void checkCLFun(cl_int cErr, char* file, int line)
{
if (cErr != CL_SUCCESS)
{
const char* err = getOpenCLErrorString(cErr);
fprintf(stderr, "%s line: %d\n", err, line);
if (cErr != CL_BUILD_PROGRAM_FAILURE) exit(1);
}
}
/*
* Update Texture - requires valid OpenGL Context
*/
void TextureUpdate::updateTexture(const Measurement::ImageMeasurement& image) {
#ifdef HAVE_OPENCV
// access OCL Manager and initialize if needed
Vision::OpenCLManager& oclManager = Vision::OpenCLManager::singleton();
if (!image) {
// LOG4CPP_WARN ??
return;
}
// if OpenCL is enabled and image is on GPU, then use OCL codepath
bool image_isOnGPU = oclManager.isInitialized() & image->isOnGPU();
if ( m_bTextureInitialized )
{
// check if received image fits into the allocated texture
// find out texture format
int umatConvertCode = -1;
GLenum glFormat = GL_LUMINANCE;
GLenum glDatatype = GL_UNSIGNED_BYTE;
int numOfChannels = 1;
Image::ImageFormatProperties fmtSrc, fmtDst;
image->getFormatProperties(fmtSrc);
image->getFormatProperties(fmtDst);
getImageFormat(fmtSrc, fmtDst, image_isOnGPU, umatConvertCode, glFormat, glDatatype);
if (image_isOnGPU) {
#ifdef HAVE_OPENCL
glBindTexture( GL_TEXTURE_2D, m_texture );
// @todo this probably causes unwanted delay - .. except when executed on gpu ...
if (umatConvertCode != -1) {
cv::cvtColor(image->uMat(), m_convertedImage, umatConvertCode );
} else {
m_convertedImage = image->uMat();
}
cv::ocl::finish();
glFinish();
cl_command_queue commandQueue = oclManager.getCommandQueue();
cl_int err;
clFinish(commandQueue);
err = clEnqueueAcquireGLObjects(commandQueue, 1, &(m_clImage), 0, NULL, NULL);
if(err != CL_SUCCESS)
{
LOG4CPP_ERROR( logger, "error at clEnqueueAcquireGLObjects:" << getOpenCLErrorString(err) );
}
cl_mem clBuffer = (cl_mem) m_convertedImage.handle(cv::ACCESS_READ);
cl_command_queue cv_ocl_queue = (cl_command_queue)cv::ocl::Queue::getDefault().ptr();
size_t offset = 0;
size_t dst_origin[3] = {0, 0, 0};
size_t region[3] = {static_cast<size_t>(m_convertedImage.cols), static_cast<size_t>(m_convertedImage.rows), 1};
err = clEnqueueCopyBufferToImage(cv_ocl_queue, clBuffer, m_clImage, offset, dst_origin, region, 0, NULL, NULL);
if (err != CL_SUCCESS)
{
LOG4CPP_ERROR( logger, "error at clEnqueueCopyBufferToImage:" << getOpenCLErrorString(err) );
}
err = clEnqueueReleaseGLObjects(commandQueue, 1, &m_clImage, 0, NULL, NULL);
if(err != CL_SUCCESS)
{
LOG4CPP_ERROR( logger, "error at clEnqueueReleaseGLObjects:" << getOpenCLErrorString(err) );
}
cv::ocl::finish();
#else // HAVE_OPENCL
LOG4CPP_ERROR( logger, "Image isOnGPU but OpenCL is disabled!!");
#endif // HAVE_OPENCL
} else {
// load image from CPU buffer into texture
glBindTexture( GL_TEXTURE_2D, m_texture );
glTexSubImage2D( GL_TEXTURE_2D, 0, 0, 0, image->width(), image->height(),
glFormat, glDatatype, image->Mat().data );
}
}
#endif // HAVE_OPENCV
}
void TextureUpdate::initializeTexture(const Measurement::ImageMeasurement& image, const GLuint tex_id) {
#ifdef HAVE_OPENCV
if (!image) {
return;
}
if ( !m_bTextureInitialized )
{
// access OCL Manager and initialize if needed
Vision::OpenCLManager& oclManager = Vision::OpenCLManager::singleton();
// if OpenCL is enabled and image is on GPU, then use OCL codepath
bool image_isOnGPU = oclManager.isEnabled() & image->isOnGPU();
// find out texture format
int umatConvertCode = -1;
GLenum glFormat = GL_LUMINANCE;
GLenum glDatatype = GL_UNSIGNED_BYTE;
int numOfChannels = 1;
Image::ImageFormatProperties fmtSrc, fmtDst;
image->getFormatProperties(fmtSrc);
image->getFormatProperties(fmtDst);
getImageFormat(fmtSrc, fmtDst, image_isOnGPU, umatConvertCode, glFormat, glDatatype);
// generate power-of-two sizes
m_pow2Width = 1;
while ( m_pow2Width < (unsigned)image->width() )
m_pow2Width <<= 1;
m_pow2Height = 1;
while ( m_pow2Height < (unsigned)image->height() )
m_pow2Height <<= 1;
m_texture = tex_id;
glBindTexture( GL_TEXTURE_2D, m_texture );
// define texture parameters
glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
glTexParameterf( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
glTexEnvf( GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_DECAL );
// load empty texture image (defines texture size)
glTexImage2D( GL_TEXTURE_2D, 0, fmtDst.channels, m_pow2Width, m_pow2Height, 0, glFormat, glDatatype, 0 );
LOG4CPP_DEBUG( logger, "glTexImage2D( width=" << m_pow2Width << ", height=" << m_pow2Height << " ): " << glGetError() );
LOG4CPP_INFO( logger, "initalized texture ( " << glFormat << " ) OnGPU: " << image_isOnGPU);
if (oclManager.isInitialized()) {
#ifdef HAVE_OPENCL
//Get an image Object from the OpenGL texture
cl_int err;
// windows specific or opencl version specific ??
#ifdef WIN32
m_clImage = clCreateFromGLTexture2D( oclManager.getContext(), CL_MEM_WRITE_ONLY, GL_TEXTURE_2D, 0, m_texture, &err);
#else
m_clImage = clCreateFromGLTexture( oclManager.getContext(), CL_MEM_WRITE_ONLY, GL_TEXTURE_2D, 0, m_texture, &err);
#endif
if (err != CL_SUCCESS)
{
LOG4CPP_ERROR( logger, "error at clCreateFromGLTexture2D:" << getOpenCLErrorString(err) );
}
#endif
}
m_bTextureInitialized = true;
}
#endif // HAVE_OPENCV
}
static inline void ___openCLSafeCall(int err, const char *file, const int line, const char *func = "")
{
if( CL_SUCCESS != err)
cv::ocl::error(getOpenCLErrorString(err), file, line, func);
}
