void vx_ovr_namespace_::OVRHMDHandleWithDevice::createMirrorTextureAndFramebuffer()
{
ovr_CreateMirrorTextureGL(session_, GL_SRGB8_ALPHA8, window_->getWidth(), window_->getHeight(), reinterpret_cast<ovrTexture**>(&mirrorTexture_));
glGenFramebuffers(1, &mirrorFramebuffer_);
glBindFramebuffer(GL_READ_FRAMEBUFFER, mirrorFramebuffer_);
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);
}
bool OculusVR::InitVRBuffers(int windowWidth, int windowHeight)
{
for (int eyeIdx = 0; eyeIdx < ovrEye_Count; eyeIdx++)
{
// m_eyeBuffers[eyeIdx] = new OVRBuffer(m_hmdSession, eyeIdx);
m_eyeRenderDesc[eyeIdx] = ovr_GetRenderDesc(m_hmdSession, (ovrEyeType)eyeIdx, m_hmdDesc.DefaultEyeFov[eyeIdx]);
}
m_renderBuffer = new RenderBuffer(m_hmdSession);
memset(&m_mirrorDesc, 0, sizeof(m_mirrorDesc));
m_mirrorDesc.Width = windowWidth;
m_mirrorDesc.Height = windowHeight;
m_mirrorDesc.Format = OVR_FORMAT_R8G8B8A8_UNORM_SRGB;
// since SDK 0.6 we're using a mirror texture + FBO which in turn copies contents of mirror to back buffer
ovr_CreateMirrorTextureGL(m_hmdSession, &m_mirrorDesc, &m_mirrorTexture);
// Configure the mirror read buffer
GLuint texId;
ovr_GetMirrorTextureBufferGL(m_hmdSession, m_mirrorTexture, &texId);
glGenFramebuffers(1, &m_mirrorFBO);
glBindFramebuffer(GL_READ_FRAMEBUFFER, m_mirrorFBO);
glFramebufferTexture2D(GL_READ_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, texId, 0);
glFramebufferRenderbuffer(GL_READ_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, 0);
glBindFramebuffer(GL_READ_FRAMEBUFFER, 0);
if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE)
{
glDeleteFramebuffers(1, &m_mirrorFBO);
LOG_MESSAGE_ASSERT(false, "Could not initialize VR buffers!");
return false;
}
return true;
}
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;
}
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;
}
///@brief Called once a GL context has been set up.
void initVR()
{
const ovrHmdDesc& hmd = m_Hmd;
for (int eye = 0; eye < 2; ++eye)
{
const ovrSizei& bufferSize = ovr_GetFovTextureSize(g_session, ovrEyeType(eye), hmd.DefaultEyeFov[eye], 1.f);
LOG_INFO("Eye %d tex : %dx%d @ ()", eye, bufferSize.w, bufferSize.h);
ovrTextureSwapChain textureSwapChain = 0;
ovrTextureSwapChainDesc desc = {};
desc.Type = ovrTexture_2D;
desc.ArraySize = 1;
desc.Format = OVR_FORMAT_R8G8B8A8_UNORM_SRGB;
desc.Width = bufferSize.w;
desc.Height = bufferSize.h;
desc.MipLevels = 1;
desc.SampleCount = 1;
desc.StaticImage = ovrFalse;
// Allocate the frameBuffer that will hold the scene, and then be
// re-rendered to the screen with distortion
ovrTextureSwapChain& chain = g_textureSwapChain[eye];
if (ovr_CreateTextureSwapChainGL(g_session, &desc, &chain) == ovrSuccess)
{
int length = 0;
ovr_GetTextureSwapChainLength(g_session, chain, &length);
for (int i = 0; i < length; ++i)
{
GLuint chainTexId;
ovr_GetTextureSwapChainBufferGL(g_session, chain, 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
{
LOG_ERROR("Unable to create swap textures");
return;
}
// Manually assemble swap FBO
FBO& swapfbo = m_swapFBO[eye];
swapfbo.w = bufferSize.w;
swapfbo.h = bufferSize.h;
glGenFramebuffers(1, &swapfbo.id);
glBindFramebuffer(GL_FRAMEBUFFER, swapfbo.id);
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, swapfbo.tex, 0);
swapfbo.depth = 0;
glGenRenderbuffers(1, &swapfbo.depth);
glBindRenderbuffer(GL_RENDERBUFFER, swapfbo.depth);
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT16, bufferSize.w, bufferSize.h);
glBindRenderbuffer(GL_RENDERBUFFER, 0);
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, swapfbo.depth);
// Check status
const GLenum status = glCheckFramebufferStatus(GL_FRAMEBUFFER);
if (status != GL_FRAMEBUFFER_COMPLETE)
{
LOG_ERROR("Framebuffer status incomplete: %d %x", status, status);
}
glBindFramebuffer(GL_FRAMEBUFFER, 0);
}
// Initialize mirror texture
ovrMirrorTextureDesc desc;
memset(&desc, 0, sizeof(desc));
desc.Width = g_mirrorWindowSz.x;
desc.Height = g_mirrorWindowSz.y;
desc.Format = OVR_FORMAT_R8G8B8A8_UNORM_SRGB;
const ovrResult result = ovr_CreateMirrorTextureGL(g_session, &desc, &g_mirrorTexture);
if (!OVR_SUCCESS(result))
{
LOG_ERROR("Unable to create mirror texture");
return;
}
// Manually assemble mirror FBO
m_mirrorFBO.w = g_mirrorWindowSz.x;
m_mirrorFBO.h = g_mirrorWindowSz.y;
glGenFramebuffers(1, &m_mirrorFBO.id);
glBindFramebuffer(GL_FRAMEBUFFER, m_mirrorFBO.id);
GLuint texId;
ovr_GetMirrorTextureBufferGL(g_session, g_mirrorTexture, &texId);
m_mirrorFBO.tex = texId;
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, m_mirrorFBO.tex, 0);
const ovrSizei sz = { 600, 600 };
g_tweakbarQuad.initGL(g_session, sz);
glBindFramebuffer(GL_FRAMEBUFFER, 0);
glBindTexture(GL_TEXTURE_2D, 0);
g_hmdVisible = true;
}
int OgreOculus::go(void)
{
// Create Root object
root = new Ogre::Root("plugin.cfg", "ogre.cfg");
// OpenGL
root->loadPlugin("RenderSystem_GL_d");
root->setRenderSystem(root->getRenderSystemByName("OpenGL Rendering Subsystem"));
// Initialize Root
root->initialise(false);
// Initialize Oculus
ovrHmd hmd;
ovrHmdDesc hmdDesc;
ovrGraphicsLuid luid;
ovr_Initialize(nullptr);
if(ovr_Create(&hmd, &luid) != ovrSuccess)
exit(-1);
hmdDesc = ovr_GetHmdDesc(hmd);
if(ovr_ConfigureTracking(hmd,
ovrTrackingCap_Orientation |ovrTrackingCap_MagYawCorrection |ovrTrackingCap_Position,
0) != ovrSuccess)
exit(-2);
// Turn off HUD
ovr_SetInt(hmd, "PerfHudMode", ovrPerfHud_Off);
// Create a window
window = root->createRenderWindow("Ogre + Oculus = <3", hmdDesc.Resolution.w/2, hmdDesc.Resolution.h/2, false);
// Create scene manager and cameras
smgr = root->createSceneManager(Ogre::ST_GENERIC);
// Load Ogre resource paths from config file
Ogre::ConfigFile cf;
cf.load("resources_d.cfg");
// Go through all sections & settings in the file and add resources
Ogre::ConfigFile::SectionIterator seci = cf.getSectionIterator();
Ogre::String secName, typeName, archName;
while (seci.hasMoreElements())
{
secName = seci.peekNextKey();
Ogre::ConfigFile::SettingsMultiMap *settings = seci.getNext();
Ogre::ConfigFile::SettingsMultiMap::iterator i;
for (i = settings->begin(); i != settings->end(); ++i)
{
typeName = i->first;
archName = i->second;
Ogre::ResourceGroupManager::getSingleton().addResourceLocation(
archName, typeName, secName);
}
}
// Set resources
Ogre::TextureManager::getSingleton().setDefaultNumMipmaps(5);
Ogre::ResourceGroupManager::getSingleton().initialiseAllResourceGroups();
// Create the model itself via OgreModel.cpp
createOgreModel(smgr);
// Create camera
createCamera();
// Set viewport and background color
Ogre::Viewport* vp = window->addViewport(mCamera);
vp->setBackgroundColour(Ogre::ColourValue(34, 89, 0)); // Yellow
// Set aspect ratio
mCamera->setAspectRatio(
Ogre::Real(vp->getActualWidth()) /
Ogre::Real(vp->getActualHeight()));
// Initialize glew
if(glewInit() != GLEW_OK)
exit(-3);
// Get texture sizes
ovrSizei texSizeL, texSizeR;
texSizeL = ovr_GetFovTextureSize(hmd, ovrEye_Left, hmdDesc.DefaultEyeFov[left], 1);
texSizeR = ovr_GetFovTextureSize(hmd, ovrEye_Right, hmdDesc.DefaultEyeFov[right], 1);
// Calculate render buffer size
ovrSizei bufferSize;
bufferSize.w = texSizeL.w + texSizeR.w;
bufferSize.h = max(texSizeL.h, texSizeR.h);
// Create render texture set
ovrSwapTextureSet* textureSet;
if(ovr_CreateSwapTextureSetGL(hmd, GL_RGB, bufferSize.w, bufferSize.h, &textureSet) != ovrSuccess)
exit(-4);
// Create Ogre render texture
Ogre::GLTextureManager* textureManager = static_cast<Ogre::GLTextureManager*>(Ogre::GLTextureManager::getSingletonPtr());
Ogre::TexturePtr rtt_texture(textureManager->createManual("RttTex", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D, bufferSize.w, bufferSize.h, 0, Ogre::PF_R8G8B8, Ogre::TU_RENDERTARGET));
Ogre::RenderTexture* rttEyes = rtt_texture->getBuffer(0, 0)->getRenderTarget();
Ogre::GLTexture* gltex = static_cast<Ogre::GLTexture*>(Ogre::GLTextureManager::getSingleton().getByName("RttTex").getPointer());
GLuint renderTextureID = gltex->getGLID();
// Put camera viewport on the ogre render texture
Ogre::Viewport* vpts[nbEyes];
vpts[left]=rttEyes->addViewport(cams[left], 0, 0, 0, 0.5f);
vpts[right]=rttEyes->addViewport(cams[right], 1, 0.5f, 0, 0.5f);
vpts[left]->setBackgroundColour(Ogre::ColourValue(34, 89, 0)); // Black background
vpts[right]->setBackgroundColour(Ogre::ColourValue(34, 89, 0));
ovrTexture* mirrorTexture;
if(ovr_CreateMirrorTextureGL(hmd, GL_RGB, hmdDesc.Resolution.w, hmdDesc.Resolution.h, &mirrorTexture) != ovrSuccess)
exit(-5);
Ogre::TexturePtr mirror_texture(textureManager->createManual("MirrorTex", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
Ogre::TEX_TYPE_2D, hmdDesc.Resolution.w, hmdDesc.Resolution.h, 0, Ogre::PF_R8G8B8, Ogre::TU_RENDERTARGET));
// Get GLIDs
GLuint ogreMirrorTextureID = static_cast<Ogre::GLTexture*>(Ogre::GLTextureManager::getSingleton().getByName("MirrorTex").getPointer())->getGLID();
GLuint oculusMirrorTextureID = ((ovrGLTexture*)mirrorTexture)->OGL.TexId;
// Create EyeRenderDesc
ovrEyeRenderDesc EyeRenderDesc[nbEyes];
EyeRenderDesc[left] = ovr_GetRenderDesc(hmd, ovrEye_Left, hmdDesc.DefaultEyeFov[left]);
EyeRenderDesc[right] = ovr_GetRenderDesc(hmd, ovrEye_Right, hmdDesc.DefaultEyeFov[right]);
// Get offsets
ovrVector3f offset[nbEyes];
offset[left]=EyeRenderDesc[left].HmdToEyeViewOffset;
offset[right]=EyeRenderDesc[right].HmdToEyeViewOffset;
// Compositor layer
ovrLayerEyeFov layer;
layer.Header.Type = ovrLayerType_EyeFov;
layer.Header.Flags = 0;
layer.ColorTexture[left] = textureSet;
layer.ColorTexture[right] = textureSet;
layer.Fov[left] = EyeRenderDesc[left].Fov;
layer.Fov[right] = EyeRenderDesc[right].Fov;
layer.Viewport[left] = OVR::Recti(0, 0, bufferSize.w/2, bufferSize.h);
layer.Viewport[right] = OVR::Recti(bufferSize.w/2, 0, bufferSize.w/2, bufferSize.h);
// Get projection matrices
for(size_t eyeIndex(0); eyeIndex < ovrEye_Count; eyeIndex++)
{
// Get the projection matrix
OVR::Matrix4f proj = ovrMatrix4f_Projection(EyeRenderDesc[eyeIndex].Fov,
static_cast<float>(0.01f),
4000,
true);
// Convert it to Ogre matrix
Ogre::Matrix4 OgreProj;
for(size_t x(0); x < 4; x++)
for(size_t y(0); y < 4; y++)
OgreProj[x][y] = proj.M[x][y];
// Set the matrix
cams[eyeIndex]->setCustomProjectionMatrix(true, OgreProj);
}
// Variables for render loop
bool render(true);
ovrFrameTiming hmdFrameTiming;
ovrTrackingState ts;
OVR::Posef pose;
ovrLayerHeader* layers;
// Create event listener for handling user input
createEventListener();
//Run physics loop in a new thread
std::map<Ogre::Entity*, Ogre::Vector3> positionRequests;
std::map<Ogre::Entity*, std::string> animationRequests;
std::map<Ogre::Entity*, std::vector<int>> rotationRequests;
std::map<std::string, std::string> message;
std::thread physicsThread(physicsLoop, smgr, &message, &positionRequests, &animationRequests, &rotationRequests);
// Render loop
while(render)
{
// Suspend physics loop and perform requested movement/rotations/animations
if(positionRequests.size() > 0 || animationRequests.size() > 0 || rotationRequests.size() > 0){
message.insert(std::pair<std::string, std::string>("", ""));
for(auto const &request : positionRequests) {
Ogre::Vector3 pos = request.second;
Ogre::SceneNode* sceneNode = request.first->getParentSceneNode();
sceneNode->setPosition(pos);
}
for(auto const &request : animationRequests) {
request.first->getAnimationState(request.second)->addTime(0.1);
}
for(auto const &request : rotationRequests) {
Ogre::SceneNode* sceneNode = request.first->getParentSceneNode();
sceneNode->roll(Ogre::Degree(request.second[0]));
sceneNode->pitch(Ogre::Degree(request.second[1]));
sceneNode->yaw(Ogre::Degree(request.second[2]));
}
positionRequests.clear();
animationRequests.clear();
rotationRequests.clear();
// Resume physics loop
message.clear();
}
// Update Ogre window
Ogre::WindowEventUtilities::messagePump();
// Advance textureset index
textureSet->CurrentIndex = (textureSet->CurrentIndex + 1) % textureSet->TextureCount;
// Capture user input
mKeyboard->capture();
mMouse->capture();
// Movement calculations
mPlayerNode->translate(mDirection, Ogre::Node::TS_LOCAL);
hmdFrameTiming = ovr_GetFrameTiming(hmd, 0);
ts = ovr_GetTrackingState(hmd, hmdFrameTiming.DisplayMidpointSeconds);
pose = ts.HeadPose.ThePose;
ovr_CalcEyePoses(pose, offset, layer.RenderPose);
oculusOrient = pose.Rotation;
oculusPos = pose.Translation;
mHeadNode->setOrientation(Ogre::Quaternion(oculusOrient.w, oculusOrient.x, oculusOrient.y, oculusOrient.z) * initialOculusOrientation.Inverse());
// Apply head tracking
mHeadNode->setPosition(headPositionTrackingSensitivity * Ogre::Vector3(oculusPos.x, oculusPos.y,oculusPos.z));
// Update Ogre viewports
root->_fireFrameRenderingQueued();
vpts[left]->update();
vpts[right]->update();
// Copy the rendered image to the Oculus Swap Texture
glCopyImageSubData(renderTextureID, GL_TEXTURE_2D, 0, 0, 0, 0,
((ovrGLTexture*)(&textureSet->Textures[textureSet->CurrentIndex]))->OGL.TexId, GL_TEXTURE_2D, 0, 0, 0, 0,
bufferSize.w,bufferSize.h, 1);
layers = &layer.Header;
// Submit new frame to the Oculus and update window
ovr_SubmitFrame(hmd, 0, nullptr, &layers, 1);
window->update();
// Exit loop when window is closed
if(window->isClosed()) render = false;
}
// Shud down Oculus
ovr_Destroy(hmd);
ovr_Shutdown();
// Delete Ogre root and return
delete root;
return EXIT_SUCCESS;
}
