Merge pull request #361 from fran6co/glviewer

Removes opencv dependency, add OpenGL viewer & own timer class

Author: floe

examples/protonect/CMakeLists.txt

@@ -16,6 +16,7 @@ IF(ENABLE_CXX11)
   CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
   IF(COMPILER_SUPPORTS_CXX11)
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+    SET(LIBFREENECT2_WITH_CXX11_SUPPORT 1)
   ELSEIF(COMPILER_SUPPORTS_CXX0X)
     SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   ELSE()
@@ -40,14 +41,12 @@ SET(LIBRARY_OUTPUT_PATH ${MY_DIR}/lib)
 # dependencies
 FIND_PACKAGE(PkgConfig)    # try find PKGConfig as it will be used if found
 FIND_PACKAGE(LibUSB REQUIRED)
-FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(TurboJPEG REQUIRED) #does not provide a package-config file
 
 # Add includes
 INCLUDE_DIRECTORIES(
   "${MY_DIR}/include"
   ${LIBFREENECT2_THREADING_INCLUDE_DIR}
-  ${OpenCV_INCLUDE_DIRS}
   ${LibUSB_INCLUDE_DIRS}
   ${TurboJPEG_INCLUDE_DIRS}
 )
@@ -96,15 +95,14 @@ SET(SOURCES
   src/resource.cpp
   src/command_transaction.cpp
   src/registration.cpp
+  src/timer.cpp
   src/libfreenect2.cpp
 
   ${LIBFREENECT2_THREADING_SOURCE}
   ${RESOURCES_INC_FILE}
 )
 
 SET(LIBRARIES
-  ${OpenCV_LIBS}
-  ${OpenCV_LIBRARIES}
   ${LibUSB_LIBRARIES}
   ${TurboJPEG_LIBRARIES}
   ${LIBFREENECT2_THREADING_LIBRARIES}
@@ -183,8 +181,21 @@ ENDIF()
 MESSAGE("Linking with these libraries: ${LIBRARIES}")
 TARGET_LINK_LIBRARIES(freenect2shared ${LIBRARIES})
 
+SET(Protonect_src
+    Protonect.cpp
+    )
+    
+IF (ENABLE_OPENGL AND OPENGL_FOUND)
+    LIST(APPEND Protonect_src
+        viewer.h
+        viewer.cpp
+        src/flextGL.c
+        )
+ENDIF()
+  
 ADD_EXECUTABLE(Protonect
-  Protonect.cpp
+  ${Protonect_src}
+
 )
 
 TARGET_LINK_LIBRARIES(Protonect

examples/protonect/Protonect.cpp

@@ -28,13 +28,15 @@
 #include <iostream>
 #include <signal.h>
 
-#include <opencv2/opencv.hpp>
-
 #include <libfreenect2/libfreenect2.hpp>
 #include <libfreenect2/frame_listener_impl.h>
 #include <libfreenect2/threading.h>
 #include <libfreenect2/registration.h>
 #include <libfreenect2/packet_pipeline.h>
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
+#include "viewer.h"
+#endif
+
 
 bool protonect_shutdown = false;
 
@@ -135,24 +137,30 @@ int main(int argc, char *argv[])
 
   libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
 
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
+  Viewer viewer;
+  viewer.initialize();
+#endif
+
   while(!protonect_shutdown)
   {
     listener.waitForNewFrame(frames);
     libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
     libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
     libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
 
-    cv::imshow("rgb", cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data));
-    cv::imshow("ir", cv::Mat(ir->height, ir->width, CV_32FC1, ir->data) / 20000.0f);
-    cv::imshow("depth", cv::Mat(depth->height, depth->width, CV_32FC1, depth->data) / 4500.0f);
-
-    registration->apply(rgb,depth,&undistorted,&registered);
+    registration->apply(rgb, depth, &undistorted, &registered);
 
-    cv::imshow("undistorted", cv::Mat(undistorted.height, undistorted.width, CV_32FC1, undistorted.data) / 4500.0f);
-    cv::imshow("registered", cv::Mat(registered.height, registered.width, CV_8UC4, registered.data));
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
+    viewer.addFrame("RGB", rgb);
+    viewer.addFrame("ir", ir);
+    viewer.addFrame("depth", depth);
+    viewer.addFrame("registered", &registered);
 
-    int key = cv::waitKey(1);
-    protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
+    protonect_shutdown = viewer.render();
+#else
+    protonect_shutdown = true;
+#endif
 
     listener.release(frames);
     //libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100));

examples/protonect/include/libfreenect2/config.h.in

@@ -47,4 +47,6 @@
 
 #cmakedefine LIBFREENECT2_THREADING_TINYTHREAD
 
+#cmakedefine LIBFREENECT2_WITH_CXX11_SUPPORT
+
 #endif // LIBFREENECT2_CONFIG_H

examples/protonect/include/libfreenect2/depth_packet_processor.h

@@ -140,7 +140,6 @@ class LIBFREENECT2_API OpenGLDepthPacketProcessor : public DepthPacketProcessor
 #endif // LIBFREENECT2_WITH_OPENGL_SUPPORT
 
 // TODO: push this to some internal namespace
-// use pimpl to hide opencv dependency
 class CpuDepthPacketProcessorImpl;
 
 class LIBFREENECT2_API CpuDepthPacketProcessor : public DepthPacketProcessor

examples/protonect/include/libfreenect2/packet_processor.h

@@ -27,6 +27,8 @@
 #ifndef PACKET_PROCESSOR_H_
 #define PACKET_PROCESSOR_H_
 
+#include <libfreenect2/timer.h>
+
 namespace libfreenect2
 {
 

examples/protonect/include/libfreenect2/timer.h

@@ -0,0 +1,51 @@
+/*
+ * This file is part of the OpenKinect Project. http://www.openkinect.org
+ *
+ * Copyright (c) 2014 individual OpenKinect contributors. See the CONTRIB file
+ * for details.
+ *
+ * This code is licensed to you under the terms of the Apache License, version
+ * 2.0, or, at your option, the terms of the GNU General Public License,
+ * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
+ * or the following URLs:
+ * http://www.apache.org/licenses/LICENSE-2.0
+ * http://www.gnu.org/licenses/gpl-2.0.txt
+ *
+ * If you redistribute this file in source form, modified or unmodified, you
+ * may:
+ *   1) Leave this header intact and distribute it under the same terms,
+ *      accompanying it with the APACHE20 and GPL20 files, or
+ *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
+ *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
+ * In all cases you must keep the copyright notice intact and include a copy
+ * of the CONTRIB file.
+ *
+ * Binary distributions must follow the binary distribution requirements of
+ * either License.
+ */
+
+#ifndef TIMER_H_
+#define TIMER_H_
+
+#include <libfreenect2/config.h>
+
+namespace libfreenect2
+{
+
+class TimerImpl;
+
+class Timer {
+ public:
+  Timer();
+  virtual ~Timer();
+
+  void start();
+  double stop();
+
+ private:
+  TimerImpl *impl_;
+};
+
+} /* namespace libfreenect2 */
+
+#endif /* TIMER_H_ */