Merge pull request #114 from neufieldrobotics/hotfix/spinnaker_cmake

added cmake file to detect and find spinnaker library

Author: Vikrant Shah

CMakeLists.txt

@@ -10,8 +10,8 @@ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 ###
 #SET("OpenCV_DIR" "~/apps/opencv-2.4.13/")
 set(PROJECT_INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include" CACHE PATH "Project Include Directory")
-set(SPINNAKER_INCLUDE_DIR "/usr/include/spinnaker" CACHE PATH "Spinnaker Include Directory")
-set(SPINNAKER_LIB_DIR "/usr/lib" CACHE PATH "Spinnaker Libs Directory")
+#set(SPINNAKER_INCLUDE_DIR "/usr/include/spinnaker" CACHE PATH "Spinnaker Include Directory")
+#set(SPINNAKER_LIB_DIR "/usr/lib" CACHE PATH "Spinnaker Libs Directory")
 # set(yaml-cpp_DIR "~/apps/yaml-cpp" CACHE PATH "yaml-cpp Directory")
 set(CUDA_USE_STATIC_CUDA_RUNTIME  OFF)
 
@@ -32,6 +32,8 @@ find_package(catkin REQUIRED COMPONENTS
 # Acquisition specific
 ###
 # Find Packages
+find_package(Spinnaker REQUIRED)
+message("spinnaker lib :   " ${Spinnaker_LIBRARIES})
 find_package(OpenCV REQUIRED)
 # use LibUnwind only for x86_64 or x86_32 architecture
 # do not use LibUnwind for arm architecture
@@ -76,15 +78,15 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
     include_directories(
       ${PROJECT_INCLUDE_DIR}
       ${catkin_INCLUDE_DIRS}
-      SYSTEM ${SPINNAKER_INCLUDE_DIR}
+      SYSTEM ${Spinnaker_INCLUDE_DIRS}
       SYSTEM ${OpenCV_INCLUDE_DIRS}
       SYSTEM ${Boost_INCLUDE_DIR}
       ${LibUnwind_INCLUDE_DIRS}
     )
 
-    link_directories( ${SPINNAKER_LIB_DIR} )
+    link_directories( ${Spinnaker_LIBRARIES} )
 
-    set (LIBS ${LibUnwind_LIBRARIES} Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+    set (LIBS ${LibUnwind_LIBRARIES} ${Spinnaker_LIBRARIES} ${OpenCV_LIBS} ${Boost_GENERAL})
 
 endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES x86_64 OR x86_32)
 if(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
@@ -97,14 +99,14 @@ if(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
     include_directories(
       ${PROJECT_INCLUDE_DIR}
       ${catkin_INCLUDE_DIRS}
-      SYSTEM ${SPINNAKER_INCLUDE_DIR}
+      SYSTEM ${Spinnaker_INCLUDE_DIRS}
       SYSTEM ${OpenCV_INCLUDE_DIRS}
       SYSTEM ${Boost_INCLUDE_DIR}
     )
 
-    link_directories( ${SPINNAKER_LIB_DIR} )
+    link_directories( ${Spinnaker_LIBRARIES} )
 
-    set (LIBS Spinnaker ${OpenCV_LIBS} ${Boost_GENERAL})
+    set (LIBS ${Spinnaker_LIBRARIES} ${OpenCV_LIBS} ${Boost_GENERAL})
 
 endif(${CMAKE_SYSTEM_PROCESSOR} MATCHES aarch64 OR arm)
 

cmake/FindSpinnaker.cmake

@@ -0,0 +1,42 @@
+# Find the Spinnaker library
+#
+#  Spinnaker_FOUND        - True if Spinnaker was found.
+#  Spinnaker_LIBRARIES    - The libraries needed to use Spinnaker
+#  Spinnaker_INCLUDE_DIRS - Location of Spinnaker.h
+
+unset(Spinnaker_FOUND)
+unset(Spinnaker_INCLUDE_DIRS)
+unset(Spinnaker_LIBRARIES)
+
+find_path(Spinnaker_INCLUDE_DIRS NAMES
+  Spinnaker.h
+  PATHS
+  /opt/spinnaker/include
+  )
+find_library(Spinnaker_LIBRARIES NAMES Spinnaker
+  PATHS
+  /opt/spinnaker/lib
+)
+
+if(NOT Spinnaker_INCLUDE_DIRS OR NOT Spinnaker_LIBRARIES)
+  message(STATUS "Couldnt find Spinnaker 2.2.x. Checking lower versions")
+  find_path(Spinnaker_INCLUDE_DIRS NAMES
+  Spinnaker.h
+  PATHS
+  /usr/include/spinnaker/
+  /usr/local/include/spinnaker/
+  )
+  find_library(Spinnaker_LIBRARIES NAMES Spinnaker
+  PATHS
+  /usr/lib
+  /usr/local/lib
+  )
+  if(NOT Spinnaker_INCLUDE_DIRS OR NOT Spinnaker_LIBRARIES)
+     message(STATUS "Couldnt find Spinnaker.")
+  endif()
+endif()
+
+if (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES)
+  message(STATUS "Spinnaker found in the system")
+  set(Spinnaker_FOUND 1)
+endif (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES)