PR #3008 from Arun-Prasad-V: Renamed GL GPU enable param

README.md

@@ -306,19 +306,16 @@ User can set the camera name and camera namespace, to distinguish between camera
     - 1 -> **copy**: Every gyro message will be attached by the last accel message.
     - 2 -> **linear_interpolation**: Every gyro message will be attached by an accel message which is interpolated to gyro's timestamp.
   - Note: When the param *unite_imu_method* is dynamically updated, re-enable either gyro or accel stream for the change to take effect.
-- **accelerate_with_gpu**:
-  - GPU accelerated processing of PointCloud and Colorizer filters.
-  - integer:
-    - 0 --> **NO_GPU**: use only CPU for proccessing PointCloud and Colorizer filters
-    - 1 --> **GL_GPU**: use GLSL to accelerate GPU for processing PointCloud and Colorizer filters
+- **accelerate_gpu_with_glsl**:
+  - Boolean: GPU accelerated with GLSL for processing PointCloud and Colorizer filters.
   - Note:
     - To have smooth transition between the processing blocks when this parameter is updated dynamically, the node will:
       - Stop the video sensors
       - Do necessary GLSL configuration
       - And then, start the video sensors
-    - To enable GPU acceleration, turn ON `BUILD_ACCELERATE_WITH_GPU` during build:
+    - To enable GPU acceleration, turn ON `BUILD_ACCELERATE_GPU_WITH_GLSL` during build:
     ```bash
-    colcon build --cmake-args '-DBUILD_ACCELERATE_WITH_GPU=ON'
+    colcon build --cmake-args '-DBUILD_ACCELERATE_GPU_WITH_GLSL=ON'
     ```
 
 #### Parameters that cannot be changed in runtime:

realsense2_camera/CMakeLists.txt

@@ -117,7 +117,7 @@ find_package(tf2 REQUIRED)
 find_package(diagnostic_updater REQUIRED)
 
 find_package(realsense2 2.54.1)
-if (BUILD_ACCELERATE_WITH_GPU)
+if (BUILD_ACCELERATE_GPU_WITH_GLSL)
   find_package(realsense2-gl 2.54.1)
 endif()
 if(NOT realsense2_FOUND)
@@ -144,7 +144,7 @@ set(SOURCES
     src/tfs.cpp
   )
 
-if (BUILD_ACCELERATE_WITH_GPU)
+if (BUILD_ACCELERATE_GPU_WITH_GLSL)
   list(APPEND SOURCES src/gl_gpu_processing.cpp)
 endif()
 
@@ -178,8 +178,8 @@ if(${rclcpp_VERSION} VERSION_GREATER_EQUAL "17.0")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DRCLCPP_HAS_OnSetParametersCallbackType")
 endif()
 
-if (BUILD_ACCELERATE_WITH_GPU)
-  add_definitions(-DACCELERATE_WITH_GPU)
+if (BUILD_ACCELERATE_GPU_WITH_GLSL)
+  add_definitions(-DACCELERATE_GPU_WITH_GLSL)
 endif()
 
 set(INCLUDES
@@ -195,7 +195,7 @@ set(INCLUDES
     include/profile_manager.h
     include/image_publisher.h)
 
-if (BUILD_ACCELERATE_WITH_GPU)
+if (BUILD_ACCELERATE_GPU_WITH_GLSL)
   list(APPEND INCLUDES include/gl_window.h)
 endif()
 
@@ -214,7 +214,7 @@ add_library(${PROJECT_NAME} SHARED
     ${SOURCES}
 )
 
-if (BUILD_ACCELERATE_WITH_GPU)
+if (BUILD_ACCELERATE_GPU_WITH_GLSL)
   set(link_libraries ${realsense2-gl_LIBRARY})
 else()
   set(link_libraries ${realsense2_LIBRARY})
@@ -238,7 +238,7 @@ set(dependencies
   diagnostic_updater
 )
 
-if (BUILD_ACCELERATE_WITH_GPU)
+if (BUILD_ACCELERATE_GPU_WITH_GLSL)
   list(APPEND dependencies realsense2-gl)
 else()
   list(APPEND dependencies realsense2)

realsense2_camera/include/base_realsense_node.h

@@ -49,7 +49,7 @@
 #include <ros_sensor.h>
 #include <named_filter.h>
 
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
 #include <gl_window.h>
 #endif
 
@@ -119,7 +119,6 @@ namespace realsense2_camera
 
     public:
         enum class imu_sync_method{NONE, COPY, LINEAR_INTERPOLATION};
-        enum class accelerate_with_gpu {NO_GPU, GL_GPU};
 
     protected:
         class float3
@@ -268,7 +267,7 @@ namespace realsense2_camera
         void startRGBDPublisherIfNeeded();
         void stopPublishers(const std::vector<rs2::stream_profile>& profiles);
 
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
         void initOpenGLProcessing(bool use_gpu_processing);
         void shutdownOpenGLProcessing();
         void glfwPollEventCallback();
@@ -354,11 +353,11 @@ namespace realsense2_camera
         std::shared_ptr<diagnostic_updater::Updater> _diagnostics_updater;
         rs2::stream_profile _base_profile;
 
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
         GLwindow _app;
         rclcpp::TimerBase::SharedPtr _timer;
-        accelerate_with_gpu _accelerate_with_gpu;
-        bool _is_accelerate_with_gpu_changed;
+        bool _accelerate_gpu_with_glsl;
+        bool _is_accelerate_gpu_with_glsl_changed;
 #endif
 
     };//end class

realsense2_camera/include/gl_window.h

@@ -16,7 +16,7 @@
 
 #include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
 
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
 
 #define GL_SILENCE_DEPRECATION
 #define GLFW_INCLUDE_GLU

realsense2_camera/launch/rs_launch.py

@@ -29,7 +29,7 @@
                            {'name': 'config_file',                  'default': "''", 'description': 'yaml config file'},
                            {'name': 'json_file_path',               'default': "''", 'description': 'allows advanced configuration'},
                            {'name': 'initial_reset',                'default': 'false', 'description': "''"},
-                           {'name': 'accelerate_with_gpu',          'default': "0", 'description': '[0-No_GPU, 1-GL_GPU]'},
+                           {'name': 'accelerate_gpu_with_glsl',     'default': "false", 'description': 'enable GPU acceleration with GLSL'},
                            {'name': 'rosbag_filename',              'default': "''", 'description': 'A realsense bagfile to run from as a device'},
                            {'name': 'log_level',                    'default': 'info', 'description': 'debug log level [DEBUG|INFO|WARN|ERROR|FATAL]'},
                            {'name': 'output',                       'default': 'screen', 'description': 'pipe node output [screen|log]'},

realsense2_camera/src/base_realsense_node.cpp

@@ -115,10 +115,10 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
     _imu_sync_method(imu_sync_method::NONE),
     _is_profile_changed(false),
     _is_align_depth_changed(false)
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
     ,_app(1280, 720, "RS_GLFW_Window"),
-    _accelerate_with_gpu(accelerate_with_gpu::NO_GPU),
-    _is_accelerate_with_gpu_changed(false)
+    _accelerate_gpu_with_glsl(false),
+    _is_accelerate_gpu_with_glsl_changed(false)
 #endif
 {
     if ( use_intra_process )
@@ -234,7 +234,7 @@ void BaseRealSenseNode::setupFilters()
         _cv_mpc.notify_one();
     };
 
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
     _colorizer_filter = std::make_shared<NamedFilter>(std::make_shared<rs2::gl::colorizer>(), _parameters, _logger); 
     _pc_filter = std::make_shared<PointcloudFilter>(std::make_shared<rs2::gl::pointcloud>(), _node, _parameters, _logger);
 #else

realsense2_camera/src/gl_gpu_processing.cpp

@@ -18,7 +18,7 @@
 using namespace realsense2_camera;
 using namespace std::chrono_literals;
 
-#if defined (ACCELERATE_WITH_GPU)
+#if defined (ACCELERATE_GPU_WITH_GLSL)
 
 void BaseRealSenseNode::initOpenGLProcessing(bool use_gpu_processing)
 {

realsense2_camera/src/parameters.cpp

@@ -83,17 +83,17 @@ void BaseRealSenseNode::getParameters()
     _base_frame_id = (static_cast<std::ostringstream&&>(std::ostringstream() << _camera_name << "_" << _base_frame_id)).str();
     _parameters_names.push_back(param_name);
 
-#if defined (ACCELERATE_WITH_GPU)
-    param_name = std::string("accelerate_with_gpu");
-     _parameters->setParam<int>(param_name, int(accelerate_with_gpu::NO_GPU), 
+#if defined (ACCELERATE_GPU_WITH_GLSL)
+    param_name = std::string("accelerate_gpu_with_glsl");
+     _parameters->setParam<bool>(param_name, false, 
                     [this](const rclcpp::Parameter& parameter)
                     {
-                        accelerate_with_gpu temp_value = accelerate_with_gpu(parameter.get_value<int>());
-                        if (_accelerate_with_gpu != temp_value)
+                        bool temp_value = parameter.get_value<bool>();
+                        if (_accelerate_gpu_with_glsl != temp_value)
                         {
-                            _accelerate_with_gpu = temp_value;
+                            _accelerate_gpu_with_glsl = temp_value;
                             std::lock_guard<std::mutex> lock_guard(_profile_changes_mutex);
-                            _is_accelerate_with_gpu_changed = true;
+                            _is_accelerate_gpu_with_glsl_changed = true;
                         }
                         _cv_mpc.notify_one();
                     });

realsense2_camera/src/rs_node_setup.cpp

@@ -22,10 +22,9 @@ using namespace rs2;
 
 void BaseRealSenseNode::setup()
 {
-#if defined (ACCELERATE_WITH_GPU)
-    bool use_gpu_processing = (_accelerate_with_gpu == accelerate_with_gpu::GL_GPU);
-    initOpenGLProcessing(use_gpu_processing);
-    _is_accelerate_with_gpu_changed = false;
+#if defined (ACCELERATE_GPU_WITH_GLSL)
+    initOpenGLProcessing(_accelerate_gpu_with_glsl);
+    _is_accelerate_gpu_with_glsl_changed = false;
 #endif
     setDynamicParams();
     startDiagnosticsUpdater();
@@ -47,15 +46,15 @@ void BaseRealSenseNode::monitoringProfileChanges()
             _cv_mpc.wait_for(lock, std::chrono::milliseconds(time_interval),
                                                [&]{return (!_is_running || _is_profile_changed
                                                                         || _is_align_depth_changed
-                                                                        #if defined (ACCELERATE_WITH_GPU)
-                                                                            || _is_accelerate_with_gpu_changed
+                                                                        #if defined (ACCELERATE_GPU_WITH_GLSL)
+                                                                            || _is_accelerate_gpu_with_glsl_changed
                                                                         #endif
                                                            );});
 
             if (_is_running && (_is_profile_changed
                                         || _is_align_depth_changed
-                                        #if defined (ACCELERATE_WITH_GPU)
-                                            || _is_accelerate_with_gpu_changed
+                                        #if defined (ACCELERATE_GPU_WITH_GLSL)
+                                            || _is_accelerate_gpu_with_glsl_changed
                                         #endif
                                 ))
             {
@@ -71,8 +70,8 @@ void BaseRealSenseNode::monitoringProfileChanges()
                 _is_profile_changed = false;
                 _is_align_depth_changed = false;
 
-                #if defined (ACCELERATE_WITH_GPU)
-                    _is_accelerate_with_gpu_changed = false;
+                #if defined (ACCELERATE_GPU_WITH_GLSL)
+                    _is_accelerate_gpu_with_glsl_changed = false;
                 #endif
             }
         }
@@ -354,13 +353,12 @@ void BaseRealSenseNode::updateSensors()
     try{
         stopRequiredSensors();
 
-        #if defined (ACCELERATE_WITH_GPU)
-            if (_is_accelerate_with_gpu_changed)
+        #if defined (ACCELERATE_GPU_WITH_GLSL)
+            if (_is_accelerate_gpu_with_glsl_changed)
             {
                 shutdownOpenGLProcessing();
 
-                bool use_gpu_processing = (_accelerate_with_gpu == accelerate_with_gpu::GL_GPU);
-                initOpenGLProcessing(use_gpu_processing);
+                initOpenGLProcessing(_accelerate_gpu_with_glsl);
             }
         #endif
 
@@ -394,15 +392,15 @@ void BaseRealSenseNode::stopRequiredSensors()
             // and we are on a video sensor. TODO: explore better options to monitor and update changes
             // without resetting the whole sensors and topics.
             if (is_profile_changed || (is_video_sensor && (_is_align_depth_changed
-                                                                #if defined (ACCELERATE_WITH_GPU)
-                                                                    || _is_accelerate_with_gpu_changed
+                                                                #if defined (ACCELERATE_GPU_WITH_GLSL)
+                                                                    || _is_accelerate_gpu_with_glsl_changed
                                                                 #endif
                                                             )))
             {
                 std::vector<stream_profile> active_profiles = sensor->get_active_streams();
                 if (is_profile_changed
-                        #if defined (ACCELERATE_WITH_GPU)
-                            || _is_accelerate_with_gpu_changed
+                        #if defined (ACCELERATE_GPU_WITH_GLSL)
+                            || _is_accelerate_gpu_with_glsl_changed
                         #endif
                     )
                 {
@@ -440,8 +438,8 @@ void BaseRealSenseNode::startUpdatedSensors()
             bool is_video_sensor = (sensor->is<rs2::depth_sensor>() || sensor->is<rs2::color_sensor>());
 
             if (is_profile_changed || (is_video_sensor && (_is_align_depth_changed
-                                                                #if defined (ACCELERATE_WITH_GPU)
-                                                                    || _is_accelerate_with_gpu_changed
+                                                                #if defined (ACCELERATE_GPU_WITH_GLSL)
+                                                                    || _is_accelerate_gpu_with_glsl_changed
                                                                 #endif
                                                             )))
             {
@@ -459,8 +457,8 @@ void BaseRealSenseNode::startUpdatedSensors()
                     }
 
                     if (is_profile_changed
-                            #if defined (ACCELERATE_WITH_GPU)
-                                || _is_accelerate_with_gpu_changed
+                            #if defined (ACCELERATE_GPU_WITH_GLSL)
+                                || _is_accelerate_gpu_with_glsl_changed
                             #endif
                         )
                     {