Example code to stream video feeds to v4l using v4l2loopback

examples/k22v4l/CMakeLists.txt

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+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+PROJECT(libfreenect2)
+SET(CMAKE_BUILD_TYPE RelWithDebInfo)
+
+SET(MY_DIR ${libfreenect2_SOURCE_DIR})
+
+OPTION(ENABLE_CXX11 "Enable C++11 support" OFF)
+OPTION(ENABLE_OPENCL "Enable OpenCL support" ON)
+OPTION(ENABLE_OPENGL "Enable OpenGL support" ON)
+
+IF(ENABLE_CXX11)
+  INCLUDE(CheckCXXCompilerFlag)
+  CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+  CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+  IF(COMPILER_SUPPORTS_CXX11)
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+  ELSEIF(COMPILER_SUPPORTS_CXX0X)
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+  ELSE()
+    MESSAGE(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+  ENDIF()
+ENDIF(ENABLE_CXX11)
+
+# additional cmake modules
+LIST(APPEND CMAKE_MODULE_PATH ${MY_DIR}/cmake_modules)
+
+# setup threading
+INCLUDE(SetupLibfreenect2Threading)
+INCLUDE_DIRECTORIES(${LIBFREENECT2_THREADING_INCLUDE_DIR})
+
+INCLUDE(GenerateResources)
+
+#set the default path for built executables to the "bin" directory
+SET(EXECUTABLE_OUTPUT_PATH ${MY_DIR}/bin)
+
+#set the default path for built libraries to the "lib" directory
+SET(LIBRARY_OUTPUT_PATH ${MY_DIR}/lib)
+
+FIND_PACKAGE(OpenCL)
+
+# dependencies
+FIND_PACKAGE(OpenCV REQUIRED)
+
+# OpenCV
+INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIR})
+
+# LibUSB
+INCLUDE_DIRECTORIES("${MY_DIR}/../../depends/libusb/include/libusb-1.0/")
+LINK_DIRECTORIES("${MY_DIR}/../../depends/libusb/lib/")
+
+IF(ENABLE_OPENGL)
+  # GLFW
+  SET(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries")
+  SET(GLFW_BUILD_EXAMPLES OFF CACHE BOOL "Build the GLFW example programs")
+  SET(GLFW_BUILD_TESTS OFF CACHE BOOL "Build the GLFW test programs")
+  SET(GLFW_BUILD_DOCS OFF CACHE BOOL "Build the GLFW documentation")
+
+  ADD_SUBDIRECTORY(${MY_DIR}/../../depends/glfw_src/ ${MY_DIR}/../../depends/glfw)
+  INCLUDE_DIRECTORIES(${MY_DIR}/../../depends/glfw_src/include/)
+ENDIF(ENABLE_OPENGL)
+
+if(APPLE)
+  # libjpeg-turbo
+  INCLUDE_DIRECTORIES("${MY_DIR}/../../depends/libjpeg_turbo/include/")
+  LINK_DIRECTORIES("${MY_DIR}/../../depends/libjpeg_turbo/lib/")
+endif()
+
+SET(RESOURCES_INC_FILE "${MY_DIR}/src/resources.inc")
+
+SET(SOURCES
+  src/transfer_pool.cpp
+  src/event_loop.cpp
+
+  src/double_buffer.cpp
+  src/frame_listener_impl.cpp
+  src/packet_pipeline.cpp
+
+  src/rgb_packet_stream_parser.cpp
+  src/rgb_packet_processor.cpp
+  src/turbo_jpeg_rgb_packet_processor.cpp
+
+  src/depth_packet_stream_parser.cpp
+  src/depth_packet_processor.cpp
+  src/cpu_depth_packet_processor.cpp
+  src/resource.cpp
+
+  src/usb_control.cpp
+  src/command_transaction.cpp
+  src/libfreenect2.cpp
+  ${LIBFREENECT2_THREADING_SOURCE}
+  ${RESOURCES_INC_FILE}
+)
+
+SET(LIBRARIES
+  usb-1.0
+  ${OpenCV_LIBS}
+  turbojpeg
+  ${LIBFREENECT2_THREADING_LIBRARIES}
+)
+
+SET(RESOURCES
+  11to16.bin 
+  xTable.bin 
+  zTable.bin
+)
+
+
+IF(ENABLE_OPENGL)
+  SET(LIBFREENECT2_WITH_OPENGL_SUPPORT 1)
+  LIST(APPEND SOURCES
+    src/flextGL.c
+    src/opengl_depth_packet_processor.cpp
+  )
+
+  LIST(APPEND LIBRARIES
+    glfw
+    ${GLFW_LIBRARIES}
+  )
+
+  LIST(APPEND RESOURCES
+    src/shader/debug.fs
+    src/shader/default.vs
+    src/shader/filter1.fs
+    src/shader/filter2.fs
+    src/shader/stage1.fs
+    src/shader/stage2.fs
+  )
+ENDIF(ENABLE_OPENGL)
+
+IF(ENABLE_OPENCL AND OPENCL_FOUND)
+  SET(LIBFREENECT2_WITH_OPENCL_SUPPORT 1)
+  INCLUDE_DIRECTORIES(${OPENCL_INCLUDE_DIRS})
+
+  LIST(APPEND SOURCES
+    src/opencl_depth_packet_processor.cpp
+  )
+
+  LIST(APPEND LIBRARIES
+    ${OPENCL_LIBRARIES}
+  )
+
+  LIST(APPEND RESOURCES
+    src/opencl_depth_packet_processor.cl
+  )
+ENDIF(ENABLE_OPENCL AND OPENCL_FOUND)
+
+CONFIGURE_FILE("${MY_DIR}/include/libfreenect2/config.h.in" "${MY_DIR}/include/libfreenect2/config.h" @ONLY)
+
+GENERATE_RESOURCES(${RESOURCES_INC_FILE} ${MY_DIR} ${RESOURCES})
+
+INCLUDE_DIRECTORIES("${MY_DIR}/include")
+
+ADD_DEFINITIONS(-DRESOURCES_INC)
+ADD_LIBRARY(freenect2 SHARED ${SOURCES})
+TARGET_LINK_LIBRARIES(freenect2 ${LIBRARIES})
+
+ADD_EXECUTABLE(k22v4l
+  k22v4l.cpp
+)
+
+TARGET_LINK_LIBRARIES(k22v4l
+  freenect2
+)
+
+CONFIGURE_FILE(freenect2.cmake.in "${PROJECT_BINARY_DIR}/freenect2Config.cmake" @ONLY)
+
+INSTALL(TARGETS freenect2 DESTINATION lib)
+INSTALL(DIRECTORY "${MY_DIR}/include/" DESTINATION include PATTERN "*.in" EXCLUDE)
+IF(LIBFREENECT2_THREADING_TINYTHREAD)
+  INSTALL(FILES  "${MY_DIR}/src/tinythread/tinythread.h" DESTINATION include/${PROJECT_NAME}/tinythread/)
+ENDIF(LIBFREENECT2_THREADING_TINYTHREAD)
+INSTALL(FILES "${PROJECT_BINARY_DIR}/freenect2Config.cmake" DESTINATION lib/cmake/freenect2/)
+

examples/k22v4l/README.md

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+
+Depends on v4l2loopback
+
+Load kernel module and add 3 devices:
+
+    # modprobe v4l2loopback devices=3

examples/k22v4l/cmake_modules/FindOpenCL.cmake

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+# - Try to find OpenCL
+# This module tries to find an OpenCL implementation on your system. It supports
+# AMD / ATI, Apple and NVIDIA implementations, but should work, too.
+#
+# To set manually the paths, define these environment variables:
+# OpenCL_INCPATH    - Include path (e.g. OpenCL_INCPATH=/opt/cuda/4.0/cuda/include)
+# OpenCL_LIBPATH    - Library path (e.h. OpenCL_LIBPATH=/usr/lib64/nvidia)
+#
+# Once done this will define
+#  OPENCL_FOUND        - system has OpenCL
+#  OPENCL_INCLUDE_DIRS  - the OpenCL include directory
+#  OPENCL_LIBRARIES    - link these to use OpenCL
+#
+# WIN32 should work, but is untested
+
+FIND_PACKAGE(PackageHandleStandardArgs)
+
+SET (OPENCL_VERSION_STRING "0.1.0")
+SET (OPENCL_VERSION_MAJOR 0)
+SET (OPENCL_VERSION_MINOR 1)
+SET (OPENCL_VERSION_PATCH 0)
+
+IF (APPLE)
+
+	FIND_LIBRARY(OPENCL_LIBRARIES OpenCL DOC "OpenCL lib for OSX")
+	FIND_PATH(OPENCL_INCLUDE_DIRS OpenCL/cl.h DOC "Include for OpenCL on OSX")
+	FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS OpenCL/cl.hpp DOC "Include for OpenCL CPP bindings on OSX")
+
+ELSE (APPLE)
+
+	IF (WIN32)
+		# The AMD SDK currently installs both x86 and x86_64 libraries
+		# This is only a hack to find out architecture
+		IF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
+			FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/lib/x86_64")
+		ELSE (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
+			FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/lib/x86")
+		ENDIF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
+
+		# On Win32 search relative to the library
+		FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/include")
+		FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/include")
+
+	ELSE (WIN32)
+
+		# Unix style platforms
+		FIND_LIBRARY(OPENCL_LIBRARIES OpenCL
+			PATHS ENV LD_LIBRARY_PATH ENV OpenCL_LIBPATH
+		)
+
+		GET_FILENAME_COMPONENT(OPENCL_LIB_DIR ${OPENCL_LIBRARIES} PATH)
+		GET_FILENAME_COMPONENT(_OPENCL_INC_CAND ${OPENCL_LIB_DIR}/../../include ABSOLUTE)
+
+		# The AMD SDK currently does not place its headers
+		# in /usr/include, therefore also search relative
+		# to the library
+		FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include" "/opt/AMDAPP/include" ENV OpenCL_INCPATH)
+		FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS ${_OPENCL_INC_CAND} "/usr/local/cuda/include" "/opt/AMDAPP/include" ENV OpenCL_INCPATH)
+
+	ENDIF (WIN32)
+
+ENDIF (APPLE)
+
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(OpenCL DEFAULT_MSG OPENCL_LIBRARIES OPENCL_INCLUDE_DIRS)
+
+IF(_OPENCL_CPP_INCLUDE_DIRS)
+	SET( OPENCL_HAS_CPP_BINDINGS TRUE )
+	LIST( APPEND OPENCL_INCLUDE_DIRS ${_OPENCL_CPP_INCLUDE_DIRS} )
+	# This is often the same, so clean up
+	LIST( REMOVE_DUPLICATES OPENCL_INCLUDE_DIRS )
+ENDIF(_OPENCL_CPP_INCLUDE_DIRS)
+
+MARK_AS_ADVANCED(
+  OPENCL_INCLUDE_DIRS
+)
+

examples/k22v4l/cmake_modules/GenerateResources.cmake

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+FUNCTION(GENERATE_RESOURCES OUTPUT BASE_FOLDER)
+
+ADD_EXECUTABLE(generate_resources_tool
+  src/generate_resources.cpp
+)
+
+ADD_CUSTOM_COMMAND(
+  OUTPUT ${OUTPUT}
+  COMMAND generate_resources_tool ${BASE_FOLDER} ${ARGN} > ${OUTPUT}
+  WORKING_DIRECTORY ${BASE_FOLDER}
+  DEPENDS generate_resources_tool ${ARGN}
+)
+
+ENDFUNCTION(GENERATE_RESOURCES)

examples/k22v4l/cmake_modules/SetupLibfreenect2Threading.cmake

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+INCLUDE(CheckCXXSourceCompiles)
+
+CHECK_CXX_SOURCE_COMPILES("
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+#include <chrono>
+
+int main(int argc, char** argv) {
+  std::thread thread;
+  std::mutex mutex;
+  std::lock_guard<std::mutex> lock_guard(mutex);
+  std::unique_lock<std::mutex> unique_lock(mutex);
+  std::condition_variable condition_variable;
+  thread_local int i;
+
+  return 0;
+}
+
+" LIBFREENECT2_THREADING_STDLIB)
+
+IF(LIBFREENECT2_THREADING_STDLIB)
+  SET(LIBFREENECT2_THREADING "stdlib")
+  SET(LIBFREENECT2_THREADING_INCLUDE_DIR "")
+  SET(LIBFREENECT2_THREADING_SOURCE "")
+  SET(LIBFREENECT2_THREADING_LIBRARIES "")
+  SET(LIBFREENECT2_THREADING_STDLIB 1)
+ELSE(LIBFREENECT2_THREADING_STDLIB)
+  SET(LIBFREENECT2_THREADING "tinythread")
+  SET(LIBFREENECT2_THREADING_INCLUDE_DIR "src/tinythread/")
+  SET(LIBFREENECT2_THREADING_SOURCE "src/tinythread/tinythread.cpp")
+  IF(NOT WIN32)
+    SET(LIBFREENECT2_THREADING_LIBRARIES "pthread")
+  ELSE(NOT WIN32)
+    SET(LIBFREENECT2_THREADING_LIBRARIES "")
+  ENDIF(NOT WIN32)
+  SET(LIBFREENECT2_THREADING_TINYTHREAD 1)
+ENDIF(LIBFREENECT2_THREADING_STDLIB)
+
+MESSAGE(STATUS "using ${LIBFREENECT2_THREADING} as threading library")

examples/k22v4l/freenect2.cmake.in

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+FIND_LIBRARY(freenect2_LIBRARY freenect2
+    PATHS @CMAKE_INSTALL_PREFIX@/lib
+    NO_DEFAULT_PATH
+)
+SET(freenect2_LIBRARIES ${freenect2_LIBRARY} @LIBFREENECT2_THREADING_LIBRARIES@)
+FIND_PATH(freenect2_INCLUDE_DIR @PROJECT_NAME@/libfreenect2.hpp
+    PATHS @CMAKE_INSTALL_PREFIX@/include
+    NO_DEFAULT_PATH
+)
+
+IF("@LIBFREENECT2_THREADING_TINYTHREAD@")
+    SET(freenect2_INCLUDE_DIRS ${freenect2_INCLUDE_DIR} ${freenect2_INCLUDE_DIR}/tinythread)
+ENDIF("@LIBFREENECT2_THREADING_TINYTHREAD@")