mohammedari/opengl_ros

A simple implementation to utilize OpenGL shader (GLSL) code with a GPU-powered machine under ROS environment

opengl_ros's Issues

Speeding up rendering

I've been profiling the renderer and trying to figure out how to speed it up. I'm working on 4k images so I'm trying to reduce rendering time by any means. Currently the rendering is spending essentially the entire time on the three operations below.

30% Writing the texture to the GPU
30% Drawing elements I assume this is the shader running?
40% Reading the texture from the GPU

I can figure out threading and the ROS part but I don't know much about OpenGL. Is it possible to do any of these 3 steps in parallel? Can OpenGL read and write textures at the same time? Or maybe while one texture is being rendered can I buffer the next texture? Or maybe I could use multiple framebuffers? I'm not sure about how OpenGL handles this.

Right now I'm getting 10 frames per second (fps). If I could just do 2 of these steps in parallel I could get to 15fps. If I could get all 3 in parallel that will push me to 25 fps.

Thank you!

Transparency in Images

Hello, I'd like to add transparency to the images I publish from this node. How can I make that change?

Thank you!

Feature Request: Headless Mode

Currently this cannot be run unless run from a graphical display. If run through ssh it returns Failed to initialize EGL display. EGL_FALSE.

While the code modifications recommended here will still compile and run, ultimately it still can't run in headless mode on my intel integrated graphics machine.

I took the code I modified with the above article and submitted them in Pull Request 7