Add OpennNI 2 driver

Makefile

@@ -1,18 +1,92 @@
-CXX = nvcc
-CC = nvcc
-CPPFLAGS=-I../include -I../include/libfreenect -I/usr/loca/cuda/include -I/opt/local/include -DLIBFREENECT_INTERFACE
-CXXFLAGS=-g -m64 -O3 -use_fast_math
-## -ptx -src-in-ptx
-LDFLAGS=-g -m64 -L../lib -lfreenect -Xlinker -framework,OpenGL,-framework,GLUT
+# When editing this Makefile, please make sure all variables apart from
+# the KF_* and ALL_* variables stay overridable from outside.
+# KF_* variables *may* be set from outside (like KF_DRIVER).
 
-%.o: %.cu
-	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -c $^
+CC ?= gcc
+CXX ?= g++
+NVCC ?= nvcc
 
+# Can be either 'libfreenect' or 'openni2'.
+# If not given, it's 'libfreenect' by default.
+KF_DRIVER ?= libfreenect
+
+# You can set the following path variables for this Makefile:
+#   CUDA_INCLUDE_PATH
+#   OPENNI2_INCLUDE_PATH
+#   LIBFREENECT_INCLUDE_PATH
+
+
+# Default flags
+KF_CPPFLAGS = -Ithirdparty
+KF_CXXFLAGS = -g -m64 -O3
+KF_NVCCFLAGS = -g -m64 -O3 -use_fast_math
+KF_LDFLAGS = -g -m64 -lpthread -Xlinker -lcudart
+
+ifdef CUDA_INCLUDE_PATH
+  KF_CPPFLAGS += -I$(CUDA_INCLUDE_PATH)
+endif
+
+# Driver dependent flags
+
+# For using libfreenect
+ifeq ($(KF_DRIVER),libfreenect)
+  KF_CPPFLAGS += -DLIBFREENECT_INTERFACE
+  ifdef LIBFREENECT_INCLUDE_PATH
+    KF_CPPFLAGS += -I$(LIBFREENECT_INCLUDE_PATH)
+  endif
+  KF_LDFLAGS += -lfreenect
+# For using OpenNI2
+else ifeq ($(KF_DRIVER),openni2)
+  KF_CPPFLAGS += -DOPENNI2_INTERFACE
+  ifdef OPENNI2_INCLUDE_PATH
+    KF_CPPFLAGS += -I$(OPENNI2_INCLUDE_PATH)
+  endif
+  KF_LDFLAGS += -lOpenNI2
+else
+  $(error KF_DRIVER is not set to a possible driver)
+endif
+
+# OS dependent flags
+
+KF_OS := $(shell uname)
+ifeq ($(KF_OS),Darwin)
+  KF_LDFLAGS += -framework,OpenGL,-framework,GLUT
+else
+  KF_LDFLAGS += -lGL -lglut
+endif
+
+
+# Concatenate our and user flags
+ALL_CPPFLAGS := $(KF_CPPFLAGS) $(CPPFLAGS)
+ALL_CXXFLAGS := $(KF_CXXFLAGS) $(CXXFLAGS)
+ALL_NVCCFLAGS := $(KF_NVCCFLAGS) $(NVCCFLAGS)
+ALL_LDFLAGS := $(KF_LDFLAGS) $(LDFLAGS)
+
+
+# Default target
+.PHONY: all
 all: kinect test
 
-test: kfusion.o helpers.o test.o
 
-kinect: kfusion.o helpers.o kinect.o interface.o
+# .cpp files
+%.o: %.cpp
+	$(CXX) $(ALL_CXXFLAGS) $(ALL_CPPFLAGS) -c -o $@ $<
+
+# .cu files
+%.cu_o: %.cu
+	$(NVCC) $(ALL_NVCCFLAGS) $(ALL_CPPFLAGS) -c -o $@ $<
+
+
+# Executables
+
+kinect: kinect.cpp kfusion.cu_o helpers.cu_o interface.o
+	$(CXX) $(ALL_CPPFLAGS) $(ALL_CXXFLAGS) $^ -o $@ $(ALL_LDFLAGS)
+
+test: test.cpp kfusion.cu_o helpers.cu_o
+	$(CXX) $(ALL_CPPFLAGS) $(ALL_CXXFLAGS) $^ -o $@ $(ALL_LDFLAGS)
+
 
+# Cleanup
+.PHONY: clean
 clean:
-	rm *.o test kinect
+	rm -f *.cu_o *.o test kinect

README.md

@@ -16,6 +16,9 @@ KFusion is mainly written in CUDA with some interface code to display graphics o
 Requirements
 ------------
 
+You need a depth camera: Either a Microsoft Kinect or any camera supported
+by OpenNI 2 (such as the Asus Xtion Pro Live).
+
 KFusion depends on the following libraries:
 
 * http://www.edwardrosten.com/cvd/toon.html
@@ -25,9 +28,10 @@ On Windows use the MS Kinect SDK:
 
 * http://www.microsoft.com/en-us/kinectforwindows/develop/overview.aspx
 
-while on other platforms use libfreenect:
+while on other platforms use either:
 
-* http://openkinect.org/
+* libfreenect: http://openkinect.org or
+* OpenNI: https://github.com/OpenNI/OpenNI2
 
 and of course the CUDA 5 SDK by NVidia