feat(slam): add rtabmap_ros

rtabmap/cmake_modules/FindFreenect.cmake

@@ -0,0 +1,37 @@
+# - Find Freenect alias libfreenect
+# This module finds an installed Freenect package.
+#
+# It sets the following variables:
+#  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.
+#  Freenect_DASH_INCLUDES  - If includes have "-" instead of "_" in their names. New libfreenect has "_".
+
+FIND_PATH(Freenect_INCLUDE_DIRS libfreenect-registration.h libfreenect_registration.h PATH_SUFFIXES libfreenect)
+
+FIND_LIBRARY(Freenect_LIBRARY NAMES freenect)
+FIND_LIBRARY(Freenect_sync_LIBRARY NAMES freenect_sync)
+
+FIND_FILE(tmp libfreenect-registration.h PATH_SUFFIXES libfreenect)
+SET(Freenect_DASH_INCLUDES 0)
+IF(tmp)
+  SET(Freenect_DASH_INCLUDES 1)
+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)
+