From f79baad76d4db8a2ca849e0ac94ee699d4998d22 Mon Sep 17 00:00:00 2001 From: Andrey Uzbekov Date: Thu, 22 Apr 2021 12:19:27 +0300 Subject: [PATCH 1/2] connect to rs-server and draw frames by using GPU --- examples/CMakeLists.txt | 1 + examples/gl-net/CMakeLists.txt | 27 ++++ examples/gl-net/output.PNG | Bin 0 -> 204543 bytes examples/gl-net/readme.md | 7 + examples/gl-net/rs-gl-net.cpp | 264 +++++++++++++++++++++++++++++++++ 5 files changed, 299 insertions(+) create mode 100644 examples/gl-net/CMakeLists.txt create mode 100644 examples/gl-net/output.PNG create mode 100644 examples/gl-net/readme.md create mode 100644 examples/gl-net/rs-gl-net.cpp diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index 248cc50cca..92f15fd802 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -39,6 +39,7 @@ add_subdirectory(post-processing) add_subdirectory(record-playback) add_subdirectory(motion) add_subdirectory(gl) +add_subdirectory(gl-net) add_subdirectory(pose) add_subdirectory(pose-predict) add_subdirectory(pose-and-image) diff --git a/examples/gl-net/CMakeLists.txt b/examples/gl-net/CMakeLists.txt new file mode 100644 index 0000000000..a13246d3b9 --- /dev/null +++ b/examples/gl-net/CMakeLists.txt @@ -0,0 +1,27 @@ +# License: Apache 2.0. See LICENSE file in root directory. +# Copyright(c) 2021 Intel Corporation. All Rights Reserved. +# minimum required cmake version: 3.1.0 +cmake_minimum_required(VERSION 3.1.0) + +project(RealsenseExamplesGLNet) + +# Save the command line compile commands in the build output +set(CMAKE_EXPORT_COMPILE_COMMANDS 1) + +include(CheckCXXCompilerFlag) +CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11) +CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X) +if(COMPILER_SUPPORTS_CXX11) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") +elseif(COMPILER_SUPPORTS_CXX0X) + set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") +endif() + +if(BUILD_GRAPHICAL_EXAMPLES AND NOT APPLE) + #pointcloud + add_executable(rs-gl-net rs-gl-net.cpp ../example.hpp) + target_link_libraries(rs-gl-net ${DEPENDENCIES} realsense2-gl realsense2-net) + include_directories(../) + set_target_properties (rs-gl-net PROPERTIES FOLDER Examples) + install(TARGETS rs-gl-net RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}) +endif() diff --git a/examples/gl-net/output.PNG 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zjGPnar89#VT<6BRh)R2hn5+zYA{h~j^BE#bbg@%@v->j?C->P&26^OP_MARKr0TT$ zUT-gCTXwE}u;;vxjkeSbNlE3A>GgA)1T>8@4TKRrDpPflCw&%YylI_39 z)i3;i0!y-<<{=`Y*=gRIcugKLiWF&th=E23OCpS$hb0V4uE2QB6e&UmPHY1Ry@=Fa9WpDno zzw=;?eG2k600sVP0-6kxwSUXfy*W+c)r4v|_K{Ij$gappenbY&<{uh6VXkJP;hYVn zW{@pVv##mc$0qhbF<;y0%I?M5oj>hA-;of!a3)8n`icPJ|JJr zpZmq2Se37L&TICOj3F9Jj3NLZ_F3nQbXFje0ylw(q%6pRy@w?)OE#8pY&;hEp1<~! zN5`8qoqmSf-hA$wJ!Gw2Af6{$XWxf7(RY3&yLGM}^2vGf7s~0L|6q?bV&VMmSzV$9 zTf?liCwXsj^$Wl73%~FSzwisc@C$zv_~(E6KLPn&XY-9_ // Include RealSense Cross Platform API +#include "example.hpp" // Include short list of convenience functions for rendering +#include // Include GPU-Processing API +#include +#include +// Helper functions +void register_glfw_callbacks(window& app, glfw_state& app_state); +void prepare_matrices(glfw_state& app_state, float width, float height, float* projection, float* view); +bool handle_input(window& app, bool& use_gpu_processing); +// This helper class will be used to keep track of FPS and print instructions: +struct instructions_printer +{ + instructions_printer(); + void print_instructions(window& app, bool use_gpu_processing); + + std::chrono::high_resolution_clock::time_point last_clock; + int rendered_frames; + int last_fps; +}; + +int main(int argc, char * argv[]) try +{ + + if (argc == 1) { + std::cout << "Please, run application with server ip parameter: rs-gl-net.exe " << std::endl; + return EXIT_FAILURE; + } + + // ip if server with rs_server application running + std::string server_ip = argv[1]; + + // The following toggle is going to control + // if we will use CPU or GPU for depth data processing + bool use_gpu_processing = true; + + // Create a simple OpenGL window for rendering: + window app(1280, 720, "RealSense GPU-Processing Example"); + + // Once we have a window, initialize GL module + // Pass our window to enable sharing of textures between processed frames and the window + rs2::gl::init_processing(app, use_gpu_processing); + // Initialize rendering module: + rs2::gl::init_rendering(); + + // Construct an object to manage view state + glfw_state app_state; + // register callbacks to allow manipulation of the pointcloud + register_glfw_callbacks(app, app_state); + + texture tex; // For when not using GPU frames, we will need standard texture object + // to render pointcloud texture (similar to pointcloud example) + + instructions_printer printer; + + // Every iteration the demo will render 3D pointcloud that will be stored in points object: + rs2::points points; + // The pointcloud will use colorized depth as a texture: + rs2::frame depth_texture; + + // ---- Declare GL processing blocks ---- + rs2::gl::pointcloud pc; // similar to rs2::pointcloud + rs2::gl::colorizer colorizer; // similar to rs2::colorizer + rs2::gl::uploader upload; // used to explicitly copy frame to the GPU + + // ---- Declare rendering block ---- + rs2::gl::pointcloud_renderer pc_renderer; // Will handle rendering points object to the screen + + // We will manage two matrices - projection and view + // to handle mouse input and perspective + float proj_matrix[16]; + float view_matrix[16]; + + // Enable pipeline + + rs2::context ctx; + std::cout << "Connecting to " + server_ip << std::endl; + rs2::net_device dev(server_ip); + dev.add_to(ctx); + std::cout << "Connected" << std::endl; + + rs2::pipeline pipe(ctx); + pipe.start(); + + while (app) // Application still alive? + { + // Any new frames? + rs2::frameset frames; + if (pipe.poll_for_frames(&frames)) + { + auto depth = frames.get_depth_frame(); + + // Since both colorizer and pointcloud are going to use depth + // It helps to explicitly upload it to the GPU + // Otherwise, each block will upload the same depth to GPU separately + // [ This step is optional, but can speed things up on some cards ] + // The result of this step is still a rs2::depth_frame, + // but now it is also extendible to rs2::gl::gpu_frame + depth = upload.process(depth); + + // Apply color map with histogram equalization + depth_texture = colorizer.colorize(depth); + + // Tell pointcloud object to map to this color frame + pc.map_to(depth_texture); + + // Generate the pointcloud and texture mappings + points = pc.calculate(depth); + } + + // Populate projection and view matrices based on user input + prepare_matrices(app_state, + app.width(), app.height(), + proj_matrix, view_matrix); + + // We need to get OpenGL texture ID for pointcloud texture + uint32_t texture_id = 0; + // First, check if the frame is already a GPU-frame + if (auto gpu_frame = depth_texture.as()) + { + // If it is (and you have passed window for sharing to init_processing + // you can just get the texture ID of the GPU frame + texture_id = gpu_frame.get_texture_id(0); + } + else + { + // Otherwise, we need to upload texture like in all other examples + tex.upload(depth_texture); + texture_id = tex.get_gl_handle(); + } + + // Clear screen + glClearColor(0.2f, 0.2f, 0.2f, 1.f); + glClear(GL_DEPTH_BUFFER_BIT); + + // We need Depth-Test unless you want pointcloud to intersect with itself + glEnable(GL_DEPTH_TEST); + + // Set texture to our selected texture ID + glEnable(GL_TEXTURE_2D); + glBindTexture(GL_TEXTURE_2D, texture_id); + + // Inform pointcloud-renderer of the projection and view matrices: + pc_renderer.set_matrix(RS2_GL_MATRIX_PROJECTION, proj_matrix); + pc_renderer.set_matrix(RS2_GL_MATRIX_TRANSFORMATION, view_matrix); + + // If we have something to render, use pointcloud-renderer to do it + if (points) pc_renderer.process(points); + + // Disable texturing + glDisable(GL_TEXTURE_2D); + + // Print textual information + printer.print_instructions(app, use_gpu_processing); + + // Handle user input and check if reset is required + if (handle_input(app, use_gpu_processing)) + { + // First, shutdown processing and rendering + rs2::gl::shutdown_rendering(); + rs2::gl::shutdown_processing(); + + // Next, reinitialize processing and rendering with new settings + rs2::gl::init_processing(app, use_gpu_processing); + rs2::gl::init_rendering(); + } + } + + return EXIT_SUCCESS; +} +catch (const rs2::error & e) +{ + std::cerr << "RealSense error calling " << e.get_failed_function() << "(" << e.get_failed_args() << "):\n " << e.what() << std::endl; + return EXIT_FAILURE; +} +catch (const std::exception & e) +{ + std::cerr << e.what() << std::endl; + return EXIT_FAILURE; +} + +instructions_printer::instructions_printer() +{ + // Initialize running clock to keep track of time (for FPS calculation) + auto last_clock = std::chrono::high_resolution_clock::now(); + int rendered_frames = 0; // Counts number of frames since last update + int last_fps = 0; // Stores last calculated FPS + glfwSwapInterval(0); // This is functionally disabling V-Sync, + // allowing application FPS to go beyond monitor refresh rate +} + +void instructions_printer::print_instructions(window& app, bool use_gpu_processing) +{ + glLoadIdentity(); + glMatrixMode(GL_PROJECTION); + glOrtho(0, app.width(), app.height(), 0, -1, +1); + + glColor3f(1.f, 1.f, 1.f); + std::stringstream ss; + ss << "Performing Point-Cloud and Histogram-Equalization (Colorize) on the " << (use_gpu_processing ? "GPU" : "CPU"); + draw_text(20, 20, ss.str().c_str()); + + ss.str(""); + ss << "( Press " << (use_gpu_processing ? "[C] - Switch to processing on the CPU )" : "[G] - Switch to processing on the GPU )"); + draw_text(20, 36, ss.str().c_str()); + + ss.str(""); + ss << "This demo is being rendered at " << last_fps << " frames per second, ~" << (1000 / (last_fps + 1)) << "ms for single rendered frame"; + draw_text(20, 52, ss.str().c_str()); + + rendered_frames++; + + auto since_last_clock = std::chrono::high_resolution_clock::now() - last_clock; + auto sec_elapsed = std::chrono::duration_cast(since_last_clock).count(); + if (sec_elapsed > 0) + { + last_clock = std::chrono::high_resolution_clock::now(); + last_fps = rendered_frames; + rendered_frames = 0; + } +} + +bool handle_input(window& app, bool& use_gpu_processing) +{ + bool reset = false; + + if (glfwGetKey(app, GLFW_KEY_C) == GLFW_PRESS) + { + reset = use_gpu_processing; + use_gpu_processing = false; + } + if (glfwGetKey(app, GLFW_KEY_G) == GLFW_PRESS) + { + reset = !use_gpu_processing; + use_gpu_processing = true; + } + + return reset; +} + +void prepare_matrices(glfw_state& app_state, float width, float height, float* projection, float* view) +{ + glLoadIdentity(); + + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + gluPerspective(60, width / height, 0.01f, 10.0f); + glGetFloatv(GL_PROJECTION_MATRIX, projection); + + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0); + glTranslatef(0, 0, 0.5f + app_state.offset_y * 0.05f); + glRotated(app_state.pitch, 1, 0, 0); + glRotated(app_state.yaw, 0, 1, 0); + glTranslatef(0, 0, -0.5f); + glGetFloatv(GL_MODELVIEW_MATRIX, view); + + glPopMatrix(); + glMatrixMode(GL_PROJECTION); + glPopMatrix(); +} From 8924bb4bd406e75fbb0f2f15068090016bb4ebbb Mon Sep 17 00:00:00 2001 From: Eran Date: Sun, 13 Jun 2021 11:33:18 +0300 Subject: [PATCH 2/2] Update rs-gl-net.cpp --- examples/gl-net/rs-gl-net.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/gl-net/rs-gl-net.cpp b/examples/gl-net/rs-gl-net.cpp index c0e851f096..96c8486462 100644 --- a/examples/gl-net/rs-gl-net.cpp +++ b/examples/gl-net/rs-gl-net.cpp @@ -1,5 +1,5 @@ // License: Apache 2.0. See LICENSE file in root directory. -// Copyright(c) 2015-2017 Intel Corporation. All Rights Reserved. +// Copyright(c) 2021 Intel Corporation. All Rights Reserved. #include // Include RealSense Cross Platform API #include "example.hpp" // Include short list of convenience functions for rendering