X-lanni
79 lines
4.2 KiB
CMake
79 lines
4.2 KiB
CMake
# - Find librealsense (https://github.com/IntelRealSense/librealsense)
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#
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# RealSense_ROOT_DIR environment variable can be set to find the library.
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#
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# It sets the following variables:
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# RealSense_FOUND - Set to false, or undefined, if RealSense isn't found.
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# RealSenseSlam_FOUND - Set to false, or undefined, if RealSense slam module isn't found.
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# RealSense_INCLUDE_DIRS - The RealSense include directory.
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# RealSense_LIBRARIES - The RealSense library to link against.
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# Use find_package( RealSense COMPONENTS slam ) to search for realsense slam library
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if( RealSense_FIND_COMPONENTS )
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foreach( component ${RealSense_FIND_COMPONENTS} )
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string( TOUPPER ${component} _COMPONENT )
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set( REALSENSE_USE_${_COMPONENT} 1 )
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endforeach()
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endif()
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#RealSense library
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find_path(RealSense_INCLUDE_DIRS NAMES librealsense/rs.hpp PATHS $ENV{RealSense_ROOT_DIR}/include)
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if(CMAKE_CL_64)
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find_library(RealSense_LIBRARY NAMES realsense PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
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else()
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find_library(RealSense_LIBRARY NAMES realsense PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
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endif()
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IF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
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SET(RealSense_FOUND TRUE)
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ENDIF (RealSense_INCLUDE_DIRS AND RealSense_LIBRARY)
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#SLAM
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if(REALSENSE_USE_SLAM)
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find_path(RealSenseSlam_INCLUDE_DIRS NAMES librealsense/slam/slam.h PATHS $ENV{RealSense_ROOT_DIR}/include)
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if(CMAKE_CL_64)
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find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
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find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
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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)
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find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/x64)
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else()
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find_library(RealSenseSlam_LIBRARY NAMES realsense_slam PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
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find_library(RealSenseImage_LIBRARY NAMES realsense_image PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
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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)
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find_library(RealSenseTracker_LIBRARY NAMES tracker PATHS $ENV{RealSense_ROOT_DIR}/lib $ENV{RealSense_ROOT_DIR}/bin $ENV{RealSense_ROOT_DIR}/bin/Win32)
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endif()
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else()
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set(RealSenseSlam_INCLUDE_DIRS "")
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endif()
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IF (RealSense_FOUND)
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IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
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SET(RealSenseSlam_FOUND TRUE)
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ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
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SET(RealSense_LIBRARIES ${RealSense_LIBRARY})
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IF (RealSenseSlam_FOUND)
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IF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
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SET(RealSenseSlam_FOUND TRUE)
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ENDIF (RealSenseSlam_INCLUDE_DIRS AND RealSenseSlam_LIBRARY AND RealSenseImage_LIBRARY AND RealSenseSP_Core_LIBRARY AND RealSenseTracker_LIBRARY)
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SET(RealSense_LIBRARIES
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${RealSense_LIBRARIES}
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${RealSenseSlam_LIBRARY}
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${RealSenseImage_LIBRARY}
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${RealSenseSP_Core_LIBRARY}
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${RealSenseTracker_LIBRARY})
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ENDIF(RealSenseSlam_FOUND)
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# show which RealSense was found only if not quiet
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IF (NOT RealSense_FIND_QUIETLY)
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MESSAGE(STATUS "Found RealSense: ${RealSense_LIBRARIES}")
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ENDIF (NOT RealSense_FIND_QUIETLY)
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ELSE (RealSense_FOUND)
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# fatal error if RealSense is required but not found
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IF (RealSense_FIND_REQUIRED)
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MESSAGE(FATAL_ERROR "Could not find RealSense (librealsense)")
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ENDIF (RealSense_FIND_REQUIRED)
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ENDIF (RealSense_FOUND)
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