added Linux (GCC) build support; added Unity plugin; added RealSense …

…SDK 2 Support (RS2Camera.cpp/.h); changed demo and test projects to depend on stalic library, rather than re-building each source; added parameter for enabling RGB stream in SR300Camera (for Windows RSSDK), disabled by default due to performance impact. Also available in RS2Camera.
WeiyanZhu · Mar 11, 2018 · 1e0ec8a · 1e0ec8a
1 parent e29a0a9
commit 1e0ec8a
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Showing 55 changed files with 36,673 additions and 32,907 deletions.
diff --git a/.gitignore b/.gitignore
@@ -283,6 +283,11 @@ pmdaccess2.dll
 OpenNI2.dll
 #main.cpp
 
+# CMake
+CMakeFiles/
+build/
+include/Version.h
+
 # Cake - Uncomment if you are using it
 # tools/**
 # !tools/packages.config
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,59 +1,77 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required( VERSION 2.8 )
 
 project( OpenARK )
+set( OpenARK_VERSION_MAJOR 0 )
+set( OpenARK_VERSION_MINOR 9 )
+set( OpenARK_VERSION_PATCH 3 )
+set( SVM_PATHS "\"svm/\", \"../svm/\", \"\"" )
+set( INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include" )
 
-set(OpenARK_VERSION_MAJOR 0)
-set(OpenARK_VERSION_MINOR 9)
-set(OpenARK_VERSION_PATCH 3)
+set( CMAKE_CXX_STACK_SIZE "10000000" )
+set( CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules" )
 
-set(SVM_PATHS "\"svm/\", \"../svm/\", \"\"")
-set(INCLUDE_DIR "${PROJECT_SOURCE_DIR}/include")
-
-set(CMAKE_CXX_STACK_SIZE "10000000")
-set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake_modules")
-
-set(LIB_NAME "OpenARK")
-set(DEMO_NAME "OpenARK_demo")
-set(TEST_NAME "OpenARK_test")
-
-option(BUILD_DEMO "BUILD_DEMO" ON)
-option(BUILD_TESTS "BUILD_TESTS" OFF)
-option(USE_PMD "USE_PMD" OFF) 
+if( NOT CMAKE_BUILD_TYPE )
+  set( CMAKE_BUILD_TYPE Release )
+endif()
 
-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")
+set( LIB_NAME "OpenARK" )
+set( DEMO_NAME "OpenARK_demo" )
+set( TEST_NAME "OpenARK_test" )
+set( UNITY_PLUGIN_NAME "UnityPlugin" )
+
+option( BUILD_DEMO "BUILD_DEMO" ON )
+option( BUILD_TESTS "BUILD_TESTS" OFF )
+option( BUILD_UNITY_PLUGIN "BUILD_UNITY_PLUGIN" ON )
+option( USE_RSSDK2 "USE_RSSDK2" ON ) 
+option( USE_RSSDK "USE_RSSDK" OFF ) 
+option( USE_PMDSDK "USE_PMDSDK" OFF ) 
+
+include( CheckCXXCompilerFlag )
+CHECK_CXX_COMPILER_FLAG( "-std=c++11" COMPILER_SUPPORTS_CXX11 )
+CHECK_CXX_COMPILER_FLAG( "-std=c++0x" COMPILER_SUPPORTS_CXX0X )
+
+if( COMPILER_SUPPORTS_CXX11 )
+    set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11" )
+elseif( COMPILER_SUPPORTS_CXX0X )
+    set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x" )
 else()
-    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+    message( STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler." )
 endif()
 
-set(Boost_USE_STATIC_LIBS ON) 
-set(Boost_USE_STATIC ON)
+if ( CMAKE_COMPILER_IS_GNUCXX )
+    set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated -Wno-deprecated-declarations -O3 -g" )
+endif ( CMAKE_COMPILER_IS_GNUCXX )
+
+set( Boost_USE_STATIC_LIBS ON ) 
+set( Boost_USE_STATIC ON )
 
 find_package( PCL REQUIRED )
 
 find_package( OpenCV REQUIRED )
-if(OpenCV_FOUND)
-   message(STATUS "Found OpenCV: ${OpenCV_INCLUDE_DIRS}")
-endif(OpenCV_FOUND)
-
-if(NOT USE_PMD)
-  find_package(RSSDK)
-  if(RSSDK_FOUND)
-       message(STATUS "Found RSSDK: ${RSSDK_INCLUDE_DIR}")
-  endif(RSSDK_FOUND)
-endif(NOT USE_PMD)
-
-if(USE_PMD OR NOT RSSDK_FOUND)
-  find_package( PMDSDK REQUIRED)
-  if(PMDSDK_FOUND)
-     message(STATUS "Found PMDSDK: ${PMDSDK_INCLUDE_DIR}")
-  endif(PMDSDK_FOUND)
-endif(USE_PMD OR NOT RSSDK_FOUND)
+if( OpenCV_FOUND )
+   message( STATUS "Found OpenCV: ${OpenCV_INCLUDE_DIRS}" )
+endif( OpenCV_FOUND )
+
+if( USE_RSSDK2 )
+  find_package( RSSDK2 )
+  if( RSSDK2_FOUND )
+       message( STATUS "Found RSSDK2: ${RSSDK2_INCLUDE_DIR}" )
+  endif( RSSDK2_FOUND )
+endif( USE_RSSDK2 )
+
+if( USE_RSSDK OR NOT RSSDK2_FOUND )
+  find_package( RSSDK )
+  if( RSSDK_FOUND )
+       message( STATUS "Found RSSDK: ${RSSDK_INCLUDE_DIR}" )
+  endif( RSSDK_FOUND )
+endif( USE_RSSDK OR NOT RSSDK2_FOUND )
+
+if( USE_PMDSDK OR ( NOT RSSDK_FOUND AND NOT RSSDK2_FOUND ) )
+  find_package( PMDSDK REQUIRED )
+  if( PMDSDK_FOUND )
+     message( STATUS "Found PMDSDK: ${PMDSDK_INCLUDE_DIR}" )
+  endif( PMDSDK_FOUND )
+endif( USE_PMDSDK OR ( NOT RSSDK_FOUND AND NOT RSSDK2_FOUND ) )
 
 include_directories(
   ${OpenCV_INCLUDE_DIRS}
@@ -69,8 +87,8 @@ set(
 add_definitions(
   ${PCL_DEFINITIONS}
 )
-foreach(DEFINITION ${PCL_DEFINITIONS})
-  set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}")
+foreach( DEFINITION ${PCL_DEFINITIONS} )
+  set( TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}" )
 endforeach()
 
 set(
@@ -84,7 +102,6 @@ set(
   Calibration.cpp 
   Util.cpp	
   Visualizer.cpp	
-  Converter.cpp
   HandClassifier.cpp
   Detector.cpp
   HandDetector.cpp
@@ -104,99 +121,112 @@ set(
   ${INCLUDE_DIR}/Calibration.h 
   ${INCLUDE_DIR}/Util.h	
   ${INCLUDE_DIR}/Visualizer.h	
-  ${INCLUDE_DIR}/Converter.h
   ${INCLUDE_DIR}/HandClassifier.h
   ${INCLUDE_DIR}/Detector.h
   ${INCLUDE_DIR}/HandDetector.h
   ${INCLUDE_DIR}/PlaneDetector.h
   stdafx.h
 )
 
-if(NOT RSSDK_FOUND)
-  SET(RSSDK "//")
+if( NOT RSSDK2_FOUND )
+  set( RSSDK2 "//" )
+else()
+  include_directories( ${RSSDK2_INCLUDE_DIR} )
+  set( SOURCES ${SOURCES} RS2Camera.cpp )
+  set( HEADERS ${HEADERS} ${INCLUDE_DIR}/RS2Camera.h )
+  set( DEPENDENCIES ${DEPENDENCIES} ${RSSDK2_LIBRARY} )
+endif( NOT RSSDK2_FOUND )
+
+if( NOT RSSDK_FOUND )
+  set( RSSDK "//" )
 else()
-  set(SOURCES ${SOURCES} SR300Camera.cpp)
-  set(HEADERS ${HEADERS} ${INCLUDE_DIR}/SR300Camera.h)
-endif(NOT RSSDK_FOUND)
+  include_directories( ${RSSDK_INCLUDE_DIR} )
+  set( SOURCES ${SOURCES} SR300Camera.cpp Converter.cpp )
+  set( HEADERS ${HEADERS} ${INCLUDE_DIR}/SR300Camera.h ${INCLUDE_DIR}/Converter.h )
+endif( NOT RSSDK_FOUND )
 
-if(NOT PMDSDK_FOUND)
-  SET(PMDSDK "//")
+if( NOT PMDSDK_FOUND )
+  set( PMDSDK "//" )
 else()
-  include_directories(${PMDSDK_INCLUDE_DIR})
-  set(SOURCES ${SOURCES} PMDCamera.cpp)
-  set(HEADERS ${HEADERS} ${INCLUDE_DIR}/PMDCamera.h)
-  set(DEPENDENCIES ${DEPENDENCIES} ${PMDSDK_LIBRARIES})
-endif(NOT PMDSDK_FOUND)
-
-configure_file(Version.h.in ${INCLUDE_DIR}/Version.h)
-set(HEADERS ${HEADERS} ${INCLUDE_DIR}/Version.h)
-
-# create source group
-source_group("Header Files" REGULAR_EXPRESSION ".*\\.(h|hpp)")
-
-macro(add_msvc_pch PrecompiledHeader PrecompiledSource SourcesVar)
-  if(MSVC)
-    get_filename_component(PrecompiledBasename ${PrecompiledHeader} NAME_WE)
-    set(PrecompiledBinary "$(IntDir)/${PrecompiledBasename}.pch")
-    set(Sources ${${SourcesVar}})
-
-    if(NOT ${PrecompiledSource} STREQUAL "")
-        set(Sources ${Sources} main.cpp)
-        set_source_files_properties(${PrecompiledSource}
-                                    PROPERTIES COMPILE_FLAGS "/Yc\"${PrecompiledHeader}\" /Fp\"${PrecompiledBinary}\""
-                                               OBJECT_OUTPUTS "${PrecompiledBinary}")
-    endif(NOT ${PrecompiledSource} STREQUAL "")
-
-    set_source_files_properties(${Sources}
-                                PROPERTIES COMPILE_FLAGS "/Yu\"${PrecompiledHeader}\" /FI\"${PrecompiledHeader}\" /Fp\"${PrecompiledBinary}\""
-                                           OBJECT_DEPENDS "${PrecompiledBinary}")  
-    list(APPEND ${SourcesVar} ${PrecompiledSource})
-  endif(MSVC)
-endmacro(add_msvc_pch)
-
-if (MSVC)
-    add_msvc_pch("stdafx.h" "stdafx.cpp" SOURCES)
-    add_definitions(-D_CRT_SECURE_NO_WARNINGS)
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /Ot")
-    set(CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} /NODEFAULTLIB:LIBCMT")
-    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MD")
-endif(MSVC)
-
-add_library(${LIB_NAME} STATIC "${INCLUDE_DIR}/Core.h" ${SOURCES} ${HEADERS})
+  include_directories( ${PMDSDK_INCLUDE_DIR} )
+  set( SOURCES ${SOURCES} PMDCamera.cpp )
+  set( HEADERS ${HEADERS} ${INCLUDE_DIR}/PMDCamera.h )
+  set( DEPENDENCIES ${DEPENDENCIES} ${PMDSDK_LIBRARIES} )
+endif( NOT PMDSDK_FOUND )
+
+configure_file( Version.h.in ${INCLUDE_DIR}/Version.h )
+set( HEADERS ${HEADERS} ${INCLUDE_DIR}/Version.h )
+
+# MSVC special options
+if ( MSVC )
+    # MSVC precompiled header
+    set( PRECOMPILED_BINARY "$(IntDir)/stdafx.pch" )
+    set( PRECOMPILED_HEADER "stdafx.h" )
+    set( PRECOMPILED_SOURCE "stdafx.cpp" )
+
+    set_source_files_properties( ${PRECOMPILED_SOURCE}
+                                PROPERTIES COMPILE_FLAGS "/Yc\"${PRECOMPILED_HEADER}\" /Fp\"${PRECOMPILED_BINARY}\""
+                                           OBJECT_OUTPUTS "${PRECOMPILED_HEADER}" )
+    set_source_files_properties( ${SOURCES}
+                                PROPERTIES COMPILE_FLAGS "/Yu\"${PRECOMPILED_HEADER}\" /FI\"${PRECOMPILED_HEADER}\" /Fp\"${PRECOMPILED_BINARY}\""
+                                           OBJECT_DEPENDS "${PRECOMPILED_HEADER}" )  
+    set( SOURCES ${SOURCES} ${PRECOMPILED_SOURCE} )
+    add_definitions( -D_CRT_SECURE_NO_WARNINGS )
+    set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /Ot" )
+    set( CMAKE_EXE_LINKER_FLAGS  "${CMAKE_EXE_LINKER_FLAGS} /NODEFAULTLIB:LIBCMT" )
+    set( CMAKE_SHARED_LINKER_FLAGS  "${CMAKE_SHARED_LINKER_FLAGS} /NODEFAULTLIB:LIBCMT" )
+    set( CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MD" )
+endif ( MSVC )
+
+add_library( ${LIB_NAME} STATIC "${INCLUDE_DIR}/Core.h" ${SOURCES} ${HEADERS} )
 set_target_properties( ${LIB_NAME} PROPERTIES OUTPUT_NAME 
-        "openark_${OpenARK_VERSION_MAJOR}_${OpenARK_VERSION_MINOR}_${OpenARK_VERSION_PATCH}")
-set_target_properties(${LIB_NAME} PROPERTIES COMPILE_FLAGS "/MD")
-set_property(TARGET ${LIB_NAME} PROPERTY DBG_POSTFIX d)
+        "openark_${OpenARK_VERSION_MAJOR}_${OpenARK_VERSION_MINOR}_${OpenARK_VERSION_PATCH}" )
+
+set_property( TARGET ${LIB_NAME} PROPERTY DBG_POSTFIX d )
 target_link_libraries( ${LIB_NAME} ${DEPENDENCIES} )
-target_include_directories(${LIB_NAME} PRIVATE ${INCLUDE_DIR})
-
-if(${BUILD_DEMO})
-    add_executable( ${DEMO_NAME} main.cpp ${SOURCES} ${HEADERS})
-    target_include_directories(${DEMO_NAME} PRIVATE ${INCLUDE_DIR})
-    target_link_libraries( ${DEMO_NAME} ${DEPENDENCIES} )
-    set_target_properties( ${DEMO_NAME} PROPERTIES OUTPUT_NAME ${LIB_NAME})
-    set_target_properties( ${DEMO_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
-endif(${BUILD_DEMO})
-
-if(${BUILD_TESTS})
-  if(NOT EXISTS ${PROJECT_SOURCE_DIR}/OpenARK_test)
-    execute_process(
-      COMMAND git clone https://github.com/augcog/OpenARK_test.git
-      WORKING_DIRECTORY ${PROJECT_SOURCE_DIR})
-  endif(NOT EXISTS ${PROJECT_SOURCE_DIR}/OpenARK_test)
+target_include_directories( ${LIB_NAME} PRIVATE ${INCLUDE_DIR} )
 
-  set(
-    TEST_SOURCES 
-    OpenARK_test/test.cpp
-    OpenARK_test/TestCamera.cpp
-  )
+if ( MSVC )
+    set_target_properties( ${LIB_NAME} PROPERTIES COMPILE_FLAGS "/MD" )
+endif()
 
-  add_msvc_pch("../stdafx.h" "" TEST_SOURCES)
+if( ${BUILD_DEMO} )
+    add_executable( ${DEMO_NAME} main.cpp )
+    target_include_directories( ${DEMO_NAME} PRIVATE ${INCLUDE_DIR} )
+    target_link_libraries( ${DEMO_NAME} ${DEPENDENCIES} ${LIB_NAME} )
+    set_target_properties( ${DEMO_NAME} PROPERTIES OUTPUT_NAME ${LIB_NAME} )
+    set_target_properties( ${DEMO_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS} )
+endif( ${BUILD_DEMO} )
+
+# Unity plugin currently only supports Windows
+if( ${BUILD_UNITY_PLUGIN} AND MSVC )
+    add_library( ${UNITY_PLUGIN_NAME} SHARED "unity/native/UnityInterface.cpp" "unity/native/UnityInterface.h" "unity/README.md" )
+    set( HEADERS ${HEADERS} "unity/native/UnityInterface.h" )
+    target_link_libraries( ${UNITY_PLUGIN_NAME} ${DEPENDENCIES} ${LIB_NAME} )
+    if ( MSVC )
+        set_target_properties( ${UNITY_PLUGIN_NAME} PROPERTIES COMPILE_FLAGS "/MD" )
+    endif ( MSVC )
+    set_property( TARGET ${UNITY_PLUGIN_NAME} PROPERTY DBG_POSTFIX d )
+    target_include_directories( ${UNITY_PLUGIN_NAME} PRIVATE ${INCLUDE_DIR} "unity/native" )
+    set_target_properties( ${UNITY_PLUGIN_NAME} PROPERTIES OUTPUT_NAME "openark_unity_${OpenARK_VERSION_MAJOR}_${OpenARK_VERSION_MINOR}_${OpenARK_VERSION_PATCH}_native" )
+endif( ${BUILD_UNITY_PLUGIN} AND MSVC )
+
+if( ${BUILD_TESTS} )
+  if( NOT EXISTS ${PROJECT_SOURCE_DIR}/OpenARK_test )
+    execute_process(
+      COMMAND git clone https://github.com/augcog/OpenARK_test.git
+      WORKING_DIRECTORY ${PROJECT_SOURCE_DIR} )
+  endif( NOT EXISTS ${PROJECT_SOURCE_DIR}/OpenARK_test )
 
-  add_executable( ${TEST_NAME} ${TEST_SOURCES} ${SOURCES} OpenARK_test/TestCamera.h ${HEADERS})
-  target_link_libraries( ${TEST_NAME} ${DEPENDENCIES} )
+  add_executable( ${TEST_NAME} "OpenARK_test/test.cpp" "OpenARK_test/TestCamera.cpp" "OpenARK_test/TestCamera.h" )
+  set( HEADERS ${HEADERS} "OpenARK_test/TestCamera.h" )
+
+  target_link_libraries( ${TEST_NAME} ${DEPENDENCIES} ${LIB_NAME} )
   set_target_properties( ${TEST_NAME} PROPERTIES
-    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS} )
 
-  target_include_directories(${TEST_NAME} PRIVATE ${INCLUDE_DIR})
-endif(${BUILD_TESTS})
+  target_include_directories( ${TEST_NAME} PRIVATE ${INCLUDE_DIR} )
+endif( ${BUILD_TESTS} )
+
+# Create source group for headers
+source_group( "Header Files" FILES ${HEADERS} )
diff --git a/Calibration.cpp b/Calibration.cpp
@@ -1,5 +1,5 @@
 #include "stdafx.h"
-#include "version.h"
+#include "Version.h"
 #include "Calibration.h"
 #include "Util.h"
 
@@ -65,12 +65,12 @@ namespace ark {
                     cornersXYZ.push_back(pt);
                 }
 
-                auto c = cv::waitKey(1);
+                int c = cv::waitKey(1);
                 if (c == ' ')
                 {
                     success++;
                     XYZ_points.push_back(cornersXYZ);
-                    printf("%I64u points recorded!\n", cornersXYZ.size());
+                    printf("%u points recorded!\n", (unsigned) cornersXYZ.size());
                 }
             }
 
@@ -215,4 +215,4 @@ namespace ark {
         }
         output_file.close();
     }
-}
+}
diff --git a/Converter.cpp b/Converter.cpp
@@ -1,5 +1,5 @@
 #include "stdafx.h"
-#include "version.h"
+#include "Version.h"
 #include "Converter.h"
 
 namespace ark {

diff --git a/DepthCamera.cpp b/DepthCamera.cpp
@@ -1,5 +1,5 @@
 #include "stdafx.h"
-#include "version.h"
+#include "Version.h"
 #include "DepthCamera.h"
 #include "Hand.h"
 #include "FrameObject.h"