Signed-off-by: Djordje Senicic <[email protected]> Signed-off-by: Hongmei Gou <[email protected]> --- .../voxelsdk/0001-PLSDK-AM437x-update.patch | 73 +++++ .../voxelsdk/voxelsdk/0002-Fix-SWIG-support.patch | 37 +++ ...mmand-line-options-and-move-OpenCV-render.patch | 324 +++++++++++++++++++++ ...004-Platform-specific-op_clk_freq-setting.patch | 41 +++ ...window-touch-mouse-even-left-button-click.patch | 56 ++++ .../recipes-apps/voxelsdk/voxelsdk_git.bb | 55 ++++ 6 files changed, 586 insertions(+) create mode 100644 meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-AM437x-update.patch create mode 100644 meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-support.patch create mode 100644 meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-command-line-options-and-move-OpenCV-render.patch create mode 100644 meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0004-Platform-specific-op_clk_freq-setting.patch create mode 100644 meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0005-Exit-on-window-touch-mouse-even-left-button-click.patch create mode 100644 meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb
diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-AM437x-update.patch b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-AM437x-update.patch new file mode 100644 index 0000000..2e1e740 --- /dev/null +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0001-PLSDK-AM437x-update.patch @@ -0,0 +1,73 @@ +From 9ef95f0defcd7215b3d514e7fb7321cd299882cd Mon Sep 17 00:00:00 2001 +From: Djordje Senicic <[email protected]> +Date: Wed, 22 Feb 2017 12:21:07 -0500 +Subject: [PATCH] PLSDK AM437x update + +Signed-off-by: Djordje Senicic <[email protected]> +--- + CMakeLists.txt | 11 ++++++++++- + Voxel/CMakeLists.txt | 2 +- + Voxel/SWIG/standard_container.i | 5 +++-- + 3 files changed, 14 insertions(+), 4 deletions(-) + +diff --git a/CMakeLists.txt b/CMakeLists.txt +index ed7a015..a187c96 100644 +--- a/CMakeLists.txt ++++ b/CMakeLists.txt +@@ -26,9 +26,18 @@ if(CMAKE_SYSTEM_NAME STREQUAL "Linux") + SET(ARM_PLATFORM 1) + + if(ARM_PLATFORM) +- add_definitions(-mtune=arm7 -mfpu=neon-vfpv4 -mfloat-abi=hard -pthread -std=c++11 -fPIC -ffast-math) ++# add_definitions(-mtune=arm7 -mfpu=neon-vfpv4 -mfloat-abi=hard -pthread -std=c++11 -fPIC -ffast-math) + #-DARM_OPT to enable arm optimizaions + ADD_DEFINITIONS(-DARM_OPT) ++#OK: ++#add_definitions(-mtune=arm7 -mfloat-abi=hard -pthread -std=c++11 -fPIC -ffast-math) ++#OK: ++#add_definitions(-ffast-math -mcpu=cortex-a9 -mfloat-abi=hard -mfpu=neon-fp16 -fPIC -pthread -std=c++11) ++#OK: ++#add_definitions(-ffast-math -mcpu=cortex-a9 -mfloat-abi=hard -mfpu=neon -fPIC -pthread -std=c++11) ++ ++add_definitions(-mtune=arm7 -mfpu=neon -mfloat-abi=hard -pthread -std=c++11 -fPIC -ffast-math) ++ + ADD_DEFINITIONS(-DCOMMON_OPT) + + else() +diff --git a/Voxel/CMakeLists.txt b/Voxel/CMakeLists.txt +index ae98e81..74528d8 100644 +--- a/Voxel/CMakeLists.txt ++++ b/Voxel/CMakeLists.txt +@@ -149,7 +149,7 @@ install(FILES + COMPONENT voxel_dev + ) + +-#add_subdirectory(SWIG) ++add_subdirectory(SWIG) + + IF(LINUX) + set(CPACK_COMPONENTS_ALL voxel) +diff --git a/Voxel/SWIG/standard_container.i b/Voxel/SWIG/standard_container.i +index f61e342..1d2cb66 100644 +--- a/Voxel/SWIG/standard_container.i ++++ b/Voxel/SWIG/standard_container.i +@@ -113,7 +113,7 @@ + + %enddef + +- ++#if SWIG_VERSION < 0x030008 + // + // Ignore member methods for Type with no default constructor + // +@@ -124,4 +124,5 @@ + %feature("ignore") std::deque<Type >::resize(size_type size); + %feature("ignore") std::list<Type >::list(size_type size); + %feature("ignore") std::list<Type >::resize(size_type size); +-%enddef +\ No newline at end of file ++%enddef ++#endif +-- +1.9.1 + diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-support.patch b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-support.patch new file mode 100644 index 0000000..77a6de1 --- /dev/null +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0002-Fix-SWIG-support.patch @@ -0,0 +1,37 @@ +From a800f446d9c976f6fb11f4d601cc386bbdce59e1 Mon Sep 17 00:00:00 2001 +From: Djordje Senicic <[email protected]> +Date: Wed, 22 Feb 2017 14:14:52 -0500 +Subject: [PATCH] Fix SWIG support + +Signed-off-by: Djordje Senicic <[email protected]> +--- + Voxel/SWIG/CMakeLists.txt | 5 +++-- + 1 file changed, 3 insertions(+), 2 deletions(-) + +diff --git a/Voxel/SWIG/CMakeLists.txt b/Voxel/SWIG/CMakeLists.txt +index a4f6d53..f4070ac 100644 +--- a/Voxel/SWIG/CMakeLists.txt ++++ b/Voxel/SWIG/CMakeLists.txt +@@ -1,10 +1,11 @@ +-SET(GENERATE_PYTHON_BINDINGS "FALSE" CACHE BOOL "Controls generation of Python bindings") ++SET(GENERATE_PYTHON_BINDINGS "TRUE" CACHE BOOL "Controls generation of Python bindings") + + IF(${GENERATE_PYTHON_BINDINGS}) + + FIND_PACKAGE(SWIG REQUIRED) + INCLUDE(${SWIG_USE_FILE}) + ++SET(Python_ADDITIONAL_VERSIONS 2.7) + FIND_PACKAGE(PythonLibs) + INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_PATH}) + +@@ -46,4 +47,4 @@ install(FILES + DESTINATION lib/python2.7 + COMPONENT voxel_python + ) +-ENDIF() +\ No newline at end of file ++ENDIF() +-- +1.9.1 + diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-command-line-options-and-move-OpenCV-render.patch b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-command-line-options-and-move-OpenCV-render.patch new file mode 100644 index 0000000..4ab74e6 --- /dev/null +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0003-Add-more-command-line-options-and-move-OpenCV-render.patch @@ -0,0 +1,324 @@ +From 29cc2430579eb257d9e1ac1caf0b4515278fd375 Mon Sep 17 00:00:00 2001 +From: Djordje Senicic <[email protected]> +Date: Mon, 13 Mar 2017 19:51:30 -0400 +Subject: [PATCH] Add more command line options and move OpenCV rendering to + main thread + +Signed-off-by: Djordje Senicic <[email protected]> +--- + Demos/Horus.cpp | 98 +++++++++++++++++++++++++----------------- + Demos/SimplePeopleTracking.cpp | 91 ++++++++++++++++++++++++++++++++------- + Demos/TOFApp.cpp | 14 +++--- + 3 files changed, 139 insertions(+), 64 deletions(-) + +diff --git a/Demos/Horus.cpp b/Demos/Horus.cpp +index e0181af..de1837e 100644 +--- a/Demos/Horus.cpp ++++ b/Demos/Horus.cpp +@@ -24,6 +24,12 @@ + #include <stdlib.h> + + extern int skipped_frames; ++extern pthread_mutex_t main_thread_image_mtx; ++extern Mat app_image[]; ++extern int main_thread_image_rd; ++extern int main_thread_image_wr; ++extern int main_thread_image_cnt; ++extern char show_image; + + Horus::Horus(int w, int h) : TOFApp(w, h) + { +@@ -126,10 +132,9 @@ bool Horus::isPerson(vector<cv::Point> &contour, Mat dMat) + return rc; + } + +-static int draw_throttle = 0; +- + void Horus::update(Frame *frame) + { ++ Mat drawing; + vector< vector<cv::Point> > contours; + vector<Vec4i> hierarchy; + RNG rng(12345); +@@ -147,51 +152,66 @@ void Horus::update(Frame *frame) + + // Apply amplitude gain + _iMat = (float)_ampGain*_iMat; ++ if(show_image == 'p') ++ { //Skip below processing if we are not detecting people! ++ // Update background as required ++ if (!_setBackground) { ++ _dMat.copyTo(_bkgndMat); ++ _setBackground = true; ++ cout << endl << "Updated background" << endl; ++ } + +- // Update background as required +- if (!_setBackground) { +- _dMat.copyTo(_bkgndMat); +- _setBackground = true; +- cout << endl << "Updated background" << endl; +- } +- +- // Find foreground by subtraction +- Mat fMat = _bkgndMat-_dMat; ++ // Find foreground by subtraction ++ Mat fMat = _bkgndMat-_dMat; + +- // Convert to binary image based on amplitude and depth thresholds +- clipBackground(fMat, _iMat, (float)_depthThresh/100.0, (float)_ampThresh/100.0); +- fMat.convertTo(_bMat, CV_8U, 255.0); ++ // Convert to binary image based on amplitude and depth thresholds ++ clipBackground(fMat, _iMat, (float)_depthThresh/100.0, (float)_ampThresh/100.0); ++ fMat.convertTo(_bMat, CV_8U, 255.0); + +- // Apply morphological open to clean up image +- Mat morphMat = _bMat.clone(); +- Mat element = getStructuringElement( 0, Size(3,3), cv::Point(1,1) ); +- morphologyEx(_bMat, morphMat, 2, element); ++ // Apply morphological open to clean up image ++ Mat morphMat = _bMat.clone(); ++ Mat element = getStructuringElement( 0, Size(3,3), cv::Point(1,1) ); ++ morphologyEx(_bMat, morphMat, 2, element); + +- // Find all contours +- findContours(morphMat, contours, hierarchy, CV_RETR_TREE, +- CV_CHAIN_APPROX_SIMPLE, cv::Point(0,0)); ++ // Find all contours ++ findContours(morphMat, contours, hierarchy, CV_RETR_TREE, ++ CV_CHAIN_APPROX_SIMPLE, cv::Point(0,0)); + +- // Draw contours that meet a "person" requirement +- Mat drawing = Mat::zeros(_iMat.size(), CV_8UC3); +- cvtColor(_iMat, drawing, CV_GRAY2RGB); ++ // Draw contours that meet a "person" requirement ++ drawing = Mat::zeros(_iMat.size(), CV_8UC3); ++ cvtColor(_iMat, drawing, CV_GRAY2RGB); + +- int peopleCount = 0; +- for ( int i = 0; i < contours.size(); i++ ) { +- if (isPerson(contours[i], _dMat)) { +- peopleCount++; +- drawContours( drawing, contours, i, Scalar(0, 0, 255), 2, 8, vector<Vec4i>(), 0, cv::Point() ); +- } ++ int peopleCount = 0; ++ for ( int i = 0; i < contours.size(); i++ ) { ++ if (isPerson(contours[i], _dMat)) { ++ peopleCount++; ++ drawContours( drawing, contours, i, Scalar(0, 0, 255), 2, 8, vector<Vec4i>(), 0, cv::Point() ); ++ } ++ } ++ putText(drawing, "Cnt="+to_string(peopleCount), cv::Point(40, 30), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0)); + } +- putText(drawing, "Cnt="+to_string(peopleCount), cv::Point(40, 30), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0)); +- if(skipped_frames == 0) { +- imshow("Draw", drawing); +- } else { +- if((draw_throttle % skipped_frames) == 0) { +- char file_name[80]; +- sprintf (file_name, "draw%03d.png", draw_throttle / skipped_frames); +- imwrite (file_name, drawing); ++ ++ if(main_thread_image_cnt < 2) ++ { ++ switch (show_image) ++ { ++ case 'i': ++ _iMat.copyTo(app_image[main_thread_image_wr]); ++ putText(app_image[main_thread_image_wr], "Ampl Map", cv::Point(30, 20), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0)); ++ break; ++ case 'd': ++ _dMat.copyTo(app_image[main_thread_image_wr]); ++ putText(app_image[main_thread_image_wr], "Dist Map", cv::Point(30, 20), FONT_HERSHEY_PLAIN, 1, Scalar(255, 0, 0)); ++ break; ++ default: ++ drawing.copyTo(app_image[main_thread_image_wr]); ++ break; + } +- draw_throttle ++; ++ pthread_mutex_lock(&main_thread_image_mtx); ++ main_thread_image_wr ++; ++ main_thread_image_wr %= 2; ++ main_thread_image_cnt ++; ++ pthread_mutex_unlock(&main_thread_image_mtx); + } + } + } +diff --git a/Demos/SimplePeopleTracking.cpp b/Demos/SimplePeopleTracking.cpp +index 8c6e9d4..1eb8e16 100644 +--- a/Demos/SimplePeopleTracking.cpp ++++ b/Demos/SimplePeopleTracking.cpp +@@ -1,6 +1,18 @@ + #include "Horus.h" ++#include <getopt.h> + + int skipped_frames = 0; ++int resolution_width = 160, resolution_height = 120; ++//Variables for communication between main and application thread ++pthread_mutex_t main_thread_image_mtx; ++int main_thread_image_rd = 0; ++int main_thread_image_wr = 0; ++int main_thread_image_cnt = 0; ++int acq_fps = 30; ++char show_image = 'p'; //By default, detect people ++int fps = 30; ++ ++Mat app_image[2]; + + int getkey() { + int character; +@@ -27,29 +39,58 @@ int getkey() { + + #define TOF_FRAME_TYPE DepthCamera::FRAME_XYZI_POINT_CLOUD_FRAME + ++void print_usage(void) ++{ ++ printf ("\nFollwoing command line options available:"); ++ printf ("\n -s <decimal value>"); ++ printf ("\n If you want to run demo without keyboard, provide 'skipped_frames' as argument (e.g. SimplePeopleTracking -s 30)!"); ++ printf ("\n Images with the result of processing are saved in PNG files. This test always stops after 10 image files recorded\n"); ++ printf ("\n -w <resolution witdh, default is 160, another resolution possible is 320x240>"); ++ printf ("\n -h <resolution height, default is 120, another respolution possible is 320x240>"); ++ printf ("\n -i <present image of amplitudes, grey-scale like image - default is detection of people>"); ++ printf ("\n -d <present distance map - default is detection of people>"); ++ printf ("\n -f <set fps with integer value, 30 is default, 10, 15, 25 are another options to try>"); ++ printf ("\n-----------\n"); ++} ++ + int main(int argc, char *argv[]) + { +-int ii = 0; +- int key; ++ int ii = 0, draw_throttle = 0; ++ int key, c_opt; + bool done = false; +- Mat bImg; +- +- if(argc > 1) skipped_frames = atoi(argv[1]); +- else { +- printf ("\nIf you want to run demo without keyboard, provide 'skipped_frames' as argument (e.g. SimplePeopleTracking 30)!"); +- printf ("\nImages with the result of processing are saved in PNG files. This test always stops after 15 seconds\n"); ++ Mat bImg, locImg; ++ ++ while ((c_opt = getopt(argc, argv,"s:w:h:f:id")) != -1) { ++ switch (c_opt) { ++ case 's' : skipped_frames = atoi(optarg); ++ break; ++ case 'w' : resolution_width = atoi(optarg); ++ break; ++ case 'h' : resolution_height = atoi(optarg); ++ break; ++ case 'f' : acq_fps = atoi(optarg); ++ break; ++ case 'i' : show_image = 'i'; ++ break; ++ case 'd' : show_image = 'd'; ++ break; ++ default: print_usage(); ++ exit(EXIT_FAILURE); ++ } + } ++ printf ("\nUsing following parameters: skipped_frames=%d width=%d height=%d mode=%c fps=%d. Use '-?' to get help.\n", ++ skipped_frames, resolution_width, resolution_height, show_image, acq_fps); + +- //Horus eye(320, 240); +- Horus eye(160, 120); +- //Horus eye(80, 60); ++ Horus eye(resolution_width, resolution_height); + + if (!eye.connect(TOF_FRAME_TYPE)) { + cout << "Cannot connect" << endl; + return -1; + } + eye.start(); +- while (!done) { ++ ++ while (!done) ++ { + if(skipped_frames == 0) + { + char key = getkey(); +@@ -57,11 +98,29 @@ int ii = 0; + done = true; + else if (key == 'b') + eye.resetBackground(); +- } else { +- usleep(100000); +- ii ++; +- if(ii == 150) done = true; + } ++ //Exchange data with the applicaiton thread ++ if(main_thread_image_cnt > 0) ++ { //imshow() does not work reliable if being ran from non-main thread ++ locImg = app_image[main_thread_image_rd]; ++ if(skipped_frames) ++ { ++ if((draw_throttle % skipped_frames) == 0) { ++ char file_name[80]; ++ sprintf (file_name, "draw%03d.png", draw_throttle / skipped_frames); ++ imwrite (file_name, locImg); ++ std::cout << "Write file:" << file_name << std::endl << std::flush; ++ } ++ draw_throttle ++; ++ if(draw_throttle >= (10 * skipped_frames)) done = true; //Collect 10 image files only in batch mode ++ } else imshow ("Draw", locImg); ++ pthread_mutex_lock(&main_thread_image_mtx); ++ main_thread_image_rd ++; ++ main_thread_image_rd %= 2; ++ main_thread_image_cnt --; ++ pthread_mutex_unlock(&main_thread_image_mtx); ++ } ++ waitKey(20); + } + + err_exit: +diff --git a/Demos/TOFApp.cpp b/Demos/TOFApp.cpp +index 1c9c0cd..cb41286 100644 +--- a/Demos/TOFApp.cpp ++++ b/Demos/TOFApp.cpp +@@ -22,7 +22,7 @@ + #define FRAME_QUEUE_SZ 3 + + extern int skipped_frames; +- ++extern int acq_fps; + // Frame callback + static deque<Voxel::Frame *> qFrame; + static pthread_mutex_t gmtx; +@@ -166,11 +166,7 @@ void *TOFApp::eventLoop(void *p) + } + + done = !app->_isRunning; +- if(skipped_frames == 0) { +- waitKey(app->_loopDelay); +- } else { +- usleep(10000); +- } ++ usleep(10000); + } + + app->disconnect(); +@@ -196,9 +192,9 @@ void TOFApp::Init(int w, int h) + _isConnected = false; + _dimen.width = w; + _dimen.height = h; +- _frate.numerator = 30; ++ _frate.numerator = acq_fps; //30 + _frate.denominator = 1; +- _loopDelay = 66; ++ _loopDelay = (int)(1000 / acq_fps); + _illum_power = 60; + _intg = 20; + _profile = "MetrilusLongRange"; +@@ -219,7 +215,7 @@ bool TOFApp::connect(DepthCamera::FrameType frmType) + else + return false; + +- #if 0 //Enable this to list all the profiles that are supported by the camera ++ #if 1 //Enable this to list all the profiles that are supported by the camera + cout << "List of Profiles:" << endl; + auto &names = _depthCamera->configFile.getCameraProfileNames(); + +-- +1.9.1 + diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0004-Platform-specific-op_clk_freq-setting.patch b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0004-Platform-specific-op_clk_freq-setting.patch new file mode 100644 index 0000000..ae2155e --- /dev/null +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0004-Platform-specific-op_clk_freq-setting.patch @@ -0,0 +1,41 @@ +From 63e830023a77749cb6ec78f5ada1d94c9713f935 Mon Sep 17 00:00:00 2001 +From: Djordje Senicic <[email protected]> +Date: Tue, 21 Mar 2017 21:05:42 -0400 +Subject: [PATCH] Platform specific op_clk_freq setting + +Signed-off-by: Djordje Senicic <[email protected]> +--- + Demos/TOFApp.cpp | 10 +++++++++- + 1 file changed, 9 insertions(+), 1 deletion(-) + +diff --git a/Demos/TOFApp.cpp b/Demos/TOFApp.cpp +index cb41286..e6ff8fe 100644 +--- a/Demos/TOFApp.cpp ++++ b/Demos/TOFApp.cpp +@@ -215,7 +215,7 @@ bool TOFApp::connect(DepthCamera::FrameType frmType) + else + return false; + +- #if 1 //Enable this to list all the profiles that are supported by the camera ++ #if 0 //Enable this to list all the profiles that are supported by the camera + cout << "List of Profiles:" << endl; + auto &names = _depthCamera->configFile.getCameraProfileNames(); + +@@ -248,6 +248,14 @@ bool TOFApp::connect(DepthCamera::FrameType frmType) + _depthCamera->registerCallback(_frameType, frameCallback); + _depthCamera->setFrameSize(_dimen); + _depthCamera->setFrameRate(_frate); ++#ifdef SET_OPCLK ++ _depthCamera->set("op_clk_freq", 1); ++ cout << endl << "Set op_clk_freq!" << endl; ++#endif ++#ifdef RESET_OPCLK ++ _depthCamera->set("op_clk_freq", 0); ++ cout << endl << "Reset op_clk_freq!" << endl; ++#endif + + VideoMode m; + +-- +1.9.1 + diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0005-Exit-on-window-touch-mouse-even-left-button-click.patch b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0005-Exit-on-window-touch-mouse-even-left-button-click.patch new file mode 100644 index 0000000..88f3886 --- /dev/null +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk/0005-Exit-on-window-touch-mouse-even-left-button-click.patch @@ -0,0 +1,56 @@ +From 1cd1dcb71beb151fe0ae1cbd0a037d4b8b035973 Mon Sep 17 00:00:00 2001 +From: Djordje Senicic <[email protected]> +Date: Mon, 27 Mar 2017 20:39:26 -0400 +Subject: [PATCH] Add exit on screen touch - using left mouse button click + event + +--- + Demos/SimplePeopleTracking.cpp | 18 ++++++++++++++++-- + 1 file changed, 16 insertions(+), 2 deletions(-) + +diff --git a/Demos/SimplePeopleTracking.cpp b/Demos/SimplePeopleTracking.cpp +index 1eb8e16..2ea6240 100644 +--- a/Demos/SimplePeopleTracking.cpp ++++ b/Demos/SimplePeopleTracking.cpp +@@ -37,6 +37,20 @@ int getkey() { + return character; + } + ++void cbmouse (int event, int x, int y, int flags, void *userdata) ++{ ++ if(event == EVENT_LBUTTONDOWN) ++ { ++ cout << "Left mouse button click detected. Exit application!" << endl << flush; ++ exit (0); ++ } ++ if(event == EVENT_RBUTTONDOWN) ++ { ++ cout << "Right mouse button click detected. Exit application!" << endl << flush; ++ exit (0); ++ } ++} ++ + #define TOF_FRAME_TYPE DepthCamera::FRAME_XYZI_POINT_CLOUD_FRAME + + void print_usage(void) +@@ -88,7 +102,7 @@ int main(int argc, char *argv[]) + return -1; + } + eye.start(); +- ++ setMouseCallback ("Draw", cbmouse, NULL); //Set mouse click callback to allow exit with no keyboard attached + while (!done) + { + if(skipped_frames == 0) +@@ -120,7 +134,7 @@ int main(int argc, char *argv[]) + main_thread_image_cnt --; + pthread_mutex_unlock(&main_thread_image_mtx); + } +- waitKey(20); ++ waitKey(10); + } + + err_exit: +-- +1.9.1 + diff --git a/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb new file mode 100644 index 0000000..fe27c16 --- /dev/null +++ b/meta-arago-extras/recipes-apps/voxelsdk/voxelsdk_git.bb @@ -0,0 +1,55 @@ +SUMMARY = "VOXELSDK and 3D scanning application" +HOMEPAGE = "https://github.com/3dtof/voxelsdk"; +SECTION = "multimedia" +LICENSE = "BSD-3-Clause" +LIC_FILES_CHKSUM = "file://LICENSE;md5=e69c599445026ffeae140a21181dfa88" + +PV = "0.6.8" +PR = "r1" +BRANCH = "plsdk-devel" +SRC_URI = "git://github.com/3dtof/voxelsdk.git;branch=${BRANCH}" +SRCREV = "7337ac265a1542f22ccffe592762c226b23b2dbd" + +SRC_URI += " \ + file://0001-PLSDK-AM437x-update.patch;patchdir=${S} \ + file://0002-Fix-SWIG-support.patch;patchdir=${S} \ + file://0003-Add-more-command-line-options-and-move-OpenCV-render.patch;patchdir=${S} \ + file://0004-Platform-specific-op_clk_freq-setting.patch;patchdir=${S} \ + file://0005-Exit-on-window-touch-mouse-even-left-button-click.patch;patchdir=${S} \ + " + +S = "${WORKDIR}/git" + +COMPATIBLE_MACHINE = "ti33x|ti43x|omap-a15" +PACKAGE_ARCH = "${MACHINE_ARCH}" + +export CMAKE_PREFIX_PATH="${WORKDIR}/build" + +OPCLK = "SET_OPCLK" +OPCLK_ti43x = "RESET_OPCLK" +CXXFLAGS_append = " -I${STAGING_INCDIR}/libusb-1.0 -D${OPCLK}" +EXTRA_OECMAKE += "-DDISTROFEATURE=ExcludePCL -DCMAKE_BUILD_TYPE=Debug -DPYTHON_INCLUDE_DIRS=${STAGING_INCDIR}/include/python2.7" + +inherit pkgconfig cmake pythonnative python-dir + +DEPENDS = "libusb1 udev opencv boost python python-dev swig swig-native" + +RDEPENDS_${PN} = "libusb1 udev opencv" + +do_install_append () { + install -d ${D}${bindir} + install -m 0775 ${S}/Test/CameraSystemTest.py ${D}${bindir} + install -m 0775 ${S}/Test/CameraSystemIQFrameTest.py ${D}${bindir} + install -m 0775 ${S}/Test/LensCalibrationTest.py ${D}${bindir} +} + +FILES_${PN} += "${datadir}" +FILES_${PN} += "${sysconfdir}/udev/rules.d/*" +FILES_${PN} += "${libdir}/voxel/*.so.*" +FILES_${PN} += "${libdir}/python2.7/_*.so" +FILES_${PN} += "${libdir}/python2.7/*.py" + +FILES_${PN}-dev += "${libdir}/cmake ${libdir}/cmake/Voxel ${libdir}/cmake/TI3DToF" +FILES_${PN}-dev += "${libdir}/cmake/Voxel/*.cmake" +FILES_${PN}-dev += "${libdir}/cmake/TI3DToF/*.cmake" +FILES_${PN}-dev += "${libdir}/voxel/*.so" -- 1.9.1 _______________________________________________ meta-arago mailing list [email protected] http://arago-project.org/cgi-bin/mailman/listinfo/meta-arago
