Reverting the GL support of Align-Depth filter

Arun-Prasad-V · Jan 25, 2024 · 447f1e9 · 447f1e9
1 parent 73df46b
commit 447f1e9
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -239,15 +239,15 @@ void BaseRealSenseNode::setupFilters()
 #if defined (ACCELERATE_WITH_GPU)
     _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);
-    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::gl::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
 #else
     _colorizer_filter = std::make_shared<NamedFilter>(std::make_shared<rs2::colorizer>(), _parameters, _logger);
     _pc_filter = std::make_shared<PointcloudFilter>(std::make_shared<rs2::pointcloud>(), _node, _parameters, _logger);
-    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
 #endif
 
     _filters.push_back(_colorizer_filter);
     _filters.push_back(_pc_filter);
+
+    _align_depth_filter = std::make_shared<AlignDepthFilter>(std::make_shared<rs2::align>(RS2_STREAM_COLOR), update_align_depth_func, _parameters, _logger);
     _filters.push_back(_align_depth_filter);
 }
 

diff --git a/realsense2_camera/src/gl_gpu_processing.cpp b/realsense2_camera/src/gl_gpu_processing.cpp
@@ -26,7 +26,8 @@ void BaseRealSenseNode::initOpenGLProcessing(bool use_gpu_processing)
     // Pass our window to enable sharing of textures between processed frames and the window
     // The "use_gpu_processing" is going to control if we will use CPU or GPU for data processing
     rs2::gl::init_processing(_app, use_gpu_processing);
-    rs2::gl::init_rendering();
+    if (use_gpu_processing)
+        rs2::gl::init_rendering();
 
     _timer = _node.create_wall_timer(1000ms, std::bind(&BaseRealSenseNode::glfwPollEventCallback, this));
 }