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PR #2956 from Arun-Prasad-V: Extending LibRS's GL support to RS ROS2
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| Original file line number | Diff line number | Diff line change |
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| // Copyright 2023 Intel Corporation. All Rights Reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #pragma once | ||
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| #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API | ||
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| #if defined (ACCELERATE_WITH_GPU) | ||
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| #define GL_SILENCE_DEPRECATION | ||
| #define GLFW_INCLUDE_GLU | ||
| #include <GLFW/glfw3.h> | ||
| #include <GL/gl.h> | ||
| #include <iostream> | ||
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| #include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API | ||
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| #ifndef PI | ||
| #define PI 3.14159265358979323846 | ||
| #define PI_FL 3.141592f | ||
| #endif | ||
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| class GLwindow | ||
| { | ||
| public: | ||
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| GLwindow(int width, int height, const char* title) | ||
| : _width(width), _height(height) | ||
| { | ||
| glfwInit(); | ||
| glfwWindowHint(GLFW_VISIBLE, 0); | ||
| win = glfwCreateWindow(width, height, title, nullptr, nullptr); | ||
| if (!win) | ||
| throw std::runtime_error("Could not open OpenGL window, please check your graphic drivers or use the textual SDK tools"); | ||
| glfwMakeContextCurrent(win); | ||
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| glfwSetWindowUserPointer(win, this); | ||
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| } | ||
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| ~GLwindow() | ||
| { | ||
| glfwDestroyWindow(win); | ||
| glfwTerminate(); | ||
| } | ||
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| void close() | ||
| { | ||
| glfwSetWindowShouldClose(win, 1); | ||
| } | ||
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| float width() const { return float(_width); } | ||
| float height() const { return float(_height); } | ||
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| operator bool() | ||
| { | ||
| auto res = !glfwWindowShouldClose(win); | ||
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| glfwPollEvents(); | ||
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| return res; | ||
| } | ||
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| operator GLFWwindow* () { return win; } | ||
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| private: | ||
| GLFWwindow* win; | ||
| int _width, _height; | ||
| }; | ||
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| #endif |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| // Copyright 2023 Intel Corporation. All Rights Reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "../include/base_realsense_node.h" | ||
| #include <chrono> | ||
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| using namespace realsense2_camera; | ||
| using namespace std::chrono_literals; | ||
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| #if defined (ACCELERATE_WITH_GPU) | ||
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| void BaseRealSenseNode::initOpenGLProcessing(bool use_gpu_processing) | ||
| { | ||
| // Once we have a window, initialize GL module | ||
| // Pass our window to enable sharing of textures between processed frames and the window | ||
| // The "use_gpu_processing" is going to control if we will use CPU or GPU for data processing | ||
| rs2::gl::init_processing(_app, use_gpu_processing); | ||
| if (use_gpu_processing) | ||
| rs2::gl::init_rendering(); | ||
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| _timer = _node.create_wall_timer(1000ms, std::bind(&BaseRealSenseNode::glfwPollEventCallback, this)); | ||
| } | ||
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| void BaseRealSenseNode::glfwPollEventCallback() | ||
| { | ||
| // Must poll the GLFW events perodically, else window will hang or crash | ||
| glfwPollEvents(); | ||
| } | ||
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| void BaseRealSenseNode::shutdownOpenGLProcessing() | ||
| { | ||
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| } | ||
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| #endif |
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