work in progress

CMakeLists.txt

@@ -1,30 +1,33 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(openni_tracker)
+project(openni2_tracker)
 find_package(catkin REQUIRED COMPONENTS geometry_msgs
 					orocos_kdl
 					roscpp
 					roslib
 					tf)
-# Find OpenNI
+# Find OpenNI2
 find_package(PkgConfig)
-pkg_check_modules(OpenNI REQUIRED libopenni)
+pkg_check_modules(OpenNI2 REQUIRED libopenni2)
 
-# Find Nite
-find_path(Nite_INCLUDEDIR
-	  NAMES XnVNite.h
-	  HINTS /usr/include/nite /usr/local/include/nite)
-find_library(Nite_LIBRARY
-	     NAMES XnVNite_1_3_1
-	     HINTS /usr/lib /usr/local/lib
+message(status $ENV{NITE2_INCLUDE})
+message(status $ENV{NITE2_REDIST64})
+
+# Find Nite2
+find_path(Nite2_INCLUDEDIR
+	  NAMES NiTE.h
+	  HINTS $ENV{NITE2_INCLUDE})
+find_library(Nite2_LIBRARY
+	     NAMES NiTE2
+	     HINTS $ENV{NITE2_REDIST64}
 	     PATH_SUFFIXES lib) 
 
 catkin_package()
 
 include_directories(${catkin_INCLUDEDIR}
-		    ${OpenNI_INCLUDEDIR}
-		    ${Nite_INCLUDEDIR})
-add_executable(openni_tracker src/openni_tracker.cpp)
-target_link_libraries(openni_tracker ${catkin_LIBRARIES} ${OpenNI_LIBRARIES} ${Nite_LIBRARY})
+		    ${OpenNI2_INCLUDEDIR}
+		    ${Nite2_INCLUDEDIR})
+add_executable(openni2_tracker src/openni2_tracker.cpp)
+target_link_libraries(openni2_tracker ${catkin_LIBRARIES} ${OpenNI2_LIBRARIES} ${Nite2_LIBRARY})
 
-install(TARGETS openni_tracker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-install(FILES openni_tracker.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(TARGETS openni2_tracker RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(FILES openni2_tracker.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

package.xml

@@ -1,28 +1,30 @@
 <?xml version="1.0"?>
 <package>
-  <name>openni_tracker</name>
-  <version>0.2.0</version>
-  <description>The OpenNI tracker broadcasts the OpenNI skeleton frames using tf.</description>
+  <name>openni2_tracker</name>
+  <version>0.1.0</version>
+  <description>
+    The openni_tracker broadcasts the OpenNI skeleton frames using tf.
+    This new version of the openni_tracker uses OpenNI2 and Nite2</description>
   <maintainer email="[email protected]">Marcus Liebhardt</maintainer>
   <license>BSD</license>
   <url type="website">http://www.ros.org/wiki/openni_tracker</url>  
-  <author email="tim.field@unknown.com">Tim Field</author>
+  <author email="marcus.liebhardt@yujinrobot.com">Marcus Liebhardt</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>libopenni-dev</build_depend>
+  <build_depend>libopenni2-dev</build_depend>
   <build_depend>libusb-1.0-dev</build_depend>
-  <build_depend>libopenni-nite-dev</build_depend>
-  <build_depend>libopenni-sensor-primesense-dev</build_depend>
+<!--  <build_depend>libopenni-nite-dev</build_depend> -->
+  <build_depend>libopenni-sensor-primesense-dev</build_depend> -->
   <build_depend>geometry_msgs</build_depend>
   <build_depend>orocos_kdl</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>roslib</build_depend>
   <build_depend>tf</build_depend>
 
-  <run_depend>libopenni-dev</run_depend>
+  <run_depend>libopenni2-dev</run_depend>
   <run_depend>libusb-1.0-dev</run_depend>
-  <run_depend>libopenni-nite-dev</run_depend>
+<!--  <run_depend>libopenni-nite-dev</run_depend> -->
   <run_depend>libopenni-sensor-primesense-dev</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>orocos_kdl</run_depend>

src/openni_tracker.cpp → src/openni2_tracker.cpp

@@ -5,14 +5,14 @@
 #include <tf/transform_broadcaster.h>
 #include <kdl/frames.hpp>
 
-#include <XnOpenNI.h>
-#include <XnCodecIDs.h>
-#include <XnCppWrapper.h>
+#include <OpenNI.h>
+//#include <XnCodecIDs.h>
+//#include <XnCppWrapper.h>
 
 using std::string;
 
-xn::Context        g_Context;
-xn::DepthGenerator g_DepthGenerator;
+//xn::Context        g_Context;
+openni::DepthGenerator g_DepthGenerator;
 xn::UserGenerator  g_UserGenerator;
 
 XnBool g_bNeedPose   = FALSE;