OpenNI2 pkg_config replaced with find script from PCL.

CMakeLists.txt

@@ -1,16 +1,14 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(openni2_camera)
 
+set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
+
 find_package(catkin REQUIRED camera_info_manager dynamic_reconfigure image_transport  nodelet sensor_msgs roscpp message_generation)
 
 find_package(Boost REQUIRED COMPONENTS system thread)
 
-find_package(PkgConfig)
+find_package(OpenNI2 REQUIRED)
 
-pkg_check_modules(PC_OPENNI2 libopenni2)
-if (NOT PC_OPENNI2_FOUND)
-  pkg_check_modules(PC_OPENNI2 REQUIRED openni2)
-endif()
 
 generate_dynamic_reconfigure_options(cfg/OpenNI2.cfg)
 add_service_files(FILES
@@ -26,12 +24,10 @@ catkin_package(
 
 include_directories(include 
                     ${catkin_INCLUDE_DIRS} 
-                    ${Boost_INCLUDE_DIRS}
-                    ${PC_OPENNI2_INCLUDE_DIRS}
+                    ${Boost_ICLUDE_DIRS}
+                    ${OPENNI2_INCLUDE_DIRS}
                     )
 
-link_directories(${PC_OPENNI2_LIBRARY_DIRS})
-
 add_library(openni2_wrapper
    src/openni2_convert.cpp
    src/openni2_device.cpp 
@@ -42,33 +38,37 @@ add_library(openni2_wrapper
    src/openni2_exception.cpp
    src/openni2_video_mode.cpp
 )
-target_link_libraries(openni2_wrapper ${catkin_LIBRARIES} ${PC_OPENNI2_LIBRARIES} ${Boost_LIBRARIES} )
+target_link_libraries(openni2_wrapper 
+    ${catkin_LIBRARIES} 
+    ${OPENNI2_LIBRARIES}
+    ${Boost_LIBRARIES} 
+)
 
 add_executable(test_wrapper test/test_wrapper.cpp )
-target_link_libraries(test_wrapper openni2_wrapper ${Boost_LIBRARIES})
+target_link_libraries(test_wrapper openni2_wrapper ${Boost_LIBRARIES} ${OPENNI2_LIBRARIES})
 
 add_library(openni2_driver_lib
    src/openni2_driver.cpp
 )
-target_link_libraries(openni2_driver_lib openni2_wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
+target_link_libraries(openni2_driver_lib openni2_wrapper ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENNI2_LIBRARIES})
 add_dependencies(openni2_driver_lib ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
 
 add_library(openni2_camera_nodelet
    ros/openni2_camera_nodelet.cpp
 )
-target_link_libraries(openni2_camera_nodelet openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
+target_link_libraries(openni2_camera_nodelet openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENNI2_LIBRARIES})
 add_dependencies(openni2_camera_nodelet ${PROJECT_NAME}_gencfg)
 
 add_executable(openni2_camera_node
    ros/openni2_camera_node.cpp
 )
-target_link_libraries(openni2_camera_node openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} )
+target_link_libraries(openni2_camera_node openni2_driver_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${OPENNI2_LIBRARIES})
 add_dependencies(openni2_camera_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
 
 add_executable(list_devices
    src/list_devices.cpp
 )
-target_link_libraries(list_devices openni2_wrapper)
+target_link_libraries(list_devices openni2_wrapper ${OPENNI2_LIBRARIES})
 
 if (UNIX AND NOT APPLE)
   add_executable(usb_reset src/usb_reset.c)

cmake/FindOpenNI2.cmake

@@ -0,0 +1,80 @@
+###############################################################################
+# Find OpenNI 2
+#
+# This sets the following variables:
+# OPENNI2_FOUND - True if OPENNI 2 was found.
+# OPENNI2_INCLUDE_DIRS - Directories containing the OPENNI 2 include files.
+# OPENNI2_LIBRARIES - Libraries needed to use OPENNI 2.
+# OPENNI2_DEFINITIONS - Compiler flags for OPENNI 2.
+#
+# For libusb-1.0, add USB_10_ROOT if not found
+
+find_package(PkgConfig QUIET)
+
+# Find LibUSB
+if(NOT WIN32)
+  pkg_check_modules(PC_USB_10 libusb-1.0)
+  find_path(USB_10_INCLUDE_DIR libusb-1.0/libusb.h
+            HINTS ${PC_USB_10_INCLUDEDIR} ${PC_USB_10_INCLUDE_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
+            PATH_SUFFIXES libusb-1.0)
+
+  find_library(USB_10_LIBRARY
+               NAMES usb-1.0
+               HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
+               PATH_SUFFIXES lib)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR)
+
+  if(NOT USB_10_FOUND)
+    message(STATUS "OpenNI 2 disabled because libusb-1.0 not found.")
+    return()
+  else()
+    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
+  endif()
+endif(NOT WIN32)
+
+if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+  pkg_check_modules(PC_OPENNI2 libopenni2)
+else()
+  pkg_check_modules(PC_OPENNI2 QUIET libopenni2)
+endif()
+
+set(OPENNI2_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER})
+
+set(OPENNI2_SUFFIX)
+if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+  set(OPENNI2_SUFFIX 64)
+endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+
+find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
+    PATHS
+    "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}"  # Win64 needs '64' suffix
+    /usr/include/openni2  # common path for deb packages
+)
+
+find_library(OPENNI2_LIBRARY
+             NAMES OpenNI2  # No suffix needed on Win64
+             libOpenNI2     # Linux
+             PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}"  # Windows default path, Win64 needs '64' suffix
+             "$ENV{OPENNI2_REDIST}"                      # Linux install does not use a separate 'lib' directory
+             )
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+  set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} ${LIBUSB_1_LIBRARIES})
+else()
+  set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+mark_as_advanced(OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+if(OPENNI2_FOUND)
+  # Add the include directories
+  set(OPENNI2_INCLUDE_DIRS ${OPENNI2_INCLUDE_DIR})
+  set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}})
+  message(STATUS "OpenNI 2 found (include: ${OPENNI2_INCLUDE_DIRS}, lib: ${OPENNI2_LIBRARY}, redist: ${OPENNI2_REDIST_DIR})")
+endif(OPENNI2_FOUND)
+

include/openni2_camera/openni2_convert.h

@@ -36,7 +36,7 @@
 #include "openni2_camera/openni2_device_info.h"
 #include "openni2_camera/openni2_video_mode.h"
 
-#include "OpenNI.h"
+#include "ni2/OpenNI.h"
 
 #include <vector>
 

include/openni2_camera/openni2_frame_listener.h

@@ -38,7 +38,7 @@
 
 #include <vector>
 
-#include "OpenNI.h"
+#include "ni2/OpenNI.h"
 
 namespace openni2_wrapper
 {

include/openni2_camera/openni2_timer_filter.h

@@ -34,7 +34,7 @@
 
 #include <deque>
 
-#include "OpenNI.h"
+#include "ni2/OpenNI.h"
 
 namespace openni2_wrapper
 {

src/openni2_device.cpp

@@ -29,7 +29,7 @@
  *      Author: Julius Kammerl ([email protected])
  */
 
-#include "OpenNI.h"
+#include "ni2/OpenNI.h"
 #include <PS1080.h> // For XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE property
 
 #include <boost/lexical_cast.hpp>

src/openni2_device_manager.cpp

@@ -41,7 +41,7 @@
 #include <set>
 #include <string>
 
-#include "OpenNI.h"
+#include "ni2/OpenNI.h"
 
 namespace openni2_wrapper
 {

src/openni2_frame_listener.cpp

@@ -28,7 +28,7 @@
  *
  *      Author: Julius Kammerl ([email protected])
  */
-#include "OpenNI.h"
+#include "ni2/OpenNI.h"
 
 #include "openni2_camera/openni2_frame_listener.h"
 #include "openni2_camera/openni2_timer_filter.h"