removed most of the opencv dependencies

fixed compilation; fixed segfaults in CpuDepthPacketProcessor; disabled timing

Author: christiankerl

examples/protonect/CMakeLists.txt

@@ -40,14 +40,14 @@ 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(OpenCV)
 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}
+#  ${OpenCV_INCLUDE_DIRS}
   ${LibUSB_INCLUDE_DIRS}
   ${TurboJPEG_INCLUDE_DIRS}
 )
@@ -103,8 +103,7 @@ SET(SOURCES
 )
 
 SET(LIBRARIES
-  ${OpenCV_LIBS}
-  ${OpenCV_LIBRARIES}
+#  ${OpenCV_LIBRARIES}
   ${LibUSB_LIBRARIES}
   ${TurboJPEG_LIBRARIES}
   ${LIBFREENECT2_THREADING_LIBRARIES}

examples/protonect/Protonect.cpp

@@ -28,7 +28,7 @@
 #include <iostream>
 #include <signal.h>
 
-#include <opencv2/opencv.hpp>
+//#include <opencv2/opencv.hpp>
 
 #include <libfreenect2/libfreenect2.hpp>
 #include <libfreenect2/frame_listener_impl.h>
@@ -142,16 +142,16 @@ int main(int argc, char *argv[])
     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);
+    //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);
 
-    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));
+    //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));
 
-    int key = cv::waitKey(1);
+    int key = 1;//cv::waitKey(1);
     protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
 
     listener.release(frames);