pcl_kinfu_app for NVIDIA Jetson TK1 - git diff to PCL trunk

diff.txt

diff --git a/cmake/pcl_find_cuda.cmake b/cmake/pcl_find_cuda.cmake
index 2f0425e..765f8aa 100644
--- a/cmake/pcl_find_cuda.cmake
+++ b/cmake/pcl_find_cuda.cmake
@@ -35,7 +35,7 @@ if(CUDA_FOUND)
 	# Find a complete list for CUDA compute capabilities at http://developer.nvidia.com/cuda-gpus
 
 	if(${CUDA_VERSION_STRING} VERSION_GREATER "4.1")
-		set(CUDA_ARCH_BIN "2.0 2.1(2.0) 3.0" CACHE STRING "Specify 'real' GPU architectures to build binaries for, BIN(PTX) format is supported")
+		set(CUDA_ARCH_BIN "2.0 2.1(2.0) 3.0 3.2 5.0 5.2" CACHE STRING "Specify 'real' GPU architectures to build binaries for, BIN(PTX) format is supported")
 	else()
 		set(CUDA_ARCH_BIN "2.0 2.1(2.0)" CACHE STRING "Specify 'real' GPU architectures to build binaries for, BIN(PTX) format is supported")
 	endif()
diff --git a/gpu/containers/src/initialization.cpp b/gpu/containers/src/initialization.cpp
index e03cfd5..767d536 100644
--- a/gpu/containers/src/initialization.cpp
+++ b/gpu/containers/src/initialization.cpp
@@ -115,7 +115,7 @@ namespace
             int Cores;
         } SMtoCores;
 
-        SMtoCores gpuArchCoresPerSM[] =  { { 0x10,  8 }, { 0x11,  8 }, { 0x12,  8 }, { 0x13,  8 }, { 0x20, 32 }, { 0x21, 48 }, {0x30, 192}, {0x35, 192}, { -1, -1 }  };
+        SMtoCores gpuArchCoresPerSM[] =  { { 0x10, 8}, { 0x11, 8}, { 0x12, 8}, { 0x13, 8}, { 0x20, 32}, { 0x21, 48}, {0x30, 192}, {0x32, 192}, {0x35, 192}, {0x50, 128}, {0x52, 128}, {-1, -1} };
 
         int index = 0;
         while (gpuArchCoresPerSM[index].SM != -1) 
diff --git a/gpu/kinfu/src/kinfu.cpp b/gpu/kinfu/src/kinfu.cpp
index a92cad4..7ba5b66 100644
--- a/gpu/kinfu/src/kinfu.cpp
+++ b/gpu/kinfu/src/kinfu.cpp
@@ -32,7 +32,7 @@
  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
- *
+ * 
  */
 
 #include <iostream>
diff --git a/gpu/kinfu/tools/CMakeLists.txt b/gpu/kinfu/tools/CMakeLists.txt
index 996b074..5ad4fcc 100644
--- a/gpu/kinfu/tools/CMakeLists.txt
+++ b/gpu/kinfu/tools/CMakeLists.txt
@@ -1,4 +1,4 @@
-if(OPENNI_FOUND)
+if(OPENNI2_FOUND)
 	if(NOT VTK_FOUND)
 		set(DEFAULT FALSE)
 		set(REASON "VTK was not found.")
@@ -11,27 +11,27 @@ if(OPENNI_FOUND)
 	endif(NOT VTK_FOUND)
 
 	FILE(GLOB hdrs "*.h*")
-	include_directories(${VTK_INCLUDE_DIRS} ${OPENNI_INCLUDE_DIRS})       
+	include_directories(${VTK_INCLUDE_DIRS} ${OPENNI2_INCLUDE_DIRS})       
 
 	## KINECT FUSION
 	set(the_target pcl_kinfu_app)
-	set(srcs kinfu_app.cpp capture.cpp evaluation.cpp)
+	set(srcs kinfu_app.cpp evaluation.cpp)
 
 	source_group("Source Files" FILES ${srcs} )
 
 	PCL_ADD_EXECUTABLE_OPT_BUNDLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
-	target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI_LIBRARIES} pcl_visualization pcl_gpu_kinfu)
+	target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI2_LIBRARIES} pcl_visualization pcl_gpu_kinfu)
   
 	if(OpenCV_FOUND)
 		target_link_libraries("${the_target}" ${OpenCV_LIBS})
 	endif()
 
 	## RECORD TSDFVOLUME
-	set(the_target pcl_record_tsdfvolume)
-	set(srcs record_tsdfvolume.cpp capture.cpp)
+	#set(the_target pcl_record_tsdfvolume)
+	#set(srcs record_tsdfvolume.cpp capture.cpp)
 
-	PCL_ADD_EXECUTABLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
-	target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI_LIBRARIES} pcl_visualization pcl_gpu_kinfu)
+	#PCL_ADD_EXECUTABLE("${the_target}" "${SUBSYS_NAME}" ${srcs} ${hdrs})
+	#target_link_libraries("${the_target}" pcl_common pcl_io ${OPENNI2_LIBRARIES} pcl_visualization pcl_gpu_kinfu)
 
 	## KINECT FUSION SIMULATION - DISABLED FOR NOW
 	#find_package(GLEW)
@@ -57,4 +57,4 @@ if(OPENNI_FOUND)
 	#	endif(GLUT_FOUND)
 	#endif (GLEW_FOUND)
 
-endif(OPENNI_FOUND)
+endif(OPENNI2_FOUND)
diff --git a/gpu/kinfu/tools/kinfu_app.cpp b/gpu/kinfu/tools/kinfu_app.cpp
index fc82d0b..8a13329 100644
--- a/gpu/kinfu/tools/kinfu_app.cpp
+++ b/gpu/kinfu/tools/kinfu_app.cpp
@@ -34,7 +34,7 @@
  *  Author: Anatoly Baskeheev, Itseez Ltd, (myname.mysurname@mycompany.com)
  */
 
-
+ 
 #define _CRT_SECURE_NO_DEPRECATE
 
 #include <iostream>
@@ -57,12 +57,19 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/io/ply_io.h>
 #include <pcl/io/vtk_io.h>
-#include <pcl/io/openni_grabber.h>
-#include <pcl/io/oni_grabber.h>
+#include <pcl/io/openni2_grabber.h>
+//#include <pcl/io/openni_grabber.h>
+//#include <pcl/io/oni_grabber.h>
 #include <pcl/io/pcd_grabber.h>
 #include <pcl/exceptions.h>
 
-#include "openni_capture.h"
+#include <pcl/io/image.h>
+#include <pcl/io/image_rgb24.h>
+#include <pcl/io/image_yuv422.h>
+#include <pcl/io/image_depth.h>
+#include <pcl/io/image_ir.h>
+
+//#include "openni_capture.h"
 #include <pcl/visualization/point_cloud_color_handlers.h>
 #include "evaluation.h"
 
@@ -701,7 +708,7 @@ struct KinFuApp
   void
   initRegistration ()
   {        
-    registration_ = capture_.providesCallback<pcl::ONIGrabber::sig_cb_openni_image_depth_image> ();
+    registration_ = capture_.providesCallback<pcl::io::OpenNI2Grabber::sig_cb_openni_image_depth_image> ();
     cout << "Registration mode: " << (registration_ ? "On" : "Off (not supported by source)") << endl;
     if (registration_)
         kinfu_.setDepthIntrinsics(KINFU_DEFAULT_RGB_FOCAL_X, KINFU_DEFAULT_RGB_FOCAL_Y);
@@ -832,7 +839,7 @@ struct KinFuApp
       setViewerPose (*scene_cloud_view_.cloud_viewer_, kinfu_.getCameraPose());
   }
   
-  void source_cb1_device(const boost::shared_ptr<openni_wrapper::DepthImage>& depth_wrapper)  
+  void source_cb1_device(const boost::shared_ptr<pcl::io::DepthImage>& depth_wrapper)  
   {        
     {
       boost::mutex::scoped_try_lock lock(data_ready_mutex_);
@@ -850,7 +857,7 @@ struct KinFuApp
     data_ready_cond_.notify_one();
   }
 
-  void source_cb2_device(const boost::shared_ptr<openni_wrapper::Image>& image_wrapper, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_wrapper, float)
+  void source_cb2_device(const boost::shared_ptr<pcl::io::Image>& image_wrapper, const boost::shared_ptr<pcl::io::DepthImage>& depth_wrapper, float)
   {
     {
       boost::mutex::scoped_try_lock lock(data_ready_mutex_);
@@ -877,7 +884,7 @@ struct KinFuApp
   }
 
 
-   void source_cb1_oni(const boost::shared_ptr<openni_wrapper::DepthImage>& depth_wrapper)  
+   void source_cb1_oni(const boost::shared_ptr<pcl::io::DepthImage>& depth_wrapper)  
   {        
     {
       boost::mutex::scoped_lock lock(data_ready_mutex_);
@@ -895,7 +902,7 @@ struct KinFuApp
     data_ready_cond_.notify_one();
   }
 
-  void source_cb2_oni(const boost::shared_ptr<openni_wrapper::Image>& image_wrapper, const boost::shared_ptr<openni_wrapper::DepthImage>& depth_wrapper, float)
+  void source_cb2_oni(const boost::shared_ptr<pcl::io::Image>& image_wrapper, const boost::shared_ptr<pcl::io::DepthImage>& depth_wrapper, float)
   {
     {
       boost::mutex::scoped_lock lock(data_ready_mutex_);
@@ -925,19 +932,19 @@ struct KinFuApp
   void
   startMainLoop (bool triggered_capture)
   {   
-    using namespace openni_wrapper;
+    using namespace pcl::io;
     typedef boost::shared_ptr<DepthImage> DepthImagePtr;
     typedef boost::shared_ptr<Image> ImagePtr;
         
     boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1_dev = boost::bind (&KinFuApp::source_cb2_device, this, _1, _2, _3);
     boost::function<void (const DepthImagePtr&)> func2_dev = boost::bind (&KinFuApp::source_cb1_device, this, _1);
 
-    boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1_oni = boost::bind (&KinFuApp::source_cb2_oni, this, _1, _2, _3);
-    boost::function<void (const DepthImagePtr&)> func2_oni = boost::bind (&KinFuApp::source_cb1_oni, this, _1);
+    //boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1_oni = boost::bind (&KinFuApp::source_cb2_oni, this, _1, _2, _3);
+    //boost::function<void (const DepthImagePtr&)> func2_oni = boost::bind (&KinFuApp::source_cb1_oni, this, _1);
     
-    bool is_oni = dynamic_cast<pcl::ONIGrabber*>(&capture_) != 0;
-    boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1 = is_oni ? func1_oni : func1_dev;
-    boost::function<void (const DepthImagePtr&)> func2 = is_oni ? func2_oni : func2_dev;
+    //bool is_oni = dynamic_cast<pcl::ONIGrabber*>(&capture_) != 0;
+    boost::function<void (const ImagePtr&, const DepthImagePtr&, float constant)> func1 = func1_dev;
+    boost::function<void (const DepthImagePtr&)> func2 = func2_dev;
 
     bool need_colors = integrate_colors_ || registration_;
     boost::signals2::connection c = need_colors ? capture_.registerCallback (func1) : capture_.registerCallback (func2);
@@ -1205,14 +1212,15 @@ main (int argc, char* argv[])
   {    
     if (pc::parse_argument (argc, argv, "-dev", openni_device) > 0)
     {
-      capture.reset (new pcl::OpenNIGrabber (openni_device));
+      capture.reset (new pcl::io::OpenNI2Grabber(openni_device));
     }
-    else if (pc::parse_argument (argc, argv, "-oni", oni_file) > 0)
+/*    else if (pc::parse_argument (argc, argv, "-oni", oni_file) > 0)
     {
       triggered_capture = true;
       bool repeat = false; // Only run ONI file once
       capture.reset (new pcl::ONIGrabber (oni_file, repeat, ! triggered_capture));
-    }
+    } 
+*/
     else if (pc::parse_argument (argc, argv, "-pcd", pcd_dir) > 0)
     {
       float fps_pcd = 15.0f;
@@ -1231,7 +1239,7 @@ main (int argc, char* argv[])
     }
     else
     {
-      capture.reset( new pcl::OpenNIGrabber() );
+      capture.reset( new pcl::io::OpenNI2Grabber() );
         
       //triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224932.oni", true, ! triggered_capture) );
       //triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/reg20111229-180846.oni, true, ! triggered_capture) );    
@@ -1240,7 +1248,7 @@ main (int argc, char* argv[])
       //triggered_capture = true; capture.reset( new pcl::ONIGrabber("d:/onis/20111013-224719.oni", true, ! triggered_capture) );    
     }
   }
-  catch (const pcl::PCLException& /*e*/) { return cout << "Can't open depth source" << endl, -1; }
+  catch (const pcl::PCLException& /*e*/) { return cout << "Can't open depth source" << endl, -1; } 
 
   float volume_size = 3.f;
   pc::parse_argument (argc, argv, "-volume_size", volume_size);