A opengl viewer to use instead of opencv.

Author: christiankerl

examples/protonect/CMakeLists.txt

@@ -39,9 +39,12 @@ SET(LIBRARY_OUTPUT_PATH ${MY_DIR}/lib)
 
 # dependencies
 FIND_PACKAGE(PkgConfig)    # try find PKGConfig as it will be used if found
+FIND_PACKAGE(OpenCV)
 FIND_PACKAGE(LibUSB REQUIRED)
-FIND_PACKAGE(OpenCV REQUIRED)
 FIND_PACKAGE(TurboJPEG REQUIRED) #does not provide a package-config file
+IF(OPENCV_FOUND)
+    SET(LIBFREENECT2_OPENCV_FOUND 1)
+ENDIF()
 
 # Add includes
 INCLUDE_DIRECTORIES(
@@ -103,7 +106,6 @@ SET(SOURCES
 )
 
 SET(LIBRARIES
-  ${OpenCV_LIBS}
   ${OpenCV_LIBRARIES}
   ${LibUSB_LIBRARIES}
   ${TurboJPEG_LIBRARIES}
@@ -183,8 +185,21 @@ 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 +28,19 @@
 #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
+
+#ifdef LIBFREENECT2_OPENCV_FOUND
+#include <opencv2/opencv.hpp>
+#endif
+
 
 bool protonect_shutdown = false;
 
@@ -135,24 +141,34 @@ int main(int argc, char *argv[])
 
   libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
 
+  Viewer viewer;
+  viewer.initialize();
+
   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];
 
+    registration->apply(rgb, depth, &undistorted, &registered);
+
+#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT) && !defined(LIBFREENECT2_OPENCV_FOUND)
+    viewer.addFrame("RGB", rgb);
+    viewer.addFrame("ir", ir);
+    viewer.addFrame("depth", depth);
+    viewer.addFrame("registered", &registered);
+
+    protonect_shutdown = viewer.render();
+#else
     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));
-
     int key = cv::waitKey(1);
     protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
+#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_OPENCV_FOUND
+
 #endif // LIBFREENECT2_CONFIG_H