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; }