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OpenNI 2 grabber #276

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merged 12 commits into from
May 12, 2014
Merged

OpenNI 2 grabber #276

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551c9e9
Added libboost-chrono1.53-dev to Travis CI script.
kwaegel Mar 3, 2014
0733d47
Added boost::chrono to dependency list
kwaegel Mar 3, 2014
e8e641e
Added FindOpenNI2.cmake search module.
kwaegel Aug 15, 2013
f780d48
Created abstract Image interface for OpenNI grabbers.
kwaegel Feb 17, 2014
50b50af
Added OpenNI 2 grabber.
kwaegel Feb 17, 2014
7da8ed5
Stopped throwing exception on frame sync failure.
kwaegel Mar 3, 2014
ebd82de
Fixed data race problem with multiple sensors
kwaegel Mar 3, 2014
c9c80e0
Fixed warnings in OpenNI 2 grabberModeToOpenniMode
kwaegel Mar 6, 2014
2a06fc1
Added OpenNI 2 viewer app to visualization module.
kwaegel Sep 25, 2013
24a24c9
Added HAVE_OPENNI check to people_app
kwaegel Feb 27, 2014
9a89c29
Move common image files to pcl/io/ during the installation; fix block…
fralik Mar 6, 2014
0a7a0f3
Added common search path for deb packages.
kwaegel May 2, 2014
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2 changes: 1 addition & 1 deletion .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,6 @@ before_install:
- sudo add-apt-repository ppa:libreoffice/ppa -y
- sudo apt-get update -d
install:
- sudo apt-get install cmake libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem1.53-dev libboost-iostreams1.53-dev libboost-thread1.53-dev
- sudo apt-get install cmake libvtk5-qt4-dev libflann-dev libeigen3-dev libopenni-dev libqhull-dev libboost-filesystem1.53-dev libboost-iostreams1.53-dev libboost-thread1.53-dev libboost-chrono1.53-dev
script:
- bash .travis.sh
10 changes: 10 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -265,6 +265,16 @@ if(WITH_OPENNI)
endif(OPENNI_FOUND)
endif(WITH_OPENNI)

# OpenNI 2
option(WITH_OPENNI2 "OpenNI 2 driver support" TRUE)
if(WITH_OPENNI2)
find_package(OpenNI2)
if (OPENNI2_FOUND)
set(HAVE_OPENNI2 ON)
include_directories(SYSTEM ${OPENNI2_INCLUDE_DIRS})
endif(OPENNI2_FOUND)
endif(WITH_OPENNI2)

# Fotonic (FZ_API)
option(WITH_FZAPI "Build Fotonic Camera support" TRUE)
if(WITH_FZAPI)
Expand Down
41 changes: 40 additions & 1 deletion PCLConfig.cmake.in
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Expand Up @@ -211,6 +211,43 @@ macro(find_openni)
endif(OPENNI_FOUND)
endmacro(find_openni)

#remove this as soon as openni2-dev is shipped with FindOpenni2.cmake
macro(find_openni2)
if(NOT OPENNI2_ROOT AND ("ON" STREQUAL "ON"))
get_filename_component(OPENNI2_LIBRARY_HINT "OPENNI_LIBRARY-NOTFOUND" PATH)
endif(NOT OPENNI2_ROOT AND ("ON" STREQUAL "ON"))

set(OPENNI2_SUFFIX)
if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
set(OPENNI2_SUFFIX 64)
endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)

if(PKG_CONFIG_FOUND)
pkg_check_modules(PC_OPENNI2 openni2-dev)
endif(PKG_CONFIG_FOUND)

find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
HINTS /usr/include/openni2 /usr/include/ni2
PATHS "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}"
PATH_SUFFIXES openni openni2 include Include)

find_library(OPENNI2_LIBRARY
NAMES OpenNI2 # No suffix needed on Win64
HINTS /usr/lib
PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}"
PATH_SUFFIXES lib Lib Lib64)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)

if(OPENNI2_FOUND)
get_filename_component(OPENNI_LIBRARY_PATH ${OPENNI2_LIBRARY} PATH)
set(OPENNI2_LIBRARY_DIRS ${OPENNI2_LIBRARY_PATH})
set(OPENNI2_LIBRARIES "${OPENNI2_LIBRARY}")
set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}})
endif(OPENNI2_FOUND)
endmacro(find_openni2)

#remove this as soon as flann is shipped with FindFlann.cmake
macro(find_flann)
if(PCL_ALL_IN_ONE_INSTALLER)
Expand Down Expand Up @@ -404,6 +441,8 @@ macro(find_external_library _component _lib _is_optional)
find_qhull()
elseif("${_lib}" STREQUAL "openni")
find_openni()
elseif("${_lib}" STREQUAL "openni2")
find_openni2()
elseif("${_lib}" STREQUAL "vtk")
find_VTK()
elseif("${_lib}" STREQUAL "libusb-1.0")
Expand Down Expand Up @@ -680,7 +719,7 @@ endif(NOT "${PCL_DEFINITIONS}" STREQUAL "")
pcl_remove_duplicate_libraries(PCL_LIBRARIES PCL_DEDUP_LIBRARIES)
set(PCL_LIBRARIES ${PCL_DEDUP_LIBRARIES})
# Add 3rd party libraries, as user code might include our .HPP implementations
list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})
list(APPEND PCL_LIBRARIES ${BOOST_LIBRARIES} ${QHULL_LIBRARIES} ${OPENNI_LIBRARIES} ${OPENNI2_LIBRARIES} ${FLANN_LIBRARIES} ${VTK_LIBRARIES})

find_package_handle_standard_args(PCL DEFAULT_MSG PCL_LIBRARIES PCL_INCLUDE_DIRS)
mark_as_advanced(PCL_LIBRARIES PCL_INCLUDE_DIRS PCL_LIBRARY_DIRS)
80 changes: 80 additions & 0 deletions cmake/Modules/FindOpenNI2.cmake
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@@ -0,0 +1,80 @@
###############################################################################
# Find OpenNI 2
#
# This sets the following variables:
# OPENNI2_FOUND - True if OPENNI 2 was found.
# OPENNI2_INCLUDE_DIRS - Directories containing the OPENNI 2 include files.
# OPENNI2_LIBRARIES - Libraries needed to use OPENNI 2.
# OPENNI2_DEFINITIONS - Compiler flags for OPENNI 2.
#
# For libusb-1.0, add USB_10_ROOT if not found

find_package(PkgConfig QUIET)

# Find LibUSB
if(NOT WIN32)
pkg_check_modules(PC_USB_10 libusb-1.0)
find_path(USB_10_INCLUDE_DIR libusb-1.0/libusb.h
HINTS ${PC_USB_10_INCLUDEDIR} ${PC_USB_10_INCLUDE_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
PATH_SUFFIXES libusb-1.0)

find_library(USB_10_LIBRARY
NAMES usb-1.0
HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
PATH_SUFFIXES lib)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR)

if(NOT USB_10_FOUND)
message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
return()
else()
include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
endif()
endif(NOT WIN32)

if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
pkg_check_modules(PC_OPENNI2 openni2-dev)
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s/openni2-dev/libopenni2/

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@kwaegel can you please fix this as well, or should I send a pull request?

else()
pkg_check_modules(PC_OPENNI2 QUIET openni2-dev)
endif()

set(OPENNI2_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER})

set(OPENNI2_SUFFIX)
if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
set(OPENNI2_SUFFIX 64)
endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)

find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
PATHS
"$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}" # Win64 needs '64' suffix
/usr/include/openni2 # common path for deb packages
)

find_library(OPENNI2_LIBRARY
NAMES OpenNI2 # No suffix needed on Win64
libOpenNI2 # Linux
PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}" # Windows default path, Win64 needs '64' suffix
"$ENV{OPENNI2_REDIST}" # Linux install does not use a separate 'lib' directory
)

if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} ${LIBUSB_1_LIBRARIES})
else()
set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})
endif()

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)

mark_as_advanced(OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)

if(OPENNI2_FOUND)
# Add the include directories
set(OPENNI2_INCLUDE_DIRS ${OPENNI2_INCLUDE_DIR})
set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}})
message(STATUS "OpenNI 2 found (include: ${OPENNI2_INCLUDE_DIRS}, lib: ${OPENNI2_LIBRARY}, redist: ${OPENNI2_REDIST_DIR})")
endif(OPENNI2_FOUND)

12 changes: 3 additions & 9 deletions cmake/pcl_find_boost.cmake
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Expand Up @@ -23,7 +23,7 @@ endif(${CMAKE_VERSION} VERSION_LESS 2.8.5)
set(Boost_NO_BOOST_CMAKE ON)

# Optional boost modules
find_package(Boost 1.40.0 QUIET COMPONENTS serialization mpi)
find_package(Boost 1.47.0 QUIET COMPONENTS serialization mpi)
if(Boost_MPI_FOUND)
set(BOOST_MPI_FOUND TRUE)
endif(Boost_MPI_FOUND)
Expand All @@ -32,15 +32,9 @@ if(Boost_SERIALIZATION_FOUND)
endif(Boost_SERIALIZATION_FOUND)

# Required boost modules
set(BOOST_REQUIRED_MODULES system filesystem thread date_time iostreams)
# Starting with Boost 1.50, boost_thread depends on chrono. As this is not
# taken care of automatically on Windows, we add an explicit dependency as a
# workaround.
if(WIN32 AND Boost_VERSION VERSION_GREATER "104900")
set(BOOST_REQUIRED_MODULES ${BOOST_REQUIRED_MODULES} chrono)
endif(WIN32 AND Boost_VERSION VERSION_GREATER "104900")
set(BOOST_REQUIRED_MODULES system filesystem thread date_time iostreams chrono)

find_package(Boost 1.40.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})
find_package(Boost 1.47.0 REQUIRED COMPONENTS ${BOOST_REQUIRED_MODULES})

if(Boost_FOUND)
set(BOOST_FOUND TRUE)
Expand Down
6 changes: 4 additions & 2 deletions gpu/people/tools/CMakeLists.txt
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Expand Up @@ -16,8 +16,10 @@ include_directories(${VTK_INCLUDE_DIRS})
#PCL_ADD_EXECUTABLE("${the_target}" "${SUBSYS_NAME}" people_tracking.cpp)
#target_link_libraries("${the_target}" pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization)

PCL_ADD_EXECUTABLE(pcl_people_app "${SUBSYS_NAME}" people_app.cpp)
target_link_libraries (pcl_people_app pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization ${Boost_LIBRARIES})
if (HAVE_OPENNI)
PCL_ADD_EXECUTABLE(pcl_people_app "${SUBSYS_NAME}" people_app.cpp)
target_link_libraries (pcl_people_app pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization ${Boost_LIBRARIES})
endif (HAVE_OPENNI)

PCL_ADD_EXECUTABLE(pcl_people_pcd_prob "${SUBSYS_NAME}" people_pcd_prob.cpp)
target_link_libraries (pcl_people_pcd_prob pcl_common pcl_filters pcl_kdtree pcl_segmentation pcl_kdtree pcl_gpu_people pcl_filters pcl_io pcl_visualization ${Boost_LIBRARIES})
Expand Down
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