ClientKit: Remove dependency on OpenCV from Imaging.

OSVR · Sep 12, 2015 · ff960be · ff960be
1 parent e9bf4b5
commit ff960be
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Showing 10 changed files with 66 additions and 83 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -154,21 +154,54 @@ endif()
 
 if(BUILD_SERVER)
     find_package(libfunctionality REQUIRED)
-endif()
-find_package(OpenCV REQUIRED)
-if(WIN32)
-    set(OSVR_COPY_OPENCV ON)
-else()
-    set(OSVR_COPY_OPENCV OFF)
-endif()
-if(ANDROID)
-    include(OpenCVAndroid)
-endif()
-# Include dir specifically required by 3.0 and up, but missing from config.
-if(NOT OpenCV_VERSION VERSION_LESS 3.0.0)
-    list(REMOVE_DUPLICATES OpenCV_INCLUDE_DIRS)
-    set_target_properties(opencv_core PROPERTIES
-        INTERFACE_INCLUDE_DIRECTORIES "${OpenCV_INCLUDE_DIRS}")
+	find_package(OpenCV REQUIRED)
+	if(WIN32)
+		set(OSVR_COPY_OPENCV ON)
+	else()
+		set(OSVR_COPY_OPENCV OFF)
+	endif()
+	if(ANDROID)
+		include(OpenCVAndroid)
+	endif()
+	# Include dir specifically required by 3.0 and up, but missing from config.
+	if(NOT OpenCV_VERSION VERSION_LESS 3.0.0)
+		list(REMOVE_DUPLICATES OpenCV_INCLUDE_DIRS)
+		set_target_properties(opencv_core PROPERTIES
+			INTERFACE_INCLUDE_DIRECTORIES "${OpenCV_INCLUDE_DIRS}")
+	endif()
+
+	set(OPENCV_MODULES_USED)
+	if(NOT OpenCV_VERSION_MAJOR LESS 3)
+		list(APPEND OPENCV_MODULES_USED opencv_hal)
+	endif()
+	list(APPEND OPENCV_MODULES_USED opencv_core)
+
+	set(OPENCV_CORE_MODULES ${OPENCV_MODULES_USED})
+
+	# Extra OpenCV components.
+	# We set this up here so that if we need to copy DLLs, we can do it in the main
+	# library builds where it's easier to get the right directory on Windows in a build tree.
+	if(BUILD_OPENCV_CAMERA_PLUGIN)
+		if(OpenCV_VERSION_MAJOR LESS 3)
+			set(OPENCV_CAMERA_EXTRA_LIBS opencv_highgui)
+		else()
+			set(OPENCV_CAMERA_EXTRA_LIBS opencv_videoio)
+		endif()
+		list(APPEND OPENCV_MODULES_USED ${OPENCV_CAMERA_EXTRA_LIBS})
+	endif()
+
+	if(BUILD_VIDEOTRACKER_PLUGIN)
+		set(VIDEOTRACKER_EXTRA_LIBS
+			opencv_imgproc
+			opencv_features2d
+			opencv_calib3d
+			opencv_highgui
+			opencv_imgproc
+			opencv_flann)
+		list(APPEND OPENCV_MODULES_USED ${VIDEOTRACKER_EXTRA_LIBS})
+	endif()
+
+	list(REMOVE_DUPLICATES OPENCV_MODULES_USED)
 endif()
 
 find_package(Threads REQUIRED)
@@ -181,39 +214,6 @@ endif()
 
 include(CompilerFeatures)
 
-set(OPENCV_MODULES_USED)
-if(NOT OpenCV_VERSION_MAJOR LESS 3)
-    list(APPEND OPENCV_MODULES_USED opencv_hal)
-endif()
-list(APPEND OPENCV_MODULES_USED opencv_core)
-
-set(OPENCV_CORE_MODULES ${OPENCV_MODULES_USED})
-
-# Extra OpenCV components.
-# We set this up here so that if we need to copy DLLs, we can do it in the main
-# library builds where it's easier to get the right directory on Windows in a build tree.
-if(BUILD_OPENCV_CAMERA_PLUGIN)
-    if(OpenCV_VERSION_MAJOR LESS 3)
-        set(OPENCV_CAMERA_EXTRA_LIBS opencv_highgui)
-    else()
-        set(OPENCV_CAMERA_EXTRA_LIBS opencv_videoio)
-    endif()
-    list(APPEND OPENCV_MODULES_USED ${OPENCV_CAMERA_EXTRA_LIBS})
-endif()
-
-if(BUILD_VIDEOTRACKER_PLUGIN)
-    set(VIDEOTRACKER_EXTRA_LIBS
-        opencv_imgproc
-        opencv_features2d
-        opencv_calib3d
-        opencv_highgui
-        opencv_imgproc
-        opencv_flann)
-    list(APPEND OPENCV_MODULES_USED ${VIDEOTRACKER_EXTRA_LIBS})
-endif()
-
-list(REMOVE_DUPLICATES OPENCV_MODULES_USED)
-
 ###
 # Figure out what Boost compiled libraries we need.
 ###

diff --git a/examples/clients/Imaging.cpp b/examples/clients/Imaging.cpp
@@ -43,7 +43,7 @@ bool gotSomething = false;
 
 void imagingCallback(void *userdata,
                      osvr::util::time::TimeValue const &timestamp,
-                     osvr::clientkit::ImagingReportOpenCV report) {
+                     osvr::clientkit::ImagingReport report) {
     if (report.frame.empty()) {
         std::cout << "Error, frame empty!" << std::endl;
         return;
@@ -57,8 +57,8 @@ void imagingCallback(void *userdata,
     }
 
     cv::imshow(windowNameAndInstructions, report.frame);
-    osvr::clientkit::ImagingReportOpenCV &lastReport =
-        *static_cast<osvr::clientkit::ImagingReportOpenCV *>(userdata);
+    osvr::clientkit::ImagingReport &lastReport =
+        *static_cast<osvr::clientkit::ImagingReport *>(userdata);
     lastReport = report;
 }
 int main() {
@@ -68,7 +68,7 @@ int main() {
 
     /// We keep a copy of the last report to avoid de-allocating the image
     /// buffer until we have a new report.
-    osvr::clientkit::ImagingReportOpenCV lastReport;
+    osvr::clientkit::ImagingReport lastReport;
 
     // Register the imaging callback.
     osvr::clientkit::registerImagingCallback(camera, &imagingCallback,

diff --git a/inc/osvr/ClientKit/Imaging.h b/inc/osvr/ClientKit/Imaging.h
@@ -31,13 +31,11 @@
 #include <osvr/ClientKit/ImagingC.h>
 #include <osvr/Util/ImagingReportTypesC.h>
 #include <osvr/Util/TimeValue.h>
-#include <osvr/Util/OpenCVTypeDispatch.h>
 #include <osvr/Util/Deletable.h>
 
 // Library/third-party includes
 #include <boost/shared_ptr.hpp>
 #include <boost/noncopyable.hpp>
-#include <opencv2/core/core.hpp>
 
 // Standard includes
 // - none
@@ -49,7 +47,7 @@ namespace clientkit {
     /// @{
     /// @brief Register a callback to receive each new full frame of imaging
     /// data.
-    void registerImagingCallback(Interface &iface, ImagingCallbackOpenCV cb,
+    void registerImagingCallback(Interface &iface, ImagingCallback cb,
                                  void *userdata);
 #ifndef OSVR_DOXYGEN_EXTERNAL
     /// @brief Implementation details
@@ -65,7 +63,7 @@ namespace clientkit {
             /// @brief Constructor - private so that only the factory
             /// (registration) function can create it.
             ImagingCallbackRegistration(osvr::clientkit::Interface iface,
-                                        ImagingCallbackOpenCV cb,
+                                        ImagingCallback cb,
                                         void *userdata)
                 : m_cb(cb), m_userdata(userdata),
                   m_ctx(iface.getContext().get()) {
@@ -94,29 +92,25 @@ namespace clientkit {
                                      const struct OSVR_ImagingReport *report) {
                 ImagingCallbackRegistration *self =
                     static_cast<ImagingCallbackRegistration *>(userdata);
-                ImagingReportOpenCV newReport;
+                ImagingReport newReport;
                 newReport.sensor = report->sensor;
                 newReport.buffer.reset(report->state.data,
                                        ImagingDeleter(self->m_ctx));
-                newReport.frame = cv::Mat(
-                    report->state.metadata.height, report->state.metadata.width,
-                    util::computeOpenCVMatType(report->state.metadata),
-                    newReport.buffer.get());
                 self->m_cb(self->m_userdata, *timestamp, newReport);
             }
 
-            ImagingCallbackOpenCV m_cb;
+            ImagingCallback m_cb;
             void *m_userdata;
             OSVR_ClientContext m_ctx;
             friend void osvr::clientkit::registerImagingCallback(
-                Interface &iface, ImagingCallbackOpenCV cb, void *userdata);
+                Interface &iface, ImagingCallback cb, void *userdata);
         };
     } // namespace detail
 
 #endif // OSVR_DOXYGEN_EXTERNAL
 
     inline void registerImagingCallback(Interface &iface,
-                                        ImagingCallbackOpenCV cb,
+                                        ImagingCallback cb,
                                         void *userdata) {
         util::boost_util::DeletablePtr ptr(
             new detail::ImagingCallbackRegistration(iface, cb, userdata));

diff --git a/inc/osvr/ClientKit/Imaging_decl.h b/inc/osvr/ClientKit/Imaging_decl.h
@@ -32,7 +32,6 @@
 
 // Library/third-party includes
 #include <boost/shared_ptr.hpp>
-#include <opencv2/core/core.hpp>
 
 // Standard includes
 // - none
@@ -50,23 +49,19 @@ namespace clientkit {
     /// @brief The user-friendly imaging report. Note that passing this around
     /// by value is OK (doesn't copy the image), and the easiest way to ensure
     /// that the image buffer doesn't get freed before you're done using it.
-    struct ImagingReportOpenCV {
+    struct ImagingReport {
         /// @brief The device sensor number this frame came from.
         OSVR_ChannelCount sensor;
 
-        /// @brief An OpenCV Mat header for accessing the image data in the
-        /// buffer. Does not store the data internally (to reduce copies)!
-        cv::Mat frame;
-
         /// @brief A shared pointer with custom deleter that owns the underlying
         /// image data buffer for the frame.
         ImageBufferPtr buffer;
     };
 
     /// @brief The user-friendly imaging callback type
-    typedef void (*ImagingCallbackOpenCV)(
+    typedef void (*ImagingCallback)(
         void *userdata, util::time::TimeValue const &timestamp,
-        ImagingReportOpenCV report);
+        ImagingReport report);
 
     /// @}
 } // end namespace clientkit

diff --git a/inc/osvr/PluginKit/ImagingInterface.h b/inc/osvr/PluginKit/ImagingInterface.h
@@ -28,8 +28,8 @@
 // Internal Includes
 #include <osvr/PluginKit/DeviceInterface.h>
 #include <osvr/PluginKit/ImagingInterfaceC.h>
+#include <osvr/PluginKit/OpenCVTypeDispatch.h>
 #include <osvr/Util/ChannelCountC.h>
-#include <osvr/Util/OpenCVTypeDispatch.h>
 
 // Library/third-party includes
 #include <opencv2/core/core_c.h>

diff --git a/inc/osvr/Util/OpenCVTypeDispatch.h → inc/osvr/PluginKit/OpenCVTypeDispatch.h b/inc/osvr/Util/OpenCVTypeDispatch.h → inc/osvr/PluginKit/OpenCVTypeDispatch.h
diff --git a/src/osvr/Common/CMakeLists.txt b/src/osvr/Common/CMakeLists.txt
@@ -183,7 +183,6 @@ target_link_libraries(${LIBNAME_FULL}
     osvrUtilCpp
     PRIVATE
     jsoncpp_lib
-    opencv_core
     vendored-vrpn
     eigen-headers
     osvr_cxx11_flags

diff --git a/src/osvr/Common/ImagingComponent.cpp b/src/osvr/Common/ImagingComponent.cpp
@@ -27,13 +27,9 @@
 #include <osvr/Common/BaseDevice.h>
 #include <osvr/Common/Serialization.h>
 #include <osvr/Common/Buffer.h>
-#include <osvr/Util/OpenCVTypeDispatch.h>
 #include <osvr/Util/Flag.h>
 #include <osvr/Util/Verbosity.h>
 
-// Library/third-party includes
-#include <opencv2/core/core.hpp>
-
 // Standard includes
 #include <sstream>
 #include <utility>
@@ -71,9 +67,7 @@ namespace common {
 
             template <typename T>
             void allocateBuffer(T &, size_t bytes, std::true_type const &) {
-                m_imgBuf.reset(reinterpret_cast<OSVR_ImageBufferElement *>(
-                                   cv::fastMalloc(bytes)),
-                               &cv::fastFree);
+                m_imgBuf.reset(reinterpret_cast<OSVR_ImageBufferElement *>(malloc(bytes)));
             }
 
             template <typename T>

diff --git a/src/osvr/PluginKit/CMakeLists.txt b/src/osvr/PluginKit/CMakeLists.txt
@@ -15,7 +15,8 @@ set(API
     "${HEADER_LOCATION}/PluginKitC.h"
     "${HEADER_LOCATION}/PluginRegistration.h"
     "${HEADER_LOCATION}/PluginRegistrationC.h"
-    "${HEADER_LOCATION}/TrackerInterfaceC.h")
+    "${HEADER_LOCATION}/TrackerInterfaceC.h"
+    "${HEADER_LOCATION}/OpenCVTypeDispatch.h")
 
 set(SOURCE
     AnalogInterfaceC.cpp
@@ -51,6 +52,7 @@ target_link_libraries(${LIBNAME_FULL}
     osvrConnection
     osvrUtilCpp
     osvrCommon
+    opencv_core
     vendored-vrpn
     boost_thread)
 

diff --git a/src/osvr/Util/CMakeLists.txt b/src/osvr/Util/CMakeLists.txt
@@ -59,7 +59,6 @@ set(API
     "${HEADER_LOCATION}/MacroToolsC.h"
     "${HEADER_LOCATION}/Microsleep.h"
     "${HEADER_LOCATION}/NumberTypeManipulation.h"
-    "${HEADER_LOCATION}/OpenCVTypeDispatch.h"
     "${HEADER_LOCATION}/PluginCallbackTypesC.h"
     "${HEADER_LOCATION}/PluginRegContextC.h"
     "${HEADER_LOCATION}/PointerWrapper.h"