feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
@@ -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)
+