2013年8月23日金曜日

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!!

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