Merge pull request #276 from kwaegel/openni2_pullrequest

OpenNI 2 grabber

Author: jspricke

.travis.yml

@@ -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

CMakeLists.txt

@@ -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)

PCLConfig.cmake.in

@@ -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)
@@ -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")
@@ -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)

cmake/Modules/FindOpenNI2.cmake

@@ -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)
+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)
+

cmake/pcl_find_boost.cmake

@@ -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)
@@ -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)

gpu/people/tools/CMakeLists.txt

@@ -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})