Removes Opencv for good

Author: fran6co

examples/protonect/CMakeLists.txt

@@ -39,18 +39,13 @@ 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(TurboJPEG REQUIRED) #does not provide a package-config file
-IF(OpenCV_FOUND)
-    SET(LIBFREENECT2_OPENCV_FOUND 1)
-ENDIF()
 
 # Add includes
 INCLUDE_DIRECTORIES(
   "${MY_DIR}/include"
   ${LIBFREENECT2_THREADING_INCLUDE_DIR}
-  ${OpenCV_INCLUDE_DIRS}
   ${LibUSB_INCLUDE_DIRS}
   ${TurboJPEG_INCLUDE_DIRS}
 )
@@ -106,7 +101,6 @@ SET(SOURCES
 )
 
 SET(LIBRARIES
-  ${OpenCV_LIBRARIES}
   ${LibUSB_LIBRARIES}
   ${TurboJPEG_LIBRARIES}
   ${LIBFREENECT2_THREADING_LIBRARIES}

examples/protonect/Protonect.cpp

@@ -36,9 +36,6 @@
 #ifdef LIBFREENECT2_WITH_OPENGL_SUPPORT
 #include "viewer.h"
 #endif
-#ifdef LIBFREENECT2_OPENCV_FOUND
-#include <opencv2/opencv.hpp>
-#endif
 
 
 bool protonect_shutdown = false;
@@ -140,10 +137,8 @@ int main(int argc, char *argv[])
 
   libfreenect2::Registration* registration = new libfreenect2::Registration(dev->getIrCameraParams(), dev->getColorCameraParams());
 
-#if defined(LIBFREENECT2_WITH_OPENGL_SUPPORT) && !defined(LIBFREENECT2_OPENCV_FOUND)
   Viewer viewer;
   viewer.initialize();
-#endif
 
   while(!protonect_shutdown)
   {
@@ -154,22 +149,12 @@ int main(int argc, char *argv[])
 
     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);
-    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

@@ -47,6 +47,4 @@
 
 #cmakedefine LIBFREENECT2_THREADING_TINYTHREAD
 
-#cmakedefine LIBFREENECT2_OPENCV_FOUND
-
 #endif // LIBFREENECT2_CONFIG_H

examples/protonect/include/libfreenect2/depth_packet_processor.h

@@ -140,7 +140,6 @@ class LIBFREENECT2_API OpenGLDepthPacketProcessor : public DepthPacketProcessor
 #endif // LIBFREENECT2_WITH_OPENGL_SUPPORT
 
 // TODO: push this to some internal namespace
-// use pimpl to hide opencv dependency
 class CpuDepthPacketProcessorImpl;
 
 class LIBFREENECT2_API CpuDepthPacketProcessor : public DepthPacketProcessor

examples/protonect/src/cpu_depth_packet_processor.cpp

@@ -28,9 +28,6 @@
 #include <libfreenect2/resource.h>
 #include <libfreenect2/protocol/response.h>
 
-#ifdef LIBFREENECT2_OPENCV_FOUND
-#include <opencv2/opencv.hpp>
-#endif
 #include <iostream>
 #include <fstream>
 
@@ -219,7 +216,7 @@ class CpuDepthPacketProcessorImpl
   double timing_acc;
   double timing_acc_n;
 
-  double timing_current_start;
+  std::chrono::time_point<std::chrono::high_resolution_clock> timing_current_start;
 
   bool enable_bilateral_filter, enable_edge_filter;
   DepthPacketProcessor::Parameters params;
@@ -235,35 +232,28 @@ class CpuDepthPacketProcessorImpl
 
     timing_acc = 0.0;
     timing_acc_n = 0.0;
-    timing_current_start = 0.0;
 
     enable_bilateral_filter = true;
     enable_edge_filter = true;
 
     flip_ptables = true;
   }
 
-  void startTiming()
-  {
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    timing_current_start = cv::getTickCount();
-#endif
+  void startTiming() {
+    timing_current_start = std::chrono::high_resolution_clock::now();
   }
 
-  void stopTiming()
-  {
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
+  void stopTiming() {
+    timing_acc += std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - timing_current_start).count();
     timing_acc_n += 1.0;
 
     if(timing_acc_n >= 100.0)
     {
       double avg = (timing_acc / timing_acc_n);
-      std::cout << "[CpuDepthPacketProcessor] avg. time: " << (avg * 1000) << "ms -> ~" << (1.0/avg) << "Hz" << std::endl;
+      std::cout << "[CpuDepthPacketProcessor] avg. time: " << avg << "ms -> ~" << (1000.0/avg) << "Hz" << std::endl;
       timing_acc = 0.0;
       timing_acc_n = 0.0;
     }
-#endif
   }
 
   void newIrFrame()

examples/protonect/src/opencl_depth_packet_processor.cpp

@@ -28,9 +28,6 @@
 #include <libfreenect2/resource.h>
 #include <libfreenect2/protocol/response.h>
 
-#ifdef LIBFREENECT2_OPENCV_FOUND
-#include <opencv2/opencv.hpp>
-#endif
 #include <iostream>
 #include <fstream>
 #include <sstream>
@@ -83,7 +80,7 @@ class OpenCLDepthPacketProcessorImpl
   double timing_acc;
   double timing_acc_n;
 
-  double timing_current_start;
+  std::chrono::time_point<std::chrono::high_resolution_clock> timing_current_start;
 
   Frame *ir_frame, *depth_frame;
 
@@ -151,7 +148,6 @@ class OpenCLDepthPacketProcessorImpl
 
     timing_acc = 0.0;
     timing_acc_n = 0.0;
-    timing_current_start = 0.0;
     image_size = 512 * 424;
 
     deviceInitialized = initDevice(deviceId);
@@ -542,27 +538,21 @@ class OpenCLDepthPacketProcessorImpl
     return true;
   }
 
-  void startTiming()
-  {
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    timing_current_start = cv::getTickCount();
-#endif
+  void startTiming() {
+    timing_current_start = std::chrono::high_resolution_clock::now();
   }
 
-  void stopTiming()
-  {
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
+  void stopTiming() {
+    timing_acc += std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - timing_current_start).count();
     timing_acc_n += 1.0;
 
     if(timing_acc_n >= 100.0)
     {
       double avg = (timing_acc / timing_acc_n);
-      std::cout << "[OpenCLDepthPacketProcessor] avg. time: " << (avg * 1000) << "ms -> ~" << (1.0 / avg) << "Hz" << std::endl;
+      std::cout << "[OpenCLDepthPacketProcessor] avg. time: " << avg << "ms -> ~" << (1000.0/avg) << "Hz" << std::endl;
       timing_acc = 0.0;
       timing_acc_n = 0.0;
     }
-#endif
   }
 
   void newIrFrame()

examples/protonect/src/turbo_jpeg_rgb_packet_processor.cpp

@@ -25,9 +25,6 @@
  */
 
 #include <libfreenect2/rgb_packet_processor.h>
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    #include <opencv2/opencv.hpp>
-#endif
 #include <turbojpeg.h>
 #include <iostream>
 
@@ -45,7 +42,7 @@ class TurboJpegRgbPacketProcessorImpl
   double timing_acc;
   double timing_acc_n;
 
-  double timing_current_start;
+  std::chrono::time_point<std::chrono::high_resolution_clock> timing_current_start;
 
   TurboJpegRgbPacketProcessorImpl()
   {
@@ -59,7 +56,6 @@ class TurboJpegRgbPacketProcessorImpl
 
     timing_acc = 0.0;
     timing_acc_n = 0.0;
-    timing_current_start = 0.0;
   }
 
   ~TurboJpegRgbPacketProcessorImpl()
@@ -78,27 +74,21 @@ class TurboJpegRgbPacketProcessorImpl
     frame = new Frame(1920, 1080, tjPixelSize[TJPF_BGRX]);
   }
 
-  void startTiming()
-  {
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    timing_current_start = cv::getTickCount();
-#endif
+  void startTiming() {
+    timing_current_start = std::chrono::high_resolution_clock::now();
   }
 
-  void stopTiming()
-  {
-#ifdef LIBFREENECT2_OPENCV_FOUND
-    timing_acc += (cv::getTickCount() - timing_current_start) / cv::getTickFrequency();
+  void stopTiming() {
+    timing_acc += std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::high_resolution_clock::now() - timing_current_start).count();
     timing_acc_n += 1.0;
 
     if(timing_acc_n >= 100.0)
     {
       double avg = (timing_acc / timing_acc_n);
-      std::cout << "[TurboJpegRgbPacketProcessor] avg. time: " << (avg * 1000) << "ms -> ~" << (1.0/avg) << "Hz" << std::endl;
+      std::cout << "[TurboJpegRgbPacketProcessor] avg. time: " << avg << "ms -> ~" << (1000.0/avg) << "Hz" << std::endl;
       timing_acc = 0.0;
       timing_acc_n = 0.0;
     }
-#endif
   }
 };