Added CameraK4A driver (only MKV playback supported yet). Fixed build with realsense2 support on Windows. Preferences: added imu filtering parameters to ini file.

CMakeLists.txt

@@ -166,6 +166,7 @@ option(WITH_ORB_OCTREE    "Include ORB Octree feature support"   ON)
 option(WITH_FREENECT      "Include Freenect support"             ON)
 option(WITH_FREENECT2     "Include Freenect2 support"            ON)
 option(WITH_K4W2          "Include Kinect for Windows v2 support" ON)
+option(WITH_K4A           "Include Kinect for Azure support"     ON)
 option(WITH_OPENNI2       "Include OpenNI2 support"              ON)
 option(WITH_DC1394        "Include dc1394 support"               ON)
 option(WITH_G2O           "Include g2o support"                  ON)
@@ -323,6 +324,13 @@ IF(WITH_K4W2 AND WIN32)
     ENDIF(KinectSDK2_FOUND)
 ENDIF(WITH_K4W2 AND WIN32)
 
+IF(WITH_K4A)
+    FIND_PACKAGE(K4A QUIET)
+	IF(K4A_FOUND)
+       MESSAGE(STATUS "Found Kinect for Azure: ${K4A_INCLUDE_DIRS}")
+    ENDIF(K4A_FOUND)
+ENDIF(WITH_K4A)
+
 # IF PCL depends on OpenNI2 (already found), ignore WITH_OPENNI2
 IF(WITH_OPENNI2 OR OpenNI2_FOUND)
     FIND_PACKAGE(OpenNI2 QUIET)
@@ -640,6 +648,11 @@ IF(NOT KinectSDK2_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${KinectSDK2_LIBRARIES})
 ENDIF()
+IF(NOT K4A_FOUND)
+   SET(K4A "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${K4A_LIBRARIES})
+ENDIF()
 IF(NOT OpenNI2_FOUND)
    SET(OPENNI2 "//")
 ELSE()
@@ -999,6 +1012,14 @@ ELSE()
 MESSAGE(STATUS "  With Kinect for Windows 2 = NO (Kinect for Windows 2 SDK not found)")
 ENDIF()
 
+IF(K4A_FOUND)
+MESSAGE(STATUS "  With Kinect for Azure     = YES (License: MIT)")
+ELSEIF(NOT WITH_K4A)
+MESSAGE(STATUS "  With Kinect for Azure     = NO (WITH_K4A=OFF)")
+ELSE()
+MESSAGE(STATUS "  With Kinect for Azure     = NO (Kinect for Azure SDK not found)")
+ENDIF()
+
 IF(DC1394_FOUND)
 MESSAGE(STATUS "  With dc1394               = YES (License: LGPL)")
 ELSEIF(NOT WITH_DC1394)