OpenNI2 driver

CMakeLists.txt

@@ -23,6 +23,7 @@ SET(DEPENDS_DIR "${MY_DIR}/depends" CACHE STRING "dependency directory must be s
 
 OPTION(BUILD_SHARED_LIBS "Build shared (ON) or static (OFF) libraries" ON)
 OPTION(BUILD_EXAMPLES "Build examples" ON)
+OPTION(BUILD_OPENNI2_DRIVER "Build OpenNI2 driver" OFF)
 OPTION(ENABLE_CXX11 "Enable C++11 support" OFF)
 OPTION(ENABLE_OPENCL "Enable OpenCL support" ON)
 OPTION(ENABLE_OPENGL "Enable OpenGL support" ON)
@@ -268,3 +269,8 @@ IF(BUILD_EXAMPLES)
   MESSAGE(STATUS "Configurating examples")
   ADD_SUBDIRECTORY(${MY_DIR}/examples)
 ENDIF()
+
+IF(BUILD_OPENNI2_DRIVER)
+  MESSAGE(STATUS "Configuring OpenNI2 driver")
+  ADD_SUBDIRECTORY(${MY_DIR}/drivers/OpenNI2-Freenect2Driver)
+ENDIF()

cmake_modules/FindOpenNI2.cmake

@@ -0,0 +1,53 @@
+# - Find OpenNI2
+# 
+#  OpenNI2_FOUND:    true if OpenNI2 was found
+#  OpenNI2_INCLUDE_DIRS: the directory that contains the include file
+#  OpenNI2_INSTALL_DIR:  the directory that contains the librariy file
+
+IF(PKG_CONFIG_FOUND)
+  IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
+    SET(MODULE "libopenni2")
+    IF(OpenNI2_FIND_REQUIRED)
+      SET(OpenNI2_REQUIRED "REQUIRED")
+    ENDIF()
+    PKG_CHECK_MODULES(OpenNI2 ${OpenNI2_REQUIRED} ${MODULE})
+    FIND_PATH(OpenNI2_INSTALL_DIR
+      NAMES ${OpenNI2_LIBRARIES}
+      HINTS ${OpenNI2_LIBRARY_DIRS}
+    )
+    SET(OpenNI2_INSTALL_DIR ${OpenNI2_LIBRARY})
+
+    RETURN()
+  ENDIF()
+ENDIF()
+
+FIND_PATH(OpenNI2_INCLUDE_DIRS
+  NAMES Driver/OniDriverAPI.h
+  PATHS
+    "/opt/include"
+    "/opt/local/include"
+    "/usr/include"
+    "/usr/local/include"
+    ENV OPENNI2_INCLUDE
+  PATH_SUFFIXES
+    "ni2"
+    "openni2"
+)
+
+FIND_PATH(OpenNI2_INSTALL_DIR
+  NAMES
+    libOniFile.so
+    libOniFile.dylib
+  PATHS
+    "/opt/lib"
+    "/opt/local/lib"
+    "/usr/lib"
+    "/usr/local/lib"
+    ENV OPENNI2_REDIST
+  PATH_SUFFIXES
+    ni2/OpenNI2/Drivers
+    OpenNI2/Drivers/lib
+)
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(OpenNI2 DEFAULT_MSG OpenNI2_INSTALL_DIR OpenNI2_INCLUDE_DIRS)

drivers/OpenNI2-Freenect2Driver/CMakeLists.txt

@@ -0,0 +1,59 @@
+CMAKE_MINIMUM_REQUIRED(VERSION 2.8.12.1)
+
+if(WIN32 AND NOT MINGW)
+  if(NOT DEFINED CMAKE_DEBUG_POSTFIX)
+    set(CMAKE_DEBUG_POSTFIX "d")
+  endif()
+endif()
+
+IF(NOT DEFINED CMAKE_BUILD_TYPE)
+  # No effect for multi-configuration generators (e.g. for Visual Studio)
+  SET(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING "Choose: RelWithDebInfo Release Debug MinSizeRel None")
+ENDIF()
+
+PROJECT(openni2_freenect2driver)
+
+SET(MY_DIR ${openni2_freenect2driver_SOURCE_DIR})
+SET(freenect2_ROOT_DIR ${MY_DIR}/../..)
+
+FIND_PACKAGE(PkgConfig)    # try find PKGConfig as it will be used if found
+FIND_PACKAGE(OpenNI2 REQUIRED)
+
+IF(TARGET freenect2)
+  MESSAGE(STATUS "Using in-tree freenect2 target")
+  SET(freenect2_LIBRARIES freenect2)
+  SET(freenect2_DLLS ${LIBFREENECT2_DLLS})
+ELSE()
+  FIND_PACKAGE(freenect2 REQUIRED)
+  # Out-of-tree build will have to have DLLs manually copied.
+ENDIF()
+
+INCLUDE_DIRECTORIES(
+  ${freenect2_INCLUDE_DIR}
+  ${OpenNI2_INCLUDE_DIRS}
+)
+
+SET(OpenNI2-Freenect2Driver_src
+  src/ColorStream.cpp
+  src/DepthStream.cpp
+  src/IrStream.cpp
+  src/DeviceDriver.cpp
+  src/Registration.cpp
+  ${freenect2_ROOT_DIR}/${LIBFREENECT2_THREADING_SOURCE}
+)
+
+SET(OpenNI2-Freenect2Driver_LIBRARIES
+  ${freenect2_LIBRARIES}
+)
+
+SET(OpenNI2-Freenect2Driver_DLLS
+  ${freenect2_DLLS}
+)
+
+ADD_LIBRARY(OpenNI2-Freenect2Driver ${OpenNI2-Freenect2Driver_src})
+
+TARGET_LINK_LIBRARIES(OpenNI2-Freenect2Driver
+  ${OpenNI2-Freenect2Driver_LIBRARIES}
+)
+
+INSTALL(TARGETS OpenNI2-Freenect2Driver DESTINATION "${OpenNI2_INSTALL_DIR}")

drivers/OpenNI2-Freenect2Driver/README.md

@@ -0,0 +1,30 @@
+OpenNI2-Freenect2Driver
+======================
+
+OpenNI2-Freenect2Driver is a bridge to libfreenect2 implemented as an OpenNI2 driver.
+It allows OpenNI2 to use Kinect for Windows v2 (K4W2) devices on Mac OS X. (and on Linux?)
+OpenNI2-Freenect2Driver is derived from OpenNI2-FreenectDriver (https://github.com/OpenKinect/libfreenect/tree/master/OpenNI2-FreenectDriver).
+
+Install
+-------
+Please refer libfreenect2 install documentation at first. This description assumes that you are familiar with the libfreenect2 build instruction.
+
+1. You need [OpenNI](http://structure.io/openni) 2.2.0.33 or higher installed on your system and set the environment variables properly. You can use homebrew to install OpenNI if you use Mac OS X. And you will need to make sure target systems have libusb and all other dependencies also.
+
+        $ brew tap homebrew/science
+        $ brew install openni2
+
+        $ export OPENNI2_REDIST=/usr/local/lib/ni2
+        $ export OPENNI2_INCLUDE=/usr/local/include/ni2
+
+2. Go to the top libfreenect2 directory and build it. The build option which enables to build this driver is OFF by default. You must specify -DBUILD_OPENNI2_DRIVER=ON in cmake argument. And you may specify additional -DENABLE_OPENGL=NO in cmake argument to use OpenNI2's NiViewer.
+
+        $ cd /some/where/libfreenect2
+        $ mkdir build
+        $ cd build
+        $ cmake -DBUILD_OPENNI2_DRIVER=ON ..
+        $ make
+
+3. 'make install' copies the driver to your OpenNI2 driver repository (${OPENNI2_REDIST}/OpenNI2/Drivers)
+
+        $ make install

drivers/OpenNI2-Freenect2Driver/src/ColorStream.cpp

@@ -0,0 +1,115 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2015 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#include <string>
+#include "ColorStream.hpp"
+
+using namespace Freenect2Driver;
+
+// from NUI library & converted to radians
+const float ColorStream::DIAGONAL_FOV = 73.9 * (M_PI / 180);
+const float ColorStream::HORIZONTAL_FOV = 62 * (M_PI / 180);
+const float ColorStream::VERTICAL_FOV = 48.6 * (M_PI / 180);
+
+ColorStream::ColorStream(libfreenect2::Freenect2Device* pDevice, Freenect2Driver::Registration *reg) : VideoStream(pDevice, reg)
+{
+  video_mode = makeOniVideoMode(ONI_PIXEL_FORMAT_RGB888, 1920, 1080, 30);
+  setVideoMode(video_mode);
+}
+
+// Add video modes here as you implement them
+ColorStream::FreenectVideoModeMap ColorStream::getSupportedVideoModes() const
+{
+  FreenectVideoModeMap modes;
+  //                    pixelFormat, resolutionX, resolutionY, fps
+  modes[makeOniVideoMode(ONI_PIXEL_FORMAT_RGB888, 512, 424, 30)] = 0;
+  modes[makeOniVideoMode(ONI_PIXEL_FORMAT_RGB888, 1920, 1080, 30)] = 1;
+
+  return modes;
+}
+
+void ColorStream::populateFrame(libfreenect2::Frame* srcFrame, int srcX, int srcY, OniFrame* dstFrame, int dstX, int dstY, int width, int height) const
+{
+  dstFrame->sensorType = getSensorType();
+  dstFrame->stride = dstFrame->width * 3;
+
+  // copy stream buffer from freenect
+  switch (video_mode.pixelFormat)
+  {
+    default:
+      LogError("Pixel format " + to_string(video_mode.pixelFormat) + " not supported by populateFrame()");
+      return;
+
+    case ONI_PIXEL_FORMAT_RGB888:
+      if (reg->isEnabled()) {
+        libfreenect2::Frame registered(512, 424, 4);
+
+        reg->colorFrameRGB888(srcFrame, &registered);
+
+        copyFrame(static_cast<uint8_t*>(registered.data), srcX, srcY, registered.width * registered.bytes_per_pixel, 
+                  static_cast<uint8_t*>(dstFrame->data), dstX, dstY, dstFrame->stride, 
+                  width, height, mirroring);
+      } else {
+        copyFrame(static_cast<uint8_t*>(srcFrame->data), srcX, srcY, srcFrame->width * srcFrame->bytes_per_pixel, 
+                  static_cast<uint8_t*>(dstFrame->data), dstX, dstY, dstFrame->stride, 
+                  width, height, mirroring);
+      }
+      return;
+  }
+}
+
+void ColorStream::copyFrame(uint8_t* srcPix, int srcX, int srcY, int srcStride, uint8_t* dstPix, int dstX, int dstY, int dstStride, int width, int height, bool mirroring)
+{
+  srcPix += srcX + srcY * srcStride;
+  dstPix += dstX + dstY * dstStride;
+
+  for (int y = 0; y < height; y++) {
+    uint8_t* dst = dstPix + y * dstStride;
+    uint8_t* src = srcPix + y * srcStride;
+    if (mirroring) {
+      dst += dstStride - 1;
+      for (int x = 0; x < srcStride; ++x)
+      {
+        if (x % 4 != 3)
+        {
+          *dst-- = *src++;
+        }
+        else
+        {
+          ++src;
+        }
+      }
+    } else {
+      for (int x = 0; x < dstStride-2; x += 3)
+      {
+        *dst++ = src[2];
+        *dst++ = src[1];
+        *dst++ = src[0];
+        src += 4;
+      }
+    }
+  }
+}