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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/FindOpenNI2.cmake
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# - 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)