Added GL support for Align-Depth filter

README.md

@@ -355,10 +355,10 @@ User can set the camera name and camera namespace, to distinguish between camera
   - 0 or negative values mean no diagnostics topic is published. Defaults to 0.</br>
 The `/diagnostics` topic includes information regarding the device temperatures and actual frequency of the enabled streams.
 - **accelerate_with_gpu**:
-  - GPU accelerated processing of PointCloud and Colorizer filters.
+  - GPU accelerated processing of PointCloud, Align-Depth 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
+    - 0 --> **NO_GPU**: use only CPU for proccessing PointCloud, Align-Depth and Colorizer filters
+    - 1 --> **GL_GPU**: use GLSL to accelerate GPU for processing PointCloud, Align-Depth and Colorizer filters
   - Note: To enable GPU acceleration, turn ON `BUILD_ACCELERATE_WITH_GPU` during build:
     ```bash
     colcon build --cmake-args '-DBUILD_ACCELERATE_WITH_GPU=ON'

realsense2_camera/src/base_realsense_node.cpp

@@ -238,18 +238,16 @@ 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);
 }
 

realsense2_camera/src/gl_gpu_processing.cpp

@@ -26,6 +26,7 @@ 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();
 
     _timer = _node.create_wall_timer(1000ms, std::bind(&BaseRealSenseNode::glfwPollEventCallback, this));
 }
@@ -38,7 +39,7 @@ void BaseRealSenseNode::glfwPollEventCallback()
 
 void BaseRealSenseNode::shutdownOpenGLProcessing()
 {
-    rs2::gl::shutdown_processing();
+
 }
 
 #endif