Allow Protonect to run without a viewer

Author: xlz

examples/protonect/Protonect.cpp

@@ -99,6 +99,8 @@ int main(int argc, char *argv[])
 
   std::string serial = freenect2.getDefaultDeviceSerialNumber();
 
+  bool viewer_enabled = true;
+
   for(int argI = 1; argI < argc; ++argI)
   {
     const std::string arg(argv[argI]);
@@ -130,6 +132,10 @@ int main(int argc, char *argv[])
     {
       serial = arg;
     }
+    else if(arg == "-noviewer")
+    {
+      viewer_enabled = false;
+    }
     else
     {
       std::cout << "Unknown argument: " << arg << std::endl;
@@ -167,9 +173,13 @@ int main(int argc, char *argv[])
 
   libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
 
+  size_t framecount = 0;
 #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
   Viewer viewer;
-  viewer.initialize();
+  if (viewer_enabled)
+    viewer.initialize();
+#else
+  viewer_enabled = false;
 #endif
 
   while(!protonect_shutdown)
@@ -181,15 +191,22 @@ int main(int argc, char *argv[])
 
     registration->apply(rgb, depth, &undistorted, &registered);
 
+    framecount++;
+    if (!viewer_enabled)
+    {
+      if (framecount % 100 == 0)
+        std::cout << "The viewer is turned off. Received " << framecount << " frames. Ctrl-C to stop." << std::endl;
+      listener.release(frames);
+      continue;
+    }
+
 #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
     viewer.addFrame("RGB", rgb);
     viewer.addFrame("ir", ir);
     viewer.addFrame("depth", depth);
     viewer.addFrame("registered", &registered);
 
-    protonect_shutdown = viewer.render();
-#else
-    protonect_shutdown = true;
+    protonect_shutdown = protonect_shutdown || viewer.render();
 #endif
 
     listener.release(frames);

examples/protonect/viewer.cpp

@@ -5,6 +5,10 @@ Viewer::Viewer() : shader_folder("src/shader/")
     // init glfw - if already initialized nothing happens
     int init = glfwInit();
 
+}
+
+void Viewer::initialize()
+{
     // setup context
     glfwDefaultWindowHints();
     glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
@@ -16,10 +20,6 @@ Viewer::Viewer() : shader_folder("src/shader/")
     //glfwWindowHint(GLFW_VISIBLE, debug ? GL_TRUE : GL_FALSE);
 
     window = glfwCreateWindow(1280, 800, "Viewer", 0, NULL);
-}
-
-void Viewer::initialize()
-{
     glfwMakeContextCurrent(window);
     OpenGLBindings *b = new OpenGLBindings();
     flextInit(window, b);
@@ -190,4 +190,4 @@ bool Viewer::render()
 void Viewer::addFrame(std::string id, libfreenect2::Frame* frame)
 {
     frames[id] = frame;
-}
+}