Skip to content

Moving histogram generation from Align-GL to Colorizer-GL filter #12893

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Draft
wants to merge 1 commit into
base: development
Choose a base branch
from
Draft

Moving histogram generation from Align-GL to Colorizer-GL filter #12893

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 0 additions & 4 deletions src/gl/align-gl.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -93,10 +93,6 @@ void align_gl::align_z_to_other(rs2::video_frame& aligned,
auto extr = prof.get_extrinsics_to(other_profile);

render(p, depth, intr, extr, aligned_tex);

//aligned.get_data();
aligned = _upload->process(aligned);
aligned = _upload->process(aligned);
}

// From: https://jamesgregson.blogspot.com/2011/11/matching-calibrated-cameras-with-opengl.html
Expand Down
62 changes: 40 additions & 22 deletions src/gl/colorizer-gl.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -252,50 +252,68 @@ namespace librealsense

uint32_t depth_texture;
uint32_t hist_texture = _cm_texture;
bool generate_depth_texture = false;
bool generate_histogram_texture = false;
const void *frame_data = nullptr;

if (auto input_frame = f.as<rs2::gl::gpu_frame>())
{
depth_texture = input_frame.get_texture_id(0);
hist_texture = input_frame.get_texture_id(1);

try
{
hist_texture = input_frame.get_texture_id(1);
}
catch(const std::exception& e)
{
LOG_DEBUG("Histogram Texture is not available. Generating one.");
generate_histogram_texture = true;
frame_data = input_frame.get_data();
}
}
else
{
generate_depth_texture = true;
generate_histogram_texture = true;
frame_data = f.get_data();
}
if (generate_depth_texture)
{
glGenTextures(1, &depth_texture);
glBindTexture(GL_TEXTURE_2D, depth_texture);

if (disparity)
{
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, _width, _height, 0, GL_RED, GL_FLOAT, f.get_data());
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, _width, _height, 0, GL_RED, GL_FLOAT, frame_data);
}
else
{
glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, _width, _height, 0, GL_RG, GL_UNSIGNED_BYTE, f.get_data());
glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, _width, _height, 0, GL_RG, GL_UNSIGNED_BYTE, frame_data);
}

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
}
if (generate_histogram_texture && _equalize)
{
glGenTextures(1, &hist_texture);
glBindTexture(GL_TEXTURE_2D, hist_texture);

if (_equalize)
if (disparity)
{
glGenTextures(1, &hist_texture);
glBindTexture(GL_TEXTURE_2D, hist_texture);

if (disparity)
{
update_histogram(_hist_data, reinterpret_cast<const float*>(f.get_data()), _width, _height);
populate_floating_histogram(_fhist_data, _hist_data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, MAX_DISPARITY, 1, 0, GL_RED, GL_FLOAT, _fhist_data);
}
else
{
update_histogram(_hist_data, reinterpret_cast<const uint16_t*>(f.get_data()), _width, _height);
populate_floating_histogram(_fhist_data, _hist_data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, 0xFF, 0xFF, 0, GL_RED, GL_FLOAT, _fhist_data);
}

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
update_histogram(_hist_data, reinterpret_cast<const float*>(frame_data), _width, _height);
populate_floating_histogram(_fhist_data, _hist_data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, MAX_DISPARITY, 1, 0, GL_RED, GL_FLOAT, _fhist_data);
}
else
{
update_histogram(_hist_data, reinterpret_cast<const uint16_t*>(frame_data), _width, _height);
populate_floating_histogram(_fhist_data, _hist_data);
glTexImage2D(GL_TEXTURE_2D, 0, GL_R32F, 0xFF, 0xFF, 0, GL_RED, GL_FLOAT, _fhist_data);
}

glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
}

if( auto gf = dynamic_cast< gpu_addon_interface * >( (frame_interface *)res.get() ) )
Expand Down