Merge pull request #14 from lebronzhang/dev

Combine librealsense and RSSDK as one single grabber
lebronzhang · Jul 11, 2016 · 7d9a628 · 7d9a628
2 parents 523cebf + 5a232ea
commit 7d9a628
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Showing 16 changed files with 847 additions and 1,355 deletions.
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
@@ -151,24 +151,23 @@ if(build)
     endif()
 
     if(WITH_RSSDK)
-        set(RSSDK_GRABBER_INCLUDES
+        set(REALSENSE_GRABBER_INCLUDES
             include/pcl/io/real_sense_grabber.h
         )
-        set(RSSDK_GRABBER_SOURCES
+        set(REALSENSE_GRABBER_SOURCES
             src/real_sense_grabber.cpp
-            src/real_sense/real_sense_device_manager.cpp
+            src/real_sense/sdk/real_sense_grabber.cpp
+            src/real_sense/sdk/real_sense_device_manager.cpp
         )
-    endif()
-
-    if(WITH_LIBREALSENSE)
-        set(LIBREALSENSE_GRABBER_INCLUDES
-            include/pcl/io/librealsense_grabber.h
-        )
-        set(LIBREALSENSE_GRABBER_SOURCES
-            src/librealsense_grabber.cpp
-            src/librealsense/librealsense_grabber_impl.cpp
-            src/librealsense/librealsense_device_manager.cpp
+    else(WITH_LIBREALSENSE)
+        set(REALSENSE_GRABBER_INCLUDES
+            include/pcl/io/real_sense_grabber.h
         )
+        set(REALSENSE_GRABBER_SOURCES
+            src/real_sense_grabber.cpp
+            src/real_sense/librealsense/real_sense_grabber.cpp
+            src/real_sense/librealsense/real_sense_device_manager.cpp
+        )    
     endif()
 
     if(LIBUSB_1_FOUND)
@@ -237,8 +236,7 @@ if(build)
         ${ENSENSO_GRABBER_SOURCES}
         ${DAVIDSDK_GRABBER_SOURCES}
         ${DSSDK_GRABBER_SOURCES}
-        ${RSSDK_GRABBER_SOURCES}
-        ${LIBREALSENSE_GRABBER_SOURCES}
+        ${REALSENSE_GRABBER_SOURCES}
         )
     if(PNG_FOUND)
       list(APPEND srcs
@@ -286,8 +284,7 @@ if(build)
         ${ENSENSO_GRABBER_INCLUDES}
         ${DAVIDSDK_GRABBER_INCLUDES}
         ${DSSDK_GRABBER_INCLUDES}
-        ${RSSDK_GRABBER_INCLUDES}
-        ${LIBREALSENSE_GRABBER_INCLUDES}
+        ${REALSENSE_GRABBER_INCLUDES}
         "include/pcl/${SUBSYS_NAME}/pxc_grabber.h"  # contains only depreciation note
         )
 
@@ -370,9 +367,7 @@ if(build)
 
     if(WITH_RSSDK)
       target_link_libraries(${LIB_NAME} ${RSSDK_LIBRARIES})
-    endif()
-
-    if(WITH_LIBREALSENSE)
+    else(WITH_LIBREALSENSE)
       target_link_libraries(${LIB_NAME} ${LIBREALSENSE_LIBRARIES})
     endif()
 

diff --git a/io/include/pcl/io/librealsense/librealsense_grabber_impl.h b/io/include/pcl/io/librealsense/librealsense_grabber_impl.h
diff --git a/io/include/pcl/io/librealsense_grabber.h b/io/include/pcl/io/librealsense_grabber.h