ShiXiang
/
RobotKernal-UESTC
forked from logzhan/RobotKernal-UESTC
1
0
Fork 0
Code Pull Requests Activity

合并部分小车上的修改

LRD_Develop
詹力 2023-12-14 23:56:56 +08:00
parent 69cea1b043
commit a29e37c15d
244 changed files with 84812 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Code/RK3588/PIBot_ROS/ros_ws/src/pibot_bringup/CMakeLists.txt
View File

@ -208,7 +208,7 @@ add_executable(pibot_driver
src/simple_dataframe_master.cpp src/simple_dataframe_master.cpp
# src/serial_transport.cpp # src/serial_transport.cpp
src/serial_transport2.cpp src/serial_transport2.cpp
) )
add_dependencies(pibot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) add_dependencies(pibot_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(pibot_driver target_link_libraries(pibot_driver

63
Code/RK3588/PIBot_ROS/rules/56-orbbec-usb.rules Normal file
View File

@ -0,0 +1,63 @@
SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra"
SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_s"
SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_pro"
SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini"
SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s"
SUBSYSTEM=="usb", ATTR{idProduct}=="0501", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0502", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0504", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0505", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0508", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0509", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="050a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="050b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="050c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="050d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="050e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="050f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0510", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0511", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0512", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0513", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0514", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0515", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0516", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0517", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0518", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0519", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="051a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="051b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="051c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="051d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="051e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="051f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0520", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="0604", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0605", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="super"
SUBSYSTEM=="usb", ATTR{idProduct}=="0606", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="luna"
SUBSYSTEM=="usb", ATTR{idProduct}=="0607", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="ado"
SUBSYSTEM=="usb", ATTR{idProduct}=="0608", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra d-u"
SUBSYSTEM=="usb", ATTR{idProduct}=="0609", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="p2"
SUBSYSTEM=="usb", ATTR{idProduct}=="060a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="alien"
SUBSYSTEM=="usb", ATTR{idProduct}=="060b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="deeyea"
SUBSYSTEM=="usb", ATTR{idProduct}=="060c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
SUBSYSTEM=="usb", ATTR{idProduct}=="060d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra pro plus"
SUBSYSTEM=="usb", ATTR{idProduct}=="060e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="060f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0610", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0611", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0612", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0613", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0614", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0615", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0616", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0617", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0618", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0619", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="061a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="061b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="061c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="061d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="061e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="061f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
SUBSYSTEM=="usb", ATTR{idProduct}=="0620", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"

19
Code/RK3588/PIBot_ROS/rules/98-pibot-usb.rules Normal file
View File

@ -0,0 +1,19 @@
# set the udev rule , make the device_port be fixed by rplidar
# pibot
KERNEL=="ttyACM*", ATTRS{idVendor}=="2341", ATTRS{idProduct}=="0042", MODE:="0777", SYMLINK+="pibot"
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0777", SYMLINK+="pibot"
KERNEL=="ttyACM*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="55d4", MODE:="0777", SYMLINK+="pibot"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0777", SYMLINK+="pibot"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", MODE:="0777", SYMLINK+="pibot"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="PIBOT USB to UART Bridge Controller", MODE:="0777", SYMLINK+="pibot"
# rplidar
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="CP2102 USB to UART Bridge Controller", MODE:="0777", SYMLINK+="rplidar"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="CP2102N USB to UART Bridge Controller", MODE:="0777", SYMLINK+="rplidar"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="CP2102 USB to UART Bridge", MODE:="0777", SYMLINK+="rplidar"
# ydlidar
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ATTRS{product}=="CP2102 USB to UART Bridge Controller", MODE:="0666", GROUP:="dialout", SYMLINK+="ydlidar"
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0666", GROUP:="dialout", SYMLINK+="ydlidar"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", MODE:="0666", GROUP:="dialout", SYMLINK+="ydlidar"

76
Code/RK3588/PIBot_ROS/rules/99-realsense-libusb.rules Normal file
View File

@ -0,0 +1,76 @@
##Version=1.1##
# Device rules for Intel RealSense devices (R200, F200, SR300 LR200, ZR300, D400, L500, T200)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a80", MODE:="0666", GROUP:="plugdev", RUN+="/usr/local/bin/usb-R200-in_udev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0a66", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aa5", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0abf", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0acb", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad0", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="04b4", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad1", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad2", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad3", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad4", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad6", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af6", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b03", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b07", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0c", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b0d", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b48", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b49", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b52", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0666", GROUP:="plugdev"
# Intel RealSense recovery devices (DFU)
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ab3", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adb", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0adc", MODE:="0666", GROUP:="plugdev"
SUBSYSTEMS=="usb", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b55", MODE:="0666", GROUP:="plugdev"
# Intel RealSense devices (Movidius, T265)
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0af3", MODE="0666", GROUP="plugdev"
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="8087", ATTRS{idProduct}=="0b37", MODE="0666", GROUP="plugdev"
SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="03e7", ATTRS{idProduct}=="2150", MODE="0666", GROUP="plugdev"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0af2", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0afe", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0aff", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b00", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor_custom", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b01", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3a", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b3d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b4d", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5b", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b5c", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", MODE:="0777", GROUP:="plugdev", RUN+="/bin/sh -c 'chmod -R 0777 /sys/%p'"
DRIVER=="hid_sensor*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0b64", RUN+="/bin/sh -c ' chmod -R 0777 /sys/%p && chmod 0777 /dev/%k'"
# For products with motion_module, if (kernels is 4.15 and up) and (device name is "accel_3d") wait, in another process, until (enable flag is set to 1 or 200 mSec passed) and then set it to 0.
KERNEL=="iio*", ATTRS{idVendor}=="8086", ATTRS{idProduct}=="0ad5|0afe|0aff|0b00|0b01|0b3a|0b3d|0b64", RUN+="/bin/sh -c '(major=`uname -r | cut -d \".\" -f1` && minor=`uname -r | cut -d \".\" -f2` && (([ $major -eq 4 ] && [ $minor -ge 15 ]) || [ $major -ge 5 ])) && (enamefile=/sys/%p/name && [ `cat $enamefile` = \"accel_3d\" ]) && enfile=/sys/%p/buffer/enable && echo \"COUNTER=0; while [ \$COUNTER -lt 20 ] && grep -q 0 $enfile; do sleep 0.01; COUNTER=\$((COUNTER+1)); done && echo 0 > $enfile\" | at now'"

18
Code/RK3588/PIBot_ROS/third_party/build.sh vendored Normal file
View File

@ -0,0 +1,18 @@
sudo apt-get install build-essential cmake pkg-config libusb-1.0-0-dev libturbojpeg libjpeg-turbo8-dev libglfw3-dev libopenni2-dev
if [ ! -d ~/pibot_ros/third_party/libfreenect2/build ]; then
mkdir ~/pibot_ros/third_party/libfreenect2/build
fi
cd ~/pibot_ros/third_party/libfreenect2/build
cmake .. -DENABLE_CXX11=ON
make
sudo make install
sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/
if [ ! -d ~/pibot_ros/third_party/libuvc/build ]; then
mkdir ~/pibot_ros/third_party/libuvc/build
fi
cd ~/pibot_ros/third_party/libuvc/build
cmake ..
make
sudo make install

2
Code/RK3588/PIBot_ROS/third_party/create_ap/.gitignore vendored Normal file
View File

@ -0,0 +1,2 @@
build
create_ap.service

23
Code/RK3588/PIBot_ROS/third_party/create_ap/LICENSE vendored Normal file
View File

@ -0,0 +1,23 @@
Copyright (c) 2013, oblique
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

24
Code/RK3588/PIBot_ROS/third_party/create_ap/Makefile vendored Normal file
View File

@ -0,0 +1,24 @@
PREFIX=/usr
MANDIR=$(PREFIX)/share/man
BINDIR=$(PREFIX)/bin
all:
@echo "Run 'make install' for installation."
@echo "Run 'make uninstall' for uninstallation."
install:
install -Dm755 create_ap $(DESTDIR)$(BINDIR)/create_ap
install -Dm755 lnxrouter $(DESTDIR)$(BINDIR)/lnxrouter
install -Dm644 create_ap.conf $(DESTDIR)/etc/create_ap.conf
[ ! -d /lib/systemd/system ] || install -Dm644 create_ap.service $(DESTDIR)$(PREFIX)/lib/systemd/system/create_ap.service
[ ! -e /sbin/openrc-run ] || install -Dm755 create_ap.openrc $(DESTDIR)/etc/init.d/create_ap
install -Dm644 bash_completion $(DESTDIR)$(PREFIX)/share/bash-completion/completions/create_ap
install -Dm644 README.md $(DESTDIR)$(PREFIX)/share/doc/create_ap/README.md
uninstall:
rm -f $(DESTDIR)$(BINDIR)/create_ap
rm -f $(DESTDIR)/etc/create_ap.conf
[ ! -f /lib/systemd/system/create_ap.service ] || rm -f $(DESTDIR)$(PREFIX)/lib/systemd/system/create_ap.service
[ ! -e /sbin/openrc-run ] || rm -f $(DESTDIR)/etc/init.d/create_ap
rm -f $(DESTDIR)$(PREFIX)/share/bash-completion/completions/create_ap
rm -f $(DESTDIR)$(PREFIX)/share/doc/create_ap/README.md

98
Code/RK3588/PIBot_ROS/third_party/create_ap/README.md vendored Normal file
View File

@ -0,0 +1,98 @@
## NOT MAINTAINED
This project is no longer maintained.
If you are still interested in this project, checkout the following fork that
also provides GUI: [lakinduakash/linux-wifi-hotspot]
## Features
* Create an AP (Access Point) at any channel.
* Choose one of the following encryptions: WPA, WPA2, WPA/WPA2, Open (no encryption).
* Hide your SSID.
* Disable communication between clients (client isolation).
* IEEE 802.11n & 802.11ac support
* Internet sharing methods: NATed or Bridged or None (no Internet sharing).
* Choose the AP Gateway IP (only for 'NATed' and 'None' Internet sharing methods).
* You can create an AP with the same interface you are getting your Internet connection.
* You can pass your SSID and password through pipe or through arguments (see examples).
## Dependencies
### General
* bash (to run this script)
* util-linux (for getopt)
* procps or procps-ng
* hostapd
* iproute2
* iw
* iwconfig (you only need this if 'iw' can not recognize your adapter)
* haveged (optional)
### For 'NATed' or 'None' Internet sharing method
* dnsmasq
* iptables
## Installation
### Generic
git clone https://github.com/oblique/create_ap
cd create_ap
make install
### ArchLinux
pacman -S create_ap
### Gentoo
emerge layman
layman -f -a jorgicio
emerge net-wireless/create_ap
## Examples
### No passphrase (open network):
create_ap wlan0 eth0 MyAccessPoint
### WPA + WPA2 passphrase:
create_ap wlan0 eth0 MyAccessPoint MyPassPhrase
### AP without Internet sharing:
create_ap -n wlan0 MyAccessPoint MyPassPhrase
### Bridged Internet sharing:
create_ap -m bridge wlan0 eth0 MyAccessPoint MyPassPhrase
### Bridged Internet sharing (pre-configured bridge interface):
create_ap -m bridge wlan0 br0 MyAccessPoint MyPassPhrase
### Internet sharing from the same WiFi interface:
create_ap wlan0 wlan0 MyAccessPoint MyPassPhrase
### Choose a different WiFi adapter driver
create_ap --driver rtl871xdrv wlan0 eth0 MyAccessPoint MyPassPhrase
### No passphrase (open network) using pipe:
echo -e "MyAccessPoint" | create_ap wlan0 eth0
### WPA + WPA2 passphrase using pipe:
echo -e "MyAccessPoint\nMyPassPhrase" | create_ap wlan0 eth0
### Enable IEEE 802.11n
create_ap --ieee80211n --ht_capab '[HT40+]' wlan0 eth0 MyAccessPoint MyPassPhrase
### Client Isolation:
create_ap --isolate-clients wlan0 eth0 MyAccessPoint MyPassPhrase
## Systemd service
Using the persistent [systemd](https://wiki.archlinux.org/index.php/systemd#Basic_systemctl_usage) service
### Start service immediately:
systemctl start create_ap
### Start on boot:
systemctl enable create_ap
## License
FreeBSD
[lakinduakash/linux-wifi-hotspot]: https://github.com/lakinduakash/linux-wifi-hotspot

168
Code/RK3588/PIBot_ROS/third_party/create_ap/bash_completion vendored Normal file
View File

@ -0,0 +1,168 @@
#
# Bash Completion routine for create_ap
#
_use_filedir() {
if [[ $(type -t _filedir) == "function" ]]; then
_filedir
return 0
fi
return 1
}
_create_ap() {
local awk_cmd='
($1 ~ /^-/) {
for (i = 1; i <= NF; i++) {
if ($i ~ /,$/) {
print substr ($i, 0, length ($i)-1)
}
else {
print $i
break
}
}
}
'
local cur prev opts
COMPREPLY=()
cur="$2"
prev="$3"
opts=$("$1" --help | awk "$awk_cmd")
case "$prev" in
-h|--help)
# No Options
;;
--version)
# No Options
;;
-c)
# Refer http://en.wikipedia.org/wiki/List_of_WLAN_channels
opts=$(
iw list | grep ' MHz \[[[:digit:]]\+\] ' |
grep -v 'no IR\|disabled' |
sed 's/.*\[\(.*\)\].*/\1/' | sort -n | uniq
)
;;
-w)
opts="1 2 1+2"
;;
-n)
# No Options
;;
-m)
opts="nat bridge none"
;;
--psk)
# No Options
;;
--hidden)
# No Options
;;
--mac-filter)
# No Options
;;
--mac-filter-accept)
# No Options
;;
--ieee80211n)
# No Options
;;
--ht_capab)
# Refer http://w1.fi/cgit/hostap/plain/hostapd/hostapd.conf
opts='
[LDPC] [HT40-] [HT40+] [SMPS-STATIC] [SMPS-DYNAMIC]
[GF] [SHORT-GI-20] [SHORT-GI-40] [TX-STBC]
[RX-STBC1] [RX-STBC12] [RX-STBC123] [DELAYED-BA]
[MAX-AMSDU-7935] [DSSS_CCK-40] [40-INTOLERANT]
[LSIG-TXOP-PROT]
'
;;
--country)
local reg_file=/usr/lib/crda/regulatory.bin
if command -v regdbdump > /dev/null && [[ -f "$reg_file" ]]; then
local country_awk_cmd='
($1 ~ /^country/) {
print substr ($2, 0, length ($2)-1)
}
'
opts=$(regdbdump "$reg_file" 2>/dev/null | awk "$country_awk_cmd")
else
opts='
AD AE AF AI AL AM AN AR AS AT AU AW AZ BA BB BD BE
BF BG BH BL BM BN BO BR BS BT BY BZ CA CF CH CI CL
CN CO CR CX CY CZ DE DK DM DO DZ EC EE EG ES ET FI
FM FR GB GD GE GF GH GL GP GR GT GU GY HK HN HR HT
HU ID IE IL IN IR IS IT JM JO JP KE KH KN KP KR KW
KY KZ LB LC LI LK LS LT LU LV MA MC MD ME MF MH MK
MN MO MP MQ MR MT MU MW MX MY NG NI NL NO NP NZ OM
PA PE PF PG PH PK PL PM PR PT PW PY QA RE RO RS RU
RW SA SE SG SI SK SN SR SV SY TC TD TG TH TN TR TT
TW TZ UA UG US UY UZ VC VE VI VN VU WF WS YE YT ZA
ZW 00
'
fi
;;
--freq-band)
opts="2.4 5"
;;
--driver)
# Refer http://w1.fi/cgit/hostap/tree/src/drivers
# Not going to implement
;;
--no-virt)
# No Options
;;
--no-haveged)
# No Options
;;
--fix-unmanaged)
# No Options
;;
--mac)
# Not going to implement
;;
--daemon)
# No Options
;;
--stop)
local stop_awk_cmd='$1 ~ /^[0-9]+$/'
opts=$("$1" --list-running | awk "$stop_awk_cmd")
;;
--list-running)
# No Options
;;
--list-clients)
local clients_awk_cmd='$1 ~ /^[0-9]+$/'
opts=$("$1" --list-running | awk "$clients_awk_cmd")
;;
--no-dns)
# No Options
;;
--dhcp-dns)
# Not going to implement
;;
--mkconfig)
_use_filedir && return 0
;;
--config)
_use_filedir && return 0
;;
-g)
# Not going to implement
;;
-d)
# No Options
;;
*)
;;
esac
COMPREPLY=( $(compgen -W "$opts" -- $cur) )
return 0
}
complete -F _create_ap create_ap
# vim: set ft=sh:

22
Code/RK3588/PIBot_ROS/third_party/create_ap/config_ap.sh vendored Normal file
View File

@ -0,0 +1,22 @@
#!/bin/bash
sudo apt-get install -y hostapd
SERIAL_ID=`cat /proc/cpuinfo | grep Serial | awk -F ':' '{print \$2}'`
SHORT_SERIAL_ID=${SERIAL_ID: -8}
if [ "$SHORT_SERIAL_ID"_X!=""_X ]; then
SHORT_SERIAL_ID=`udevadm info --name=mmcblk0 --query=property | grep ID_SERIAL | awk -F '=' '{print $2}'`
fi
if [ "$SHORT_SERIAL_ID"_X!=""_X ]; then
SERIAL_ID=`udevadm info --name=sda --query=property | grep ID_SERIAL_SHORT | awk -F '=' '{print \$2}'`
SHORT_SERIAL_ID=${SERIAL_ID: -8}
fi
cp create_ap.service.template create_ap.service
sed -i "s|SSID|pibot_ap_$SHORT_SERIAL_ID|g" create_ap.service
sudo make install
sudo systemctl daemon-reload

1910
Code/RK3588/PIBot_ROS/third_party/create_ap/create_ap vendored Normal file
View File

File diff suppressed because it is too large Load Diff

28
Code/RK3588/PIBot_ROS/third_party/create_ap/create_ap.conf vendored Normal file
View File

@ -0,0 +1,28 @@
CHANNEL=default
GATEWAY=10.0.0.1
WPA_VERSION=2
ETC_HOSTS=0
DHCP_DNS=gateway
NO_DNS=0
NO_DNSMASQ=0
HIDDEN=0
MAC_FILTER=0
MAC_FILTER_ACCEPT=/etc/hostapd/hostapd.accept
ISOLATE_CLIENTS=0
SHARE_METHOD=nat
IEEE80211N=0
IEEE80211AC=0
HT_CAPAB=[HT40+]
VHT_CAPAB=
DRIVER=nl80211
NO_VIRT=0
COUNTRY=
FREQ_BAND=2.4
NEW_MACADDR=
DAEMONIZE=0
NO_HAVEGED=0
WIFI_IFACE=wlan0
INTERNET_IFACE=eth0
SSID=MyAccessPoint
PASSPHRASE=12345678
USE_PSK=0

11
Code/RK3588/PIBot_ROS/third_party/create_ap/create_ap.openrc vendored Normal file
View File

@ -0,0 +1,11 @@
#!/sbin/openrc-run
name=$RC_SVCNAME
cfgfile=/etc/$RC_SVCNAME.conf
pidfile=/run/$RC_SVCNAME.pid
command=/usr/bin/create_ap
command_args="--config $cfgfile"
command_args_background="--daemon --pidfile $pidfile"
stopsig=USR1

13
Code/RK3588/PIBot_ROS/third_party/create_ap/create_ap.service.template vendored Normal file
View File

@ -0,0 +1,13 @@
[Unit]
Description=Create AP Service
After=network.target
[Service]
Type=simple
ExecStart=/usr/bin/lnxrouter -n --ap wlan0 SSID -p pibot_ap --no-virt -g 12
KillSignal=SIGINT
Restart=on-failure
RestartSec=5
[Install]
WantedBy=multi-user.target

74
Code/RK3588/PIBot_ROS/third_party/create_ap/howto/realtek.md vendored Normal file
View File

@ -0,0 +1,74 @@
## Try this first
If you are facing any problems with Realtek adapters (e.g. Edimax EW-7811Un)
first try to run create_ap with `-w 2` (i.e. use WPA2 only) or use it
without passphrase. If you are still facing any problems or you want to
also use WPA1, then follow the instructions below.
NOTE: The instructions below are only valid for Realtek adapters with 8192 chipset.
## Before installation
If you're using ArchLinux, run:
```
pacman -S base-devel linux-headers dkms git
pacman -R hostapd
```
If you're using Debian, Ubuntu, or any Debian-based distribution, run:
```
apt-get install build-essential linux-headers-generic dkms git
apt-get remove hostapd
apt-get build-dep hostapd
```
## Install driver
The driver in the mainline of Linux kernel doesn't work well with the 8192 adapters.
For this reason you need to install the driver that is provided from Realtek. Their
driver can not be compiled with newer kernels, but since it was an open-source
release under GPL license some people were able to fixed it and make it compile.
With the following commands you can install a fixed version of Realtek's driver:
```
git clone https://github.com/pvaret/rtl8192cu-fixes.git
dkms add rtl8192cu-fixes
dkms install 8192cu/1.9
cp rtl8192cu-fixes/blacklist-native-rtl8192.conf /etc/modprobe.d
cp rtl8192cu-fixes/8192cu-disable-power-management.conf /etc/modprobe.d
```
After installation, unload the previous driver and load the new one, or just reboot.
## Install hostapd
Realtek's driver is using an old subsystem which is called `wireless-extensions`
(or `wext`). Hostapd works only with the new subsystem (which is called `nl80211`).
For this reason Realtek wrote a patch for hostapd. You can install it with the
following commands:
If you have ArchLinux install [hostapd-rtl871xdrv](https://aur.archlinux.org/packages/hostapd-rtl871xdrv)
from AUR or just run:
```
yaourt -S hostapd-rtl871xdrv
```
If you're using any other distribution, run:
```
git clone https://github.com/pritambaral/hostapd-rtl871xdrv.git
wget http://w1.fi/releases/hostapd-2.2.tar.gz
tar zxvf hostapd-2.2.tar.gz
cd hostapd-2.2
patch -p1 -i ../hostapd-rtl871xdrv/rtlxdrv.patch
cp ../hostapd-rtl871xdrv/driver_* src/drivers
cd hostapd
cp defconfig .config
echo CONFIG_DRIVER_RTW=y >> .config
make
make install
```

2131
Code/RK3588/PIBot_ROS/third_party/create_ap/lnxrouter vendored Normal file
View File

File diff suppressed because it is too large Load Diff

201
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/LICENSE vendored Normal file
View File

@ -0,0 +1,201 @@
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "{}"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright {yyyy} {name of copyright owner}
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

242
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/README.md vendored Normal file
View File

@ -0,0 +1,242 @@
# IAI Kinect2
## Maintainer
- [Thiemo Wiedemeyer](https://ai.uni-bremen.de/team/thiemo_wiedemeyer) <<wiedemeyer@cs.uni-bremen.de>>, [Institute for Artificial Intelligence](http://ai.uni-bremen.de/), University of Bremen
## Read this first
Please read this README and the ones of the individual components throughly before asking questions. We get a lot of repeated questions, so when you have a problem, we urge everyone to check the [github issues (including closed ones)](https://github.com/code-iai/iai_kinect2/issues?utf8=%E2%9C%93&q=is%3Aissue). Your issue is very likely discussed there already.
The goal of this project is to give you a driver and the tools needed to receive data from the Kinect-2 sensor, in a way useful for robotics. You will still need to know how to use ROS to make use of it. Please follow the [ROS tutorials](http://wiki.ros.org/ROS/Tutorials). You will also need to learn how to work with point-clouds, or depth-clouds, or images (computer vision) to do useful things with the data.
*Note:* ***Please use the GitHub issues*** *for questions and problems regarding the iai_kinect2 package and its components.* ***Do not write emails.***
## Table of contents
- [Description](#description)
- [FAQ](#faq)
- [Dependencies](#dependencies)
- [Install](#install)
- [GPU acceleration](#gpu-acceleration)
- [OpenCL with AMD](#opencl-with-amd)
- [OpenCL/CUDA with Nvidia](#openclcuda-with-nvidia)
- [OpenCL with Intel](#opencl-with-intel)
- [Citation](#citation)
- [Screenshots](#screenshots)
## Description
This is a collection of tools and libraries for a ROS Interface to the Kinect One (Kinect v2).
It contains:
- [a calibration tool](kinect2_calibration) for calibrating the IR sensor of the Kinect One to the RGB sensor and the depth measurements
- [a library](kinect2_registration) for depth registration with OpenCL support
- [the bridge](kinect2_bridge) between [libfreenect2](https://github.com/OpenKinect/libfreenect2) and [ROS](http://www.ros.org/)
- [a viewer](kinect2_viewer) for the images / point clouds
## FAQ
#### If I have any question or someting is not working, what should I do first?
First you should look at this FAQ and the [FAQ from libfreenect2](https://github.com/OpenKinect/libfreenect2#faq).
Secondly, look at [issue page from libfreenect2](https://github.com/OpenKinect/libfreenect2/issues) and
the [issue page of iai_kinect2](https://github.com/code-iai/iai_kinect2/issues) for similar issues and solutions.
#### Point clouds are not being published?
Point clouds are only published when the launch file is used. Make sure to start kinect2_bridge with `roslaunch kinect2_bridge kinect2_bridge.launch`.
#### Will it work with OpenCV 3.0
Short answer: No.
Long answer: Yes, it is possible to compile this package with OpenCV 3.0, but it will not work.
This is because cv_bridge is used, which itself is compiled with OpenCV 2.4.x in ROS Indigo/Jade and
linking against both OpenCV versions is not possible. Working support for OpenCV 3.0 might come with a future ROS release.
#### kinect2_bridge is not working / crashing, what is wrong?
There are many reasons why `kinect2_bridge` might not working. The first thing to find out whether the problem is related to `kinect2_bridge` or `libfreenect2`.
A good tool for testing is `Protonect`, it is a binary located in `libfreenect2/build/bin/Protonect`.
It uses libfreenect2 directly with a minimal dependency on other libraries, so it is a good tool for the first tests.
Execute:
- `./Protonect gl` to test OpenGL support.
- `./Protonect cl` to test OpenCL support.
- `./Protonect cpu` to test CPU support.
Before running `kinect2_bridge` please make sure `Protonect` is working and showing color, depth and ir images.
If some of them are black, than there is a problem not related to `kinect2_bridge` and you should look at the issues from the libfreenect2 GitHub page for help.
If one of them works, try out the one that worked with `kinect2_bridge`: `rosrun kinect2_bridge kinect2_bridge _depth_method:=<opengl|opencl|cpu>`.
You can also change the registration method with `_reg_method:=<cpu|opencl>`.
#### Protonect works fine, but kinect2_bridge is still not working / crashing.
If that is the case, you have to make sure that `Protonect` uses the same version of `libfreenect2` as `kinect2_bridge` does.
To do so, run `make` and `sudo make install` in the build folder again. And try out `kinect2_bridge` again.
```bash
cd libfreenect2/build
make & sudo make install
```
Also make sure that you are not using OpenCV 3.0.
If it is still crashing, compile it in debug and run it with gdb:
```bash
cd <catkin_ws>
catkin_make -DCMAKE_BUILD_TYPE="Debug"
cd devel/lib/kinect2_bridge
gdb kinect2_bridge
# inside gdb: run until it crashes and do a backtrace
run
bt
quit
```
Open an issue and post the problem description and the output from the backtrace (`bt`).
#### kinect2_bridge hangs and prints "waiting for clients to connect"
This is the normal behavior. 'kinect2_bridge' will only process data when clients are connected (ROS nodes listening to at least one of the topics).
This saves CPU and GPU resources. As soon as you start the `kinect_viewer` or `rostopic hz` on one of the topics, processing should start.
#### rosdep: Cannot locate rosdep definition for [kinect2_bridge] or [kinect2_registration]
`rosdep` will output errors on not being able to locate `[kinect2_bridge]` and `[kinect2_registration]`.
That is fine because they are all part of the iai_kinect2 package and `rosdep` does not know these packages.
#### Protonect or kinect2_bridge outputs [TransferPool::submit] failed to submit transfer
This indicates problems with the USB connection.
#### I still have an issue, what should I do?
First of all, check the issue pages on GitHub for similar issues, as they might contain solutions for them.
By default you will only see the open issues, but if you click on `closed` you will the the ones solved. There is also a search field which helps to find similar issues.
If you found no solution in the issues, feel free to open a new issue for your problem. Please describe your problem in detail and provide error messages and log output.
## Dependencies
- ROS Hydro/Indigo
- OpenCV (2.4.x, using the one from the official Ubuntu repositories is recommended)
- PCL (1.7.x, using the one from the official Ubuntu repositories is recommended)
- Eigen (optional, but recommended)
- OpenCL (optional, but recommended)
- [libfreenect2](https://github.com/OpenKinect/libfreenect2) (>= v0.2.0, for stability checkout the latest stable release)
## Install
1. Install the ROS. [Instructions for Ubuntu 14.04](http://wiki.ros.org/indigo/Installation/Ubuntu)
2. [Setup your ROS environment](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment)
3. Install [libfreenect2](https://github.com/OpenKinect/libfreenect2):
Follow [the instructions](https://github.com/OpenKinect/libfreenect2#debianubuntu-1404) and enable C++11 by using `cmake .. -DENABLE_CXX11=ON` instead of `cmake ..`. If you are compiling libfreenect2 with CUDA, use `cmake .. -DENABLE_CXX11=ON -DCUDA_PROPAGATE_HOST_FLAGS=off`.
If something is not working, check out the latest stable release, for example `git checkout v0.2.0`.
4. Clone this repository into your catkin workspace, install the dependencies and build it:
```bash
cd ~/catkin_ws/src/
git clone https://github.com/code-iai/iai_kinect2.git
cd iai_kinect2
rosdep install -r --from-paths .
cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
```
*Note: `rosdep` will output errors on not being able to locate `[kinect2_bridge]` and `[depth_registration]`.
That is fine because they are all part of the iai_kinect2 package and `rosdep` does not know these packages.*
*Note: If you installed libfreenect2 somewhere else than in `$HOME/freenect2` or a standard location like `/usr/local`
you have to specify the path to it by adding `-Dfreenect2_DIR=path_to_freenect2/lib/cmake/freenect2` to `catkin_make`.*
5. Connect your sensor and run `kinect2_bridge`:
```bash
roslaunch kinect2_bridge kinect2_bridge.launch
```
6. Calibrate your sensor using the `kinect2_calibration`. [Further details](kinect2_calibration#calibrating-the-kinect-one)
7. Add the calibration files to the `kinect2_bridge/data/<serialnumber>` folder. [Further details](kinect2_bridge#first-steps)
8. Restart `kinect2_bridge` and view the results using `rosrun kinect2_viewer kinect2_viewer kinect2 sd cloud`.
## GPU acceleration
### OpenCL with AMD
Install the latest version of the AMD Catalyst drivers from https://support.amd.com and follow the instructions. Also install `opencl-headers`.
```bash
sudo apt-get install opencl-headers
```
### OpenCL/CUDA with Nvidia
Go to [developer.nvidia.com/cuda-downloads](https://developer.nvidia.com/cuda-downloads) and select `linux`, `x86_64`, `Ubuntu`, `14.04`, `deb(network)`.
Download the file and follow the instructions. Also install `nvidia-modprobe` and `opencl-headers`.
```bash
sudo apt-get install nvidia-modprobe opencl-headers
```
You also need to add CUDA paths to the system environment, add these lines to you `~/.bashrc`:
```bash
export LD_LIBRARY_PATH="/usr/local/cuda/lib64:${LD_LIBRARY_PATH}"
export PATH="/usr/local/cuda/bin:${PATH}"
```
A system-wide configuration of the libary path can be created with the following commands:
```bash
echo "/usr/local/cuda/lib64" | sudo tee /etc/ld.so.conf.d/cuda.conf
sudo ldconfig
```
### OpenCL with Intel
You can either install a binary package from a PPA like [ppa:floe/beignet](https://launchpad.net/~floe/+archive/ubuntu/beignet), or build beignet yourself.
It's recommended to use the binary from the PPA.
```bash
sudo add-apt-repository ppa:floe/beignet && sudo apt-get update
sudo apt-get install beignet beignet-dev opencl-headers
```
## Citation
If you used `iai_kinect2` for your work, please cite it.
```tex
@misc{iai_kinect2,
author = {Wiedemeyer, Thiemo},
title = {{IAI Kinect2}},
organization = {Institute for Artificial Intelligence},
address = {University Bremen},
year = {2014 -- 2015},
howpublished = {\url{https://github.com/code-iai/iai\_kinect2}},
note = {Accessed June 12, 2015}
}
```
The result should look something similar to this (may depend on the bibliography style used):
```
T. Wiedemeyer, “IAI Kinect2,” https://github.com/code-iai/iai_kinect2,
Institute for Artificial Intelligence, University Bremen, 2014 – 2015,
accessed June 12, 2015.
```
## Screenshots
Here are some screenshots from our toolkit:
![color image](http://ai.uni-bremen.de/wiki/_media/software/kinect2_color.jpg)
![depth image](http://ai.uni-bremen.de/wiki/_media/software/kinect2_depth_colored.png)
![point cloud](http://ai.uni-bremen.de/wiki/_media/software/kinect2_cloud.png)
![image viewer](http://ai.uni-bremen.de/wiki/_media/software/kinect2_viewer.png)

4
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/iai_kinect2/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
project(iai_kinect2)
find_package(catkin REQUIRED)
catkin_metapackage()

22
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/iai_kinect2/package.xml vendored Normal file
View File

@ -0,0 +1,22 @@
<?xml version="1.0"?>
<package>
<name>iai_kinect2</name>
<version>0.0.1</version>
<description>
The iai_kinect2 metapackage
</description>
<maintainer email="wiedemeyer@informatik.uni-bremen.de">Thiemo Wiedemeyer</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>kinect2_calibration</run_depend>
<run_depend>kinect2_viewer</run_depend>
<run_depend>kinect2_bridge</run_depend>
<run_depend>kinect2_registration</run_depend>
<export>
<metapackage/>
</export>
</package>

144
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,144 @@
cmake_minimum_required(VERSION 2.8.3)
project(kinect2_bridge CXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBT_USE_DOUBLE_PRECISION -Wall")
# Unused warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-function -Wunused-label -Wunused-variable -Wunused-but-set-variable -Wunused-but-set-parameter")
# Additional warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body -Wlogical-op")
# Check for c++11 support
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
find_package(freenect2 REQUIRED HINTS "$ENV{HOME}/freenect2")
find_package(catkin REQUIRED COMPONENTS roscpp rostime tf std_msgs sensor_msgs nodelet cv_bridge compressed_depth_image_transport kinect2_registration)
## System dependencies are found with CMake's conventions
find_package(OpenCV REQUIRED)
################################################
## Declare ROS messages, services and actions ##
################################################
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
# LIBRARIES kinect2_bridge
CATKIN_DEPENDS kinect2_registration
# DEPENDS system_lib
)
###########
## Build ##
###########
# Display additional files in qtcreator
execute_process(COMMAND find ${PROJECT_SOURCE_DIR} -type f OUTPUT_VARIABLE FILES_STRING)
string(REPLACE "\n" ";" FILES_LIST ${FILES_STRING})
add_custom_target(additional_files_${PROJECT_NAME}
SOURCES
${FILES_LIST}
${PROJECT_SOURCE_DIR}/../README.md
)
include_directories(include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${freenect2_INCLUDE_DIRS}
${kinect2_registration_INCLUDE_DIRS}
)
if(DEPTH_REG_OPENCL)
add_definitions(-DDEPTH_REG_OPENCL)
endif()
if(DEPTH_REG_CPU)
add_definitions(-DDEPTH_REG_CPU)
endif()
add_definitions(-DK2_CALIB_PATH="${PROJECT_SOURCE_DIR}/data/")
add_library(kinect2_bridge_nodelet SHARED src/kinect2_bridge.cpp)
target_link_libraries(kinect2_bridge_nodelet
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${freenect2_LIBRARY}
${kinect2_registration_LIBRARY}
)
add_executable(kinect2_bridge src/kinect2_bridge.cpp)
target_link_libraries(kinect2_bridge
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${freenect2_LIBRARY}
${kinect2_registration_LIBRARY}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS kinect2_bridge kinect2_bridge_nodelet
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
launch
# myfile2
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES
nodelet_plugins.xml
# myfile2
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_kinect2_bridge.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

171
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/README.md vendored Normal file
View File

@ -0,0 +1,171 @@
# Kinect2 Bridge
## Maintainer
- [Thiemo Wiedemeyer](https://ai.uni-bremen.de/team/thiemo_wiedemeyer) <<wiedemeyer@cs.uni-bremen.de>>, [Institute for Artificial Intelligence](http://ai.uni-bremen.de/), University of Bremen
*Note:* ***Please use the GitHub issues*** *for questions and problems regarding the iai_kinect2 package and its components.* ***Do not write emails.***
## Description
This is a bridge between [libfreenect2](https://github.com/OpenKinect/libfreenect2) and ROS.
### Highlights
- delivers up to 30 frames per second on non high end hardware
- delivers up to 30 frames per second over gigabit ethernet
- support for compressed image transport
- utilizes multiple cores and uses special OpenCL based implementation of the depth registration
## Dependencies
- ROS Hydro/Indigo
- OpenCV
- [libfreenect2](https://github.com/OpenKinect/libfreenect2)
*for the ROS packages look at the package.xml*
## First steps
For the depth registration the camera intrinsic and extrinsic parameters need to be known. The program reads in the values from the `data/<serialnumber>` folder. For each new sensor you need to add a sub-folder with the serial number of the device as the folder name. In this folder you need to provide 4 yaml files with the intrinsic and extrinsic parameters. These files can be created by the `kinect2_calibration` tool (or you can copy the files provided in one of the other folders, but results can be sub optimal). The device serial number is shown when `kinect2_bridge` or `Protonect` from libfreenect2 is started, it also appears in `dmesg` when you connect the sensor. [More information on calibration](../kinect2_calibration#calibrating-the-kinect-one).
When `kinect2_bridge` is running you can use the `kinect2_viewer` to display the images or point cloud: `rosrun kinect2_viewer kinect2_viewer sd image` or `rosrun kinect2_viewer kinect2_viewer sd cloud`.
## Topics
### HD Topics
The images in this topics have a FullHD resolution (1920x1080).
*Note: For correct registration of the depth image to the color image it is needed to perform a calibration.*
```
/kinect2/hd/camera_info
/kinect2/hd/image_color
/kinect2/hd/image_color/compressed
/kinect2/hd/image_color_rect
/kinect2/hd/image_color_rect/compressed
/kinect2/hd/image_depth_rect
/kinect2/hd/image_depth_rect/compressed
/kinect2/hd/image_mono
/kinect2/hd/image_mono/compressed
/kinect2/hd/image_mono_rect
/kinect2/hd/image_mono_rect/compressed
/kinect2/hd/points
```
### Quater HD Topics
The images in this topics have a quarter FullHD resolution (960x540).
*Note: For correct registration of the depth image to the color image it is needed to perform a calibration.*
```
/kinect2/qhd/camera_info
/kinect2/qhd/image_color
/kinect2/qhd/image_color/compressed
/kinect2/qhd/image_color_rect
/kinect2/qhd/image_color_rect/compressed
/kinect2/qhd/image_depth_rect
/kinect2/qhd/image_depth_rect/compressed
/kinect2/qhd/image_mono
/kinect2/qhd/image_mono/compressed
/kinect2/qhd/image_mono_rect
/kinect2/qhd/image_mono_rect/compressed
/kinect2/qhd/points
```
### IR/Depth Topics
This are the raw IR and depth images from the sensor (512x424).
*Note: The registration of the color image is available without a calibration. Parameters for the registration are provided by the sensor itself.*
```
/kinect2/sd/camera_info
/kinect2/sd/image_color_rect
/kinect2/sd/image_color_rect/compressed
/kinect2/sd/image_depth
/kinect2/sd/image_depth/compressed
/kinect2/sd/image_depth_rect
/kinect2/sd/image_depth_rect/compressed
/kinect2/sd/image_ir
/kinect2/sd/image_ir/compressed
/kinect2/sd/image_ir_rect
/kinect2/sd/image_ir_rect/compressed
/kinect2/sd/points
```
## Notes
- Point clouds are only published when the launch file is used. Run `roslaunch kinect2_bridge kinect2_bridge.launch`.
- Images from the same frame have the same timestamp. Using the `message_filters::sync_policies::ExactTime` policy is recommended.
## Usage
```
roslaunch kinect2_bridge kinect2_bridge.launch [options:=value]
base_name:=<string>
default: kinect2
info: set base name for all topics
sensor:=<string>
default:
info: serial of the sensor to use
fps_limit:=<double>
default: -1.0
info: limit the frames per second
calib_path:=<string>
default: /home/wiedemeyer/work/src/iai_kinect2/kinect2_bridge/data/
info: path to the calibration files
use_png:=<bool>
default: false
info: Use PNG compression instead of TIFF
jpeg_quality:=<int>
default: 90
info: JPEG quality level from 0 to 100
png_level:=<int>
default: 1
info: PNG compression level from 0 to 9
depth_method:=<string>
default: cuda
info: Use specific depth processing: default, cpu, opengl, opencl, cuda, clkde, cudakde
depth_device:=<int>
default: -1
info: openCL device to use for depth processing
reg_method:=<string>
default: opencl
info: Use specific depth registration: default, cpu, opencl
reg_device:=<int>
default: -1
info: openCL device to use for depth registration
max_depth:=<double>
default: 12.0
info: max depth value
min_depth:=<double>
default: 0.1
info: min depth value
queue_size:=<int>
default: 2
info: queue size of publisher
bilateral_filter:=<bool>
default: true
info: enable bilateral filtering of depth images
edge_aware_filter:=<bool>
default: true
info: enable edge aware filtering of depth images
publish_tf:=<bool>
default: false
info: publish static tf transforms for camera
base_name_tf:=<string>
default: as base_name
info: base name for the tf frames
worker_threads:=<int>
default: 4
info: number of threads used for processing the images
```
## Key bindings
Terminal:
- `CRTL`+`c`: Quit

26
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_color.yaml vendored Normal file
View File

@ -0,0 +1,26 @@
%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1.0599465578241038e+03, 0., 9.5488326677588441e+02, 0.,
1.0539326808799726e+03, 5.2373858291060583e+02, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 5.6268441170930321e-02, -7.4199141308694802e-02,
1.4250797540545752e-03, -1.6951722389720336e-03,
2.4107681263086548e-02 ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1.0599465578241038e+03, 0., 9.5488326677588441e+02, 0., 0.,
1.0539326808799726e+03, 5.2373858291060583e+02, 0., 0., 0., 1.,
0., 0., 0., 0., 1. ]

2
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_depth.yaml vendored Normal file
View File

@ -0,0 +1,2 @@
%YAML:1.0
depthShift: -1.3354238655403018e+01

26
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_ir.yaml vendored Normal file
View File

@ -0,0 +1,26 @@
%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 3.6694757270064110e+02, 0., 2.4298551682775121e+02, 0.,
3.6479117165721783e+02, 2.0769853575457685e+02, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 9.6558110377123016e-02, -2.8298244017989416e-01,
1.5889951609432634e-04, -5.0751483524871712e-04,
1.0523948765859192e-01 ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 3.6694757270064110e+02, 0., 2.4298551682775121e+02, 0., 0.,
3.6479117165721783e+02, 2.0769853575457685e+02, 0., 0., 0., 1.,
0., 0., 0., 0., 1. ]

33
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_pose.yaml vendored Normal file
View File

@ -0,0 +1,33 @@
%YAML:1.0
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9979883926593693e-01, -1.6871335541758126e-02,
-1.0846153213119176e-02, 1.6891097527572209e-02,
9.9985583336600126e-01, 1.7330055664057141e-03,
1.0815351441312036e-02, -1.9158603854556545e-03,
9.9993967700666042e-01 ]
translation: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ -5.2052476112081990e-02, -4.6313865353939110e-04,
8.8806735554907584e-04 ]
essential: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -2.0009439617717153e-05, -8.8705201686837285e-04,
-4.6464974129998811e-04, 1.4508545338106024e-03,
-1.1470815928716492e-04, 5.2039704036310315e-02,
-4.1617796233292743e-04, -5.2052785649435836e-02,
-9.5230503642644511e-05 ]
fundamental: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ -1.1817221592596941e-08, -5.2697406371005770e-07,
1.1627629703684574e-05, 8.6173835202613450e-07,
-6.8533918097934840e-08, 1.1146863908955499e-02,
-7.0056301516242358e-04, -3.2237824184460216e-02, 1. ]

26
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_color.yaml vendored Normal file
View File

@ -0,0 +1,26 @@
%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1.0660120360637927e+03, 0., 9.4558752751085558e+02, 0.,
1.0688708399911650e+03, 5.2006994012356529e+02, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 5.9360108008991816e-02, -6.2758287999836640e-02,
-1.5766859436148536e-03, -1.1502971845708829e-03,
7.7657531491476016e-03 ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 1.0705899358803581e+03, 0., 9.4912209493857927e+02, 0., 0.,
1.0734714110656350e+03, 5.1739403678512770e+02, 0., 0., 0., 1.,
0., 0., 0., 0., 1. ]

26
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_ir.yaml vendored Normal file
View File

@ -0,0 +1,26 @@
%YAML:1.0
cameraMatrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 3.6638346288148574e+02, 0., 2.5564531890330468e+02, 0.,
3.6714380707081017e+02, 2.0398020160452000e+02, 0., 0., 1. ]
distortionCoefficients: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [ 1.0952761399998089e-01, -3.1461678804886056e-01,
-1.2613602146463686e-03, -7.1815538262097348e-04,
1.2565382780717374e-01 ]
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
projection: !!opencv-matrix
rows: 4
cols: 4
dt: d
data: [ 3.6677544568158339e+02, 0., 2.5556683247282524e+02, 0., 0.,
3.6781383188070873e+02, 2.0379944675671842e+02, 0., 0., 0., 1.,
0., 0., 0., 0., 1. ]

33
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_pose.yaml vendored Normal file
View File

@ -0,0 +1,33 @@
%YAML:1.0
rotation: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 9.9999932279092762e-01, 1.1418659978192800e-03,
-2.2485490683788145e-04, -1.1422648685177200e-03,
9.9999776014165309e-01, -1.7818368744440499e-03,
2.2281978425420061e-04, 1.7820925116285419e-03,
9.9999838724751144e-01 ]
translation: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ -5.2017152124108991e-02, -2.4045118112262469e-04,
2.9454469402941368e-04 ]
essential: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 2.8287077589668930e-07, -2.9497254054031309e-04,
-2.3992596273739050e-04, 3.0613494517488655e-04,
9.3035707847567608e-05, 5.2017002003497723e-02,
2.9986838371861500e-04, -5.2016761050028761e-02,
9.2632013130372647e-05 ]
fundamental: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 1.9731570930693606e-10, -2.0533114366326771e-07,
-1.9484772545527813e-05, 2.1297242074431652e-07,
6.4589181747782925e-08, 1.3190795684430680e-02,
1.1203310138770501e-04, -3.8438663277953075e-02, 1. ]

57
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/include/kinect2_bridge/kinect2_definitions.h vendored Normal file
View File

@ -0,0 +1,57 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#ifndef __KINECT2_DEFINITIONS_H__
#define __KINECT2_DEFINITIONS_H__
#include <kinect2_registration/kinect2_console.h>
#define K2_DEFAULT_NS "kinect2"
#define K2_TF_LINK "_link"
#define K2_TF_RGB_OPT_FRAME "_rgb_optical_frame"
#define K2_TF_IR_OPT_FRAME "_ir_optical_frame"
#define K2_TOPIC_HD "/hd"
#define K2_TOPIC_QHD "/qhd"
#define K2_TOPIC_SD "/sd"
#define K2_TOPIC_IMAGE_RECT "_rect"
#define K2_TOPIC_IMAGE_COLOR "/image_color"
#define K2_TOPIC_IMAGE_MONO "/image_mono"
#define K2_TOPIC_IMAGE_DEPTH "/image_depth"
#define K2_TOPIC_IMAGE_IR "/image_ir"
#define K2_TOPIC_COMPRESSED "/compressed"
#define K2_TOPIC_INFO "/camera_info"
#define K2_CALIB_COLOR "calib_color.yaml"
#define K2_CALIB_IR "calib_ir.yaml"
#define K2_CALIB_POSE "calib_pose.yaml"
#define K2_CALIB_DEPTH "calib_depth.yaml"
#define K2_CALIB_CAMERA_MATRIX "cameraMatrix"
#define K2_CALIB_DISTORTION "distortionCoefficients"
#define K2_CALIB_ROTATION "rotation"
#define K2_CALIB_PROJECTION "projection"
#define K2_CALIB_TRANSLATION "translation"
#define K2_CALIB_ESSENTIAL "essential"
#define K2_CALIB_FUNDAMENTAL "fundamental"
#define K2_CALIB_DEPTH_SHIFT "depthShift"
#endif //__KINECT2_DEFINITIONS_H__

113
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch vendored Normal file
View File

@ -0,0 +1,113 @@
<launch>
<arg name="base_name" default="kinect2"/>
<arg name="sensor" default=""/>
<arg name="publish_tf" default="false"/>
<arg name="base_name_tf" default="$(arg base_name)"/>
<arg name="fps_limit" default="-1.0"/>
<arg name="calib_path" default="$(find kinect2_bridge)/data/"/>
<arg name="use_png" default="false"/>
<arg name="jpeg_quality" default="90"/>
<arg name="png_level" default="1"/>
<arg name="depth_method" default="default"/>
<arg name="depth_device" default="-1"/>
<arg name="reg_method" default="default"/>
<arg name="reg_device" default="-1"/>
<arg name="max_depth" default="12.0"/>
<arg name="min_depth" default="0.1"/>
<arg name="queue_size" default="5"/>
<arg name="bilateral_filter" default="true"/>
<arg name="edge_aware_filter" default="true"/>
<arg name="worker_threads" default="4"/>
<arg name="machine" default="localhost"/>
<arg name="nodelet_manager" default="$(arg base_name)"/>
<arg name="start_manager" default="true"/>
<arg name="use_machine" default="true"/>
<arg name="respawn" default="true"/>
<arg name="use_nodelet" default="true"/>
<arg name="output" default="screen"/>
<machine name="localhost" address="localhost" if="$(arg use_machine)"/>
<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager"
if="$(arg start_manager)" machine="$(arg machine)" output="screen"/>
<!-- Nodelet version of kinect2_bridge -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_bridge" machine="$(arg machine)"
args="load kinect2_bridge/kinect2_bridge_nodelet $(arg nodelet_manager)"
respawn="$(arg respawn)" output="$(arg output)" if="$(arg use_nodelet)">
<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="str" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
<param name="calib_path" type="str" value="$(arg calib_path)"/>
<param name="use_png" type="bool" value="$(arg use_png)"/>
<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="png_level" type="int" value="$(arg png_level)"/>
<param name="depth_method" type="str" value="$(arg depth_method)"/>
<param name="depth_device" type="int" value="$(arg depth_device)"/>
<param name="reg_method" type="str" value="$(arg reg_method)"/>
<param name="reg_device" type="int" value="$(arg reg_device)"/>
<param name="max_depth" type="double" value="$(arg max_depth)"/>
<param name="min_depth" type="double" value="$(arg min_depth)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
</node>
<!-- Node version of kinect2_bridge -->
<node pkg="kinect2_bridge" type="kinect2_bridge" name="$(arg base_name)_bridge" machine="$(arg machine)"
respawn="$(arg respawn)" output="$(arg output)" unless="$(arg use_nodelet)">
<param name="base_name" type="str" value="$(arg base_name)"/>
<param name="sensor" type="str" value="$(arg sensor)"/>
<param name="publish_tf" type="bool" value="$(arg publish_tf)"/>
<param name="base_name_tf" type="str" value="$(arg base_name_tf)"/>
<param name="fps_limit" type="double" value="$(arg fps_limit)"/>
<param name="calib_path" type="str" value="$(arg calib_path)"/>
<param name="use_png" type="bool" value="$(arg use_png)"/>
<param name="jpeg_quality" type="int" value="$(arg jpeg_quality)"/>
<param name="png_level" type="int" value="$(arg png_level)"/>
<param name="depth_method" type="str" value="$(arg depth_method)"/>
<param name="depth_device" type="int" value="$(arg depth_device)"/>
<param name="reg_method" type="str" value="$(arg reg_method)"/>
<param name="reg_device" type="int" value="$(arg reg_device)"/>
<param name="max_depth" type="double" value="$(arg max_depth)"/>
<param name="min_depth" type="double" value="$(arg min_depth)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="bilateral_filter" type="bool" value="$(arg bilateral_filter)"/>
<param name="edge_aware_filter" type="bool" value="$(arg edge_aware_filter)"/>
<param name="worker_threads" type="int" value="$(arg worker_threads)"/>
</node>
<!-- sd point cloud (512 x 424) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_sd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/sd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/sd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/sd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/sd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
<!-- qhd point cloud (960 x 540) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_qhd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/qhd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/qhd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/qhd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/qhd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
<!-- hd point cloud (1920 x 1080) -->
<node pkg="nodelet" type="nodelet" name="$(arg base_name)_points_xyzrgb_hd" machine="$(arg machine)"
args="load depth_image_proc/point_cloud_xyzrgb $(arg nodelet_manager)" respawn="$(arg respawn)">
<remap from="rgb/camera_info" to="$(arg base_name)/hd/camera_info"/>
<remap from="rgb/image_rect_color" to="$(arg base_name)/hd/image_color_rect"/>
<remap from="depth_registered/image_rect" to="$(arg base_name)/hd/image_depth_rect"/>
<remap from="depth_registered/points" to="$(arg base_name)/hd/points"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
</node>
</launch>

5
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/nodelet_plugins.xml vendored Normal file
View File

@ -0,0 +1,5 @@
<library path="lib/libkinect2_bridge_nodelet">
<class name="kinect2_bridge/kinect2_bridge_nodelet" type="Kinect2BridgeNodelet" base_class_type="nodelet::Nodelet">
<description>Kinect2Bridge nodelet</description>
</class>
</library>

39
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/package.xml vendored Normal file
View File

@ -0,0 +1,39 @@
<?xml version="1.0"?>
<package>
<name>kinect2_bridge</name>
<version>0.0.1</version>
<description>The kinect2_bridge package</description>
<maintainer email="wiedemeyer@informatik.uni-bremen.de">Thiemo Wiedemeyer</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rostime</build_depend>
<build_depend>tf</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>message_filters</build_depend>
<build_depend>compressed_depth_image_transport</build_depend>
<build_depend>kinect2_registration</build_depend>
<build_depend>nodelet</build_depend>
<build_depend>cv_bridge</build_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rostime</run_depend>
<run_depend>tf</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>compressed_depth_image_transport</run_depend>
<run_depend>kinect2_registration</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>depth_image_proc</run_depend>
<run_depend>cv_bridge</run_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<export>
<nodelet plugin="${prefix}/nodelet_plugins.xml" />
</export>
</package>

1632
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp vendored Normal file
View File

File diff suppressed because it is too large Load Diff

122
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,122 @@
cmake_minimum_required(VERSION 2.8.3)
project(kinect2_calibration CXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBT_USE_DOUBLE_PRECISION -Wall")
# Unused warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-function -Wunused-label -Wunused-variable -Wunused-but-set-variable -Wunused-but-set-parameter")
# Additional warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body -Wlogical-op")
# Check for c++11 support
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
find_package(catkin REQUIRED COMPONENTS roscpp rostime std_msgs sensor_msgs message_filters cv_bridge image_transport compressed_image_transport compressed_depth_image_transport kinect2_bridge)
## System dependencies are found with CMake's conventions
find_package(OpenCV REQUIRED)
find_package(OpenMP)
if(OPENMP_FOUND)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
################################################
## Declare ROS messages, services and actions ##
################################################
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES kinect2_bridge
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
# Display additional files in qtcreator
execute_process(COMMAND find ${PROJECT_SOURCE_DIR} -type f OUTPUT_VARIABLE FILES_STRING)
string(REPLACE "\n" ";" FILES_LIST ${FILES_STRING})
add_custom_target(additional_files_${PROJECT_NAME}
SOURCES
${FILES_LIST}
)
include_directories(include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${kinect2_bridge_INCLUDE_DIR}
)
add_executable(kinect2_calibration src/kinect2_calibration.cpp)
target_link_libraries(kinect2_calibration
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS kinect2_bridge kinect2_bridge_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_kinect2_bridge.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

169
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/README.md vendored Normal file
View File

@ -0,0 +1,169 @@
# Kinect2 Calibration
## Maintainer
- [Thiemo Wiedemeyer](https://ai.uni-bremen.de/team/thiemo_wiedemeyer) <<wiedemeyer@cs.uni-bremen.de>>, [Institute for Artificial Intelligence](http://ai.uni-bremen.de/), University of Bremen
*Note:* ***Please use the GitHub issues*** *for questions and problems regarding the iai_kinect2 package and its components.* ***Do not write emails.***
## Description
This tool uses OpenCV to calibrate two cameras to each other. It is specially designed for the Kinect One. It uses chess or circle boards.
## Dependencies
- ROS Hydro/Indigo
- OpenCV
*for the ROS packages look at the package.xml*
## Usage
```
kinect2_calibration [options]
name: 'any string' equals to the kinect2_bridge topic base name
mode: 'record' or 'calibrate'
source: 'color', 'ir', 'sync', 'depth'
board:
'circle<WIDTH>x<HEIGHT>x<SIZE>' for symmetric circle grid
'acircle<WIDTH>x<HEIGHT>x<SIZE>' for asymmetric circle grid
'chess<WIDTH>x<HEIGHT>x<SIZE>' for chessboard pattern
distortion model: 'rational' for using model with 8 instead of 5 coefficients
output path: '-path <PATH>'
```
## Key bindings
Windows:
- `ESC`, `q`: Quit
- `SPACE`, `s`: Save the current image for calibration
- `l`: decrease min and max value for IR value rage
- `h`: increase min and max value for IR value rage
- `1`: decrease min value for IR value rage
- `2`: increase min value for IR value rage
- `3`: decrease max value for IR value rage
- `4`: increase max value for IR value rage
Terminal:
- `CRTL`+`c`: Quit
## Calibration patterns
Any chessboard pattern or symmetric or asymmetric circle grid should work. Three different chessboard patterns are located inside the `kinect2_calibration/patterns` folder:
- [chess5x7x0.03.pdf](patterns/chess5x7x0.03.pdf)
- [chess7x9x0.025.pdf](patterns/chess7x9x0.025.pdf)
- [chess9x11x0.02.pdf](patterns/chess9x11x0.02.pdf)
Other patterns are available at OpenCV:
- [Chessboard pattern](http://docs.opencv.org/2.4.2/_downloads/pattern.png)
- [Asymmetric circle grid](http://docs.opencv.org/2.4.2/_downloads/acircles_pattern.png)
The standard board is a 7x6 0.108m chessboard from the PR2. But any other board can be specified with as parameter. For example a circle board with 8x7 circles in 0.02m distance between them `rosrun kinect2_calibration kinect2_calibration record color circle8x7x0.02`.
Recently, to calibrate our sensors, we have used the chess5x7x0.03 pattern, as it can be printed easily on a good laser printer on A4 paper.
## Calibrating the Kinect One
*Recommended preparation:*
- Print your calibration pattern (for the examples, we used chess5x7x0.03) and glue it to a flat object. It is very important that the calibration pattern is very flat. Also, check with a caliper that the distance between the features of the printed pattern is correct. Sometimes printers scale the document, and the calibration won't work. For the mentioned pattern, the distance between intersections of black and white corners should be 3cm exactly.
- Get two tripods, one for holding the calibration pattern, and another one for holding the kinect2 sensor. Ideally, the tripod for the kinect2 will have a ball head, to allow you to move it easily and lock it in place before you take an image. It is very important that the sensor is stable (and the image is clear and not blurred) before you take an image. The tripod will specially help you to make sure that the sensor has not moved between the moment the IR and the RGB images are taken.
- When recording images for all the steps indicated below (RGB, IR, SYNC), start the recording program, then press spacebar to record each image. The calibration pattern should be detected (indicated by color lines overlayed on the calibration pattern), and the image should be clear and stable.
- It is recommended to take images that show the calibration pattern in all areas of the image, and with different orientations of the pattern (tilting the pattern relative to the plane of the image), and at least two distances. So you can easily reach 100 images per calibration set.
- We normally start at a short distance, where the calibration pattern covers most of the image, there we take several pictures tilting the calibration pattern vertically, then horizontally. Imagine a ray coming out of the camera sensor, this makes sure that you have images where the calibration pattern is not perpendicular to that ray.
- Then we move the calibration pattern further away, and for different orientations (tilting) of the pattern, we take many images so that we calibration pattern is present around most of the camera image. For example, at first the calibration pattern is on the left upper corner. Then on the next image on the upper middle, then on the upper right corner. Then some images where the calibration pattern is in the middle vertically, etc...
*Typical calibration setup*
![kinect2_calibration_setup_small.jpg](https://ai.uni-bremen.de/_media/kinect2_calibration_setup_small.jpg)
*Detailed steps:*
0. If you haven't already, start the kinect2_bridge with a low number of frames per second (to make it easy on your CPU): `rosrun kinect2_bridge kinect2_bridge _fps_limit:=2`
1. create a directory for your calibration data files, for example: `mkdir ~/kinect_cal_data; cd ~/kinect_cal_data`
2. Record images for the color camera: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 record color`
3. Calibrate the intrinsics: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate color`
4. Record images for the ir camera: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 record ir`
5. Calibrate the intrinsics of the ir camera: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate ir`
6. Record images on both cameras synchronized: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 record sync`
7. Calibrate the extrinsics: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate sync`
8. Calibrate the depth measurements: `rosrun kinect2_calibration kinect2_calibration chess5x7x0.03 calibrate depth`
9. Find out the serial number of your kinect2 by looking at the first lines printed out by the kinect2_bridge. The line looks like this:
`device serial: 012526541941`
10. Create the calibration results directory in kinect2_bridge/data/$serial: `roscd kinect2_bridge/data; mkdir 012526541941`
11. Copy the following files from your calibration directory (~/kinect_cal_data) into the directory you just created: `calib_color.yaml calib_depth.yaml calib_ir.yaml calib_pose.yaml`
12. Restart the kinect2_bridge and be amazed at the better data.
## Calibration of the depth measurements
I did some tests on the measured and the computed distance based on the detected chess board. It seems like the Kinect2 (or at least the Kinect2s I am using) has a static offset of around 24 mm. As shown in the following images, one can see, that the difference between measured and computed distance is unrelated to the x and y coordinates of the pixel and also unrelated to the distance.
![plot.png](http://ai.uni-bremen.de/wiki/_media/software/plot.png)
![plot_x.png](http://ai.uni-bremen.de/wiki/_media/software/plot_x.png)
![plot_y.png](http://ai.uni-bremen.de/wiki/_media/software/plot_y.png)
![plot_xy.png](http://ai.uni-bremen.de/wiki/_media/software/plot_xy.png)
For the images above ~400 images of a 4x5x0.03 chessboard in different orientations, distances and image positions were used. The code for computing the depth offset is added to the calibration tool.
### GNUPlot
The depth calibration creates a file named `plot.dat` inside the calibration folder. This files contains the results of the calibration in 5 columns: x, y, computed depth, measured depth, difference between computed and measured depth.
- Difference between measured/computed distance
```
set xlabel "Measured distance"
set ylabel "Computed distance"
plot 'plot.dat' using 3:4 with dots title "Difference between measured/computed distance"
```
- Difference relative to x coordinate
```
set xlabel "X"
set ylabel "Distance difference"
plot 'plot.dat' using 1:5 with dots title "Difference relative to X-coordinate"
```
- Difference relative to y coordinate
```
set xlabel "Y"
set ylabel "Distance difference"
plot 'plot.dat' using 2:5 with dots title "Difference relative to Y-coordinate"
```
- Difference relative to XY-coordinate
```
set xlabel "X"
set ylabel "Y"
set zlabel "Distance difference"
splot 'plot.dat' using 1:2:5 with dots palette title "Difference relative to XY-coordinate"
```
## Example results
Example calibration results can be found in the directory [kinect2_bridge/data/](../kinect2_bridge/data).
The following images were made before and after the calibration, using the kinect2 viewer.
- For the superimposed images: `rosrun kinect2_viewer kinect2_viewer hd image`
- For the point cloud images: `rosrun kinect2_viewer kinect2_viewer hd cloud`
- For the superimposed and point cloud images: `rosrun kinect2_viewer kinect2_viewer hd both`
raw here stands for raw data transmission aka uncompressed.
Uncalibrated rectified images (depth and RGB superimposed):
![kinect2_cloud_calib](https://ai.uni-bremen.de/_media/kinect2_raw_nocalib.png)
Calibrated rectified images (depth and RGB superimposed):
![kinect2_cloud_calib](https://ai.uni-bremen.de/_media/kinect2_raw_calib.png)
Uncalibrated depth cloud:
![kinect2_cloud_calib](https://ai.uni-bremen.de/_media/kinect2_cloud_nocalib.png)
Calibrated depth cloud:
![kinect2_cloud_calib](https://ai.uni-bremen.de/_media/kinect2_cloud_calib.png)
Note how the color is now correctly applied on the depth data. This is specially evident around strong edges, like the edge of the white column on the left.

36
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/include/kinect2_calibration/kinect2_calibration_definitions.h vendored Normal file
View File

@ -0,0 +1,36 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#ifndef __KINECT2_CALIBRATION_DEFINITIONS_H__
#define __KINECT2_CALIBRATION_DEFINITIONS_H__
#define CALIB_FILE_EXT ".png"
#define CALIB_FILE_COLOR "_color" CALIB_FILE_EXT
#define CALIB_FILE_IR "_ir" CALIB_FILE_EXT
#define CALIB_FILE_IR_GREY "_grey_ir" CALIB_FILE_EXT
#define CALIB_FILE_DEPTH "_depth" CALIB_FILE_EXT
#define CALIB_POINTS_COLOR "_color_points.yaml"
#define CALIB_POINTS_IR "_ir_points.yaml"
#define CALIB_SYNC "_sync"
#define CALIB_SYNC_COLOR CALIB_SYNC CALIB_FILE_COLOR
#define CALIB_SYNC_IR CALIB_SYNC CALIB_FILE_IR
#define CALIB_SYNC_IR_GREY CALIB_SYNC CALIB_FILE_IR_GREY
#endif //__KINECT2_CALIBRATION_DEFINITIONS_H__

37
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/package.xml vendored Normal file
View File

@ -0,0 +1,37 @@
<?xml version="1.0"?>
<package>
<name>kinect2_calibration</name>
<version>0.0.1</version>
<description>The kinect2_calibration package</description>
<maintainer email="wiedemeyer@informatik.uni-bremen.de">Thiemo Wiedemeyer</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rostime</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>message_filters</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>compressed_image_transport</build_depend>
<build_depend>compressed_depth_image_transport</build_depend>
<build_depend>kinect2_bridge</build_depend>
<build_depend>cv_bridge</build_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rostime</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>message_filters</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>compressed_image_transport</run_depend>
<run_depend>compressed_depth_image_transport</run_depend>
<run_depend>cv_bridge</run_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<export>
</export>
</package>

1
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.pdf vendored Normal file
View File

@ -0,0 +1 @@

280
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.svg vendored Normal file
View File

@ -0,0 +1,280 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="210mm"
height="297mm"
id="svg3312"
version="1.1"
inkscape:version="0.48.4 r9939"
sodipodi:docname="New document 9">
<defs
id="defs3" />
<sodipodi:namedview
inkscape:document-units="mm"
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="411.31764"
inkscape:cy="424.03657"
inkscape:current-layer="layer1"
showgrid="true"
units="mm"
inkscape:window-width="1920"
inkscape:window-height="1141"
inkscape:window-x="0"
inkscape:window-y="27"
inkscape:window-maximized="1">
<inkscape:grid
type="xygrid"
id="grid3318"
empspacing="2"
visible="true"
enabled="true"
snapvisiblegridlinesonly="true"
units="mm"
spacingx="15mm"
spacingy="15mm"
originx="5mm"
originy="5mm" />
</sodipodi:namedview>
<metadata
id="metadata4">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1">
<g
id="g3386">
<g
id="g3354">
<rect
style="fill:#000000"
id="rect3320"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
<g
id="g3354-9"
transform="translate(106.29921,-106.29921)">
<rect
style="fill:#000000"
id="rect3320-71"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-0"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-8"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
</g>
<g
transform="translate(-1.3516643e-7,-212.59842)"
id="g3386-7">
<g
id="g3354-4">
<rect
style="fill:#000000"
id="rect3320-0"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-9"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-9"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
<g
id="g3354-9-8"
transform="translate(106.29921,-106.29921)">
<rect
style="fill:#000000"
id="rect3320-71-8"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-0-4"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-8-0"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
</g>
<g
transform="translate(-1.3516649e-7,-425.19685)"
id="g3386-0">
<g
id="g3354-1">
<rect
style="fill:#000000"
id="rect3320-2"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-6"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-0"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
<g
id="g3354-9-6"
transform="translate(106.29921,-106.29921)">
<rect
style="fill:#000000"
id="rect3320-71-4"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-0-5"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-8-5"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
</g>
<g
transform="translate(-1.3516649e-7,-637.79527)"
id="g3386-9">
<g
id="g3354-8">
<rect
style="fill:#000000"
id="rect3320-1"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-3"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-1"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
<g
id="g3354-9-0"
transform="translate(106.29921,-106.29921)">
<rect
style="fill:#000000"
id="rect3320-71-7"
width="106.29921"
height="106.29921"
x="17.716536"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-7-0-40"
width="106.29921"
height="106.29921"
x="230.31496"
y="928.34644" />
<rect
style="fill:#000000"
id="rect3320-4-8-6"
width="106.29921"
height="106.29921"
x="442.91339"
y="928.34644" />
</g>
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 7.1 KiB

1
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.pdf vendored Normal file
View File

@ -0,0 +1 @@

368
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.svg vendored Normal file
View File

@ -0,0 +1,368 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="210mm"
height="297mm"
id="svg3560"
version="1.1"
inkscape:version="0.48.4 r9939"
sodipodi:docname="New document 17">
<defs
id="defs3" />
<sodipodi:namedview
inkscape:document-units="mm"
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="533.79419"
inkscape:cy="456.02326"
inkscape:current-layer="layer1"
showgrid="true"
units="mm"
inkscape:window-width="1920"
inkscape:window-height="1141"
inkscape:window-x="0"
inkscape:window-y="27"
inkscape:window-maximized="1">
<inkscape:grid
type="xygrid"
id="grid3566"
empspacing="1"
visible="true"
enabled="true"
snapvisiblegridlinesonly="true"
units="mm"
originx="5mm"
originy="5mm"
spacingx="25mm"
spacingy="25mm" />
</sodipodi:namedview>
<metadata
id="metadata4">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1">
<g
id="g3584">
<rect
y="946.06299"
x="17.716536"
height="88.58268"
width="88.58268"
id="rect3568"
style="fill:#000000" />
<rect
y="946.06299"
x="194.8819"
height="88.58268"
width="88.58268"
id="rect3570"
style="fill:#000000" />
<rect
y="946.06299"
x="372.04724"
height="88.58268"
width="88.58268"
id="rect3572"
style="fill:#000000" />
<rect
y="946.06299"
x="549.21259"
height="88.58268"
width="88.58268"
id="rect3574"
style="fill:#000000" />
<rect
y="857.48029"
x="106.29921"
height="88.58268"
width="88.58268"
id="rect3576"
style="fill:#000000" />
<rect
y="857.48029"
x="283.46457"
height="88.58268"
width="88.58268"
id="rect3578"
style="fill:#000000" />
<rect
y="857.48029"
x="460.62991"
height="88.58268"
width="88.58268"
id="rect3580"
style="fill:#000000" />
<rect
y="857.48029"
x="637.79529"
height="88.58268"
width="88.58268"
id="rect3582"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516649e-7,-177.16538)"
id="g3584-5">
<rect
y="946.06299"
x="17.716536"
height="88.58268"
width="88.58268"
id="rect3568-2"
style="fill:#000000" />
<rect
y="946.06299"
x="194.8819"
height="88.58268"
width="88.58268"
id="rect3570-7"
style="fill:#000000" />
<rect
y="946.06299"
x="372.04724"
height="88.58268"
width="88.58268"
id="rect3572-4"
style="fill:#000000" />
<rect
y="946.06299"
x="549.21259"
height="88.58268"
width="88.58268"
id="rect3574-6"
style="fill:#000000" />
<rect
y="857.48029"
x="106.29921"
height="88.58268"
width="88.58268"
id="rect3576-7"
style="fill:#000000" />
<rect
y="857.48029"
x="283.46457"
height="88.58268"
width="88.58268"
id="rect3578-3"
style="fill:#000000" />
<rect
y="857.48029"
x="460.62991"
height="88.58268"
width="88.58268"
id="rect3580-6"
style="fill:#000000" />
<rect
y="857.48029"
x="637.79529"
height="88.58268"
width="88.58268"
id="rect3582-5"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-354.33073)"
id="g3584-4">
<rect
y="946.06299"
x="17.716536"
height="88.58268"
width="88.58268"
id="rect3568-28"
style="fill:#000000" />
<rect
y="946.06299"
x="194.8819"
height="88.58268"
width="88.58268"
id="rect3570-6"
style="fill:#000000" />
<rect
y="946.06299"
x="372.04724"
height="88.58268"
width="88.58268"
id="rect3572-3"
style="fill:#000000" />
<rect
y="946.06299"
x="549.21259"
height="88.58268"
width="88.58268"
id="rect3574-0"
style="fill:#000000" />
<rect
y="857.48029"
x="106.29921"
height="88.58268"
width="88.58268"
id="rect3576-4"
style="fill:#000000" />
<rect
y="857.48029"
x="283.46457"
height="88.58268"
width="88.58268"
id="rect3578-5"
style="fill:#000000" />
<rect
y="857.48029"
x="460.62991"
height="88.58268"
width="88.58268"
id="rect3580-8"
style="fill:#000000" />
<rect
y="857.48029"
x="637.79529"
height="88.58268"
width="88.58268"
id="rect3582-0"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-531.49611)"
id="g3584-5-0">
<rect
y="946.06299"
x="17.716536"
height="88.58268"
width="88.58268"
id="rect3568-2-4"
style="fill:#000000" />
<rect
y="946.06299"
x="194.8819"
height="88.58268"
width="88.58268"
id="rect3570-7-9"
style="fill:#000000" />
<rect
y="946.06299"
x="372.04724"
height="88.58268"
width="88.58268"
id="rect3572-4-8"
style="fill:#000000" />
<rect
y="946.06299"
x="549.21259"
height="88.58268"
width="88.58268"
id="rect3574-6-5"
style="fill:#000000" />
<rect
y="857.48029"
x="106.29921"
height="88.58268"
width="88.58268"
id="rect3576-7-3"
style="fill:#000000" />
<rect
y="857.48029"
x="283.46457"
height="88.58268"
width="88.58268"
id="rect3578-3-1"
style="fill:#000000" />
<rect
y="857.48029"
x="460.62991"
height="88.58268"
width="88.58268"
id="rect3580-6-6"
style="fill:#000000" />
<rect
y="857.48029"
x="637.79529"
height="88.58268"
width="88.58268"
id="rect3582-5-2"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-708.66144)"
id="g3584-5-0-6">
<rect
y="946.06299"
x="17.716536"
height="88.58268"
width="88.58268"
id="rect3568-2-4-8"
style="fill:#000000" />
<rect
y="946.06299"
x="194.8819"
height="88.58268"
width="88.58268"
id="rect3570-7-9-1"
style="fill:#000000" />
<rect
y="946.06299"
x="372.04724"
height="88.58268"
width="88.58268"
id="rect3572-4-8-3"
style="fill:#000000" />
<rect
y="946.06299"
x="549.21259"
height="88.58268"
width="88.58268"
id="rect3574-6-5-0"
style="fill:#000000" />
<rect
y="857.48029"
x="106.29921"
height="88.58268"
width="88.58268"
id="rect3576-7-3-0"
style="fill:#000000" />
<rect
y="857.48029"
x="283.46457"
height="88.58268"
width="88.58268"
id="rect3578-3-1-0"
style="fill:#000000" />
<rect
y="857.48029"
x="460.62991"
height="88.58268"
width="88.58268"
id="rect3580-6-6-7"
style="fill:#000000" />
<rect
y="857.48029"
x="637.79529"
height="88.58268"
width="88.58268"
id="rect3582-5-2-7"
style="fill:#000000" />
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 8.9 KiB

1
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.pdf vendored Normal file
View File

@ -0,0 +1 @@

540
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.svg vendored Normal file
View File

@ -0,0 +1,540 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Created with Inkscape (http://www.inkscape.org/) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="744.09448"
height="1052.3622"
id="svg2"
version="1.1"
inkscape:version="0.48.4 r9939"
sodipodi:docname="chessboard9x10x20.svg">
<defs
id="defs4" />
<sodipodi:namedview
id="base"
pagecolor="#ffffff"
bordercolor="#666666"
borderopacity="1.0"
inkscape:pageopacity="0.0"
inkscape:pageshadow="2"
inkscape:zoom="0.98994949"
inkscape:cx="413.79692"
inkscape:cy="464.70362"
inkscape:document-units="mm"
inkscape:current-layer="layer1"
showgrid="true"
units="cm"
objecttolerance="20"
inkscape:snap-global="false"
showguides="false"
inkscape:window-width="1920"
inkscape:window-height="1141"
inkscape:window-x="0"
inkscape:window-y="27"
inkscape:window-maximized="1">
<inkscape:grid
type="xygrid"
id="grid3026"
empspacing="2"
visible="true"
enabled="true"
snapvisiblegridlinesonly="true"
units="mm"
spacingx="10mm"
spacingy="10mm"
originx="5mm"
originy="5mm" />
</sodipodi:namedview>
<metadata
id="metadata7">
<rdf:RDF>
<cc:Work
rdf:about="">
<dc:format>image/svg+xml</dc:format>
<dc:type
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
<dc:title></dc:title>
</cc:Work>
</rdf:RDF>
</metadata>
<g
inkscape:label="Layer 1"
inkscape:groupmode="layer"
id="layer1"
transform="translate(0,0.00130762)">
<g
id="g3043">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13"
style="fill:#000000" />
</g>
<g
transform="translate(70.866142,-70.866143)"
id="g3043-1">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-7"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-5"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-5"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-4"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-8"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-141.73228)"
id="g3043-8">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-4"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-2"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-1"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-3"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-6"
style="fill:#000000" />
</g>
<g
transform="translate(70.866142,-212.59843)"
id="g3043-3">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-9"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-3"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-8"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-2"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-4"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-283.46457)"
id="g3043-4">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-45"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-8"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-7"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-35"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-0"
style="fill:#000000" />
</g>
<g
transform="translate(70.866142,-354.33071)"
id="g3043-6">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-80"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-82"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-2"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-7"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-9"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-425.19685)"
id="g3043-9">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-3"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-0"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-9"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-72"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-03"
style="fill:#000000" />
</g>
<g
transform="translate(70.866142,-496.06299)"
id="g3043-0">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-6"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-24"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-6"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-70"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-037"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-566.92913)"
id="g3043-00">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-37"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-1"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-96"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-1"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-90"
style="fill:#000000" />
</g>
<g
transform="translate(70.866142,-637.79528)"
id="g3043-5">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-89"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-52"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-94"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-9"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-47"
style="fill:#000000" />
</g>
<g
transform="translate(-1.3516643e-7,-708.66142)"
id="g3043-46">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-5"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-7"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-21"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-44"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-3"
style="fill:#000000" />
</g>
<g
transform="translate(70.866142,-779.52756)"
id="g3043-46-6">
<rect
y="963.7782"
x="17.716536"
height="70.866142"
width="70.866142"
id="rect2985-5-4"
style="fill:#000000" />
<rect
y="963.7782"
x="159.44882"
height="70.866142"
width="70.866142"
id="rect2985-1-7-4"
style="fill:#000000" />
<rect
y="963.7782"
x="301.18109"
height="70.866142"
width="70.866142"
id="rect2985-11-21-3"
style="fill:#000000" />
<rect
y="963.7782"
x="442.91339"
height="70.866142"
width="70.866142"
id="rect2985-8-44-6"
style="fill:#000000" />
<rect
y="963.7782"
x="584.64569"
height="70.866142"
width="70.866142"
id="rect2985-13-3-3"
style="fill:#000000" />
</g>
</g>
</svg>
Side by Side

After

Width:  |  Height:  |  Size: 13 KiB

50
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/scripts/convert_calib_pose_to_urdf_format.py vendored Normal file
View File

@ -0,0 +1,50 @@
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import argparse
import numpy as np
import os
import tempfile
import tf
import yaml
def read_calib_pose(fname):
tmp = tempfile.TemporaryFile()
# we need modify original yaml file because yaml.load(fname) simply will fail
with open(fname, "r") as f:
reader = f.readlines()
for row in reader:
if row[0] == "%":
# remove first line: "%YAML:1.0"
continue
if row.find("!!") != -1:
# remove "!!opencv-matrix"
row = row[:row.find("!!")] + os.linesep
tmp.write(row)
tmp.seek(0)
data = yaml.load(tmp)
return data
def calc_xyz_rpy(data):
mat = np.resize(data["rotation"]["data"], (3, 3))
xyz = data["translation"]["data"]
rpy = tf.transformations.euler_from_matrix(mat)
return xyz, rpy
def print_urdf(xyz, rpy):
print("""
<joint name=\"kinect2_rgb_joint\" type=\"fixed\">
<origin xyz=\"{x} {y} {z}\" rpy=\"{roll} {pitch} {yaw}\"/>
<parent link=\"kinect2_rgb_optical_frame\"/>
<child link=\"kinect2_ir_optical_frame\"/>
</joint>
""".format(x=xyz[0], y=xyz[1], z=xyz[2],
roll=rpy[0], pitch=rpy[1], yaw=rpy[2]))
if __name__ == "__main__":
parser = argparse.ArgumentParser(description='calculate transform from kinect2_rgb_optical_frame to kinect2_ir_optical_frame')
parser.add_argument('-f', type=str, help='path to calib_pose.yaml', metavar='file', required=True)
args = parser.parse_args()
data = read_calib_pose(args.f)
xyz, rpy = calc_xyz_rpy(data)
print_urdf(xyz, rpy)

1400
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp vendored Normal file
View File

File diff suppressed because it is too large Load Diff

178
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,178 @@
cmake_minimum_required(VERSION 2.8.3)
project(kinect2_registration CXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBT_USE_DOUBLE_PRECISION -Wall")
# Unused warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-function -Wunused-label -Wunused-variable -Wunused-but-set-variable -Wunused-but-set-parameter")
# Additional warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body")# -Wlogical-op")
# Check for c++11 support
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
# additional cmake modules
LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(catkin REQUIRED COMPONENTS roscpp)
find_package(cmake_modules QUIET)
## System dependencies are found with CMake's conventions
find_package(OpenCV REQUIRED)
find_package(OpenMP)
find_package(Eigen3)
find_package(OpenCL)
if(OPENMP_FOUND)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
############################################################
## Check for modules being build based on found libraries ##
############################################################
if(EIGEN3_FOUND)
message(STATUS "CPU based depth registration enabled")
include_directories(${EIGEN3_INCLUDE_DIR})
set(DEPTH_REG_CPU ON)
add_definitions(-DDEPTH_REG_CPU)
else()
message(STATUS "CPU based depth registration disabled")
set(DEPTH_REG_CPU OFF)
endif()
if(OpenCL_FOUND)
message(STATUS "OpenCL based depth registration enabled")
set(EXPORTED_DEPENDENCIES OpenCL)
if(UNIX AND NOT APPLE)
include(CheckOpenCLICDLoader)
if(OpenCL_C_WORKS AND NOT OpenCL_CXX_WORKS)
set(KINECT2_OPENCL_ICD_LOADER_IS_OLD 1)
message(WARNING "Your libOpenCL.so is incompatible with CL/cl.h. Install ocl-icd-opencl-dev to update libOpenCL.so?")
endif()
endif()
include_directories(${OpenCL_INCLUDE_DIRS})
set(DEPTH_REG_OPENCL ON)
add_definitions(-DDEPTH_REG_OPENCL)
else()
message(STATUS "OpenCL based depth registration disabled")
set(DEPTH_REG_OPENCL OFF)
endif()
if(NOT DEPTH_REG_CPU AND NOT DEPTH_REG_OPENCL)
message(FATAL_ERROR "No registration method available!")
endif()
################################################
## Declare ROS messages, services and actions ##
################################################
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES kinect2_registration
# CATKIN_DEPENDS other_catkin_pkg
DEPENDS ${EXPORTED_DEPENDENCIES}
CFG_EXTRAS kinect2_registration.cmake
)
###########
## Build ##
###########
# Display additional files in qtcreator
execute_process(COMMAND find ${PROJECT_SOURCE_DIR} -type f OUTPUT_VARIABLE FILES_STRING)
string(REPLACE "\n" ";" FILES_LIST ${FILES_STRING})
add_custom_target(additional_files_${PROJECT_NAME}
SOURCES
${FILES_LIST}
)
include_directories(include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
"${CMAKE_CURRENT_SOURCE_DIR}/include/internal"
)
if(DEPTH_REG_CPU)
set(MODULES ${MODULES} src/depth_registration_cpu.cpp)
endif()
if(DEPTH_REG_OPENCL)
add_definitions(-DREG_OPENCL_FILE="${PROJECT_SOURCE_DIR}/src/depth_registration.cl")
set(MODULES ${MODULES} src/depth_registration_opencl.cpp)
set(MODULE_LIBS ${MODULE_LIBS} ${OpenCL_LIBRARIES})
endif()
add_library(kinect2_registration SHARED src/kinect2_registration.cpp ${MODULES})
target_link_libraries(kinect2_registration
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${MODULE_LIBS}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS kinect2_registration
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_kinect2_bridge.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

23
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/README.md vendored Normal file
View File

@ -0,0 +1,23 @@
# Kinect2 Registration
## Maintainer
- [Thiemo Wiedemeyer](https://ai.uni-bremen.de/team/thiemo_wiedemeyer) <<wiedemeyer@cs.uni-bremen.de>>, [Institute for Artificial Intelligence](http://ai.uni-bremen.de/), University of Bremen
*Note:* ***Please use the GitHub issues*** *for questions and problems regarding the iai_kinect2 package and its components.* ***Do not write emails.***
## Description
This is a library for projecting the depth image obtained by Kinect like sensors to a color image. It has a OpenCL implementation for registering the depth image, to reduce CPU load.
## Dependencies
- ROS Hydro/Indigo
- OpenCV
- Eigen (optional, but recommended)
- OpenCL (optional, but recommended)
At least one of OpenCL or Eigen has to be installed. If OpenCL is not installed the CPU will be used. For optimal performance OpenCL is recommended.
*for the ROS packages look at the package.xml*

21
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/CheckOpenCLICDLoader.cmake vendored Normal file
View File

@ -0,0 +1,21 @@
INCLUDE(CheckCXXSourceCompiles)
INCLUDE(CheckCSourceCompiles)
SET(CMAKE_REQUIRED_INCLUDES "${MY_DIR}/include/internal" ${OpenCL_INCLUDE_DIRS})
SET(CMAKE_REQUIRED_LIBRARIES ${OpenCL_LIBRARIES})
CHECK_C_SOURCE_COMPILES("
#include <CL/cl.h>
int main() {
clGetPlatformIDs(0, 0, 0);
return 0;
}" OpenCL_C_WORKS)
CHECK_CXX_SOURCE_COMPILES("
#include <CL/cl.hpp>
int main() {
cl::Context context;
cl::Platform platform;
cl::Device device;
return 0;
}" OpenCL_CXX_WORKS)
SET(CMAKE_REQUIRED_INCLUDES)
SET(CMAKE_REQUIRED_LIBRARIES)

155
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/FindOpenCL.cmake vendored Normal file
View File

@ -0,0 +1,155 @@
#.rst:
# FindOpenCL
# ----------
#
# Try to find OpenCL
#
# Once done this will define::
#
# OpenCL_FOUND - True if OpenCL was found
# OpenCL_INCLUDE_DIRS - include directories for OpenCL
# OpenCL_LIBRARIES - link against this library to use OpenCL
# OpenCL_VERSION_STRING - Highest supported OpenCL version (eg. 1.2)
# OpenCL_VERSION_MAJOR - The major version of the OpenCL implementation
# OpenCL_VERSION_MINOR - The minor version of the OpenCL implementation
#
# The module will also define two cache variables::
#
# OpenCL_INCLUDE_DIR - the OpenCL include directory
# OpenCL_LIBRARY - the path to the OpenCL library
#
#=============================================================================
# Copyright 2014 Matthaeus G. Chajdas
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the names of Kitware, Inc., the Insight Software Consortium,
# nor the names of their contributors may be used to endorse or promote
# products derived from this software without specific prior written
# permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#=============================================================================
function(_FIND_OPENCL_VERSION)
include(CheckSymbolExists)
include(CMakePushCheckState)
set(CMAKE_REQUIRED_QUIET ${OpenCL_FIND_QUIETLY})
CMAKE_PUSH_CHECK_STATE()
foreach(VERSION "2_0" "1_2" "1_1" "1_0")
set(CMAKE_REQUIRED_INCLUDES "${OpenCL_INCLUDE_DIR}")
if(APPLE)
CHECK_SYMBOL_EXISTS(
CL_VERSION_${VERSION}
"${OpenCL_INCLUDE_DIR}/OpenCL/cl.h"
OPENCL_VERSION_${VERSION})
else()
CHECK_SYMBOL_EXISTS(
CL_VERSION_${VERSION}
"${OpenCL_INCLUDE_DIR}/CL/cl.h"
OPENCL_VERSION_${VERSION})
endif()
if(OPENCL_VERSION_${VERSION})
string(REPLACE "_" "." VERSION "${VERSION}")
set(OpenCL_VERSION_STRING ${VERSION} PARENT_SCOPE)
string(REGEX MATCHALL "[0-9]+" version_components "${VERSION}")
list(GET version_components 0 major_version)
list(GET version_components 1 minor_version)
set(OpenCL_VERSION_MAJOR ${major_version} PARENT_SCOPE)
set(OpenCL_VERSION_MINOR ${minor_version} PARENT_SCOPE)
break()
endif()
endforeach()
CMAKE_POP_CHECK_STATE()
endfunction()
find_path(OpenCL_INCLUDE_DIR
NAMES
CL/cl.h OpenCL/cl.h
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV NVSDKCOMPUTE_ROOT
ENV CUDA_PATH
ENV ATISTREAMSDKROOT
PATH_SUFFIXES
include
OpenCL/common/inc
"AMD APP/include")
_FIND_OPENCL_VERSION()
if(WIN32)
if(CMAKE_SIZEOF_VOID_P EQUAL 4)
find_library(OpenCL_LIBRARY
NAMES OpenCL
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV CUDA_PATH
ENV NVSDKCOMPUTE_ROOT
ENV ATISTREAMSDKROOT
PATH_SUFFIXES
"AMD APP/lib/x86"
lib/x86
lib/Win32
OpenCL/common/lib/Win32)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 8)
find_library(OpenCL_LIBRARY
NAMES OpenCL
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV CUDA_PATH
ENV NVSDKCOMPUTE_ROOT
ENV ATISTREAMSDKROOT
PATH_SUFFIXES
"AMD APP/lib/x86_64"
lib/x86_64
lib/x64
OpenCL/common/lib/x64)
endif()
else()
find_library(OpenCL_LIBRARY
NAMES OpenCL)
endif()
set(OpenCL_LIBRARIES ${OpenCL_LIBRARY})
set(OpenCL_INCLUDE_DIRS ${OpenCL_INCLUDE_DIR})
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(
OpenCL
FOUND_VAR OpenCL_FOUND
REQUIRED_VARS OpenCL_LIBRARY OpenCL_INCLUDE_DIR
VERSION_VAR OpenCL_VERSION_STRING)
mark_as_advanced(
OpenCL_INCLUDE_DIR
OpenCL_LIBRARY)

2
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/kinect2_registration.cmake.in vendored Normal file
View File

@ -0,0 +1,2 @@
set(DEPTH_REG_CPU "@DEPTH_REG_CPU@")
set(DEPTH_REG_OPENCL "@DEPTH_REG_OPENCL@")

12934
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/internal/CL/cl.hpp vendored Normal file
View File

File diff suppressed because it is too large Load Diff

65
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_console.h vendored Normal file
View File

@ -0,0 +1,65 @@
/**
* Copyright 2015 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#ifndef __KINECT2_CONSOLE_H__
#define __KINECT2_CONSOLE_H__
#include <string>
#include <ros/console.h>
// Set this to '0' to disable the extended colored output
#define EXTENDED_OUTPUT 1
#if EXTENDED_OUTPUT
#define NO_COLOR "\033[0m"
#define FG_BLACK "\033[30m"
#define FG_RED "\033[31m"
#define FG_GREEN "\033[32m"
#define FG_YELLOW "\033[33m"
#define FG_BLUE "\033[34m"
#define FG_MAGENTA "\033[35m"
#define FG_CYAN "\033[36m"
const std::string getFunctionName(const std::string &name);
#define OUT_AUX(FUNC_COLOR, MSG_COLOR, STREAM, MSG) STREAM(FUNC_COLOR "[" << getFunctionName(__PRETTY_FUNCTION__) << "] " MSG_COLOR << MSG << NO_COLOR)
#define OUT_DEBUG(msg) OUT_AUX(FG_BLUE, NO_COLOR, ROS_DEBUG_STREAM, msg)
#define OUT_INFO(msg) OUT_AUX(FG_GREEN, NO_COLOR, ROS_INFO_STREAM, msg)
#define OUT_WARN(msg) OUT_AUX(FG_YELLOW, FG_YELLOW, ROS_WARN_STREAM, msg)
#define OUT_ERROR(msg) OUT_AUX(FG_RED, FG_RED, ROS_ERROR_STREAM, msg)
#else
#define NO_COLOR ""
#define FG_BLACK ""
#define FG_RED ""
#define FG_GREEN ""
#define FG_YELLOW ""
#define FG_BLUE ""
#define FG_MAGENTA ""
#define FG_CYAN ""
#define OUT_DEBUG(msg) ROS_DEBUG_STREAM(msg)
#define OUT_INFO(msg) ROS_INFO_STREAM(msg)
#define OUT_WARN(msg) ROS_WARN_STREAM(msg)
#define OUT_ERROR(msg) ROS_WARN_STREAM(msg)
#endif
#endif //__KINECT2_CONSOLE_H__

57
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_registration.h vendored Normal file
View File

@ -0,0 +1,57 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#ifndef __KINECT2_REGISTRATION_H__
#define __KINECT2_REGISTRATION_H__
#include <vector>
#include <opencv2/opencv.hpp>
class DepthRegistration
{
public:
enum Method
{
DEFAULT = 0,
CPU,
OPENCL
};
protected:
cv::Mat cameraMatrixRegistered, cameraMatrixDepth, rotation, translation, mapX, mapY;
cv::Size sizeRegistered, sizeDepth;
float zNear, zFar;
DepthRegistration();
virtual bool init(const int deviceId) = 0;
public:
virtual ~DepthRegistration();
bool init(const cv::Mat &cameraMatrixRegistered, const cv::Size &sizeRegistered, const cv::Mat &cameraMatrixDepth, const cv::Size &sizeDepth,
const cv::Mat &distortionDepth, const cv::Mat &rotation, const cv::Mat &translation,
const float zNear = 0.5f, const float zFar = 12.0f, const int deviceId = -1);
virtual bool registerDepth(const cv::Mat &depth, cv::Mat &registered) = 0;
static DepthRegistration *New(Method method = DEFAULT);
};
#endif //__KINECT2_REGISTRATION_H__

21
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/package.xml vendored Normal file
View File

@ -0,0 +1,21 @@
<?xml version="1.0"?>
<package>
<name>kinect2_registration</name>
<version>0.0.1</version>
<description>The kinect2_registration package</description>
<maintainer email="wiedemeyer@informatik.uni-bremen.de">Thiemo Wiedemeyer</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>cv_bridge</build_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<run_depend>roscpp</run_depend>
<run_depend>cv_bridge</run_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<export>
</export>
</package>

196
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration.cl vendored Normal file
View File

@ -0,0 +1,196 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
// Set render buffer to zero
void kernel setZero(global ushort* rendered, global float *selDist){
const uint i = get_global_id(0);
rendered[i] = 0;
selDist[i] = 10;
}
// Calculate 3d point, project them to color camera coordinate system and create rendered depth image
void kernel project(global const ushort *depth, global int4 *idx, global ushort *zImg, global float4 *dists, global float *selDist, global ushort *rendered){
const uint i = get_global_id(0);
const int xR = i % widthR;
const int yR = i / widthR;
const ushort d = depth[i];
// Projection matrix coloumns
const float4 projX = (float4)(r00, r01, r02, tx);
const float4 projY = (float4)(r10, r11, r12, ty);
const float4 projZ = (float4)(r20, r21, r22, tz);
// Compute 3D point
const float z = d / 1000.0f;
const float4 point = (float4)((xR - cxR) * fxRInv * z, (yR - cyR) * fyRInv * z, z, 1.0f);
// Rotate and translate
const float3 projected = (float3)(dot(point, projX), dot(point, projY), dot(point, projZ));
const float invZ = 1.0f / projected.z;
// Compute projected image coordinates
const float x = (fxR * projected.x) * invZ + cxR;
const float y = (fyR * projected.y) * invZ + cyR;
const short xL = (short)floor(x);
const short yL = (short)floor(y);
const short xH = xL + 1;
const short yH = yL + 1;
const float4 distXY = (float4)((x - xL) * (x - xL), (xH - x) * (xH - x), (y - yL) * (y - yL), (yH - y) * (yH - y));
const float4 dist2 = (float4)(distXY.s0 + distXY.s2, distXY.s1 + distXY.s2, distXY.s0 + distXY.s3, distXY.s1 + distXY.s3);
const int yLI = yL * widthR;
const int yHI = yH * widthR;
int4 indices = (int4)(yLI + xL, yLI + xH, yHI + xL, yHI + xH);
const ushort zI = (ushort)(projected.z * 1000.0f);
// Check if depth is valid and projection is inside the image
if(xL < 0 || xL >= widthR)
{
indices.s0 = indices.s2 = -1;
}
if(yL < 0 || yL >= heightR)
{
indices.s0 = indices.s1 = -1;
}
if(xH < 0 || xH >= widthR)
{
indices.s1 = indices.s3 = -1;
}
if(yH < 0 || yH >= heightR)
{
indices.s2 = indices.s3 = -1;
}
if(indices.s0 >= 0)
{
selDist[indices.s0] = dist2.s0;
rendered[indices.s0] = zI;
}
if(indices.s1 >= 0)
{
selDist[indices.s1] = dist2.s1;
rendered[indices.s1] = zI;
}
if(indices.s2 >= 0)
{
selDist[indices.s2] = dist2.s2;
rendered[indices.s2] = zI;
}
if(indices.s3 >= 0)
{
selDist[indices.s3] = dist2.s3;
rendered[indices.s3] = zI;
}
idx[i] = indices;
dists[i] = dist2;
zImg[i] = zI;
}
// checks and updates registered depth image to make sure nearest depth values are used
void kernel checkDepth(global const int4 *idx, global const ushort *zImg, global const float4 *dists, global float *selDist, global ushort *rendered){
const uint i = get_global_id(0);
const int4 index = idx[i];
const ushort zI = zImg[i];
const ushort thres = 0.01 * zI;
const ushort zIThres = zI + thres;
const float4 dist2 = dists[i];
ushort zRen;
zRen = rendered[index.s0];
if(index.s0 >= 0 && ((abs_diff(zRen, zI) < thres && selDist[index.s0] > dist2.s0) || zRen > zIThres))
{
selDist[index.s0] = dist2.s0;
rendered[index.s0] = zI;
}
zRen = rendered[index.s1];
if(index.s1 >= 0 && ((abs_diff(zRen, zI) < thres && selDist[index.s1] > dist2.s1) || zRen > zIThres))
{
selDist[index.s1] = dist2.s1;
rendered[index.s1] = zI;
}
zRen = rendered[index.s2];
if(index.s2 >= 0 && ((abs_diff(zRen, zI) < thres && selDist[index.s2] > dist2.s2) || zRen > zIThres))
{
selDist[index.s2] = dist2.s2;
rendered[index.s2] = zI;
}
zRen = rendered[index.s3];
if(index.s3 >= 0 && ((abs_diff(zRen, zI) < thres && selDist[index.s3] > dist2.s3) || zRen > zIThres))
{
selDist[index.s3] = dist2.s3;
rendered[index.s3] = zI;
}
}
// remap depth image
void kernel remapDepth(global const ushort *in, global ushort *out, global const float *mapX, global const float *mapY)
{
const uint i = get_global_id(0);
const float x = mapX[i];
const float y = mapY[i];
const int xL = (int)floor(x);
const int xH = xL + 1;
const int yL = (int)floor(y);
const int yH = yL + 1;
if(xL < 0 || yL < 0 || xH >= widthD || yH >= heightD)
{
out[i] = 0;
return;
}
const uint iLT = yL * widthD + xL;
const uint iRT = iLT + 1;
const uint iLB = iLT + widthD;
const uint iRB = iLB + 1;
const float4 p = (float4)(in[iLT], in[iRT], in[iLB], in[iRB]);
int4 valid = isgreaterequal(p, (float4)(1));
int count = abs(valid.s0 + valid.s1 + valid.s2 + valid.s3);
if(count < 3)
{
out[i] = 0;
return;
}
const float avg = (p.s0 + p.s1 + p.s2 + p.s3) / count;
const float thres = 0.01 * avg;
valid = isless(fabs(p - avg), (float4)(thres));
count = abs(valid.s0 + valid.s1 + valid.s2 + valid.s3);
if(count < 3)
{
out[i] = 0;
return;
}
const float4 distXY = (float4)((x - xL) * (x - xL), (xH - x) * (xH - x), (y - yL) * (y - yL), (yH - y) * (yH - y));
const float4 tmp = (float4)(sqrt(2.0));
const float4 dist2 = (float4)(distXY.s0 + distXY.s2, distXY.s1 + distXY.s2, distXY.s0 + distXY.s3, distXY.s1 + distXY.s3);
const float4 dist = select((float4)(0), tmp - sqrt(dist2), valid);
const float sum = dist.s0 + dist.s1 + dist.s2 + dist.s3;
out[i] = (dot(p, dist) / sum) + 0.5;
}

203
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.cpp vendored Normal file
View File

@ -0,0 +1,203 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "depth_registration_cpu.h"
DepthRegistrationCPU::DepthRegistrationCPU()
: DepthRegistration()
{
}
DepthRegistrationCPU::~DepthRegistrationCPU()
{
}
bool DepthRegistrationCPU::init(const int deviceId)
{
createLookup();
proj(0, 0) = rotation.at<double>(0, 0);
proj(0, 1) = rotation.at<double>(0, 1);
proj(0, 2) = rotation.at<double>(0, 2);
proj(0, 3) = translation.at<double>(0, 0);
proj(1, 0) = rotation.at<double>(1, 0);
proj(1, 1) = rotation.at<double>(1, 1);
proj(1, 2) = rotation.at<double>(1, 2);
proj(1, 3) = translation.at<double>(1, 0);
proj(2, 0) = rotation.at<double>(2, 0);
proj(2, 1) = rotation.at<double>(2, 1);
proj(2, 2) = rotation.at<double>(2, 2);
proj(2, 3) = translation.at<double>(2, 0);
proj(3, 0) = 0;
proj(3, 1) = 0;
proj(3, 2) = 0;
proj(3, 3) = 1;
fx = cameraMatrixRegistered.at<double>(0, 0);
fy = cameraMatrixRegistered.at<double>(1, 1);
cx = cameraMatrixRegistered.at<double>(0, 2) + 0.5;
cy = cameraMatrixRegistered.at<double>(1, 2) + 0.5;
return true;
}
inline uint16_t DepthRegistrationCPU::interpolate(const cv::Mat &in, const float &x, const float &y) const
{
const int xL = (int)floor(x);
const int xH = (int)ceil(x);
const int yL = (int)floor(y);
const int yH = (int)ceil(y);
if(xL < 0 || yL < 0 || xH >= in.cols || yH >= in.rows)
{
return 0;
}
const uint16_t pLT = in.at<uint16_t>(yL, xL);
const uint16_t pRT = in.at<uint16_t>(yL, xH);
const uint16_t pLB = in.at<uint16_t>(yH, xL);
const uint16_t pRB = in.at<uint16_t>(yH, xH);
int vLT = pLT > 0;
int vRT = pRT > 0;
int vLB = pLB > 0;
int vRB = pRB > 0;
int count = vLT + vRT + vLB + vRB;
if(count < 3)
{
return 0;
}
const uint16_t avg = (pLT + pRT + pLB + pRB) / count;
const uint16_t thres = 0.01 * avg;
vLT = abs(pLT - avg) < thres;
vRT = abs(pRT - avg) < thres;
vLB = abs(pLB - avg) < thres;
vRB = abs(pRB - avg) < thres;
count = vLT + vRT + vLB + vRB;
if(count < 3)
{
return 0;
}
double distXL = x - xL;
double distXH = 1.0 - distXL;
double distYL = y - yL;
double distYH = 1.0 - distYL;
distXL *= distXL;
distXH *= distXH;
distYL *= distYL;
distYH *= distYH;
const double tmp = sqrt(2.0);
const double fLT = vLT ? tmp - sqrt(distXL + distYL) : 0;
const double fRT = vRT ? tmp - sqrt(distXH + distYL) : 0;
const double fLB = vLB ? tmp - sqrt(distXL + distYH) : 0;
const double fRB = vRB ? tmp - sqrt(distXH + distYH) : 0;
const double sum = fLT + fRT + fLB + fRB;
return ((pLT * fLT + pRT * fRT + pLB * fLB + pRB * fRB) / sum) + 0.5;
}
void DepthRegistrationCPU::remapDepth(const cv::Mat &depth, cv::Mat &scaled) const
{
scaled.create(sizeRegistered, CV_16U);
#pragma omp parallel for
for(size_t r = 0; r < (size_t)sizeRegistered.height; ++r)
{
uint16_t *itO = scaled.ptr<uint16_t>(r);
const float *itX = mapX.ptr<float>(r);
const float *itY = mapY.ptr<float>(r);
for(size_t c = 0; c < (size_t)sizeRegistered.width; ++c, ++itO, ++itX, ++itY)
{
*itO = interpolate(depth, *itX, *itY);
}
}
}
void DepthRegistrationCPU::projectDepth(const cv::Mat &scaled, cv::Mat &registered) const
{
registered = cv::Mat::zeros(sizeRegistered, CV_16U);
#pragma omp parallel for
for(size_t r = 0; r < (size_t)sizeRegistered.height; ++r)
{
const uint16_t *itD = scaled.ptr<uint16_t>(r);
const double y = lookupY.at<double>(0, r);
const double *itX = lookupX.ptr<double>();
for(size_t c = 0; c < (size_t)sizeRegistered.width; ++c, ++itD, ++itX)
{
const double depthValue = *itD / 1000.0;
if(depthValue < zNear || depthValue > zFar)
{
continue;
}
Eigen::Vector4d pointD(*itX * depthValue, y * depthValue, depthValue, 1);
Eigen::Vector4d pointP = proj * pointD;
const double z = pointP[2];
const double invZ = 1 / z;
const int xP = (fx * pointP[0]) * invZ + cx;
const int yP = (fy * pointP[1]) * invZ + cy;
if(xP >= 0 && xP < sizeRegistered.width && yP >= 0 && yP < sizeRegistered.height)
{
const uint16_t z16 = z * 1000;
uint16_t &zReg = registered.at<uint16_t>(yP, xP);
if(zReg == 0 || z16 < zReg)
{
zReg = z16;
}
}
}
}
}
bool DepthRegistrationCPU::registerDepth(const cv::Mat &depth, cv::Mat &registered)
{
cv::Mat scaled;
remapDepth(depth, scaled);
projectDepth(scaled, registered);
return true;
}
void DepthRegistrationCPU::createLookup()
{
const double fx = 1.0 / cameraMatrixRegistered.at<double>(0, 0);
const double fy = 1.0 / cameraMatrixRegistered.at<double>(1, 1);
const double cx = cameraMatrixRegistered.at<double>(0, 2);
const double cy = cameraMatrixRegistered.at<double>(1, 2);
double *it;
lookupY = cv::Mat(1, sizeRegistered.height, CV_64F);
it = lookupY.ptr<double>();
for(size_t r = 0; r < (size_t)sizeRegistered.height; ++r, ++it)
{
*it = (r - cy) * fy;
}
lookupX = cv::Mat(1, sizeRegistered.width, CV_64F);
it = lookupX.ptr<double>();
for(size_t c = 0; c < (size_t)sizeRegistered.width; ++c, ++it)
{
*it = (c - cx) * fx;
}
}

51
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.h vendored Normal file
View File

@ -0,0 +1,51 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#ifndef __DEPTH_REGISTRATION_CPU_H__
#define __DEPTH_REGISTRATION_CPU_H__
#include <Eigen/Geometry>
#include <kinect2_registration/kinect2_registration.h>
class DepthRegistrationCPU : public DepthRegistration
{
private:
cv::Mat lookupX, lookupY;
Eigen::Matrix4d proj;
double fx, fy, cx, cy;
public:
DepthRegistrationCPU();
~DepthRegistrationCPU();
bool init(const int deviceId);
bool registerDepth(const cv::Mat &depth, cv::Mat &registered);
private:
void createLookup();
uint16_t interpolate(const cv::Mat &in, const float &x, const float &y) const;
void remapDepth(const cv::Mat &depth, cv::Mat &scaled) const;
void projectDepth(const cv::Mat &scaled, cv::Mat &registered) const;
};
#endif //__DEPTH_REGISTRATION_CPU_H__

389
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.cpp vendored Normal file
View File

@ -0,0 +1,389 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <fstream>
#include <kinect2_registration/kinect2_console.h>
#define CL_USE_DEPRECATED_OPENCL_1_2_APIS
#define CL_USE_DEPRECATED_OPENCL_2_0_APIS
#ifdef KINECT2_OPENCL_ICD_LOADER_IS_OLD
#define CL_USE_DEPRECATED_OPENCL_1_1_APIS
#include <CL/cl.h>
#ifdef CL_VERSION_1_2
#undef CL_VERSION_1_2
#endif //CL_VERSION_1_2
#endif //LIBFREENECT2_OPENCL_ICD_LOADER_IS_OLD
#include <CL/cl.hpp>
#ifndef REG_OPENCL_FILE
#define REG_OPENCL_FILE ""
#endif
#include "depth_registration_opencl.h"
//#define ENABLE_PROFILING_CL
#define CL_FILENAME (strrchr(__FILE__, '/') ? strrchr(__FILE__, '/') + 1 : __FILE__)
#define PRINT_CL_ERROR(expr, err) OUT_ERROR(FG_BLUE "[" << CL_FILENAME << "]" FG_CYAN "(" << __LINE__ << ") " FG_YELLOW << expr << FG_RED " failed: " << err)
#define CHECK_CL_PARAM(expr) do { cl_int err = CL_SUCCESS; (expr); if (err != CL_SUCCESS) { PRINT_CL_ERROR(#expr, err); return false; } } while(0)
#define CHECK_CL_RETURN(expr) do { cl_int err = (expr); if (err != CL_SUCCESS) { PRINT_CL_ERROR(#expr, err); return false; } } while(0)
#define CHECK_CL_ON_FAIL(expr, on_fail) do { cl_int err = (expr); if (err != CL_SUCCESS) { PRINT_CL_ERROR(#expr, err); on_fail; return false; } } while(0)
struct DepthRegistrationOpenCL::OCLData
{
cl::Context context;
cl::Device device;
cl::Program program;
cl::CommandQueue queue;
cl::Kernel kernelSetZero;
cl::Kernel kernelProject;
cl::Kernel kernelCheckDepth;
cl::Kernel kernelRemap;
size_t sizeDepth;
size_t sizeRegistered;
size_t sizeIndex;
size_t sizeImgZ;
size_t sizeDists;
size_t sizeSelDist;
size_t sizeMap;
cl::Buffer bufferDepth;
cl::Buffer bufferScaled;
cl::Buffer bufferRegistered;
cl::Buffer bufferIndex;
cl::Buffer bufferImgZ;
cl::Buffer bufferDists;
cl::Buffer bufferSelDist;
cl::Buffer bufferMapX;
cl::Buffer bufferMapY;
cl::Buffer bufferOutput;
unsigned char *dataOutput;
#ifdef ENABLE_PROFILING_CL
std::vector<double> timings;
int count;
#endif
};
DepthRegistrationOpenCL::DepthRegistrationOpenCL()
: DepthRegistration()
{
data = new OCLData;
}
DepthRegistrationOpenCL::~DepthRegistrationOpenCL()
{
delete data;
}
void getDevices(const std::vector<cl::Platform> &platforms, std::vector<cl::Device> &devices)
{
devices.clear();
for(size_t i = 0; i < platforms.size(); ++i)
{
const cl::Platform &platform = platforms[i];
std::vector<cl::Device> devs;
if(platform.getDevices(CL_DEVICE_TYPE_ALL, &devs) != CL_SUCCESS)
{
continue;
}
devices.insert(devices.end(), devs.begin(), devs.end());
}
}
std::string deviceString(cl::Device &dev)
{
std::string devName, devVendor, devType;
cl_device_type devTypeID;
dev.getInfo(CL_DEVICE_NAME, &devName);
dev.getInfo(CL_DEVICE_VENDOR, &devVendor);
dev.getInfo(CL_DEVICE_TYPE, &devTypeID);
switch(devTypeID)
{
case CL_DEVICE_TYPE_CPU:
devType = "CPU";
break;
case CL_DEVICE_TYPE_GPU:
devType = "GPU";
break;
case CL_DEVICE_TYPE_ACCELERATOR:
devType = "ACCELERATOR";
break;
default:
devType = "CUSTOM/UNKNOWN";
}
return devName + " (" + devType + ")[" + devVendor + ']';
}
bool selectDevice(std::vector<cl::Device> &devices, cl::Device &device, const int deviceId = -1)
{
if(deviceId != -1 && devices.size() > (size_t)deviceId)
{
device = devices[deviceId];
return true;
}
bool selected = false;
cl_device_type selectedType = 0;
for(size_t i = 0; i < devices.size(); ++i)
{
cl::Device &dev = devices[i];
cl_device_type devTypeID;
dev.getInfo(CL_DEVICE_TYPE, &devTypeID);
if(!selected || (selectedType != CL_DEVICE_TYPE_GPU && devTypeID == CL_DEVICE_TYPE_GPU))
{
selectedType = devTypeID;
selected = true;
device = dev;
}
}
return selected;
}
bool DepthRegistrationOpenCL::init(const int deviceId)
{
std::string sourceCode;
if(!readProgram(sourceCode))
{
return false;
}
std::vector<cl::Platform> platforms;
CHECK_CL_RETURN(cl::Platform::get(&platforms));
if(platforms.empty())
{
OUT_ERROR("no opencl platforms found.");
return false;
}
std::vector<cl::Device> devices;
getDevices(platforms, devices);
OUT_INFO("devices:");
for(size_t i = 0; i < devices.size(); ++i)
{
OUT_INFO(" " << i << ": " FG_CYAN << deviceString(devices[i]) << NO_COLOR);
}
if(!selectDevice(devices, data->device, deviceId))
{
OUT_ERROR("could not find any suitable device");
return false;
}
OUT_INFO("selected device: " FG_YELLOW << deviceString(data->device) << NO_COLOR);
CHECK_CL_PARAM(data->context = cl::Context(data->device, NULL, NULL, NULL, &err));
std::string options;
generateOptions(options);
cl::Program::Sources source(1, std::make_pair(sourceCode.c_str(), sourceCode.length()));
CHECK_CL_PARAM(data->program = cl::Program(data->context, source, &err));
CHECK_CL_ON_FAIL(data->program.build(options.c_str()),
OUT_ERROR("failed to build program: " << err);
OUT_ERROR("Build Status: " << data->program.getBuildInfo<CL_PROGRAM_BUILD_STATUS>(data->device));
OUT_ERROR("Build Options:\t" << data->program.getBuildInfo<CL_PROGRAM_BUILD_OPTIONS>(data->device));
OUT_ERROR("Build Log:\t " << data->program.getBuildInfo<CL_PROGRAM_BUILD_LOG>(data->device)));
#ifdef ENABLE_PROFILING_CL
data->count = 0;
CHECK_CL_PARAM(data->queue = cl::CommandQueue(data->context, data->device, CL_QUEUE_PROFILING_ENABLE, &err));
#else
CHECK_CL_PARAM(data->queue = cl::CommandQueue(data->context, data->device, 0, &err));
#endif
data->sizeDepth = sizeDepth.height * sizeDepth.width * sizeof(uint16_t);
data->sizeRegistered = sizeRegistered.height * sizeRegistered.width * sizeof(uint16_t);
data->sizeIndex = sizeRegistered.height * sizeRegistered.width * sizeof(cl_int4);
data->sizeImgZ = sizeRegistered.height * sizeRegistered.width * sizeof(uint16_t);
data->sizeDists = sizeRegistered.height * sizeRegistered.width * sizeof(cl_float4);
data->sizeSelDist = sizeRegistered.height * sizeRegistered.width * sizeof(float);
data->sizeMap = sizeRegistered.height * sizeRegistered.width * sizeof(float);
CHECK_CL_PARAM(data->bufferDepth = cl::Buffer(data->context, CL_MEM_READ_ONLY, data->sizeDepth, NULL, &err));
CHECK_CL_PARAM(data->bufferScaled = cl::Buffer(data->context, CL_MEM_READ_WRITE, data->sizeRegistered, NULL, &err));
CHECK_CL_PARAM(data->bufferRegistered = cl::Buffer(data->context, CL_MEM_READ_WRITE, data->sizeRegistered, NULL, &err));
CHECK_CL_PARAM(data->bufferIndex = cl::Buffer(data->context, CL_MEM_READ_WRITE, data->sizeIndex, NULL, &err));
CHECK_CL_PARAM(data->bufferImgZ = cl::Buffer(data->context, CL_MEM_READ_WRITE, data->sizeImgZ, NULL, &err));
CHECK_CL_PARAM(data->bufferDists = cl::Buffer(data->context, CL_MEM_READ_WRITE, data->sizeDists, NULL, &err));
CHECK_CL_PARAM(data->bufferSelDist = cl::Buffer(data->context, CL_MEM_READ_WRITE, data->sizeSelDist, NULL, &err));
CHECK_CL_PARAM(data->bufferMapX = cl::Buffer(data->context, CL_MEM_READ_ONLY, data->sizeMap, NULL, &err));
CHECK_CL_PARAM(data->bufferMapY = cl::Buffer(data->context, CL_MEM_READ_ONLY, data->sizeMap, NULL, &err));
CHECK_CL_PARAM(data->bufferOutput = cl::Buffer(data->context, CL_MEM_WRITE_ONLY | CL_MEM_ALLOC_HOST_PTR, data->sizeRegistered, NULL, &err));
CHECK_CL_PARAM(data->kernelSetZero = cl::Kernel(data->program, "setZero", &err));
CHECK_CL_RETURN(data->kernelSetZero.setArg(0, data->bufferRegistered));
CHECK_CL_RETURN(data->kernelSetZero.setArg(1, data->bufferSelDist));
CHECK_CL_PARAM(data->kernelProject = cl::Kernel(data->program, "project", &err));
CHECK_CL_RETURN(data->kernelProject.setArg(0, data->bufferScaled));
CHECK_CL_RETURN(data->kernelProject.setArg(1, data->bufferIndex));
CHECK_CL_RETURN(data->kernelProject.setArg(2, data->bufferImgZ));
CHECK_CL_RETURN(data->kernelProject.setArg(3, data->bufferDists));
CHECK_CL_RETURN(data->kernelProject.setArg(4, data->bufferSelDist));
CHECK_CL_RETURN(data->kernelProject.setArg(5, data->bufferRegistered));
CHECK_CL_PARAM(data->kernelCheckDepth = cl::Kernel(data->program, "checkDepth", &err));
CHECK_CL_RETURN(data->kernelCheckDepth.setArg(0, data->bufferIndex));
CHECK_CL_RETURN(data->kernelCheckDepth.setArg(1, data->bufferImgZ));
CHECK_CL_RETURN(data->kernelCheckDepth.setArg(2, data->bufferDists));
CHECK_CL_RETURN(data->kernelCheckDepth.setArg(3, data->bufferSelDist));
CHECK_CL_RETURN(data->kernelCheckDepth.setArg(4, data->bufferRegistered));
CHECK_CL_PARAM(data->kernelRemap = cl::Kernel(data->program, "remapDepth", &err));
CHECK_CL_RETURN(data->kernelRemap.setArg(0, data->bufferDepth));
CHECK_CL_RETURN(data->kernelRemap.setArg(1, data->bufferScaled));
CHECK_CL_RETURN(data->kernelRemap.setArg(2, data->bufferMapX));
CHECK_CL_RETURN(data->kernelRemap.setArg(3, data->bufferMapY));
CHECK_CL_RETURN(data->queue.enqueueWriteBuffer(data->bufferMapX, CL_TRUE, 0, data->sizeMap, mapX.data));
CHECK_CL_RETURN(data->queue.enqueueWriteBuffer(data->bufferMapY, CL_TRUE, 0, data->sizeMap, mapY.data));
CHECK_CL_PARAM(data->dataOutput = (unsigned char *)data->queue.enqueueMapBuffer(data->bufferOutput, CL_TRUE, CL_MAP_READ, 0, data->sizeRegistered, NULL, NULL, &err));
return true;
}
bool DepthRegistrationOpenCL::registerDepth(const cv::Mat &depth, cv::Mat &registered)
{
cl::Event eventRead;
std::vector<cl::Event> eventZero(2), eventRemap(1), eventProject(1), eventCheckDepth1(1), eventCheckDepth2(1);
cl::NDRange range(sizeRegistered.height * sizeRegistered.width);
CHECK_CL_RETURN(data->queue.enqueueWriteBuffer(data->bufferDepth, CL_FALSE, 0, data->sizeDepth, depth.data, NULL, &eventZero[0]));
CHECK_CL_RETURN(data->queue.enqueueNDRangeKernel(data->kernelSetZero, cl::NullRange, range, cl::NullRange, NULL, &eventZero[1]));
CHECK_CL_RETURN(data->queue.enqueueNDRangeKernel(data->kernelRemap, cl::NullRange, range, cl::NullRange, &eventZero, &eventRemap[0]));
CHECK_CL_RETURN(data->queue.enqueueNDRangeKernel(data->kernelProject, cl::NullRange, range, cl::NullRange, &eventRemap, &eventProject[0]));
CHECK_CL_RETURN(data->queue.enqueueNDRangeKernel(data->kernelCheckDepth, cl::NullRange, range, cl::NullRange, &eventProject, &eventCheckDepth1[0]));
CHECK_CL_RETURN(data->queue.enqueueNDRangeKernel(data->kernelCheckDepth, cl::NullRange, range, cl::NullRange, &eventCheckDepth1, &eventCheckDepth2[0]));
CHECK_CL_RETURN(data->queue.enqueueReadBuffer(data->bufferRegistered, CL_FALSE, 0, data->sizeRegistered, data->dataOutput, &eventCheckDepth2, &eventRead));
CHECK_CL_RETURN(eventRead.wait());
registered = cv::Mat(sizeRegistered, CV_16U, data->dataOutput);
#ifdef ENABLE_PROFILING_CL
if(data->count == 0)
{
data->timings.clear();
data->timings.resize(7, 0.0);
}
data->timings[0] += eventZero[0].getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventZero[0].getProfilingInfo<CL_PROFILING_COMMAND_START>();
data->timings[1] += eventZero[1].getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventZero[1].getProfilingInfo<CL_PROFILING_COMMAND_START>();
data->timings[2] += eventRemap[0].getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventRemap[0].getProfilingInfo<CL_PROFILING_COMMAND_START>();
data->timings[3] += eventProject[0].getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventProject[0].getProfilingInfo<CL_PROFILING_COMMAND_START>();
data->timings[4] += eventCheckDepth1[0].getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventCheckDepth1[0].getProfilingInfo<CL_PROFILING_COMMAND_START>();
data->timings[5] += eventCheckDepth2[0].getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventCheckDepth2[0].getProfilingInfo<CL_PROFILING_COMMAND_START>();
data->timings[6] += eventRead.getProfilingInfo<CL_PROFILING_COMMAND_END>() - eventRead.getProfilingInfo<CL_PROFILING_COMMAND_START>();
if(++data->count == 100)
{
double sum = data->timings[0] + data->timings[1] + data->timings[2] + data->timings[3] + data->timings[4] + data->timings[5] + data->timings[6];
OUT_INFO("writing depth: " << data->timings[0] / 100000000.0 << " ms.");
OUT_INFO("setting zero: " << data->timings[1] / 100000000.0 << " ms.");
OUT_INFO("remap: " << data->timings[2] / 100000000.0 << " ms.");
OUT_INFO("project: " << data->timings[3] / 100000000.0 << " ms.");
OUT_INFO("check depth 1: " << data->timings[4] / 100000000.0 << " ms.");
OUT_INFO("check depth 2: " << data->timings[5] / 100000000.0 << " ms.");
OUT_INFO("read registered: " << data->timings[6] / 100000000.0 << " ms.");
OUT_INFO("overall: " << sum / 100000000.0 << " ms.");
data->count = 0;
}
#endif
return true;
}
void DepthRegistrationOpenCL::generateOptions(std::string &options) const
{
std::ostringstream oss;
oss.precision(16);
oss << std::scientific;
// Rotation
oss << " -D r00=" << rotation.at<double>(0, 0) << "f";
oss << " -D r01=" << rotation.at<double>(0, 1) << "f";
oss << " -D r02=" << rotation.at<double>(0, 2) << "f";
oss << " -D r10=" << rotation.at<double>(1, 0) << "f";
oss << " -D r11=" << rotation.at<double>(1, 1) << "f";
oss << " -D r12=" << rotation.at<double>(1, 2) << "f";
oss << " -D r20=" << rotation.at<double>(2, 0) << "f";
oss << " -D r21=" << rotation.at<double>(2, 1) << "f";
oss << " -D r22=" << rotation.at<double>(2, 2) << "f";
// Translation
oss << " -D tx=" << translation.at<double>(0, 0) << "f";
oss << " -D ty=" << translation.at<double>(1, 0) << "f";
oss << " -D tz=" << translation.at<double>(2, 0) << "f";
// Camera parameter upscaled depth
oss << " -D fxR=" << cameraMatrixRegistered.at<double>(0, 0) << "f";
oss << " -D fyR=" << cameraMatrixRegistered.at<double>(1, 1) << "f";
oss << " -D cxR=" << cameraMatrixRegistered.at<double>(0, 2) << "f";
oss << " -D cyR=" << cameraMatrixRegistered.at<double>(1, 2) << "f";
oss << " -D fxRInv=" << (1.0 / cameraMatrixRegistered.at<double>(0, 0)) << "f";
oss << " -D fyRInv=" << (1.0 / cameraMatrixRegistered.at<double>(1, 1)) << "f";
// Clipping distances
oss << " -D zNear=" << (uint16_t)(zNear * 1000);
oss << " -D zFar=" << (uint16_t)(zFar * 1000);
// Size registered image
oss << " -D heightR=" << sizeRegistered.height;
oss << " -D widthR=" << sizeRegistered.width;
// Size depth image
oss << " -D heightD=" << sizeDepth.height;
oss << " -D widthD=" << sizeDepth.width;
options = oss.str();
}
bool DepthRegistrationOpenCL::readProgram(std::string &source) const
{
std::ifstream file(REG_OPENCL_FILE);
if(!file.is_open())
{
return false;
}
source = std::string((std::istreambuf_iterator<char>(file)), std::istreambuf_iterator<char>());
file.close();
return true;
}

46
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.h vendored Normal file
View File

@ -0,0 +1,46 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#ifndef __DEPTH_REGISTRATION_OPENCL_H__
#define __DEPTH_REGISTRATION_OPENCL_H__
#include <kinect2_registration/kinect2_registration.h>
class DepthRegistrationOpenCL : public DepthRegistration
{
private:
struct OCLData;
OCLData *data;
public:
DepthRegistrationOpenCL();
~DepthRegistrationOpenCL();
bool init(const int deviceId);
bool registerDepth(const cv::Mat &depth, cv::Mat &registered);
private:
void generateOptions(std::string &options) const;
bool readProgram(std::string &source) const;
};
#endif //__DEPTH_REGISTRATION_OPENCL_H__

101
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/kinect2_registration.cpp vendored Normal file
View File

@ -0,0 +1,101 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <kinect2_registration/kinect2_registration.h>
#include <kinect2_registration/kinect2_console.h>
#ifdef DEPTH_REG_CPU
#include "depth_registration_cpu.h"
#endif
#ifdef DEPTH_REG_OPENCL
#include "depth_registration_opencl.h"
#endif
DepthRegistration::DepthRegistration()
{
}
DepthRegistration::~DepthRegistration()
{
}
bool DepthRegistration::init(const cv::Mat &cameraMatrixRegistered, const cv::Size &sizeRegistered, const cv::Mat &cameraMatrixDepth, const cv::Size &sizeDepth,
const cv::Mat &distortionDepth, const cv::Mat &rotation, const cv::Mat &translation,
const float zNear, const float zFar, const int deviceId)
{
this->cameraMatrixRegistered = cameraMatrixRegistered;
this->cameraMatrixDepth = cameraMatrixDepth;
this->rotation = rotation;
this->translation = translation;
this->sizeRegistered = sizeRegistered;
this->sizeDepth = sizeDepth;
this->zNear = zNear;
this->zFar = zFar;
cv::initUndistortRectifyMap(cameraMatrixDepth, distortionDepth, cv::Mat(), cameraMatrixRegistered, sizeRegistered, CV_32FC1, mapX, mapY);
return init(deviceId);
}
DepthRegistration *DepthRegistration::New(Method method)
{
if(method == DEFAULT)
{
#ifdef DEPTH_REG_OPENCL
method = OPENCL;
#elif defined DEPTH_REG_CPU
method = CPU;
#endif
}
switch(method)
{
case DEFAULT:
OUT_ERROR("No default registration method available!");
break;
case CPU:
#ifdef DEPTH_REG_CPU
OUT_INFO("Using CPU registration method!");
return new DepthRegistrationCPU();
#else
OUT_ERROR("CPU registration method not available!");
break;
#endif
case OPENCL:
#ifdef DEPTH_REG_OPENCL
OUT_INFO("Using OpenCL registration method!");
return new DepthRegistrationOpenCL();
#else
OUT_ERROR("OpenCL registration method not available!");
break;
#endif
}
return NULL;
}
const std::string getFunctionName(const std::string &name)
{
size_t end = name.rfind('(');
if(end == std::string::npos)
{
end = name.size();
}
size_t begin = 1 + name.rfind(' ', end);
return name.substr(begin, end - begin);
}

126
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,126 @@
cmake_minimum_required(VERSION 2.8.3)
project(kinect2_viewer CXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DBT_USE_DOUBLE_PRECISION -Wall")
# Unused warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wuninitialized -Winit-self -Wunused-function -Wunused-label -Wunused-variable -Wunused-but-set-variable -Wunused-but-set-parameter")
# Additional warnings
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Warray-bounds -Wtype-limits -Wreturn-type -Wsequence-point -Wparentheses -Wmissing-braces -Wchar-subscripts -Wswitch -Wwrite-strings -Wenum-compare -Wempty-body -Wlogical-op")
# Check for c++11 support
INCLUDE(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
IF(COMPILER_SUPPORTS_CXX11)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ELSEIF(COMPILER_SUPPORTS_CXX0X)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
MESSAGE(ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
ENDIF()
find_package(catkin REQUIRED COMPONENTS roscpp rostime std_msgs sensor_msgs message_filters cv_bridge image_transport compressed_image_transport compressed_depth_image_transport kinect2_bridge)
## System dependencies are found with CMake's conventions
find_package(OpenCV REQUIRED)
find_package(OpenMP)
find_package(PCL REQUIRED)
if(OPENMP_FOUND)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
################################################
## Declare ROS messages, services and actions ##
################################################
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES kinect2_viewer
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
# Display additional files in qtcreator
execute_process(COMMAND find ${PROJECT_SOURCE_DIR} -type f OUTPUT_VARIABLE FILES_STRING)
string(REPLACE "\n" ";" FILES_LIST ${FILES_STRING})
add_custom_target(additional_files_${PROJECT_NAME}
SOURCES
${FILES_LIST}
)
include_directories(include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${kinect2_bridge_INCLUDE_DIRS}
)
add_executable(kinect2_viewer src/viewer.cpp)
target_link_libraries(kinect2_viewer
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
${kinect2_bridge_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS kinect2_viewer
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_kinect2_bridge.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

44
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/README.md vendored Normal file
View File

@ -0,0 +1,44 @@
# Kinect2 Viewer
## Maintainer
- [Thiemo Wiedemeyer](https://ai.uni-bremen.de/team/thiemo_wiedemeyer) <<wiedemeyer@cs.uni-bremen.de>>, [Institute for Artificial Intelligence](http://ai.uni-bremen.de/), University of Bremen
*Note:* ***Please use the GitHub issues*** *for questions and problems regarding the iai_kinect2 package and its components.* ***Do not write emails.***
## Description
This is a simple viewer for the combined color an depth image provided by Kinect like depth sensors.
It just listens to two ROS topics and displays a the color with the overlayed colored depth image or a registered point cloud.
## Dependencies
- ROS Hydro/Indigo
- OpenCV
- PCL
*for the ROS packages look at the package.xml*
## Usage
```
kinect2_viewer [options]
name: 'any string' equals to the kinect2_bridge topic base name
mode: 'qhd', 'hd', 'sd' or 'ir'
visualization: 'image', 'cloud' or 'both'
options:
'compressed' use compressed instead of raw topics
'approx' use approximate time synchronization
```
Example: `rosrun kinect2_viewer kinect2_viewer sd cloud`
## Key bindings
Windows:
- `ESC`, `q`: Quit
- `SPACE`, `s`: Save the current image, cloud in the current directory
Terminal:
- `CRTL`+`c`: Quit

40
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/package.xml vendored Normal file
View File

@ -0,0 +1,40 @@
<?xml version="1.0"?>
<package>
<name>kinect2_viewer</name>
<version>0.0.1</version>
<description>The kinect2_viewer package</description>
<maintainer email="wiedemeyer@informatik.uni-bremen.de">Thiemo Wiedemeyer</maintainer>
<license>Apache 2.0</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rostime</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>message_filters</build_depend>
<build_depend>image_transport</build_depend>
<build_depend>compressed_image_transport</build_depend>
<build_depend>compressed_depth_image_transport</build_depend>
<build_depend>kinect2_bridge</build_depend>
<build_depend>libpcl-all-dev</build_depend>
<build_depend>cv_bridge</build_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>rostime</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>message_filters</run_depend>
<run_depend>image_transport</run_depend>
<run_depend>compressed_image_transport</run_depend>
<run_depend>compressed_depth_image_transport</run_depend>
<run_depend>libpcl-all-dev</run_depend>
<run_depend>libpcl-all</run_depend>
<run_depend>cv_bridge</run_depend><!-- Depend on cv_bridge instead of libopencv-dev to support ROS Hydro.-->
<export>
</export>
</package>

619
Code/RK3588/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/src/viewer.cpp vendored Normal file
View File

@ -0,0 +1,619 @@
/**
* Copyright 2014 University of Bremen, Institute for Artificial Intelligence
* Author: Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <sstream>
#include <string>
#include <vector>
#include <cmath>
#include <mutex>
#include <thread>
#include <chrono>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <opencv2/opencv.hpp>
#include <ros/ros.h>
#include <ros/spinner.h>
#include <sensor_msgs/CameraInfo.h>
#include <sensor_msgs/Image.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
#include <image_transport/subscriber_filter.h>
#include <message_filters/subscriber.h>
#include <message_filters/synchronizer.h>
#include <message_filters/sync_policies/exact_time.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <kinect2_bridge/kinect2_definitions.h>
class Receiver
{
public:
enum Mode
{
IMAGE = 0,
CLOUD,
BOTH
};
private:
std::mutex lock;
const std::string topicColor, topicDepth;
const bool useExact, useCompressed;
bool updateImage, updateCloud;
bool save;
bool running;
size_t frame;
const size_t queueSize;
cv::Mat color, depth;
cv::Mat cameraMatrixColor, cameraMatrixDepth;
cv::Mat lookupX, lookupY;
typedef message_filters::sync_policies::ExactTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ExactSyncPolicy;
typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::Image, sensor_msgs::Image, sensor_msgs::CameraInfo, sensor_msgs::CameraInfo> ApproximateSyncPolicy;
ros::NodeHandle nh;
ros::AsyncSpinner spinner;
image_transport::ImageTransport it;
image_transport::SubscriberFilter *subImageColor, *subImageDepth;
message_filters::Subscriber<sensor_msgs::CameraInfo> *subCameraInfoColor, *subCameraInfoDepth;
message_filters::Synchronizer<ExactSyncPolicy> *syncExact;
message_filters::Synchronizer<ApproximateSyncPolicy> *syncApproximate;
std::thread imageViewerThread;
Mode mode;
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;
pcl::PCDWriter writer;
std::ostringstream oss;
std::vector<int> params;
public:
Receiver(const std::string &topicColor, const std::string &topicDepth, const bool useExact, const bool useCompressed)
: topicColor(topicColor), topicDepth(topicDepth), useExact(useExact), useCompressed(useCompressed),
updateImage(false), updateCloud(false), save(false), running(false), frame(0), queueSize(5),
nh("~"), spinner(0), it(nh), mode(CLOUD)
{
cameraMatrixColor = cv::Mat::zeros(3, 3, CV_64F);
cameraMatrixDepth = cv::Mat::zeros(3, 3, CV_64F);
params.push_back(cv::IMWRITE_JPEG_QUALITY);
params.push_back(100);
params.push_back(cv::IMWRITE_PNG_COMPRESSION);
params.push_back(1);
params.push_back(cv::IMWRITE_PNG_STRATEGY);
params.push_back(cv::IMWRITE_PNG_STRATEGY_RLE);
params.push_back(0);
}
~Receiver()
{
}
void run(const Mode mode)
{
start(mode);
stop();
}
private:
void start(const Mode mode)
{
this->mode = mode;
running = true;
std::string topicCameraInfoColor = topicColor.substr(0, topicColor.rfind('/')) + "/camera_info";
std::string topicCameraInfoDepth = topicDepth.substr(0, topicDepth.rfind('/')) + "/camera_info";
image_transport::TransportHints hints(useCompressed ? "compressed" : "raw");
subImageColor = new image_transport::SubscriberFilter(it, topicColor, queueSize, hints);
subImageDepth = new image_transport::SubscriberFilter(it, topicDepth, queueSize, hints);
subCameraInfoColor = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh, topicCameraInfoColor, queueSize);
subCameraInfoDepth = new message_filters::Subscriber<sensor_msgs::CameraInfo>(nh, topicCameraInfoDepth, queueSize);
if(useExact)
{
syncExact = new message_filters::Synchronizer<ExactSyncPolicy>(ExactSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subCameraInfoColor, *subCameraInfoDepth);
syncExact->registerCallback(boost::bind(&Receiver::callback, this, _1, _2, _3, _4));
}
else
{
syncApproximate = new message_filters::Synchronizer<ApproximateSyncPolicy>(ApproximateSyncPolicy(queueSize), *subImageColor, *subImageDepth, *subCameraInfoColor, *subCameraInfoDepth);
syncApproximate->registerCallback(boost::bind(&Receiver::callback, this, _1, _2, _3, _4));
}
spinner.start();
std::chrono::milliseconds duration(1);
while(!updateImage || !updateCloud)
{
if(!ros::ok())
{
return;
}
std::this_thread::sleep_for(duration);
}
cloud = pcl::PointCloud<pcl::PointXYZRGBA>::Ptr(new pcl::PointCloud<pcl::PointXYZRGBA>());
cloud->height = color.rows;
cloud->width = color.cols;
cloud->is_dense = false;
cloud->points.resize(cloud->height * cloud->width);
createLookup(this->color.cols, this->color.rows);
switch(mode)
{
case CLOUD:
cloudViewer();
break;
case IMAGE:
imageViewer();
break;
case BOTH:
imageViewerThread = std::thread(&Receiver::imageViewer, this);
cloudViewer();
break;
}
}
void stop()
{
spinner.stop();
if(useExact)
{
delete syncExact;
}
else
{
delete syncApproximate;
}
delete subImageColor;
delete subImageDepth;
delete subCameraInfoColor;
delete subCameraInfoDepth;
running = false;
if(mode == BOTH)
{
imageViewerThread.join();
}
}
void callback(const sensor_msgs::Image::ConstPtr imageColor, const sensor_msgs::Image::ConstPtr imageDepth,
const sensor_msgs::CameraInfo::ConstPtr cameraInfoColor, const sensor_msgs::CameraInfo::ConstPtr cameraInfoDepth)
{
cv::Mat color, depth;
readCameraInfo(cameraInfoColor, cameraMatrixColor);
readCameraInfo(cameraInfoDepth, cameraMatrixDepth);
readImage(imageColor, color);
readImage(imageDepth, depth);
// IR image input
if(color.type() == CV_16U)
{
cv::Mat tmp;
color.convertTo(tmp, CV_8U, 0.02);
cv::cvtColor(tmp, color, CV_GRAY2BGR);
}
lock.lock();
this->color = color;
this->depth = depth;
updateImage = true;
updateCloud = true;
lock.unlock();
}
void imageViewer()
{
cv::Mat color, depth, depthDisp, combined;
std::chrono::time_point<std::chrono::high_resolution_clock> start, now;
double fps = 0;
size_t frameCount = 0;
std::ostringstream oss;
const cv::Point pos(5, 15);
const cv::Scalar colorText = CV_RGB(255, 255, 255);
const double sizeText = 0.5;
const int lineText = 1;
const int font = cv::FONT_HERSHEY_SIMPLEX;
cv::namedWindow("Image Viewer");
oss << "starting...";
start = std::chrono::high_resolution_clock::now();
for(; running && ros::ok();)
{
if(updateImage)
{
lock.lock();
color = this->color;
depth = this->depth;
updateImage = false;
lock.unlock();
++frameCount;
now = std::chrono::high_resolution_clock::now();
double elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(now - start).count() / 1000.0;
if(elapsed >= 1.0)
{
fps = frameCount / elapsed;
oss.str("");
oss << "fps: " << fps << " ( " << elapsed / frameCount * 1000.0 << " ms)";
start = now;
frameCount = 0;
}
dispDepth(depth, depthDisp, 12000.0f);
combine(color, depthDisp, combined);
//combined = color;
cv::putText(combined, oss.str(), pos, font, sizeText, colorText, lineText, CV_AA);
cv::imshow("Image Viewer", combined);
}
int key = cv::waitKey(1);
switch(key & 0xFF)
{
case 27:
case 'q':
running = false;
break;
case ' ':
case 's':
if(mode == IMAGE)
{
createCloud(depth, color, cloud);
saveCloudAndImages(cloud, color, depth, depthDisp);
}
else
{
save = true;
}
break;
}
}
cv::destroyAllWindows();
cv::waitKey(100);
}
void cloudViewer()
{
cv::Mat color, depth;
pcl::visualization::PCLVisualizer::Ptr visualizer(new pcl::visualization::PCLVisualizer("Cloud Viewer"));
const std::string cloudName = "rendered";
lock.lock();
color = this->color;
depth = this->depth;
updateCloud = false;
lock.unlock();
createCloud(depth, color, cloud);
visualizer->addPointCloud(cloud, cloudName);
visualizer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, cloudName);
visualizer->initCameraParameters();
visualizer->setBackgroundColor(0, 0, 0);
visualizer->setPosition(mode == BOTH ? color.cols : 0, 0);
visualizer->setSize(color.cols, color.rows);
visualizer->setShowFPS(true);
visualizer->setCameraPosition(0, 0, 0, 0, -1, 0);
visualizer->registerKeyboardCallback(&Receiver::keyboardEvent, *this);
for(; running && ros::ok();)
{
if(updateCloud)
{
lock.lock();
color = this->color;
depth = this->depth;
updateCloud = false;
lock.unlock();
createCloud(depth, color, cloud);
visualizer->updatePointCloud(cloud, cloudName);
}
if(save)
{
save = false;
cv::Mat depthDisp;
dispDepth(depth, depthDisp, 12000.0f);
saveCloudAndImages(cloud, color, depth, depthDisp);
}
visualizer->spinOnce(10);
}
visualizer->close();
}
void keyboardEvent(const pcl::visualization::KeyboardEvent &event, void *)
{
if(event.keyUp())
{
switch(event.getKeyCode())
{
case 27:
case 'q':
running = false;
break;
case ' ':
case 's':
save = true;
break;
}
}
}
void readImage(const sensor_msgs::Image::ConstPtr msgImage, cv::Mat &image) const
{
cv_bridge::CvImageConstPtr pCvImage;
pCvImage = cv_bridge::toCvShare(msgImage, msgImage->encoding);
pCvImage->image.copyTo(image);
}
void readCameraInfo(const sensor_msgs::CameraInfo::ConstPtr cameraInfo, cv::Mat &cameraMatrix) const
{
double *itC = cameraMatrix.ptr<double>(0, 0);
for(size_t i = 0; i < 9; ++i, ++itC)
{
*itC = cameraInfo->K[i];
}
}
void dispDepth(const cv::Mat &in, cv::Mat &out, const float maxValue)
{
cv::Mat tmp = cv::Mat(in.rows, in.cols, CV_8U);
const uint32_t maxInt = 255;
#pragma omp parallel for
for(int r = 0; r < in.rows; ++r)
{
const uint16_t *itI = in.ptr<uint16_t>(r);
uint8_t *itO = tmp.ptr<uint8_t>(r);
for(int c = 0; c < in.cols; ++c, ++itI, ++itO)
{
*itO = (uint8_t)std::min((*itI * maxInt / maxValue), 255.0f);
}
}
cv::applyColorMap(tmp, out, cv::COLORMAP_JET);
}
void combine(const cv::Mat &inC, const cv::Mat &inD, cv::Mat &out)
{
out = cv::Mat(inC.rows, inC.cols, CV_8UC3);
#pragma omp parallel for
for(int r = 0; r < inC.rows; ++r)
{
const cv::Vec3b
*itC = inC.ptr<cv::Vec3b>(r),
*itD = inD.ptr<cv::Vec3b>(r);
cv::Vec3b *itO = out.ptr<cv::Vec3b>(r);
for(int c = 0; c < inC.cols; ++c, ++itC, ++itD, ++itO)
{
itO->val[0] = (itC->val[0] + itD->val[0]) >> 1;
itO->val[1] = (itC->val[1] + itD->val[1]) >> 1;
itO->val[2] = (itC->val[2] + itD->val[2]) >> 1;
}
}
}
void createCloud(const cv::Mat &depth, const cv::Mat &color, pcl::PointCloud<pcl::PointXYZRGBA>::Ptr &cloud) const
{
const float badPoint = std::numeric_limits<float>::quiet_NaN();
#pragma omp parallel for
for(int r = 0; r < depth.rows; ++r)
{
pcl::PointXYZRGBA *itP = &cloud->points[r * depth.cols];
const uint16_t *itD = depth.ptr<uint16_t>(r);
const cv::Vec3b *itC = color.ptr<cv::Vec3b>(r);
const float y = lookupY.at<float>(0, r);
const float *itX = lookupX.ptr<float>();
for(size_t c = 0; c < (size_t)depth.cols; ++c, ++itP, ++itD, ++itC, ++itX)
{
register const float depthValue = *itD / 1000.0f;
// Check for invalid measurements
if(*itD == 0)
{
// not valid
itP->x = itP->y = itP->z = badPoint;
itP->rgba = 0;
continue;
}
itP->z = depthValue;
itP->x = *itX * depthValue;
itP->y = y * depthValue;
itP->b = itC->val[0];
itP->g = itC->val[1];
itP->r = itC->val[2];
itP->a = 255;
}
}
}
void saveCloudAndImages(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr cloud, const cv::Mat &color, const cv::Mat &depth, const cv::Mat &depthColored)
{
oss.str("");
oss << "./" << std::setfill('0') << std::setw(4) << frame;
const std::string baseName = oss.str();
const std::string cloudName = baseName + "_cloud.pcd";
const std::string colorName = baseName + "_color.jpg";
const std::string depthName = baseName + "_depth.png";
const std::string depthColoredName = baseName + "_depth_colored.png";
OUT_INFO("saving cloud: " << cloudName);
writer.writeBinary(cloudName, *cloud);
OUT_INFO("saving color: " << colorName);
cv::imwrite(colorName, color, params);
OUT_INFO("saving depth: " << depthName);
cv::imwrite(depthName, depth, params);
OUT_INFO("saving depth: " << depthColoredName);
cv::imwrite(depthColoredName, depthColored, params);
OUT_INFO("saving complete!");
++frame;
}
void createLookup(size_t width, size_t height)
{
const float fx = 1.0f / cameraMatrixColor.at<double>(0, 0);
const float fy = 1.0f / cameraMatrixColor.at<double>(1, 1);
const float cx = cameraMatrixColor.at<double>(0, 2);
const float cy = cameraMatrixColor.at<double>(1, 2);
float *it;
lookupY = cv::Mat(1, height, CV_32F);
it = lookupY.ptr<float>();
for(size_t r = 0; r < height; ++r, ++it)
{
*it = (r - cy) * fy;
}
lookupX = cv::Mat(1, width, CV_32F);
it = lookupX.ptr<float>();
for(size_t c = 0; c < width; ++c, ++it)
{
*it = (c - cx) * fx;
}
}
};
void help(const std::string &path)
{
std::cout << path << FG_BLUE " [options]" << std::endl
<< FG_GREEN " name" NO_COLOR ": " FG_YELLOW "'any string'" NO_COLOR " equals to the kinect2_bridge topic base name" << std::endl
<< FG_GREEN " mode" NO_COLOR ": " FG_YELLOW "'qhd'" NO_COLOR ", " FG_YELLOW "'hd'" NO_COLOR ", " FG_YELLOW "'sd'" NO_COLOR " or " FG_YELLOW "'ir'" << std::endl
<< FG_GREEN " visualization" NO_COLOR ": " FG_YELLOW "'image'" NO_COLOR ", " FG_YELLOW "'cloud'" NO_COLOR " or " FG_YELLOW "'both'" << std::endl
<< FG_GREEN " options" NO_COLOR ":" << std::endl
<< FG_YELLOW " 'compressed'" NO_COLOR " use compressed instead of raw topics" << std::endl
<< FG_YELLOW " 'approx'" NO_COLOR " use approximate time synchronization" << std::endl;
}
int main(int argc, char **argv)
{
#if EXTENDED_OUTPUT
ROSCONSOLE_AUTOINIT;
if(!getenv("ROSCONSOLE_FORMAT"))
{
ros::console::g_formatter.tokens_.clear();
ros::console::g_formatter.init("[${severity}] ${message}");
}
#endif
ros::init(argc, argv, "kinect2_viewer", ros::init_options::AnonymousName);
if(!ros::ok())
{
return 0;
}
std::string ns = K2_DEFAULT_NS;
std::string topicColor = K2_TOPIC_QHD K2_TOPIC_IMAGE_COLOR K2_TOPIC_IMAGE_RECT;
std::string topicDepth = K2_TOPIC_QHD K2_TOPIC_IMAGE_DEPTH K2_TOPIC_IMAGE_RECT;
bool useExact = true;
bool useCompressed = false;
Receiver::Mode mode = Receiver::CLOUD;
for(size_t i = 1; i < (size_t)argc; ++i)
{
std::string param(argv[i]);
if(param == "-h" || param == "--help" || param == "-?" || param == "--?")
{
help(argv[0]);
ros::shutdown();
return 0;
}
else if(param == "qhd")
{
topicColor = K2_TOPIC_QHD K2_TOPIC_IMAGE_COLOR K2_TOPIC_IMAGE_RECT;
topicDepth = K2_TOPIC_QHD K2_TOPIC_IMAGE_DEPTH K2_TOPIC_IMAGE_RECT;
}
else if(param == "hd")
{
topicColor = K2_TOPIC_HD K2_TOPIC_IMAGE_COLOR K2_TOPIC_IMAGE_RECT;
topicDepth = K2_TOPIC_HD K2_TOPIC_IMAGE_DEPTH K2_TOPIC_IMAGE_RECT;
}
else if(param == "ir")
{
topicColor = K2_TOPIC_SD K2_TOPIC_IMAGE_IR K2_TOPIC_IMAGE_RECT;
topicDepth = K2_TOPIC_SD K2_TOPIC_IMAGE_DEPTH K2_TOPIC_IMAGE_RECT;
}
else if(param == "sd")
{
topicColor = K2_TOPIC_SD K2_TOPIC_IMAGE_COLOR K2_TOPIC_IMAGE_RECT;
topicDepth = K2_TOPIC_SD K2_TOPIC_IMAGE_DEPTH K2_TOPIC_IMAGE_RECT;
}
else if(param == "approx")
{
useExact = false;
}
else if(param == "compressed")
{
useCompressed = true;
}
else if(param == "image")
{
mode = Receiver::IMAGE;
}
else if(param == "cloud")
{
mode = Receiver::CLOUD;
}
else if(param == "both")
{
mode = Receiver::BOTH;
}
else
{
ns = param;
}
}
topicColor = "/" + ns + topicColor;
topicDepth = "/" + ns + topicDepth;
OUT_INFO("topic color: " FG_CYAN << topicColor << NO_COLOR);
OUT_INFO("topic depth: " FG_CYAN << topicDepth << NO_COLOR);
Receiver receiver(topicColor, topicDepth, useExact, useCompressed);
OUT_INFO("starting receiver...");
receiver.run(mode);
ros::shutdown();
return 0;
}

63
Code/RK3588/PIBot_ROS/third_party/libfreenect2/.gitattributes vendored Normal file
View File

@ -0,0 +1,63 @@
###############################################################################
# Set default behavior to automatically normalize line endings.
###############################################################################
* text=auto
###############################################################################
# Set default behavior for command prompt diff.
#
# This is need for earlier builds of msysgit that does not have it on by
# default for csharp files.
# Note: This is only used by command line
###############################################################################
#*.cs diff=csharp
###############################################################################
# Set the merge driver for project and solution files
#
# Merging from the command prompt will add diff markers to the files if there
# are conflicts (Merging from VS is not affected by the settings below, in VS
# the diff markers are never inserted). Diff markers may cause the following
# file extensions to fail to load in VS. An alternative would be to treat
# these files as binary and thus will always conflict and require user
# intervention with every merge. To do so, just uncomment the entries below
###############################################################################
#*.sln merge=binary
#*.csproj merge=binary
#*.vbproj merge=binary
#*.vcxproj merge=binary
#*.vcproj merge=binary
#*.dbproj merge=binary
#*.fsproj merge=binary
#*.lsproj merge=binary
#*.wixproj merge=binary
#*.modelproj merge=binary
#*.sqlproj merge=binary
#*.wwaproj merge=binary
###############################################################################
# behavior for image files
#
# image files are treated as binary by default.
###############################################################################
#*.jpg binary
#*.png binary
#*.gif binary
###############################################################################
# diff behavior for common document formats
#
# Convert binary document formats to text before diffing them. This feature
# is only available from the command line. Turn it on by uncommenting the
# entries below.
###############################################################################
#*.doc diff=astextplain
#*.DOC diff=astextplain
#*.docx diff=astextplain
#*.DOCX diff=astextplain
#*.dot diff=astextplain
#*.DOT diff=astextplain
#*.pdf diff=astextplain
#*.PDF diff=astextplain
#*.rtf diff=astextplain
#*.RTF diff=astextplain

24
Code/RK3588/PIBot_ROS/third_party/libfreenect2/.github/ISSUE_TEMPLATE.md vendored Normal file
View File

@ -0,0 +1,24 @@
Overview Description:
<!-- Check https://github.com/OpenKinect/libfreenect2/wiki/Troubleshooting if you haven't done so. -->
Version, Platform, and Hardware Bug Found:
1. `git log -1 --oneline`
2. `uname -a`
3. `lsusb -t`
4. `lspci -nn`
Steps to Reproduce:
1.
2.
3.
Actual Results:
Expected Results:
Reproducibility:
Additional Information:

161
Code/RK3588/PIBot_ROS/third_party/libfreenect2/.gitignore vendored Normal file
View File

@ -0,0 +1,161 @@
build
# Dependency folders
depends/*/
depends/*.deb
## Ignore Visual Studio temporary files, build results, and
## files generated by popular Visual Studio add-ons.
# User-specific files
*.suo
*.user
*.sln.docstates
# Build results
[Dd]ebug/
[Rr]elease/
x64/
[Bb]in/
[Oo]bj/
# Enable "build/" folder in the NuGet Packages folder since NuGet packages use it for MSBuild targets
!packages/*/build/
# MSTest test Results
[Tt]est[Rr]esult*/
[Bb]uild[Ll]og.*
*_i.c
*_p.c
*.ilk
*.meta
*.obj
*.pch
*.pdb
*.pgc
*.pgd
*.rsp
*.sbr
*.tlb
*.tli
*.tlh
*.tmp
*.tmp_proj
*.log
*.vspscc
*.vssscc
.builds
*.pidb
*.log
*.scc
# Visual C++ cache files
ipch/
*.aps
*.ncb
*.opensdf
*.sdf
*.cachefile
# Visual Studio profiler
*.psess
*.vsp
*.vspx
# Guidance Automation Toolkit
*.gpState
# ReSharper is a .NET coding add-in
_ReSharper*/
*.[Rr]e[Ss]harper
# TeamCity is a build add-in
_TeamCity*
# DotCover is a Code Coverage Tool
*.dotCover
# NCrunch
*.ncrunch*
.*crunch*.local.xml
# Installshield output folder
[Ee]xpress/
# DocProject is a documentation generator add-in
DocProject/buildhelp/
DocProject/Help/*.HxT
DocProject/Help/*.HxC
DocProject/Help/*.hhc
DocProject/Help/*.hhk
DocProject/Help/*.hhp
DocProject/Help/Html2
DocProject/Help/html
# Click-Once directory
publish/
# Publish Web Output
*.Publish.xml
# NuGet Packages Directory
## TODO: If you have NuGet Package Restore enabled, uncomment the next line
#packages/
# Windows Azure Build Output
csx
*.build.csdef
# Windows Store app package directory
AppPackages/
# Others
sql/
*.Cache
ClientBin/
[Ss]tyle[Cc]op.*
~$*
*~
*.dbmdl
*.[Pp]ublish.xml
*.pfx
*.publishsettings
# RIA/Silverlight projects
Generated_Code/
# Backup & report files from converting an old project file to a newer
# Visual Studio version. Backup files are not needed, because we have git ;-)
_UpgradeReport_Files/
Backup*/
UpgradeLog*.XML
UpgradeLog*.htm
# SQL Server files
App_Data/*.mdf
App_Data/*.ldf
#LightSwitch generated files
GeneratedArtifacts/
_Pvt_Extensions/
ModelManifest.xml
# =========================
# Windows detritus
# =========================
# Windows image file caches
Thumbs.db
ehthumbs.db
# Folder config file
Desktop.ini
# Recycle Bin used on file shares
$RECYCLE.BIN/
# Mac desktop service store files
.DS_Store

202
Code/RK3588/PIBot_ROS/third_party/libfreenect2/APACHE20 vendored Normal file
View File

@ -0,0 +1,202 @@
Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

500
Code/RK3588/PIBot_ROS/third_party/libfreenect2/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,500 @@
CMAKE_MINIMUM_REQUIRED(VERSION 2.8.12.1)
SET(PROJECT_VER_MAJOR 0)
SET(PROJECT_VER_MINOR 2)
SET(PROJECT_VER_PATCH 0)
SET(PROJECT_VER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
SET(PROJECT_APIVER "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}")
SET(CMAKE_CXX_FLAGS "-fPIC")
if(WIN32 AND NOT MINGW)
if(NOT DEFINED CMAKE_DEBUG_POSTFIX)
set(CMAKE_DEBUG_POSTFIX "d")
endif()
endif()
IF(WIN32)
# no permission for the default install prefix %ProgramFiles%
SET(CMAKE_INSTALL_PREFIX "${CMAKE_BINARY_DIR}/install" CACHE STRING "installation path")
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(libfreenect2)
IF(POLICY CMP0042)
cmake_policy(SET CMP0042 NEW)
ENDIF()
SET(MY_DIR ${libfreenect2_SOURCE_DIR})
SET(DEPENDS_DIR "${MY_DIR}/depends" CACHE STRING "dependency directory must be set to 'false' if external deps are used")
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" ON)
OPTION(ENABLE_CXX11 "Enable C++11 support" OFF)
OPTION(ENABLE_OPENCL "Enable OpenCL support" ON)
OPTION(ENABLE_CUDA "Enable CUDA support" ON)
OPTION(ENABLE_OPENGL "Enable OpenGL support" ON)
OPTION(ENABLE_VAAPI "Enable VA-API support" ON)
OPTION(ENABLE_TEGRAJPEG "Enable Tegra HW JPEG support" ON)
OPTION(ENABLE_PROFILING "Collect profiling stats (memory consuming)" OFF)
IF(ENABLE_PROFILING)
SET(LIBFREENECT2_WITH_PROFILING 1)
ENDIF()
IF(MSVC)
# suppress several "possible loss of data" warnings, and
# "zero-length array in struct" from libusb.h
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4267 /wd4244 /wd4200 /wd4305 /wd4146")
ADD_DEFINITIONS(-D_CRT_SECURE_NO_WARNINGS) # no warning for getenv()
ELSE()
# Heed warnings from non-MSVC compilers
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
ENDIF()
SET(HAVE_CXX11 disabled)
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 "${CMAKE_CXX_FLAGS} -std=c++11")
SET(LIBFREENECT2_WITH_CXX11_SUPPORT 1)
SET(HAVE_CXX11 yes)
ELSEIF(COMPILER_SUPPORTS_CXX0X)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
SET(HAVE_CXX11 c++0x)
ELSE()
SET(HAVE_CXX11 no)
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(GenerateResources)
#set the default path for built executables to the "bin" directory
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
#set the default path for built libraries to the "lib" directory
SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib)
# dependencies
FIND_PACKAGE(PkgConfig) # try find PKGConfig as it will be used if found
FIND_PACKAGE(LibUSB REQUIRED)
# Add includes
INCLUDE_DIRECTORIES(
"${MY_DIR}/include"
"${MY_DIR}/include/internal"
${PROJECT_BINARY_DIR} # for generated headers
${LIBFREENECT2_THREADING_INCLUDE_DIR}
${LibUSB_INCLUDE_DIRS}
)
SET(RESOURCES_INC_FILE "${PROJECT_BINARY_DIR}/resources.inc.h")
SET(SOURCES
include/internal/libfreenect2/protocol/command.h
include/internal/libfreenect2/protocol/command_transaction.h
include/internal/libfreenect2/protocol/response.h
include/internal/libfreenect2/protocol/usb_control.h
include/internal/libfreenect2/usb/event_loop.h
include/internal/libfreenect2/usb/transfer_pool.h
include/libfreenect2/logger.h
include/internal/libfreenect2/logging.h
include/internal/libfreenect2/async_packet_processor.h
include/internal/libfreenect2/depth_packet_processor.h
include/internal/libfreenect2/depth_packet_stream_parser.h
include/internal/libfreenect2/allocator.h
include/libfreenect2/frame_listener.hpp
include/libfreenect2/frame_listener_impl.h
include/libfreenect2/libfreenect2.hpp
include/libfreenect2/color_settings.h
include/libfreenect2/led_settings.h
include/libfreenect2/packet_pipeline.h
include/internal/libfreenect2/packet_processor.h
include/libfreenect2/registration.h
include/internal/libfreenect2/resource.h
include/internal/libfreenect2/rgb_packet_processor.h
include/internal/libfreenect2/rgb_packet_stream_parser.h
include/internal/libfreenect2/threading.h
src/transfer_pool.cpp
src/event_loop.cpp
src/usb_control.cpp
src/allocator.cpp
src/frame_listener_impl.cpp
src/packet_pipeline.cpp
src/rgb_packet_stream_parser.cpp
src/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/command_transaction.cpp
src/registration.cpp
src/logging.cpp
src/libfreenect2.cpp
${LIBFREENECT2_THREADING_SOURCE}
${RESOURCES_INC_FILE}
"${PROJECT_BINARY_DIR}/libfreenect2/config.h"
"${PROJECT_BINARY_DIR}/libfreenect2/export.h"
)
SET(LIBRARIES
${LibUSB_LIBRARIES}
${LIBFREENECT2_THREADING_LIBRARIES}
)
SET(LIBFREENECT2_DLLS
${LibUSB_DLL}
)
SET(HAVE_VideoToolbox "no (Apple only)")
IF(APPLE)
FIND_LIBRARY(VIDEOTOOLBOX_LIBRARY VideoToolbox)
SET(HAVE_VideoToolbox no)
IF(VIDEOTOOLBOX_LIBRARY)
SET(LIBFREENECT2_WITH_VT_SUPPORT 1)
SET(HAVE_VideoToolbox yes)
FIND_LIBRARY(COREFOUNDATION_LIBRARY CoreFoundation REQUIRED)
FIND_LIBRARY(COREMEDIA_LIBRARY CoreMedia REQUIRED)
FIND_LIBRARY(COREVIDEO_LIBRARY CoreVideo REQUIRED)
LIST(APPEND SOURCES
src/vt_rgb_packet_processor.cpp
)
LIST(APPEND LIBRARIES
${VIDEOTOOLBOX_LIBRARY}
${COREFOUNDATION_LIBRARY}
${COREMEDIA_LIBRARY}
${COREVIDEO_LIBRARY}
)
ENDIF(VIDEOTOOLBOX_LIBRARY)
ENDIF(APPLE)
SET(HAVE_VAAPI disabled)
IF(ENABLE_VAAPI)
IF(PKG_CONFIG_FOUND)
PKG_CHECK_MODULES(VAAPI libva libva-drm)
ENDIF()
FIND_PACKAGE(JPEG)
SET(HAVE_VAAPI no)
IF(VAAPI_FOUND AND JPEG_FOUND)
SET(LIBFREENECT2_WITH_VAAPI_SUPPORT 1)
SET(HAVE_VAAPI yes)
INCLUDE_DIRECTORIES(${VAAPI_INCLUDE_DIRS})
LIST(APPEND SOURCES
src/vaapi_rgb_packet_processor.cpp
)
LIST(APPEND LIBRARIES
${VAAPI_LIBRARIES}
${JPEG_LIBRARY}
)
ENDIF()
ENDIF(ENABLE_VAAPI)
SET(HAVE_TegraJPEG disabled)
IF(ENABLE_TEGRAJPEG)
FIND_PACKAGE(TegraJPEG)
SET(HAVE_TegraJPEG no)
IF(TegraJPEG_FOUND)
SET(LIBFREENECT2_WITH_TEGRAJPEG_SUPPORT 1)
SET(HAVE_TegraJPEG yes)
INCLUDE_DIRECTORIES(${TegraJPEG_INCLUDE_DIRS})
LIST(APPEND SOURCES
src/tegra_jpeg_rgb_packet_processor.cpp
)
LIST(APPEND LIBRARIES
${CMAKE_DL_LIBS}
)
ENDIF()
ENDIF()
IF(LIBFREENECT2_WITH_VT_SUPPORT)
FIND_PACKAGE(TurboJPEG)
ELSE()
# VAAPI can fail to start at runtime. It must have a fallback.
FIND_PACKAGE(TurboJPEG REQUIRED)
ENDIF()
SET(HAVE_TurboJPEG no)
IF(TurboJPEG_FOUND)
SET(LIBFREENECT2_WITH_TURBOJPEG_SUPPORT 1)
SET(HAVE_TurboJPEG yes)
INCLUDE_DIRECTORIES(${TurboJPEG_INCLUDE_DIRS})
LIST(APPEND SOURCES
src/turbo_jpeg_rgb_packet_processor.cpp
)
LIST(APPEND LIBRARIES
${TurboJPEG_LIBRARIES}
)
LIST(APPEND LIBFREENECT2_DLLS
${TurboJPEG_DLL}
)
ENDIF()
SET(HAVE_OpenGL disabled)
IF(ENABLE_OPENGL)
FIND_PACKAGE(GLFW3)
FIND_PACKAGE(OpenGL)
SET(HAVE_OpenGL no)
IF(GLFW3_FOUND AND OPENGL_FOUND)
SET(LIBFREENECT2_WITH_OPENGL_SUPPORT 1)
SET(HAVE_OpenGL yes)
INCLUDE_DIRECTORIES(${GLFW3_INCLUDE_DIRS})
LIST(APPEND LIBFREENECT2_DLLS ${GLFW3_DLL})
LIST(APPEND LIBRARIES
${GLFW3_LIBRARIES}
${OPENGL_gl_LIBRARY}
)
LIST(APPEND SOURCES
src/flextGL.cpp
src/opengl_depth_packet_processor.cpp
)
LIST(APPEND RESOURCES
src/shader/debug.fs
src/shader/default.vs
src/shader/filter1.fs
src/shader/filter2.fs
src/shader/stage1.fs
src/shader/stage2.fs
)
ENDIF()
ENDIF(ENABLE_OPENGL)
SET(HAVE_OpenCL disabled)
IF(ENABLE_OPENCL)
FIND_PACKAGE(OpenCL)
SET(HAVE_OpenCL no)
IF(OpenCL_FOUND)
SET(LIBFREENECT2_WITH_OPENCL_SUPPORT 1)
SET(HAVE_OpenCL yes)
IF(UNIX AND NOT APPLE)
INCLUDE(CheckOpenCLICDLoader)
IF(OpenCL_C_WORKS AND NOT OpenCL_CXX_WORKS)
SET(LIBFREENECT2_OPENCL_ICD_LOADER_IS_OLD 1)
SET(HAVE_OpenCL "yes but buggy")
MESSAGE(WARNING "Your libOpenCL.so is incompatible with CL/cl.h. Install ocl-icd-opencl-dev to update libOpenCL.so?")
ENDIF()
ENDIF()
INCLUDE_DIRECTORIES(${OpenCL_INCLUDE_DIRS})
LIST(APPEND SOURCES
src/opencl_depth_packet_processor.cpp
src/opencl_kde_depth_packet_processor.cpp
)
LIST(APPEND LIBRARIES
${OpenCL_LIBRARIES}
)
LIST(APPEND RESOURCES
src/opencl_depth_packet_processor.cl
src/opencl_kde_depth_packet_processor.cl
)
# Major Linux distro stable releases have buggy OpenCL ICD loader.
# The workaround of disabling exceptions can only be set up during compile time.
# Diabling it for all should be harmless. The flag is the same for GCC/Clang/ICC.
IF(UNIX AND NOT APPLE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fno-exceptions")
ENDIF()
ENDIF(OpenCL_FOUND)
ENDIF(ENABLE_OPENCL)
SET(HAVE_CUDA disabled)
IF(ENABLE_CUDA)
FIND_PACKAGE(CUDA)
SET(HAVE_CUDA no)
IF(CUDA_FOUND AND MSVC14 AND CUDA_VERSION VERSION_LESS 8.0)
SET(HAVE_CUDA "no (VS2015 not supported)")
ELSEIF(CUDA_FOUND)
SET(LIBFREENECT2_WITH_CUDA_SUPPORT 1)
SET(HAVE_CUDA yes)
STRING(REPLACE "\\" "/" NVCUDASAMPLES_ROOT "$ENV{NVCUDASAMPLES_ROOT}")
STRING(REPLACE "\\" "/" NVCUDASAMPLES8_0_ROOT "$ENV{NVCUDASAMPLES8_0_ROOT}")
CUDA_INCLUDE_DIRECTORIES(
"${MY_DIR}/include/"
"${CUDA_TOOLKIT_ROOT_DIR}/samples/common/inc"
"${NVCUDASAMPLES_ROOT}/common/inc"
"${NVCUDASAMPLES8_0_ROOT}/common/inc"
)
SET(CUDA_FLAGS -use_fast_math)
IF(NOT MSVC)
SET(CUDA_FLAGS "${CUDA_FLAGS} -Xcompiler -fPIC")
ENDIF()
IF(HAVE_CXX11 STREQUAL yes AND CUDA_VERSION VERSION_GREATER 7.0)
SET(CUDA_FLAGS "${CUDA_FLAGS} -std=c++11")
ENDIF()
SET(OLD_CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
STRING(REGEX REPLACE "-std=c\\+\\+.." "" CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
CUDA_COMPILE(CUDA_OBJECTS
src/cuda_depth_packet_processor.cu
src/cuda_kde_depth_packet_processor.cu
OPTIONS ${CUDA_FLAGS}
)
SET(CMAKE_CXX_FLAGS "${OLD_CMAKE_CXX_FLAGS}")
INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
LIST(APPEND SOURCES
${CUDA_OBJECTS}
)
LIST(APPEND LIBRARIES
${CUDA_LIBRARIES}
)
ENDIF()
ENDIF(ENABLE_CUDA)
# RPATH handling for CUDA 8.0 libOpenCL.so conflict. See #804.
IF(HAVE_OpenCL STREQUAL yes AND UNIX AND NOT APPLE)
FILE(GLOB CUDA_ld_so_conf /etc/ld.so.conf.d/cuda*.conf)
IF(CUDA_ld_so_conf)
MESSAGE(WARNING "Your CUDA installation overrides OpenCL system library path.")
GET_FILENAME_COMPONENT(OpenCL_LIB_PATH ${OpenCL_LIBRARY} DIRECTORY)
SET(CMAKE_INSTALL_RPATH ${OpenCL_LIB_PATH} CACHE STRING "Set RPATH for system OpenCL")
ENDIF()
ENDIF()
# RPATH handling for private libusb copies
# Users have two options:
# 1. Build libusb in depends/ and leave it there:
# Do NOT set CMAKE_INSTALL_RPATH. It works by default.
# 2. Build libusb and install it somewhere:
# Set CMAKE_INSTALL_RPATH to the libusb.so installation directory before compiling.
# Both command line -DCMAKE_INSTALL_RPATH=... and CMake GUI settings are accepted.
#
# Anyway if wrong versions of libusb is used, errors will be reported explicitly.
IF(NOT DEFINED CMAKE_INSTALL_RPATH AND NOT ${LibUSB_LIBDIR} MATCHES "^/usr/lib")
SET(CMAKE_INSTALL_RPATH ${LibUSB_LIBDIR} CACHE STRING "Set RPATH for a private libusb")
ELSEIF(DEFINED CMAKE_INSTALL_RPATH)
SET(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_RPATH} CACHE STRING "Set RPATH for a private libusb")
ENDIF()
IF(DEFINED CMAKE_INSTALL_RPATH)
MESSAGE(STATUS "RPATH set to ${CMAKE_INSTALL_RPATH}")
ENDIF()
CONFIGURE_FILE("${MY_DIR}/include/libfreenect2/config.h.in" "${PROJECT_BINARY_DIR}/libfreenect2/config.h" @ONLY)
GENERATE_RESOURCES(${RESOURCES_INC_FILE} ${MY_DIR} ${RESOURCES})
ADD_DEFINITIONS(-DRESOURCES_INC)
ADD_LIBRARY(freenect2 ${SOURCES})
SET_TARGET_PROPERTIES(freenect2 PROPERTIES
CXX_VISIBILITY_PRESET hidden
VISIBILITY_INLINES_HIDDEN 1
VERSION ${PROJECT_VER}
SOVERSION ${PROJECT_APIVER}
)
INCLUDE(GenerateExportHeader)
GENERATE_EXPORT_HEADER(freenect2
BASE_NAME libfreenect2
EXPORT_FILE_NAME libfreenect2/export.h
)
IF(MSVC AND NOT BUILD_SHARED_LIBS)
# MSVC creates freenect2.lib for both dynamic and static by default
set_target_properties(freenect2 PROPERTIES SUFFIX "static.lib")
ENDIF()
STRING(REPLACE ";" "\n " LIBRARIES_STRING "${LIBRARIES}")
MESSAGE(STATUS "Linking with these libraries: \n ${LIBRARIES_STRING}")
TARGET_LINK_LIBRARIES(freenect2 ${LIBRARIES})
CONFIGURE_FILE(freenect2.cmake.in "${PROJECT_BINARY_DIR}/freenect2Config.cmake" @ONLY)
CONFIGURE_FILE(freenect2Version.cmake.in "${PROJECT_BINARY_DIR}/freenect2ConfigVersion.cmake" @ONLY)
CONFIGURE_FILE(freenect2.pc.in "${PROJECT_BINARY_DIR}/freenect2.pc" @ONLY)
INSTALL(TARGETS freenect2 DESTINATION lib RUNTIME DESTINATION bin)
INSTALL(DIRECTORY "${MY_DIR}/include/${PROJECT_NAME}" DESTINATION include PATTERN "*.in" EXCLUDE)
INSTALL(DIRECTORY "${PROJECT_BINARY_DIR}/${PROJECT_NAME}" DESTINATION include)
INSTALL(FILES "${PROJECT_BINARY_DIR}/freenect2Config.cmake" DESTINATION lib/cmake/freenect2/)
INSTALL(FILES "${PROJECT_BINARY_DIR}/freenect2ConfigVersion.cmake" DESTINATION lib/cmake/freenect2/)
INSTALL(FILES "${PROJECT_BINARY_DIR}/freenect2.pc" DESTINATION lib/pkgconfig/)
ADD_SUBDIRECTORY(${MY_DIR}/doc)
SET(HAVE_Examples disabled)
IF(BUILD_EXAMPLES)
SET(HAVE_Examples yes)
MESSAGE(STATUS "Configurating examples")
ADD_SUBDIRECTORY(${MY_DIR}/examples)
ENDIF()
SET(HAVE_OpenNI2 disabled)
IF(BUILD_OPENNI2_DRIVER)
FIND_PACKAGE(OpenNI2)
SET(HAVE_OpenNI2 no)
IF(OpenNI2_FOUND)
SET(HAVE_OpenNI2 yes)
FILE(GLOB OPENNI2_DRIVER_SOURCES src/openni2/*.cpp)
ADD_LIBRARY(freenect2-openni2 ${OPENNI2_DRIVER_SOURCES} ${LIBFREENECT2_THREADING_SOURCE})
TARGET_INCLUDE_DIRECTORIES(freenect2-openni2 PRIVATE ${OpenNI2_INCLUDE_DIRS})
TARGET_LINK_LIBRARIES(freenect2-openni2 freenect2 ${LIBFREENECT2_THREADING_LIBRARIES})
SET_TARGET_PROPERTIES(freenect2-openni2 PROPERTIES SOVERSION 0)
IF(NOT ${CMAKE_INSTALL_PREFIX} MATCHES "^/usr")
SET_TARGET_PROPERTIES(freenect2-openni2 PROPERTIES INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
ENDIF()
INSTALL(TARGETS freenect2-openni2 DESTINATION lib/OpenNI2/Drivers RUNTIME DESTINATION bin)
ADD_CUSTOM_TARGET(install-openni2
DEPENDS freenect2-openni2
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_INSTALL_PREFIX}/lib/OpenNI2/Drivers/" "${OpenNI2_LIBRARY_DIR}/OpenNI2/Drivers/"
VERBATIM
)
ENDIF()
ENDIF()
OPTION(BUILD_STREAMER_RECORDER "Build streamer_recorder" OFF)
SET(HAVE_streamer_recorder disabled)
IF(BUILD_STREAMER_RECORDER)
SET(HAVE_streamer_recorder yes)
MESSAGE(STATUS "Configurating streamer_recorder")
ADD_SUBDIRECTORY(${MY_DIR}/tools/streamer_recorder)
ENDIF()
GET_CMAKE_PROPERTY(vars VARIABLES)
MESSAGE(STATUS "Feature list:")
FOREACH(var ${vars})
IF(var MATCHES ^HAVE_)
STRING(REPLACE HAVE_ "" feature ${var})
MESSAGE(STATUS " ${feature} ${${var}}")
ENDIF()
ENDFOREACH()

34
Code/RK3588/PIBot_ROS/third_party/libfreenect2/CONTRIB vendored Normal file
View File

@ -0,0 +1,34 @@
Albert Hofkamp <a.t.hofkamp@tue.nl>
Alistair <alistair.wk@gmail.com>
augmenta <augmenta@augmenta.home>
Brendan Burns <bburns@google.com>
Christian Kerl <christian.kerl@in.tum.de>
Dave Coleman <davetcoleman@gmail.com>
Dorian Galvez-Lopez <dorian@email.gwu.edu>
Federico Spinelli <fspinelli@gmail.com>
Florian Echtler <floe@butterbrot.org>
Francisco Facioni <fran6co@gmail.com>
Gabor Papp <gabor.papp@gmail.com>
Giacomo Dabisias <g.dabisias@sssup.it>
Henning Jungkurth <henning.jungkurth@gmail.com>
James Billingham <james@jamesbillingham.com>
Joshua Blake <joshblake@gmail.com>
Lars Glud <larshg@gmail.com>
Lingzhu Xiang <lingzhu@lingzhuxiang.com>
Ludique <contacto@ludique.cl>
Mario Wündsch <dev@wuendsch.net>
Matthias Goldhoorn <matthias.goldhoorn@dfki.de>
Matthieu FT <matthieu.ft@gmx.fr>
MrTatsch <tatsch@gmail.com>
Paul Reynolds <paul@blastoffgames.net>
P.E. Viau <viau.pe@gmail.com>
rahulraw <rahulrawat.can@gmail.com>
Rich Wareham <rjw57@cam.ac.uk>
Ryan Gordon <ryan@quizlet.com>
Sergey Gusarov <laborer2008@gmail.com>
Serguei Mokhov <mokhov@cse.concordia.ca>
Steffen Fuchs <st.fuchs.tr@gmail.com>
Thiemo Wiedemeyer <wiedemeyer@cs.uni-bremen.de>
vinouz <vinouz@yahoo.fr>
yuanmingze <3054502461@sina.com>
Zou Hanya <hanyazou@gmail.com>

341
Code/RK3588/PIBot_ROS/third_party/libfreenect2/GPL2 vendored Normal file
View File

@ -0,0 +1,341 @@
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991 Free Software Foundation, Inc.
51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
License is intended to guarantee your freedom to share and change free
software--to make sure the software is free for all its users. This
General Public License applies to most of the Free Software
Foundation's software and to any other program whose authors commit to
using it. (Some other Free Software Foundation software is covered by
the GNU Library General Public License instead.) You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
this service if you wish), that you receive source code or can get it
if you want it, that you can change the software or use pieces of it
in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid
anyone to deny you these rights or to ask you to surrender the rights.
These restrictions translate to certain responsibilities for you if you
distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must give the recipients all the rights that
you have. You must make sure that they, too, receive or can get the
source code. And you must show them these terms so they know their
rights.
We protect your rights with two steps: (1) copyright the software, and
(2) offer you this license which gives you legal permission to copy,
distribute and/or modify the software.
Also, for each author's protection and ours, we want to make certain
that everyone understands that there is no warranty for this free
software. If the software is modified by someone else and passed on, we
want its recipients to know that what they have is not the original, so
that any problems introduced by others will not reflect on the original
authors' reputations.
Finally, any free program is threatened constantly by software
patents. We wish to avoid the danger that redistributors of a free
program will individually obtain patent licenses, in effect making the
program proprietary. To prevent this, we have made it clear that any
patent must be licensed for everyone's free use or not licensed at all.
The precise terms and conditions for copying, distribution and
modification follow.
GNU GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License applies to any program or other work which contains
a notice placed by the copyright holder saying it may be distributed
under the terms of this General Public License. The "Program", below,
refers to any such program or work, and a "work based on the Program"
means either the Program or any derivative work under copyright law:
that is to say, a work containing the Program or a portion of it,
either verbatim or with modifications and/or translated into another
language. (Hereinafter, translation is included without limitation in
the term "modification".) Each licensee is addressed as "you".
Activities other than copying, distribution and modification are not
covered by this License; they are outside its scope. The act of
running the Program is not restricted, and the output from the Program
is covered only if its contents constitute a work based on the
Program (independent of having been made by running the Program).
Whether that is true depends on what the Program does.
1. You may copy and distribute verbatim copies of the Program's
source code as you receive it, in any medium, provided that you
conspicuously and appropriately publish on each copy an appropriate
copyright notice and disclaimer of warranty; keep intact all the
notices that refer to this License and to the absence of any warranty;
and give any other recipients of the Program a copy of this License
along with the Program.
You may charge a fee for the physical act of transferring a copy, and
you may at your option offer warranty protection in exchange for a fee.
2. You may modify your copy or copies of the Program or any portion
of it, thus forming a work based on the Program, and copy and
distribute such modifications or work under the terms of Section 1
above, provided that you also meet all of these conditions:
a) You must cause the modified files to carry prominent notices
stating that you changed the files and the date of any change.
b) You must cause any work that you distribute or publish, that in
whole or in part contains or is derived from the Program or any
part thereof, to be licensed as a whole at no charge to all third
parties under the terms of this License.
c) If the modified program normally reads commands interactively
when run, you must cause it, when started running for such
interactive use in the most ordinary way, to print or display an
announcement including an appropriate copyright notice and a
notice that there is no warranty (or else, saying that you provide
a warranty) and that users may redistribute the program under
these conditions, and telling the user how to view a copy of this
License. (Exception: if the Program itself is interactive but
does not normally print such an announcement, your work based on
the Program is not required to print an announcement.)
These requirements apply to the modified work as a whole. If
identifiable sections of that work are not derived from the Program,
and can be reasonably considered independent and separate works in
themselves, then this License, and its terms, do not apply to those
sections when you distribute them as separate works. But when you
distribute the same sections as part of a whole which is a work based
on the Program, the distribution of the whole must be on the terms of
this License, whose permissions for other licensees extend to the
entire whole, and thus to each and every part regardless of who wrote it.
Thus, it is not the intent of this section to claim rights or contest
your rights to work written entirely by you; rather, the intent is to
exercise the right to control the distribution of derivative or
collective works based on the Program.
In addition, mere aggregation of another work not based on the Program
with the Program (or with a work based on the Program) on a volume of
a storage or distribution medium does not bring the other work under
the scope of this License.
3. You may copy and distribute the Program (or a work based on it,
under Section 2) in object code or executable form under the terms of
Sections 1 and 2 above provided that you also do one of the following:
a) Accompany it with the complete corresponding machine-readable
source code, which must be distributed under the terms of Sections
1 and 2 above on a medium customarily used for software interchange; or,
b) Accompany it with a written offer, valid for at least three
years, to give any third party, for a charge no more than your
cost of physically performing source distribution, a complete
machine-readable copy of the corresponding source code, to be
distributed under the terms of Sections 1 and 2 above on a medium
customarily used for software interchange; or,
c) Accompany it with the information you received as to the offer
to distribute corresponding source code. (This alternative is
allowed only for noncommercial distribution and only if you
received the program in object code or executable form with such
an offer, in accord with Subsection b above.)
The source code for a work means the preferred form of the work for
making modifications to it. For an executable work, complete source
code means all the source code for all modules it contains, plus any
associated interface definition files, plus the scripts used to
control compilation and installation of the executable. However, as a
special exception, the source code distributed need not include
anything that is normally distributed (in either source or binary
form) with the major components (compiler, kernel, and so on) of the
operating system on which the executable runs, unless that component
itself accompanies the executable.
If distribution of executable or object code is made by offering
access to copy from a designated place, then offering equivalent
access to copy the source code from the same place counts as
distribution of the source code, even though third parties are not
compelled to copy the source along with the object code.
4. You may not copy, modify, sublicense, or distribute the Program
except as expressly provided under this License. Any attempt
otherwise to copy, modify, sublicense or distribute the Program is
void, and will automatically terminate your rights under this License.
However, parties who have received copies, or rights, from you under
this License will not have their licenses terminated so long as such
parties remain in full compliance.
5. You are not required to accept this License, since you have not
signed it. However, nothing else grants you permission to modify or
distribute the Program or its derivative works. These actions are
prohibited by law if you do not accept this License. Therefore, by
modifying or distributing the Program (or any work based on the
Program), you indicate your acceptance of this License to do so, and
all its terms and conditions for copying, distributing or modifying
the Program or works based on it.
6. Each time you redistribute the Program (or any work based on the
Program), the recipient automatically receives a license from the
original licensor to copy, distribute or modify the Program subject to
these terms and conditions. You may not impose any further
restrictions on the recipients' exercise of the rights granted herein.
You are not responsible for enforcing compliance by third parties to
this License.
7. If, as a consequence of a court judgment or allegation of patent
infringement or for any other reason (not limited to patent issues),
conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot
distribute so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you
may not distribute the Program at all. For example, if a patent
license would not permit royalty-free redistribution of the Program by
all those who receive copies directly or indirectly through you, then
the only way you could satisfy both it and this License would be to
refrain entirely from distribution of the Program.
If any portion of this section is held invalid or unenforceable under
any particular circumstance, the balance of the section is intended to
apply and the section as a whole is intended to apply in other
circumstances.
It is not the purpose of this section to induce you to infringe any
patents or other property right claims or to contest validity of any
such claims; this section has the sole purpose of protecting the
integrity of the free software distribution system, which is
implemented by public license practices. Many people have made
generous contributions to the wide range of software distributed
through that system in reliance on consistent application of that
system; it is up to the author/donor to decide if he or she is willing
to distribute software through any other system and a licensee cannot
impose that choice.
This section is intended to make thoroughly clear what is believed to
be a consequence of the rest of this License.
8. If the distribution and/or use of the Program is restricted in
certain countries either by patents or by copyrighted interfaces, the
original copyright holder who places the Program under this License
may add an explicit geographical distribution limitation excluding
those countries, so that distribution is permitted only in or among
countries not thus excluded. In such case, this License incorporates
the limitation as if written in the body of this License.
9. The Free Software Foundation may publish revised and/or new versions
of the General Public License from time to time. Such new versions will
be similar in spirit to the present version, but may differ in detail to
address new problems or concerns.
Each version is given a distinguishing version number. If the Program
specifies a version number of this License which applies to it and "any
later version", you have the option of following the terms and conditions
either of that version or of any later version published by the Free
Software Foundation. If the Program does not specify a version number of
this License, you may choose any version ever published by the Free Software
Foundation.
10. If you wish to incorporate parts of the Program into other free
programs whose distribution conditions are different, write to the author
to ask for permission. For software which is copyrighted by the Free
Software Foundation, write to the Free Software Foundation; we sometimes
make exceptions for this. Our decision will be guided by the two goals
of preserving the free status of all derivatives of our free software and
of promoting the sharing and reuse of software generally.
NO WARRANTY
11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN
OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS
TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
REPAIR OR CORRECTION.
12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this
when it starts in an interactive mode:
Gnomovision version 69, Copyright (C) year name of author
Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, the commands you use may
be called something other than `show w' and `show c'; they could even be
mouse-clicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the program, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into
proprietary programs. If your program is a subroutine library, you may
consider it more useful to permit linking proprietary applications with the
library. If this is what you want to do, use the GNU Library General
Public License instead of this License.

249
Code/RK3588/PIBot_ROS/third_party/libfreenect2/README.md vendored Normal file
View File

@ -0,0 +1,249 @@
# libfreenect2
## Table of Contents
* [Description](README.md#description)
* [Requirements](README.md#requirements)
* [Troubleshooting](README.md#troubleshooting-and-reporting-bugs)
* [Maintainers](README.md#maintainers)
* [Installation](README.md#installation)
* [Windows / Visual Studio](README.md#windows--visual-studio)
* [MacOS](README.md#macos)
* [Linux](README.md#linux)
* [API Documentation (external)](https://openkinect.github.io/libfreenect2/)
## Description
Driver for Kinect for Windows v2 (K4W2) devices (release and developer preview).
Note: libfreenect2 does not do anything for either Kinect for Windows v1 or Kinect for Xbox 360 sensors. Use libfreenect1 for those sensors.
If you are using libfreenect2 in an academic context, please cite our work using the following DOI: [![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.50641.svg)](https://doi.org/10.5281/zenodo.50641)
If you use the KDE depth unwrapping algorithm implemented in the library, please also cite this ECCV 2016 [paper](http://users.isy.liu.se/cvl/perfo/abstracts/jaremo16.html).
This driver supports:
* RGB image transfer
* IR and depth image transfer
* registration of RGB and depth images
Missing features:
* firmware updates (see [issue #460](https://github.com/OpenKinect/libfreenect2/issues/460) for WiP)
Watch the OpenKinect wiki at www.openkinect.org and the mailing list at https://groups.google.com/forum/#!forum/openkinect for the latest developments and more information about the K4W2 USB protocol.
The API reference documentation is provided here https://openkinect.github.io/libfreenect2/.
## Requirements
### Hardware requirements
* USB 3.0 controller. USB 2 is not supported.
Intel and NEC USB 3.0 host controllers are known to work. ASMedia controllers are known to not work.
Virtual machines likely do not work, because USB 3.0 isochronous transfer is quite delicate.
##### Requirements for multiple Kinects
It has been reported to work for up to 5 devices on a high-end PC using multiple separate PCI Express USB3 expansion cards (with NEC controller chip). If you're using Linux, you may have to [increase USBFS memory buffers](https://github.com/OpenKinect/libfreenect2/wiki/Troubleshooting#multiple-kinects-try-increasing-usbfs-buffer-size). Depending on the number of Kinects, you may need to use an even larger buffer size. If you're using an expansion card, make sure it's not plugged into an PCI-E x1 slot. A single lane doesn't have enough bandwidth. x8 or x16 slots usually work.
### Operating system requirements
* Windows 7 (buggy), Windows 8, Windows 8.1, and probably Windows 10
* Debian, Ubuntu 14.04 or newer, probably other Linux distros. Recommend kernel 3.16+ or as new as possible.
* Mac OS X
### Requirements for optional features
* OpenGL depth processing: OpenGL 3.1 (Windows, Linux, Mac OS X). OpenGL ES is not supported at the moment.
* OpenCL depth processing: OpenCL 1.1
* CUDA depth processing: CUDA (6.5 and 7.5 are tested; The minimum version is not clear.)
* VAAPI JPEG decoding: Intel (minimum Ivy Bridge or newer) and Linux only
* VideoToolbox JPEG decoding: Mac OS X only
* OpenNI2 integration: OpenNI2 2.2.0.33
* Jetson TK1: Linux4Tegra 21.3 or later. Check [Jetson TK1 issues](https://github.com/OpenKinect/libfreenect2/wiki/Troubleshooting#jetson-tk1-issues) before installation. Jetson TX1 is not yet supported as the developers don't have one, but it may be easy to add the support.
## Troubleshooting and reporting bugs
First, check https://github.com/OpenKinect/libfreenect2/wiki/Troubleshooting for known issues.
When you report USB issues, please attach relevant debug log from running the program with environment variable `LIBUSB_DEBUG=3`, and relevant log from `dmesg`. Also include relevant hardware information `lspci` and `lsusb -t`.
## Maintainers
* Joshua Blake <joshblake@gmail.com>
* Florian Echtler
* Christian Kerl
* Lingzhu Xiang (development/master branch)
## Installation
### Windows / Visual Studio
* Install UsbDk driver
1. (Windows 7) You must first install Microsoft Security Advisory 3033929 otherwise your USB keyboards and mice will stop working!
2. Download the latest x64 installer from https://github.com/daynix/UsbDk/releases, install it.
3. If UsbDk somehow does not work, uninstall UsbDk and follow the libusbK instructions.
This doesn't interfere with the Microsoft SDK. Do not install both UsbDK and libusbK drivers
* (Alternatively) Install libusbK driver
You don't need the Kinect for Windows v2 SDK to build and install libfreenect2, though it doesn't hurt to have it too. You don't need to uninstall the SDK or the driver before doing this procedure.
Install the libusbK backend driver for libusb. Please follow the steps exactly:
1. Download Zadig from http://zadig.akeo.ie/.
2. Run Zadig and in options, check "List All Devices" and uncheck "Ignore Hubs or Composite Parents"
3. Select the "Xbox NUI Sensor (composite parent)" from the drop-down box. (Important: Ignore the "NuiSensor Adaptor" varieties, which are the adapter, NOT the Kinect) The current driver will list usbccgp. USB ID is VID 045E, PID 02C4 or 02D8.
4. Select libusbK (v3.0.7.0 or newer) from the replacement driver list.
5. Click the "Replace Driver" button. Click yes on the warning about replacing a system driver. (This is because it is a composite parent.)
To uninstall the libusbK driver (and get back the official SDK driver, if installed):
1. Open "Device Manager"
2. Under "libusbK USB Devices" tree, right click the "Xbox NUI Sensor (Composite Parent)" device and select uninstall.
3. Important: Check the "Delete the driver software for this device." checkbox, then click OK.
If you already had the official SDK driver installed and you want to use it:
4. In Device Manager, in the Action menu, click "Scan for hardware changes."
This will enumerate the Kinect sensor again and it will pick up the K4W2 SDK driver, and you should be ready to run KinectService.exe again immediately.
You can go back and forth between the SDK driver and the libusbK driver very quickly and easily with these steps.
* Build libusb
Open a Git shell (GitHub for Windows), or any shell that has access to git.exe and msbuild.exe
```
cd depends/
.\install_libusb_vs2013.cmd
```
Or `install_libusb_vs2015.cmd`. If you see some errors, you can always open the cmd files and follow the git commands, and maybe build `libusb_201x.sln` with Visual Studio by hand. Building with "Win32" is not recommended as it results in lower performance.
* Install TurboJPEG
Download from http://sourceforge.net/projects/libjpeg-turbo/files, extract it to `c:\libjpeg-turbo64` or `depends/libjpeg-turbo64`, or anywhere as specified by the environment variable `TurboJPEG_ROOT`.
* Install GLFW
Download from http://www.glfw.org/download.html (64-bit), extract as `depends/glfw` (rename `glfw-3.x.x.bin.WIN64` to `glfw`), or anywhere as specified by the environment variable `GLFW_ROOT`.
* Install OpenCL (optional)
1. Intel GPU: Download "Intel® SDK for OpenCL™ Applications 2016" from https://software.intel.com/en-us/intel-opencl (requires free registration) and install it.
* Install CUDA (optional, Nvidia only)
1. Download CUDA Toolkit and install it. You MUST install the samples too.
* Install OpenNI2 (optional)
Download OpenNI 2.2.0.33 (x64) from http://structure.io/openni, install it to default locations (`C:\Program Files...`).
* Build
The default installation path is `install`, you may change it by editing `CMAKE_INSTALL_PREFIX`.
```
mkdir build && cd build
cmake .. -G "Visual Studio 12 2013 Win64"
cmake --build . --config RelWithDebInfo --target install
```
Or `-G "Visual Studio 14 2015 Win64"`.
* Run the test program: `.\install\bin\Protonect.exe`, or start debugging in Visual Studio.
* Test OpenNI2 (optional)
Copy freenect2-openni2.dll, and other dll files (libusb-1.0.dll, glfw.dll, etc.) in `install\bin` to `C:\Program Files\OpenNI2\Tools\OpenNI2\Drivers`. Then run `C:\Program Files\OpenNI\Tools\NiViewer.exe`. Environment variable `LIBFREENECT2_PIPELINE` can be set to `cl`, `cuda`, etc to specify the pipeline.
### MacOS
Use your favorite package managers (brew, ports, etc.) to install most if not all dependencies:
* Make sure these build tools are available: wget, git, cmake, pkg-config. Xcode may provide some of them. Install the rest via package managers.
* Download libfreenect2 source
```
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
```
* Install dependencies: libusb, GLFW
```
brew update
brew install libusb
brew install glfw3
```
* Install TurboJPEG (optional)
```
brew install jpeg-turbo
```
* Install CUDA (optional): TODO
* Install OpenNI2 (optional)
```
brew tap brewsci/science
brew install openni2
export OPENNI2_REDIST=/usr/local/lib/ni2
export OPENNI2_INCLUDE=/usr/local/include/ni2
```
* Build
```
mkdir build && cd build
cmake ..
make
make install
```
* Run the test program: `./bin/Protonect`
* Test OpenNI2. `make install-openni2` (may need sudo), then run `NiViewer`. Environment variable `LIBFREENECT2_PIPELINE` can be set to `cl`, `cuda`, etc to specify the pipeline.
### Linux
Note: Ubuntu 12.04 is too old to support. Debian jessie may also be too old, and Debian stretch is implied in the following.
* Download libfreenect2 source
```
git clone https://github.com/OpenKinect/libfreenect2.git
cd libfreenect2
```
* (Ubuntu 14.04 only) Download upgrade deb files
```
cd depends; ./download_debs_trusty.sh
```
* Install build tools
```
sudo apt-get install build-essential cmake pkg-config
```
* Install libusb. The version must be >= 1.0.20.
1. (Ubuntu 14.04 only) `sudo dpkg -i debs/libusb*deb`
2. (Other) `sudo apt-get install libusb-1.0-0-dev`
* Install TurboJPEG
1. (Ubuntu 14.04 to 16.04) `sudo apt-get install libturbojpeg libjpeg-turbo8-dev`
2. (Debian/Ubuntu 17.10 and newer) `sudo apt-get install libturbojpeg0-dev`
* Install OpenGL
1. (Ubuntu 14.04 only) `sudo dpkg -i debs/libglfw3*deb; sudo apt-get install -f`
2. (Odroid XU4) OpenGL 3.1 is not supported on this platform. Use `cmake -DENABLE_OPENGL=OFF` later.
3. (Other) `sudo apt-get install libglfw3-dev`
* Install OpenCL (optional)
- Intel GPU
1. (Ubuntu 14.04 only) `sudo apt-add-repository ppa:floe/beignet; sudo apt-get update; sudo apt-get install beignet-dev; sudo dpkg -i debs/ocl-icd*deb`
2. (Other) `sudo apt-get install beignet-dev`
3. For older kernels, `# echo 0 >/sys/module/i915/parameters/enable_cmd_parser` is needed. See more known issues at https://www.freedesktop.org/wiki/Software/Beignet/.
- AMD GPU: Install the latest version of the AMD Catalyst drivers from https://support.amd.com and `apt-get install opencl-headers`.
- Mali GPU (e.g. Odroid XU4): (with root) `mkdir -p /etc/OpenCL/vendors; echo /usr/lib/arm-linux-gnueabihf/mali-egl/libmali.so >/etc/OpenCL/vendors/mali.icd; apt-get install opencl-headers`.
- Verify: You can install `clinfo` to verify if you have correctly set up the OpenCL stack.
* Install CUDA (optional, Nvidia only):
- (Ubuntu 14.04 only) Download `cuda-repo-ubuntu1404...*.deb` ("deb (network)") from Nvidia website, follow their installation instructions, including `apt-get install cuda` which installs Nvidia graphics driver.
- (Jetson TK1) It is preloaded.
- (Nvidia/Intel dual GPUs) After `apt-get install cuda`, use `sudo prime-select intel` to use Intel GPU for desktop.
- (Other) Follow Nvidia website's instructions. You must install the samples package.
* Install VAAPI (optional, Intel only)
1. (Ubuntu 14.04 only) `sudo dpkg -i debs/{libva,i965}*deb; sudo apt-get install -f`
2. (Other) `sudo apt-get install libva-dev libjpeg-dev`
3. Linux kernels 4.1 to 4.3 have performance regression. Use 4.0 and earlier or 4.4 and later (Though Ubuntu kernel 4.2.0-28.33~14.04.1 has backported the fix).
* Install OpenNI2 (optional)
1. (Ubuntu 14.04 only) `sudo apt-add-repository ppa:deb-rob/ros-trusty && sudo apt-get update` (You don't need this if you have ROS repos), then `sudo apt-get install libopenni2-dev`
2. (Other) `sudo apt-get install libopenni2-dev`
* Build (if you have run `cd depends` previously, `cd ..` back to the libfreenect2 root directory first.)
```
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/freenect2
make
make install
```
You need to specify `cmake -Dfreenect2_DIR=$HOME/freenect2/lib/cmake/freenect2` for CMake based third-party application to find libfreenect2.
* Set up udev rules for device access: `sudo cp ../platform/linux/udev/90-kinect2.rules /etc/udev/rules.d/`, then replug the Kinect.
* Run the test program: `./bin/Protonect`
* Run OpenNI2 test (optional): `sudo apt-get install openni2-utils && sudo make install-openni2 && NiViewer2`. Environment variable `LIBFREENECT2_PIPELINE` can be set to `cl`, `cuda`, etc to specify the pipeline.

21
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/CheckOpenCLICDLoader.cmake vendored Normal file
View File

@ -0,0 +1,21 @@
INCLUDE(CheckCXXSourceCompiles)
INCLUDE(CheckCSourceCompiles)
SET(CMAKE_REQUIRED_INCLUDES "${MY_DIR}/include/internal" ${OpenCL_INCLUDE_DIRS})
SET(CMAKE_REQUIRED_LIBRARIES ${OpenCL_LIBRARIES})
CHECK_C_SOURCE_COMPILES("
#include <CL/cl.h>
int main() {
clGetPlatformIDs(0, 0, 0);
return 0;
}" OpenCL_C_WORKS)
CHECK_CXX_SOURCE_COMPILES("
#include <CL/cl.hpp>
int main() {
cl::Context context;
cl::Platform platform;
cl::Device device;
return 0;
}" OpenCL_CXX_WORKS)
SET(CMAKE_REQUIRED_INCLUDES)
SET(CMAKE_REQUIRED_LIBRARIES)

75
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindGLFW3.cmake vendored Normal file
View File

@ -0,0 +1,75 @@
# - Try to find GLFW3
#
# If no pkgconfig, define GLFW_ROOT to installation tree
# Will define the following:
# GLFW3_FOUND
# GLFW3_INCLUDE_DIRS
# GLFW3_LIBRARIES
IF(PKG_CONFIG_FOUND)
IF(APPLE)
# homebrew or macports pkgconfig locations
SET(ENV{PKG_CONFIG_PATH} "/usr/local/opt/glfw3/lib/pkgconfig:/opt/local/lib/pkgconfig")
ENDIF()
SET(ENV{PKG_CONFIG_PATH} "${DEPENDS_DIR}/glfw/lib/pkgconfig:$ENV{PKG_CONFIG_PATH}")
PKG_CHECK_MODULES(GLFW3 glfw3)
FIND_LIBRARY(GLFW3_LIBRARY
NAMES ${GLFW3_LIBRARIES}
HINTS ${GLFW3_LIBRARY_DIRS}
)
SET(GLFW3_LIBRARIES ${GLFW3_LIBRARY})
RETURN()
ENDIF()
FIND_PATH(GLFW3_INCLUDE_DIRS
GLFW/glfw3.h
DOC "GLFW include directory "
PATHS
"${DEPENDS_DIR}/glfw"
"$ENV{ProgramW6432}/glfw"
ENV GLFW_ROOT
PATH_SUFFIXES
include
)
# directories in the official binary package
IF(MINGW)
SET(_SUFFIX lib-mingw)
ELSEIF(MSVC11)
SET(_SUFFIX lib-vc2012)
ELSEIF(MSVC12)
SET(_SUFFIX lib-vc2013)
ELSEIF(MSVC14)
SET(_SUFFIX lib-vc2015)
ELSEIF(MSVC)
SET(_SUFFIX lib-vc2012)
ENDIF()
FIND_LIBRARY(GLFW3_LIBRARIES
NAMES glfw3dll glfw3
PATHS
"${DEPENDS_DIR}/glfw"
"$ENV{ProgramW6432}/glfw"
ENV GLFW_ROOT
PATH_SUFFIXES
lib
${_SUFFIX}
)
IF(WIN32)
FIND_FILE(GLFW3_DLL
glfw3.dll
PATHS
"${DEPENDS_DIR}/glfw"
"$ENV{ProgramW6432}/glfw"
ENV GLFW_ROOT
PATH_SUFFIXES
${_SUFFIX}
)
ENDIF()
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(GLFW3 FOUND_VAR GLFW3_FOUND
REQUIRED_VARS GLFW3_LIBRARIES GLFW3_INCLUDE_DIRS)

80
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindLibUSB.cmake vendored Normal file
View File

@ -0,0 +1,80 @@
# - Find libusb for portable USB support
#
# If the LibUSB_ROOT environment variable
# is defined, it will be used as base path.
# The following standard variables get defined:
# LibUSB_FOUND: true if LibUSB was found
# LibUSB_INCLUDE_DIR: the directory that contains the include file
# LibUSB_LIBRARIES: the libraries
IF(PKG_CONFIG_FOUND)
IF(DEPENDS_DIR) #Otherwise use System pkg-config path
SET(ENV{PKG_CONFIG_PATH} "$ENV{PKG_CONFIG_PATH}:${DEPENDS_DIR}/libusb/lib/pkgconfig")
ENDIF()
SET(MODULE "libusb-1.0")
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SET(MODULE "libusb-1.0>=1.0.20")
ENDIF()
IF(LibUSB_FIND_REQUIRED)
SET(LibUSB_REQUIRED "REQUIRED")
ENDIF()
PKG_CHECK_MODULES(LibUSB ${LibUSB_REQUIRED} ${MODULE})
FIND_LIBRARY(LibUSB_LIBRARY
NAMES ${LibUSB_LIBRARIES}
HINTS ${LibUSB_LIBRARY_DIRS}
)
SET(LibUSB_LIBRARIES ${LibUSB_LIBRARY})
RETURN()
ENDIF()
FIND_PATH(LibUSB_INCLUDE_DIRS
NAMES libusb.h
PATHS
"${DEPENDS_DIR}/libusb"
"${DEPENDS_DIR}/libusbx"
ENV LibUSB_ROOT
PATH_SUFFIXES
include
libusb
include/libusb-1.0
)
SET(LIBUSB_NAME libusb)
FIND_LIBRARY(LibUSB_LIBRARIES
NAMES ${LIBUSB_NAME}-1.0
PATHS
"${DEPENDS_DIR}/libusb"
"${DEPENDS_DIR}/libusbx"
ENV LibUSB_ROOT
PATH_SUFFIXES
x64/Release/dll
x64/Debug/dll
Win32/Release/dll
Win32/Debug/dll
MS64
MS64/dll
)
IF(WIN32)
FIND_FILE(LibUSB_DLL
${LIBUSB_NAME}-1.0.dll
PATHS
"${DEPENDS_DIR}/libusb"
"${DEPENDS_DIR}/libusbx"
ENV LibUSB_ROOT
PATH_SUFFIXES
x64/Release/dll
x64/Debug/dll
Win32/Release/dll
Win32/Debug/dll
MS64
MS64/dll
)
ENDIF()
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(LibUSB FOUND_VAR LibUSB_FOUND
REQUIRED_VARS LibUSB_LIBRARIES LibUSB_INCLUDE_DIRS)

155
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindOpenCL.cmake vendored Normal file
View File

@ -0,0 +1,155 @@
#.rst:
# FindOpenCL
# ----------
#
# Try to find OpenCL
#
# Once done this will define::
#
# OpenCL_FOUND - True if OpenCL was found
# OpenCL_INCLUDE_DIRS - include directories for OpenCL
# OpenCL_LIBRARIES - link against this library to use OpenCL
# OpenCL_VERSION_STRING - Highest supported OpenCL version (eg. 1.2)
# OpenCL_VERSION_MAJOR - The major version of the OpenCL implementation
# OpenCL_VERSION_MINOR - The minor version of the OpenCL implementation
#
# The module will also define two cache variables::
#
# OpenCL_INCLUDE_DIR - the OpenCL include directory
# OpenCL_LIBRARY - the path to the OpenCL library
#
#=============================================================================
# Copyright 2014 Matthaeus G. Chajdas
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the names of Kitware, Inc., the Insight Software Consortium,
# nor the names of their contributors may be used to endorse or promote
# products derived from this software without specific prior written
# permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
# A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
# HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
# DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
# THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#=============================================================================
function(_FIND_OPENCL_VERSION)
include(CheckSymbolExists)
include(CMakePushCheckState)
set(CMAKE_REQUIRED_QUIET ${OpenCL_FIND_QUIETLY})
CMAKE_PUSH_CHECK_STATE()
foreach(VERSION "2_0" "1_2" "1_1" "1_0")
set(CMAKE_REQUIRED_INCLUDES "${OpenCL_INCLUDE_DIR}")
if(APPLE)
CHECK_SYMBOL_EXISTS(
CL_VERSION_${VERSION}
"${OpenCL_INCLUDE_DIR}/OpenCL/cl.h"
OPENCL_VERSION_${VERSION})
else()
CHECK_SYMBOL_EXISTS(
CL_VERSION_${VERSION}
"${OpenCL_INCLUDE_DIR}/CL/cl.h"
OPENCL_VERSION_${VERSION})
endif()
if(OPENCL_VERSION_${VERSION})
string(REPLACE "_" "." VERSION "${VERSION}")
set(OpenCL_VERSION_STRING ${VERSION} PARENT_SCOPE)
string(REGEX MATCHALL "[0-9]+" version_components "${VERSION}")
list(GET version_components 0 major_version)
list(GET version_components 1 minor_version)
set(OpenCL_VERSION_MAJOR ${major_version} PARENT_SCOPE)
set(OpenCL_VERSION_MINOR ${minor_version} PARENT_SCOPE)
break()
endif()
endforeach()
CMAKE_POP_CHECK_STATE()
endfunction()
find_path(OpenCL_INCLUDE_DIR
NAMES
CL/cl.h OpenCL/cl.h
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV NVSDKCOMPUTE_ROOT
ENV CUDA_PATH
ENV ATISTREAMSDKROOT
PATH_SUFFIXES
include
OpenCL/common/inc
"AMD APP/include")
_FIND_OPENCL_VERSION()
if(WIN32)
if(CMAKE_SIZEOF_VOID_P EQUAL 4)
find_library(OpenCL_LIBRARY
NAMES OpenCL
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV CUDA_PATH
ENV NVSDKCOMPUTE_ROOT
ENV ATISTREAMSDKROOT
PATH_SUFFIXES
"AMD APP/lib/x86"
lib/x86
lib/Win32
OpenCL/common/lib/Win32)
elseif(CMAKE_SIZEOF_VOID_P EQUAL 8)
find_library(OpenCL_LIBRARY
NAMES OpenCL
PATHS
ENV "PROGRAMFILES(X86)"
ENV AMDAPPSDKROOT
ENV INTELOCLSDKROOT
ENV CUDA_PATH
ENV NVSDKCOMPUTE_ROOT
ENV ATISTREAMSDKROOT
PATH_SUFFIXES
"AMD APP/lib/x86_64"
lib/x86_64
lib/x64
OpenCL/common/lib/x64)
endif()
else()
find_library(OpenCL_LIBRARY
NAMES OpenCL)
endif()
set(OpenCL_LIBRARIES ${OpenCL_LIBRARY})
set(OpenCL_INCLUDE_DIRS ${OpenCL_INCLUDE_DIR})
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(
OpenCL
FOUND_VAR OpenCL_FOUND
REQUIRED_VARS OpenCL_LIBRARY OpenCL_INCLUDE_DIR
VERSION_VAR OpenCL_VERSION_STRING)
mark_as_advanced(
OpenCL_INCLUDE_DIR
OpenCL_LIBRARY)

53
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindOpenNI2.cmake vendored Normal file
View File

@ -0,0 +1,53 @@
# - Find OpenNI2
#
# If the OPENNI2_INCLUDE and OPENNI2_REDIST environment variables
# are defined, they will be used as search path.
# The following standard variables get defined:
# OpenNI2_FOUND: true if found
# OpenNI2_INCLUDE_DIRS: the directory that contains the include file
# OpenNI2_LIBRARY_DIR: the directory that contains the library
IF(PKG_CONFIG_FOUND)
PKG_CHECK_MODULES(OpenNI2 libopenni2)
ENDIF()
FIND_PATH(OpenNI2_INCLUDE_DIRS
NAMES Driver/OniDriverAPI.h
PATHS
"/opt/include"
"/opt/local/include"
"/usr/include"
"/usr/local/include"
ENV OPENNI2_INCLUDE
ENV PROGRAMFILES
ENV ProgramW6432
HINTS ${OpenNI2_INCLUDE_DIRS}
PATH_SUFFIXES
ni2
openni2
OpenNI2/Include
)
FIND_LIBRARY(OpenNI2_LIBRARY
NAMES OpenNI2 ${OpenNI2_LIBRARIES}
PATHS
"/opt/lib"
"/opt/local/lib"
"/usr/lib"
"/usr/local/lib"
"/usr/local/lib/ni2"
ENV OPENNI2_REDIST
ENV PROGRAMFILES
ENV ProgramW6432
HINTS ${OpenNI2_LIBRARY_DIRS}
PATH_SUFFIXES
ni2/OpenNI2/Drivers
OpenNI2/Drivers/lib
OpenNI2/Lib
)
GET_FILENAME_COMPONENT(OpenNI2_LIBRARY_DIR ${OpenNI2_LIBRARY} DIRECTORY)
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(OpenNI2 FOUND_VAR OpenNI2_FOUND
REQUIRED_VARS OpenNI2_LIBRARY_DIR OpenNI2_INCLUDE_DIRS)

133
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindTegraJPEG.cmake vendored Normal file
View File

@ -0,0 +1,133 @@
# FindTegraJPEG.cmake
# - TegraJPEG_FOUND
# - TegraJPEG_INCLUDE_DIRS
# - TegraJPEG_LIBRARIES
# Detect Linux4Tegra distribution
SET(L4T_RELEASE_FILE /etc/nv_tegra_release)
IF(EXISTS ${L4T_RELEASE_FILE})
SET(TegraJPEG_IS_L4T TRUE)
EXECUTE_PROCESS(
COMMAND sha1sum --quiet -c /etc/nv_tegra_release
RESULT_VARIABLE TegraJPEG_DRIVER_ERROR
OUTPUT_VARIABLE TegraJPEG_DRIVER_OUTPUT
ERROR_QUIET
)
IF(TegraJPEG_DRIVER_ERROR)
MESSAGE(WARNING "Tegra drivers have wrong checksum:\n${TegraJPEG_DRIVER_OUTPUT}")
ELSE()
SET(TegraJPEG_DRIVER_OK TRUE)
ENDIF()
ENDIF()
# Detect L4T version
IF(TegraJPEG_IS_L4T)
FILE(READ ${L4T_RELEASE_FILE} L4T_RELEASE_CONTENT LIMIT 64 OFFSET 2)
STRING(REGEX REPLACE "^R([0-9]*)[^,]*, REVISION: ([0-9.]*).*" "\\1" L4T_VER_MAJOR "${L4T_RELEASE_CONTENT}")
STRING(REGEX REPLACE "^R([0-9]*)[^,]*, REVISION: ([0-9.]*).*" "\\2" L4T_VER_MINOR "${L4T_RELEASE_CONTENT}")
SET(L4T_VER "${L4T_VER_MAJOR}.${L4T_VER_MINOR}")
MESSAGE(STATUS "Found Linux4Tegra ${L4T_VER}")
IF(L4T_VER VERSION_LESS 21.3.0)
MESSAGE(WARNING "Linux4Tegra version (${L4T_VER}) less than minimum requirement (21.3)")
ELSE()
SET(TegraJPEG_L4T_OK TRUE)
ENDIF()
IF(L4T_VER MATCHES ^21.3)
SET(L4T_SRC_PART r21_Release_v3.0/sources/gstjpeg_src.tbz2)
ELSEIF(L4T_VER MATCHES ^21.4)
SET(L4T_SRC_PART r21_Release_v4.0/source/gstjpeg_src.tbz2)
ELSEIF(L4T_VER MATCHES ^21.5)
SET(L4T_SRC_PART r21_Release_v5.0/source/gstjpeg_src.tbz2)
ELSEIF(L4T_VER MATCHES ^23.1)
SET(L4T_SRC_PART r23_Release_v1.0/source/gstjpeg_src.tbz2)
ELSEIF(L4T_VER MATCHES ^23.2)
SET(L4T_SRC_PART r23_Release_v2.0/source/gstjpeg_src.tbz2)
ELSEIF(L4T_VER MATCHES ^24.1)
SET(L4T_SRC_PART r24_Release_v1.0/24.1_64bit/source/gstjpeg_src.tbz2)
ELSEIF(L4T_VER MATCHES ^24.2)
SET(L4T_SRC_PART r24_Release_v2.0/BSP/sources.tbz2)
ELSEIF(L4T_VER MATCHES ^27.1)
SET(L4T_SRC_PART r27_Release_v1.0/BSP/r27.1.0_sources.tbz2)
ELSEIF(L4T_VER MATCHES ^28.1)
SET(L4T_SRC_PART r28_Release_v1.0/BSP/source_release.tbz2)
ELSEIF(L4T_VER MATCHES ^28.2)
SET(L4T_SRC_PART r28_Release_v2.0/BSP/source_release.tbz2)
ELSE()
MESSAGE(WARNING "Linux4Tegra version (${L4T_VER}) is not recognized. Add the new source URL part to FindTegraJPEG.cmake.")
SET(TegraJPEG_L4T_OK FALSE)
ENDIF()
ENDIF()
# Download gstjpeg source
IF(TegraJPEG_L4T_OK)
SET(L4T_SRC_PATH ${DEPENDS_DIR}/source/${L4T_SRC_PART})
GET_FILENAME_COMPONENT(L4T_SRC_DIR ${L4T_SRC_PATH} DIRECTORY)
IF(NOT EXISTS ${L4T_SRC_PATH})
MESSAGE(STATUS "Downloading ${L4T_SRC_PART}...")
SET(L4T_SRC_URL "http://developer.download.nvidia.com/embedded/L4T/${L4T_SRC_PART}")
# Do we want checksum for the download?
FILE(DOWNLOAD ${L4T_SRC_URL} ${L4T_SRC_PATH} STATUS L4T_SRC_STATUS)
LIST(GET L4T_SRC_STATUS 0 L4T_SRC_ERROR)
LIST(GET L4T_SRC_STATUS 1 L4T_SRC_MSG)
IF(L4T_SRC_ERROR)
MESSAGE(WARNING "Failed to download ${L4T_SRC_PART}: ${L4T_SRC_MSG}")
FILE(REMOVE ${L4T_SRC_PATH})
ENDIF()
ENDIF()
FILE(GLOB_RECURSE L4T_GSTJPEG_PATH ${L4T_SRC_DIR}/gstjpeg_src.tbz2)
IF(NOT L4T_GSTJPEG_PATH)
MESSAGE(STATUS "Extracting ${L4T_SRC_PART}...")
EXECUTE_PROCESS(
COMMAND ${CMAKE_COMMAND} -E tar xjf ${L4T_SRC_PATH}
WORKING_DIRECTORY ${L4T_SRC_DIR}
)
FILE(GLOB_RECURSE L4T_GSTJPEG_PATH ${L4T_SRC_DIR}/gstjpeg_src.tbz2)
ENDIF()
IF(L4T_GSTJPEG_PATH)
EXECUTE_PROCESS(
COMMAND ${CMAKE_COMMAND} -E tar xjf ${L4T_GSTJPEG_PATH}
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
RESULT_VARIABLE L4T_HEADERS_ERROR
ERROR_VARIABLE L4T_HEADERS_MSG
)
IF(L4T_HEADERS_ERROR)
MESSAGE(WARNING "Failed to unpack ${L4T_GSTJPEG_PATH}: ${L4T_HEADERS_MSG}")
ENDIF()
ENDIF()
ENDIF()
FIND_PATH(TegraJPEG_INCLUDE_DIRS
nv_headers/jpeglib.h
DOC "Found TegraJPEG include directory"
PATHS ${CMAKE_BINARY_DIR}/gstjpeg_src
NO_DEFAULT_PATH
)
FIND_LIBRARY(TegraJPEG_LIBRARIES
NAMES nvjpeg
DOC "Found TegraJPEG library (libnvjpeg.so)"
PATH_SUFFIXES tegra
)
FIND_LIBRARY(TegraJPEG_LIBRARIES
NAMES jpeg
DOC "Found TegraJPEG library (libjpeg.so)"
PATHS /usr/lib/arm-linux-gnueabihf/tegra
NO_DEFAULT_PATH
)
IF(TegraJPEG_INCLUDE_DIRS AND TegraJPEG_LIBRARIES)
INCLUDE(CheckCSourceCompiles)
set(CMAKE_REQUIRED_INCLUDES ${TegraJPEG_INCLUDE_DIRS})
set(CMAKE_REQUIRED_LIBRARIES ${TegraJPEG_LIBRARIES})
check_c_source_compiles("#include <stdio.h>\n#include <nv_headers/jpeglib.h>\nint main() { struct jpeg_decompress_struct d; jpeg_create_decompress(&d); d.jpegTegraMgr = 0; d.input_frame_buf = 0; return 0; }" TegraJPEG_WORKS)
set(CMAKE_REQUIRED_INCLUDES)
set(CMAKE_REQUIRED_LIBRARIES)
ENDIF()
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(TegraJPEG FOUND_VAR TegraJPEG_FOUND
REQUIRED_VARS TegraJPEG_LIBRARIES TegraJPEG_INCLUDE_DIRS TegraJPEG_L4T_OK TegraJPEG_DRIVER_OK TegraJPEG_WORKS)

67
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindTurboJPEG.cmake vendored Normal file
View File

@ -0,0 +1,67 @@
# FindTurboJPEG.cmake
# Uses environment variable TurboJPEG_ROOT as backup
# - TurboJPEG_FOUND
# - TurboJPEG_INCLUDE_DIRS
# - TurboJPEG_LIBRARIES
FIND_PATH(TurboJPEG_INCLUDE_DIRS
turbojpeg.h
DOC "Found TurboJPEG include directory"
PATHS
"${DEPENDS_DIR}/libjpeg_turbo"
"${DEPENDS_DIR}/libjpeg-turbo64"
"/usr/local/opt/jpeg-turbo" # homebrew
"/opt/local" # macports
"C:/libjpeg-turbo64"
"/opt/libjpeg-turbo"
ENV TurboJPEG_ROOT
PATH_SUFFIXES
include
)
#Library names:
# debian sid,strech: libturbojpeg0
# debian/ubuntu else: libturbojpeg1-dev #provided by libjpeg-turbo8-dev (ubuntu)
FIND_LIBRARY(TurboJPEG_LIBRARIES
NAMES libturbojpeg.so.1 libturbojpeg.so.0 turbojpeg
DOC "Found TurboJPEG library path"
PATHS
"${DEPENDS_DIR}/libjpeg_turbo"
"${DEPENDS_DIR}/libjpeg-turbo64"
"/usr/local/opt/jpeg-turbo" # homebrew
"/opt/local" # macports
"C:/libjpeg-turbo64"
"/opt/libjpeg-turbo"
ENV TurboJPEG_ROOT
PATH_SUFFIXES
lib
lib64
)
IF(WIN32)
FIND_FILE(TurboJPEG_DLL
turbojpeg.dll
DOC "Found TurboJPEG DLL path"
PATHS
"${DEPENDS_DIR}/libjpeg_turbo"
"${DEPENDS_DIR}/libjpeg-turbo64"
"C:/libjpeg-turbo64"
ENV TurboJPEG_ROOT
PATH_SUFFIXES
bin
)
ENDIF()
IF(TurboJPEG_INCLUDE_DIRS AND TurboJPEG_LIBRARIES)
INCLUDE(CheckCSourceCompiles)
set(CMAKE_REQUIRED_INCLUDES ${TurboJPEG_INCLUDE_DIRS})
set(CMAKE_REQUIRED_LIBRARIES ${TurboJPEG_LIBRARIES})
check_c_source_compiles("#include <turbojpeg.h>\nint main(void) { tjhandle h=tjInitCompress(); return 0; }" TURBOJPEG_WORKS)
set(CMAKE_REQUIRED_DEFINITIONS)
set(CMAKE_REQUIRED_INCLUDES)
set(CMAKE_REQUIRED_LIBRARIES)
ENDIF()
INCLUDE(FindPackageHandleStandardArgs)
FIND_PACKAGE_HANDLE_STANDARD_ARGS(TurboJPEG FOUND_VAR TurboJPEG_FOUND
REQUIRED_VARS TurboJPEG_LIBRARIES TurboJPEG_INCLUDE_DIRS TURBOJPEG_WORKS)

14
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/GenerateResources.cmake vendored Normal file
View File

@ -0,0 +1,14 @@
FUNCTION(GENERATE_RESOURCES OUTPUT BASE_FOLDER)
ADD_EXECUTABLE(generate_resources_tool
tools/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)

44
Code/RK3588/PIBot_ROS/third_party/libfreenect2/cmake_modules/SetupLibfreenect2Threading.cmake vendored Normal file
View File

@ -0,0 +1,44 @@
INCLUDE(CheckCXXSourceCompiles)
IF(COMPILER_SUPPORTS_CXX0X OR COMPILER_SUPPORTS_CXX11)
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; // libfreenect is not using this feature, Mac OSX doesn't support it
return 0;
}
" LIBFREENECT2_THREADING_STDLIB)
ENDIF()
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)
SET(HAVE_Threading std::thread)
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)
SET(HAVE_Threading tinythread)
ENDIF(LIBFREENECT2_THREADING_STDLIB)
MESSAGE(STATUS "using ${LIBFREENECT2_THREADING} as threading library")

49
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/INSTALL-windows.txt vendored Normal file
View File

@ -0,0 +1,49 @@
Source code: https://github.com/OpenKinect/libfreenect2
API reference: http://openkinect.github.io/libfreenect2
This release is x64 only with basic features enabled. If you want better performance or extra features, you will have to build it from source.
glfw3.dll, turbojpeg.dll, and libusb-1.0.dll are provided for convenience. You can download and upgrade them yourself.
"lib" and "include" directories contains libraries and headers. Configure your IDE respectively.
You must have or install respective version of VC++ runtime, if you are using a -vs201x release variant.
To try out the OpenNI2 example, copy bin\*.dll to C:\Program Files\OpenNI2\Tools\OpenNI2\Drivers, then run C:\Program Files\OpenNI\Tools\NiViewer.exe.
You must choose one USB driver backend and follow respective instructions:
a. UsbDk backend:
1. (Windows 7) You must first install Microsoft Security Advisory 3033929 otherwise your USB keyboards and mice will stop working!
2. Download the latest x64 installer from https://github.com/daynix/UsbDk/releases, install it.
3. If UsbDk somehow does not work, uninstall UsbDk and follow the libusbK instructions.
UsbDk overrides libusbK and Microsoft SDK. If you want to use the latter two, just uninstall UsbDk.
b. libusbK backend:
You don't need the Kinect for Windows v2 SDK to build and install libfreenect2, though it doesn't hurt to have it too. You don't need to uninstall the SDK or the driver before doing this procedure.
Install the libusbK backend driver for libusb. Please follow the steps exactly:
1. Download Zadig from http://zadig.akeo.ie/
2. Run Zadig and in options, check "List All Devices" and uncheck "Ignore Hubs or Composite Parents"
3. Select the "Xbox NUI Sensor (composite parent)" from the drop-down box. (Important: Ignore the "NuiSensor Adaptor" varieties, which are the adapter, NOT the Kinect) The current driver will list usbccgp. USB ID is VID 045E, PID 02C4 or 02D8.
4. Select libusbK (v3.0.7.0 or newer) from the replacement driver list.
5. Click the "Replace Driver" button. Click yes on the warning about replacing a system driver. (This is because it is a composite parent.)
6. Done.
To uninstall the libusbK driver (and get back the official SDK driver, if installed):
1. Open Device Manager
2. Under "libusbK USB Devices" tree, right click the "Xbox NUI Sensor (Composite Parent)" device and select uninstall.
3. Important: Check the "Delete the driver software for this device." checkbox, then click OK.
If you already had the official SDK driver installed and you want to use it:
1.In Device Manager, in the Action menu, click "Scan for hardware changes."
This will enumerate the Kinect sensor again and it will pick up the K4W2 SDK driver, and you should be ready to run KinectService.exe again immediately.
You can go back and forth between the SDK driver and the libusbK driver very quickly and easily with these steps.

287
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/LICENSES.txt vendored Normal file
View File

@ -0,0 +1,287 @@
freenect2.dll, Protonect.exe, include/*, lib/*
----------------------------------------------
The source code and build system can be found at
https://github.com/OpenKinect/libfreenect2
Copyright (c) 2014-2015 individual OpenKinect contributors.
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.
This project incorporates the following code under respective licenses:
* cl.hpp
Source: https://www.khronos.org/registry/cl/api/2.1/cl.hpp
Copyright (c) 2008-2015 The Khronos Group Inc.
Permission is hereby granted, free of charge, to any person obtaining a
copy of this software and/or associated documentation files (the
"Materials"), to deal in the Materials without restriction, including
without limitation the rights to use, copy, modify, merge, publish,
distribute, sublicense, and/or sell copies of the Materials, and to
permit persons to whom the Materials are furnished to do so, subject to
the following conditions:
The above copyright notice and this permission notice shall be included
in all copies or substantial portions of the Materials.
THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.
* tinythread.cpp, tinythread.h
Copyright (c) 2010-2012 Marcus Geelnard
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source
distribution.
* flextGL.cpp, flextGL.h
Generated from flextGL https://github.com/ginkgo/flextGL
Copyright (C) 2011 by Thomas Weber
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
* openni2/*, freenect2-openni2.dll
Modified from: https://github.com/OpenKinect/libfreenect/tree/master/OpenNI2-FreenectDriver
Original copyright & licenses granted https://github.com/openkinect/libfreenect2/pull/302#issuecomment-118514016
Copyright (c) 2014 Benn Snyder
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.
turbojpeg.dll
-------------
Copyright (C) 1991-2010 Thomas G. Lane
Copyright (C) 1991-2011 Guido Vollbeding
Copyright (C) 1999-2006 MIYASAKA Masaru
Copyright (C) 2009-2011 D. R. Commander
Copyright (C) 2009 Pierre Ossman <ossman@cendio.se> for Cendio AB
Copyright (C) 2009-2011 Nokia Corporation and/or its subsidiary(-ies)
This software is based in part on the work of the Independent JPEG Group.
In plain English:
1. We don't promise that this software works. (But if you find any bugs,
please let us know!)
2. You can use this software for whatever you want. You don't have to pay us.
3. You may not pretend that you wrote this software. If you use it in a
program, you must acknowledge somewhere in your documentation that
you've used the IJG code.
In legalese:
The authors make NO WARRANTY or representation, either express or implied,
with respect to this software, its quality, accuracy, merchantability, or
fitness for a particular purpose. This software is provided "AS IS", and you,
its user, assume the entire risk as to its quality and accuracy.
This software is copyright (C) 1991-2012, Thomas G. Lane, Guido Vollbeding.
All Rights Reserved except as specified below.
Permission is hereby granted to use, copy, modify, and distribute this
software (or portions thereof) for any purpose, without fee, subject to these
conditions:
(1) If any part of the source code for this software is distributed, then this
README file must be included, with this copyright and no-warranty notice
unaltered; and any additions, deletions, or changes to the original files
must be clearly indicated in accompanying documentation.
(2) If only executable code is distributed, then the accompanying
documentation must state that "this software is based in part on the work of
the Independent JPEG Group".
(3) Permission for use of this software is granted only if the user accepts
full responsibility for any undesirable consequences; the authors accept
NO LIABILITY for damages of any kind.
These conditions apply to any software derived from or based on the IJG code,
not just to the unmodified library. If you use our work, you ought to
acknowledge us.
Permission is NOT granted for the use of any IJG author's name or company name
in advertising or publicity relating to this software or products derived from
it. This software may be referred to only as "the Independent JPEG Group's
software".
We specifically permit and encourage the use of this software as the basis of
commercial products, provided that all warranty or liability claims are
assumed by the product vendor.
The Unix configuration script "configure" was produced with GNU Autoconf.
It is copyright by the Free Software Foundation but is freely distributable.
The same holds for its supporting scripts (config.guess, config.sub,
ltmain.sh). Another support script, install-sh, is copyright by X Consortium
but is also freely distributable.
The IJG distribution formerly included code to read and write GIF files.
To avoid entanglement with the Unisys LZW patent, GIF reading support has
been removed altogether, and the GIF writer has been simplified to produce
"uncompressed GIFs". This technique does not use the LZW algorithm; the
resulting GIF files are larger than usual, but are readable by all standard
GIF decoders.
We are required to state that
"The Graphics Interchange Format(c) is the Copyright property of
CompuServe Incorporated. GIF(sm) is a Service Mark property of
CompuServe Incorporated."
TurboJPEG API library:
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
- Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
- Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
- Neither the name of the libjpeg-turbo Project nor the names of its
contributors may be used to endorse or promote products derived from this
software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS",
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
glfw3.dll
---------
Redistributed from http://www.glfw.org/ .
Copyright (C) 2006-2013 Camilla Berglund <elmindreda@elmindreda.org>
Copyright (C) 2002-2006 Marcus Geelnard
License: zlib/libpng
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would
be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not
be misrepresented as being the original software.
3. This notice may not be removed or altered from any source
distribution.
libusb-1.0.dll
--------------
Built from source code obtained https://github.com/libusb/libusb
and patched with the "winiso" branch from
https://github.com/JoshBlake/libusbx.git
The binary can be rebuilt using install_libusb_vs2015.cmd
from https://github.com/OpenKinect/libfreenect2
Copyright (C) 2001-2015 libusb authors
License: LGPL 2.1
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the
Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston,
MA 02110-1301 USA.

31
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/download_debs_trusty.sh vendored Normal file
View File

@ -0,0 +1,31 @@
#!/bin/sh
set -e
cd `dirname $0`
ARCH=`/usr/bin/dpkg --print-architecture`
# download standalone packages for 14.04 LTS
if [ "$ARCH" = amd64 -o "$ARCH" = i386 ]; then
REPO=http://archive.ubuntu.com/ubuntu
else
REPO=http://ports.ubuntu.com/ubuntu-ports
fi
download() {
path=$1
ver=$2
mkdir -p debs
shift 2
for pkg in "$@"; do
wget -nv -N -P debs -nv $REPO/pool/$path/${pkg}_${ver}_${ARCH}.deb
done
}
download main/libu/libusb-1.0 1.0.20-1 libusb-1.0-0-dev libusb-1.0-0
download universe/g/glfw3 3.1.2-3 libglfw3-dev libglfw3
download main/o/ocl-icd 2.2.8-1 ocl-icd-libopencl1 ocl-icd-opencl-dev
if [ "$ARCH" = amd64 -o "$ARCH" = i386 ]; then
download universe/libv/libva 1.7.0-1 libva-dev libva-drm1 libva-egl1 libva-glx1 libva-tpi1 libva-wayland1 libva-x11-1 libva1 vainfo
download main/i/intel-vaapi-driver 1.7.0-1 i965-va-driver
fi

21
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/install_glfw.sh vendored Normal file
View File

@ -0,0 +1,21 @@
#!/bin/sh
set -e
cd `dirname $0`
DEPENDS_DIR=`pwd`
# glfw
GLFW_SOURCE_DIR=$DEPENDS_DIR/glfw_src
GLFW_INSTALL_DIR=$DEPENDS_DIR/glfw
rm -rf $GLFW_SOURCE_DIR $GLFW_INSTALL_DIR
git clone https://github.com/glfw/glfw.git $GLFW_SOURCE_DIR
cd $GLFW_SOURCE_DIR
git checkout 3.0.4
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX=$GLFW_INSTALL_DIR -DBUILD_SHARED_LIBS=TRUE ..
make && make install
cd $DEPENDS_DIR

22
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/install_libusb.sh vendored Normal file
View File

@ -0,0 +1,22 @@
#!/bin/sh
set -e
cd `dirname $0`
DEPENDS_DIR=`pwd`
# libusbx with superspeed patch
LIBUSB_SOURCE_DIR=$DEPENDS_DIR/libusb_src
LIBUSB_INSTALL_DIR=$DEPENDS_DIR/libusb
rm -rf $LIBUSB_SOURCE_DIR $LIBUSB_INSTALL_DIR
git clone https://github.com/libusb/libusb.git $LIBUSB_SOURCE_DIR
cd $LIBUSB_SOURCE_DIR
git checkout v1.0.20
./bootstrap.sh
./configure --prefix=$LIBUSB_INSTALL_DIR
make && make install
cd $DEPENDS_DIR

20
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/install_libusb_vs2013.cmd vendored Normal file
View File

@ -0,0 +1,20 @@
rem This can only be run in a Git Shell or similar environments
rem with access to git.exe and msbuild.exe.
rmdir /s /q libusb_src libusb
git clone https://github.com/libusb/libusb.git libusb_src || exit /b
cd libusb_src
set CONFIG=Release
set YEAR=2013
set MSBUILD="C:\Program Files (x86)\MSBuild\12.0\Bin\MSBuild.exe"
%MSBUILD% msvc\libusb_dll_%YEAR%.vcxproj /p:Platform=x64 /p:Configuration=%CONFIG% /target:Rebuild || exit /b
mkdir ..\libusb\include\libusb-1.0
copy libusb\libusb.h ..\libusb\include\libusb-1.0
mkdir ..\libusb\MS64\dll
copy x64\%CONFIG%\dll\*.lib ..\libusb\MS64\dll
copy x64\%CONFIG%\dll\*.dll ..\libusb\MS64\dll
copy x64\%CONFIG%\dll\*.pdb ..\libusb\MS64\dll

20
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/install_libusb_vs2015.cmd vendored Normal file
View File

@ -0,0 +1,20 @@
rem This can only be run in a Git Shell or similar environments
rem with access to git.exe and msbuild.exe.
rmdir /s /q libusb_src libusb
git clone https://github.com/libusb/libusb.git libusb_src || exit /b
cd libusb_src
set CONFIG=Release
set YEAR=2015
set MSBUILD="C:\Program Files (x86)\MSBuild\14.0\Bin\MSBuild.exe"
%MSBUILD% msvc\libusb_dll_%YEAR%.vcxproj /p:Platform=x64 /p:Configuration=%CONFIG% /target:Rebuild || exit /b
mkdir ..\libusb\include\libusb-1.0
copy libusb\libusb.h ..\libusb\include\libusb-1.0
mkdir ..\libusb\MS64\dll
copy x64\%CONFIG%\dll\*.lib ..\libusb\MS64\dll
copy x64\%CONFIG%\dll\*.dll ..\libusb\MS64\dll
copy x64\%CONFIG%\dll\*.pdb ..\libusb\MS64\dll

24
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/install_ubuntu.sh vendored Normal file
View File

@ -0,0 +1,24 @@
#!/bin/sh
cd `dirname $0`
ARCH=`/usr/bin/dpkg --print-architecture`
# download standalone packages for 14.04 LTS
if [ "$ARCH" = amd64 -o "$ARCH" = i386 ]; then
REPO=http://archive.ubuntu.com/ubuntu
else
REPO=http://ports.ubuntu.com/ubuntu-ports
fi
wget -N $REPO/pool/universe/g/glfw3/libglfw3_3.0.4-1_${ARCH}.deb
wget -N $REPO/pool/universe/g/glfw3/libglfw3-dev_3.0.4-1_${ARCH}.deb
cat <<-EOT
Execute the following commands to install the remaining dependencies (if you have not already done so):
sudo dpkg -i libglfw3*_3.0.4-1_*.deb
sudo apt-get install build-essential cmake pkg-config libturbojpeg libjpeg-turbo8-dev mesa-common-dev freeglut3-dev libxrandr-dev libxi-dev
sudo apt-get install libturbojpeg0-dev # (Debian)
EOT

34
Code/RK3588/PIBot_ROS/third_party/libfreenect2/depends/make_release_msvc.cmd vendored Normal file
View File

@ -0,0 +1,34 @@
@echo off
set ver=%1
set vs_year=%2
if "%vs_year%"=="2015" (
set vs_ver=14
) else (
if "%vs_year%"=="2013" (
set vs_ver=12
) else (
echo Unsupported MSVC version. Usage: %~nx0 version vs_year >&2
exit /b
)
)
@echo on
pushd .
call install_libusb_vs%vs_year%.cmd
popd
rmdir /s /q build
mkdir build
cd build
cmake ..\.. -G "Visual Studio %vs_ver% %vs_year% Win64" -DENABLE_OPENCL=OFF -DENABLE_CUDA=OFF
cmake --build . --config Release --target install
rmdir /s /q install\lib\cmake
rmdir /s /q install\lib\pkgconfig
copy ..\LICENSES.txt install
copy ..\INSTALL-windows.txt install
copy ..\..\CONTRIB install
cd ..
rmdir /s /q libfreenect2-%ver%-vs%vs_year%-x64
move build\install libfreenect2-%ver%-vs%vs_year%-x64
rmdir /s /q build

8
Code/RK3588/PIBot_ROS/third_party/libfreenect2/doc/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,8 @@
find_package(Doxygen)
IF(DOXYGEN_FOUND)
CONFIGURE_FILE(Doxyfile.in "${CMAKE_CURRENT_BINARY_DIR}/Doxyfile" @ONLY)
add_custom_target(
doc
COMMAND ${DOXYGEN_EXECUTABLE} Doxyfile
)
ENDIF()

36
Code/RK3588/PIBot_ROS/third_party/libfreenect2/doc/Doxyextra.css vendored Normal file
View File

@ -0,0 +1,36 @@
@import url(https://fonts.googleapis.com/css?family=Lato:400,700|Roboto+Mono:400);
body, table, div, p, dl, table.directory, div.toc li, div.toc h3, div.summary, div.ingroups, .tabsearch, .directory .levels, span.mlabel {
font: 400 18px/24px Lato,sans-serif;
}
.title, .icon, .navpath li.navelem a, #projectname, #projectbrief, #projectnumber, #powerTip div, .tabs, .tabs2, .tabs3 {
font-family: Lato,sans-serif;
}
#projectname {
font-weight: bold;
}
.icon {
height: 100%;
}
.title {
font-size: 200%;
}
code {
font: 400 16px/20px Roboto Mono,monospace;
}
pre.fragment, div.line, .params .paramdir {
font-family: Roboto Mono,monospace;
}
p, li {
max-width: 50em;
}
div.contents, #titlearea, div.header, div.navpath ul, .tabs, .tabs2, .tabs3 {
padding-left: 5em;
padding-right: 5em;
}

174
Code/RK3588/PIBot_ROS/third_party/libfreenect2/doc/Doxyfile.in vendored Normal file
View File

@ -0,0 +1,174 @@
DOXYFILE_ENCODING = UTF-8
PROJECT_NAME = @PROJECT_NAME@
PROJECT_NUMBER = @PROJECT_APIVER@
PROJECT_BRIEF =
PROJECT_LOGO =
OUTPUT_DIRECTORY = @CMAKE_CURRENT_BINARY_DIR@
CREATE_SUBDIRS = NO
OUTPUT_LANGUAGE = English
BRIEF_MEMBER_DESC = YES
REPEAT_BRIEF = YES
ABBREVIATE_BRIEF =
ALWAYS_DETAILED_SEC = NO
INLINE_INHERITED_MEMB = NO
FULL_PATH_NAMES = YES
STRIP_FROM_PATH = @CMAKE_SOURCE_DIR@
STRIP_FROM_INC_PATH = @CMAKE_SOURCE_DIR@/include
SHORT_NAMES = NO
JAVADOC_AUTOBRIEF = YES
QT_AUTOBRIEF = NO
MULTILINE_CPP_IS_BRIEF = NO
INHERIT_DOCS = YES
SEPARATE_MEMBER_PAGES = NO
TAB_SIZE = 4
ALIASES =
OPTIMIZE_OUTPUT_FOR_C = NO
OPTIMIZE_OUTPUT_JAVA = NO
OPTIMIZE_FOR_FORTRAN = NO
OPTIMIZE_OUTPUT_VHDL = NO
EXTENSION_MAPPING =
MARKDOWN_SUPPORT = YES
AUTOLINK_SUPPORT = YES
BUILTIN_STL_SUPPORT = NO
CPP_CLI_SUPPORT = NO
SIP_SUPPORT = NO
IDL_PROPERTY_SUPPORT = YES
DISTRIBUTE_GROUP_DOC = NO
SUBGROUPING = YES
INLINE_GROUPED_CLASSES = NO
INLINE_SIMPLE_STRUCTS = NO
TYPEDEF_HIDES_STRUCT = NO
LOOKUP_CACHE_SIZE = 0
EXTRACT_ALL = YES
EXTRACT_PRIVATE = NO
EXTRACT_PACKAGE = NO
EXTRACT_STATIC = YES
EXTRACT_LOCAL_CLASSES = YES
EXTRACT_LOCAL_METHODS = YES
EXTRACT_ANON_NSPACES = NO
HIDE_UNDOC_MEMBERS = NO
HIDE_UNDOC_CLASSES = NO
HIDE_FRIEND_COMPOUNDS = NO
HIDE_IN_BODY_DOCS = NO
INTERNAL_DOCS = NO
CASE_SENSE_NAMES = YES
HIDE_SCOPE_NAMES = YES
SHOW_INCLUDE_FILES = YES
SHOW_GROUPED_MEMB_INC = NO
FORCE_LOCAL_INCLUDES = NO
INLINE_INFO = YES
SORT_MEMBER_DOCS = NO
SORT_BRIEF_DOCS = NO
SORT_MEMBERS_CTORS_1ST = YES
SORT_GROUP_NAMES = YES
SORT_BY_SCOPE_NAME = NO
STRICT_PROTO_MATCHING = NO
GENERATE_TODOLIST = YES
GENERATE_TESTLIST = YES
GENERATE_BUGLIST = YES
GENERATE_DEPRECATEDLIST= YES
ENABLED_SECTIONS =
MAX_INITIALIZER_LINES = 30
SHOW_USED_FILES = NO
SHOW_FILES = YES
SHOW_NAMESPACES = NO
FILE_VERSION_FILTER =
LAYOUT_FILE =
CITE_BIB_FILES =
QUIET = YES
WARNINGS = YES
WARN_IF_UNDOCUMENTED = NO
WARN_IF_DOC_ERROR = YES
WARN_NO_PARAMDOC = YES
WARN_FORMAT = "$file:$line: $text"
WARN_LOGFILE =
INPUT = @CMAKE_SOURCE_DIR@/include @CMAKE_CURRENT_SOURCE_DIR@/mainpage.dox
INPUT_ENCODING = UTF-8
FILE_PATTERNS =
RECURSIVE = YES
EXCLUDE =
EXCLUDE_SYMLINKS = NO
EXCLUDE_PATTERNS = */include/internal/*
EXCLUDE_SYMBOLS =
EXAMPLE_PATH = @CMAKE_SOURCE_DIR@/examples
EXAMPLE_PATTERNS =
EXAMPLE_RECURSIVE = NO
IMAGE_PATH =
INPUT_FILTER =
FILTER_PATTERNS =
FILTER_SOURCE_FILES = NO
FILTER_SOURCE_PATTERNS =
USE_MDFILE_AS_MAINPAGE =
SOURCE_BROWSER = NO
INLINE_SOURCES = NO
STRIP_CODE_COMMENTS = YES
REFERENCED_BY_RELATION = YES
REFERENCES_RELATION = YES
REFERENCES_LINK_SOURCE = YES
SOURCE_TOOLTIPS = YES
USE_HTAGS = NO
VERBATIM_HEADERS = NO
ALPHABETICAL_INDEX = NO
COLS_IN_ALPHA_INDEX = 5
IGNORE_PREFIX =
GENERATE_HTML = YES
HTML_OUTPUT = html
HTML_FILE_EXTENSION = .html
HTML_HEADER =
HTML_FOOTER =
HTML_STYLESHEET =
HTML_EXTRA_STYLESHEET = @CMAKE_CURRENT_SOURCE_DIR@/Doxyextra.css
HTML_EXTRA_FILES =
HTML_COLORSTYLE_HUE = 220
HTML_COLORSTYLE_SAT = 100
HTML_COLORSTYLE_GAMMA = 80
HTML_TIMESTAMP = YES
HTML_DYNAMIC_SECTIONS = NO
HTML_INDEX_NUM_ENTRIES = 100
GENERATE_DOCSET = NO
GENERATE_HTMLHELP = NO
GENERATE_QHP = NO
GENERATE_ECLIPSEHELP = NO
DISABLE_INDEX = NO
GENERATE_TREEVIEW = NO
ENUM_VALUES_PER_LINE = 4
EXT_LINKS_IN_WINDOW = NO
FORMULA_FONTSIZE = 10
FORMULA_TRANSPARENT = YES
USE_MATHJAX = NO
SEARCHENGINE = NO
GENERATE_LATEX = NO
GENERATE_RTF = NO
GENERATE_MAN = NO
GENERATE_XML = NO
GENERATE_DOCBOOK = NO
GENERATE_AUTOGEN_DEF = NO
GENERATE_PERLMOD = NO
ENABLE_PREPROCESSING = YES
MACRO_EXPANSION = YES
EXPAND_ONLY_PREDEF = YES
SEARCH_INCLUDES = YES
INCLUDE_PATH = @PROJECT_BINARY_DIR@
INCLUDE_FILE_PATTERNS =
PREDEFINED = LIBFREENECT2_API
EXPAND_AS_DEFINED =
SKIP_FUNCTION_MACROS = YES
TAGFILES =
GENERATE_TAGFILE =
ALLEXTERNALS = NO
EXTERNAL_GROUPS = YES
EXTERNAL_PAGES = YES
PERL_PATH = /usr/bin/perl
CLASS_DIAGRAMS = YES
HIDE_UNDOC_RELATIONS = NO
HAVE_DOT = NO

221
Code/RK3588/PIBot_ROS/third_party/libfreenect2/doc/mainpage.dox vendored Normal file
View File

@ -0,0 +1,221 @@
/** @mainpage API Reference
Older versions: [0.1](0.1).
Introduction
============
%libfreenect2 is an open source cross-platform driver for Kinect for Windows v2
devices. For information on installation and troubleshooting, see the
[GitHub repository](https://github.com/OpenKinect/libfreenect2).
This documentation is designed for application developers who want to extract
and use depth and color images from Kinect v2 for further processing.
Additional questions and comments not covered by this documentation can be
posted to [GitHub issues](https://github.com/OpenKinect/libfreenect2/issues).
This documentation may require some understanding on camera calibration and 3-D
geometry.
Features
========
- Color image processing
- IR and depth image processing
- Registration of color and depth images
- Multiple GPU and hardware acceleration implementations for image processing
### Issues and Future Work
- Audio. Raw audio is accessible via Linux USB audio. There is no support for
the calibrated directional audio.
- Unstable USB and crashes. Due to differences in driver support, USB problems
can happen a lot. Error handling in %libfreenect2 is not fully verified for
production use.
- Firmware upload. The protocol has been reverse engineered, but use Windows
for this right now.
- Example of multiple Kinects.
- Example utility of dumping image frames.
- API for on-demand processing.
- Verification of systematic errors through accurate calibration.
- Bindings for C, Python, Java, etc.
Getting Started
===============
To read the API documentation, start with the [Modules](modules.html) page
which nicely organizes classes according to their functionalities.
Example programs can be found in the source distribution under the `examples`
directory. There also includes an example CMake build system for a standalone
application that uses %libfreenect2 binary installation.
Many internal details are hidden from this public API. For details on Kinect
v2's USB protocols, depth decoding algorithms, calibration algorithms, and how
to implement performance optimizers, you are encouraged to read the source
code. The source code is the updated and authoritative reference for any
functionalities.
Environment Variables
=====================
There are a few environment variables providing controls for both end-users and
programmers:
* `LIBFREENECT2_LOGGER_LEVEL`: The default logging level if not explicitly set
by the code.
* `LIBFREENECT2_PIPELINE`: The default pipeline if not explicitly set by the
code.
* `LIBFREENECT2_RGB_TRANSFER_SIZE`, `LIBFREENECT2_RGB_TRANSFERS`,
`LIBFREENECT2_IR_PACKETS`, `LIBFREENECT2_IR_TRANSFERS`: Tuning the USB buffer
sizes. Use only if you know what you are doing.
You can also see the following walkthrough for the most basic usage.
Walkthrough
===========
Here is an example to walk you through the API. See `examples/Protonect.cpp`
for the full source.
Headers
-------
First, include necessary headers. `registration.h` and `logger.h` are optional
if you don't use them.
@snippet Protonect.cpp headers
Logging
-------
This shows how to set up the logger and logging level.
@snippet Protonect.cpp logging
Though @copydetails libfreenect2::createConsoleLoggerWithDefaultLevel
You can implement a custom [Logger](@ref libfreenect2::Logger) and redirect
%libfreenect2's log messages to desired places.
Here is an example to save log messages to a file.
@snippet Protonect.cpp logger
And use it
@snippet Protonect.cpp file logging
%libfreenect2 uses a single global logger regardless of number of contexts and
devices. You may have to implement thread safety measure in
[log()](@ref libfreenect2::Logger::log), which is called from multiple threads.
Console loggers are thread safe because `std::cout` and `std::cerr` are thread
safe.
Initialize and Discover Devices
-------------------------------
You need these structures for all operations. Here it uses only one device.
@snippet Protonect.cpp context
You must enumerate all Kinect v2 devices before doing anything else related to
devices.
@snippet Protonect.cpp discovery
Also, you can create a specific [PacketPipeline](@ref libfreenect2::PacketPipeline)
instead using the default one for opening the device. Alternatives include
[OpenGLPacketPipeline](@ref libfreenect2::OpenGLPacketPipeline),
[OpenCLPacketPipeline](@ref libfreenect2::OpenCLPacketPipeline), etc.
@snippet Protonect.cpp pipeline
Open and Configure the Device
-----------------------------
Now you can open the device by its serial number, and using the specific
pipeline.
@snippet Protonect.cpp open
You can also open the device without providing a pipeline, then a default is
used. There are a few alternative ways to [openDevice()](@ref libfreenect2::Freenect2::openDevice).
After opening, you need to attach [Framelisteners](@ref libfreenect2::FrameListener)
to the device to receive images frames.
This [SyncMultiFrameListener](@ref libfreenect2::SyncMultiFrameListener) will
wait until all specified types of frames are received once. Like loggers, you
may also implement your own frame listeners using the same interface.
@snippet Protonect.cpp listeners
You cannot configure the device after starting it.
Start the Device
----------------
After finishing configuring the device, you can start the device. You must
start the device before querying any information of the device.
@snippet Protonect.cpp start
You can [setIrCameraParams()](@ref libfreenect2::Freenect2Device::setIrCameraParams)
after start if you have your own depth calibration parameters.
Otherwise you can also use the factory preset parameters for
[Registration](@ref libfreenect2::Registration). You can also provide your own
depth calibration parameterss (though not color camera calibration parameters
right now). Registration is optional.
@snippet Protonect.cpp registration setup
At this time, the processing has begun, and the data flows through the pipeline
towards your frame listeners.
Receive Image Frames
--------------------
This example uses a loop to receive image frames.
@snippet Protonect.cpp loop start
[waitForNewFrame()](@ref libfreenect2::SyncMultiFrameListener::waitForNewFrame)
here will block until required frames are all received, and then you can
extract `Frame` according to the type.
See libfreenect2::Frame for details about pixel format, dimensions, and
metadata.
You can do your own things using the frame data. You can feed it to OpenCV,
PCL, etc. Here, you can perform registration:
@snippet Protonect.cpp registration
After you are done with this frame, you must release it.
@snippet Protonect.cpp loop end
Stop the Device
---------------
If you are finished and no longer need to receive more frames, you can stop
the device and exit.
@snippet Protonect.cpp stop
Pause the Device
----------------
You can also temporarily pause the device with
[stop()](@ref libfreenect2::Freenect2Device::stop) and
[start()](@ref libfreenect2::Freenect2Device::start).
@snippet Protonect.cpp pause
Doing this during `waitForNewFrame()` should be thread safe, and tests also
show well. But a guarantee of thread safety has not been checked yet.
THE END.
*/

93
Code/RK3588/PIBot_ROS/third_party/libfreenect2/examples/CMakeLists.txt vendored Normal file
View File

@ -0,0 +1,93 @@
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(libfreenect2_examples)
SET(MY_DIR ${libfreenect2_examples_SOURCE_DIR})
SET(DEPENDS_DIR "${MY_DIR}/../depends" CACHE STRING "Dependency directory")
OPTION(ENABLE_OPENGL "Enable OpenGL support" ON)
# The example build system is standalone and will work out-of-tree with these files copied
SET(freenect2_ROOT_DIR ${MY_DIR}/..)
SET(flextGL_SOURCES ${freenect2_ROOT_DIR}/src/flextGL.cpp)
SET(flextGL_INCLUDE_DIRS ${freenect2_ROOT_DIR}/src) # for flextGL.h
FIND_PACKAGE(PkgConfig) # try find PKGConfig as it will be used if found
LIST(APPEND CMAKE_MODULE_PATH ${freenect2_ROOT_DIR}/cmake_modules) # FindGLFW3.cmake
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}
)
SET(Protonect_src
Protonect.cpp
)
SET(Protonect_LIBRARIES
${freenect2_LIBRARIES}
)
SET(Protonect_DLLS
${freenect2_DLLS}
)
IF(ENABLE_OPENGL)
FIND_PACKAGE(GLFW3)
FIND_PACKAGE(OpenGL)
IF(GLFW3_FOUND AND OPENGL_FOUND)
INCLUDE_DIRECTORIES(
${GLFW3_INCLUDE_DIRS}
${flextGL_INCLUDE_DIRS}
)
LIST(APPEND Protonect_DLLS ${GLFW3_DLL})
LIST(APPEND Protonect_src
viewer.cpp
${flextGL_SOURCES}
)
LIST(APPEND Protonect_LIBRARIES
${GLFW3_LIBRARIES}
${OPENGL_gl_LIBRARY}
)
ADD_DEFINITIONS(-DEXAMPLES_WITH_OPENGL_SUPPORT=1)
ENDIF()
ENDIF(ENABLE_OPENGL)
ADD_EXECUTABLE(Protonect
${Protonect_src}
)
TARGET_LINK_LIBRARIES(Protonect
${Protonect_LIBRARIES}
)
IF(WIN32)
INSTALL(TARGETS Protonect DESTINATION bin)
LIST(REMOVE_DUPLICATES Protonect_DLLS)
FOREACH(FILEI ${Protonect_DLLS})
ADD_CUSTOM_COMMAND(TARGET Protonect POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different ${FILEI} $<TARGET_FILE_DIR:Protonect>
)
ENDFOREACH(FILEI)
INSTALL(FILES ${Protonect_DLLS} DESTINATION bin)
ENDIF()

411
Code/RK3588/PIBot_ROS/third_party/libfreenect2/examples/Protonect.cpp vendored Normal file
View File

@ -0,0 +1,411 @@
/*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2011 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.
*/
/** @file Protonect.cpp Main application file. */
#include <iostream>
#include <cstdlib>
#include <signal.h>
/// [headers]
#include <libfreenect2/libfreenect2.hpp>
#include <libfreenect2/frame_listener_impl.h>
#include <libfreenect2/registration.h>
#include <libfreenect2/packet_pipeline.h>
#include <libfreenect2/logger.h>
/// [headers]
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
#include "viewer.h"
#endif
bool protonect_shutdown = false; ///< Whether the running application should shut down.
void sigint_handler(int s)
{
protonect_shutdown = true;
}
bool protonect_paused = false;
libfreenect2::Freenect2Device *devtopause;
//Doing non-trivial things in signal handler is bad. If you want to pause,
//do it in another thread.
//Though libusb operations are generally thread safe, I cannot guarantee
//everything above is thread safe when calling start()/stop() while
//waitForNewFrame().
void sigusr1_handler(int s)
{
if (devtopause == 0)
return;
/// [pause]
if (protonect_paused)
devtopause->start();
else
devtopause->stop();
protonect_paused = !protonect_paused;
/// [pause]
}
//The following demostrates how to create a custom logger
/// [logger]
#include <fstream>
#include <cstdlib>
class MyFileLogger: public libfreenect2::Logger
{
private:
std::ofstream logfile_;
public:
MyFileLogger(const char *filename)
{
if (filename)
logfile_.open(filename);
level_ = Debug;
}
bool good()
{
return logfile_.is_open() && logfile_.good();
}
virtual void log(Level level, const std::string &message)
{
logfile_ << "[" << libfreenect2::Logger::level2str(level) << "] " << message << std::endl;
}
};
/// [logger]
/// [main]
/**
* Main application entry point.
*
* Accepted argumemnts:
* - cpu Perform depth processing with the CPU.
* - gl Perform depth processing with OpenGL.
* - cl Perform depth processing with OpenCL.
* - <number> Serial number of the device to open.
* - -noviewer Disable viewer window.
*/
int main(int argc, char *argv[])
/// [main]
{
std::string program_path(argv[0]);
std::cerr << "Version: " << LIBFREENECT2_VERSION << std::endl;
std::cerr << "Environment variables: LOGFILE=<protonect.log>" << std::endl;
std::cerr << "Usage: " << program_path << " [-gpu=<id>] [gl | cl | clkde | cuda | cudakde | cpu] [<device serial>]" << std::endl;
std::cerr << " [-noviewer] [-norgb | -nodepth] [-help] [-version]" << std::endl;
std::cerr << " [-frames <number of frames to process>]" << std::endl;
std::cerr << "To pause and unpause: pkill -USR1 Protonect" << std::endl;
size_t executable_name_idx = program_path.rfind("Protonect");
std::string binpath = "/";
if(executable_name_idx != std::string::npos)
{
binpath = program_path.substr(0, executable_name_idx);
}
#if defined(WIN32) || defined(_WIN32) || defined(__WIN32__)
// avoid flooing the very slow Windows console with debug messages
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Info));
#else
// create a console logger with debug level (default is console logger with info level)
/// [logging]
libfreenect2::setGlobalLogger(libfreenect2::createConsoleLogger(libfreenect2::Logger::Debug));
/// [logging]
#endif
/// [file logging]
MyFileLogger *filelogger = new MyFileLogger(getenv("LOGFILE"));
if (filelogger->good())
libfreenect2::setGlobalLogger(filelogger);
else
delete filelogger;
/// [file logging]
/// [context]
libfreenect2::Freenect2 freenect2;
libfreenect2::Freenect2Device *dev = 0;
libfreenect2::PacketPipeline *pipeline = 0;
/// [context]
std::string serial = "";
bool viewer_enabled = true;
bool enable_rgb = true;
bool enable_depth = true;
int deviceId = -1;
size_t framemax = -1;
for(int argI = 1; argI < argc; ++argI)
{
const std::string arg(argv[argI]);
if(arg == "-help" || arg == "--help" || arg == "-h" || arg == "-v" || arg == "--version" || arg == "-version")
{
// Just let the initial lines display at the beginning of main
return 0;
}
else if(arg.find("-gpu=") == 0)
{
if (pipeline)
{
std::cerr << "-gpu must be specified before pipeline argument" << std::endl;
return -1;
}
deviceId = atoi(argv[argI] + 5);
}
else if(arg == "cpu")
{
if(!pipeline)
/// [pipeline]
pipeline = new libfreenect2::CpuPacketPipeline();
/// [pipeline]
}
else if(arg == "gl")
{
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenGLPacketPipeline();
#else
std::cout << "OpenGL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cl")
{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLPacketPipeline(deviceId);
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "clkde")
{
#ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::OpenCLKdePacketPipeline(deviceId);
#else
std::cout << "OpenCL pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cuda")
{
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::CudaPacketPipeline(deviceId);
#else
std::cout << "CUDA pipeline is not supported!" << std::endl;
#endif
}
else if(arg == "cudakde")
{
#ifdef LIBFREENECT2_WITH_CUDA_SUPPORT
if(!pipeline)
pipeline = new libfreenect2::CudaKdePacketPipeline(deviceId);
#else
std::cout << "CUDA pipeline is not supported!" << std::endl;
#endif
}
else if(arg.find_first_not_of("0123456789") == std::string::npos) //check if parameter could be a serial number
{
serial = arg;
}
else if(arg == "-noviewer" || arg == "--noviewer")
{
viewer_enabled = false;
}
else if(arg == "-norgb" || arg == "--norgb")
{
enable_rgb = false;
}
else if(arg == "-nodepth" || arg == "--nodepth")
{
enable_depth = false;
}
else if(arg == "-frames")
{
++argI;
framemax = strtol(argv[argI], NULL, 0);
if (framemax == 0) {
std::cerr << "invalid frame count '" << argv[argI] << "'" << std::endl;
return -1;
}
}
else
{
std::cout << "Unknown argument: " << arg << std::endl;
}
}
if (!enable_rgb && !enable_depth)
{
std::cerr << "Disabling both streams is not allowed!" << std::endl;
return -1;
}
/// [discovery]
if(freenect2.enumerateDevices() == 0)
{
std::cout << "no device connected!" << std::endl;
return -1;
}
if (serial == "")
{
serial = freenect2.getDefaultDeviceSerialNumber();
}
/// [discovery]
if(pipeline)
{
/// [open]
dev = freenect2.openDevice(serial, pipeline);
/// [open]
}
else
{
dev = freenect2.openDevice(serial);
}
if(dev == 0)
{
std::cout << "failure opening device!" << std::endl;
return -1;
}
devtopause = dev;
signal(SIGINT,sigint_handler);
#ifdef SIGUSR1
signal(SIGUSR1, sigusr1_handler);
#endif
protonect_shutdown = false;
/// [listeners]
int types = 0;
if (enable_rgb)
types |= libfreenect2::Frame::Color;
if (enable_depth)
types |= libfreenect2::Frame::Ir | libfreenect2::Frame::Depth;
libfreenect2::SyncMultiFrameListener listener(types);
libfreenect2::FrameMap frames;
dev->setColorFrameListener(&listener);
dev->setIrAndDepthFrameListener(&listener);
/// [listeners]
/// [start]
if (enable_rgb && enable_depth)
{
if (!dev->start())
return -1;
}
else
{
if (!dev->startStreams(enable_rgb, enable_depth))
return -1;
}
std::cout << "device serial: " << dev->getSerialNumber() << std::endl;
std::cout << "device firmware: " << dev->getFirmwareVersion() << std::endl;
/// [start]
/// [registration setup]
libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
libfreenect2::Frame undistorted(512, 424, 4), registered(512, 424, 4);
/// [registration setup]
size_t framecount = 0;
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
Viewer viewer;
if (viewer_enabled)
viewer.initialize();
#else
viewer_enabled = false;
#endif
/// [loop start]
while(!protonect_shutdown && (framemax == (size_t)-1 || framecount < framemax))
{
if (!listener.waitForNewFrame(frames, 10*1000)) // 10 sconds
{
std::cout << "timeout!" << std::endl;
return -1;
}
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
/// [loop start]
if (enable_rgb && enable_depth)
{
/// [registration]
registration->apply(rgb, depth, &undistorted, &registered);
/// [registration]
}
framecount++;
if (!viewer_enabled)
{
if (framecount % 100 == 0)
std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
listener.release(frames);
continue;
}
#ifdef EXAMPLES_WITH_OPENGL_SUPPORT
if (enable_rgb)
{
viewer.addFrame("RGB", rgb);
}
if (enable_depth)
{
viewer.addFrame("ir", ir);
viewer.addFrame("depth", depth);
}
if (enable_rgb && enable_depth)
{
viewer.addFrame("registered", &registered);
}
protonect_shutdown = protonect_shutdown || viewer.render();
#endif
/// [loop end]
listener.release(frames);
/** libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100)); */
}
/// [loop end]
// TODO: restarting ir stream doesn't work!
// TODO: bad things will happen, if frame listeners are freed before dev->stop() :(
/// [stop]
dev->stop();
dev->close();
/// [stop]
delete registration;
return 0;
}

244
Code/RK3588/PIBot_ROS/third_party/libfreenect2/examples/viewer.cpp vendored Normal file
View File

@ -0,0 +1,244 @@
#include "viewer.h"
#include <cstdlib>
Viewer::Viewer() : shader_folder("src/shader/"),
win_width(600),
win_height(400)
{
}
static void glfwErrorCallback(int error, const char* description)
{
std::cerr << "GLFW error " << error << " " << description << std::endl;
}
void Viewer::initialize()
{
// init glfw - if already initialized nothing happens
glfwInit();
GLFWerrorfun prev_func = glfwSetErrorCallback(glfwErrorCallback);
if (prev_func)
glfwSetErrorCallback(prev_func);
// setup context
glfwDefaultWindowHints();
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
#ifdef __APPLE__
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 2);
glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_TRUE);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
#else
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 1);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_ANY_PROFILE);
#endif
//glfwWindowHint(GLFW_VISIBLE, debug ? GL_TRUE : GL_FALSE);
window = glfwCreateWindow(win_width*2, win_height*2, "Viewer (press ESC to exit)", 0, NULL);
if (window == NULL)
{
std::cerr << "Failed to create opengl window." << std::endl;
exit(-1);
}
glfwMakeContextCurrent(window);
OpenGLBindings *b = new OpenGLBindings();
flextInit(b);
gl(b);
std::string vertexshadersrc = ""
"#version 330\n"
"in vec2 Position;"
"in vec2 TexCoord;"
"out VertexData{"
"vec2 TexCoord;"
"} VertexOut;"
"void main(void)"
"{"
" gl_Position = vec4(Position, 0.0, 1.0);"
" VertexOut.TexCoord = TexCoord;"
"}";
std::string grayfragmentshader = ""
"#version 330\n"
"uniform sampler2DRect Data;"
"vec4 tempColor;"
"in VertexData{"
" vec2 TexCoord;"
"} FragmentIn;"
"layout(location = 0) out vec4 Color;"
"void main(void)"
"{"
"ivec2 uv = ivec2(FragmentIn.TexCoord.x, FragmentIn.TexCoord.y);"
"tempColor = texelFetch(Data, uv);"
"Color = vec4(tempColor.x/4500, tempColor.x/4500, tempColor.x/4500, 1);"
"}";
std::string fragmentshader = ""
"#version 330\n"
"uniform sampler2DRect Data;"
"in VertexData{"
" vec2 TexCoord;"
"} FragmentIn;"
"layout(location = 0) out vec4 Color;"
"void main(void)"
"{"
" ivec2 uv = ivec2(FragmentIn.TexCoord.x, FragmentIn.TexCoord.y);"
" Color = texelFetch(Data, uv);"
"}";
renderShader.setVertexShader(vertexshadersrc);
renderShader.setFragmentShader(fragmentshader);
renderShader.build();
renderGrayShader.setVertexShader(vertexshadersrc);
renderGrayShader.setFragmentShader(grayfragmentshader);
renderGrayShader.build();
glfwSetWindowUserPointer(window, this);
glfwSetKeyCallback(window, Viewer::key_callbackstatic);
glfwSetWindowSizeCallback(window, Viewer::winsize_callbackstatic);
shouldStop = false;
}
void Viewer::winsize_callbackstatic(GLFWwindow* window, int w, int h)
{
Viewer* viewer = reinterpret_cast<Viewer*>(glfwGetWindowUserPointer(window));
viewer->winsize_callback(window, w, h);
}
void Viewer::winsize_callback(GLFWwindow* window, int w, int h)
{
win_width = w/2;
win_height = h/2;
}
void Viewer::key_callbackstatic(GLFWwindow* window, int key, int scancode, int action, int mods)
{
Viewer* viewer = reinterpret_cast<Viewer*>(glfwGetWindowUserPointer(window));
viewer->key_callback(window, key, scancode, action, mods);
}
void Viewer::key_callback(GLFWwindow* window, int key, int scancode, int action, int mods)
{
if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS)
shouldStop = true;
}
void Viewer::onOpenGLBindingsChanged(OpenGLBindings *b)
{
renderShader.gl(b);
renderGrayShader.gl(b);
rgb.gl(b);
ir.gl(b);
}
bool Viewer::render()
{
// wipe the drawing surface clear
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
GLint x = 0, y = 0;
int fb_width, fb_width_half, fb_height, fb_height_half;
std::map<std::string, libfreenect2::Frame*>::iterator iter;
for (iter = frames.begin(); iter != frames.end(); ++iter)
{
libfreenect2::Frame* frame = iter->second;
// Using the frame buffer size to account for screens where window.size != framebuffer.size, e.g. retina displays
glfwGetFramebufferSize(window, &fb_width, &fb_height);
fb_width_half = (fb_width + 1) / 2;
fb_height_half = (fb_height + 1) / 2;
glViewport(x, y, fb_width_half, fb_height_half);
x += fb_width_half;
if (x >= (fb_width - 1))
{
x = 0;
y += fb_height_half;
}
float w = static_cast<float>(frame->width);
float h = static_cast<float>(frame->height);
Vertex bl = { -1.0f, -1.0f, 0.0f, 0.0f };
Vertex br = { 1.0f, -1.0f, w, 0.0f };
Vertex tl = { -1.0f, 1.0f, 0.0f, h };
Vertex tr = { 1.0f, 1.0f, w, h };
Vertex vertices[] = {
bl, tl, tr,
tr, br, bl
};
gl()->glGenBuffers(1, &triangle_vbo);
gl()->glGenVertexArrays(1, &triangle_vao);
gl()->glBindVertexArray(triangle_vao);
gl()->glBindBuffer(GL_ARRAY_BUFFER, triangle_vbo);
gl()->glBufferData(GL_ARRAY_BUFFER, sizeof(vertices), vertices, GL_STATIC_DRAW);
GLint position_attr = renderShader.getAttributeLocation("Position");
gl()->glVertexAttribPointer(position_attr, 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)0);
gl()->glEnableVertexAttribArray(position_attr);
GLint texcoord_attr = renderShader.getAttributeLocation("TexCoord");
gl()->glVertexAttribPointer(texcoord_attr, 2, GL_FLOAT, GL_FALSE, sizeof(Vertex), (GLvoid*)(2 * sizeof(float)));
gl()->glEnableVertexAttribArray(texcoord_attr);
if (iter->first == "RGB" || iter->first == "registered")
{
renderShader.use();
rgb.allocate(frame->width, frame->height);
std::copy(frame->data, frame->data + frame->width * frame->height * frame->bytes_per_pixel, rgb.data);
rgb.flipY();
rgb.upload();
glDrawArrays(GL_TRIANGLES, 0, 6);
rgb.deallocate();
}
else
{
renderGrayShader.use();
ir.allocate(frame->width, frame->height);
std::copy(frame->data, frame->data + frame->width * frame->height * frame->bytes_per_pixel, ir.data);
ir.flipY();
ir.upload();
glDrawArrays(GL_TRIANGLES, 0, 6);
ir.deallocate();
}
gl()->glDeleteBuffers(1, &triangle_vbo);
gl()->glDeleteVertexArrays(1, &triangle_vao);
}
// put the stuff we've been drawing onto the display
glfwSwapBuffers(window);
// update other events like input handling
glfwPollEvents();
return shouldStop || glfwWindowShouldClose(window);
}
void Viewer::addFrame(std::string id, libfreenect2::Frame* frame)
{
frames[id] = frame;
}

288
Code/RK3588/PIBot_ROS/third_party/libfreenect2/examples/viewer.h vendored Normal file
View File

@ -0,0 +1,288 @@
#ifndef VIEWER_H
#define VIEWER_H
#include <libfreenect2/config.h>
#include <libfreenect2/frame_listener.hpp>
#include <iostream>
#include <string>
#include <map>
#include "flextGL.h"
#include <GLFW/glfw3.h>
struct Vertex
{
float x, y;
float u, v;
};
class WithOpenGLBindings
{
private:
OpenGLBindings *bindings;
protected:
WithOpenGLBindings() : bindings(0) {}
virtual ~WithOpenGLBindings() {}
virtual void onOpenGLBindingsChanged(OpenGLBindings *b) { }
public:
void gl(OpenGLBindings *bindings)
{
this->bindings = bindings;
onOpenGLBindingsChanged(this->bindings);
}
OpenGLBindings *gl()
{
return bindings;
}
};
template<size_t TBytesPerPixel, GLenum TInternalFormat, GLenum TFormat, GLenum TType>
struct ImageFormat
{
static const size_t BytesPerPixel = TBytesPerPixel;
static const GLenum InternalFormat = TInternalFormat;
static const GLenum Format = TFormat;
static const GLenum Type = TType;
};
typedef ImageFormat<1, GL_R8UI, GL_RED_INTEGER, GL_UNSIGNED_BYTE> U8C1;
typedef ImageFormat<2, GL_R16I, GL_RED_INTEGER, GL_SHORT> S16C1;
typedef ImageFormat<2, GL_R16UI, GL_RED_INTEGER, GL_UNSIGNED_SHORT> U16C1;
typedef ImageFormat<4, GL_R32F, GL_RED, GL_FLOAT> F32C1;
typedef ImageFormat<8, GL_RG32F, GL_RG, GL_FLOAT> F32C2;
typedef ImageFormat<12, GL_RGB32F, GL_RGB, GL_FLOAT> F32C3;
typedef ImageFormat<4, GL_RGBA, GL_BGRA, GL_UNSIGNED_BYTE> F8C4;
typedef ImageFormat<16, GL_RGBA32F, GL_RGBA, GL_FLOAT> F32C4;
template<typename FormatT>
struct Texture : public WithOpenGLBindings
{
protected:
size_t bytes_per_pixel, height, width;
public:
GLuint texture;
unsigned char *data;
size_t size;
Texture() : bytes_per_pixel(FormatT::BytesPerPixel), height(0), width(0), texture(0), data(0), size(0)
{
}
void bindToUnit(GLenum unit)
{
gl()->glActiveTexture(unit);
glBindTexture(GL_TEXTURE_RECTANGLE, texture);
}
void allocate(size_t new_width, size_t new_height)
{
width = new_width;
height = new_height;
size = height * width * bytes_per_pixel;
data = new unsigned char[size];
glGenTextures(1, &texture);
bindToUnit(GL_TEXTURE0);
glTexParameteri(GL_TEXTURE_RECTANGLE, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER);
glTexParameteri(GL_TEXTURE_RECTANGLE, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER);
glTexParameteri(GL_TEXTURE_RECTANGLE, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_RECTANGLE, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexImage2D(GL_TEXTURE_RECTANGLE, 0, FormatT::InternalFormat, width, height, 0, FormatT::Format, FormatT::Type, 0);
}
void deallocate()
{
glDeleteTextures(1, &texture);
delete[] data;
}
void upload()
{
bindToUnit(GL_TEXTURE0);
glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
glTexSubImage2D(GL_TEXTURE_RECTANGLE, /*level*/0, /*xoffset*/0, /*yoffset*/0, width, height, FormatT::Format, FormatT::Type, data);
}
void download()
{
downloadToBuffer(data);
}
void downloadToBuffer(unsigned char *data)
{
glReadPixels(0, 0, width, height, FormatT::Format, FormatT::Type, data);
}
void flipY()
{
flipYBuffer(data);
}
void flipYBuffer(unsigned char *data)
{
typedef unsigned char type;
size_t linestep = width * bytes_per_pixel / sizeof(type);
type *first_line = reinterpret_cast<type *>(data), *last_line = reinterpret_cast<type *>(data) + (height - 1) * linestep;
for (size_t y = 0; y < height / 2; ++y)
{
for (size_t x = 0; x < linestep; ++x, ++first_line, ++last_line)
{
std::swap(*first_line, *last_line);
}
last_line -= 2 * linestep;
}
}
libfreenect2::Frame *downloadToNewFrame()
{
libfreenect2::Frame *f = new libfreenect2::Frame(width, height, bytes_per_pixel);
downloadToBuffer(f->data);
flipYBuffer(f->data);
return f;
}
};
struct ShaderProgram : public WithOpenGLBindings
{
GLuint program, vertex_shader, fragment_shader;
char error_buffer[2048];
ShaderProgram() :
program(0),
vertex_shader(0),
fragment_shader(0)
{
}
void setVertexShader(const std::string& src)
{
const char* src_ = src.c_str();
int length_ = src.length();
vertex_shader = gl()->glCreateShader(GL_VERTEX_SHADER);
gl()->glShaderSource(vertex_shader, 1, &src_, &length_);
}
void setFragmentShader(const std::string& src)
{
const char* src_ = src.c_str();
int length_ = src.length();
fragment_shader = gl()->glCreateShader(GL_FRAGMENT_SHADER);
gl()->glShaderSource(fragment_shader, 1, &src_, &length_);
}
void build()
{
GLint status;
gl()->glCompileShader(vertex_shader);
gl()->glGetShaderiv(vertex_shader, GL_COMPILE_STATUS, &status);
if (status != GL_TRUE)
{
gl()->glGetShaderInfoLog(vertex_shader, sizeof(error_buffer), NULL, error_buffer);
std::cerr << "failed to compile vertex shader!" << std::endl << error_buffer << std::endl;
}
gl()->glCompileShader(fragment_shader);
gl()->glGetShaderiv(fragment_shader, GL_COMPILE_STATUS, &status);
if (status != GL_TRUE)
{
gl()->glGetShaderInfoLog(fragment_shader, sizeof(error_buffer), NULL, error_buffer);
std::cerr << "failed to compile fragment shader!" << std::endl << error_buffer << std::endl;
}
program = gl()->glCreateProgram();
gl()->glAttachShader(program, vertex_shader);
gl()->glAttachShader(program, fragment_shader);
gl()->glLinkProgram(program);
gl()->glGetProgramiv(program, GL_LINK_STATUS, &status);
if (status != GL_TRUE)
{
gl()->glGetProgramInfoLog(program, sizeof(error_buffer), NULL, error_buffer);
std::cerr << "failed to link shader program!" << std::endl << error_buffer << std::endl;
}
}
GLint getAttributeLocation(const std::string& name)
{
return gl()->glGetAttribLocation(program, name.c_str());
}
void setUniform(const std::string& name, GLint value)
{
GLint idx = gl()->glGetUniformLocation(program, name.c_str());
if (idx == -1) return;
gl()->glUniform1i(idx, value);
}
void setUniform(const std::string& name, GLfloat value)
{
GLint idx = gl()->glGetUniformLocation(program, name.c_str());
if (idx == -1) return;
gl()->glUniform1f(idx, value);
}
void setUniformVector3(const std::string& name, GLfloat value[3])
{
GLint idx = gl()->glGetUniformLocation(program, name.c_str());
if (idx == -1) return;
gl()->glUniform3fv(idx, 1, value);
}
void setUniformMatrix3(const std::string& name, GLfloat value[9])
{
GLint idx = gl()->glGetUniformLocation(program, name.c_str());
if (idx == -1) return;
gl()->glUniformMatrix3fv(idx, 1, false, value);
}
void use()
{
gl()->glUseProgram(program);
}
};
class Viewer : WithOpenGLBindings {
private:
bool shouldStop;
GLFWwindow* window;
GLuint triangle_vbo, triangle_vao;
ShaderProgram renderShader;
ShaderProgram renderGrayShader;
std::string shader_folder;
std::map<std::string,libfreenect2::Frame*> frames;
Texture<F8C4> rgb;
Texture<F32C1> ir;
int win_width;
int win_height;
public:
Viewer();
void initialize();
virtual void onOpenGLBindingsChanged(OpenGLBindings *b);
bool render();
void addFrame(std::string id,libfreenect2::Frame* frame);
void key_callback(GLFWwindow* window, int key, int scancode, int action, int mods);
void winsize_callback(GLFWwindow* window, int w, int h);
static void key_callbackstatic(GLFWwindow* window, int key, int scancode, int action, int mods);
static void winsize_callbackstatic(GLFWwindow* window, int w, int h);
};
#endif

Some files were not shown because too many files have changed in this diff Show More