automatic import of ros-humble-openni2-camera

4 files changed, 109 insertions, 7 deletions

diff --git a/.gitignore b/.gitignore
index 40a9f56..36a4fba 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,2 @@
 /openni2-camera-2.0.3-1.tar.gz
+/OpenNI2-2.2.0.33.tar.gz
diff --git a/openni2-aarch64-support.patch b/openni2-aarch64-support.patch
new file mode 100644
index 0000000..8718ce9
--- /dev/null
+++ b/openni2-aarch64-support.patch
@@ -0,0 +1,44 @@
+diff -ruN '--exclude=.git' '--exclude=.github' ./ThirdParty/PSCommon/BuildSystem/CommonDefs.mak ../OpenNI2-patched/ThirdParty/PSCommon/BuildSystem/CommonDefs.mak
+--- a/ThirdParty/PSCommon/BuildSystem/CommonDefs.mak	2026-10-22 03:13:34.628894060 +0000
++++ b/ThirdParty/PSCommon/BuildSystem/CommonDefs.mak	2026-10-22 03:24:42.065885094 +0000
+@@ -18,6 +18,8 @@
+ 	HOST_PLATFORM = x86
+ else ifneq (,$(findstring arm,$(MACHINE)))
+ 	HOST_PLATFORM = Arm
++else ifneq (,$(findstring aarch64,$(MACHINE)))
++	HOST_PLATFORM = Aarch64
+ else
+ 	DUMMY:=$(error Can't determine host platform)
+ endif
+diff -ruN '--exclude=.git' '--exclude=.github' ./ThirdParty/PSCommon/BuildSystem/Platform.Aarch64 ../OpenNI2-patched/ThirdParty/PSCommon/BuildSystem/Platform.Aarch64
+--- a/ThirdParty/PSCommon/BuildSystem/Platform.Aarch64	1970-01-01 00:00:00.000000000 +0000
++++ b/ThirdParty/PSCommon/BuildSystem/Platform.Aarch64	2026-10-22 03:24:42.068885103 +0000
+@@ -0,0 +1,4 @@
++ifeq "$(CFG)" "Release"
++    CFLAGS += -O3 -fno-tree-pre -fno-strict-aliasing
++    CFLAGS += -ftree-vectorize -ffast-math -funsafe-math-optimizations
++endif
+diff -ruN '--exclude=.git' '--exclude=.github' ./ThirdParty/PSCommon/XnLib/Include/Linux-Aarch64/XnPlatformLinux-Aarch64.h ../OpenNI2-patched/ThirdParty/PSCommon/XnLib/Include/Linux-Aarch64/XnPlatformLinux-Aarch64.h
+--- a/ThirdParty/PSCommon/XnLib/Include/Linux-Aarch64/XnPlatformLinux-Aarch64.h	1970-01-01 00:00:00.000000000 +0000
++++ b/ThirdParty/PSCommon/XnLib/Include/Linux-Aarch64/XnPlatformLinux-Aarch64.h	2026-10-22 03:24:42.069885106 +0000
+@@ -0,0 +1,8 @@
++#ifndef _XN_PLATFORM_LINUX_AARCH64_H_
++#define _XN_PLATFORM_LINUX_AARCH64_H_
++#include "../Linux-x86/XnPlatformLinux-x86.h"
++#undef XN_PLATFORM
++#undef XN_PLATFORM_STRING
++#define XN_PLATFORM XN_PLATFORM_LINUX_ARM
++#define XN_PLATFORM_STRING "Linux-Aarch64"
++#endif
+diff -ruN '--exclude=.git' '--exclude=.github' ./ThirdParty/PSCommon/XnLib/Include/XnPlatform.h ../OpenNI2-patched/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h
+--- a/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h	2026-10-22 03:13:34.655894141 +0000
++++ b/ThirdParty/PSCommon/XnLib/Include/XnPlatform.h	2026-10-22 03:24:42.077885129 +0000
+@@ -51,6 +51,8 @@
+ #include "Android-Arm/XnPlatformAndroid-Arm.h"
+ #elif (__linux__ && (i386 || __x86_64__))
+ #include "Linux-x86/XnPlatformLinux-x86.h"
++#elif (__linux__ && __aarch64__)
++#include "Linux-Aarch64/XnPlatformLinux-Aarch64.h"
+ #elif (__linux__ && __arm__)
+ #include "Linux-Arm/XnPlatformLinux-Arm.h"
+ #elif _ARC
diff --git a/openni2-camera.spec b/openni2-camera.spec
index 699ea0b..7c08d23 100644
--- a/openni2-camera.spec
+++ b/openni2-camera.spec
@@ -1,14 +1,17 @@
 %define ros_distro humble
 %define RosPkgName openni2-camera
 %define src_version 2.0.3-1
+%define openni2_version 2.2.0.33
 
 Name:           ros-%{ros_distro}-%{RosPkgName}
 Version:        2.0.3
-Release:        1%{?dist}
+Release:        2%{?dist}
 Summary:        Drivers for the Asus Xtion and Primesense Devices
 License:        BSD
 URL:            https://github.com/ros-drivers/openni2_camera/tree/iron
 Source0:        %{RosPkgName}-%{src_version}.tar.gz
+Source1:        OpenNI2-%{openni2_version}.tar.gz
+Patch0:         openni2-aarch64-support.patch
 
 %global debug_package %{nil}
 %global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g')
@@ -16,6 +19,8 @@ Source0:        %{RosPkgName}-%{src_version}.tar.gz
 %global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$
 
 BuildRequires:  cmake
+BuildRequires:  libusbx-devel
+BuildRequires:  systemd-devel
 BuildRequires:  ros-%{ros_distro}-ament-cmake
 BuildRequires:  ros-%{ros_distro}-builtin-interfaces
 BuildRequires:  ros-%{ros_distro}-camera-info-manager
@@ -27,7 +32,6 @@ BuildRequires:  ros-%{ros_distro}-rosidl-default-generators
 BuildRequires:  ros-%{ros_distro}-rosidl-default-runtime
 BuildRequires:  ros-%{ros_distro}-sensor-msgs
 BuildRequires:  pkgconfig
-BuildRequires:  libopenni2-dev
 
 Requires:       ros-%{ros_distro}-ros-workspace
 Requires:       ros-%{ros_distro}-ament-cmake
@@ -39,23 +43,52 @@ Requires:       ros-%{ros_distro}-rclcpp
 Requires:       ros-%{ros_distro}-rclcpp-components
 Requires:       ros-%{ros_distro}-rosidl-default-runtime
 Requires:       ros-%{ros_distro}-sensor-msgs
-Requires:       libopenni2-dev
+Requires:       libusbx
+Requires:       systemd-libs
 
-Provides:       %{name}-devel = %{version}-%{release}
-Provides:       %{name}-doc = %{version}-%{release}
-Provides:       %{name}-runtime = %{version}-%{release}
+Provides:       libopenni2-devel = %{openni2_version}
+Provides:       libopenni2-dev = %{openni2_version}
 
 %description
 Drivers for the Asus Xtion and Primesense Devices. For using a kinect
   with ROS, try the
 
 %prep
-%autosetup -n %{RosPkgName}-%{src_version}
+%setup -q -n %{RosPkgName}-%{src_version} -a1
+cd OpenNI2-%{openni2_version}
+patch -p1 < %{_sourcedir}/openni2-aarch64-support.patch
+cd ..
 
 %build
 [ -f /opt/ros/%{ros_distro}/setup.sh ] && source /opt/ros/%{ros_distro}/setup.sh || true
 export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages${PYTHONPATH:+:$PYTHONPATH}
 export PKG_CONFIG_PATH=/opt/ros/%{ros_distro}/lib/pkgconfig${PKG_CONFIG_PATH:+:$PKG_CONFIG_PATH}
+
+# Build vendored OpenNI2 SDK (libopenni2 not available in openEuler repos)
+cd OpenNI2-%{openni2_version}
+make Source/Core %{?_smp_mflags}
+OPENNI2_PREFIX=%{_builddir}/openni2_install
+mkdir -p $OPENNI2_PREFIX/lib $OPENNI2_PREFIX/include/openni2 $OPENNI2_PREFIX/lib/pkgconfig
+cp Bin/*/Release/libOpenNI2.so $OPENNI2_PREFIX/lib/
+cp Include/*.h $OPENNI2_PREFIX/include/openni2/
+cat > $OPENNI2_PREFIX/lib/pkgconfig/libopenni2.pc << PCEOF
+prefix=$OPENNI2_PREFIX
+exec_prefix=\${prefix}
+libdir=\${exec_prefix}/lib
+includedir=\${prefix}/include/openni2
+
+Name: libopenni2
+Description: OpenNI2 framework
+Version: %{openni2_version}
+Libs: -L\${libdir} -lOpenNI2
+Cflags: -I\${includedir}
+PCEOF
+cp $OPENNI2_PREFIX/lib/pkgconfig/libopenni2.pc $OPENNI2_PREFIX/lib/pkgconfig/openni2.pc
+export PKG_CONFIG_PATH=$OPENNI2_PREFIX/lib/pkgconfig:$PKG_CONFIG_PATH
+export LD_LIBRARY_PATH=$OPENNI2_PREFIX/lib${LD_LIBRARY_PATH:+:$LD_LIBRARY_PATH}
+cd ..
+
+# Build openni2_camera ROS package
 cd openni2_camera
 mkdir -p .obj && cd .obj
 %cmake3 \
@@ -76,9 +109,32 @@ cd openni2_camera
 cd .obj
 make install DESTDIR=%{buildroot}
 
+# Install vendored OpenNI2 library and headers
+cd ../..
+mkdir -p %{buildroot}/%{_libdir}
+mkdir -p %{buildroot}/%{_includedir}/openni2
+cp OpenNI2-%{openni2_version}/Bin/*/Release/libOpenNI2.so %{buildroot}/%{_libdir}/
+cp OpenNI2-%{openni2_version}/Include/*.h %{buildroot}/%{_includedir}/openni2/
+
+# Install OpenNI2 drivers if available
+mkdir -p %{buildroot}/%{_libdir}/OpenNI2/Drivers
+for drv in OpenNI2-%{openni2_version}/Bin/*/Release/libPS*.so \
+           OpenNI2-%{openni2_version}/Bin/*/Release/libOniFile.so \
+           OpenNI2-%{openni2_version}/Bin/*/Release/libDummyDevice.so; do
+    [ -f "$drv" ] && cp "$drv" %{buildroot}/%{_libdir}/OpenNI2/Drivers/ || true
+done
+
 %files
 /opt/ros/%{ros_distro}
+%{_libdir}/libOpenNI2.so
+%{_libdir}/OpenNI2
+%{_includedir}/openni2
 
 %changelog
+* Thu Oct 22 2026 ai-importer <ai-importer@openeuler.org> - 2.0.3-2
+- Vendor OpenNI2 SDK (libopenni2 not available in openEuler)
+- Add aarch64 platform support to OpenNI2 build system
+- Replace libopenni2-dev BuildRequires/Requires with vendored library
+
 * Thu Oct 22 2026 ai-importer <ai-importer@openeuler.org> - 2.0.3-1
 - Initial import (ROS batch)
diff --git a/sources b/sources
index 41f4571..4591d6c 100644
--- a/sources
+++ b/sources
@@ -1 +1,2 @@
+7baede66c4207b2220d5fb1ad1936810  OpenNI2-2.2.0.33.tar.gz
 8365768b5296d96b0f2cf8e3bb204840  openni2-camera-2.0.3-1.tar.gz