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feat(slam): add rtabmap_ros

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X-lanni
2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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rtabmap/cmake_modules/FindFlyCapture2.cmake
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# - Find FlyCapture2
# This module finds an installed FlyCapture2+Triclops stereo camera package. (Point Grey SDK)
#
# It sets the following variables:
# FlyCapture2_FOUND - Set to false, or undefined, if FlyCapture2 isn't found.
# FlyCapture2_INCLUDE_DIRS - The FlyCapture2 include directory.
# FlyCapture2_LIBRARIES - The FlyCapture2 library to link against.
if(CMAKE_CL_64)
set(FlyCapture2_LIBDIR $ENV{FlyCapture2_ROOT_DIR}/lib64 $ENV{FC2LIB}/lib64)
else()
set(FlyCapture2_LIBDIR $ENV{FlyCapture2_ROOT_DIR}/lib $ENV{FC2LIB}/lib)
endif()
if(CMAKE_CL_64)
set(Triclops_LIBDIR $ENV{Triclops_ROOT_DIR}/lib64 $ENV{TRICLOPSLIB}/lib64)
else()
set(Triclops_LIBDIR $ENV{Triclops_ROOT_DIR}/lib $ENV{TRICLOPSLIB}/lib)
endif()
#FlyCapture2 SDK
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)
find_library(FlyCapture2_LIBRARY NAMES FlyCapture2_v140 FlyCapture2_v100 FlyCapture2 flycapture2 flycapture NO_DEFAULT_PATH PATHS ${FlyCapture2_LIBDIR}/vs2015 ${FlyCapture2_LIBDIR})
MESSAGE(STATUS "FlyCapture2_INCLUDE_DIR=${FlyCapture2_INCLUDE_DIR}")
MESSAGE(STATUS "FlyCapture2_LIBRARY=${FlyCapture2_LIBRARY}")
# Triclops SDK
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)
find_library(Triclops_LIBRARY NAMES triclops triclops_v140 triclops_v100 libtriclops.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
find_library(FlyCaptureBridge_LIBRARY NAMES flycapture2bridge flycapture2bridge_v140 flycapture2bridge_v100 libflycapture2bridge.so.3 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
find_library(pnmutils_LIBRARY NAMES pnmutils pnmutils_v140 pnmutils_v100 NO_DEFAULT_PATH PATHS ${Triclops_LIBDIR})
MESSAGE(STATUS "Triclops_INCLUDE_DIR=${Triclops_INCLUDE_DIR}")
MESSAGE(STATUS "Triclops_LIBRARY=${Triclops_LIBRARY}")
MESSAGE(STATUS "FlyCaptureBridge_LIBRARY=${FlyCaptureBridge_LIBRARY}")
IF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY)
SET(FlyCapture2_FOUND TRUE)
SET(FlyCapture2_INCLUDE_DIRS ${FlyCapture2_INCLUDE_DIR} ${Triclops_INCLUDE_DIR})
SET(FlyCapture2_LIBRARIES ${FlyCapture2_LIBRARY} ${Triclops_LIBRARY} ${FlyCaptureBridge_LIBRARY})
ENDIF (FlyCapture2_INCLUDE_DIR AND Triclops_INCLUDE_DIR AND FlyCapture2_LIBRARY AND Triclops_LIBRARY AND FlyCaptureBridge_LIBRARY)
IF (FlyCapture2_FOUND)
# show which FlyCapture2 was found only if not quiet
IF (NOT FlyCapture2_FIND_QUIETLY)
MESSAGE(STATUS "Found FlyCapture2: ${FlyCapture2_LIBRARIES}")
ENDIF (NOT FlyCapture2_FIND_QUIETLY)
ELSE (FlyCapture2_FOUND)
# fatal error if FlyCapture2 is required but not found
IF (FlyCapture2_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find FlyCapture2 (FlyCapture2 Stereo Vision SDK)")
ENDIF (FlyCapture2_FIND_REQUIRED)
ENDIF (FlyCapture2_FOUND)