Fixes for windows.

.github/workflows/build.yml

@@ -15,20 +15,24 @@ jobs:
 
     strategy:
       matrix:
-        os: [ubuntu-20.04, macos-11.0]
+        include:
+        - os: ubuntu-20.04
+        - os: macos-11.0
+        - os: windows-2019
+          cmake_toolchain_file: "C:/vcpkg/scripts/buildsystems/vcpkg.cmake"
 
     steps:
     - uses: actions/checkout@v2
 
     - name: Install Dependencies
-      run: $GITHUB_WORKSPACE/scripts/install_prerequisites.sh -v -u -m "apt-get brew" all
+      run: $GITHUB_WORKSPACE/scripts/install_prerequisites.sh -v -u -m "apt-get brew vcpkg" all
 
     - name: Create Build Directory
       run: cmake -E make_directory ${{runner.workspace}}/build
 
     - name: Configure CMake
       working-directory: ${{runner.workspace}}/build
-      run: cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE $GITHUB_WORKSPACE
+      run: cmake -DCMAKE_TOOLCHAIN_FILE=${{matrix.cmake_toolchain_file}} -DCMAKE_BUILD_TYPE=$BUILD_TYPE $GITHUB_WORKSPACE
 
     - name: Build
       working-directory: ${{runner.workspace}}/build

.gitignore

@@ -3,3 +3,4 @@ CMakeLists.txt.user
 build*
 _builds
 _logs
+.vscode

cmake/FindRealSense.cmake

@@ -0,0 +1,33 @@
+# -*- mode: cmake; -*-
+###############################################################################
+# Find realsense  https://github.com/IntelRealSense/librealsense
+#
+# This sets the following variables:
+# REALSENSE_FOUND - True if RealSense was found.
+# REALSENSE_INCLUDE_DIRS - Directories containing the RealSense include files.
+# REALSENSE_LIBRARIES - Libraries needed to use RealSense.
+# REALSENSE_DEFINITIONS - Compiler flags for RealSense.
+#
+# File forked from augmented_dev, project of alantrrs
+# (https://github.com/alantrrs/augmented_dev).
+
+find_package(PkgConfig)
+if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+endif()
+
+#add a hint so that it can find it without the pkg-config
+find_path(REALSENSE_INCLUDE_DIR librealsense/rs.h
+    HINTS /usr/include/  /usr/local/include)
+#add a hint so that it can find it without the pkg-config
+find_library(REALSENSE_LIBRARY
+    NAMES realsense
+    HINTS /usr/lib /usr/local/lib )
+
+  set(REALSENSE_INCLUDE_DIRS ${REALSENSE_INCLUDE_DIR})
+  set(REALSENSE_LIBRARIES ${REALSENSE_LIBRARY})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(RealSense DEFAULT_MSG
+  REALSENSE_LIBRARY REALSENSE_INCLUDE_DIR)
+
+mark_as_advanced(REALSENSE_LIBRARY REALSENSE_INCLUDE_DIR)

cmake/FindRealSense2.cmake

@@ -0,0 +1,33 @@
+# -*- mode: cmake; -*-
+###############################################################################
+# Find realsense2  https://github.com/IntelRealSense/librealsense
+#
+# This sets the following variables:
+# REALSENSE2_FOUND - True if REALSENSE2 was found.
+# REALSENSE2_INCLUDE_DIRS - Directories containing the REALSENSE2 include files.
+# REALSENSE2_LIBRARIES - Libraries needed to use REALSENSE2.
+# REALSENSE2_DEFINITIONS - Compiler flags for REALSENSE2.
+#
+# File forked from augmented_dev, project of alantrrs
+# (https://github.com/alantrrs/augmented_dev).
+
+find_package(PkgConfig)
+if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+endif()
+
+#add a hint so that it can find it without the pkg-config
+find_path(REALSENSE2_INCLUDE_DIR librealsense2/rs.h
+    HINTS /usr/include/  /usr/local/include)
+#add a hint so that it can find it without the pkg-config
+find_library(REALSENSE2_LIBRARY
+    NAMES realsense2
+    HINTS /usr/lib /usr/local/lib )
+
+  set(REALSENSE2_INCLUDE_DIRS ${REALSENSE2_INCLUDE_DIR})
+  set(REALSENSE2_LIBRARIES ${REALSENSE2_LIBRARY})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(RealSense2 DEFAULT_MSG
+  REALSENSE2_LIBRARY REALSENSE2_INCLUDE_DIR)
+
+mark_as_advanced(REALSENSE2_LIBRARY REALSENSE2_INCLUDE_DIR)

components/pango_core/include/pangolin/platform.h

@@ -35,13 +35,15 @@
 #ifdef __GNUC__
 #  define PANGOLIN_DEPRECATED(x) __attribute__((deprecated(x)))
 #elif defined(_MSC_VER)
-#  define PANGOLIN_DEPRECATED __declspec(deprecated(x))
+#  define PANGOLIN_DEPRECATED(x) __declspec(deprecated(x))
 #else
-#  define PANGOLIN_DEPRECATED
+#  define PANGOLIN_DEPRECATED(x)
 #endif
 
 #ifdef _MSC_VER
 #   define __thread __declspec(thread)
+//  TODO: Fix this for shared libs on Windows
+#   define PANGOLIN_EXPORT
 #else
 #   define PANGOLIN_EXPORT
 #endif //_MSVC_

components/pango_video/CMakeLists.txt

@@ -89,27 +89,27 @@ if(BUILD_PANGOLIN_FFMPEG)
   endif()
 endif()
 
-option(BUILD_PANGOLIN_LIBREALSENSE "Build support for LibRealSense video input" ON)
-if(BUILD_PANGOLIN_LIBREALSENSE)
-  find_package(LibRealSense QUIET)
-  if(LIBREALSENSE_FOUND)
+option(BUILD_PANGOLIN_REALSENSE "Build support for RealSense video input" ON)
+if(BUILD_PANGOLIN_REALSENSE)
+  find_package(RealSense QUIET)
+  if(REALSENSE_FOUND)
       target_sources( ${COMPONENT} PRIVATE ${DRIVER_DIR}/realsense.cpp)
-      target_link_libraries(${COMPONENT} PRIVATE ${LIBREALSENSE_LIBRARIES} )
-      target_include_directories(${COMPONENT} PRIVATE ${LIBREALSENSE_INCLUDE_DIRS} )
+      target_link_libraries(${COMPONENT} PRIVATE ${REALSENSE_LIBRARIES} )
+      target_include_directories(${COMPONENT} PRIVATE ${REALSENSE_INCLUDE_DIRS} )
       PangolinRegisterFactory( VideoInterface RealSenseVideo )
-      message(STATUS "LibRealSense Found and Enabled")
+      message(STATUS "RealSense Found and Enabled")
   endif()
 endif()
 
-option(BUILD_PANGOLIN_LIBREALSENSE2 "Build support for LibRealSense2 video input" ON)
-if(BUILD_PANGOLIN_LIBREALSENSE2)
-  find_package(LibRealSense2 QUIET)
-  if(LIBREALSENSE2_FOUND)
+option(BUILD_PANGOLIN_REALSENSE2 "Build support for RealSense2 video input" ON)
+if(BUILD_PANGOLIN_REALSENSE2)
+  find_package(RealSense2 QUIET)
+  if(REALSENSE2_FOUND)
       target_sources( ${COMPONENT} PRIVATE ${DRIVER_DIR}/realsense2.cpp)
-      target_link_libraries(${COMPONENT} PRIVATE ${LIBREALSENSE2_LIBRARIES} )
-      target_include_directories(${COMPONENT} PRIVATE ${LIBREALSENSE2_INCLUDE_DIRS} )
+      target_link_libraries(${COMPONENT} PRIVATE ${REALSENSE2_LIBRARIES} )
+      target_include_directories(${COMPONENT} PRIVATE ${REALSENSE2_INCLUDE_DIRS} )
       PangolinRegisterFactory( VideoInterface RealSense2Video )
-      message(STATUS "LibRealSense2 Found and Enabled")
+      message(STATUS "RealSense2 Found and Enabled")
   endif()
 endif()
 
@@ -166,7 +166,7 @@ if (BUILD_PANGOLIN_UVC_MEDIAFOUNDATION)
   if (MediaFoundation_FOUND)
       target_sources( ${COMPONENT} PRIVATE ${DRIVER_DIR}/uvc_mediafoundation.cpp)
       target_link_libraries(${COMPONENT} PRIVATE ${MediaFoundation_LIBRARIES} )
-      PangolinRegisterFactory( VideoInterface UvcMediaFoundation )
+      PangolinRegisterFactory( VideoInterface UvcMediaFoundationVideo )
       message(STATUS "MediaFoundation Found and Enabled")
   endif()
 endif()
@@ -178,7 +178,7 @@ if(BUILD_PANGOLIN_DEPTHSENSE)
       target_sources( ${COMPONENT} PRIVATE ${DRIVER_DIR}/depthsense.cpp)
       target_link_libraries(${COMPONENT} PRIVATE ${DepthSense_LIBRARIES} )
       target_include_directories(${COMPONENT} PRIVATE ${DepthSense_INCLUDE_DIRS} )
-      PangolinRegisterFactory( VideoInterface DepthSense )
+      PangolinRegisterFactory( VideoInterface DepthSenseVideo )
       message(STATUS "DepthSense Found and Enabled")
   endif()
 endif()

components/pango_video/src/drivers/openni.cpp

@@ -271,7 +271,7 @@ PANGOLIN_REGISTER_FACTORY(OpenNiVideo)
     struct OpenNiVideoFactory final : public TypedFactoryInterface<VideoInterface> {
         std::map<std::string,Precedence> Schemes() const override
         {
-            return {{"openni1",10}, {"openni",100}, {"kinect",100}};
+            return {{"openni1",10}, {"openni",100}, {"oni",100}};
         }
         const char* Description() const override
         {

components/pango_video/src/drivers/openni2.cpp

@@ -32,6 +32,11 @@
 #include <OniVersion.h>
 #include <PS1080.h>
 
+// OpenNI must be including a horrid windows header
+// which defines these nasty macros.
+#undef max
+#undef min
+
 namespace pangolin
 {
 
@@ -638,6 +643,27 @@ size_t OpenNi2Video::Seek(size_t frameid)
 PANGOLIN_REGISTER_FACTORY(OpenNi2Video)
 {
     struct OpenNI2VideoFactory final : public TypedFactoryInterface<VideoInterface> {
+        std::map<std::string,Precedence> Schemes() const override
+        {
+            return {{"openni2",10}, {"openni",10}, {"oni",10}};
+        }
+        const char* Description() const override
+        {
+            return "OpenNI v2 Driver to access Kinect / Primesense devices.";
+        }
+        ParamSet Params() const override
+        {
+            return {{
+                {"size","640x480","Image dimension"},
+                {"fps","30","Framerate"},
+                {"roi","0+0+0x0","Region of interest"},
+                {"realtime","","If playback rate should be slowed to real-time speed."},
+                {"img\\d+", "","Device stream for nth image. Choose from [gray,rgb,ir,depth1mm,depth100um,depth_reg,ir8,ir24,ir+,ir8+]"},
+                {"closerange","false","Use close-range mode (lower projector intensity)"},
+                {"holefilter","false","Enable hole filter"},
+                {"fastcrop","false","?"}
+            }};
+        }
         std::unique_ptr<VideoInterface> Open(const Uri& uri) override {
             const bool realtime = uri.Contains("realtime");
             const ImageDim default_dim = uri.Get<ImageDim>("size", ImageDim(640,480));
@@ -681,10 +707,9 @@ PANGOLIN_REGISTER_FACTORY(OpenNi2Video)
         }
     };
 
-    auto factory = std::make_shared<OpenNI2VideoFactory>();
-    FactoryRegistry::I()->RegisterFactory<VideoInterface>(factory, 10, "openni");
-    FactoryRegistry::I()->RegisterFactory<VideoInterface>(factory, 10, "openni2");
-    FactoryRegistry::I()->RegisterFactory<VideoInterface>(factory, 10, "oni");
+    return FactoryRegistry::I()->RegisterFactory<VideoInterface>(
+        std::make_shared<OpenNI2VideoFactory>()
+    );
 }
 
 }

components/pango_video/src/drivers/uvc_mediafoundation.cpp

@@ -1047,7 +1047,7 @@ bool UvcMediaFoundationVideo::SymLinkIDMatches(const std::wstring& symLink, cons
 
 PANGOLIN_REGISTER_FACTORY(UvcMediaFoundationVideo)
 {
-    struct UvcVideoFactory final : public TypedFactoryInterface<VideoInterface>
+    struct UvcMediaFoundationVideoFactory final : public TypedFactoryInterface<VideoInterface>
     {
         std::map<std::string,Precedence> Schemes() const override
         {
@@ -1085,7 +1085,7 @@ PANGOLIN_REGISTER_FACTORY(UvcMediaFoundationVideo)
         }
     };
 
-    return FactoryRegistry::I()->RegisterFactory<VideoInterface>(std::make_shared<UvcVideoFactory>());
+    return FactoryRegistry::I()->RegisterFactory<VideoInterface>(std::make_shared<UvcMediaFoundationVideoFactory>());
 }
 }
 

components/pango_windowing/include/pangolin/windowing/WinWindow.h

@@ -27,48 +27,45 @@
 
 #pragma once
 
-#include <pangolin/platform.h>
-#include <pangolin/display/display_internal.h>
-
 #include <string>
-
+#include <pangolin/platform.h>
+#include <pangolin/windowing/window.h>
 #include <windowsx.h>
 
 namespace pangolin
 {
 
-struct WinWindow : public PangolinGl
+struct WinWindow : public WindowInterface
 {
     WinWindow(
         const std::string& title, int width, int height
     );
 
     ~WinWindow();
 
-    void StartFullScreen();
-
-    void StopFullScreen();
-
-    void ToggleFullscreen() override;
-
     void Move(int x, int y) override;
 
     void Resize(unsigned int w, unsigned int h) override;
 
+    void ShowFullscreen(const TrueFalseToggle on_off) override;
+
     void MakeCurrent() override;
 
     void RemoveCurrent() override;
 
-    void SwapBuffers() override;
-
     void ProcessEvents() override;
 
+    void SwapBuffers() override;
+
     HGLRC GetGLRenderContext()
     {
         return hGLRC;
     }
 
 private:
+    void StartFullScreen();
+    void StopFullScreen();
+
     static LRESULT APIENTRY WndProc(HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam);
 
     LRESULT HandleWinMessages(UINT message, WPARAM wParam, LPARAM lParam);
@@ -84,6 +81,9 @@ struct WinWindow : public PangolinGl
     HDC hDC;
     HGLRC hGLRC;
     HPALETTE hPalette;
+    bool bIsFullscreen;
+    RECT cWindowedRect;
+    float afLastMousePos[2];
 };
 
 }