}
|
||||
${CSPARSE_INCLUDE_DIR})
|
||||
SET(G2O_LIBRARIES
|
||||
${G2O_LIBRARIES}
|
||||
${G2O_SOLVER_CSPARSE}
|
||||
${G2O_SOLVER_CSPARSE_EXTENSION}
|
||||
${CSPARSE_LIBRARY})
|
||||
ENDIF(CSPARSE_FOUND)
|
||||
|
||||
IF(G2O_SOLVER_CHOLMOD)
|
||||
SET(G2O_INCLUDE_DIRS
|
||||
${G2O_INCLUDE_DIRS}
|
||||
${CHOLMOD_INCLUDE_DIR})
|
||||
SET(G2O_LIBRARIES
|
||||
${G2O_LIBRARIES}
|
||||
${G2O_SOLVER_CHOLMOD}
|
||||
${CHOLMOD_LIB})
|
||||
ENDIF(G2O_SOLVER_CHOLMOD)
|
||||
|
||||
FILE(READ ${G2O_CONFIG_FILE} TMPTXT)
|
||||
STRING(FIND "${TMPTXT}" "G2O_NUMBER_FORMAT_STR" matchres)
|
||||
IF(${matchres} EQUAL -1)
|
||||
MESSAGE(STATUS "Old g2o version detected with c++03 interface (config file: ${G2O_CONFIG_FILE}).")
|
||||
SET(G2O_CPP11 0)
|
||||
ELSE()
|
||||
MESSAGE(WARNING "Latest g2o version detected with c++11 interface (config file: ${G2O_CONFIG_FILE}). Make sure g2o is built with \"-DBUILD_WITH_MARCH_NATIVE=OFF\" to avoid segmentation faults caused by Eigen.")
|
||||
FILE(READ ${G2O_FACTORY_FILE} TMPTXT)
|
||||
STRING(FIND "${TMPTXT}" "shared_ptr" matchres)
|
||||
IF(${matchres} EQUAL -1)
|
||||
MESSAGE(STATUS "Old g2o factory version detected without shared ptr (factory file: ${G2O_FACTORY_FILE}).")
|
||||
SET(G2O_CPP11 2)
|
||||
ELSE()
|
||||
MESSAGE(STATUS "Latest g2o factory version detected with shared ptr (factory file: ${G2O_FACTORY_FILE}).")
|
||||
SET(G2O_CPP11 1)
|
||||
ENDIF()
|
||||
ENDIF()
|
||||
|
||||
SET(G2O_FOUND "YES")
|
||||
ENDIF(G2O_STUFF_LIBRARY AND G2O_CORE_LIBRARY AND G2O_INCLUDE_DIR AND G2O_CONFIG_FILE AND G2O_FACTORY_FILE AND G2O_SOLVERS_FOUND)
|
||||
@@ -0,0 +1,234 @@
|
||||
#.rst:
|
||||
# FindHIDAPI
|
||||
# ----------
|
||||
#
|
||||
# Try to find HIDAPI library, from http://www.signal11.us/oss/hidapi/
|
||||
#
|
||||
# Cache Variables: (probably not for direct use in your scripts)
|
||||
# HIDAPI_INCLUDE_DIR
|
||||
# HIDAPI_LIBRARY
|
||||
#
|
||||
# Non-cache variables you might use in your CMakeLists.txt:
|
||||
# HIDAPI_FOUND
|
||||
# HIDAPI_INCLUDE_DIRS
|
||||
# HIDAPI_LIBRARIES
|
||||
#
|
||||
# COMPONENTS
|
||||
# ^^^^^^^^^^
|
||||
#
|
||||
# This module respects several COMPONENTS specifying the backend you prefer:
|
||||
# ``any`` (the default), ``libusb``, and ``hidraw``.
|
||||
# The availablility of the latter two depends on your platform.
|
||||
#
|
||||
#
|
||||
# IMPORTED Targets
|
||||
# ^^^^^^^^^^^^^^^^
|
||||
|
||||
# This module defines :prop_tgt:`IMPORTED` target ``HIDAPI::hidapi`` (in all cases or
|
||||
# if no components specified), ``HIDAPI::hidapi-libusb`` (if you requested the libusb component),
|
||||
# and ``HIDAPI::hidapi-hidraw`` (if you requested the hidraw component),
|
||||
#
|
||||
# Result Variables
|
||||
# ^^^^^^^^^^^^^^^^
|
||||
#
|
||||
# ``HIDAPI_FOUND``
|
||||
# True if HIDAPI or the requested components (if any) were found.
|
||||
#
|
||||
# We recommend using the imported targets instead of the following.
|
||||
#
|
||||
# ``HIDAPI_INCLUDE_DIRS``
|
||||
# ``HIDAPI_LIBRARIES``
|
||||
#
|
||||
# Original Author:
|
||||
# 2009-2010, 2019 Ryan Pavlik <ryan.pavlik@collabora.com> <abiryan@ryand.net>
|
||||
# http://academic.cleardefinition.com
|
||||
#
|
||||
# Copyright Iowa State University 2009-2010.
|
||||
# Copyright Collabora, Ltd. 2019.
|
||||
# Distributed under the Boost Software License, Version 1.0.
|
||||
# (See accompanying file LICENSE_1_0.txt or copy at
|
||||
# http://www.boost.org/LICENSE_1_0.txt)
|
||||
|
||||
cmake_policy(SET CMP0045 NEW)
|
||||
cmake_policy(SET CMP0053 NEW)
|
||||
cmake_policy(SET CMP0054 NEW)
|
||||
|
||||
set(HIDAPI_ROOT_DIR
|
||||
"${HIDAPI_ROOT_DIR}"
|
||||
CACHE PATH "Root to search for HIDAPI")
|
||||
|
||||
# Clean up components
|
||||
if("${HIDAPI_FIND_COMPONENTS}")
|
||||
if(WIN32 OR APPLE)
|
||||
# This makes no sense on Windows or Mac, which have native APIs
|
||||
list(REMOVE HIDAPI_FIND_COMPONENTS libusb)
|
||||
endif()
|
||||
|
||||
if(NOT ${CMAKE_SYSTEM} MATCHES "Linux")
|
||||
# hidraw is only on linux
|
||||
list(REMOVE HIDAPI_FIND_COMPONENTS hidraw)
|
||||
endif()
|
||||
endif()
|
||||
if(NOT "${HIDAPI_FIND_COMPONENTS}")
|
||||
# Default to any
|
||||
set(HIDAPI_FIND_COMPONENTS any)
|
||||
endif()
|
||||
|
||||
# Ask pkg-config for hints
|
||||
find_package(PkgConfig QUIET)
|
||||
if(PKG_CONFIG_FOUND)
|
||||
set(_old_prefix_path "${CMAKE_PREFIX_PATH}")
|
||||
# So pkg-config uses HIDAPI_ROOT_DIR too.
|
||||
if(HIDAPI_ROOT_DIR)
|
||||
list(APPEND CMAKE_PREFIX_PATH ${HIDAPI_ROOT_DIR})
|
||||
endif()
|
||||
pkg_check_modules(PC_HIDAPI_LIBUSB QUIET hidapi-libusb)
|
||||
pkg_check_modules(PC_HIDAPI_HIDRAW QUIET hidapi-hidraw)
|
||||
# Restore
|
||||
set(CMAKE_PREFIX_PATH "${_old_prefix_path}")
|
||||
endif()
|
||||
|
||||
# Actually search
|
||||
find_library(
|
||||
HIDAPI_UNDECORATED_LIBRARY
|
||||
NAMES hidapi
|
||||
PATHS "${HIDAPI_ROOT_DIR}"
|
||||
PATH_SUFFIXES lib)
|
||||
|
||||
find_library(
|
||||
HIDAPI_LIBUSB_LIBRARY
|
||||
NAMES hidapi hidapi-libusb
|
||||
PATHS "${HIDAPI_ROOT_DIR}"
|
||||
PATH_SUFFIXES lib
|
||||
HINTS ${PC_HIDAPI_LIBUSB_LIBRARY_DIRS})
|
||||
|
||||
if(CMAKE_SYSTEM MATCHES "Linux")
|
||||
find_library(
|
||||
HIDAPI_HIDRAW_LIBRARY
|
||||
NAMES hidapi-hidraw
|
||||
HINTS ${PC_HIDAPI_HIDRAW_LIBRARY_DIRS})
|
||||
endif()
|
||||
|
||||
find_path(
|
||||
HIDAPI_INCLUDE_DIR
|
||||
NAMES hidapi.h
|
||||
PATHS "${HIDAPI_ROOT_DIR}"
|
||||
PATH_SUFFIXES hidapi include include/hidapi
|
||||
HINTS ${PC_HIDAPI_HIDRAW_INCLUDE_DIRS} ${PC_HIDAPI_LIBUSB_INCLUDE_DIRS})
|
||||
|
||||
find_package(Threads QUIET)
|
||||
|
||||
###
|
||||
# Compute the "I don't care which backend" library
|
||||
###
|
||||
set(HIDAPI_LIBRARY)
|
||||
|
||||
# First, try to use a preferred backend if supplied
|
||||
if("${HIDAPI_FIND_COMPONENTS}" MATCHES "libusb"
|
||||
AND HIDAPI_LIBUSB_LIBRARY
|
||||
AND NOT HIDAPI_LIBRARY)
|
||||
set(HIDAPI_LIBRARY ${HIDAPI_LIBUSB_LIBRARY})
|
||||
endif()
|
||||
if("${HIDAPI_FIND_COMPONENTS}" MATCHES "hidraw"
|
||||
AND HIDAPI_HIDRAW_LIBRARY
|
||||
AND NOT HIDAPI_LIBRARY)
|
||||
set(HIDAPI_LIBRARY ${HIDAPI_HIDRAW_LIBRARY})
|
||||
endif()
|
||||
|
||||
# Then, if we don't have a preferred one, settle for anything.
|
||||
if(NOT HIDAPI_LIBRARY)
|
||||
if(HIDAPI_LIBUSB_LIBRARY)
|
||||
set(HIDAPI_LIBRARY ${HIDAPI_LIBUSB_LIBRARY})
|
||||
elseif(HIDAPI_HIDRAW_LIBRARY)
|
||||
set(HIDAPI_LIBRARY ${HIDAPI_HIDRAW_LIBRARY})
|
||||
elseif(HIDAPI_UNDECORATED_LIBRARY)
|
||||
set(HIDAPI_LIBRARY ${HIDAPI_UNDECORATED_LIBRARY})
|
||||
endif()
|
||||
endif()
|
||||
|
||||
###
|
||||
# Determine if the various requested components are found.
|
||||
###
|
||||
set(_hidapi_component_required_vars)
|
||||
|
||||
foreach(_comp IN LISTS HIDAPI_FIND_COMPONENTS)
|
||||
if("${_comp}" STREQUAL "any")
|
||||
list(APPEND _hidapi_component_required_vars HIDAPI_INCLUDE_DIR
|
||||
HIDAPI_LIBRARY)
|
||||
if(HIDAPI_INCLUDE_DIR AND EXISTS "${HIDAPI_LIBRARY}")
|
||||
set(HIDAPI_any_FOUND TRUE)
|
||||
mark_as_advanced(HIDAPI_INCLUDE_DIR)
|
||||
else()
|
||||
set(HIDAPI_any_FOUND FALSE)
|
||||
endif()
|
||||
|
||||
elseif("${_comp}" STREQUAL "libusb")
|
||||
list(APPEND _hidapi_component_required_vars HIDAPI_INCLUDE_DIR
|
||||
HIDAPI_LIBUSB_LIBRARY)
|
||||
if(HIDAPI_INCLUDE_DIR AND EXISTS "${HIDAPI_LIBUSB_LIBRARY}")
|
||||
set(HIDAPI_libusb_FOUND TRUE)
|
||||
mark_as_advanced(HIDAPI_INCLUDE_DIR HIDAPI_LIBUSB_LIBRARY)
|
||||
else()
|
||||
set(HIDAPI_libusb_FOUND FALSE)
|
||||
endif()
|
||||
|
||||
elseif("${_comp}" STREQUAL "hidraw")
|
||||
list(APPEND _hidapi_component_required_vars HIDAPI_INCLUDE_DIR
|
||||
HIDAPI_HIDRAW_LIBRARY)
|
||||
if(HIDAPI_INCLUDE_DIR AND EXISTS "${HIDAPI_HIDRAW_LIBRARY}")
|
||||
set(HIDAPI_hidraw_FOUND TRUE)
|
||||
mark_as_advanced(HIDAPI_INCLUDE_DIR HIDAPI_HIDRAW_LIBRARY)
|
||||
else()
|
||||
set(HIDAPI_hidraw_FOUND FALSE)
|
||||
endif()
|
||||
|
||||
else()
|
||||
message(WARNING "${_comp} is not a recognized HIDAPI component")
|
||||
set(HIDAPI_${_comp}_FOUND FALSE)
|
||||
endif()
|
||||
endforeach()
|
||||
unset(_comp)
|
||||
|
||||
###
|
||||
# FPHSA call
|
||||
###
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(
|
||||
HIDAPI REQUIRED_VARS ${_hidapi_component_required_vars} THREADS_FOUND
|
||||
HANDLE_COMPONENTS)
|
||||
|
||||
if(HIDAPI_FOUND)
|
||||
set(HIDAPI_LIBRARIES "${HIDAPI_LIBRARY}")
|
||||
set(HIDAPI_INCLUDE_DIRS "${HIDAPI_INCLUDE_DIR}")
|
||||
if(NOT TARGET HIDAPI::hidapi)
|
||||
add_library(HIDAPI::hidapi UNKNOWN IMPORTED)
|
||||
set_target_properties(
|
||||
HIDAPI::hidapi
|
||||
PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "C"
|
||||
IMPORTED_LOCATION ${HIDAPI_LIBRARY})
|
||||
set_property(
|
||||
TARGET HIDAPI::hidapi PROPERTY IMPORTED_LINK_INTERFACE_LIBRARIES
|
||||
Threads::Threads)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(HIDAPI_libusb_FOUND AND NOT TARGET HIDAPI::hidapi-libusb)
|
||||
add_library(HIDAPI::hidapi-libusb UNKNOWN IMPORTED)
|
||||
set_target_properties(
|
||||
HIDAPI::hidapi-libusb
|
||||
PROPERTIES IMPORTED_LINK_INTERFACE_LANGUAGES "C" IMPORTED_LOCATION
|
||||
${HIDAPI_LIBUSB_LIBRARY})
|
||||
set_property(TARGET HIDAPI::hidapi-libusb
|
||||
PROPERTY IMPORTED_LINK_INTERFACE_LIBRARIES Threads::Threads)
|
||||
endif()
|
||||
|
||||
if(HIDAPI_hidraw_FOUND AND NOT TARGET HIDAPI::hidapi-hidraw)
|
||||
add_library(HIDAPI::hidapi-hidraw UNKNOWN IMPORTED)
|
||||
set_target_properties(
|
||||
HIDAPI::hidapi-hidraw
|
||||
PROPERTIES IMPORTED_LINK_INTERFACE_LANGUAGES "C" IMPORTED_LOCATION
|
||||
${HIDAPI_HIDRAW_LIBRARY})
|
||||
set_property(TARGET HIDAPI::hidapi-hidraw
|
||||
PROPERTY IMPORTED_LINK_INTERFACE_LIBRARIES Threads::Threads)
|
||||
endif()
|
||||
@@ -0,0 +1,34 @@
|
||||
# - Find K4A
|
||||
# This module finds an kinect 4 azure SDK
|
||||
#
|
||||
# It sets the following variables:
|
||||
# K4A_FOUND - Set to false, or undefined, if K4A isn't found.
|
||||
# K4A_INCLUDE_DIRS - The K4A include directory.
|
||||
# K4A_LIBRARIES - The K4A library to link against.
|
||||
|
||||
find_library(K4A_LIBRARY NAMES k4a NO_DEFAULT_PATH PATHS $ENV{K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/lib)
|
||||
find_library(K4ARECORD_LIBRARY NAMES k4arecord NO_DEFAULT_PATH PATHS $ENV{K4A_ROOT_DIR}/sdk/windows-desktop/amd64/release/lib)
|
||||
find_path(K4A_INCLUDE_DIR NAMES k4a/k4a.h PATHS $ENV{K4A_ROOT_DIR}/sdk/include)
|
||||
|
||||
IF (K4A_INCLUDE_DIR AND K4A_LIBRARY AND K4ARECORD_LIBRARY)
|
||||
SET(K4A_FOUND TRUE)
|
||||
SET(K4A_INCLUDE_DIRS ${K4A_INCLUDE_DIR})
|
||||
SET(K4A_LIBRARIES ${K4A_LIBRARY} ${K4ARECORD_LIBRARY})
|
||||
|
||||
# Compatibility with linux names
|
||||
SET(k4a_LIBRARIES ${K4A_LIBRARIES})
|
||||
SET(k4a_INCLUDE_DIRS ${K4A_INCLUDE_DIRS})
|
||||
SET(k4a_FOUND ${K4A_FOUND})
|
||||
ENDIF (K4A_INCLUDE_DIR AND K4A_LIBRARY AND K4ARECORD_LIBRARY)
|
||||
|
||||
IF (K4A_FOUND)
|
||||
# show which K4A was found only if not quiet
|
||||
IF (NOT K4A_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found K4A: ${K4A_LIBRARIES}")
|
||||
ENDIF (NOT K4A_FIND_QUIETLY)
|
||||
ELSE (K4A_FOUND)
|
||||
# fatal error if K4A is required but not found
|
||||
IF (K4A_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find K4A (Kinect for Azure SDK)")
|
||||
ENDIF (K4A_FIND_REQUIRED)
|
||||
ENDIF (K4A_FOUND)
|
||||
@@ -0,0 +1,183 @@
|
||||
#.rst:
|
||||
# FindKinectSDK2
|
||||
# --------------
|
||||
#
|
||||
# Find Kinect for Windows SDK v2 (Kinect SDK v2) include dirs, library dirs, libraries
|
||||
#
|
||||
# Use this module by invoking find_package with the form::
|
||||
#
|
||||
# find_package( KinectSDK2 [REQUIRED] )
|
||||
#
|
||||
# Results for users are reported in following variables::
|
||||
#
|
||||
# KinectSDK2_FOUND - Return "TRUE" when Kinect SDK v2 found. Otherwise, Return "FALSE".
|
||||
# KinectSDK2_INCLUDE_DIRS - Kinect SDK v2 include directories. (${KinectSDK2_DIR}/inc)
|
||||
# KinectSDK2_LIBRARY_DIRS - Kinect SDK v2 library directories. (${KinectSDK2_DIR}/Lib/x86 or ${KinectSDK2_DIR}/Lib/x64)
|
||||
# KinectSDK2_LIBRARIES - Kinect SDK v2 library files. (${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib (If check the box of any application festures, corresponding library will be added.))
|
||||
# KinectSDK2_COMMANDS - Copy commands of redist files for application functions of Kinect SDK v2. (If uncheck the box of all application features, this variable has defined empty command.)
|
||||
#
|
||||
# This module reads hints about search locations from following environment variables::
|
||||
#
|
||||
# KINECTSDK20_DIR - Kinect SDK v2 root directory. (This environment variable has been set by installer of Kinect SDK v2.)
|
||||
#
|
||||
# CMake entries::
|
||||
#
|
||||
# KinectSDK2_DIR - Kinect SDK v2 root directory. (Default $ENV{KINECTSDK20_DIR})
|
||||
# KinectSDK2_FACE - Check the box when using Face or HDFace features. (Default uncheck)
|
||||
# KinectSDK2_FUSION - Check the box when using Fusion features. (Default uncheck)
|
||||
# KinectSDK2_VGB - Check the box when using Visual Gesture Builder features. (Default uncheck)
|
||||
#
|
||||
# Example to find Kinect SDK v2::
|
||||
#
|
||||
# cmake_minimum_required( VERSION 2.8 )
|
||||
#
|
||||
# project( project )
|
||||
# add_executable( project main.cpp )
|
||||
# set_property( DIRECTORY PROPERTY VS_STARTUP_PROJECT "project" )
|
||||
#
|
||||
# # Find package using this module.
|
||||
# find_package( KinectSDK2 REQUIRED )
|
||||
#
|
||||
# if(KinectSDK2_FOUND)
|
||||
# # [C/C++]>[General]>[Additional Include Directories]
|
||||
# include_directories( ${KinectSDK2_INCLUDE_DIRS} )
|
||||
#
|
||||
# # [Linker]>[General]>[Additional Library Directories]
|
||||
# link_directories( ${KinectSDK2_LIBRARY_DIRS} )
|
||||
#
|
||||
# # [Linker]>[Input]>[Additional Dependencies]
|
||||
# target_link_libraries( project ${KinectSDK2_LIBRARIES} )
|
||||
#
|
||||
# # [Build Events]>[Post-Build Event]>[Command Line]
|
||||
# add_custom_command( TARGET project POST_BUILD ${KinectSDK2_COMMANDS} )
|
||||
# endif()
|
||||
#
|
||||
# =============================================================================
|
||||
#
|
||||
# Copyright (c) 2016 Tsukasa SUGIURA
|
||||
# Distributed under the MIT License.
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
# The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
#
|
||||
# =============================================================================
|
||||
|
||||
##### Utility #####
|
||||
|
||||
# Check Directory Macro
|
||||
macro(CHECK_DIR _DIR)
|
||||
if(NOT EXISTS "${${_DIR}}")
|
||||
message(WARNING "Directory \"${${_DIR}}\" not found.")
|
||||
set(KinectSDK2_FOUND FALSE)
|
||||
unset(_DIR)
|
||||
endif()
|
||||
endmacro()
|
||||
|
||||
# Check Files Macro
|
||||
macro(CHECK_FILES _FILES _DIR)
|
||||
set(_MISSING_FILES)
|
||||
foreach(_FILE ${${_FILES}})
|
||||
if(NOT EXISTS "${_FILE}")
|
||||
get_filename_component(_FILE ${_FILE} NAME)
|
||||
set(_MISSING_FILES "${_MISSING_FILES}${_FILE}, ")
|
||||
endif()
|
||||
endforeach()
|
||||
if(_MISSING_FILES)
|
||||
message(WARNING "In directory \"${${_DIR}}\" not found files: ${_MISSING_FILES}")
|
||||
set(KinectSDK2_FOUND FALSE)
|
||||
unset(_FILES)
|
||||
endif()
|
||||
endmacro()
|
||||
|
||||
# Target Platform
|
||||
set(TARGET_PLATFORM)
|
||||
if(NOT CMAKE_CL_64)
|
||||
set(TARGET_PLATFORM x86)
|
||||
else()
|
||||
set(TARGET_PLATFORM x64)
|
||||
endif()
|
||||
|
||||
##### Find Kinect SDK v2 #####
|
||||
|
||||
# Found
|
||||
set(KinectSDK2_FOUND TRUE)
|
||||
if(MSVC_VERSION LESS 1700)
|
||||
message(WARNING "Kinect for Windows SDK v2 supported Visual Studio 2012 or later.")
|
||||
set(KinectSDK2_FOUND FALSE)
|
||||
endif()
|
||||
|
||||
# Options
|
||||
option(KinectSDK2_FACE "Face and HDFace features" FALSE)
|
||||
option(KinectSDK2_FUSION "Fusion features" FALSE)
|
||||
option(KinectSDK2_VGB "Visual Gesture Builder features" FALSE)
|
||||
|
||||
# Root Directoty
|
||||
set(KinectSDK2_DIR)
|
||||
if(KinectSDK2_FOUND)
|
||||
set(KinectSDK2_DIR $ENV{KINECTSDK20_DIR} CACHE PATH "Kinect for Windows SDK v2 Install Path." FORCE)
|
||||
check_dir(KinectSDK2_DIR)
|
||||
endif()
|
||||
|
||||
# Include Directories
|
||||
set(KinectSDK2_INCLUDE_DIRS)
|
||||
if(KinectSDK2_FOUND)
|
||||
set(KinectSDK2_INCLUDE_DIRS ${KinectSDK2_DIR}/inc)
|
||||
check_dir(KinectSDK2_INCLUDE_DIRS)
|
||||
endif()
|
||||
|
||||
# Library Directories
|
||||
set(KinectSDK2_LIBRARY_DIRS)
|
||||
if(KinectSDK2_FOUND)
|
||||
set(KinectSDK2_LIBRARY_DIRS ${KinectSDK2_DIR}/Lib/${TARGET_PLATFORM})
|
||||
check_dir(KinectSDK2_LIBRARY_DIRS)
|
||||
endif()
|
||||
|
||||
# Dependencies
|
||||
set(KinectSDK2_LIBRARIES)
|
||||
if(KinectSDK2_FOUND)
|
||||
set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARY_DIRS}/Kinect20.lib)
|
||||
|
||||
if(KinectSDK2_FACE)
|
||||
set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Face.lib)
|
||||
endif()
|
||||
|
||||
if(KinectSDK2_FUSION)
|
||||
set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.Fusion.lib)
|
||||
endif()
|
||||
|
||||
if(KinectSDK2_VGB)
|
||||
set(KinectSDK2_LIBRARIES ${KinectSDK2_LIBRARIES};${KinectSDK2_LIBRARY_DIRS}/Kinect20.VisualGestureBuilder.lib)
|
||||
endif()
|
||||
|
||||
check_files(KinectSDK2_LIBRARIES KinectSDK2_LIBRARY_DIRS)
|
||||
endif()
|
||||
|
||||
# Custom Commands
|
||||
set(KinectSDK2_COMMANDS)
|
||||
if(KinectSDK2_FOUND)
|
||||
if(KinectSDK2_FACE)
|
||||
set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Face/${TARGET_PLATFORM})
|
||||
check_dir(KinectSDK2_REDIST_DIR)
|
||||
list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
|
||||
endif()
|
||||
|
||||
if(KinectSDK2_FUSION)
|
||||
set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/Fusion/${TARGET_PLATFORM})
|
||||
check_dir(KinectSDK2_REDIST_DIR)
|
||||
list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
|
||||
endif()
|
||||
|
||||
if(KinectSDK2_VGB)
|
||||
set(KinectSDK2_REDIST_DIR ${KinectSDK2_DIR}/Redist/VGB/${TARGET_PLATFORM})
|
||||
check_dir(KinectSDK2_REDIST_DIR)
|
||||
list(APPEND KinectSDK2_COMMANDS COMMAND xcopy "${KinectSDK2_REDIST_DIR}" "$(OutDir)" /e /y /i /r > NUL)
|
||||
endif()
|
||||
|
||||
# Empty Commands
|
||||
if(NOT KinectSDK2_COMMANDS)
|
||||
set(KinectSDK2_COMMANDS COMMAND)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
message(STATUS "KinectSDK2_FOUND : ${KinectSDK2_FOUND}")
|
||||
@@ -0,0 +1,57 @@
|
||||
# - Find ORB_SLAM2 OR ORB_SLAM3
|
||||
#
|
||||
# It sets the following variables:
|
||||
# ORB_SLAM_FOUND - Set to false, or undefined, if ORB_SLAM isn't found.
|
||||
# ORB_SLAM_INCLUDE_DIRS - The ORB_SLAM include directory.
|
||||
# ORB_SLAM_LIBRARIES - The ORB_SLAM library to link against.
|
||||
# ORB_SLAM_VERSION - The ORB_SLAM major version.
|
||||
#
|
||||
# Set ORB_SLAM_ROOT_DIR environment variable as the path to ORB_SLAM2 or ORB_SLAM3 root folder.
|
||||
|
||||
find_path(ORB_SLAM_INCLUDE_DIR NAMES System.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/include)
|
||||
find_library(ORB_SLAM2_LIBRARY NAMES ORB_SLAM2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
|
||||
find_library(ORB_SLAM3_LIBRARY NAMES ORB_SLAM3 PATHS $ENV{ORB_SLAM_ROOT_DIR}/lib)
|
||||
find_path(g2o_INCLUDE_DIR NAMES g2o/core/sparse_optimizer.h PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o NO_DEFAULT_PATH)
|
||||
find_path(sophus_INCLUDE_DIR NAMES sophus/se3.hpp PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/Sophus NO_DEFAULT_PATH)
|
||||
find_library(g2o_LIBRARY NAMES g2o PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/g2o/lib NO_DEFAULT_PATH)
|
||||
find_library(DBoW2_LIBRARY NAMES DBoW2 PATHS $ENV{ORB_SLAM_ROOT_DIR}/Thirdparty/DBoW2/lib NO_DEFAULT_PATH)
|
||||
|
||||
IF(ORB_SLAM2_LIBRARY)
|
||||
SET(ORB_SLAM_VERSION 2)
|
||||
SET(ORB_SLAM_LIBRARY ${ORB_SLAM2_LIBRARY})
|
||||
ELSEIF(ORB_SLAM3_LIBRARY)
|
||||
SET(ORB_SLAM_VERSION 3)
|
||||
SET(ORB_SLAM_LIBRARY ${ORB_SLAM3_LIBRARY})
|
||||
IF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR) # ORB_SLAM3 v1
|
||||
SET(g2o_INCLUDE_DIR ${g2o_INCLUDE_DIR} ${sophus_INCLUDE_DIR})
|
||||
ENDIF(g2o_INCLUDE_DIR AND sophus_INCLUDE_DIR)
|
||||
ENDIF()
|
||||
|
||||
IF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
|
||||
SET(ORB_SLAM_FOUND TRUE)
|
||||
SET(ORB_SLAM_INCLUDE_DIRS ${ORB_SLAM_INCLUDE_DIR} ${ORB_SLAM_INCLUDE_DIR}/CameraModels ${g2o_INCLUDE_DIR} $ENV{ORB_SLAM_ROOT_DIR})
|
||||
SET(ORB_SLAM_LIBRARIES ${g2o_LIBRARY} ${ORB_SLAM_LIBRARY} ${DBoW2_LIBRARY})
|
||||
ENDIF (ORB_SLAM_INCLUDE_DIR AND ORB_SLAM_LIBRARY AND DBoW2_LIBRARY AND g2o_INCLUDE_DIR AND g2o_LIBRARY)
|
||||
|
||||
FIND_PACKAGE(Pangolin QUIET)
|
||||
IF(NOT Pangolin_FOUND)
|
||||
SET(ORB_SLAM_FOUND FALSE)
|
||||
MESSAGE(STATUS "Found ORB_SLAM but not Pangolin, disabling ORB_SLAM.")
|
||||
ELSE()
|
||||
MESSAGE(STATUS "Found Pangolin: ${Pangolin_INCLUDE_DIRS}")
|
||||
SET(ORB_SLAM_INCLUDE_DIRS ${ORB_SLAM_INCLUDE_DIRS} ${Pangolin_INCLUDE_DIRS})
|
||||
SET(ORB_SLAM_LIBRARIES ${ORB_SLAM_LIBRARIES} ${Pangolin_LIBRARIES})
|
||||
ENDIF()
|
||||
|
||||
IF (ORB_SLAM_FOUND)
|
||||
# show which ORB_SLAM was found only if not quiet
|
||||
IF (NOT ORB_SLAM_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found ORB_SLAM${ORB_SLAM_VERSION}: ${ORB_SLAM_LIBRARIES}")
|
||||
ENDIF (NOT ORB_SLAM_FIND_QUIETLY)
|
||||
ELSE (ORB_SLAM_FOUND)
|
||||
# fatal error if ORB_SLAM is required but not found
|
||||
IF (ORB_SLAM_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find ORB_SLAM")
|
||||
ENDIF (ORB_SLAM_FIND_REQUIRED)
|
||||
ENDIF (ORB_SLAM_FOUND)
|
||||
|
||||
@@ -0,0 +1,30 @@
|
||||
# - Find OpenNI2
|
||||
# This module finds an installed OpenNI2 package.
|
||||
#
|
||||
# It sets the following variables:
|
||||
# OpenNI2_FOUND - Set to false, or undefined, if OpenNI2 isn't found.
|
||||
# OpenNI2_INCLUDE_DIRS - The OpenNI2 include directory.
|
||||
# OpenNI2_LIBRARIES - The OpenNI2 libraries to link against.
|
||||
# OpenNI2_LIBRARY - The OpenNI2 library alone.
|
||||
|
||||
FIND_PATH(OpenNI2_INCLUDE_DIRS OpenNI.h HINTS $ENV{OPENNI2_INCLUDE64} $ENV{OPENNI2_INCLUDE} PATH_SUFFIXES openni2)
|
||||
|
||||
FIND_LIBRARY(OpenNI2_LIBRARY NAMES OpenNI2 HINTS $ENV{OPENNI2_LIB64} $ENV{OPENNI2_LIB} $ENV{OPENNI2_REDIST})
|
||||
|
||||
IF (OpenNI2_INCLUDE_DIRS AND OpenNI2_LIBRARY)
|
||||
SET(OpenNI2_FOUND TRUE)
|
||||
ENDIF (OpenNI2_INCLUDE_DIRS AND OpenNI2_LIBRARY)
|
||||
|
||||
IF (OpenNI2_FOUND)
|
||||
# show which OpenNI2 was found only if not quiet
|
||||
SET(OpenNI2_LIBRARIES ${OpenNI2_LIBRARY})
|
||||
IF (NOT OpenNI2_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found OpenNI2: ${OpenNI2_LIBRARIES}")
|
||||
ENDIF (NOT OpenNI2_FIND_QUIETLY)
|
||||
ELSE (OpenNI2_FOUND)
|
||||
# fatal error if OpenNI2 is required but not found
|
||||
IF (OpenNI2_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find OpenNI2. Environment variables OPENNI2_INCLUDE (directory containing OpenNI.h) and OPENNI2_LIB (directory containing OpenNI2 library) could bet set.")
|
||||
ENDIF (OpenNI2_FIND_REQUIRED)
|
||||
ENDIF (OpenNI2_FOUND)
|
||||
|
||||
@@ -0,0 +1,98 @@
|
||||
# - Find the Pthreads library
|
||||
# This module searches for the Pthreads library (including the
|
||||
# pthreads-win32 port).
|
||||
#
|
||||
# This module defines these variables:
|
||||
#
|
||||
# PTHREADS_FOUND
|
||||
# True if the Pthreads library was found
|
||||
# PTHREADS_LIBRARY
|
||||
# The location of the Pthreads library
|
||||
# PTHREADS_INCLUDE_DIR
|
||||
# The include path of the Pthreads library
|
||||
# PTHREADS_DEFINITIONS
|
||||
# Preprocessor definitions to define
|
||||
#
|
||||
# This module responds to the PTHREADS_EXCEPTION_SCHEME
|
||||
# variable on Win32 to allow the user to control the
|
||||
# library linked against. The Pthreads-win32 port
|
||||
# provides the ability to link against a version of the
|
||||
# library with exception handling. IT IS NOT RECOMMENDED
|
||||
# THAT YOU USE THIS because most POSIX thread implementations
|
||||
# do not support stack unwinding.
|
||||
#
|
||||
# PTHREADS_EXCEPTION_SCHEME
|
||||
# C = no exceptions (default)
|
||||
# (NOTE: This is the default scheme on most POSIX thread
|
||||
# implementations and what you should probably be using)
|
||||
# CE = C++ Exception Handling
|
||||
# SE = Structure Exception Handling (MSVC only)
|
||||
#
|
||||
|
||||
#
|
||||
# Define a default exception scheme to link against
|
||||
# and validate user choice.
|
||||
#
|
||||
IF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
|
||||
# Assign default if needed
|
||||
SET(PTHREADS_EXCEPTION_SCHEME "C")
|
||||
ELSE(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
|
||||
# Validate
|
||||
IF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
|
||||
NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
|
||||
NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
|
||||
|
||||
MESSAGE(FATAL_ERROR "See documentation for FindPthreads.cmake, only C, CE, and SE modes are allowed")
|
||||
|
||||
ENDIF(NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "C" AND
|
||||
NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "CE" AND
|
||||
NOT PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
|
||||
|
||||
IF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
|
||||
MESSAGE(FATAL_ERROR "Structured Exception Handling is only allowed for MSVC")
|
||||
ENDIF(NOT MSVC AND PTHREADS_EXCEPTION_SCHEME STREQUAL "SE")
|
||||
|
||||
ENDIF(NOT DEFINED PTHREADS_EXCEPTION_SCHEME)
|
||||
|
||||
#
|
||||
# Find the header file
|
||||
#
|
||||
FIND_PATH(PTHREADS_INCLUDE_DIR pthread.h)
|
||||
|
||||
#
|
||||
# Find the library
|
||||
#
|
||||
SET(names)
|
||||
IF(MSVC)
|
||||
SET(names
|
||||
pthreadV${PTHREADS_EXCEPTION_SCHEME}2
|
||||
pthread
|
||||
)
|
||||
ELSEIF(MINGW)
|
||||
SET(names
|
||||
pthreadG${PTHREADS_EXCEPTION_SCHEME}2
|
||||
pthread
|
||||
)
|
||||
ELSE(MSVC) # Unix / Cygwin / Apple
|
||||
SET(names pthread)
|
||||
ENDIF(MSVC)
|
||||
|
||||
FIND_LIBRARY(PTHREADS_LIBRARY ${names}
|
||||
DOC "The Portable Threads Library")
|
||||
|
||||
IF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
|
||||
SET(PTHREADS_FOUND true)
|
||||
SET(PTHREADS_DEFINITIONS -DHAVE_PTHREAD_H)
|
||||
SET(PTHREADS_INCLUDE_DIRS ${PTHREADS_INCLUDE_DIR})
|
||||
SET(PTHREADS_LIBRARIES ${PTHREADS_LIBRARY})
|
||||
ENDIF(PTHREADS_INCLUDE_DIR AND PTHREADS_LIBRARY)
|
||||
|
||||
IF(PTHREADS_FOUND)
|
||||
IF(NOT PTHREADS_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found Pthreads")
|
||||
ENDIF(NOT PTHREADS_FIND_QUIETLY)
|
||||
ELSE(PTHREADS_FOUND)
|
||||
IF(PTHREADS_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find the Pthreads library")
|
||||
ENDIF(PTHREADS_FIND_REQUIRED)
|
||||
ENDIF(PTHREADS_FOUND)
|
||||
@@ -0,0 +1,23 @@
|
||||
###############################################################################
|
||||
# Find QVTK
|
||||
#
|
||||
# This sets the following variables:
|
||||
# QVTK_FOUND - True if QVTK was found.
|
||||
# QVTK_INCLUDE_DIR - Directory containing the QVTK include files.
|
||||
# QVTK_LIBRARY - QVTK library.
|
||||
# if QVTK_FOUND then QVTK_INCLUDE_DIR is appended to VTK_INCLUDE_DIRS and
|
||||
# QVTK_LIBRARY is appended to QVTK_LIBRARY_DIR
|
||||
|
||||
find_library (QVTK_LIBRARY QVTK HINTS ${VTK_DIR} ${VTK_DIR}/bin)
|
||||
find_path (QVTK_INCLUDE_DIR QVTKWidget.h HINT ${VTK_INCLUDE_DIRS})
|
||||
find_package_handle_standard_args(QVTK DEFAULT_MSG
|
||||
QVTK_LIBRARY QVTK_INCLUDE_DIR)
|
||||
|
||||
if(NOT QVTK_FOUND)
|
||||
set (VTK_USE_QVTK OFF)
|
||||
else(NOT QVTK_FOUND)
|
||||
get_filename_component (QVTK_LIBRARY_DIR ${QVTK_LIBRARY} PATH)
|
||||
set (VTK_LIBRARY_DIRS ${VTK_LIBRARY_DIRS} ${QVTK_LIBRARY_DIR})
|
||||
set (VTK_INCLUDE_DIRS ${VTK_INCLUDE_DIRS} ${QVTK_INCLUDE_DIR})
|
||||
set (VTK_USE_QVTK ON)
|
||||
endif(NOT QVTK_FOUND)
|
||||
@@ -0,0 +1,78 @@
|
||||
# - Find librealsense (https://github.com/IntelRealSense/librealsense)
|
||||
#
|
||||
# RealSense_ROOT_DIR environment variable can be set to find the library.
|
||||
#
|
||||
# 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.
|
||||
|
||||
# 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
|
||||
find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include)
|
||||
if(CMAKE_CL_64)
|
||||
find_library(RealSense_LIBRARY NAMES realsense PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
|
||||
else()
|
||||
find_library(RealSense_LIBRARY NAMES realsense PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
|
||||
endif()
|
||||
|
||||
IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
|
||||
SET(RealSense_FOUND TRUE)
|
||||
ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
|
||||
|
||||
#SLAM
|
||||
if(REALSENSE_USE_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()
|
||||
else()
|
||||
set(RealSenseSlam_INCLUDE_DIRS "")
|
||||
endif()
|
||||
|
||||
IF (RealSense_FOUND)
|
||||
|
||||
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)
|
||||
|
||||
SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
|
||||
IF (RealSenseSlam_FOUND)
|
||||
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)
|
||||
SET(RealSense_LIBRARIES
|
||||
${RealSense_LIBRARIES}
|
||||
${RealSenseSlam_LIBRARY}
|
||||
${RealSenseImage_LIBRARY}
|
||||
${RealSenseSP_Core_LIBRARY}
|
||||
${RealSenseTracker_LIBRARY})
|
||||
ENDIF(RealSenseSlam_FOUND)
|
||||
|
||||
# show which RealSense was found only if not quiet
|
||||
IF (NOT RealSense_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
|
||||
ENDIF (NOT RealSense_FIND_QUIETLY)
|
||||
ELSE (RealSense_FOUND)
|
||||
# fatal error if RealSense is required but not found
|
||||
IF (RealSense_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find RealSense (librealsense)")
|
||||
ENDIF (RealSense_FIND_REQUIRED)
|
||||
ENDIF (RealSense_FOUND)
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
# - Find librealsense (https://github.com/IntelRealSense/librealsense)
|
||||
#
|
||||
# RealSense2_ROOT_DIR environment variable can be set to find the library.
|
||||
#
|
||||
# It sets the following variables:
|
||||
# RealSense2_FOUND - Set to false, or undefined, if RealSense2 isn't found.
|
||||
# RealSense2_INCLUDE_DIRS - The RealSense2 include directory.
|
||||
# RealSense2_LIBRARIES - The RealSense2 library to link against.
|
||||
|
||||
#RealSense library
|
||||
|
||||
find_path(RealSense2_INCLUDE_DIRS NAMES librealsense2/rs.hpp PATHS $ENV{RealSense2_ROOT_DIR}/include)
|
||||
if(CMAKE_CL_64)
|
||||
find_library(RealSense2_LIBRARY NAMES realsense2 PATHS $ENV{RealSense2_ROOT_DIR}/lib $ENV{RealSense2_ROOT_DIR}/lib/x64 $ENV{RealSense2_ROOT_DIR}/bin $ENV{RealSense2_ROOT_DIR}/bin/x64)
|
||||
else()
|
||||
find_library(RealSense2_LIBRARY NAMES realsense2 PATHS $ENV{RealSense2_ROOT_DIR}/lib $ENV{RealSense2_ROOT_DIR}/lib/x86 $ENV{RealSense2_ROOT_DIR}/bin $ENV{RealSense2_ROOT_DIR}/bin/x86)
|
||||
endif()
|
||||
|
||||
IF (RealSense2_INCLUDE_DIRS AND RealSense2_LIBRARY)
|
||||
SET(RealSense2_FOUND TRUE)
|
||||
ENDIF (RealSense2_INCLUDE_DIRS AND RealSense2_LIBRARY)
|
||||
|
||||
IF (RealSense2_FOUND)
|
||||
SET(RealSense2_LIBRARIES ${RealSense2_LIBRARY})
|
||||
|
||||
# Compatibility with linux names
|
||||
SET(realsense2_LIBRARIES ${RealSense2_LIBRARIES})
|
||||
SET(realsense2_INCLUDE_DIRS ${RealSense2_INCLUDE_DIRS})
|
||||
SET(realsense2_FOUND ${RealSense2_FOUND})
|
||||
|
||||
# show which RealSense was found only if not quiet
|
||||
IF (NOT RealSense2_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found RealSense: ${RealSense2_LIBRARIES}")
|
||||
ENDIF (NOT RealSense2_FIND_QUIETLY)
|
||||
ELSE (RealSense2_FOUND)
|
||||
# fatal error if RealSense is required but not found
|
||||
IF (RealSense2_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find RealSense2 (librealsense2)")
|
||||
ENDIF (RealSense2_FIND_REQUIRED)
|
||||
ENDIF (RealSense2_FOUND)
|
||||
|
||||
@@ -0,0 +1,31 @@
|
||||
# - Find Tango
|
||||
# This module finds an installed Tango client C-API package.
|
||||
#
|
||||
# It sets the following variables:
|
||||
# Tango_FOUND - Set to false, or undefined, if Tango isn't found.
|
||||
# Tango_INCLUDE_DIRS - The Tango include directory.
|
||||
# Tango_LIBRARIES - The Tango library to link against.
|
||||
|
||||
FIND_PATH(Tango_INCLUDE_DIR tango_client_api.h)
|
||||
|
||||
FIND_LIBRARY(Tango_LIBRARY NAMES tango_client_api PATH_SUFFIXES ${ANDROID_ABI})
|
||||
FIND_LIBRARY(Tango_support_LIBRARY NAMES tango_support_api PATH_SUFFIXES ${ANDROID_ABI})
|
||||
|
||||
IF (Tango_INCLUDE_DIR AND Tango_LIBRARY AND Tango_support_LIBRARY)
|
||||
SET(Tango_FOUND TRUE)
|
||||
SET(Tango_INCLUDE_DIRS ${Tango_INCLUDE_DIR})
|
||||
SET(Tango_LIBRARIES ${Tango_LIBRARY} ${Tango_support_LIBRARY})
|
||||
ENDIF (Tango_INCLUDE_DIR AND Tango_LIBRARY AND Tango_support_LIBRARY)
|
||||
|
||||
IF (Tango_FOUND)
|
||||
# show which Tango was found only if not quiet
|
||||
IF (NOT Tango_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found Tango: ${Tango_INCLUDE_DIRS}")
|
||||
ENDIF (NOT Tango_FIND_QUIETLY)
|
||||
ELSE (Tango_FOUND)
|
||||
# fatal error if Tango is required but not found
|
||||
IF (Tango_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find Tango (client and/or support libraries)")
|
||||
ENDIF (Tango_FIND_REQUIRED)
|
||||
ENDIF (Tango_FOUND)
|
||||
|
||||
@@ -0,0 +1,28 @@
|
||||
# - Find ZED Open Capture
|
||||
# This module finds zed open capture library
|
||||
#
|
||||
# It sets the following variables:
|
||||
# ZEDOC_FOUND - Set to false, or undefined, if ZEDOC isn't found.
|
||||
# ZEDOC_INCLUDE_DIRS - The ZEDOC include directory.
|
||||
# ZEDOC_LIBRARIES - The ZEDOC library to link against.
|
||||
|
||||
find_library(ZEDOC_LIBRARY NAMES zed_open_capture PATHS $ENV{ZEDOC_ROOT_DIR}/lib)
|
||||
find_path(ZEDOC_INCLUDE_DIR NAMES zed-open-capture/videocapture.hpp PATHS $ENV{ZEDOC_ROOT_DIR}/include)
|
||||
|
||||
IF (ZEDOC_INCLUDE_DIR AND ZEDOC_LIBRARY)
|
||||
SET(ZEDOC_FOUND TRUE)
|
||||
SET(ZEDOC_INCLUDE_DIRS ${ZEDOC_INCLUDE_DIR})
|
||||
SET(ZEDOC_LIBRARIES ${ZEDOC_LIBRARY})
|
||||
ENDIF (ZEDOC_INCLUDE_DIR AND ZEDOC_LIBRARY)
|
||||
|
||||
IF (ZEDOC_FOUND)
|
||||
# show which ZEDOC was found only if not quiet
|
||||
IF (NOT ZEDOC_FIND_QUIETLY)
|
||||
MESSAGE(STATUS "Found ZEDOC: ${ZEDOC_LIBRARIES}")
|
||||
ENDIF (NOT ZEDOC_FIND_QUIETLY)
|
||||
ELSE (ZEDOC_FOUND)
|
||||
# fatal error if ZEDOC is required but not found
|
||||
IF (ZEDOC_FIND_REQUIRED)
|
||||
MESSAGE(FATAL_ERROR "Could not find ZEDOC (Zed Open Capture)")
|
||||
ENDIF (ZEDOC_FIND_REQUIRED)
|
||||
ENDIF (ZEDOC_FOUND)
|
||||
@@ -0,0 +1,56 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE plist PUBLIC "-//Apple Computer//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
|
||||
<plist version="1.0">
|
||||
<dict>
|
||||
<key>CFBundleDevelopmentRegion</key>
|
||||
<string>English</string>
|
||||
<key>CFBundleExecutable</key>
|
||||
<string>${MACOSX_BUNDLE_EXECUTABLE_NAME}</string>
|
||||
<key>CFBundleGetInfoString</key>
|
||||
<string>${MACOSX_BUNDLE_INFO_STRING}</string>
|
||||
<key>CFBundleIconFile</key>
|
||||
<string>${MACOSX_BUNDLE_ICON_FILE}</string>
|
||||
<key>CFBundleIdentifier</key>
|
||||
<string>${MACOSX_BUNDLE_GUI_IDENTIFIER}</string>
|
||||
<key>CFBundleInfoDictionaryVersion</key>
|
||||
<string>6.0</string>
|
||||
<key>CFBundleLongVersionString</key>
|
||||
<string>${MACOSX_BUNDLE_LONG_VERSION_STRING}</string>
|
||||
<key>CFBundleName</key>
|
||||
<string>${MACOSX_BUNDLE_BUNDLE_NAME}</string>
|
||||
<key>CFBundlePackageType</key>
|
||||
<string>APPL</string>
|
||||
<key>CFBundleShortVersionString</key>
|
||||
<string>${MACOSX_BUNDLE_SHORT_VERSION_STRING}</string>
|
||||
<key>CFBundleSignature</key>
|
||||
<string>????</string>
|
||||
<key>CFBundleVersion</key>
|
||||
<string>${MACOSX_BUNDLE_BUNDLE_VERSION}</string>
|
||||
<key>CSResourcesFileMapped</key>
|
||||
<true/>
|
||||
<key>LSRequiresCarbon</key>
|
||||
<true/>
|
||||
<key>NSHumanReadableCopyright</key>
|
||||
<string>${MACOSX_BUNDLE_COPYRIGHT}</string>
|
||||
|
||||
<!-- File type associations -->
|
||||
<key>CFBundleDocumentTypes</key>
|
||||
<array>
|
||||
<dict>
|
||||
<key>CFBundleTypeExtensions</key>
|
||||
<array>
|
||||
<string>db</string>
|
||||
</array>
|
||||
<!-- <key>CFBundleTypeIconFile</key> -->
|
||||
<!-- <string>rtabmap_db.icns</string> -->
|
||||
<key>CFBundleTypeName</key>
|
||||
<string>RTAB-Map Database</string>
|
||||
<key>CFBundleTypeRole</key>
|
||||
<string>Editor</string>
|
||||
<key>LSIsAppleDefaultForType</key>
|
||||
<string>Yes</string>
|
||||
</dict>
|
||||
</array>
|
||||
|
||||
</dict>
|
||||
</plist>
|
||||
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user