rs_processing_gl.h File Reference

Exposes RealSense processing-block functionality for GPU for C compilers. More...

#include "librealsense2/rs.h"

Go to the source code of this file.

Classes
struct	glfw_binding

Typedefs
typedef enum rs2_gl_extension	rs2_gl_extension
typedef enum rs2_gl_matrix_type	rs2_gl_matrix_type
typedef struct GLFWwindow	GLFWwindow
typedef struct GLFWmonitor	GLFWmonitor
typedef int(*	glfwInitFun) (void)
typedef void(*	glfwWindowHintFun) (int, int)
typedef GLFWwindow *(*	glfwCreateWindowFun) (int, int, const char *, GLFWmonitor *, GLFWwindow *)
typedef void(*	glfwDestroyWindowFun) (GLFWwindow *)
typedef void(*	glfwMakeContextCurrentFun) (GLFWwindow *)
typedef GLFWwindow *(*	glfwGetCurrentContextFun) (void)
typedef void(*	glfwSwapIntervalFun) (int)
typedef void(*	GLFWglproc) (void)
typedef GLFWglproc(*	glfwGetProcAddressFun) (const char *)

Enumerations
enum	rs2_gl_extension { RS2_GL_EXTENSION_VIDEO_FRAME, RS2_GL_EXTENSION_COUNT }
enum	rs2_gl_matrix_type { RS2_GL_MATRIX_TRANSFORMATION, RS2_GL_MATRIX_PROJECTION, RS2_GL_MATRIX_CAMERA, RS2_GL_MATRIX_COUNT }

Functions
const char *	rs2_gl_extension_to_string (rs2_extension type)
const char *	rs2_gl_matrix_type_to_string (rs2_gl_matrix_type type)
rs2_processing_block *	rs2_gl_create_yuy_decoder (int api_version, rs2_error **error)
rs2_processing_block *	rs2_gl_create_y411_decoder (int api_version, rs2_error **error)
void	rs2_gl_set_matrix (rs2_processing_block *block, rs2_gl_matrix_type type, float *m4x4, rs2_error **error)
int	rs2_gl_is_frame_extendable_to (const rs2_frame *f, rs2_gl_extension extension_type, rs2_error **error)
unsigned int	rs2_gl_frame_get_texture_id (const rs2_frame *f, unsigned int id, rs2_error **error)
rs2_processing_block *	rs2_gl_create_camera_renderer (int api_version, rs2_error **error)
rs2_processing_block *	rs2_gl_create_pointcloud_renderer (int api_version, rs2_error **error)
rs2_processing_block *	rs2_gl_create_pointcloud (int api_version, rs2_error **error)
rs2_processing_block *	rs2_gl_create_uploader (int api_version, rs2_error **error)
rs2_processing_block *	rs2_gl_create_colorizer (int api_version, rs2_error **error)
rs2_processing_block *	rs2_gl_create_align (int api_version, rs2_stream to, rs2_error **error)
void	rs2_gl_init_rendering (int api_version, int use_glsl, rs2_error **error)
void	rs2_gl_init_rendering_glfw (int api_version, glfw_binding bindings, int use_glsl, rs2_error **error)
void	rs2_gl_init_processing (int api_version, int use_glsl, rs2_error **error)
void	rs2_gl_init_processing_glfw (int api_version, GLFWwindow *share_with, glfw_binding bindings, int use_glsl, rs2_error **error)
void	rs2_gl_shutdown_rendering (int api_version, rs2_error **error)
void	rs2_gl_shutdown_processing (int api_version, rs2_error **error)

Detailed Description

Exposes RealSense processing-block functionality for GPU for C compilers.

Typedef Documentation

glfwCreateWindowFun

typedef GLFWwindow*(* glfwCreateWindowFun) (int, int, const char *, GLFWmonitor *, GLFWwindow *)

glfwDestroyWindowFun

typedef void(* glfwDestroyWindowFun) (GLFWwindow *)

glfwGetCurrentContextFun

typedef GLFWwindow*(* glfwGetCurrentContextFun) (void)

glfwGetProcAddressFun

typedef GLFWglproc(* glfwGetProcAddressFun) (const char *)

GLFWglproc

typedef void(* GLFWglproc) (void)

glfwInitFun

typedef int(* glfwInitFun) (void)

glfwMakeContextCurrentFun

typedef void(* glfwMakeContextCurrentFun) (GLFWwindow *)

GLFWmonitor

typedef struct GLFWmonitor GLFWmonitor

glfwSwapIntervalFun

typedef void(* glfwSwapIntervalFun) (int)

GLFWwindow

typedef struct GLFWwindow GLFWwindow

glfwWindowHintFun

typedef void(* glfwWindowHintFun) (int, int)

rs2_gl_extension

typedef enum rs2_gl_extension rs2_gl_extension

rs2_gl_matrix_type

typedef enum rs2_gl_matrix_type rs2_gl_matrix_type

Enumeration Type Documentation

rs2_gl_extension

enum rs2_gl_extension

Enumerator
RS2_GL_EXTENSION_VIDEO_FRAME
RS2_GL_EXTENSION_COUNT

rs2_gl_matrix_type

enum rs2_gl_matrix_type

Enumerator
RS2_GL_MATRIX_TRANSFORMATION
RS2_GL_MATRIX_PROJECTION
RS2_GL_MATRIX_CAMERA
RS2_GL_MATRIX_COUNT

Function Documentation

rs2_gl_create_align()

rs2_processing_block* rs2_gl_create_align	(	int	api_version,
		rs2_stream	to,
		rs2_error **	error
	)

Creates Align processing block This block has similar capabilities as the regular librealsense align

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[in]	align_to	stream type to be used as the target of frameset alignment
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_camera_renderer()

rs2_processing_block* rs2_gl_create_camera_renderer	(	int	api_version,
		rs2_error **	error
	)

Camera renderer is a rendering block (meaning it has to be called within the main OpenGL rendering context) that will render the camera model of the frame provided to it

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_colorizer()

rs2_processing_block* rs2_gl_create_colorizer	(	int	api_version,
		rs2_error **	error
	)

Creates Colorizer processing block This block has similar capabilities as the regular librealsense colorizer It is capable of applying depth to RGB conversion using various color schemes and optional histogram equalization

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_pointcloud()

rs2_processing_block* rs2_gl_create_pointcloud	(	int	api_version,
		rs2_error **	error
	)

Creates Point-Cloud processing block. This block accepts depth frames and outputs Points frames In addition, given non-depth frame, the block will align texture coordinate to the non-depth stream

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_pointcloud_renderer()

rs2_processing_block* rs2_gl_create_pointcloud_renderer	(	int	api_version,
		rs2_error **	error
	)

Pointcloud renderer will render texture pointcloud as either points or connected polygons

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_uploader()

rs2_processing_block* rs2_gl_create_uploader	(	int	api_version,
		rs2_error **	error
	)

Creates Upload processing block This object can explicitly copy frames from the CPU to the GPU This allows pre-emptively upload frame to the GPU on a background thread To be used directly in future GPU processing

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_y411_decoder()

rs2_processing_block* rs2_gl_create_y411_decoder	(	int	api_version,
		rs2_error **	error
	)

Creates y411 decoder processing block. This block accepts raw y411 frames and outputs frames in RGB8. https://www.fourcc.org/pixel-format/yuv-y411/ Y411 is disguised as NV12 to allow Linux compatibility. Both are 12bpp encodings that allow high-resolution modes in the camera to still fit within the USB3 limits (YUY wasn't enough).

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_create_yuy_decoder()

rs2_processing_block* rs2_gl_create_yuy_decoder	(	int	api_version,
		rs2_error **	error
	)

Creates a processing block that can efficiently convert YUY image format to RGB variants This is specifically useful for rendering the RGB frame to the screen (since the output is ready for rendering on the GPU)

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_extension_to_string()

const char* rs2_gl_extension_to_string

(

rs2_extension

type

)

rs2_gl_frame_get_texture_id()

unsigned int rs2_gl_frame_get_texture_id	(	const rs2_frame *	f,
		unsigned int	id,
		rs2_error **	error
	)

Assuming frame is extendable to RS2_GL_EXTENSION_VIDEO_FRAME, this method will fetch one of frames texture IDs Each GPU frame can hold one or more OpenGL textures

Parameters

[in]	f	Frame pointer
[in]	id	Index of texture within the frame
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

OpenGL texture

rs2_gl_init_processing()

void rs2_gl_init_processing	(	int	api_version,
		int	use_glsl,
		rs2_error **	error
	)

Initialize processing pipeline. This function allows GL processing blocks to run on the GPU. Until initialized, all GL processing blocks will fall back to their CPU versions. When initializing using this method, texture sharing is not available.

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_init_processing_glfw()

void rs2_gl_init_processing_glfw	(	int	api_version,
		GLFWwindow *	share_with,
		glfw_binding	bindings,
		int	use_glsl,
		rs2_error **	error
	)

In order to share GL processing results with GLFW rendering application the user need to initialize rendering by passing GLFW binding information C++ wrapper will automatically generate and pass this data

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[in]	share_with	Pointer to GLFW window object. This window will be able to use texture IDs provided inside GPU-frames generated by the library
[in]	bindings	Pointers to GLFW methods that will be used by the library
[in]	use_glsl	Use GLSL shaders for processing
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_init_rendering()

void rs2_gl_init_rendering	(	int	api_version,
		int	use_glsl,
		rs2_error **	error
	)

Initialize rendering pipeline. This function must be called before executing any of the rendering blocks. Rendering blocks do not handle threading, and assume all calls (including init / shutdown) Until initialized, rendering blocks will do nothing (function as bypass filters) are serialized and coming from a single rendering thread

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[in]	use_glsl	On modern GPUs you can get slightly better performance using GLSL However, this assumes the current rendering context is v3+ Setting use_glsl to false will use legacy OpenGL calls This in turn assumes the rendering context is either version < 3, or is a compatibility context
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_init_rendering_glfw()

void rs2_gl_init_rendering_glfw	(	int	api_version,
		glfw_binding	bindings,
		int	use_glsl,
		rs2_error **	error
	)

In order to use GL rendering with GLFW application the user need to initialize rendering by passing GLFW binding information C++ wrapper will automatically generate and pass this data

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[in]	bindings	Pointers to GLFW methods that will be used by the library
[in]	use_glsl	Use GLSL shaders for rendering
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_is_frame_extendable_to()

int rs2_gl_is_frame_extendable_to	(	const rs2_frame *	f,
		rs2_gl_extension	extension_type,
		rs2_error **	error
	)

Query if frame is extendable to one of the GL-specific extensions

Parameters

[in]	f	Frame pointer
[in]	extension_type	Extension type
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

Returns

1 if true, 0 otherwise

rs2_gl_matrix_type_to_string()

const char* rs2_gl_matrix_type_to_string

(

rs2_gl_matrix_type

type

)

rs2_gl_set_matrix()

void rs2_gl_set_matrix	(	rs2_processing_block *	block,
		rs2_gl_matrix_type	type,
		float *	m4x4,
		rs2_error **	error
	)

Sets new value to one of processing blocks matrices

Parameters

[in]	block	Processing block object
[in]	type	Matrix type
[in]	m4x4	Pointer to 16 floating point values encoding 4x4 matrix
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_shutdown_processing()

void rs2_gl_shutdown_processing	(	int	api_version,
		rs2_error **	error
	)

Shutdown librealsense processing. This will switch all GL processing blocks into CPU only mode

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored

rs2_gl_shutdown_rendering()

void rs2_gl_shutdown_rendering	(	int	api_version,
		rs2_error **	error
	)

Shutdown librealsense rendering. This will disable all rendering blocks

Parameters

[in]	api_version	Users are expected to pass their version of RS2_API_VERSION to make sure they are running the correct librealsense version.
[out]	error	if non-null, receives any error that occurs during this call, otherwise, errors are ignored