histogram generation

Arun-Prasad-V · Apr 23, 2024 · 4636a38 · 4636a38
1 parent 97be414
commit 4636a38
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Showing 8 changed files with 905 additions and 8 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -57,7 +57,7 @@ include(include/CMakeLists.txt)
 include(src/CMakeLists.txt)
 include(third-party/CMakeLists.txt)
 
-target_link_libraries( ${LRS_TARGET} PUBLIC rsutils )
+target_link_libraries( ${LRS_TARGET} PUBLIC rsutils /opt/intel/oneapi/vtune/2024.0/sdk/lib64/libittnotify.a)
 
 if(BUILD_WITH_DDS)
     if (CMAKE_SYSTEM MATCHES "Windows" OR CMAKE_SYSTEM MATCHES "Linux")

diff --git a/examples/align-gl/CMakeLists.txt b/examples/align-gl/CMakeLists.txt
@@ -7,6 +7,7 @@ project(RealsenseExamplesAlignGl )
 
 # Save the command line compile commands in the build output
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-z,stack-size=20000000")
 
 if(BUILD_GRAPHICAL_EXAMPLES AND NOT APPLE)
     add_executable(rs-align-gl rs-align-gl.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)

diff --git a/examples/align-gl/rs-align-gl.cpp b/examples/align-gl/rs-align-gl.cpp
@@ -5,6 +5,7 @@
 #include "example-imgui.hpp"
 #include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API
 
+#pragma comment(linker, "/STACK:838860800")
 
 /*
  This example introduces the concept of spatial stream alignment.
@@ -35,6 +36,7 @@ void render_slider(rect location, float* alpha, direction* dir);
 
 int main(int argc, char * argv[]) try
 {   
+    rs2::log_to_console( RS2_LOG_SEVERITY_DEBUG );
     std::string serial;
     if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial))
         return EXIT_SUCCESS;
@@ -71,15 +73,48 @@ int main(int argc, char * argv[]) try
     // that should not be performed in the main loop
     rs2::gl::align align_to_depth(RS2_STREAM_DEPTH);
     rs2::gl::align align_to_color(RS2_STREAM_COLOR);
+    rs2::gl::pointcloud pc;
+    rs2::gl::uploader upload;
 
     float       alpha = 0.5f;               // Transparancy coefficient
-    direction   dir = direction::to_depth;  // Alignment direction
+    direction   dir = direction::to_color;  // Alignment direction
 
     while (app) // Application still alive?
     {
         // Using the align object, we block the application until a frameset is available
         rs2::frameset frameset = pipe.wait_for_frames();
 
+        std::cout << "Raw frameset: size: " << frameset.size() << std::endl;
+        for (auto frame : frameset)
+        {
+            if(frame.is<rs2::gl::gpu_frame>())
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " Yes" << std::endl;
+            else
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " No" << std::endl;
+        }
+
+        /*frameset = c.process(frameset);
+        std::cout << "After colorizer frameset: size: " << frameset.size() << std::endl;
+
+        for (auto frame : frameset)
+        {
+            if(frame.is<rs2::gl::gpu_frame>())
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " Yes" << std::endl;
+            else
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " No" << std::endl;
+        }
+    
+        frameset = pc.process(frameset);
+        std::cout << "After PC frameset: size: " << frameset.size() << std::endl;
+
+        for (auto frame : frameset)
+        {
+            if(frame.is<rs2::gl::gpu_frame>())
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " Yes" << std::endl;
+            else
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " No" << std::endl;
+        }*/
+
         if (dir == direction::to_depth)
         {
             // Align all frames to depth viewport
@@ -90,11 +125,29 @@ int main(int argc, char * argv[]) try
             // Align all frames to color viewport
             frameset = align_to_color.process(frameset);
         }
+        std::cout << "After Align frameset: size: " << frameset.size() << std::endl;
+        for (auto frame : frameset)
+        {
+            if(frame.is<rs2::gl::gpu_frame>())
+            {
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " Yes" << std::endl;
+                auto gpu_frame = frame.as<rs2::gl::gpu_frame>();
+                auto texture_id = gpu_frame.get_texture_id(0);
+                //auto hist_texture_id = gpu_frame.get_texture_id(1);
+            }
+            else
+                std::cout << frame.get_profile().stream_type() << " " << frame.get_profile().format() << " No" << std::endl;
+        }
+        std::cout << "Arun: Depth Process done" <<std::endl;
+
+        frameset = c.process(frameset);
+        std::cout << "Arun: Colorizer Process done" <<std::endl;
+
         // With the aligned frameset we proceed as usual
-        auto depth = frameset.get_depth_frame();
+        auto colorized_depth = frameset.first(RS2_STREAM_DEPTH);
         auto color = frameset.get_color_frame();
 
-        auto colorized_depth = c.colorize(depth);
+        //auto colorized_depth = c.colorize(depth);
 
         glEnable(GL_BLEND);
         // Use the Alpha channel for blending