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larshgfran6co
larshg
authored and
fran6co
committed
Added viewer to Protonect
Added define for opencv to be able to use either opencv or opengl. Removed dublicate of flextGL .c/.h
1 parent 28ecb12 commit 6b2b89a

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8 files changed

+562
-27
lines changed

8 files changed

+562
-27
lines changed

‎examples/protonect/CMakeLists.txt‎

Lines changed: 20 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -39,15 +39,18 @@ SET(LIBRARY_OUTPUT_PATH ${MY_DIR}/lib)
3939

4040
# dependencies
4141
FIND_PACKAGE(PkgConfig) # try find PKGConfig as it will be used if found
42-
FIND_PACKAGE(LibUSB REQUIRED)
4342
FIND_PACKAGE(OpenCV)
43+
FIND_PACKAGE(LibUSB REQUIRED)
4444
FIND_PACKAGE(TurboJPEG REQUIRED) #does not provide a package-config file
45+
IF(OpenCV_FOUND)
46+
SET(LIBFREENECT2_OPENCV_FOUND 1)
47+
ENDIF()
4548

4649
# Add includes
4750
INCLUDE_DIRECTORIES(
4851
"${MY_DIR}/include"
4952
${LIBFREENECT2_THREADING_INCLUDE_DIR}
50-
# ${OpenCV_INCLUDE_DIRS}
53+
${OpenCV_INCLUDE_DIRS}
5154
${LibUSB_INCLUDE_DIRS}
5255
${TurboJPEG_INCLUDE_DIRS}
5356
)
@@ -103,7 +106,7 @@ SET(SOURCES
103106
)
104107

105108
SET(LIBRARIES
106-
# ${OpenCV_LIBRARIES}
109+
${OpenCV_LIBRARIES}
107110
${LibUSB_LIBRARIES}
108111
${TurboJPEG_LIBRARIES}
109112
${LIBFREENECT2_THREADING_LIBRARIES}
@@ -182,8 +185,21 @@ ENDIF()
182185
MESSAGE("Linking with these libraries: ${LIBRARIES}")
183186
TARGET_LINK_LIBRARIES(freenect2shared ${LIBRARIES})
184187

188+
SET(Protonect_src
189+
Protonect.cpp
190+
)
191+
192+
IF (ENABLE_OPENGL AND OPENGL_FOUND)
193+
LIST(APPEND Protonect_src
194+
viewer.h
195+
viewer.cpp
196+
src/flextGL.c
197+
)
198+
ENDIF()
199+
185200
ADD_EXECUTABLE(Protonect
186-
Protonect.cpp
201+
${Protonect_src}
202+
187203
)
188204

189205
TARGET_LINK_LIBRARIES(Protonect

‎examples/protonect/Protonect.cpp‎

Lines changed: 27 additions & 10 deletions
Original file line numberDiff line numberDiff line change
@@ -28,13 +28,18 @@
2828
#include <iostream>
2929
#include <signal.h>
3030

31-
//#include <opencv2/opencv.hpp>
32-
3331
#include <libfreenect2/libfreenect2.hpp>
3432
#include <libfreenect2/frame_listener_impl.h>
3533
#include <libfreenect2/threading.h>
3634
#include <libfreenect2/registration.h>
3735
#include <libfreenect2/packet_pipeline.h>
36+
#ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
37+
#include "viewer.h"
38+
#endif
39+
#ifdef LIBFREENECT2_OPENCV_FOUND
40+
#include <opencv2/opencv.hpp>
41+
#endif
42+
3843

3944
bool protonect_shutdown = false;
4045

@@ -135,24 +140,36 @@ int main(int argc, char *argv[])
135140

136141
libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
137142

143+
#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT) && !defined(LIBFREENECT2_OPENCV_FOUND)
144+
Viewer viewer;
145+
viewer.initialize();
146+
#endif
147+
138148
while(!protonect_shutdown)
139149
{
140150
listener.waitForNewFrame(frames);
141151
libfreenect2::Frame *rgb = frames[libfreenect2::Frame::Color];
142152
libfreenect2::Frame *ir = frames[libfreenect2::Frame::Ir];
143153
libfreenect2::Frame *depth = frames[libfreenect2::Frame::Depth];
144154

145-
//cv::imshow("rgb", cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data));
146-
//cv::imshow("ir", cv::Mat(ir->height, ir->width, CV_32FC1, ir->data) / 20000.0f);
147-
//cv::imshow("depth", cv::Mat(depth->height, depth->width, CV_32FC1, depth->data) / 4500.0f);
148-
149-
registration->apply(rgb,depth,&undistorted,&registered);
155+
registration->apply(rgb, depth, &undistorted, &registered);
150156

151-
//cv::imshow("undistorted", cv::Mat(undistorted.height, undistorted.width, CV_32FC1, undistorted.data) / 4500.0f);
152-
//cv::imshow("registered", cv::Mat(registered.height, registered.width, CV_8UC4, registered.data));
157+
#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT) && !defined(LIBFREENECT2_OPENCV_FOUND)
158+
viewer.addFrame("RGB", rgb);
159+
viewer.addFrame("ir", ir);
160+
viewer.addFrame("depth", depth);
161+
viewer.addFrame("registered", &registered);
153162

154-
int key = 1;//cv::waitKey(1);
163+
protonect_shutdown = viewer.render();
164+
#else
165+
cv::imshow("rgb", cv::Mat(rgb->height, rgb->width, CV_8UC4, rgb->data));
166+
cv::imshow("ir", cv::Mat(ir->height, ir->width, CV_32FC1, ir->data) / 20000.0f);
167+
cv::imshow("depth", cv::Mat(depth->height, depth->width, CV_32FC1, depth->data) / 4500.0f);
168+
cv::imshow("undistorted", cv::Mat(undistorted.height, undistorted.width, CV_32FC1, undistorted.data) / 4500.0f);
169+
cv::imshow("registered", cv::Mat(registered.height, registered.width, CV_8UC4, registered.data));
170+
int key = cv::waitKey(1);
155171
protonect_shutdown = protonect_shutdown || (key > 0 && ((key & 0xFF) == 27)); // shutdown on escape
172+
#endif
156173

157174
listener.release(frames);
158175
//libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(100));

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

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -47,4 +47,6 @@
4747

4848
#cmakedefine LIBFREENECT2_THREADING_TINYTHREAD
4949

50+
#cmakedefine LIBFREENECT2_OPENCV_FOUND
51+
5052
#endif // LIBFREENECT2_CONFIG_H

‎examples/protonect/src/cpu_depth_packet_processor.cpp‎

Lines changed: 12 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -28,6 +28,9 @@
2828
#include <libfreenect2/resource.h>
2929
#include <libfreenect2/protocol/response.h>
3030

31+
#ifdef LIBFREENECT2_OPENCV_FOUND
32+
#include <opencv2/opencv.hpp>
33+
#endif
3134
#include <iostream>
3235
#include <fstream>
3336

@@ -245,12 +248,15 @@ class CpuDepthPacketProcessorImpl
245248

246249
void startTiming()
247250
{
248-
//timing_current_start = cv::getTickCount();
251+
#ifdef LIBFREENECT2_OPENCV_FOUND
252+
timing_current_start = cv::getTickCount();
253+
#endif
249254
}
250255

251256
void stopTiming()
252257
{
253-
//timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
258+
#ifdef LIBFREENECT2_OPENCV_FOUND
259+
timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
254260
timing_acc_n += 1.0;
255261

256262
if(timing_acc_n >= 100.0)
@@ -260,6 +266,7 @@ class CpuDepthPacketProcessorImpl
260266
timing_acc = 0.0;
261267
timing_acc_n = 0.0;
262268
}
269+
#endif
263270
}
264271

265272
void newIrFrame()
@@ -889,12 +896,13 @@ void CpuDepthPacketProcessor::process(const DepthPacket &packet)
889896
{
890897
if(listener_ == 0) return;
891898

892-
//impl_->startTiming();
899+
impl_->startTiming();
893900

894901
impl_->ir_frame->timestamp = packet.timestamp;
895902
impl_->depth_frame->timestamp = packet.timestamp;
896903
impl_->ir_frame->sequence = packet.sequence;
897904
impl_->depth_frame->sequence = packet.sequence;
905+
898906
Mat<Vec<float, 9> >
899907
m(424, 512),
900908
m_filtered(424, 512)
@@ -977,7 +985,7 @@ void CpuDepthPacketProcessor::process(const DepthPacket &packet)
977985
impl_->newDepthFrame();
978986
}
979987

980-
//impl_->stopTiming();
988+
impl_->stopTiming();
981989
}
982990

983991
} /* namespace libfreenect2 */

‎examples/protonect/src/opencl_depth_packet_processor.cpp‎

Lines changed: 9 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -28,7 +28,9 @@
2828
#include <libfreenect2/resource.h>
2929
#include <libfreenect2/protocol/response.h>
3030

31-
//#include <opencv2/opencv.hpp>
31+
#ifdef LIBFREENECT2_OPENCV_FOUND
32+
#include <opencv2/opencv.hpp>
33+
#endif
3234
#include <iostream>
3335
#include <fstream>
3436
#include <sstream>
@@ -545,12 +547,15 @@ class OpenCLDepthPacketProcessorImpl
545547

546548
void startTiming()
547549
{
548-
//timing_current_start = cv::getTickCount();
550+
#ifdef LIBFREENECT2_OPENCV_FOUND
551+
timing_current_start = cv::getTickCount();
552+
#endif
549553
}
550554

551555
void stopTiming()
552556
{
553-
//timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
557+
#ifdef LIBFREENECT2_OPENCV_FOUND
558+
timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
554559
timing_acc_n += 1.0;
555560

556561
if(timing_acc_n >= 100.0)
@@ -560,6 +565,7 @@ class OpenCLDepthPacketProcessorImpl
560565
timing_acc = 0.0;
561566
timing_acc_n = 0.0;
562567
}
568+
#endif
563569
}
564570

565571
void newIrFrame()

‎examples/protonect/src/turbo_jpeg_rgb_packet_processor.cpp‎

Lines changed: 11 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -25,8 +25,9 @@
2525
*/
2626

2727
#include <libfreenect2/rgb_packet_processor.h>
28-
29-
//#include <opencv2/opencv.hpp>
28+
#ifdef LIBFREENECT2_OPENCV_FOUND
29+
#include <opencv2/opencv.hpp>
30+
#endif
3031
#include <turbojpeg.h>
3132
#include <iostream>
3233

@@ -79,12 +80,15 @@ class TurboJpegRgbPacketProcessorImpl
7980

8081
void startTiming()
8182
{
82-
//timing_current_start = cv::getTickCount();
83+
#ifdef LIBFREENECT2_OPENCV_FOUND
84+
timing_current_start = cv::getTickCount();
85+
#endif
8386
}
8487

8588
void stopTiming()
8689
{
87-
//timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
90+
#ifdef LIBFREENECT2_OPENCV_FOUND
91+
timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
8892
timing_acc_n += 1.0;
8993

9094
if(timing_acc_n >= 100.0)
@@ -94,6 +98,7 @@ class TurboJpegRgbPacketProcessorImpl
9498
timing_acc = 0.0;
9599
timing_acc_n = 0.0;
96100
}
101+
#endif
97102
}
98103
};
99104

@@ -111,7 +116,7 @@ void TurboJpegRgbPacketProcessor::process(const RgbPacket &packet)
111116
{
112117
if(impl_->decompressor != 0 && listener_ != 0)
113118
{
114-
//impl_->startTiming();
119+
impl_->startTiming();
115120

116121
impl_->frame->timestamp = packet.timestamp;
117122
impl_->frame->sequence = packet.sequence;
@@ -130,7 +135,7 @@ void TurboJpegRgbPacketProcessor::process(const RgbPacket &packet)
130135
std::cerr << "[TurboJpegRgbPacketProcessor::doProcess] Failed to decompress rgb image! TurboJPEG error: '" << tjGetErrorStr() << "'" << std::endl;
131136
}
132137

133-
//impl_->stopTiming();
138+
impl_->stopTiming();
134139
}
135140
}
136141

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