From b56567de8753e24f7f5e032f24f0ba390d567742 Mon Sep 17 00:00:00 2001
From: Michael Burri <burri210@gmail.com>
Date: Thu, 1 Sep 2016 17:53:56 +0200
Subject: [PATCH] modified cmake to find all libraries on os x

---
 CMakeLists.txt         | 30 +++++++++++++++++++++++++++++-
 cmake/FindLibUVC.cmake | 38 ++++++++++++++++++++++++++++++++++++++
 2 files changed, 67 insertions(+), 1 deletion(-)
 create mode 100644 cmake/FindLibUVC.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2755ea4..f2638b4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,31 @@ project(uvc_ros_driver)
 set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS} -Wno-format-security ${NEON_FLAGS}")
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${NEON_FLAGS}")
 
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/cmake/")
+
+find_package(LibUVC REQUIRED)
+if (LibUVC_FOUND)
+  message("-- Found LibUVC library: ${LibUVC_LIBRARIES}")
+  message("-- Found LibUVC include dirs: ${LibUVC_INCLUDE_DIRS}")
+  #include_directories(${LibUVC_INCLUDE_DIRS})
+else (LibUVC_FOUND)
+  message("-- LibUVC not found, trying to hard link libuvc")
+  set(LibUVC_LIBRARIES /usr/local/lib/libuvc.so)
+endif (LibUVC_FOUND)
+
+
+find_package(PkgConfig)
+
+find_package(yaml_cpp_catkin QUIET)
+if(${yaml_cpp_catkin_FOUND})
+  message(STATUS "Found yaml_cpp_catkin, using instead of system library.")
+  set(YamlCpp_LIBRARIES ${yaml_cpp_catkin_LIBRARIES})
+  set(YamlCpp_INCLUDE_DIRS ${yaml_cpp_catkin_INCLUDE_DIRS})
+else()
+  message(STATUS "No yaml_cpp_catkin, using yaml-cpp system library instead.")
+  pkg_check_modules(YamlCpp REQUIRED yaml-cpp>=0.5)
+endif()
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
@@ -130,6 +155,7 @@ catkin_package(
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${Eigen3_INCLUDE_DIRS}
+  ${YamlCpp_INCLUDE_DIRS}
   include
   /usr/include/libusb-1.0
   src/nodes/c_library
@@ -147,7 +173,8 @@ add_library(uvc_ros_driver SHARED
 target_link_libraries(uvc_ros_driver
   yaml-cpp
   ${catkin_LIBRARIES}
-  /usr/local/lib/libuvc.so #TODO link by usign find_package
+  ${LibUVC_LIBRARIES}
+  ${YamlCpp_LIBRARIES}
 )
 
 ## Add cmake target dependencies of the library
@@ -168,6 +195,7 @@ add_executable(uvc_ros_driver_node
 target_link_libraries(uvc_ros_driver_node
   uvc_ros_driver
   ${catkin_LIBRARIES}
+  ${YamlCpp_LIBRARIES}
 )
 
 #############
diff --git a/cmake/FindLibUVC.cmake b/cmake/FindLibUVC.cmake
new file mode 100644
index 0000000..fc9239b
--- /dev/null
+++ b/cmake/FindLibUVC.cmake
@@ -0,0 +1,38 @@
+
+# - Finds libUVC and all dependencies
+# Once done this will define
+#  LibUVC_FOUND - System has libUVC
+#  LibUVC_INCLUDE_DIRS - The libUVC include directories
+#  LibUVC_LIBRARIES - The libraries needed to use libUVC
+
+find_library(LibUVC_LIBRARY
+  NAMES libuvc.so libuvc.lib libuvc.dylib
+  PATHS ${LibUVC_ROOT}/lib
+    /usr/local/lib
+)
+
+if(NOT LibUVC_IGNORE_HEADERS)
+  find_path(LibUVC_INCLUDE_DIR
+    NAMES libuvc_config.h libuvc.h
+    PATHS ${LibUVC_ROOT}/include
+      /usr/include
+      /usr/local/include
+      /usr/local/Cellar
+)
+endif()
+
+# brew installed libuvc include dirs on os x are hard to find and depends on the installed version.
+if(LibUVC_INCLUDE_DIR STREQUAL "LibUVC_INCLUDE_DIR-NOTFOUND")
+  file(GLOB LibUVC_INCLUDE_DIR /usr/local/Cellar/libuvc/*/include/libuvc/libuvc_config.h
+  /usr/local/Cellar/libuvc/*/include/libuvc/libuvc.h)
+endif()
+
+if((LibUVC_LIBRARY STREQUAL "LibUVC_LIBRARY-NOTFOUND") OR (LibUVC_INCLUDE_DIR STREQUAL "LibUVC_INCLUDE_DIR-NOTFOUND"))
+  set(LibUVC_ROOT "" CACHE PATH "Path to the root of a libuvc installation")
+  set(LibUVC_FOUND 1)
+  message(WARNING "LibUVC not found. Please try specifying LibUVC_ROOT")
+else()
+  set(LibUVC_FOUND 1)
+  set(LibUVC_INCLUDE_DIRS ${LibUVC_INCLUDE_DIR})
+  set(LibUVC_LIBRARIES ${LibUVC_LIBRARY})
+endif()