Bug fiix import patron.xacro and append packages realsense2

src/realsense2_camera/include/gl_window.h

@@ -0,0 +1,84 @@
+// Copyright 2023 RealSense, Inc. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#include <librealsense2/rs.hpp> // Include RealSense Cross Platform API
+
+#if defined (ACCELERATE_GPU_WITH_GLSL)
+
+#define GL_SILENCE_DEPRECATION
+#define GLFW_INCLUDE_GLU
+#include <GLFW/glfw3.h>
+#include <GL/gl.h>
+#include <iostream>
+
+#include <librealsense2-gl/rs_processing_gl.hpp> // Include GPU-Processing API
+
+
+#ifndef PI
+#define PI  3.14159265358979323846
+#define PI_FL  3.141592f
+#endif
+
+
+class GLwindow
+{
+public:
+
+    GLwindow(int width, int height, const char* title)
+        : _width(width), _height(height)
+    {
+        glfwInit();
+        glfwWindowHint(GLFW_VISIBLE, 0);
+        win = glfwCreateWindow(width, height, title, nullptr, nullptr);
+        if (!win)
+            throw std::runtime_error("Could not open OpenGL window, please check your graphic drivers or use the textual SDK tools");
+        glfwMakeContextCurrent(win);
+
+        glfwSetWindowUserPointer(win, this);
+
+    }
+
+    ~GLwindow()
+    {
+        glfwDestroyWindow(win);
+        glfwTerminate();
+    }
+
+    void close()
+    {
+        glfwSetWindowShouldClose(win, 1);
+    }
+
+    float width() const { return float(_width); }
+    float height() const { return float(_height); }
+
+    operator bool()
+    {
+        auto res = !glfwWindowShouldClose(win);
+
+        glfwPollEvents();
+
+        return res;
+    }
+
+    operator GLFWwindow* () { return win; }
+
+private:
+    GLFWwindow* win;
+    int _width, _height;
+};
+
+#endif