OpenKinect · floe · Jun 3, 2015 · May 22, 2015 · May 26, 2015 · May 26, 2015
diff --git a/.gitignore b/.gitignore
@@ -3,6 +3,7 @@ examples/protonect/include/libfreenect2/config.h
 
 # generated resource file
 examples/protonect/src/resources.inc
+examples/protonect/build
 
 # Dependency folders
 depends/*/

diff --git a/examples/protonect/CMakeLists.txt b/examples/protonect/CMakeLists.txt
@@ -1,5 +1,15 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
+macro(auto_detect_lib LIBNAME)
+  if ( PKG_CONFIG_FOUND )
+    string(TOLOWER ${LIBNAME} PKGCONFIGNAME)
+    pkg_check_modules(${LIBNAME} ${PKGCONFIGNAME} ${ARGN})
+  else(PKG_CONFIG_FOUND)
+    #MESSAGE("Fallback to non-pkg-config")
+    FIND_PACKAGE(${LIBNAME} ${ARGN})
+  endif(PKG_CONFIG_FOUND)
+endmacro()
+
 PROJECT(libfreenect2)
 SET(CMAKE_BUILD_TYPE RelWithDebInfo)
 
@@ -14,9 +24,9 @@ IF(ENABLE_CXX11)
   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 "${CMAKE_CXX_FLAGS} -std=c++11")
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   ELSEIF(COMPILER_SUPPORTS_CXX0X)
-	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+    SET(CMAKE_CXX_FLAGS "${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.")
   ENDIF()
@@ -27,7 +37,6 @@ LIST(APPEND CMAKE_MODULE_PATH ${MY_DIR}/cmake_modules)
 
 # setup threading
 INCLUDE(SetupLibfreenect2Threading)
-INCLUDE_DIRECTORIES(${LIBFREENECT2_THREADING_INCLUDE_DIR})
 
 INCLUDE(GenerateResources)
 
@@ -37,30 +46,21 @@ SET(EXECUTABLE_OUTPUT_PATH ${MY_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 SET(LIBRARY_OUTPUT_PATH ${MY_DIR}/lib)
 
-FIND_PACKAGE(OpenCL)
-
 # dependencies
-FIND_PACKAGE(OpenCV REQUIRED)
-
-# OpenCV
-INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIR})
-
-# LibUSB
-INCLUDE_DIRECTORIES("${MY_DIR}/../../depends/libusb/include/libusb-1.0/")
-LINK_DIRECTORIES("${MY_DIR}/../../depends/libusb/lib/")
+find_package(PkgConfig)    # try find PKGConfig as it will be used if found
+auto_detect_lib(LibUSB REQUIRED)
+auto_detect_lib(OpenCV REQUIRED)
+FIND_PACKAGE(TurboJPEG REQUIRED) #does not provide a package-config file
+
+#hack for buggy libusb pkgconfig file
+if(NOT LibUSB_INCLUDE_DIR)
+  find_path(LibUSB_INCLUDE_DIR NAMES libusb.h PATHS /usr/include/libusb-1.0 )
+endif()
 
-IF(ENABLE_OPENGL)
-  # GLFW
-  SET(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries")
-  SET(GLFW_BUILD_EXAMPLES OFF CACHE BOOL "Build the GLFW example programs")
-  SET(GLFW_BUILD_TESTS OFF CACHE BOOL "Build the GLFW test programs")
-  SET(GLFW_BUILD_DOCS OFF CACHE BOOL "Build the GLFW documentation")
-
-  ADD_SUBDIRECTORY(${MY_DIR}/../../depends/glfw_src/ ${MY_DIR}/../../depends/glfw)
-  INCLUDE_DIRECTORIES(${MY_DIR}/../../depends/glfw_src/include/)
-ENDIF(ENABLE_OPENGL)
+# Add includes
+INCLUDE_DIRECTORIES("${MY_DIR}/include" ${LIBFREENECT2_THREADING_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${LibUSB_INCLUDE_DIR} ${TurboJPEG_INCLUDE_DIR})
 
-if(APPLE)
+if(APPLE AND NOT ${TurboJPEG_FOUND})
   # libjpeg-turbo
   INCLUDE_DIRECTORIES("${MY_DIR}/../../depends/libjpeg_turbo/include/")
   LINK_DIRECTORIES("${MY_DIR}/../../depends/libjpeg_turbo/lib/")
@@ -115,9 +115,10 @@ SET(SOURCES
 )
 
 SET(LIBRARIES
-  usb-1.0
   ${OpenCV_LIBS}
-  turbojpeg
+  ${OpenCV_LIBRARIES}
+  ${LibUSB_LIBRARIES}
+  ${TurboJPEG_LIBRARY}
   ${LIBFREENECT2_THREADING_LIBRARIES}
 )
 
@@ -127,19 +128,41 @@ SET(RESOURCES
   zTable.bin
 )
 
-
 IF(ENABLE_OPENGL)
+  auto_detect_lib(GLFW3)
+
+  #Assuming local build witout global deps, ugly to to this automatic but to keep backward compatibiliy
+  if(${GLFW3_FOUND} STREQUAL "FALSE")
+
+    MESSAGE(STATUS "Building local GLFW")
+    # GLFW
+    SET(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries")
+    SET(GLFW_BUILD_EXAMPLES OFF CACHE BOOL "Build the GLFW example programs")
+    SET(GLFW_BUILD_TESTS OFF CACHE BOOL "Build the GLFW test programs")
+    SET(GLFW_BUILD_DOCS OFF CACHE BOOL "Build the GLFW documentation")
+
+    ADD_SUBDIRECTORY(${MY_DIR}/../../depends/glfw_src/ ${MY_DIR}/../../depends/glfw)
+    INCLUDE_DIRECTORIES(${MY_DIR}/../../depends/glfw_src/include/)
+
+    LIST(APPEND LIBRARIES
+      glfw
+    )
+
+  else()
+    INCLUDE_DIRECTORIES(${GLFW3_INCLUDE_DIRS})
+
+    LINK_DIRECTORIES(${GLFW3_LIBRARY_DIRS})
+    LIST(APPEND LIBRARIES
+      ${GLFW3_LIBRARIES}
+    )
+  endif()
+
   SET(LIBFREENECT2_WITH_OPENGL_SUPPORT 1)
   LIST(APPEND SOURCES
     src/flextGL.c
     src/opengl_depth_packet_processor.cpp
   )
-
-  LIST(APPEND LIBRARIES
-    glfw
-    ${GLFW_LIBRARIES}
-  )
-
+
   LIST(APPEND RESOURCES
     src/shader/debug.fs
     src/shader/default.vs
@@ -150,31 +173,33 @@ IF(ENABLE_OPENGL)
   )
 ENDIF(ENABLE_OPENGL)
 
-IF(ENABLE_OPENCL AND OPENCL_FOUND)
-  SET(LIBFREENECT2_WITH_OPENCL_SUPPORT 1)
-  INCLUDE_DIRECTORIES(${OPENCL_INCLUDE_DIRS})
-
-  LIST(APPEND SOURCES
-    src/opencl_depth_packet_processor.cpp
-  )
-
-  LIST(APPEND LIBRARIES
-    ${OPENCL_LIBRARIES}
-  )
-
-  LIST(APPEND RESOURCES
-    src/opencl_depth_packet_processor.cl
-  )
-ENDIF(ENABLE_OPENCL AND OPENCL_FOUND)
+IF(ENABLE_OPENCL)
+  FIND_PACKAGE(OpenCL)
+
+  IF(OPENCL_FOUND)      
+    SET(LIBFREENECT2_WITH_OPENCL_SUPPORT 1)
+    INCLUDE_DIRECTORIES(${OPENCL_INCLUDE_DIRS})
+
+    LIST(APPEND SOURCES
+      src/opencl_depth_packet_processor.cpp
+    )
+
+    LIST(APPEND LIBRARIES
+      ${OPENCL_LIBRARIES}
+    )
+
+    LIST(APPEND RESOURCES
+      src/opencl_depth_packet_processor.cl
+    )
+  ENDIF(OPENCL_FOUND)
+ENDIF(ENABLE_OPENCL)
 
 CONFIGURE_FILE("${MY_DIR}/include/libfreenect2/config.h.in" "${MY_DIR}/include/libfreenect2/config.h" @ONLY)
-
 GENERATE_RESOURCES(${RESOURCES_INC_FILE} ${MY_DIR} ${RESOURCES})
 
-INCLUDE_DIRECTORIES("${MY_DIR}/include")
-
 ADD_DEFINITIONS(-DRESOURCES_INC)
 ADD_LIBRARY(freenect2 SHARED ${SOURCES})
+MESSAGE("Linking with these libraries: ${LIBRARIES}")
 TARGET_LINK_LIBRARIES(freenect2 ${LIBRARIES})
 
 ADD_EXECUTABLE(Protonect

diff --git a/examples/protonect/cmake_modules/FindGLFW3.cmake b/examples/protonect/cmake_modules/FindGLFW3.cmake
@@ -0,0 +1,16 @@
+# - Try to find GLFW3
+#
+# Will define the following:
+# GLFW3_FOUND
+# GLFW3_INCLUDE_DIRS
+# GLFW3_LIBRARIES
+
+include(FindPackageHandleStandardArgs)
+
+IF(${CMAKE_SYSTEM_NAME} MATCHES "Windows")
+  find_path(GLFW3_INCLUDE_DIRS glfw/glfw3.h DOC "GLFW include directory " HINTS $ENV{GLFW_ROOT}/include)
+
+  find_library(GLFW3_LIBRARIES NAMES glfw3dll.lib HINTS $ENV{GLFW_ROOT}/lib/)
+ENDIF()
+
+find_package_handle_standard_args(GLFW3 "Could not find GLFW3 - try adding GLFW_ROOT in enviroment variables." GLFW3_INCLUDE_DIRS GLFW3_LIBRARIES)
diff --git a/examples/protonect/cmake_modules/FindLibUsb.cmake b/examples/protonect/cmake_modules/FindLibUsb.cmake
@@ -0,0 +1,88 @@
+# - Find libusb for portable USB support
+# This module will find libusb as published by
+#  http://libusb.sf.net and
+#  http://libusb-win32.sf.net
+# 
+# It will use PkgConfig if present and supported, else search
+# it on its own. 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 library
+
+include ( CheckLibraryExists )
+include ( CheckIncludeFile )
+
+find_path ( LibUSB_INCLUDE_DIR
+  NAMES
+    libusb.h
+  PATHS
+    $ENV{ProgramFiles}/LibUSB-Win32
+    $ENV{LibUSB_ROOT}
+  PATH_SUFFIXES
+    libusb
+  )
+
+mark_as_advanced ( LibUSB_INCLUDE_DIR )
+
+if ( ${CMAKE_SYSTEM_NAME} STREQUAL "Windows" )
+  # LibUSB-Win32 binary distribution contains several libs.
+  # Use the lib that got compiled with the same compiler.
+  if ( MSVC )
+  if ( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
+    set ( LibUSB_LIBRARY_PATH_SUFFIX_RELEASE x64/Release/dll )
+    set ( LibUSB_LIBRARY_PATH_SUFFIX_DEBUG x64/Debug/dll )
+  else ()
+    set ( LibUSB_LIBRARY_PATH_SUFFIX_RELEASE win32/Release/dll )
+    set ( LibUSB_LIBRARY_PATH_SUFFIX_DEBUG win32/Debug/dll )
+  endif ()      
+  endif ( MSVC )
+endif ( ${CMAKE_SYSTEM_NAME} STREQUAL "Windows" )
+
+find_library ( LibUSB_LIBRARY_RELEASE
+  NAMES
+    libusb libusb-1.0 usb
+  PATHS
+    $ENV{ProgramFiles}/LibUSB-Win32
+    $ENV{LibUSB_ROOT}
+  PATH_SUFFIXES
+    ${LibUSB_LIBRARY_PATH_SUFFIX_RELEASE}
+  )
+
+find_library ( LibUSB_LIBRARY_DEBUG
+  NAMES
+    libusb libusb-1.0 libusb-1.0d usb
+  PATHS
+    $ENV{ProgramFiles}/LibUSB-Win32
+    $ENV{LibUSB_ROOT}
+  PATH_SUFFIXES
+    ${LibUSB_LIBRARY_PATH_SUFFIX_DEBUG}
+  )  
+
+set (LibUSB_LIBRARIES
+  debug ${LibUSB_LIBRARY_DEBUG}
+  optimized ${LibUSB_LIBRARY_RELEASE}
+  )
+
+if ( LibUSB_INCLUDE_DIR AND LibUSB_LIBRARIES )
+  set ( LibUSB_FOUND 1 )
+endif ( LibUSB_INCLUDE_DIR AND LibUSB_LIBRARIES )
+
+if ( LibUSB_FOUND )
+  set ( CMAKE_REQUIRED_INCLUDES "${LibUSB_INCLUDE_DIR}" )
+  check_include_file ( usb.h LibUSB_FOUND )
+endif ( LibUSB_FOUND )
+
+if ( LibUSB_FOUND )
+  check_library_exists ( "${LibUSB_LIBRARIES}" usb_open "" LibUSB_FOUND )
+endif ( LibUSB_FOUND )
+
+if ( NOT LibUSB_FOUND )
+  if ( NOT LibUSB_FIND_QUIETLY )
+  message ( STATUS "LibUSB not found, try setting LibUSB_ROOT environment variable." )
+  endif ( NOT LibUSB_FIND_QUIETLY )
+  if ( LibUSB_FIND_REQUIRED )
+  message ( FATAL_ERROR "LibUSB could not be found." )
+  endif ( LibUSB_FIND_REQUIRED )
+endif ( NOT LibUSB_FOUND )
diff --git a/examples/protonect/cmake_modules/FindOpenCL.cmake b/examples/protonect/cmake_modules/FindOpenCL.cmake
@@ -11,7 +11,6 @@
 #  OPENCL_INCLUDE_DIRS  - the OpenCL include directory
 #  OPENCL_LIBRARIES    - link these to use OpenCL
 #
-# WIN32 should work, but is untested
 
 FIND_PACKAGE(PackageHandleStandardArgs)
 
@@ -31,15 +30,15 @@ ELSE (APPLE)
 	IF (WIN32)
 		# The AMD SDK currently installs both x86 and x86_64 libraries
 		# This is only a hack to find out architecture
-		IF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
-			FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/lib/x86_64")
-		ELSE (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64")
-			FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/lib/x86")
-		ENDIF( ${CMAKE_SYSTEM_PROCESSOR} STREQUAL "AMD64" )
+		IF( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
+			FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" "$ENV{INTELOCLSDKROOT}" PATH_SUFFIXES "/lib/x86_64" "/lib/x64")
+		ELSE (${CMAKE_SIZEOF_VOID_P} EQUAL 8)
+			FIND_LIBRARY(OPENCL_LIBRARIES OpenCL.lib PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" "$ENV{INTELOCLSDKROOT}" PATH_SUFFIXES "/lib/x86")
+		ENDIF( ${CMAKE_SIZEOF_VOID_P} EQUAL 8 )
 
 		# On Win32 search relative to the library
-		FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/include")
-		FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" PATH_SUFFIXES "/include")
+		FIND_PATH(OPENCL_INCLUDE_DIRS CL/cl.h PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" "$ENV{INTELOCLSDKROOT}" PATH_SUFFIXES "/include")
+		FIND_PATH(_OPENCL_CPP_INCLUDE_DIRS CL/cl.hpp PATHS "$ENV{ATISTREAMSDKROOT}" "$ENV{AMDAPPSDKROOT}" "$ENV{INTELOCLSDKROOT}" PATH_SUFFIXES "/include")
 
 	ELSE (WIN32)
 

diff --git a/examples/protonect/cmake_modules/FindTurboJPEG.cmake b/examples/protonect/cmake_modules/FindTurboJPEG.cmake
@@ -0,0 +1,45 @@
+include(CheckCSourceCompiles)
+
+if(NOT TurboJPEG_INCLUDE_DIR)
+  if(WIN32)
+    set(DEFAULT_TurboJPEG_INCLUDE_DIR $ENV{TurboJPEG_ROOT}/include)
+  else()
+    set(DEFAULT_TurboJPEG_INCLUDE_DIR /opt/libjpeg-turbo/include)
+  endif()
+else()
+  set(DEFAULT_TurboJPEG_INCLUDE_DIR ${TurboJPEG_INCLUDE_DIR})
+  unset(TurboJPEG_INCLUDE_DIR)
+  unset(TurboJPEG_INCLUDE_DIR CACHE)
+endif()
+
+find_path(TurboJPEG_INCLUDE_DIR turbojpeg.h DOC "TurboJPEG include directory (default: ${DEFAULT_TurboJPEG_INCLUDE_DIR})" HINTS ${DEFAULT_TurboJPEG_INCLUDE_DIR})
+
+if(TurboJPEG_INCLUDE_DIR STREQUAL "TurboJPEG_INCLUDE_DIR-NOTFOUND")
+  message(FATAL_ERROR "Could not find turbojpeg.h - Try define TurboJPEG_ROOT as a system variable.")
+else()
+  message(STATUS "TurboJPEG_INCLUDE_DIR = ${TurboJPEG_INCLUDE_DIR}")
+endif()
+
+
+if(WIN32)
+  set(DEFAULT_TurboJPEG_LIBRARY $ENV{TurboJPEG_ROOT}/lib/turbojpeg.lib)
+else()
+  find_library(DEFAULT_TurboJPEG_LIBRARY NAMES libturbojpeg.so libturbojpeg.a HINTS /opt/libjpeg-turbo/lib64/ /opt/libjpeg-turbo/lib/)
+endif()
+
+set(TurboJPEG_LIBRARY ${DEFAULT_TurboJPEG_LIBRARY} CACHE PATH "TurboJPEG library path (default: ${DEFAULT_TurboJPEG_LIBRARY})")
+
+if(WIN32)
+  set(CMAKE_REQUIRED_DEFINITIONS -MT)
+endif()
+set(CMAKE_REQUIRED_INCLUDES ${TurboJPEG_INCLUDE_DIR})
+set(CMAKE_REQUIRED_LIBRARIES ${TurboJPEG_LIBRARY})
+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)
+if(NOT TURBOJPEG_WORKS)
+  message(FATAL_ERROR "Could not link with TurboJPEG library ${TurboJPEG_LIBRARY}.  If it is installed in a different place, then set TurboJPEG_LIBRARY accordingly.")
+endif()
+
+message(STATUS "TurboJPEG_LIBRARY = ${TurboJPEG_LIBRARY}")