add support for Raspberry Pi [Ubuntu Mate]

CMakeLists_ubuntu_mate.txt

@@ -0,0 +1,102 @@
+cmake_minimum_required (VERSION 2.8.13)
+project (depth_eye)
+
+#set(CMAKE_INCLUDE_CURRENT_DIR 1)
+string(REPLACE "\n" "" SYSTEM_VERSION ${CMAKE_SYSTEM_VERSION})
+
+string (REGEX REPLACE "^([0-9]+).*" "\\1"
+  SYSTEM_MAJOR_VERSION "${SYSTEM_VERSION}")
+string (REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1"
+  SYSTEM_MINOR_VERSION "${SYSTEM_VERSION}")
+string (REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+).*" "\\1"
+  SYSTEM_PATCH_VERSION ${SYSTEM_VERSION})
+
+message("CMAKE_SYSTEM_NAME = ${CMAKE_SYSTEM_NAME} VERSION=${SYSTEM_VERSION}(${SYSTEM_MAJOR_VERSION}-${SYSTEM_MINOR_VERSION}-${SYSTEM_PATCH_VERSION})") 
+message("ARCH = ${CMAKE_SYSTEM_PROCESSOR}")
+#set(CMAKE_SYSTEM_NAME "Linux")
+set(VOXEL_INCLUDE ./third_party/voxelsdk_ubuntu_mate/include/voxel-0.6.7)
+set(VOXEL_LIB ./third_party/voxelsdk_ubuntu_mate/lib)
+
+message("use Voxel SDK ${VOXEL_LIB}")
+message("use Voxel INCLUDE ${VOXEL_INCLUDE}")
+
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  #set(CMAKE_CXX_FLAGS  "-msse2 -pthread -std=c++11 -fPIC -ffast-math")
+  set(CMAKE_CXX_FLAGS  "-pthread -std=c++11 -fPIC -ffast-math")
+  set(COMMON_LIBS
+    /usr/local/lib
+    ./lib)
+
+  if(SYSTEM_MAJOR_VERSION STREQUAL "3")
+    set(COMMON_INCLUDE
+      /usr/include/libusb-1.0
+      ./include/
+      ${VOXEL_INCLUDE})
+    set(voxel ${VOXEL_LIB})
+    message("use Voxel SDK ${VOXEL_LIB}")
+  else(SYSTEM_MAJOR_VERSION STREQUAL "4")
+    set(COMMON_INCLUDE
+      /usr/include/libusb-1.0
+      ./include/
+      ${VOXEL_INCLUDE})
+    set(voxel ${VOXEL_LIB})
+    message("use Voxel SDK ${VOXEL_LIB}")
+  endif()
+
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+  set(CMAKE_CXX_FLAGS  "-msse2 -std=c++11 -fPIC -ffast-math")
+  set(COMMON_LIBS
+    /usr/local/lib
+    ./lib)
+  set(COMMON_INCLUDE
+    /usr/include/libusb-1.0
+    ./include/
+    ./third_party/voxelsdk_osx/include/voxel-0.6.7/
+  )
+  set(voxel ./third_party/voxelsdk_osx/lib)
+  message("use Voxel SDK ./third_party/voxelsdk_osx/lib")
+
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Android")
+  set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -fPIC -ffast-math")
+  ADD_DEFINITIONS(-DANDROID)
+  set(ANDROID_ABI armeabi-v7a)
+  set(COMMON_INCLUDE
+      ./include/
+      ./third_party/voxelsdk_android_jni/include/
+      ./third_party/voxelsdk_android_jni/include/libusb/
+      ./third_party/voxelsdk_android_jni/include/voxel-0.6.7/)
+  set(LIBUSB_DIR ./third_party/voxelsdk_android_jni/lib/libusb/)
+  add_library(usb-1.0 SHARED IMPORTED)
+  set_target_properties(usb-1.0 PROPERTIES IMPORTED_LOCATION ${LIBUSB_DIR}/${ANDROID_ABI}/libusb1.0.so)
+  set(COMMON_LIBS 
+      usb-1.0
+      dl)
+  set(voxel ./third_party/voxelsdk_android_jni/lib/)
+  message("use Voxel SDK ./third_party/voxelsdk_android_jni/lib/")
+
+else()
+  message(FATAL_ERROR "This project not support platform:${CMAKE_SYSTEM_NAME}")
+endif()
+
+SET(BINDIR bin/)
+SET(LIBDIR lib/)
+SET(ARCDIR lib/)
+SET(SHAREDIR share/)
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${ARCDIR})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${LIBDIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${BINDIR})
+
+include_directories(${COMMON_INCLUDE})
+link_directories("/usr/local/lib" ${COMMON_LIBS} ${voxel})
+
+#### Packaging related information -- common to both platforms
+set(CPACK_PACKAGE_NAME "Depth Eye SDK")
+set(CPACK_PACKAGE_VERSION "0.1")
+set(CPACK_PACKAGE_CONTACT "Developer@pointcloud.ai")
+set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)
+set(CPACK_PACKAGE_VENDOR "pointcloud.ai")
+set(CPACK_SOURCE_GENERATOR "Developer")
+
+add_subdirectory(src)
+add_subdirectory(test)

third_party/voxelsdk_ubuntu_mate/include/voxel-0.6.7/CameraSystem.h

@@ -0,0 +1,77 @@
+/*
+ * TI Voxel Lib component.
+ *
+ * Copyright (c) 2014 Texas Instruments Inc.
+ */
+
+#ifndef VOXEL_CAMERASYSTEM_H
+#define VOXEL_CAMERASYSTEM_H
+
+#include <DepthCameraLibrary.h>
+#include "DownloaderFactory.h"
+
+namespace Voxel
+{
+
+/**
+ * \defgroup CamSys Camera System Components
+ * @{
+ * \brief This group of classes provide the higher level API for cameras
+ * @}
+ */
+
+/**
+ * \ingroup CamSys
+ * 
+ * \brief This class provides ways to instantiate individual cameras and components like filters.
+ */
+class VOXEL_EXPORT CameraSystem
+{
+protected:
+  Vector<DepthCameraLibraryPtr> _libraries;
+  Map<String, DepthCameraFactoryPtr> _factories; // Key = device ID as returned by Device::id()
+  Map<String, DepthCameraPtr> _depthCameras; // Key = device ID as returned by Device::id()
+
+  Map<String, FilterFactoryPtr> _filterFactories; // Key = filter name
+
+  Map<String, DownloaderFactoryPtr> _downloaderFactories;// Key = device ID as returned by Device::id()
+
+  Map<GeneratorIDType, DepthCameraFactoryPtr> _factoryForGeneratorID; // Key = frame generator ID
+
+  void _init();
+
+  void _loadLibraries(const Vector<String> &paths);
+
+public:
+  CameraSystem();
+
+  bool addDepthCameraFactory(DepthCameraFactoryPtr factory);
+
+  Vector<DevicePtr> scan();
+
+  DepthCameraPtr connect(const DevicePtr &device);
+  // Remove local reference. Outside calling function should remove reference to its DepthCamera as well
+  bool disconnect(const DepthCameraPtr &depthCamera, bool reset = false);
+
+
+
+  bool addFilterFactory(FilterFactoryPtr filterFactory);
+
+  Vector<String> getSupportedFilters();
+  bool getFilterDescription(const String &filterName, FilterDescription &description);
+  FilterPtr createFilter(const String &name, DepthCamera::FrameType type);
+
+  Vector<DevicePtr> getProgrammableDevices();
+  bool addDownloaderFactory(DownloaderFactoryPtr downloaderFactory);
+  DownloaderPtr getDownloader(const DevicePtr &device);
+
+  bool getFrameGenerator(uint8_t frameType, GeneratorIDType generatorID, FrameGeneratorPtr &frameGenerator);
+
+
+
+  virtual ~CameraSystem();
+};
+
+}
+
+#endif // VOXEL_CAMERASYSTEM_H

third_party/voxelsdk_ubuntu_mate/include/voxel-0.6.7/Common.h

@@ -0,0 +1,205 @@
+/*
+ * TI Voxel Lib component.
+ *
+ * Copyright (c) 2014 Texas Instruments Inc.
+ */
+
+#ifndef VOXEL_COMMON_H
+#define VOXEL_COMMON_H
+
+#include <vector>
+#include <stdint.h>
+#include <string>
+#include <iostream>
+#include <fstream>
+#include <sstream>
+#include <unordered_map>
+#include <functional>
+#include <list>
+#include <set>
+#include <atomic>
+#include <cctype>
+
+#include <algorithm>
+
+#include <complex>
+
+#include <thread>
+
+#include <Ptr.h>
+
+#include <mutex>
+#include <condition_variable>
+
+#include "VoxelConfig.h"
+#include "VoxelExports.h"
+
+#if defined(_WIN32) || defined(APPLE) ||  defined(ANDROID)
+typedef uint32_t uint;
+#endif
+
+namespace Voxel
+{
+
+/**
+ * \defgroup Util Common and Utility classes
+ * @{
+ */
+
+#ifndef SWIG
+template <typename T>
+using Vector = std::vector<T>;
+
+template <typename T>
+using List = std::list<T>;
+
+template <typename T>
+using Set = std::set<T>;
+
+template <typename K, typename V>
+using Map = std::unordered_map<K, V>;
+
+template <typename T>
+using Function = std::function<T>;
+
+template <typename T>
+using Atomic = std::atomic<T>;
+
+template <typename T>
+using Lock = std::unique_lock<T>;
+
+template <typename T>
+using shared_ptr = Ptr<T>;
+#else
+#define Vector std::vector
+#define List std::list
+#define Set std::set
+#define Map std::unordered_map
+#define Function std::function
+#define Atomic std::atomic
+#define Lock std::unique_lock
+#endif
+
+typedef std::string String;
+typedef int IndexType;
+typedef std::size_t SizeType;
+typedef uint8_t ByteType;
+typedef uint64_t TimeStampType;
+typedef uint32_t GeneratorIDType;
+typedef uint64_t FileOffsetType;
+
+
+typedef std::complex<float> Complex;
+typedef std::complex<double> ComplexDouble;
+
+typedef std::thread Thread;
+typedef Ptr<Thread> ThreadPtr;
+typedef std::mutex Mutex;
+typedef std::condition_variable ConditionVariable;
+
+typedef std::ifstream InputFileStream;
+typedef std::ofstream OutputFileStream;
+
+typedef std::istream InputStream;
+typedef std::ostream OutputStream;
+typedef std::ostringstream OutputStringStream;
+typedef std::istringstream InputStringStream;
+
+struct Version { uint8_t major, minor; };
+
+/// String functions
+String VOXEL_EXPORT getHex(uint16_t value);
+void VOXEL_EXPORT split(const String &str, const char delimiter, Vector<String> &split);
+void VOXEL_EXPORT breakLines(const String &str, std::ostream &out, const uint maxPerLine, const String &newlinePrefix);
+
+/// Array handling template
+template<typename T, int sz>
+int arraySize(T(&)[sz])
+{
+  return sz;
+}
+
+// Allocate in bytes and irrespective of size required by 'T'. This is useful if 'T' is has data structures which could have extendable elements. 
+// E.g.: Windows USB device handling structures in usbioctl.h
+template <typename T>
+Ptr<T> byteAlloc(unsigned long sizeInBytes)
+{
+  return Ptr<T>((T *)new uint8_t[sizeInBytes], [](T *d) { delete[]((uint8_t *)d);  });
+}
+
+uint VOXEL_EXPORT gcd(uint n, uint m);
+
+// This returns nearest 'n = 2^m' such that 2^(m - 1) < value < 2^m
+unsigned int VOXEL_EXPORT nearestPowerOf2(unsigned int value, unsigned int &index);
+
+#define FLOAT_EPSILON 1E-5f
+
+inline bool floatEquals(float lhs, float rhs)
+{
+  if((lhs - rhs > FLOAT_EPSILON) || (rhs - lhs > FLOAT_EPSILON))
+    return false;
+  else
+    return true;
+}
+
+/**
+ * @brief Left Trim
+ *
+ * Trims whitespace from the left end of the provided String
+ *
+ * @param[out] s The String to trim
+ *
+ * @return The modified String&
+ */
+inline String& ltrim(String& s) {
+  s.erase(s.begin(), std::find_if(s.begin(), s.end(),
+                                  std::ptr_fun<int, int>(std::isgraph)));
+  return s;
+}
+
+/**
+ * @brief Right Trim
+ *
+ * Trims whitespace from the right end of the provided String
+ *
+ * @param[out] s The String to trim
+ *
+ * @return The modified String&
+ */
+inline String& rtrim(String& s) {
+  s.erase(std::find_if(s.rbegin(), s.rend(),
+                       std::ptr_fun<int, int>(std::isgraph)).base(), s.end());
+  return s;
+}
+
+/**
+ * @brief Trim
+ *
+ * Trims whitespace from both ends of the provided String
+ *
+ * @param[out] s The String to trim
+ *
+ * @return The modified String&
+ */
+inline String& trim(String& s) {
+  return ltrim(rtrim(s));
+}
+
+/// Filesystem functions -- returns the number of files read or else -1 for error. Only those files whose name matches "matchString" partially (sub-string) are returned "files"
+int VOXEL_EXPORT getFiles(const String &dir, const String &matchString, Vector<String> &files);
+
+bool VOXEL_EXPORT isFilePresent(const String &filename);
+bool VOXEL_EXPORT isDirectory(const String &filename);
+bool VOXEL_EXPORT makeDirectory(const String &filename);
+String VOXEL_EXPORT dirname(const String &filename);
+String VOXEL_EXPORT basename(const String &filename);
+
+String VOXEL_EXPORT substitute(const String &s, const Vector<String> &keys, const Vector<String> &values);
+
+/**
+ * @}
+ */
+
+}
+
+#endif //VOXEL_COMMON_H