OpenNI2.2 on BeagleBone Black. Makefile and Platform.Arm

To build OpenNi2.2 on BeagleBone Black need to change Makefile and Platform.Arm as below.

Please see red rows.  It's a easy way.

If Debian Wheezy, it need to install 2 packages.

sudo apt-get libusb-1.0.0-dev

sudo apt-get libudev-dev

1. Makefile 

#############################################################################

# OpenNI makefile.

#

# default configuration is Release. for a debug version use:

#       make CFG=Debug

#

# default compiler is g++. for another one use:

#   make CXX=<comp>

#

# By default, CLR projects will only be build if mono is installed.

# To force CLR projects use:

#   make FORCE_BUILD_CLR=1

#

#############################################################################

include ThirdParty/PSCommon/BuildSystem/CommonDefs.mak

MAJOR_VERSION = $(shell grep "define ONI_VERSION_MAJOR" Include/OniVersion.h | cut -f 2)

MINOR_VERSION = $(shell grep "define ONI_VERSION_MINOR" Include/OniVersion.h | cut -f 2)

MAINT_VERSION = $(shell grep "define ONI_VERSION_MAINT" Include/OniVersion.h | cut -f 2)

ifeq ("$(OSTYPE)","Darwin")

        OS_NAME = MacOSX

else

        OS_NAME = Linux

endif

PRODUCT_STRING = OpenNI-$(OS_NAME)-$(PLATFORM)-$(shell cd Packaging && python -c "import UpdateVersion; print UpdateVersion.getVersionName()" && cd ..)

FINAL_DIR = Packaging/Final

OPENNI = Source/Core

XNLIB  = ThirdParty/PSCommon/XnLib/Source

DEPTH_UTILS = Source/DepthUtils

# list all drivers

ALL_DRIVERS = \

        Source/Drivers/DummyDevice   \

        Source/Drivers/PS1080 \

        Source/Drivers/PSLink \

        Source/Drivers/OniFile

# list all wrappers

#ALL_WRAPPERS = \

#       Wrappers/java/OpenNI.jni \

#       Wrappers/java/OpenNI.java

# list all tools

ALL_TOOLS = \

        Source/Drivers/PS1080/PS1080Console \

        Source/Drivers/PSLink/PSLinkConsole

# list all core projects

ALL_CORE_PROJS = \

        $(XNLIB)  \

        $(OPENNI) \

        $(DEPTH_UTILS) \

        $(ALL_DRIVERS) \

#       $(ALL_WRAPPERS) \

        $(ALL_TOOLS)

# list all samples

CORE_SAMPLES = \

        Samples/SimpleRead \

        Samples/EventBasedRead \

        Samples/MultipleStreamRead \

        Samples/MWClosestPoint \

        Samples/MWClosestPointApp \

        Samples/SimpleViewer \

        Samples/MultiDepthViewer \

        Samples/ClosestPointViewer

# list all java samples

#JAVA_SAMPLES = \

#       Samples/SimpleViewer.java

ifeq "$(GLUT_SUPPORTED)" "1"

        ALL_TOOLS += \

                Source/Tools/NiViewer

        CORE_SAMPLES += \

                Samples/SimpleViewer \

                Samples/MultiDepthViewer \

                Samples/ClosestPointViewer

else

        ifeq "$(GLES_SUPPORTED)" "1"

                CORE_SAMPLES +=

        endif

endif

ALL_SAMPLES = \

        $(CORE_SAMPLES)

#       $(CORE_SAMPLES) \

#       $(JAVA_SAMPLES)

# list all projects that are build

ALL_BUILD_PROJS = \

        $(ALL_CORE_PROJS) \

        $(ALL_SAMPLES)

ALL_PROJS = \

        $(ALL_BUILD_PROJS)

ALL_PROJS_CLEAN = $(foreach proj,$(ALL_PROJS),$(proj)-clean)

# define a function which creates a target for each proj

define CREATE_PROJ_TARGET

$1:

        $$(MAKE) -C $1

$1-clean:

        $$(MAKE) -C $1 clean

endef

################ TARGETS ##################

.PHONY: all $(ALL_PROJS) $(ALL_PROJS_CLEAN) install uninstall clean release

# make all makefiles

all: $(ALL_PROJS)

core: $(ALL_CORE_PROJS)

samples: $(ALL_SAMPLES)

# create projects targets

$(foreach proj,$(ALL_PROJS),$(eval $(call CREATE_PROJ_TARGET,$(proj))))

# additional dependencies

$(OPENNI):                            $(XNLIB)

#Wrappers/java/OpenNI.jni:   $(OPENNI) $(XNLIB)

Source/Drivers/DummyDevice: $(OPENNI) $(XNLIB)

Source/Drivers/RawDevice:   $(OPENNI) $(XNLIB)

Source/Drivers/PS1080:      $(OPENNI) $(XNLIB) $(DEPTH_UTILS)

Source/Drivers/PS1080/PS1080Console: $(OPENNI) $(XNLIB)

Source/Drivers/PSLink:      $(OPENNI) $(XNLIB)

Source/Drivers/PSLink/PSLinkConsole: $(OPENNI) $(XNLIB)

Source/Drivers/OniFile:     $(OPENNI) $(XNLIB)

Source/Tools/NiViewer:      $(OPENNI) $(XNLIB)

Samples/SimpleRead:         $(OPENNI)

Samples/EventBasedRead:     $(OPENNI)

Samples/MultipleStreamRead: $(OPENNI)

Samples/MWClosestPoint:     $(OPENNI)

Samples/MWClosestPointApp:  $(OPENNI) Samples/MWClosestPoint

Samples/SimpleViewer:       $(OPENNI)

Samples/MultiDepthViewer:   $(OPENNI)

Samples/ClosestPointViewer: $(OPENNI) Samples/MWClosestPoint

#Samples/SimpleViewer.java:            Wrappers/java/OpenNI.java

$(FINAL_DIR):

        mkdir -p $(FINAL_DIR)

doc:

        Source/Documentation/Runme.py

        rm -f Source/Documentation/html/*.md5

release: | all doc $(FINAL_DIR)

        Packaging/Harvest.py Packaging/$(PRODUCT_STRING) $(PLATFORM)

        cd Packaging; tar -cjf Final/$(PRODUCT_STRING).tar.bz2 $(PRODUCT_STRING)

# clean is cleaning all projects

clean: $(ALL_PROJS_CLEAN)

2. Platform.Arm

ifeq "$(CFG)" "Release"

    # Hardware specifying flags

    #CFLAGS += -march=armv7-a -mtune=cortex-a9 -mfpu=neon -mfloat-abi=softfp #-mcpu=cortex-a8

    CFLAGS += -march=armv7-a -mtune=cortex-a8 -mfpu=neon -mfloat-abi=hard

    # Optimization level, minus currently buggy optimizing methods (which break bit-exact)

    CFLAGS += -O3 -fno-tree-pre -fno-strict-aliasing

    # More optimization flags

    CFLAGS += -ftree-vectorize -ffast-math -funsafe-math-optimizations #-fsingle-precision-constant

    DEFINES += XN_NEON

    CFLAGS += -flax-vector-conversions

endif

Peace!!