feat(slam): add rtabmap_ros

rtabmap/cmake_modules/FindK4A.cmake

@@ -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)