added cmake option to disable OpenGL dependencies; choose DefaultPacketPipeline depending on available processors

Author: christiankerl

examples/protonect/CMakeLists.txt

@@ -7,6 +7,7 @@ SET(MY_DIR ${libfreenect2_SOURCE_DIR})
 
 OPTION(ENABLE_CXX11 "Enable C++11 support" OFF)
 OPTION(ENABLE_OPENCL "Enable OpenCL support" ON)
+OPTION(ENABLE_OPENGL "Enable OpenGL support" ON)
 
 IF(ENABLE_CXX11)
   INCLUDE(CheckCXXCompilerFlag)
@@ -48,14 +49,16 @@ INCLUDE_DIRECTORIES(${OpenCV_INCLUDE_DIR})
 INCLUDE_DIRECTORIES("${MY_DIR}/../../depends/libusb/include/libusb-1.0/")
 LINK_DIRECTORIES("${MY_DIR}/../../depends/libusb/lib/")
 
-# GLFW
-SET(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries")
-SET(GLFW_BUILD_EXAMPLES OFF CACHE BOOL "Build the GLFW example programs")
-SET(GLFW_BUILD_TESTS OFF CACHE BOOL "Build the GLFW test programs")
-SET(GLFW_BUILD_DOCS OFF CACHE BOOL "Build the GLFW documentation")
+IF(ENABLE_OPENGL)
+  # GLFW
+  SET(BUILD_SHARED_LIBS ON CACHE BOOL "Build shared libraries")
+  SET(GLFW_BUILD_EXAMPLES OFF CACHE BOOL "Build the GLFW example programs")
+  SET(GLFW_BUILD_TESTS OFF CACHE BOOL "Build the GLFW test programs")
+  SET(GLFW_BUILD_DOCS OFF CACHE BOOL "Build the GLFW documentation")
 
-ADD_SUBDIRECTORY(${MY_DIR}/../../depends/glfw_src/ ${MY_DIR}/../../depends/glfw)
-INCLUDE_DIRECTORIES(${MY_DIR}/../../depends/glfw_src/include/)
+  ADD_SUBDIRECTORY(${MY_DIR}/../../depends/glfw_src/ ${MY_DIR}/../../depends/glfw)
+  INCLUDE_DIRECTORIES(${MY_DIR}/../../depends/glfw_src/include/)
+ENDIF(ENABLE_OPENGL)
 
 if(APPLE)
   # libjpeg-turbo
@@ -102,25 +105,28 @@ SET(RESOURCES
   zTable.bin
 )
 
-# TODO: only append if building with opengl support
-LIST(APPEND SOURCES
-  src/flextGL.c
-  src/opengl_depth_packet_processor.cpp
-)
 
-LIST(APPEND LIBRARIES
-  glfw
-  ${GLFW_LIBRARIES}
-)
+IF(ENABLE_OPENGL)
+  SET(LIBFREENECT2_WITH_OPENGL_SUPPORT 1)
+  LIST(APPEND SOURCES
+    src/flextGL.c
+    src/opengl_depth_packet_processor.cpp
+  )
 
-LIST(APPEND RESOURCES
-  src/shader/debug.fs
-  src/shader/default.vs
-  src/shader/filter1.fs
-  src/shader/filter2.fs
-  src/shader/stage1.fs
-  src/shader/stage2.fs
-)
+  LIST(APPEND LIBRARIES
+    glfw
+    ${GLFW_LIBRARIES}
+  )
+
+  LIST(APPEND RESOURCES
+    src/shader/debug.fs
+    src/shader/default.vs
+    src/shader/filter1.fs
+    src/shader/filter2.fs
+    src/shader/stage1.fs
+    src/shader/stage2.fs
+  )
+ENDIF(ENABLE_OPENGL)
 
 IF(ENABLE_OPENCL AND OPENCL_FOUND)
   SET(LIBFREENECT2_WITH_OPENCL_SUPPORT 1)
@@ -148,14 +154,6 @@ INCLUDE_DIRECTORIES("${MY_DIR}/include")
 ADD_DEFINITIONS(-DRESOURCES_INC)
 ADD_LIBRARY(freenect2 SHARED ${SOURCES})
 TARGET_LINK_LIBRARIES(freenect2 ${LIBRARIES})
-
-ADD_EXECUTABLE(test_opengl
-  src/test_opengl_depth_packet_processor.cpp
-)
-
-TARGET_LINK_LIBRARIES(test_opengl
-  freenect2
-)
 
 ADD_EXECUTABLE(Protonect
   Protonect.cpp

examples/protonect/Protonect.cpp

@@ -28,14 +28,16 @@
 #include <iostream>
 #include <signal.h>
 
-#include <GLFW/glfw3.h>
-
 #include <opencv2/opencv.hpp>
 
 #include <libfreenect2/libfreenect2.hpp>
 #include <libfreenect2/frame_listener_impl.h>
 #include <libfreenect2/threading.h>
 
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
+#include <GLFW/glfw3.h>
+#endif
+
 bool protonect_shutdown = false;
 
 void sigint_handler(int s)
@@ -55,7 +57,6 @@ int main(int argc, char *argv[])
     binpath = program_path.substr(0, executable_name_idx);
   }
 
-  glfwInit();
 
   libfreenect2::Freenect2 freenect2;
   libfreenect2::Freenect2Device *dev = freenect2.openDefaultDevice();

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

@@ -39,6 +39,8 @@
 #define LIBFREENECT2_API
 #endif
 
+#cmakedefine LIBFREENECT2_WITH_OPENGL_SUPPORT
+
 #cmakedefine LIBFREENECT2_WITH_OPENCL_SUPPORT
 
 #cmakedefine LIBFREENECT2_THREADING_STDLIB

examples/protonect/include/libfreenect2/depth_packet_processor.h

@@ -110,6 +110,7 @@ class LIBFREENECT2_API DepthPacketProcessor : public BaseDepthPacketProcessor
   libfreenect2::FrameListener *listener_;
 };
 
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
 class OpenGLDepthPacketProcessorImpl;
 
 class LIBFREENECT2_API OpenGLDepthPacketProcessor : public DepthPacketProcessor
@@ -137,6 +138,7 @@ class LIBFREENECT2_API OpenGLDepthPacketProcessor : public DepthPacketProcessor
 private:
   OpenGLDepthPacketProcessorImpl *impl_;
 };
+#endif // LIBFREENECT2_WITH_OPENGL_SUPPORT
 
 // TODO: push this to some internal namespace
 // use pimpl to hide opencv dependency

examples/protonect/include/libfreenect2/packet_pipeline.h

@@ -82,6 +82,7 @@ class LIBFREENECT2_API CpuPacketPipeline : public BasePacketPipeline
   virtual ~CpuPacketPipeline();
 };
 
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
 class LIBFREENECT2_API OpenGLPacketPipeline : public BasePacketPipeline
 {
 protected:
@@ -92,6 +93,7 @@ class LIBFREENECT2_API OpenGLPacketPipeline : public BasePacketPipeline
   OpenGLPacketPipeline(void *parent_opengl_context = 0, bool debug = false);
   virtual ~OpenGLPacketPipeline();
 };
+#endif // LIBFREENECT2_WITH_OPENGL_SUPPORT
 
 #ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
 class LIBFREENECT2_API OpenCLPacketPipeline : public BasePacketPipeline
@@ -105,7 +107,6 @@ class LIBFREENECT2_API OpenCLPacketPipeline : public BasePacketPipeline
 };
 #endif // LIBFREENECT2_WITH_OPENCL_SUPPORT
 
-typedef OpenGLPacketPipeline DefaultPacketPipeline;
 
 } /* namespace libfreenect2 */
 #endif /* PACKET_PIPELINE_H_ */

examples/protonect/src/libfreenect2.cpp

@@ -600,6 +600,19 @@ void Freenect2DeviceImpl::close()
   std::cout << "[Freenect2DeviceImpl] closed" << std::endl;
 }
 
+PacketPipeline *createDefaultPacketPipeline()
+{
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
+  return new OpenGLPacketPipeline();
+#else
+  #ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT
+    return new OpenCLPacketPipeline();
+  #else
+  return new CpuPacketPipeline();
+  #endif
+#endif
+}
+
 Freenect2::Freenect2(void *usb_context) :
     impl_(new Freenect2Impl(usb_context))
 {
@@ -628,7 +641,7 @@ std::string Freenect2::getDefaultDeviceSerialNumber()
 
 Freenect2Device *Freenect2::openDevice(int idx)
 {
-  return openDevice(idx, new DefaultPacketPipeline());
+  return openDevice(idx, createDefaultPacketPipeline());
 }
 
 Freenect2Device *Freenect2::openDevice(int idx, const PacketPipeline *pipeline)
@@ -719,7 +732,7 @@ Freenect2Device *Freenect2::openDevice(int idx, const PacketPipeline *pipeline,
 
 Freenect2Device *Freenect2::openDevice(const std::string &serial)
 {
-  return openDevice(serial, new DefaultPacketPipeline());
+  return openDevice(serial, createDefaultPacketPipeline());
 }
 
 Freenect2Device *Freenect2::openDevice(const std::string &serial, const PacketPipeline *pipeline)

examples/protonect/src/packet_pipeline.cpp

@@ -96,6 +96,7 @@ DepthPacketProcessor *CpuPacketPipeline::createDepthPacketProcessor()
   return depth_processor;
 }
 
+#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
 OpenGLPacketPipeline::OpenGLPacketPipeline(void *parent_opengl_context, bool debug) : parent_opengl_context_(parent_opengl_context), debug_(debug)
 { 
   initialize();
@@ -112,6 +113,7 @@ DepthPacketProcessor *OpenGLPacketPipeline::createDepthPacketProcessor()
 
   return depth_processor;
 }
+#endif // LIBFREENECT2_WITH_OPENGL_SUPPORT
 
 
 #ifdef LIBFREENECT2_WITH_OPENCL_SUPPORT