PR IntelRealSense#8884 from Andrew: rs-gl-net sample

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)

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()

examples/gl-net/readme.md

@@ -0,0 +1,7 @@
+# rs-gl-net Sample
+
+## Overview
+
+This sample demonstrates how to connect to remote rs-server over the network and to utilize the GPU for processing of depth frames received from remote camera.
+
+All other information relating utilizing of the GPU see in readme.md of rs-gl sample

examples/gl-net/rs-gl-net.cpp

@@ -0,0 +1,264 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2021 Intel Corporation. All Rights Reserved.
+
+#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
+#include "example.hpp"          // Include short list of convenience functions for rendering
+#include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API
+#include <iostream>
+#include <librealsense2-net/rs_net.hpp>
+// 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 <ip>" << 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<rs2::gl::gpu_frame>())
+        {
+            // 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<std::chrono::seconds>(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();
+}