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

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

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4 changes: 0 additions & 4 deletions src/gl/align-gl.cpp
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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
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62 changes: 40 additions & 22 deletions src/gl/colorizer-gl.cpp
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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() ) )
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