RabbitMQ AMQP-PHP library build on Ubuntu 13.10 memo.

# environment
# cat /etc/lsb-release
# DISTRIB_ID=Ubuntu
# DISTRIB_RELEASE=13.10
# DISTRIB_CODENAME=saucy
# DISTRIB_DESCRIPTION=”Ubuntu 13.10″

# build rabbitmq-c
git clone https://github.com/alanxz/rabbitmq-c.git
cd rabbitmq-c/
mkdir build && cd build
cmake -DCMAKE_INSTALL_PREFIX=/usr/local/rabbitmq-c/ ..
cmake –build .
make install

# build AMQP PHP
wget http://pecl.php.net/get/amqp-1.4.0.tgz
tar -zxvf amqp-1.4.0.tgz
cd amqp-1.4.0/
phpize
./configure –with-librabbitmq-dir=/usr/local/rabbitmq-c –with-amqp

# modify Makefile
AMQP_SHARED_LIBADD = -Wl,-rpath,/usr/local/rabbitmq-c/lib -L/usr/local/rabbitmq-c/lib -lrabbitmq /usr/local/rabbitmq-c/lib/x86_64-linux-gnu/
to
AMQP_SHARED_LIBADD = -Wl,-rpath,/usr/local/rabbitmq-c/lib -L/usr/local/rabbitmq-c/lib -lrabbitmq -L/usr/local/rabbitmq-c/lib/x86_64-linux-gnu/

make
make install
cat <<EOF > /etc/ld.so.conf.d/rabbitmq-c.conf
/usr/local/rabbitmq-c/lib/x86_64-linux-gnu/
EOF
ldconfig

# add apache, php.ini
cat <<EOF > /etc/php5/mods-available/amqp.ini
extension=amqp.so
EOF
ln -s /etc/php5/mods-available/amqp.ini /etc/php5/apache2/conf.d/20-amqp.ini
service apache2 restart

sender.php

<?php
$cnn = new AMQPConnection();
$cnn->connect();
$ch = new AMQPChannel($cnn);

// Declare a new exchange
$ex = new AMQPExchange($ch);
$ex->setName('exchange-test');
$ex->setType(AMQP_EX_TYPE_FANOUT);
$ex->declareExchange();

// Create a new queue
$q = new AMQPQueue($ch);
$q->setName('queue-test');
$q->setFlags(AMQP_NOPARAM);
$q->declareQueue();
$q->bind($ex->getName());

for ($i = 0; $i < 10000; $i++) {
    $data = array('id' => $i, 'time' => time());
    $ex->publish(serialize($data));
}
$cnn->disconnect();

?>

reciever.php

<?php

ini_set('amqp.auto_ack', false);

$cnn = new AMQPConnection();
$cnn->connect();
$ch = new AMQPChannel($cnn);
$ch->setPrefetchCount(1);

// Declare a new exchange
$ex = new AMQPExchange($ch);
$ex->setName('exchange-test');
$ex->setType(AMQP_EX_TYPE_FANOUT);
$ex->declareExchange();

// Create a new queue
$q = new AMQPQueue($ch);
$q->setName('queue-test');
$q->setFlags(AMQP_NOPARAM);
$q->declareQueue();
$q->bind($ex->getName());

$q->consume(
    function (AMQPEnvelope $msg, AMQPQueue $queue) use ($ex) {
        echo $msg->getBody(), PHP_EOL;
        return $queue->ack($msg->getDeliveryTag());
});
?>

rabbitmqctl list_queues
Listing queues …
queue-test 10764
…done.

Intel RealSense SDK camera – Creative Senze3D Gesture Camera Teardown, and compare to DepthSense DS325.

1. open the attachment, take the screw.

2. open the rubber stopper, take the screws.

3. open the back cover.

4. Unscrew the hexagon bolt, open the 1st board. This board is printed “SOFTKINETIC KOREA DS325V2_M”.

5. Take the screws and hexagon bolt from next board.

6. DepthSense DS325 and Creative Senze3D.

both boards is printed “SOFTKINETIC KOREA DS325V2_M”.

Creative Senze3D all parts.

This tutorial is “How to use oF 8.1 with OpenNI 2.2 on Android”, using Xtion. If want to use Kinect, use OpenNI 1.x and Sensor Kinect driver. And my build envrionment, I use Mac OS 10.8.5, Android 4.2.2 (device is MK 802 IV HDMI dongle type Android, root user needed) on this tutorial. May be other Android devices OpenNI 2.2 works well(OpenNI ran on Nexus7 in my test).

1. Built OpenNI 2.2
# Download Android NDK
cd $HOME
mkdir work
cd work
wget http://dl.google.com/android/ndk/android-ndk-r8e-darwin-x86_64.tar.bz2
tar -jxvf android-ndk-r8e-darwin-x86_64.tar.bz2

# Download OpenNI 2.2 from git
cd $HOME/work
git clone https://github.com/OpenNI/OpenNI2.git
cd OpenNI2
# change PS1080.ini file path
vi ./Source/Drivers/PS1080/Sensor/XnSensor.cpp
#define XN_GLOBAL_CONFIG_FILE_NAME “PS1080.ini”
to
#define XN_GLOBAL_CONFIG_FILE_NAME “/system/lib/PS1080.ini”

# change OpenNI.ini file path
vi ./Source/Core/OniContext.cpp
static const char* ONI_CONFIGURATION_FILE = “OpenNI.ini”;
to
static const char* ONI_CONFIGURATION_FILE = “/system/lib/OpenNI.ini”;

static const char* ONI_DEFAULT_DRIVERS_REPOSITORY = “OpenNI2” XN_FILE_DIR_SEP “Drivers”;
to
static const char* ONI_DEFAULT_DRIVERS_REPOSITORY = “/system/lib/”;

# build OpenNI 2.2
cd Packaging
python ReleaseVersion.py android
cd Final
tar -xvf OpenNI-android-2.2.tar
cd OpenNI-android-2.2
ls
EventBasedRead OpenNI.ini SimpleRead libOpenNI2.so libPSLink.so
MultipleStreamRead PS1080.ini libOniFile.so libPS1080.so libusb.so

# copy shard library and ini file to Android
adb push OpenNI.ini /system/lib/
adb push PS1080.ini /system/lib/
adb push libOpenNI2.so /system/lib/
adb push libPS1080.so /system/lib/
adb push libusb.so /system/lib/
adb push libOniFile.so /system/lib/
adb push libPSLink.so /system/lib/
adb push SimpleRead /system/lib/

# check OpenNI running.
adb shell
cd /system/lib/
SimpleRead
./SimpleRead
[00000000] 585
[00033369] 585
[00066738] 584
[00100107] 584
[00133477] 584
[00166846] 584
[00200215] 584
[00233584] 583
[00266954] 583
……

2. oepnFrameworks 8.1 for Android
Download openFrameworks 8.1 for Android from official site, of course Android SDK, Eclipse, JDK is needed. openFrameworks for Android tutorials is here.

# download Android NDK
cd $HOME/work
wget http://dl.google.com/android/ndk/android-ndk-r9d-darwin-x86_64.tar.bz2
tar -jxvf android-ndk-r8d-darwin-x86_64.tar.bz2

# set paths.make. following is my example.
vi libs/openFrameworksCompiled/project/android/paths.make
SDK_ROOT=$HOME/work/android-sdk-macosx
NDK_ROOT=$HOME/work/android-sdk-macosx/android-ndk-r9d

# set OpenNI include files, shard library file oF make file.
“libs/openFrameworksCompiled/project/android/config.android.default.mk” changes diff is following.

36c36
< ABIS_TO_COMPILE_RELEASE = armv5 armv7 neon — > ABIS_TO_COMPILE_RELEASE = armv5 armv7 neon x86
193c193
< PLATFORM_LDFLAGS += –sysroot=$(SYSROOT) -nostdlib -L”$(NDK_ROOT)/sources/cxx-stl/gnu-libstdc++/$(GCC_VERSION)/libs/$(ABI_PATH)” -L$HOME/work/OpenNI2/Packaging/Final/OpenNI-android-2.2 — > PLATFORM_LDFLAGS += –sysroot=$(SYSROOT) -nostdlib -L”$(NDK_ROOT)/sources/cxx-stl/gnu-libstdc++/$(GCC_VERSION)/libs/$(ABI_PATH)”
311d310
< PLATFORM_HEADER_SEARCH_PATHS += “$HOME/work/OpenNI2/Include”
343,345d341
< PLATFORM_LIBRARIES += OpenNI2
< PLATFORM_LIBRARIES += OniFile
< PLATFORM_LIBRARIES += PS1080

3. Sample android application
Eclipse project androidOpenNIExample.tar.gz.
APK androidOpenNIExample.apk

MK 802 IV is HDMI dongle type android device(just like a Chromecast by google), easy to use with LED TV. About 60,000 point cloud is drawing in 30fps in this application.

Realtime 3D scan using Xtion/Android, draw 3D point cloud on realtime.

envrionment : MK802  Android 4.2.2 (Cortex A9), OpenNI 2.2, Xtion, openFrameworks 8.1

scan myself. measure depth about 40cm – 100cm. 

drawing about 40,000 – 50,000 particles on x-y-z coordinates on realtime, all particles are placed on ofCamera 3D scene.

PCLをMacで使おうとしたら、本家の手順だとハマりまくったから、ちょっと備忘録として。
ソースからインストールします。

# OpenNI
# OpenNIは1.x系だけど、brewで/usr/loca/以下に展開されるから、
# 2.x系と共存できるし入れといても良いんじゃないかなと
# thanks totakke formula!!
brew tap homebrew/science
brew tap totakke/openni

# install
brew install openni # 1.5.7.10
brew install sensor
brew install sensor-kinect
brew install nite # 1.5.2.21

# symbolic link
cd /usr/local/include
ln -s ni openni

# pcl
brew install cmake
brew install boost
brew install eigen
brew install flann
brew install vtk5 –with-qt

# 以下、PCLのビルドとか
cd $HOME
git clone https://github.com/PointCloudLibrary/pcl
cd pcl
mkdir build
cd build
cmake ..
make