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Package update to work with hydro with no user intervention #6

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Package update to work with hydro with no user intervention #6

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128 changes: 101 additions & 27 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,39 +1,113 @@
cmake_minimum_required(VERSION 2.8.3)
project(openni2_tracker)
find_package(catkin REQUIRED COMPONENTS geometry_msgs
orocos_kdl
find_package(catkin REQUIRED COMPONENTS
roscpp
roslib
tf)
# Find OpenNI2
#find_package(PkgConfig)
#pkg_check_modules(OpenNI2 REQUIRED libopenni2)
find_path(OpenNI2_INCLUDEDIR
NAMES OpenNI.h
HINTS /usr/include/openni2)
find_library(OpenNI2_LIBRARIES
NAMES OpenNI2 DummyDevice OniFile PS1090
HINTS /usr/lib/ /usr/lib/OpenNI2/Drivers
PATH_SUFFIXES lib)
message(STATUS ${OpenNI2_LIBRARIES})

# Find Nite2
message(status $ENV{NITE2_INCLUDE})
message(status $ENV{NITE2_REDIST64})
find_path(Nite2_INCLUDEDIR
NAMES NiTE.h
HINTS $ENV{NITE2_INCLUDE})
find_library(Nite2_LIBRARY
NAMES NiTE2
HINTS $ENV{NITE2_REDIST64}
PATH_SUFFIXES lib)
find_package(orocos_kdl REQUIRED)

catkin_package()

include_directories(${catkin_INCLUDEDIR}
${OpenNI2_INCLUDEDIR}
${Nite2_INCLUDEDIR})
include(ExternalProject)
## Check architecture 32 or 64 bit for precompiled OpenNI2 and NiTE2 Libraries
if (CMAKE_SIZEOF_VOID_P MATCHES "8")
ExternalProject_Add(
OpenNI2
PREFIX ${CMAKE_CURRENT_BINARY_DIR}
URL http://www.openni.ru/wp-content/uploads/2013/01/OpenNI-Linux-x64-2.1.0.tar.zip
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This is not acceptable in my opinion, it should be downloaded from the structure.io website or better yet OpenNI's GitHub:

URL_MD5 be1f12b964fe07f4a3243b946c6ce387
UPDATE_COMMAND tar -xf <SOURCE_DIR>/OpenNI-Linux-x64-2.1.0.tar.bz2
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
)
ExternalProject_Add(
NiTE2
PREFIX ${CMAKE_CURRENT_BINARY_DIR}
URL http://www.openni.ru/wp-content/uploads/NiTE-Linux-x64-2.0.0.tar.zip
URL_MD5 4244e25bebc87a15fc761b7371107494
UPDATE_COMMAND tar -xf <SOURCE_DIR>/NiTE-Linux-x64-2.0.0.tar.bz2
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
)

add_custom_target(OpenNI2_copy)
add_dependencies(OpenNI2_copy OpenNI2)
add_custom_command(TARGET OpenNI2_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/OpenNI2/OpenNI-2.1.0-x64 ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x64)

add_custom_target(NiTE2_copy)
add_dependencies(NiTE2_copy NiTE2)
add_custom_command(TARGET NiTE2_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/NiTE2/NiTE-2.0.0 ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/NiTE-2.0.0)

add_custom_target(OpenNI2_conf_copy)
add_dependencies(OpenNI2_conf_copy OpenNI2)
add_custom_command(TARGET OpenNI2_conf_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/OpenNI2/OpenNI-2.1.0-x64/Redist/OpenNI2 $ENV{HOME}/.ros/OpenNI2)

add_custom_target(NiTE2_conf_copy)
add_dependencies(NiTE2_conf_copy NiTE2)
add_custom_command(TARGET NiTE2_conf_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/NiTE2/NiTE-2.0.0/Redist/NiTE2 $ENV{HOME}/.ros/NiTE2)

set(OpenNI2_INCLUDEDIR ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x64/Include)
set(OpenNI2_LIBRARIES ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x64/Redist/libOpenNI2.so
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x64/Redist/OpenNI2/Drivers/libPS1080.so
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x64/Redist/OpenNI2/Drivers/libOniFile.so)
set(Nite2_INCLUDEDIR ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/NiTE-2.0.0/Include)
set(Nite2_LIBRARY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/NiTE-2.0.0/Redist/libNiTE2.so)
elseif (CMAKE_SIZEOF_VOID_P MATCHES "4")
ExternalProject_Add(
OpenNI2
PREFIX ${CMAKE_CURRENT_BINARY_DIR}
URL http://www.openni.ru/wp-content/uploads/2013/01/OpenNI-Linux-x86-2.1.0.tar.zip
URL_MD5 827b37db761b5885177d3e414cec7762
UPDATE_COMMAND tar -xf <SOURCE_DIR>/OpenNI-Linux-x86-2.1.0.tar.bz2
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
)
ExternalProject_Add(
NiTE2
PREFIX ${CMAKE_CURRENT_BINARY_DIR}
URL http://www.openni.ru/wp-content/uploads/NiTE-Linux-x86-2.0.0.tar.zip
URL_MD5 30d66a07447a73e5bcd8f28af6628606
UPDATE_COMMAND tar -xf <SOURCE_DIR>/NiTE-Linux-x86-2.0.0.tar.bz2
CONFIGURE_COMMAND ""
BUILD_COMMAND ""
)

add_custom_target(OpenNI2_copy)
add_dependencies(OpenNI2_copy OpenNI2)
add_custom_command(TARGET OpenNI2_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/OpenNI2/OpenNI-2.1.0-x86 ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x86)

add_custom_target(NiTE2_copy)
add_dependencies(NiTE2_copy NiTE2)
add_custom_command(TARGET NiTE2_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/NiTE2/NiTE-2.0.0 ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/NiTE-2.0.0)

add_custom_target(OpenNI2_conf_copy)
add_dependencies(OpenNI2_conf_copy OpenNI2)
add_custom_command(TARGET OpenNI2_conf_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/OpenNI2/OpenNI-2.1.0-x86/Redist/OpenNI2 $ENV{HOME}/.ros/OpenNI2)

add_custom_target(NiTE2_conf_copy)
add_dependencies(NiTE2_conf_copy NiTE2)
add_custom_command(TARGET NiTE2_conf_copy PRE_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/src/NiTE2/NiTE-2.0.0/Redist/NiTE2 $ENV{HOME}/.ros/NiTE2)

set(OpenNI2_INCLUDEDIR ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x86/Include)
set(OpenNI2_LIBRARIES ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x86/Redist/libOpenNI2.so
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x86/Redist/OpenNI2/Drivers/libPS1080.so
${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/OpenNI-2.1.0-x86/Redist/OpenNI2/Drivers/libOniFile.so)
set(Nite2_INCLUDEDIR ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/NiTE-2.0.0/Include)
set(Nite2_LIBRARY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/NiTE-2.0.0/Redist/libNiTE2.so)
endif (CMAKE_SIZEOF_VOID_P MATCHES "8")

include_directories(${catkin_INCLUDEDIR} ${OpenNI2_INCLUDEDIR} ${Nite2_INCLUDEDIR})

add_executable(openni2_tracker src/openni2_tracker.cpp)
add_dependencies(openni2_tracker OpenNI2_copy NiTE2_copy OpenNI2_conf_copy NiTE2_conf_copy)
target_link_libraries(openni2_tracker ${catkin_LIBRARIES} ${OpenNI2_LIBRARIES} ${Nite2_LIBRARY})

install(TARGETS openni2_tracker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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12 changes: 12 additions & 0 deletions launch/openni2_tracker.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
<?xml version="1.0"?>
<launch>
<arg name="tracker_name" default="tracker" />
<!-- Load the Tracker -->
<node name="openni2_tracker" pkg="openni2_tracker" type="openni2_tracker" >
<param name="tf_prefix" value="$(arg tracker_name)" />
<param name="relative_frame" value="/$(arg tracker_name)_depth_frame" />
</node>

<!-- TF Static Transforms to World -->
<node pkg="tf" type="static_transform_publisher" name="world_to_tracker" args=" 0 0 1.25 1.5707 0 1.7707 /world /$(arg tracker_name)_depth_frame 100"/>
</launch>
2 changes: 0 additions & 2 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@

<build_depend>libopenni2-dev</build_depend>
<build_depend>libusb-1.0-dev</build_depend>
<!-- <build_depend>libopenni-nite-dev</build_depend> -->
<build_depend>libopenni-sensor-primesense-dev</build_depend> -->
<build_depend>geometry_msgs</build_depend>
<build_depend>orocos_kdl</build_depend>
Expand All @@ -24,7 +23,6 @@

<run_depend>libopenni2-dev</run_depend>
<run_depend>libusb-1.0-dev</run_depend>
<!-- <run_depend>libopenni-nite-dev</run_depend> -->
<run_depend>libopenni-sensor-primesense-dev</run_depend>
<run_depend>geometry_msgs</run_depend>
<run_depend>orocos_kdl</run_depend>
Expand Down
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