Use-kinect-mssdk-openni-pcl-bridge-module-in-PCL.patch

From c4ab85f7300c9f6935d2eae4339ba033f4781e58 Mon Sep 17 00:00:00 2001
From: Michael Dingerkus <mdkus@web.de>
Date: Sun, 28 Apr 2013 18:15:20 +0200
Subject: [PATCH] Patch for the use of the kinect-mssdk-openni-pcl-bridge
 module

---
 CMakeLists.txt                                     |  41 ++++++
 cmake/Modules/FindK4WSDK-OpenNI-PCL-Bridge.cmake   |  74 +++++++++++
 cmake/Modules/FindK4WSDK.cmake                     |  61 +++++++++
 io/CMakeLists.txt                                  |  37 ++++++
 io/include/pcl/io/openni_camera/openni_device.h    |  19 ++-
 .../pcl/io/openni_camera/openni_device_kinect4w.h  |  99 ++++++++++++++
 io/include/pcl/io/openni_grabber.h                 |  41 ++++--
 io/src/openni_camera/openni_device.cpp             | 108 ++++++++++++++++
 io/src/openni_camera/openni_device_kinect4w.cpp    | 142 +++++++++++++++++++++
 io/src/openni_camera/openni_driver.cpp             |  43 ++++++-
 io/src/openni_grabber.cpp                          |  19 +++
 11 files changed, 666 insertions(+), 18 deletions(-)
 create mode 100644 cmake/Modules/FindK4WSDK-OpenNI-PCL-Bridge.cmake
 create mode 100644 cmake/Modules/FindK4WSDK.cmake
 create mode 100644 io/include/pcl/io/openni_camera/openni_device_kinect4w.h
 create mode 100644 io/src/openni_camera/openni_device_kinect4w.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index b6a5377..dc481bf 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,3 +1,35 @@
+### 
+# Copyright (c) 2011, Willow Garage, Inc.
+# Copyright (c) 2012-, Open Perception, Inc.
+# Copyright (c) 2013 Michael Dingerkus <mdkus@web.de> 
+#
+# All rights reserved.                                                                                 
+#  
+# Redistribution and use, with or without modification, are permitted provided 
+# that the following conditions are met:
+#   * Redistributions of this file must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions of this file must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of the copyright holder(s) nor the names of their
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.                                                                                        
+#                                                                                                                                                                                                                  
+# Parts of this source file are intended to encourage the use of Kinect for Windows and
+# OpenNI with PCL, but never intended to give any losses or damages to Microsoft,
+# PrimeSense, or any other providers of the related software and devices.
+# When this software is used, the license terms of Kinect for Windows,
+# Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+# combined with this software must also be complied, and the copyright holder(s) and their 
+# contributors shall not be liable for any consequences caused by failing to do so.      
+#
+# Additional Notice:
+# The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+# the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+# Nevertheless you can use this file in your PCL clone for your own purposes under the 
+# conditions mentioned above.
+
 ### ---[ PCL global CMake
 cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
 
@@ -241,6 +273,15 @@ if (OPENNI_FOUND)
   include_directories(SYSTEM ${OPENNI_INCLUDE_DIRS})
 endif()
 
+if(WIN32)
+  # Kinect-for-Windows SDK
+  find_package(K4WSDK)
+
+  # Kinect-for-Windows-SDK-OpenNI-PCL-Bridge
+  find_package(K4WSDK-OpenNI-PCL-Bridge)
+endif(WIN32)
+
+
 # Fotonic (FZ_API)
 find_package(FZAPI)
 if (FZAPI_FOUND)
diff --git a/cmake/Modules/FindK4WSDK-OpenNI-PCL-Bridge.cmake b/cmake/Modules/FindK4WSDK-OpenNI-PCL-Bridge.cmake
new file mode 100644
index 0000000..cdfa252
--- /dev/null
+++ b/cmake/Modules/FindK4WSDK-OpenNI-PCL-Bridge.cmake
@@ -0,0 +1,74 @@
+# Copyright (c) 2013 Michael Dingerkus <mdkus@web.de>  
+#
+# Redistribution and use, with or without modification, are permitted provided 
+# that the following conditions are met:
+#   * Redistributions of this file must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions of this file must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of Michael Dingerkus nor the names of his
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.                                                                                        
+#                                                                                                                                                
+# This source file is intended to encourage the use of Kinect for Windows and
+# OpenNI with PCL, but never intended to give any losses or damages to Microsoft,
+# PrimeSense, or any other providers of the related software and devices.
+# When this software is used, the license terms of Kinect for Windows,
+# Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+# combined with this software must also be complied, and Michael Dingerkus and his 
+# contributors shall not be liable for any consequences caused by failing to do so.                                                                     
+# 
+# Additional Notice:
+# The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+# the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+# Nevertheless you can use this file in your PCL clone for your own purposes under the 
+# conditions mentioned above.
+#
+# - try to find Kinect-for-Windows-SDK-OpenNI-PCL-Bridge for PCL
+#
+# This sets the following variables:
+# K4W_SDK_OPENNI_PCL_BRIDGE_FOUND - True if Kinect-for-Windows-SDK-OpenNI-PCL-Bridge was found.
+
+# Win32?
+if (NOT WIN32)
+  message(STATUS "Kinect-for-Windows-SDK-OpenNI-PCL-Bridge requires Microsoft Windows.")    
+  return () 
+endif ()
+
+# OpenNI?
+if (NOT OPENNI_FOUND)
+  message (STATUS "Kinect-for-Windows-SDK-OpenNI-PCL-Bridge disabled because OpenNI not found.") 
+  return ()    
+endif ()
+
+# Kinect-for-Windows-SDK?
+if (NOT K4WSDK_FOUND)
+  message (STATUS "Kinect-for-Windows-SDK-OpenNI-PCL-Bridge disabled because K4WSDK not found.") 
+  return ()    
+endif ()
+
+set (ACT_MODULE kinect-mssdk-openni-pcl-bridge-V10Debug.dll)
+
+unset (K4WSDK_OPENNI_PCL_BRIDGE_MODULE CACHE)
+
+find_file (K4WSDK_OPENNI_PCL_BRIDGE_MODULE 
+           kinect-mssdk-openni-pcl-bridge-V10Debug.dll
+           PATHS ${PCL_BINARY_DIR}/3rdparty/kinect-mssdk-openni-pcl-bridge
+           PATH_SUFFIXES bin)
+
+if (NOT K4WSDK_OPENNI_PCL_BRIDGE_MODULE)  
+  set (ACT_MODULE kinect-mssdk-openni-pcl-bridge-V10Release.dll)
+  find_file (K4WSDK_OPENNI_PCL_BRIDGE_MODULE 
+             ${ACT_MODULE}
+             PATHS ${PCL_BINARY_DIR}/3rdparty/kinect-mssdk-openni-pcl-bridge			       
+             PATH_SUFFIXES bin)
+endif ()
+
+mark_as_advanced (K4WSDK_OPENNI_PCL_BRIDGE_MODULE)
+
+if (K4WSDK_OPENNI_PCL_BRIDGE_MODULE)
+  message (STATUS "Kinect-for-Windows-SDK-OpenNI-PCL-Bridge found (module: ${K4WSDK_OPENNI_PCL_BRIDGE_MODULE})")
+else (K4WSDK_OPENNI_PCL_BRIDGE_MODULE)
+  message (STATUS "Could NOT find K4WSDK_OPENNI_PCL_BRIDGE_MODULE (missing: ${ACT_MODULE})")
+endif (K4WSDK_OPENNI_PCL_BRIDGE_MODULE)
diff --git a/cmake/Modules/FindK4WSDK.cmake b/cmake/Modules/FindK4WSDK.cmake
new file mode 100644
index 0000000..1191e78
--- /dev/null
+++ b/cmake/Modules/FindK4WSDK.cmake
@@ -0,0 +1,61 @@
+###
+# Copyright (c) 2013 Michael Dingerkus <mdkus@web.de>   
+#                                                                                       
+# All rights reserved. 
+# 
+# Redistribution and use, with or without modification, are permitted provided 
+# that the following conditions are met:
+#   * Redistributions of this file must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions of this file must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of the copyright holder(s) nor the names of their
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.                                                                                        
+#                                                                                                                                                
+# This source file is intended to encourage the use of Kinect for Windows and
+# OpenNI with PCL, but never intended to give any losses or damages to Microsoft,
+# PrimeSense, or any other providers of the related software and devices.
+# When this software is used, the license terms of Kinect for Windows,
+# Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+# combined with this software must also be complied, and the copyright holder(s) and their 
+# contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+# 
+# Additional Notice:
+# The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+# the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+# Nevertheless you can use this file in your PCL clone for your own purposes under the 
+# conditions mentioned above.
+#
+# - try to find Kinect SDK for Kinect for Windows
+#
+# This sets the following variables:
+# K4W_SDK_FOUND - True if Kinect-for-Windows-SDK was found.
+# K4W_SDK_INCLUDE_DIRS - Directories containing the K4WSDK include files.
+# K4W_SDK_LIBRARY - Libraries needed to use K4WSDK.
+
+# Win32?
+if (NOT WIN32)
+  message(STATUS "Kinect-for-Windows-SDK requires Microsoft Windows.")    
+  return() 
+endif()
+
+find_path (K4WSDK_INCLUDE_DIR NuiApi.h
+           PATHS "$ENV{KINECTSDK10_DIR}/inc"
+           PATH_SUFFIXES inc
+           NO_DEFAULT_PATH)
+
+find_library (K4WSDK_LIBRARY 
+              Kinect10
+              PATHS "$ENV{KINECTSDK10_DIR}/lib"
+              PATH_SUFFIXES x86)
+
+mark_as_advanced (K4WSDK_LIBRARY K4WSDK_INCLUDE_DIR)
+
+if (K4WSDK_INCLUDE_DIR AND K4WSDK_LIBRARY)
+  set (K4WSDK_FOUND TRUE)  
+  set (K4WSDK_INCLUDE_DIRS ${K4WSDK_INCLUDE_DIR})  
+  message (STATUS "Kinect-for-Windows-SDK found (include: ${K4WSDK_INCLUDE_DIRS}, lib: ${K4WSDK_LIBRARY})")
+endif (K4WSDK_INCLUDE_DIR AND K4WSDK_LIBRARY)
+
diff --git a/io/CMakeLists.txt b/io/CMakeLists.txt
index 937bd84..dd0dfe4 100644
--- a/io/CMakeLists.txt
+++ b/io/CMakeLists.txt
@@ -1,3 +1,35 @@
+### 
+# Copyright (c) 2011, Willow Garage, Inc.
+# Copyright (c) 2012-, Open Perception, Inc.
+# Copyright (c) 2013 Michael Dingerkus <mdkus@web.de> 
+#
+# All rights reserved.                                                                                 
+#  
+# Redistribution and use, with or without modification, are permitted provided 
+# that the following conditions are met:
+#   * Redistributions of this file must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions of this file must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#   * Neither the name of the copyright holder(s) nor the names of their
+#     contributors may be used to endorse or promote products derived from
+#     this software without specific prior written permission.                                                                                        
+#                                                                                                                                                                                                                  
+# Parts of this source file are intended to encourage the use of Kinect for Windows and
+# OpenNI with PCL, but never intended to give any losses or damages to Microsoft,
+# PrimeSense, or any other providers of the related software and devices.
+# When this software is used, the license terms of Kinect for Windows,
+# Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+# combined with this software must also be complied, and the copyright holder(s) and their 
+# contributors shall not be liable for any consequences caused by failing to do so.      
+#
+# Additional Notice:
+# The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+# the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+# Nevertheless you can use this file in your PCL clone for your own purposes under the 
+# conditions mentioned above.
+
 set(SUBSYS_NAME io)
 set(SUBSYS_DESC "Point cloud IO library")
 set(SUBSYS_DEPS common octree)
@@ -57,6 +89,11 @@ if(build)
             src/openni_grabber.cpp
             src/oni_grabber.cpp
             )
+		if(K4WSDK_OPENNI_PCL_BRIDGE_MODULE AND WIN32)
+			set(OPENNI_INCLUDES ${OPENNI_INCLUDES} include/pcl/io/openni_camera/openni_device_kinect4w.h)
+            set(OPENNI_GRABBER_SOURCES ${OPENNI_GRABBER_SOURCES} src/openni_camera/openni_device_kinect4w.cpp)
+            add_definitions("-DHAVE_K4WSDK")
+		endif(K4WSDK_OPENNI_PCL_BRIDGE_MODULE AND WIN32)
     endif(OPENNI_FOUND)
 
     if(FZAPI_FOUND)
diff --git a/io/include/pcl/io/openni_camera/openni_device.h b/io/include/pcl/io/openni_camera/openni_device.h
index 6821e95..ba27deb 100644
--- a/io/include/pcl/io/openni_camera/openni_device.h
+++ b/io/include/pcl/io/openni_camera/openni_device.h
@@ -3,6 +3,7 @@
  *
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2009-2011, Willow Garage, Inc.
+ *  Copyright (c) 2013, Michael Dingerkus <mdkus@web.de>
  *
  *  All rights reserved.
  *
@@ -33,6 +34,19 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
+ *  This source file contains links to encourage the use of Kinect for Windows and
+ *  OpenNI with PCL, but is never intended to give any losses or damages to Microsoft,
+ *  PrimeSense, or any other providers of the related software and devices.
+ *  When this software is used, the license terms of Kinect for Windows,
+ *  Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ *  combined with this software must also be complied, and the copyright holder(s) and their 
+ *  contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ *  Additional Notice:
+ *  The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ *  the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ *  Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ *  conditions mentioned above.
  */
 
 #include <pcl/pcl_config.h>
@@ -62,7 +76,7 @@ namespace openni_wrapper
   class DepthImage;
   class IRImage;
 
-  /** \brief Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect, Asus Xtion Pro/Live.
+  /** \brief Class representing an astract device for OpenNI devices: Primesense PSDK, Microsoft Kinect for XBox, Microsoft Kinect for Windows, Asus Xtion Pro/Live.
     * \author Suat Gedikli
     * \ingroup io
     */
@@ -444,6 +458,9 @@ namespace openni_wrapper
 
       OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& image_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
       OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& ir_node);
+#ifdef HAVE_K4WSDK
+	  OpenNIDevice (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& image_or_ir_node, const XnPredefinedProductionNodeType& node_type);
+#endif
       OpenNIDevice (xn::Context& context);
       static void __stdcall NewDepthDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
       static void __stdcall NewImageDataAvailable (xn::ProductionNode& node, void* cookie) throw ();
diff --git a/io/include/pcl/io/openni_camera/openni_device_kinect4w.h b/io/include/pcl/io/openni_camera/openni_device_kinect4w.h
new file mode 100644
index 0000000..64d8289
--- /dev/null
+++ b/io/include/pcl/io/openni_camera/openni_device_kinect4w.h
@@ -0,0 +1,99 @@
+/* 
+ * Copyright (c) 2013 Michael Dingerkus <mdkus@web.de> 
+ * 
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, 
+ * are permitted provided that the following conditions are met:
+ *   * Redistributions of of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.                                                                                      
+ *       
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * This source file is intended to encourage the use of Kinect for Windows and
+ * OpenNI with PCL, but never intended to give any losses or damages to Microsoft,
+ * PrimeSense, or any other providers of the related software and devices.
+ * When this software is used, the license terms of Kinect for Windows,
+ * Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ * combined with this software must also be complied, and the copyright holder(s) and their 
+ * contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ * Additional Notice:
+ * The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ * the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ * Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ * conditions mentioned above.
+ * 
+ * @author: Michael Dingerkus <mdkus@web.de>
+*/
+
+#include <pcl/pcl_config.h>
+#ifdef HAVE_OPENNI
+
+#ifndef __OPENNI_DEVICE_KINECT4W__
+#define __OPENNI_DEVICE_KINECT4W__
+
+#include "openni_device.h"
+#include "openni_driver.h"
+#include "openni_image_bayer_grbg.h"
+
+namespace openni_wrapper
+{
+
+  /**
+   * @brief Concrete implementation of the interface OpenNIDevice for a Microsoft Kinect for Windows device.
+   * @author Michael Dingerkus
+   * @date 16.february 2013
+   * @ingroup io
+   */
+  class DeviceKinect4W : public OpenNIDevice
+  {
+    friend class OpenNIDriver;
+  public:
+    DeviceKinect4W (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& image_or_ir_node, const XnPredefinedProductionNodeType& node_type);
+    virtual ~DeviceKinect4W () throw ();
+
+    inline void setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ();
+    inline const ImageBayerGRBG::DebayeringMethod& getDebayeringMethod () const throw ();
+
+	virtual bool isSynchronizationSupported () const throw ();
+
+  protected:
+    virtual boost::shared_ptr<Image> getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_meta_data) const throw ();
+    void enumAvailableModes () throw ();
+    virtual bool isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ();
+    ImageBayerGRBG::DebayeringMethod debayering_method_;
+  } ;
+
+  void
+  DeviceKinect4W::setDebayeringMethod (const ImageBayerGRBG::DebayeringMethod& debayering_method) throw ()
+  {
+    debayering_method_ = debayering_method;
+  }
+
+  const ImageBayerGRBG::DebayeringMethod&
+  DeviceKinect4W::getDebayeringMethod () const throw ()
+  {
+    return debayering_method_;
+  }  
+} // namespace
+
+#endif
+#endif // __OPENNI_DEVICE_KINECT4W__
diff --git a/io/include/pcl/io/openni_grabber.h b/io/include/pcl/io/openni_grabber.h
index 9cff487..14f81cc 100644
--- a/io/include/pcl/io/openni_grabber.h
+++ b/io/include/pcl/io/openni_grabber.h
@@ -4,6 +4,7 @@
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2009-2011, Willow Garage, Inc.
  *  Copyright (c) 2012-, Open Perception, Inc.
+ *  Copyright (c) 2013, Michael Dingerkus <mdkus@web.de>
  *
  *  All rights reserved.
  *
@@ -34,8 +35,21 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
+ *  This source file contains parts to encourage the use of Kinect for Windows and
+ *  OpenNI with PCL, but is never intended to give any losses or damages to Microsoft,
+ *  PrimeSense, or any other providers of the related software and devices.
+ *  When this software is used, the license terms of Kinect for Windows,
+ *  Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ *  combined with this software must also be complied, and the copyright holder(s) and their 
+ *  contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ *  Additional Notice:
+ *  The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ *  the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ *  Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ *  conditions mentioned above.
  */
-
+ 
 #include <pcl/pcl_config.h>
 #ifdef HAVE_OPENNI
 
@@ -47,6 +61,9 @@
 #include <pcl/io/grabber.h>
 #include <pcl/io/openni_camera/openni_driver.h>
 #include <pcl/io/openni_camera/openni_device_kinect.h>
+#ifdef HAVE_K4WSDK
+#include <pcl/io/openni_camera/openni_device_kinect4W.h>
+#endif
 #include <pcl/io/openni_camera/openni_image.h>
 #include <pcl/io/openni_camera/openni_depth_image.h>
 #include <pcl/io/openni_camera/openni_ir_image.h>
@@ -74,16 +91,18 @@ namespace pcl
 
       typedef enum
       {
-        OpenNI_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect) its VGA@30Hz
-        OpenNI_SXGA_15Hz = 1,    // Only supported by the Kinect
-        OpenNI_VGA_30Hz = 2,     // Supported by PSDK, Xtion and Kinect
-        OpenNI_VGA_25Hz = 3,     // Supportged by PSDK and Xtion
-        OpenNI_QVGA_25Hz = 4,    // Supported by PSDK and Xtion
-        OpenNI_QVGA_30Hz = 5,    // Supported by PSDK, Xtion and Kinect
-        OpenNI_QVGA_60Hz = 6,    // Supported by PSDK and Xtion
-        OpenNI_QQVGA_25Hz = 7,   // Not supported -> using software downsampling (only for integer scale factor and only NN)
-        OpenNI_QQVGA_30Hz = 8,   // Not supported -> using software downsampling (only for integer scale factor and only NN)
-        OpenNI_QQVGA_60Hz = 9    // Not supported -> using software downsampling (only for integer scale factor and only NN)
+        OpenNI_Default_Mode = 0, // This can depend on the device. For now all devices (PSDK, Xtion, Kinect, Kinect4WSDK) its VGA@30Hz
+        OpenNI_SXGA_12Hz = 1,    // Only supported by the Kinect4WSDK
+		OpenNI_VGA_15Hz = 2,     // Only supported by the Kinect4WSDK
+		OpenNI_SXGA_15Hz = 3,    // Only supported by the Kinect
+        OpenNI_VGA_30Hz = 4,     // Supported by PSDK, Xtion, Kinect and Kinect4WSDK
+        OpenNI_VGA_25Hz = 5,     // Supportged by PSDK and Xtion
+        OpenNI_QVGA_25Hz = 6,    // Supported by PSDK and Xtion
+        OpenNI_QVGA_30Hz = 7,    // Supported by PSDK, Xtion, Kinect and Kinect4WSDK
+        OpenNI_QVGA_60Hz = 8,    // Supported by PSDK and Xtion
+        OpenNI_QQVGA_25Hz = 9,   // Not supported -> using software downsampling (only for integer scale factor and only NN)
+        OpenNI_QQVGA_30Hz = 10,  // Not supported -> using software downsampling (only for integer scale factor and only NN)
+        OpenNI_QQVGA_60Hz = 11   // Not supported -> using software downsampling (only for integer scale factor and only NN)
       } Mode;
 
       //define callback signature typedefs
diff --git a/io/src/openni_camera/openni_device.cpp b/io/src/openni_camera/openni_device.cpp
index 38014b3..62504220 100644
--- a/io/src/openni_camera/openni_device.cpp
+++ b/io/src/openni_camera/openni_device.cpp
@@ -4,6 +4,7 @@
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2011, Willow Garage, Inc.
  *  Copyright (c) 2012-, Open Perception, Inc.
+ *  Copyright (c) 2013, Michael Dingerkus <mdkus@web.de>
  *
  *  All rights reserved.
  *
@@ -34,6 +35,19 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
+ *  This source file contains parts to encourage the use of Kinect for Windows and
+ *  OpenNI with PCL, but is never intended to give any losses or damages to Microsoft,
+ *  PrimeSense, or any other providers of the related software and devices.
+ *  When this software is used, the license terms of Kinect for Windows,
+ *  Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ *  combined with this software must also be complied, and the copyright holder(s) and their 
+ *  contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ *  Additional Notice:
+ *  The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ *  the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ *  Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ *  conditions mentioned above.
  */
 #include <pcl/pcl_config.h>
 #ifdef HAVE_OPENNI
@@ -272,6 +286,100 @@ openni_wrapper::OpenNIDevice::OpenNIDevice (xn::Context& context, const xn::Node
   InitShiftToDepthConversion();
 }
 
+#ifdef HAVE_K4WSDK
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+openni_wrapper::OpenNIDevice::OpenNIDevice (
+    xn::Context& context, 
+    const xn::NodeInfo& device_node, 
+    const xn::NodeInfo& depth_node, 
+    const xn::NodeInfo& image_or_ir_node,
+	const XnPredefinedProductionNodeType& node_type
+  )
+  : image_callback_ (),
+    depth_callback_ (),
+    ir_callback_ (),
+    available_image_modes_ (),
+    available_depth_modes_ (),
+    context_ (context),
+    device_node_info_ (device_node),
+    depth_generator_ (),
+    image_generator_ (),
+    ir_generator_ (),
+    depth_callback_handle_ (),
+    image_callback_handle_ (),
+    ir_callback_handle_ (),
+    depth_focal_length_SXGA_ (),
+    baseline_ (),
+    // This magic value is taken from a calibration routine.
+    rgb_focal_length_SXGA_ (1050),
+    shadow_value_ (),
+    no_sample_value_ (),
+    image_callback_handle_counter_ (),
+    depth_callback_handle_counter_ (),
+    ir_callback_handle_counter_ (),
+    quit_ (),
+    image_mutex_ (), depth_mutex_ (), ir_mutex_ (),
+    image_condition_ (), depth_condition_ (), ir_condition_ (), 
+    image_thread_ (), depth_thread_ (), ir_thread_ ()
+{
+  if (node_type != XN_NODE_TYPE_IMAGE && node_type != XN_NODE_TYPE_IR)
+    THROW_OPENNI_EXCEPTION ("wrong node type: only image or IR node type allowed.");
+#if (XN_MINOR_VERSION >= 3)
+// create the production nodes
+  XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node), depth_generator_);
+  if (status != XN_STATUS_OK)
+    THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
+
+  if (node_type == XN_NODE_TYPE_IMAGE)
+  {
+    status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_or_ir_node), image_generator_);
+    if (status != XN_STATUS_OK)
+      THROW_OPENNI_EXCEPTION ("creating image generator failed. Reason: %s", xnGetStatusString (status));	
+  }
+  else
+  {
+    status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_or_ir_node), ir_generator_);
+    if (status != XN_STATUS_OK)
+      THROW_OPENNI_EXCEPTION ("creating IR generator failed. Reason: %s", xnGetStatusString (status));
+  }    
+#else
+  XnStatus status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(depth_node));
+  if (status != XN_STATUS_OK)
+    THROW_OPENNI_EXCEPTION ("creating depth generator failed. Reason: %s", xnGetStatusString (status));
+  
+  status = context_.CreateProductionTree (const_cast<xn::NodeInfo&>(image_or_ir_node));
+  if (status != XN_STATUS_OK)
+    THROW_OPENNI_EXCEPTION ("creating image or IR generator failed. Reason: %s", xnGetStatusString (status));
+  
+  // get production node instances
+  status = depth_node.GetInstance (depth_generator_);
+  if (status != XN_STATUS_OK)
+    THROW_OPENNI_EXCEPTION ("creating depth generator instance failed. Reason: %s", xnGetStatusString (status));
+  if (node_type == XN_NODE_TYPE_IMAGE)
+  {
+    status = image_node.GetInstance (image_generator_);
+    if (status != XN_STATUS_OK)
+      THROW_OPENNI_EXCEPTION ("creating image generator instance failed. Reason: %s", xnGetStatusString (status));
+  }
+  else
+  {
+    status = ir_node.GetInstance (ir_generator_);
+    if (status != XN_STATUS_OK)
+      THROW_OPENNI_EXCEPTION ("creating IR generator instance failed. Reason: %s", xnGetStatusString (status));
+  }
+#endif // (XN_MINOR_VERSION >= 3)
+
+  depth_generator_.RegisterToNewDataAvailable (static_cast<xn::StateChangedHandler> (NewDepthDataAvailable), this, depth_callback_handle_);
+  if (node_type == XN_NODE_TYPE_IMAGE)
+    image_generator_.RegisterToNewDataAvailable (static_cast<xn::StateChangedHandler> (NewImageDataAvailable), this, image_callback_handle_);
+  else
+    ir_generator_.RegisterToNewDataAvailable (static_cast<xn::StateChangedHandler> (NewIRDataAvailable), this, ir_callback_handle_);
+
+  Init ();
+
+ // optional shift to depth conversion is done in "kinect-mssdk-openni-pcl-bridge"-module...
+}
+#endif // HAVE_K4WSDK
 //////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 // For ONI Player devices
 openni_wrapper::OpenNIDevice::OpenNIDevice (xn::Context& context)
diff --git a/io/src/openni_camera/openni_device_kinect4w.cpp b/io/src/openni_camera/openni_device_kinect4w.cpp
new file mode 100644
index 0000000..ca872f0
--- /dev/null
+++ b/io/src/openni_camera/openni_device_kinect4w.cpp
@@ -0,0 +1,142 @@
+/* 
+ * Copyright (c) 2013 Michael Dingerkus <mdkus@web.de> 
+ * 
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without modification, 
+ * are permitted provided that the following conditions are met:
+ *   * Redistributions of of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the name of the copyright holder(s) nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.                                                                                      
+ *       
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * This source file is intended to encourage the use of Kinect for Windows and
+ * OpenNI with PCL, but never intended to give any losses or damages to Microsoft,
+ * PrimeSense, or any other providers of the related software and devices.
+ * When this software is used, the license terms of Kinect for Windows,
+ * Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ * combined with this software must also be complied, and the copyright holder(s) and their 
+ * contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ * Additional Notice:
+ * The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ * the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ * Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ * conditions mentioned above.
+ * 
+ * @author: Michael Dingerkus <mdkus@web.de>
+*/
+
+#include <pcl/pcl_config.h>
+#ifdef HAVE_OPENNI
+
+#ifdef __GNUC__
+#pragma GCC diagnostic ignored "-Wold-style-cast"
+#endif
+
+#include <pcl/io/openni_camera/openni_device_kinect4w.h>
+#include <pcl/io/openni_camera/openni_image_bayer_grbg.h>
+
+namespace openni_wrapper
+{
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool 
+openni_wrapper::DeviceKinect4W::isSynchronizationSupported () const throw ()
+{
+  return (false);
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+openni_wrapper::DeviceKinect4W::DeviceKinect4W (xn::Context& context, const xn::NodeInfo& device_node, const xn::NodeInfo& depth_node, const xn::NodeInfo& image_or_ir_node, const XnPredefinedProductionNodeType& node_type)
+: OpenNIDevice (context, device_node, depth_node, image_or_ir_node, node_type)
+{
+  // setup stream modes
+  enumAvailableModes ();
+  setDepthOutputMode (getDefaultDepthMode ());
+  if (node_type == XN_NODE_TYPE_IMAGE)
+    setImageOutputMode (getDefaultImageMode ());
+  else
+    setIROutputMode (getDefaultIRMode ());
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+openni_wrapper::DeviceKinect4W::~DeviceKinect4W () throw ()
+{
+  depth_mutex_.lock ();
+  depth_generator_.UnregisterFromNewDataAvailable (depth_callback_handle_);
+  depth_mutex_.unlock ();
+
+  image_mutex_.lock ();
+  image_generator_.UnregisterFromNewDataAvailable (image_callback_handle_);
+  image_mutex_.unlock ();
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+bool 
+openni_wrapper::DeviceKinect4W::isImageResizeSupported (unsigned input_width, unsigned input_height, unsigned output_width, unsigned output_height) const throw ()
+{
+  return (ImageBayerGRBG::resizingSupported (input_width, input_height, output_width, output_height));
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+void 
+openni_wrapper::DeviceKinect4W::enumAvailableModes () throw ()
+{
+  XnMapOutputMode output_mode;
+  available_image_modes_.clear();
+  available_depth_modes_.clear();
+
+  output_mode.nFPS = 30;
+  output_mode.nXRes = XN_VGA_X_RES;
+  output_mode.nYRes = XN_VGA_Y_RES;
+  available_image_modes_.push_back (output_mode);	// raw Bayer, RGB
+  available_depth_modes_.push_back (output_mode);
+
+  output_mode.nFPS = 30;
+  output_mode.nXRes = XN_QVGA_X_RES;
+  output_mode.nYRes = XN_QVGA_Y_RES;
+  available_depth_modes_.push_back (output_mode);
+
+  output_mode.nFPS = 30;
+  output_mode.nXRes = 80;	// #define XN_QQQVGA_X_RES	80
+  output_mode.nYRes = 60;	// #define XN_QQQVGA_Y_RES	60
+  available_depth_modes_.push_back (output_mode);
+
+  output_mode.nFPS = 15;
+  output_mode.nXRes = XN_VGA_X_RES;
+  output_mode.nYRes = XN_VGA_Y_RES;
+  available_image_modes_.push_back (output_mode);	// raw Yuv, Yuv
+
+  output_mode.nFPS = 12;
+  output_mode.nXRes = XN_SXGA_X_RES;
+  output_mode.nYRes = 960;	// #define XN_960P_Y_RES 720
+  available_image_modes_.push_back (output_mode);	// raw Bayer, RGB
+}
+
+//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+boost::shared_ptr<openni_wrapper::Image> 
+openni_wrapper::DeviceKinect4W::getCurrentImage (boost::shared_ptr<xn::ImageMetaData> image_data) const throw ()
+{
+  return (boost::shared_ptr<Image> (new ImageBayerGRBG (image_data, debayering_method_)));
+}
+
+}//namespace
+#endif
diff --git a/io/src/openni_camera/openni_driver.cpp b/io/src/openni_camera/openni_driver.cpp
index c0d966f..b0a8420 100644
--- a/io/src/openni_camera/openni_driver.cpp
+++ b/io/src/openni_camera/openni_driver.cpp
@@ -4,6 +4,7 @@
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2011, Willow Garage, Inc.
  *  Copyright (c) 2012-, Open Perception, Inc.
+ *  Copyright (c) 2013, Michael Dingerkus <mdkus@web.de>
  *
  *  All rights reserved.
  *
@@ -34,6 +35,19 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
+ *  This source file contains parts to encourage the use of Kinect for Windows and
+ *  OpenNI with PCL, but is never intended to give any losses or damages to Microsoft,
+ *  PrimeSense, or any other providers of the related software and devices.
+ *  When this software is used, the license terms of Kinect for Windows,
+ *  Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ *  combined with this software must also be complied, and the copyright holder(s) and their 
+ *  contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ *  Additional Notice:
+ *  The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ *  the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ *  Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ *  conditions mentioned above.
  */
 #include <pcl/pcl_config.h>
 #ifdef HAVE_OPENNI
@@ -45,6 +59,9 @@
 #include <pcl/io/openni_camera/openni.h>
 #include <pcl/io/openni_camera/openni_driver.h>
 #include <pcl/io/openni_camera/openni_device_kinect.h>
+#ifdef HAVE_K4WSDK
+#include <pcl/io/openni_camera/openni_device_kinect4w.h>
+#endif
 #include <pcl/io/openni_camera/openni_device_primesense.h>
 #include <pcl/io/openni_camera/openni_device_xtion.h>
 #include <pcl/io/openni_camera/openni_device_oni.h>
@@ -201,7 +218,10 @@ openni_wrapper::OpenNIDriver::updateDeviceList ()
     if (vendor_id == 0x45e)
     {
       strcpy (const_cast<char*> (device_context_[deviceIdx].device_node.GetDescription ().strVendor), "Microsoft");
-      strcpy (const_cast<char*> (device_context_[deviceIdx].device_node.GetDescription ().strName), "Xbox NUI Camera");
+	  if (product_id == 0x2bf)
+	    strcpy (const_cast<char*> (device_context_[deviceIdx].device_node.GetDescription ().strName), "Windows KinectSDK Camera");
+	  else
+        strcpy (const_cast<char*> (device_context_[deviceIdx].device_node.GetDescription ().strName), "Xbox NUI Camera");
     }
     else
 #endif
@@ -265,11 +285,22 @@ openni_wrapper::OpenNIDriver::getDeviceByIndex (unsigned index) const
 
     if (vendor_id == 0x45e)
     {
-      device.reset (new DeviceKinect (context_, 
-                                      device_context_[index].device_node,
-                                      *device_context_[index].image_node, 
-                                      *device_context_[index].depth_node,
-                                      *device_context_[index].ir_node));
+#ifdef HAVE_K4WSDK
+	  if (product_id == 0x2bf)
+	    device.reset (new DeviceKinect4W (context_, 
+                                          device_context_[index].device_node,                                      
+                                          *device_context_[index].depth_node,
+                                          *device_context_[index].image_node,
+										  XN_NODE_TYPE_IMAGE));
+                                          // *device_context_[index].ir_node,
+										  // XN_NODE_TYPE_IR));
+	  else
+#endif
+        device.reset (new DeviceKinect (context_, 
+                                        device_context_[index].device_node,
+                                        *device_context_[index].image_node, 
+                                        *device_context_[index].depth_node,
+                                        *device_context_[index].ir_node));
       device_context_[index].device = device;
     }
     else if (vendor_id == 0x1d27)
diff --git a/io/src/openni_grabber.cpp b/io/src/openni_grabber.cpp
index f72c1d6..9f81182 100644
--- a/io/src/openni_grabber.cpp
+++ b/io/src/openni_grabber.cpp
@@ -4,6 +4,7 @@
  *  Point Cloud Library (PCL) - www.pointclouds.org
  *  Copyright (c) 2010-2011, Willow Garage, Inc.
  *  Copyright (c) 2012-, Open Perception, Inc.
+ *  Copyright (c) 2013, Michael Dingerkus <mdkus@web.de>
  *
  *  All rights reserved.
  *
@@ -34,6 +35,19 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
+ *  This source file contains parts to encourage the use of Kinect for Windows and
+ *  OpenNI with PCL, but is never intended to give any losses or damages to Microsoft,
+ *  PrimeSense, or any other providers of the related software and devices.
+ *  When this software is used, the license terms of Kinect for Windows,
+ *  Kinect SDK, OpenNI, PCL, and any other related software and devices that are
+ *  combined with this software must also be complied, and the copyright holder(s) and their 
+ *  contributors shall not be liable for any consequences caused by failing to do so.                                                                  
+ *
+ *  Additional Notice:
+ *  The Windows Kinect SDK is a closed-source binary and thus can't be incorporated in
+ *  the BSD-licensed PCL distribution. So this file can't be committed to the PCL project.
+ *  Nevertheless you can use this file in your PCL clone for your own purposes under the 
+ *  conditions mentioned above.
  */
 
 #include <pcl/pcl_config.h>
@@ -117,6 +131,11 @@ pcl::OpenNIGrabber::OpenNIGrabber (const std::string& device_id, const Mode& dep
     openni_wrapper::DeviceKinect* kinect = dynamic_cast<openni_wrapper::DeviceKinect*> (device_.get ());
     if (kinect)
       kinect->setDebayeringMethod (openni_wrapper::ImageBayerGRBG::EdgeAware);
+#ifdef HAVE_K4WSDK
+    openni_wrapper::DeviceKinect4W* kinect4W = dynamic_cast<openni_wrapper::DeviceKinect4W*> (device_.get ());
+    if (kinect4W)
+      kinect4W->setDebayeringMethod (openni_wrapper::ImageBayerGRBG::EdgeAware);
+#endif
   }
 
   image_callback_handle = device_->registerImageCallback (&OpenNIGrabber::imageCallback, *this);
-- 
1.8.1.msysgit.1