__host__ inline void copy_from(const T *data, const Vector2i& sizes, size_t pitch, cudaMemcpyKind kind) { SHAKTI_SAFE_CUDA_CALL(cudaMemcpy2DToArray( _array, 0, 0, data, pitch, sizes[0] * sizeof(T), sizes[1], kind)); }
void RenderTarget::Unmap(void) { cudaMemcpy2DToArray(_array, 0, 0, _deviceMem, _pitch, _texture.Width() * sizeof(float) * 4, _texture.Height(), cudaMemcpyDeviceToDevice); CUDA_CALL(cudaGraphicsUnmapResources(1, &_resource, 0)); }
static void addImageToTextureUint (vector<Mat_<uint8_t> > &imgs, cudaTextureObject_t texs[]) { for (unsigned int i=0; i<imgs.size(); i++) { int rows = imgs[i].rows; int cols = imgs[i].cols; // Create channel with uint8_t point type cudaChannelFormatDesc channelDesc = //cudaCreateChannelDesc (8, //0, //0, //0, //cudaChannelFormatKindUnsigned); cudaCreateChannelDesc<char>(); // Allocate array with correct size and number of channels cudaArray *cuArray; checkCudaErrors(cudaMallocArray(&cuArray, &channelDesc, cols, rows)); checkCudaErrors (cudaMemcpy2DToArray (cuArray, 0, 0, imgs[i].ptr<uint8_t>(), imgs[i].step[0], cols*sizeof(uint8_t), rows, cudaMemcpyHostToDevice)); // Specify texture struct cudaResourceDesc resDesc; memset(&resDesc, 0, sizeof(resDesc)); resDesc.resType = cudaResourceTypeArray; resDesc.res.array.array = cuArray; // Specify texture object parameters struct cudaTextureDesc texDesc; memset(&texDesc, 0, sizeof(texDesc)); texDesc.addressMode[0] = cudaAddressModeWrap; texDesc.addressMode[1] = cudaAddressModeWrap; texDesc.filterMode = cudaFilterModePoint; texDesc.readMode = cudaReadModeElementType; texDesc.normalizedCoords = 0; // Create texture object //cudaTextureObject_t &texObj = texs[i]; checkCudaErrors(cudaCreateTextureObject(&(texs[i]), &resDesc, &texDesc, NULL)); //texs[i] = texObj; } return; }
cudaError_t cudaMemcpy3Dfix(const struct cudaMemcpy3DParms *param) { const cudaMemcpy3DParms& p = *param; // Use cudaMemcpy3D for 3D only // But it does not handle 2D or 1D copies well if (1<p.extent.depth) { return cudaMemcpy3D( &p ); } else if (1<p.extent.height) { // 2D copy // Arraycopy if (0 != p.srcArray && 0 == p.dstArray) { return cudaMemcpy2DFromArray(p.dstPtr.ptr, p.dstPtr.pitch, p.srcArray, p.srcPos.x, p.srcPos.y, p.extent.width, p.extent.height, p.kind); } else if(0 == p.srcArray && 0 != p.dstArray) { return cudaMemcpy2DToArray(p.dstArray, p.dstPos.x, p.dstPos.y, p.srcPtr.ptr, p.srcPtr.pitch, p.extent.width, p.extent.height, p.kind); } else if(0 != p.srcArray && 0 != p.dstArray) { return cudaMemcpy2DArrayToArray( p.dstArray, p.dstPos.x, p.dstPos.y, p.srcArray, p.srcPos.x, p.srcPos.y, p.extent.width, p.extent.height, p.kind); } else { return cudaMemcpy2D( p.dstPtr.ptr, p.dstPtr.pitch, p.srcPtr.ptr, p.srcPtr.pitch, p.extent.width, p.extent.height, p.kind ); } } else { // 1D copy // p.extent.width should not include pitch EXCEPTION_ASSERT( p.extent.width == p.dstPtr.xsize ); EXCEPTION_ASSERT( p.extent.width == p.srcPtr.xsize ); // Arraycopy if (0 != p.srcArray && 0 == p.dstArray) { return cudaMemcpyFromArray(p.dstPtr.ptr, p.srcArray, p.srcPos.x, p.srcPos.y, p.extent.width, p.kind); } else if(0 == p.srcArray && 0 != p.dstArray) { return cudaMemcpyToArray(p.dstArray, p.dstPos.x, p.dstPos.y, p.srcPtr.ptr, p.extent.width, p.kind); } else if(0 != p.srcArray && 0 != p.dstArray) { return cudaMemcpyArrayToArray(p.dstArray, p.dstPos.x, p.dstPos.y, p.srcArray, p.srcPos.x, p.srcPos.y, p.extent.width, p.kind); } else { return cudaMemcpy( p.dstPtr.ptr, p.srcPtr.ptr, p.extent.width, p.kind ); } } }
static void addImageToTextureFloatColor (vector<Mat > &imgs, cudaTextureObject_t texs[]) { for (size_t i=0; i<imgs.size(); i++) { int rows = imgs[i].rows; int cols = imgs[i].cols; // Create channel with floating point type cudaChannelFormatDesc channelDesc = cudaCreateChannelDesc<float4>(); // Allocate array with correct size and number of channels cudaArray *cuArray; checkCudaErrors(cudaMallocArray(&cuArray, &channelDesc, cols, rows)); checkCudaErrors (cudaMemcpy2DToArray (cuArray, 0, 0, imgs[i].ptr<float>(), imgs[i].step[0], cols*sizeof(float)*4, rows, cudaMemcpyHostToDevice)); // Specify texture struct cudaResourceDesc resDesc; memset(&resDesc, 0, sizeof(resDesc)); resDesc.resType = cudaResourceTypeArray; resDesc.res.array.array = cuArray; // Specify texture object parameters struct cudaTextureDesc texDesc; memset(&texDesc, 0, sizeof(texDesc)); texDesc.addressMode[0] = cudaAddressModeWrap; texDesc.addressMode[1] = cudaAddressModeWrap; texDesc.filterMode = cudaFilterModeLinear; texDesc.readMode = cudaReadModeElementType; texDesc.normalizedCoords = 0; // Create texture object checkCudaErrors(cudaCreateTextureObject(&(texs[i]), &resDesc, &texDesc, NULL)); } return; }
SEXP R_auto_cudaMemcpy2DToArray(SEXP r_dst, SEXP r_wOffset, SEXP r_hOffset, SEXP r_src, SEXP r_spitch, SEXP r_width, SEXP r_height, SEXP r_kind) { SEXP r_ans = R_NilValue; cudaArray_t dst = (cudaArray_t) getRReference(r_dst); size_t wOffset = REAL(r_wOffset)[0]; size_t hOffset = REAL(r_hOffset)[0]; const void * src = GET_REF(r_src, const void ); size_t spitch = REAL(r_spitch)[0]; size_t width = REAL(r_width)[0]; size_t height = REAL(r_height)[0]; enum cudaMemcpyKind kind = (enum cudaMemcpyKind) INTEGER(r_kind)[0]; cudaError_t ans; ans = cudaMemcpy2DToArray(dst, wOffset, hOffset, src, spitch, width, height, kind); r_ans = Renum_convert_cudaError_t(ans) ; return(r_ans); }
int main(int argc, char **argv) { // Initialize SDL2's context SDL_Init(SDL_INIT_VIDEO); // Initialize Oculus' context ovrResult result = ovr_Initialize(nullptr); if (OVR_FAILURE(result)) { std::cout << "ERROR: Failed to initialize libOVR" << std::endl; SDL_Quit(); return -1; } ovrSession session; ovrGraphicsLuid luid; // Connect to the Oculus headset result = ovr_Create(&session, &luid); if (OVR_FAILURE(result)) { std::cout << "ERROR: Oculus Rift not detected" << std::endl; ovr_Shutdown(); SDL_Quit(); return -1; } int x = SDL_WINDOWPOS_CENTERED, y = SDL_WINDOWPOS_CENTERED; int winWidth = 1280; int winHeight = 720; Uint32 flags = SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN; // Create SDL2 Window SDL_Window* window = SDL_CreateWindow("OVR ZED App", x, y, winWidth, winHeight, flags); // Create OpenGL context SDL_GLContext glContext = SDL_GL_CreateContext(window); // Initialize GLEW glewInit(); // Turn off vsync to let the compositor do its magic SDL_GL_SetSwapInterval(0); // Initialize the ZED Camera sl::zed::Camera* zed = 0; zed = new sl::zed::Camera(sl::zed::HD720); sl::zed::ERRCODE zederr = zed->init(sl::zed::MODE::PERFORMANCE, 0); int zedWidth = zed->getImageSize().width; int zedHeight = zed->getImageSize().height; if (zederr != sl::zed::SUCCESS) { std::cout << "ERROR: " << sl::zed::errcode2str(zederr) << std::endl; ovr_Destroy(session); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; return -1; } GLuint zedTextureID_L, zedTextureID_R; // Generate OpenGL texture for left images of the ZED camera glGenTextures(1, &zedTextureID_L); glBindTexture(GL_TEXTURE_2D, zedTextureID_L); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, zedWidth, zedHeight, 0, GL_BGRA, GL_UNSIGNED_BYTE, NULL); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); // Generate OpenGL texture for right images of the ZED camera glGenTextures(1, &zedTextureID_R); glBindTexture(GL_TEXTURE_2D, zedTextureID_R); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, zedWidth, zedHeight, 0, GL_BGRA, GL_UNSIGNED_BYTE, NULL); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); glBindTexture(GL_TEXTURE_2D, 0); #if OPENGL_GPU_INTEROP cudaGraphicsResource* cimg_L; cudaGraphicsResource* cimg_R; cudaError_t errL, errR; errL = cudaGraphicsGLRegisterImage(&cimg_L, zedTextureID_L, GL_TEXTURE_2D, cudaGraphicsMapFlagsNone); errR = cudaGraphicsGLRegisterImage(&cimg_R, zedTextureID_R, GL_TEXTURE_2D, cudaGraphicsMapFlagsNone); if (errL != cudaSuccess || errR != cudaSuccess) { std::cout << "ERROR: cannot create CUDA texture : " << errL << "|" << errR << std::endl; } #endif ovrHmdDesc hmdDesc = ovr_GetHmdDesc(session); // Get the texture sizes of Oculus eyes ovrSizei textureSize0 = ovr_GetFovTextureSize(session, ovrEye_Left, hmdDesc.DefaultEyeFov[0], 1.0f); ovrSizei textureSize1 = ovr_GetFovTextureSize(session, ovrEye_Right, hmdDesc.DefaultEyeFov[1], 1.0f); // Compute the final size of the render buffer ovrSizei bufferSize; bufferSize.w = textureSize0.w + textureSize1.w; bufferSize.h = std::max(textureSize0.h, textureSize1.h); // Initialize OpenGL swap textures to render ovrTextureSwapChain textureChain = nullptr; // Description of the swap chain ovrTextureSwapChainDesc descTextureSwap = {}; descTextureSwap.Type = ovrTexture_2D; descTextureSwap.ArraySize = 1; descTextureSwap.Width = bufferSize.w; descTextureSwap.Height = bufferSize.h; descTextureSwap.MipLevels = 1; descTextureSwap.Format = OVR_FORMAT_R8G8B8A8_UNORM_SRGB; descTextureSwap.SampleCount = 1; descTextureSwap.StaticImage = ovrFalse; // Create the OpenGL texture swap chain result = ovr_CreateTextureSwapChainGL(session, &descTextureSwap, &textureChain); int length = 0; ovr_GetTextureSwapChainLength(session, textureChain, &length); if (OVR_SUCCESS(result)) { for (int i = 0; i < length; ++i) { GLuint chainTexId; ovr_GetTextureSwapChainBufferGL(session, textureChain, i, &chainTexId); glBindTexture(GL_TEXTURE_2D, chainTexId); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); } } else { std::cout << "ERROR: failed creating swap texture" << std::endl; ovr_Destroy(session); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; return -1; } // Generate frame buffer to render GLuint fboID; glGenFramebuffers(1, &fboID); // Generate depth buffer of the frame buffer GLuint depthBuffID; glGenTextures(1, &depthBuffID); glBindTexture(GL_TEXTURE_2D, depthBuffID); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); GLenum internalFormat = GL_DEPTH_COMPONENT24; GLenum type = GL_UNSIGNED_INT; glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, bufferSize.w, bufferSize.h, 0, GL_DEPTH_COMPONENT, type, NULL); // Create a mirror texture to display the render result in the SDL2 window ovrMirrorTextureDesc descMirrorTexture; memset(&descMirrorTexture, 0, sizeof(descMirrorTexture)); descMirrorTexture.Width = winWidth; descMirrorTexture.Height = winHeight; descMirrorTexture.Format = OVR_FORMAT_R8G8B8A8_UNORM_SRGB; ovrMirrorTexture mirrorTexture = nullptr; result = ovr_CreateMirrorTextureGL(session, &descMirrorTexture, &mirrorTexture); if (!OVR_SUCCESS(result)) { std::cout << "ERROR: Failed to create mirror texture" << std::endl; } GLuint mirrorTextureId; ovr_GetMirrorTextureBufferGL(session, mirrorTexture, &mirrorTextureId); GLuint mirrorFBOID; glGenFramebuffers(1, &mirrorFBOID); glBindFramebuffer(GL_READ_FRAMEBUFFER, mirrorFBOID); glFramebufferTexture2D(GL_READ_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, mirrorTextureId, 0); glFramebufferRenderbuffer(GL_READ_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, 0); glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); // Frame index used by the compositor // it needs to be updated each new frame long long frameIndex = 0; // FloorLevel will give tracking poses where the floor height is 0 ovr_SetTrackingOriginType(session, ovrTrackingOrigin_FloorLevel); // Initialize a default Pose ovrPosef eyeRenderPose[2]; // Get the render description of the left and right "eyes" of the Oculus headset ovrEyeRenderDesc eyeRenderDesc[2]; eyeRenderDesc[0] = ovr_GetRenderDesc(session, ovrEye_Left, hmdDesc.DefaultEyeFov[0]); eyeRenderDesc[1] = ovr_GetRenderDesc(session, ovrEye_Right, hmdDesc.DefaultEyeFov[1]); // Get the Oculus view scale description ovrVector3f hmdToEyeOffset[2]; double sensorSampleTime; // Create and compile the shader's sources Shader shader(OVR_ZED_VS, OVR_ZED_FS); // Compute the ZED image field of view with the ZED parameters float zedFovH = atanf(zed->getImageSize().width / (zed->getParameters()->LeftCam.fx *2.f)) * 2.f; // Compute the Horizontal Oculus' field of view with its parameters float ovrFovH = (atanf(hmdDesc.DefaultEyeFov[0].LeftTan) + atanf(hmdDesc.DefaultEyeFov[0].RightTan)); // Compute the useful part of the ZED image unsigned int usefulWidth = zed->getImageSize().width * ovrFovH / zedFovH; // Compute the size of the final image displayed in the headset with the ZED image's aspect-ratio kept unsigned int widthFinal = bufferSize.w / 2; float heightGL = 1.f; float widthGL = 1.f; if (usefulWidth > 0.f) { unsigned int heightFinal = zed->getImageSize().height * widthFinal / usefulWidth; // Convert this size to OpenGL viewport's frame's coordinates heightGL = (heightFinal) / (float)(bufferSize.h); widthGL = ((zed->getImageSize().width * (heightFinal / (float)zed->getImageSize().height)) / (float)widthFinal); } else { std::cout << "WARNING: ZED parameters got wrong values." "Default vertical and horizontal FOV are used.\n" "Check your calibration file or check if your ZED is not too close to a surface or an object." << std::endl; } // Compute the Vertical Oculus' field of view with its parameters float ovrFovV = (atanf(hmdDesc.DefaultEyeFov[0].UpTan) + atanf(hmdDesc.DefaultEyeFov[0].DownTan)); // Compute the center of the optical lenses of the headset float offsetLensCenterX = ((atanf(hmdDesc.DefaultEyeFov[0].LeftTan)) / ovrFovH) * 2.f - 1.f; float offsetLensCenterY = ((atanf(hmdDesc.DefaultEyeFov[0].UpTan)) / ovrFovV) * 2.f - 1.f; // Create a rectangle with the computed coordinates and push it in GPU memory. struct GLScreenCoordinates { float left, up, right, down; } screenCoord; screenCoord.up = heightGL + offsetLensCenterY; screenCoord.down = heightGL - offsetLensCenterY; screenCoord.right = widthGL + offsetLensCenterX; screenCoord.left = widthGL - offsetLensCenterX; float rectVertices[12] = { -screenCoord.left, -screenCoord.up, 0, screenCoord.right, -screenCoord.up, 0, screenCoord.right, screenCoord.down, 0, -screenCoord.left, screenCoord.down, 0 }; GLuint rectVBO[3]; glGenBuffers(1, &rectVBO[0]); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[0]); glBufferData(GL_ARRAY_BUFFER, sizeof(rectVertices), rectVertices, GL_STATIC_DRAW); float rectTexCoord[8] = { 0, 1, 1, 1, 1, 0, 0, 0 }; glGenBuffers(1, &rectVBO[1]); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[1]); glBufferData(GL_ARRAY_BUFFER, sizeof(rectTexCoord), rectTexCoord, GL_STATIC_DRAW); unsigned int rectIndices[6] = { 0, 1, 2, 0, 2, 3 }; glGenBuffers(1, &rectVBO[2]); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, rectVBO[2]); glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(rectIndices), rectIndices, GL_STATIC_DRAW); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); glBindBuffer(GL_ARRAY_BUFFER, 0); // Initialize hit value float hit = 0.02f; // Initialize a boolean that will be used to stop the application’s loop and another one to pause/unpause rendering bool end = false; bool refresh = true; // SDL variable that will be used to store input events SDL_Event events; // Initialize time variables. They will be used to limit the number of frames rendered per second. // Frame counter unsigned int riftc = 0, zedc = 1; // Chronometer unsigned int rifttime = 0, zedtime = 0, zedFPS = 0; int time1 = 0, timePerFrame = 0; int frameRate = (int)(1000 / MAX_FPS); // This boolean is used to test if the application is focused bool isVisible = true; // Enable the shader glUseProgram(shader.getProgramId()); // Bind the Vertex Buffer Objects of the rectangle that displays ZED images // vertices glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[0]); glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); // indices glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, rectVBO[2]); // texture coordinates glEnableVertexAttribArray(Shader::ATTRIB_TEXTURE2D_POS); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[1]); glVertexAttribPointer(Shader::ATTRIB_TEXTURE2D_POS, 2, GL_FLOAT, GL_FALSE, 0, 0); // Main loop while (!end) { // Compute the time used to render the previous frame timePerFrame = SDL_GetTicks() - time1; // If the previous frame has been rendered too fast if (timePerFrame < frameRate) { // Pause the loop to have a max FPS equal to MAX_FPS SDL_Delay(frameRate - timePerFrame); timePerFrame = frameRate; } // Increment the ZED chronometer zedtime += timePerFrame; // If ZED chronometer reached 1 second if (zedtime > 1000) { zedFPS = zedc; zedc = 0; zedtime = 0; } // Increment the Rift chronometer and the Rift frame counter rifttime += timePerFrame; riftc++; // If Rift chronometer reached 200 milliseconds if (rifttime > 200) { // Display FPS std::cout << "\rRIFT FPS: " << 1000 / (rifttime / riftc) << " | ZED FPS: " << zedFPS; // Reset Rift chronometer rifttime = 0; // Reset Rift frame counter riftc = 0; } // Start frame chronometer time1 = SDL_GetTicks(); // While there is an event catched and not tested while (SDL_PollEvent(&events)) { // If a key is released if (events.type == SDL_KEYUP) { // If Q quit the application if (events.key.keysym.scancode == SDL_SCANCODE_Q) end = true; // If R reset the hit value else if (events.key.keysym.scancode == SDL_SCANCODE_R) hit = 0.0f; // If C pause/unpause rendering else if (events.key.keysym.scancode == SDL_SCANCODE_C) refresh = !refresh; } // If the mouse wheel is used if (events.type == SDL_MOUSEWHEEL) { // Increase or decrease hit value float s; events.wheel.y > 0 ? s = 1.0f : s = -1.0f; hit += 0.005f * s; } } // Get texture swap index where we must draw our frame GLuint curTexId; int curIndex; ovr_GetTextureSwapChainCurrentIndex(session, textureChain, &curIndex); ovr_GetTextureSwapChainBufferGL(session, textureChain, curIndex, &curTexId); // Call ovr_GetRenderDesc each frame to get the ovrEyeRenderDesc, as the returned values (e.g. HmdToEyeOffset) may change at runtime. eyeRenderDesc[0] = ovr_GetRenderDesc(session, ovrEye_Left, hmdDesc.DefaultEyeFov[0]); eyeRenderDesc[1] = ovr_GetRenderDesc(session, ovrEye_Right, hmdDesc.DefaultEyeFov[1]); hmdToEyeOffset[0] = eyeRenderDesc[0].HmdToEyeOffset; hmdToEyeOffset[1] = eyeRenderDesc[1].HmdToEyeOffset; // Get eye poses, feeding in correct IPD offset ovr_GetEyePoses(session, frameIndex, ovrTrue, hmdToEyeOffset, eyeRenderPose, &sensorSampleTime); // If the application is focused if (isVisible) { // If successful grab a new ZED image if (!zed->grab(sl::zed::SENSING_MODE::RAW, false, false)) { // Update the ZED frame counter zedc++; if (refresh) { #if OPENGL_GPU_INTEROP sl::zed::Mat m = zed->retrieveImage_gpu(sl::zed::SIDE::LEFT); cudaArray_t arrIm; cudaGraphicsMapResources(1, &cimg_L, 0); cudaGraphicsSubResourceGetMappedArray(&arrIm, cimg_L, 0, 0); cudaMemcpy2DToArray(arrIm, 0, 0, m.data, m.step, zedWidth * 4, zedHeight, cudaMemcpyDeviceToDevice); cudaGraphicsUnmapResources(1, &cimg_L, 0); m = zed->retrieveImage_gpu(sl::zed::SIDE::RIGHT); cudaGraphicsMapResources(1, &cimg_R, 0); cudaGraphicsSubResourceGetMappedArray(&arrIm, cimg_R, 0, 0); cudaMemcpy2DToArray(arrIm, 0, 0, m.data, m.step, zedWidth * 4, zedHeight, cudaMemcpyDeviceToDevice); // *4 = 4 channels * 1 bytes (uint) cudaGraphicsUnmapResources(1, &cimg_R, 0); #endif // Bind the frame buffer glBindFramebuffer(GL_FRAMEBUFFER, fboID); // Set its color layer 0 as the current swap texture glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, curTexId, 0); // Set its depth layer as our depth buffer glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, depthBuffID, 0); // Clear the frame buffer glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glClearColor(0, 0, 0, 1); // Render for each Oculus eye the equivalent ZED image for (int eye = 0; eye < 2; eye++) { // Set the left or right vertical half of the buffer as the viewport glViewport(eye == ovrEye_Left ? 0 : bufferSize.w / 2, 0, bufferSize.w / 2, bufferSize.h); // Bind the left or right ZED image glBindTexture(GL_TEXTURE_2D, eye == ovrEye_Left ? zedTextureID_L : zedTextureID_R); #if !OPENGL_GPU_INTEROP glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, zedWidth, zedHeight, 0, GL_BGRA, GL_UNSIGNED_BYTE, zed->retrieveImage(eye == ovrEye_Left ? sl::zed::SIDE::LEFT : sl::zed::SIDE::RIGHT).data); #endif // Bind the hit value glUniform1f(glGetUniformLocation(shader.getProgramId(), "hit"), eye == ovrEye_Left ? hit : -hit); // Bind the isLeft value glUniform1ui(glGetUniformLocation(shader.getProgramId(), "isLeft"), eye == ovrEye_Left ? 1U : 0U); // Draw the ZED image glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0); } // Avoids an error when calling SetAndClearRenderSurface during next iteration. // Without this, during the next while loop iteration SetAndClearRenderSurface // would bind a framebuffer with an invalid COLOR_ATTACHMENT0 because the texture ID // associated with COLOR_ATTACHMENT0 had been unlocked by calling wglDXUnlockObjectsNV. glBindFramebuffer(GL_FRAMEBUFFER, fboID); glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, 0, 0); glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, 0, 0); // Commit changes to the textures so they get picked up frame ovr_CommitTextureSwapChain(session, textureChain); } // Do not forget to increment the frameIndex! frameIndex++; } } /* Note: Even if we don't ask to refresh the framebuffer or if the Camera::grab() doesn't catch a new frame, we have to submit an image to the Rift; it needs 75Hz refresh. Else there will be jumbs, black frames and/or glitches in the headset. */ ovrLayerEyeFov ld; ld.Header.Type = ovrLayerType_EyeFov; // Tell to the Oculus compositor that our texture origin is at the bottom left ld.Header.Flags = ovrLayerFlag_TextureOriginAtBottomLeft; // Because OpenGL | Disable head tracking // Set the Oculus layer eye field of view for each view for (int eye = 0; eye < 2; ++eye) { // Set the color texture as the current swap texture ld.ColorTexture[eye] = textureChain; // Set the viewport as the right or left vertical half part of the color texture ld.Viewport[eye] = OVR::Recti(eye == ovrEye_Left ? 0 : bufferSize.w / 2, 0, bufferSize.w / 2, bufferSize.h); // Set the field of view ld.Fov[eye] = hmdDesc.DefaultEyeFov[eye]; // Set the pose matrix ld.RenderPose[eye] = eyeRenderPose[eye]; } ld.SensorSampleTime = sensorSampleTime; ovrLayerHeader* layers = &ld.Header; // Submit the frame to the Oculus compositor // which will display the frame in the Oculus headset result = ovr_SubmitFrame(session, frameIndex, nullptr, &layers, 1); if (!OVR_SUCCESS(result)) { std::cout << "ERROR: failed to submit frame" << std::endl; glDeleteBuffers(3, rectVBO); ovr_DestroyTextureSwapChain(session, textureChain); ovr_DestroyMirrorTexture(session, mirrorTexture); ovr_Destroy(session); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; return -1; } if (result == ovrSuccess && !isVisible) { std::cout << "The application is now shown in the headset." << std::endl; } isVisible = (result == ovrSuccess); // This is not really needed for this application but it may be usefull for an more advanced application ovrSessionStatus sessionStatus; ovr_GetSessionStatus(session, &sessionStatus); if (sessionStatus.ShouldRecenter) { std::cout << "Recenter Tracking asked by Session" << std::endl; ovr_RecenterTrackingOrigin(session); } // Copy the frame to the mirror buffer // which will be drawn in the SDL2 image glBindFramebuffer(GL_READ_FRAMEBUFFER, mirrorFBOID); glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); GLint w = winWidth; GLint h = winHeight; glBlitFramebuffer(0, h, w, 0, 0, 0, w, h, GL_COLOR_BUFFER_BIT, GL_NEAREST); glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); // Swap the SDL2 window SDL_GL_SwapWindow(window); } // Disable all OpenGL buffer glDisableVertexAttribArray(Shader::ATTRIB_TEXTURE2D_POS); glDisableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); glBindBuffer(GL_ARRAY_BUFFER, 0); glBindTexture(GL_TEXTURE_2D, 0); glUseProgram(0); glBindVertexArray(0); // Delete the Vertex Buffer Objects of the rectangle glDeleteBuffers(3, rectVBO); // Delete SDL, OpenGL, Oculus and ZED context ovr_DestroyTextureSwapChain(session, textureChain); ovr_DestroyMirrorTexture(session, mirrorTexture); ovr_Destroy(session); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; // quit return 0; }
//////////////////////////////////////////////////////////////////////////////// //! Run the Cuda part of the computation //////////////////////////////////////////////////////////////////////////////// void RunKernels() { static float t = 0.0f; // populate the 2d texture { cudaArray *cuArray; cudaGraphicsSubResourceGetMappedArray(&cuArray, g_texture_2d.cudaResource, 0, 0); getLastCudaError("cudaGraphicsSubResourceGetMappedArray (cuda_texture_2d) failed"); // kick off the kernel and send the staging buffer cudaLinearMemory as an argument to allow the kernel to write to it cuda_texture_2d(g_texture_2d.cudaLinearMemory, g_texture_2d.width, g_texture_2d.height, g_texture_2d.pitch, t); getLastCudaError("cuda_texture_2d failed"); // then we want to copy cudaLinearMemory to the D3D texture, via its mapped form : cudaArray cudaMemcpy2DToArray( cuArray, // dst array 0, 0, // offset g_texture_2d.cudaLinearMemory, g_texture_2d.pitch, // src g_texture_2d.width*4*sizeof(float), g_texture_2d.height, // extent cudaMemcpyDeviceToDevice); // kind getLastCudaError("cudaMemcpy2DToArray failed"); } // populate the volume texture { size_t pitchSlice = g_texture_vol.pitch * g_texture_vol.height; cudaArray *cuArray; cudaGraphicsSubResourceGetMappedArray(&cuArray, g_texture_vol.cudaResource, 0, 0); getLastCudaError("cudaGraphicsSubResourceGetMappedArray (cuda_texture_3d) failed"); // kick off the kernel and send the staging buffer cudaLinearMemory as an argument to allow the kernel to write to it cuda_texture_volume(g_texture_vol.cudaLinearMemory, g_texture_vol.width, g_texture_vol.height, g_texture_vol.depth, g_texture_vol.pitch, pitchSlice, t); getLastCudaError("cuda_texture_3d failed"); // then we want to copy cudaLinearMemory to the D3D texture, via its mapped form : cudaArray struct cudaMemcpy3DParms memcpyParams = {0}; memcpyParams.dstArray = cuArray; memcpyParams.srcPtr.ptr = g_texture_vol.cudaLinearMemory; memcpyParams.srcPtr.pitch = g_texture_vol.pitch; memcpyParams.srcPtr.xsize = g_texture_vol.width; memcpyParams.srcPtr.ysize = g_texture_vol.height; memcpyParams.extent.width = g_texture_vol.width; memcpyParams.extent.height = g_texture_vol.height; memcpyParams.extent.depth = g_texture_vol.depth; memcpyParams.kind = cudaMemcpyDeviceToDevice; cudaMemcpy3D(&memcpyParams); getLastCudaError("cudaMemcpy3D failed"); } // populate the faces of the cube map for (int face = 0; face < 6; ++face) { cudaArray *cuArray; cudaGraphicsSubResourceGetMappedArray(&cuArray, g_texture_cube.cudaResource, face, 0); getLastCudaError("cudaGraphicsSubResourceGetMappedArray (cuda_texture_cube) failed"); // kick off the kernel and send the staging buffer cudaLinearMemory as an argument to allow the kernel to write to it cuda_texture_cube(g_texture_cube.cudaLinearMemory, g_texture_cube.size, g_texture_cube.size, g_texture_cube.pitch, face, t); getLastCudaError("cuda_texture_cube failed"); // then we want to copy cudaLinearMemory to the D3D texture, via its mapped form : cudaArray cudaMemcpy2DToArray( cuArray, // dst array 0, 0, // offset g_texture_cube.cudaLinearMemory, g_texture_cube.pitch, // src g_texture_cube.size*4, g_texture_cube.size, // extent cudaMemcpyDeviceToDevice); // kind getLastCudaError("cudaMemcpy2DToArray failed"); } t += 0.1f; }
int main(int argc, char **argv) { // Initialize SDL2's context SDL_Init(SDL_INIT_VIDEO); // Initialize Oculus' context ovrResult result = ovr_Initialize(nullptr); if (OVR_FAILURE(result)) { std::cout << "ERROR: Failed to initialize libOVR" << std::endl; SDL_Quit(); return -1; } ovrSession hmd; ovrGraphicsLuid luid; // Connect to the Oculus headset result = ovr_Create(&hmd, &luid); if (OVR_FAILURE(result)) { std::cout << "ERROR: Oculus Rift not detected" << std::endl; ovr_Shutdown(); SDL_Quit(); return -1; } int x = SDL_WINDOWPOS_CENTERED, y = SDL_WINDOWPOS_CENTERED; int winWidth = 1280; int winHeight = 720; Uint32 flags = SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN; // Create SDL2 Window SDL_Window* window = SDL_CreateWindow("OVR ZED App", x, y, winWidth, winHeight, flags); // Create OpenGL context SDL_GLContext glContext = SDL_GL_CreateContext(window); // Initialize GLEW glewInit(); // Turn off vsync to let the compositor do its magic SDL_GL_SetSwapInterval(0); // Initialize the ZED Camera sl::zed::Camera* zed = 0; zed = new sl::zed::Camera(sl::zed::HD720); sl::zed::ERRCODE zederr = zed->init(sl::zed::MODE::PERFORMANCE, 0); int zedWidth = zed->getImageSize().width; int zedHeight = zed->getImageSize().height; if (zederr != sl::zed::SUCCESS) { std::cout << "ERROR: " << sl::zed::errcode2str(zederr) << std::endl; ovr_Destroy(hmd); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; return -1; } GLuint zedTextureID_L, zedTextureID_R; // Generate OpenGL texture for left images of the ZED camera glGenTextures(1, &zedTextureID_L); glBindTexture(GL_TEXTURE_2D, zedTextureID_L); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, zedWidth, zedHeight, 0, GL_BGRA, GL_UNSIGNED_BYTE, NULL); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); // Generate OpenGL texture for right images of the ZED camera glGenTextures(1, &zedTextureID_R); glBindTexture(GL_TEXTURE_2D, zedTextureID_R); glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, zedWidth, zedHeight, 0, GL_BGRA, GL_UNSIGNED_BYTE, NULL); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); glBindTexture(GL_TEXTURE_2D, 0); #if OPENGL_GPU_INTEROP cudaGraphicsResource* cimg_L; cudaGraphicsResource* cimg_R; cudaError_t errL, errR; errL = cudaGraphicsGLRegisterImage(&cimg_L, zedTextureID_L, GL_TEXTURE_2D, cudaGraphicsMapFlagsNone); errR = cudaGraphicsGLRegisterImage(&cimg_R, zedTextureID_R, GL_TEXTURE_2D, cudaGraphicsMapFlagsNone); if (errL != cudaSuccess || errR != cudaSuccess) { std::cout << "ERROR: cannot create CUDA texture : " << errL << "|" << errR << std::endl; } #endif ovrHmdDesc hmdDesc = ovr_GetHmdDesc(hmd); // Get the texture sizes of Oculus eyes ovrSizei textureSize0 = ovr_GetFovTextureSize(hmd, ovrEye_Left, hmdDesc.DefaultEyeFov[0], 1.0f); ovrSizei textureSize1 = ovr_GetFovTextureSize(hmd, ovrEye_Right, hmdDesc.DefaultEyeFov[1], 1.0f); // Compute the final size of the render buffer ovrSizei bufferSize; bufferSize.w = textureSize0.w + textureSize1.w; bufferSize.h = std::max(textureSize0.h, textureSize1.h); // Initialize OpenGL swap textures to render ovrSwapTextureSet* ptextureSet = 0; if (OVR_SUCCESS(ovr_CreateSwapTextureSetGL(hmd, GL_SRGB8_ALPHA8, bufferSize.w, bufferSize.h, &ptextureSet))) { for (int i = 0; i < ptextureSet->TextureCount; ++i) { ovrGLTexture* tex = (ovrGLTexture*)&ptextureSet->Textures[i]; glBindTexture(GL_TEXTURE_2D, tex->OGL.TexId); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); } } else { std::cout << "ERROR: failed creating swap texture" << std::endl; ovr_Destroy(hmd); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; return -1; } // Generate frame buffer to render GLuint fboID; glGenFramebuffers(1, &fboID); // Generate depth buffer of the frame buffer GLuint depthBuffID; glGenTextures(1, &depthBuffID); glBindTexture(GL_TEXTURE_2D, depthBuffID); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); GLenum internalFormat = GL_DEPTH_COMPONENT24; GLenum type = GL_UNSIGNED_INT; glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, bufferSize.w, bufferSize.h, 0, GL_DEPTH_COMPONENT, type, NULL); // Create a mirror texture to display the render result in the SDL2 window ovrGLTexture* mirrorTexture = nullptr; result = ovr_CreateMirrorTextureGL(hmd, GL_SRGB8_ALPHA8, winWidth, winHeight, reinterpret_cast<ovrTexture**>(&mirrorTexture)); if (!OVR_SUCCESS(result)) { std::cout << "ERROR: Failed to create mirror texture" << std::endl; } GLuint mirrorFBOID; glGenFramebuffers(1, &mirrorFBOID); glBindFramebuffer(GL_READ_FRAMEBUFFER, mirrorFBOID); glFramebufferTexture2D(GL_READ_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, mirrorTexture->OGL.TexId, 0); glFramebufferRenderbuffer(GL_READ_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, 0); glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); // Initialize a default Pose ovrPosef eyeRenderPose; // Set Identity quaternion eyeRenderPose.Orientation.x = 0; eyeRenderPose.Orientation.y = 0; eyeRenderPose.Orientation.z = 0; eyeRenderPose.Orientation.w = 1; // Set World's origin position eyeRenderPose.Position.x = 0.f; eyeRenderPose.Position.y = 0.f; eyeRenderPose.Position.z = 0; ovrLayerEyeFov ld; ld.Header.Type = ovrLayerType_EyeFov; // Tell to the Oculus compositor that our texture origin is at the bottom left ld.Header.Flags = ovrLayerFlag_TextureOriginAtBottomLeft | ovrLayerFlag_HeadLocked; // Because OpenGL | Disable head tracking // Set the Oculus layer eye field of view for each view for (int eye = 0; eye < 2; ++eye) { // Set the color texture as the current swap texture ld.ColorTexture[eye] = ptextureSet; // Set the viewport as the right or left vertical half part of the color texture ld.Viewport[eye] = OVR::Recti(eye == ovrEye_Left ? 0 : bufferSize.w / 2, 0, bufferSize.w / 2, bufferSize.h); // Set the field of view ld.Fov[eye] = hmdDesc.DefaultEyeFov[eye]; // Set the pose matrix ld.RenderPose[eye] = eyeRenderPose; } double sensorSampleTime = ovr_GetTimeInSeconds(); ld.SensorSampleTime = sensorSampleTime; // Get the render description of the left and right "eyes" of the Oculus headset ovrEyeRenderDesc eyeRenderDesc[2]; eyeRenderDesc[0] = ovr_GetRenderDesc(hmd, ovrEye_Left, hmdDesc.DefaultEyeFov[0]); eyeRenderDesc[1] = ovr_GetRenderDesc(hmd, ovrEye_Right, hmdDesc.DefaultEyeFov[1]); // Get the Oculus view scale description ovrVector3f viewOffset[2] = { eyeRenderDesc[0].HmdToEyeViewOffset, eyeRenderDesc[1].HmdToEyeViewOffset }; ovrViewScaleDesc viewScaleDesc; viewScaleDesc.HmdSpaceToWorldScaleInMeters = 1.0f; viewScaleDesc.HmdToEyeViewOffset[0] = viewOffset[0]; viewScaleDesc.HmdToEyeViewOffset[1] = viewOffset[1]; // Create and compile the shader's sources Shader shader(OVR_ZED_VS, OVR_ZED_FS); // Compute the ZED image field of view with the ZED parameters float zedFovH = atanf(zed->getImageSize().width / (zed->getParameters()->LeftCam.fx *2.f)) * 2.f; // Compute the Oculus' field of view with its parameters float ovrFovH = (atanf(hmdDesc.DefaultEyeFov[0].LeftTan) + atanf(hmdDesc.DefaultEyeFov[0].RightTan)); // Compute the useful part of the ZED image unsigned int usefulWidth = zed->getImageSize().width * ovrFovH / zedFovH; // Compute the size of the final image displayed in the headset with the ZED image's aspect-ratio kept unsigned int widthFinal = bufferSize.w / 2; unsigned int heightFinal = zed->getImageSize().height * widthFinal / usefulWidth; // Convert this size to OpenGL viewport's frame's coordinates float heightGL = (heightFinal) / (float)(bufferSize.h); float widthGL = ((zed->getImageSize().width * (heightFinal / (float)zed->getImageSize().height)) / (float)widthFinal); // Create a rectangle with the coordonates computed and push it in GPU memory. float rectVertices[12] = { -widthGL, -heightGL, 0, widthGL, -heightGL, 0, widthGL, heightGL, 0, -widthGL, heightGL, 0 }; GLuint rectVBO[3]; glGenBuffers(1, &rectVBO[0]); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[0]); glBufferData(GL_ARRAY_BUFFER, sizeof(rectVertices), rectVertices, GL_STATIC_DRAW); float rectTexCoord[8] = { 0, 1, 1, 1, 1, 0, 0, 0 }; glGenBuffers(1, &rectVBO[1]); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[1]); glBufferData(GL_ARRAY_BUFFER, sizeof(rectTexCoord), rectTexCoord, GL_STATIC_DRAW); unsigned int rectIndices[6] = { 0, 1, 2, 0, 2, 3 }; glGenBuffers(1, &rectVBO[2]); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, rectVBO[2]); glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(rectIndices), rectIndices, GL_STATIC_DRAW); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); glBindBuffer(GL_ARRAY_BUFFER, 0); // Initialize hit value float hit = 0.02f; // Initialize a boolean that will be used to stop the application’s loop and another one to pause/unpause rendering bool end = false; bool refresh = true; // SDL variable that will be used to store input events SDL_Event events; // Initialize time variables. They will be used to limit the number of frames rendered per second. // Frame counter unsigned int riftc = 0, zedc = 1; // Chronometer unsigned int rifttime = 0, zedtime = 0, zedFPS = 0; int time1 = 0, timePerFrame = 0; int frameRate = (int)(1000 / MAX_FPS); // Enable the shader glUseProgram(shader.getProgramId()); // Bind the Vertex Buffer Objects of the rectangle that displays ZED images // vertices glEnableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[0]); glVertexAttribPointer(Shader::ATTRIB_VERTICES_POS, 3, GL_FLOAT, GL_FALSE, 0, 0); // indices glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, rectVBO[2]); // texture coordinates glEnableVertexAttribArray(Shader::ATTRIB_TEXTURE2D_POS); glBindBuffer(GL_ARRAY_BUFFER, rectVBO[1]); glVertexAttribPointer(Shader::ATTRIB_TEXTURE2D_POS, 2, GL_FLOAT, GL_FALSE, 0, 0); // Main loop while (!end) { // Compute the time used to render the previous frame timePerFrame = SDL_GetTicks() - time1; // If the previous frame has been rendered too fast if (timePerFrame < frameRate) { // Pause the loop to have a max FPS equal to MAX_FPS SDL_Delay(frameRate - timePerFrame); timePerFrame = frameRate; } // Increment the ZED chronometer zedtime += timePerFrame; // If ZED chronometer reached 1 second if (zedtime > 1000) { zedFPS = zedc; zedc = 0; zedtime = 0; } // Increment the Rift chronometer and the Rift frame counter rifttime += timePerFrame; riftc++; // If Rift chronometer reached 200 milliseconds if (rifttime > 200) { // Display FPS std::cout << "\rRIFT FPS: " << 1000 / (rifttime / riftc) << " | ZED FPS: " << zedFPS; // Reset Rift chronometer rifttime = 0; // Reset Rift frame counter riftc = 0; } // Start frame chronometer time1 = SDL_GetTicks(); // While there is an event catched and not tested while (SDL_PollEvent(&events)) { // If a key is released if (events.type == SDL_KEYUP) { // If Q quit the application if (events.key.keysym.scancode == SDL_SCANCODE_Q) end = true; // If R reset the hit value else if (events.key.keysym.scancode == SDL_SCANCODE_R) hit = 0.0f; // If C pause/unpause rendering else if (events.key.keysym.scancode == SDL_SCANCODE_C) refresh = !refresh; } // If the mouse wheel is used if (events.type == SDL_MOUSEWHEEL) { // Increase or decrease hit value float s; events.wheel.y > 0 ? s = 1.0f : s = -1.0f; hit += 0.005f * s; } } // If rendering is unpaused and // successful grab ZED image if (!zed->grab(sl::zed::SENSING_MODE::RAW, false, false)) { // Update the ZED frame counter zedc++; if (refresh) { #if OPENGL_GPU_INTEROP sl::zed::Mat m = zed->retrieveImage_gpu(sl::zed::SIDE::LEFT); cudaArray_t arrIm; cudaGraphicsMapResources(1, &cimg_L, 0); cudaGraphicsSubResourceGetMappedArray(&arrIm, cimg_L, 0, 0); cudaMemcpy2DToArray(arrIm, 0, 0, m.data, m.step, zedWidth * 4, zedHeight, cudaMemcpyDeviceToDevice); cudaGraphicsUnmapResources(1, &cimg_L, 0); m = zed->retrieveImage_gpu(sl::zed::SIDE::RIGHT); cudaGraphicsMapResources(1, &cimg_R, 0); cudaGraphicsSubResourceGetMappedArray(&arrIm, cimg_R, 0, 0); cudaMemcpy2DToArray(arrIm, 0, 0, m.data, m.step, zedWidth * 4, zedHeight, cudaMemcpyDeviceToDevice); // *4 = 4 channels * 1 bytes (uint) cudaGraphicsUnmapResources(1, &cimg_R, 0); #endif // Increment the CurrentIndex to point to the next texture within the output swap texture set. // CurrentIndex must be advanced round-robin fashion every time we draw a new frame ptextureSet->CurrentIndex = (ptextureSet->CurrentIndex + 1) % ptextureSet->TextureCount; // Get the current swap texture pointer auto tex = reinterpret_cast<ovrGLTexture*>(&ptextureSet->Textures[ptextureSet->CurrentIndex]); // Bind the frame buffer glBindFramebuffer(GL_FRAMEBUFFER, fboID); // Set its color layer 0 as the current swap texture glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, tex->OGL.TexId, 0); // Set its depth layer as our depth buffer glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_TEXTURE_2D, depthBuffID, 0); // Clear the frame buffer glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glClearColor(0, 0, 0, 1); // Render for each Oculus eye the equivalent ZED image for (int eye = 0; eye < 2; eye++) { // Set the left or right vertical half of the buffer as the viewport glViewport(ld.Viewport[eye].Pos.x, ld.Viewport[eye].Pos.y, ld.Viewport[eye].Size.w, ld.Viewport[eye].Size.h); // Bind the left or right ZED image glBindTexture(GL_TEXTURE_2D, eye == ovrEye_Left ? zedTextureID_L : zedTextureID_R); #if !OPENGL_GPU_INTEROP glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, zedWidth, zedHeight, 0, GL_BGRA, GL_UNSIGNED_BYTE, zed->retrieveImage(eye == ovrEye_Left ? sl::zed::SIDE::LEFT : sl::zed::SIDE::RIGHT).data); #endif // Bind the hit value glUniform1f(glGetUniformLocation(shader.getProgramId(), "hit"), eye == ovrEye_Left ? hit : -hit); // Draw the ZED image glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_INT, 0); } } } /* Note: Even if we don't ask to refresh the framebuffer or if the Camera::grab() doesn't catch a new frame, we have to submit an image to the Rift; it needs 75Hz refresh. Else there will be jumbs, black frames and/or glitches in the headset. */ ovrLayerHeader* layers = &ld.Header; // Submit the frame to the Oculus compositor // which will display the frame in the Oculus headset result = ovr_SubmitFrame(hmd, 0, &viewScaleDesc, &layers, 1); if (!OVR_SUCCESS(result)) { std::cout << "ERROR: failed to submit frame" << std::endl; glDeleteBuffers(3, rectVBO); ovr_DestroySwapTextureSet(hmd, ptextureSet); ovr_DestroyMirrorTexture(hmd, &mirrorTexture->Texture); ovr_Destroy(hmd); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; return -1; } // Copy the frame to the mirror buffer // which will be drawn in the SDL2 image glBindFramebuffer(GL_READ_FRAMEBUFFER, mirrorFBOID); glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); GLint w = mirrorTexture->OGL.Header.TextureSize.w; GLint h = mirrorTexture->OGL.Header.TextureSize.h; glBlitFramebuffer(0, h, w, 0, 0, 0, w, h, GL_COLOR_BUFFER_BIT, GL_NEAREST); glBindFramebuffer(GL_READ_FRAMEBUFFER, 0); // Swap the SDL2 window SDL_GL_SwapWindow(window); } // Disable all OpenGL buffer glDisableVertexAttribArray(Shader::ATTRIB_TEXTURE2D_POS); glDisableVertexAttribArray(Shader::ATTRIB_VERTICES_POS); glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0); glBindBuffer(GL_ARRAY_BUFFER, 0); glBindTexture(GL_TEXTURE_2D, 0); glUseProgram(0); glBindVertexArray(0); // Delete the Vertex Buffer Objects of the rectangle glDeleteBuffers(3, rectVBO); // Delete SDL, OpenGL, Oculus and ZED context ovr_DestroySwapTextureSet(hmd, ptextureSet); ovr_DestroyMirrorTexture(hmd, &mirrorTexture->Texture); ovr_Destroy(hmd); ovr_Shutdown(); SDL_GL_DeleteContext(glContext); SDL_DestroyWindow(window); SDL_Quit(); delete zed; // quit return 0; }
cudaError_t WINAPI wine_cudaMemcpy2DToArray( struct cudaArray *dst, size_t wOffset, size_t hOffset, const void *src, size_t spitch, size_t width, size_t height, enum cudaMemcpyKind kind ) { WINE_TRACE("\n"); return cudaMemcpy2DToArray( dst, wOffset, hOffset, src, spitch, width, height, kind ); }