Merge pull request #17 from NOKOV-MOCAP/main

update NokovSDK

CMakeLists.txt

@@ -134,6 +134,9 @@ endif()
 if (LIBMOTIONCAPTURE_ENABLE_NOKOV)
   message("including nokov")
 
+  EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
+  message( STATUS "Architecture: ${ARCHITECTURE}" )
+
   add_definitions(-DENABLE_NOKOV)
   set(my_include_directories
     ${my_include_directories}
@@ -143,13 +146,20 @@ if (LIBMOTIONCAPTURE_ENABLE_NOKOV)
     ${my_files}
     src/nokov.cpp
   )
-  set(my_link_directories
-    ${my_link_directories}
-    ${NOKOV_SDK_DIR}/lib
-)
+
+  if (${ARCHITECTURE} MATCHES "arm")
+    set(my_link_directories ${my_link_directories} ${NOKOV_SDK_DIR}/lib/armhf)    
+  elseif (${ARCHITECTURE} MATCHES "aarch")
+    set(my_link_directories ${my_link_directories} ${NOKOV_SDK_DIR}/lib/aarch64)  
+  else()
+    set(my_link_directories ${my_link_directories} ${NOKOV_SDK_DIR}/lib/x64)
+  endif()
+
+  message(STATUS "Link to nokov library directory:${my_link_directories}")
+
   set(my_libraries
     ${my_libraries}
-    SeekerSDKClient
+    nokov_sdk
   )
 endif()
 

README.md

@@ -25,7 +25,7 @@ By default, `libmotioncapture` supports the following hardware:
 - Qualisys - SDK git submodule
 - OptiTrack - binary parsing over network (no dependency)
 - VRPN - SDK git submodule
-- NOKOV - manually obtain SDK and copy to deps/nokov_sdk/ and copy the .so file to the /lib or /usr/lib.
+- NOKOV - manually obtain SDK and copy to deps/nokov_sdk/
 - FZMotion - no dependency
 - Motion Analysis - manually obtain SDK and copy to deps/cortex_sdk_linux/
 

src/nokov.cpp

@@ -6,9 +6,9 @@
 #include <unordered_map>
 #include <Eigen/Geometry> 
 //#include <ros/ros.h>
-#include "SeekerSDKCAPI.h"
+#include "NokovSDKCAPI.h"
 // NOKOV
-#include "SeekerSDKClient.h"
+#include "NokovSDKClient.h"
 
 namespace libmotioncapture {
 
@@ -94,7 +94,7 @@ namespace libmotioncapture {
         int updateFrequency = 100;
         bool enableFixedUpdate = false;
         sDataDescriptions* pBodyDefs = nullptr;
-        SeekerSDKClient* pClient = nullptr;
+        NokovSDKClient* pClient = nullptr;
         int lastFrame = 0;
         std::unordered_map<std::string, size_t> bodyMap;
 
@@ -143,9 +143,9 @@ namespace libmotioncapture {
     {
         pImpl = new MotionCaptureNokovImpl;
 
-        SeekerSDKClient* theClient = new SeekerSDKClient();
+        NokovSDKClient* theClient = new NokovSDKClient();
         unsigned char version[4] = {0};
-        theClient->SeekerSDKVersion(version);
+        theClient->NokovSDKVersion(version);
         {
             std::stringstream sstr;
             sstr << (int)version[0] << "." << (int)version[1] << "." << (int)version[2] << "." << (int)version[3];