refactor(examples): reduce dependencies on glu

Signed-off-by: Benn Snyder <[email protected]>

Author: piedar

CMakeLists.txt

@@ -47,7 +47,7 @@ include (SetupDirectories)
 
 set (PROJECT_VER_MAJOR 0)
 set (PROJECT_VER_MINOR 7)
-set (PROJECT_VER_PATCH 2)
+set (PROJECT_VER_PATCH 3)
 set (PROJECT_VER
   "${PROJECT_VER_MAJOR}.${PROJECT_VER_MINOR}.${PROJECT_VER_PATCH}")
 set (PROJECT_APIVER

examples/CMakeLists.txt

@@ -51,11 +51,11 @@ if (BUILD_C_SYNC)
   install(TARGETS freenect-regtest freenect-tiltdemo
           DESTINATION bin)
 
-  if (OpenGL_OpenGL_FOUND AND OPENGL_GLU_FOUND AND GLUT_FOUND)
+  if (OpenGL_OpenGL_FOUND AND GLUT_FOUND)
     include_directories(${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
     add_executable(freenect-glpclview glpclview.c)
     include(ChooseOpenGLTarget)
-    target_link_libraries(freenect-glpclview freenect_sync "${OPENGL_TARGET}" OpenGL::GLU GLUT::GLUT ${MATH_LIB})
+    target_link_libraries(freenect-glpclview freenect_sync "${OPENGL_TARGET}" GLUT::GLUT ${MATH_LIB})
     install(TARGETS freenect-glpclview
             DESTINATION bin)
   endif ()

examples/glpclview.c

@@ -45,6 +45,15 @@ int rotangles[2] = {0}; // Panning angles
 float zoom = 1;         // zoom factor
 int color = 1;          // Use the RGB texture or just draw it as color
 
+// implemented here to avoid dependency on libGLU
+void gluPerspective(GLdouble fovY, GLdouble aspect, GLdouble zNear, GLdouble zFar)
+{
+    const double pi = acos(-1);
+    const GLdouble fH = tan(fovY / 360 * pi) * zNear;
+    const GLdouble fW = fH * aspect;
+    glFrustum(-fW, fW, -fH, fH, zNear, zFar);
+}
+
 // Do the projection from u,v,depth to X,Y,Z directly in an opengl matrix
 // These numbers come from a combination of the ros kinect_node wiki, and
 // nicolas burrus' posts.

wrappers/cpp/CMakeLists.txt

@@ -9,20 +9,22 @@ if (BUILD_EXAMPLES)
   find_package(OpenGL COMPONENTS OpenGL)
   find_package(GLUT)
 
-  if (Threads_FOUND AND OpenGL_OpenGL_FOUND AND OPENGL_GLU_FOUND AND GLUT_FOUND)
+  if (Threads_FOUND AND OpenGL_OpenGL_FOUND AND GLUT_FOUND)
+    include(ChooseOpenGLTarget)
     include_directories(. ${THREADS_PTHREADS_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR})
 
     add_executable(freenect-cppview cppview.cpp)
-    add_executable(freenect-cpp_pcview cpp_pc_view.cpp)
-
     target_compile_features(freenect-cppview PUBLIC cxx_std_11)
-    target_compile_features(freenect-cpp_pcview PUBLIC cxx_std_11)
-
-    include(ChooseOpenGLTarget)
-    target_link_libraries(freenect-cppview freenect "${OPENGL_TARGET}" OpenGL::GLU GLUT::GLUT ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
-    target_link_libraries(freenect-cpp_pcview freenect "${OPENGL_TARGET}" OpenGL::GLU GLUT::GLUT ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
-
-    install(TARGETS freenect-cppview freenect-cpp_pcview
+    target_link_libraries(freenect-cppview freenect "${OPENGL_TARGET}" GLUT::GLUT ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+    install(TARGETS freenect-cppview
             DESTINATION bin)
+
+    if (OPENGL_GLU_FOUND)
+      add_executable(freenect-cpp_pcview cpp_pc_view.cpp)
+      target_compile_features(freenect-cpp_pcview PUBLIC cxx_std_11)
+      target_link_libraries(freenect-cpp_pcview freenect "${OPENGL_TARGET}" OpenGL::GLU GLUT::GLUT ${CMAKE_THREAD_LIBS_INIT} ${MATH_LIB})
+      install(TARGETS freenect-cpp_pcview
+              DESTINATION bin)
+    endif()
   endif()
 endif()

wrappers/cpp/cppview.cpp

@@ -34,11 +34,9 @@
 #if defined(__APPLE__)
 #include <GLUT/glut.h>
 #include <OpenGL/gl.h>
-#include <OpenGL/glu.h>
 #else
 #include <GL/glut.h>
 #include <GL/gl.h>
-#include <GL/glu.h>
 #endif