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Add librealsense2 support for OSX #2

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merged 3 commits into from
Dec 13, 2017
Merged

Add librealsense2 support for OSX #2

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3a69f80
Introduce REALSENSE2_DIR env var to get the location of librealsense2
fspindle Dec 13, 2017
0179ad0
Turn -Wreorder and -Wunused-function under OSX
fspindle Dec 13, 2017
2fb3837
Fix build when PCL is not used
fspindle Dec 13, 2017
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2 changes: 2 additions & 0 deletions cmake/FindRealSense2.cmake
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Expand Up @@ -67,6 +67,8 @@ else()

list(APPEND REALSENSE2_INC_SEARCH_PATH $ENV{REALSENSE2_HOME}/include)
list(APPEND REALSENSE2_LIB_SEARCH_PATH $ENV{REALSENSE2_HOME}/lib)
list(APPEND REALSENSE2_INC_SEARCH_PATH $ENV{REALSENSE2_DIR}/include)
list(APPEND REALSENSE2_LIB_SEARCH_PATH $ENV{REALSENSE2_DIR}/lib)
endif()

find_path(REALSENSE2_INCLUDE_DIRS librealsense2/rs.hpp
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5 changes: 5 additions & 0 deletions modules/sensor/CMakeLists.txt
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Expand Up @@ -191,6 +191,11 @@ if(USE_REALSENSE)
# Add specific build flag to turn off warnings coming from RealSense 3rd party
vp_set_source_file_compile_flag(src/rgb-depth/realsense/vpRealSense.cpp -Wno-strict-aliasing -Wno-pessimizing-move -Wno-unused-parameter)
endif()
if(USE_REALSENSE2)
# Add specific build flag to turn off warnings coming from RealSense2 3rd party
vp_set_source_file_compile_flag(src/rgb-depth/realsense/vpRealSense2.cpp -Wno-reorder -Wno-unused-function)
vp_set_source_file_compile_flag(test/rgb-depth/testRealSense2_SR300.cpp -Wno-reorder -Wno-unused-function)
endif()

vp_module_include_directories(${opt_incs})
vp_create_module(${opt_libs})
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2 changes: 1 addition & 1 deletion modules/sensor/test/rgb-depth/testRealSense2_SR300.cpp
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Expand Up @@ -299,9 +299,9 @@ int main(int argc, char *argv[]) {
auto infrared_frame = data.first(RS2_STREAM_INFRARED);
getNativeFrame(infrared_frame, (unsigned char *) infrared_raw.bitmap);

#ifdef VISP_HAVE_PCL
getPointcloud(depth_frame, pointcloud_colvector);

#ifdef VISP_HAVE_PCL
{
std::lock_guard<std::mutex> lock(mutex);

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