PR IntelRealSense#12556 from Arun-Prasad-V: Fixing Depth Alignment in…

… Align-GL processing block

examples/CMakeLists.txt

@@ -26,6 +26,7 @@ add_subdirectory(save-to-disk)
 add_subdirectory(multicam)
 add_subdirectory(pointcloud)
 add_subdirectory(align)
+add_subdirectory(align-gl)
 add_subdirectory(align-advanced)
 add_subdirectory(sensor-control)
 add_subdirectory(measure)
@@ -37,4 +38,3 @@ add_subdirectory(record-playback)
 add_subdirectory(motion)
 add_subdirectory(gl)
 add_subdirectory(hdr)
-

examples/align-gl/CMakeLists.txt

@@ -0,0 +1,18 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+#  minimum required cmake version: 3.1.0
+cmake_minimum_required(VERSION 3.1.0)
+
+project(RealsenseExamplesAlignGl )
+
+# Save the command line compile commands in the build output
+set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
+
+if(BUILD_GRAPHICAL_EXAMPLES AND NOT APPLE)
+    add_executable(rs-align-gl rs-align-gl.cpp ../../third-party/imgui/imgui.cpp ../../third-party/imgui/imgui_draw.cpp ../../third-party/imgui/imgui_impl_glfw.cpp)
+    set_property(TARGET rs-align-gl PROPERTY CXX_STANDARD 11)
+    target_link_libraries(rs-align-gl ${DEPENDENCIES} realsense2-gl)
+    include_directories(../../common ../../third-party/imgui ../../examples)
+    set_target_properties (rs-align-gl PROPERTIES FOLDER Examples)
+    install(TARGETS rs-align-gl RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+endif()

examples/align-gl/readme.md

@@ -0,0 +1,114 @@
+# rs-align-gl Sample
+
+## Overview
+
+> Due to driver limitations built-in GPU capabilities are not available at the moment on Mac-OS
+
+This example demonstrates the concept of spatial stream alignment **accelerated with GPU**.
+For example usecase of alignment, please check out align-advanced and measure demos.
+The need for spatial alignment (from here "align") arises from the fact
+that not all camera streams are captured from a single viewport.
+
+
+Align process lets the user translate images from one viewport to another. 
+That said, results of align are synthetic streams, and suffer from several artifacts:
+1. **Sampling** - mapping stream to a different viewport will modify the resolution of the frame 
+              to match the resolution of target viewport. This will either cause downsampling or
+              upsampling via interpolation. The interpolation used needs to be of type
+              Nearest Neighbor to avoid introducing non-existing values.
+2. **Occlussion** - Some pixels in the resulting image correspond to 3D coordinates that the original
+              sensor did not see, because these 3D points were occluded in the original viewport.
+              Such pixels may hold invalid texture values.
+
+## Expected Output
+
+The application should open a window and display video stream from the color camera overlayed on top of depth stream data.
+The slider in bottom of the window control the transparancy of the overlayed stream.
+Checkboxes below allow toggling between depth to color vs color to depth alignment.
+
+<p align="center"><img src="https://raw.githubusercontent.com/wiki/dorodnic/librealsense/align-expected.gif" alt="screenshot gif"/></p>
+
+## Code Overview
+
+In addition to core `realsense2` this example also depends on an auxiliary `realsense2-gl` library. 
+This is not strictly part of core RealSense functionality, but rather a useful extension.
+
+So, in addition to standard `#include <librealsense2/rs.hpp>` you need to include:
+```cpp
+#include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API
+```
+
+This example also uses `IMGUI` library for simple UI rendering:
+
+> In order to allow texture sharing between processing and rendering application, `rs_processing_gl.hpp` needs to be included **after** including `GLFW`.
+
+After defining some helper functions and `window` object, we need to initialize GL processing and rendering subsystems:
+```cpp
+// 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();
+```
+
+In this example we are interested in `RS2_STREAM_DEPTH` and `RS2_STREAM_COLOR` streams:
+```cpp
+// Create a pipeline to easily configure and start the camera
+rs2::pipeline pipe;
+rs2::config cfg;
+cfg.enable_stream(RS2_STREAM_DEPTH);
+cfg.enable_stream(RS2_STREAM_COLOR);
+pipe.start(cfg);
+
+```
+
+SDK class responsible for GL stream alignment is called `rs2::gl::align`. The user should initialize it with desired target stream and applies it to framesets via `process` method.
+```cpp
+// Define two align objects. One will be used to align
+// to depth viewport and the other to color.
+// Creating align object is an expensive operation
+// that should not be performed in the main loop
+rs2::gl::align align_to_depth(RS2_STREAM_DEPTH);
+rs2::gl::align align_to_color(RS2_STREAM_COLOR);
+// ...
+frameset = align_to_depth.process(frameset);
+```
+
+This example also uses GL colorizer `rs2::gl::colorizer` to colorize the depth image.
+```cpp
+rs2::gl::colorizer  c;
+```
+
+Next, we render the two stream overlayed on top of each other using OpenGL blending feature:
+
+```cpp
+glEnable(GL_BLEND);
+// Use the Alpha channel for blending
+glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+if (dir == direction::to_depth)
+{
+	// When aligning to depth, first render depth image
+	// and then overlay color on top with transparancy
+	depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() });
+	color_image.render(color, { 0, 0, app.width(), app.height() }, alpha);
+}
+else
+{
+	// When aligning to color, first render color image
+	// and then overlay depth image on top
+	color_image.render(color, { 0, 0, app.width(), app.height() });
+	depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() }, 1 - alpha);
+}
+
+glColor4f(1.f, 1.f, 1.f, 1.f);
+glDisable(GL_BLEND);
+```
+
+IMGUI is used to render the slider and two checkboxes:
+```cpp
+// Render the UI:
+ImGui_ImplGlfw_NewFrame(1);
+render_slider({ 15.f, app.height() - 60, app.width() - 30, app.height() }, &alpha, &dir);
+ImGui::Render();
+```

examples/align-gl/rs-align-gl.cpp

@@ -0,0 +1,176 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2024 Intel Corporation. All Rights Reserved.
+
+#include <librealsense2/rs.hpp>
+#include "example-imgui.hpp"
+#include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API
+
+
+/*
+ This example introduces the concept of spatial stream alignment.
+ For example usecase of alignment, please check out align-advanced and measure demos.
+ The need for spatial alignment (from here "align") arises from the fact
+ that not all camera streams are captured from a single viewport.
+ Align process lets the user translate images from one viewport to another.
+ That said, results of align are synthetic streams, and suffer from several artifacts:
+ 1. Sampling - mapping stream to a different viewport will modify the resolution of the frame
+               to match the resolution of target viewport. This will either cause downsampling or
+               upsampling via interpolation. The interpolation used needs to be of type
+               Nearest Neighbor to avoid introducing non-existing values.
+ 2. Occlussion - Some pixels in the resulting image correspond to 3D coordinates that the original
+               sensor did not see, because these 3D points were occluded in the original viewport.
+               Such pixels may hold invalid texture values.
+*/
+
+// This example assumes camera with depth and color
+// streams, and direction lets you define the target stream
+enum class direction
+{
+    to_depth,
+    to_color
+};
+
+// Forward definition of UI rendering, implemented below
+void render_slider(rect location, float* alpha, direction* dir);
+
+int main(int argc, char * argv[]) try
+{   
+    std::string serial;
+    if (!device_with_streams({ RS2_STREAM_COLOR,RS2_STREAM_DEPTH }, serial))
+        return EXIT_SUCCESS;
+
+    // The following toggle is going to control
+    // if we will use CPU or GPU for depth data processing
+    bool use_gpu_processing = true;
+
+    // Create and initialize GUI related objects
+    window app(1280, 720, "RealSense Align Example"); // Simple window handling
+    ImGui_ImplGlfw_Init(app, false);      // ImGui library intializition
+
+    // 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();
+
+    rs2::gl::colorizer c;                     // Helper to colorize depth images
+    texture depth_image, color_image;     // Helpers for renderig images
+
+    // Create a pipeline to easily configure and start the camera
+    rs2::pipeline pipe;
+    rs2::config cfg;
+    if (!serial.empty())
+        cfg.enable_device(serial);
+    cfg.enable_stream(RS2_STREAM_DEPTH);
+    cfg.enable_stream(RS2_STREAM_COLOR);
+    pipe.start(cfg);
+
+    // Define two align objects. One will be used to align
+    // to depth viewport and the other to color.
+    // Creating align object is an expensive operation
+    // that should not be performed in the main loop
+    rs2::gl::align align_to_depth(RS2_STREAM_DEPTH);
+    rs2::gl::align align_to_color(RS2_STREAM_COLOR);
+
+    float       alpha = 0.5f;               // Transparancy coefficient
+    direction   dir = direction::to_depth;  // Alignment direction
+
+    while (app) // Application still alive?
+    {
+        // Using the align object, we block the application until a frameset is available
+        rs2::frameset frameset = pipe.wait_for_frames();
+
+        if (dir == direction::to_depth)
+        {
+            // Align all frames to depth viewport
+            frameset = align_to_depth.process(frameset);
+        }
+        else
+        {
+            // Align all frames to color viewport
+            frameset = align_to_color.process(frameset);
+        }
+        // With the aligned frameset we proceed as usual
+        auto depth = frameset.get_depth_frame();
+        auto color = frameset.get_color_frame();
+
+        auto colorized_depth = c.colorize(depth);
+
+        glEnable(GL_BLEND);
+        // Use the Alpha channel for blending
+        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+
+        if (dir == direction::to_depth)
+        {
+            // When aligning to depth, first render depth image
+            // and then overlay color on top with transparancy
+            depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() });
+            color_image.render(color, { 0, 0, app.width(), app.height() }, alpha);
+        }
+        else
+        {
+            // When aligning to color, first render color image
+            // and then overlay depth image on top
+            color_image.render(color, { 0, 0, app.width(), app.height() });
+            depth_image.render(colorized_depth, { 0, 0, app.width(), app.height() }, 1 - alpha);
+        }
+
+        glColor4f(1.f, 1.f, 1.f, 1.f);
+        glDisable(GL_BLEND);
+
+        // Render the UI:
+        ImGui_ImplGlfw_NewFrame(1);
+        render_slider({ 15.f, app.height() - 60, app.width() - 30, app.height() }, &alpha, &dir);
+        ImGui::Render();
+    }
+
+    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;
+}
+
+void render_slider(rect location, float* alpha, direction* dir)
+{
+    static const int flags = ImGuiWindowFlags_NoCollapse
+        | ImGuiWindowFlags_NoScrollbar
+        | ImGuiWindowFlags_NoSavedSettings
+        | ImGuiWindowFlags_NoTitleBar
+        | ImGuiWindowFlags_NoResize
+        | ImGuiWindowFlags_NoMove;
+
+    ImGui::SetNextWindowPos({ location.x, location.y });
+    ImGui::SetNextWindowSize({ location.w, location.h });
+
+    // Render transparency slider:
+    ImGui::Begin("slider", nullptr, flags);
+    ImGui::PushItemWidth(-1);
+    ImGui::SliderFloat("##Slider", alpha, 0.f, 1.f);
+    ImGui::PopItemWidth();
+    if (ImGui::IsItemHovered())
+        ImGui::SetTooltip("Texture Transparancy: %.3f", *alpha);
+
+    // Render direction checkboxes:
+    bool to_depth = (*dir == direction::to_depth);
+    bool to_color = (*dir == direction::to_color);
+
+    if (ImGui::Checkbox("Align To Depth", &to_depth))
+    {
+        *dir = to_depth ? direction::to_depth : direction::to_color;
+    }
+    ImGui::SameLine();
+    ImGui::SetCursorPosX(location.w - 140);
+    if (ImGui::Checkbox("Align To Color", &to_color))
+    {
+        *dir = to_color ? direction::to_color : direction::to_depth;
+    }
+
+    ImGui::End();
+}

examples/readme.md

@@ -31,6 +31,7 @@ For a detailed explanations and API documentation see our [Documentation](../doc
 |[DNN](../wrappers/openvino/dnn)| C++ & [OpenVINO](https://github.com/IntelRealSense/librealsense/tree/master/wrappers/openvino) | Intel RealSense camera used for real-time object-detection | :star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) |
 |[Software Device](./software-device)| C++ | Shows how to create a custom `rs2::device` | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) |
 |[GL](./gl)| C++ | Shows how to perform parts of frame processing using the GPU | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) |
+|[GL Spatial Alignment](./align-gl)| C++ | Shows how to perform frame alignment (depth_to_color & color_to_depth) using the GPU | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) |
 |[Sensor Control](./sensor-control)| C++ | A tutorial for using the `rs2::sensor` API | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md) |
 |[GrabCuts](../wrappers/opencv/grabcuts)| C++ & [OpenCV](https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv#getting-started) | Simple background removal using the GrabCut algorithm | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md)  |
 |[Latency](../wrappers/opencv/latency-tool)| C++ & [OpenCV](https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv#getting-started) | Basic latency estimation using computer vision | :star::star::star: | [![Depth Sensing - Structured Light, Stereo and L500](https://img.shields.io/badge/-Depth-5bc3ff.svg)](./depth.md)  |

src/gl/align-gl.cpp

@@ -138,7 +138,7 @@ void build_opengl_projection_for_intrinsics(matrix4& frustum,
     // additional row is inserted to map the z-coordinate to
     // OpenGL.
     matrix4 tproj;
-    tproj(0,0) = float(alpha);  tproj(0,1) = float(skew);  tproj(0,2) = 0.f;
+    tproj(0,0) = float(alpha);  tproj(0,1) = float(skew);  tproj(0,2) = float(u0);
     tproj(1,1) = float(beta);   tproj(1,2) = float(v0);
     tproj(2,2) = float(-(N+F)); tproj(2,3) = float(-N*F);
     tproj(3,2) = 1.f;