GLuint CGLUtil::gpuMapRgb2PixelBufferObj(const cv::cuda::GpuMat& cvgmRGB_ ){
//http://rickarkin.blogspot.co.uk/2012/03/use-pbo-to-share-buffer-between-cuda.html
int nPyrLevel_ = getLevel( cvgmRGB_.cols );
GLuint uTexture;
// map OpenGL buffer object for writing from CUDA
if (cvgmRGB_.channels() == 3) {
uTexture = _auTexture[nPyrLevel_];
void *pDev;
cudaSafeCall( cudaGraphicsMapResources(1, &_apResourceRGBPxielBO[nPyrLevel_], 0));
size_t nSize;
cudaSafeCall( cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize , _apResourceRGBPxielBO[nPyrLevel_]));
cv::cuda::GpuMat cvgmRGBA( cvgmRGB_.size(), CV_8UC3, pDev);
cvgmRGB_.copyTo(cvgmRGBA);
cudaSafeCall( cudaGraphicsUnmapResources(1, &_apResourceRGBPxielBO[nPyrLevel_], 0) );
//texture mapping
glBindTexture( GL_TEXTURE_2D, uTexture);
glBindBuffer ( GL_PIXEL_UNPACK_BUFFER_ARB, _auRGBPixelBO[nPyrLevel_]);
glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, cvgmRGB_.cols, cvgmRGB_.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, NULL);
errorDetectorGL();
glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
glBindTexture(GL_TEXTURE_2D, 0);
}
else if (cvgmRGB_.channels()==1) {
uTexture = _auGrayTexture[nPyrLevel_];
void *pDev;
cudaSafeCall( cudaGraphicsMapResources(1, &_apResourceGrayPxielBO[nPyrLevel_], 0));
size_t nSize;
cudaSafeCall( cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize , _apResourceGrayPxielBO[nPyrLevel_]));
cv::cuda::GpuMat cvgmRGBA( cvgmRGB_.size(), CV_8UC1, pDev);
cvgmRGB_.copyTo(cvgmRGBA);
cudaSafeCall( cudaGraphicsUnmapResources(1, &_apResourceGrayPxielBO[nPyrLevel_], 0) );
//texture mapping
glBindTexture(GL_TEXTURE_2D, uTexture);
glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, _auGrayPixelBO[nPyrLevel_]);
glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, cvgmRGB_.cols, cvgmRGB_.rows, 0, GL_RED, GL_UNSIGNED_BYTE, NULL);
errorDetectorGL();
glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, 0);
glBindTexture(GL_TEXTURE_2D, 0);
}
return uTexture;
}//gpuMapRgb2PixelBufferObj
void CGLUtil::gpuMapRGBResources(const cv::cuda::GpuMat& cvgmRGBs_){
int nPyrLevel_ = getLevel( cvgmRGBs_.cols );
// map OpenGL buffer object for writing from CUDA
void *pDev;
cudaGraphicsMapResources(1, &_apResourceRGBVBO[nPyrLevel_], 0);
size_t nSize;
cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize, _apResourceRGBVBO[nPyrLevel_] );
cv::cuda::GpuMat cvgmRGBs(cvgmRGBs_.size(),CV_8UC3,pDev);
cvgmRGBs_.copyTo(cvgmRGBs);
cudaGraphicsUnmapResources(1, &_apResourceRGBVBO[nPyrLevel_], 0);
// render from the vbo
glBindBuffer(GL_ARRAY_BUFFER, _auRGBVBO[nPyrLevel_]);
glColorPointer(3, GL_UNSIGNED_BYTE, 0, 0);
glEnableClientState(GL_COLOR_ARRAY);//you cant move glEnableClientState infront of cuda GraphicsMapResources, otherwise, you will have weird problem
//glDrawArrays(GL_POINTS, 0, btl::kinect::__aKinectWxH[usPyrLevel_] );
//glDisableClientState(GL_COLOR_ARRAY);
//glBindBuffer( GL_ARRAY_BUFFER, 0 );
}
void CGLUtil::gpuMapNlResources(const cv::cuda::GpuMat& cvgmNls_){
int nPyrLevel_ = getLevel( cvgmNls_.cols );
// map OpenGL buffer object for writing from CUDA
void *pDev;
cudaGraphicsMapResources(1, &_apResourceNlVBO[nPyrLevel_], 0);
size_t nSize;
cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize, _apResourceNlVBO[nPyrLevel_] );
cv::cuda::GpuMat cvgmNls(cvgmNls_.size(),CV_32FC3,pDev);
cvgmNls_.copyTo(cvgmNls);
cudaGraphicsUnmapResources(1, &_apResourceNlVBO[nPyrLevel_], 0);
// render from the vbo
glBindBuffer(GL_ARRAY_BUFFER, _auNlVBO[nPyrLevel_]);
glNormalPointer(GL_FLOAT, 12, 0); //12 is the stride = the number of bytes occupied by each normal
glEnableClientState(GL_NORMAL_ARRAY);//you cant move glEnableClientState infront of cuda GraphicsMapResources, otherwise, you will have weird problem
//glColor3f(1.0, 0.0, 0.0);
//glDrawArrays(GL_POINTS, 0, btl::kinect::__aKinectWxH[usPyrLevel_] );
//glDisableClientState(GL_NORMAL_ARRAY);
//glBindBuffer( GL_ARRAY_BUFFER, 0 );
}
void CGLUtil::gpuMapPtResources(const cv::cuda::GpuMat& cvgmPts_){
int nPyrLevel_ = getLevel( cvgmPts_.cols );
// map OpenGL buffer object for writing from CUDA
void *pDev;
cudaGraphicsMapResources(1, &_apResourcePtVBO[nPyrLevel_], 0);
size_t nSize;
cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize, _apResourcePtVBO[nPyrLevel_] );
cv::cuda::GpuMat cvgmPts( cvgmPts_.size(),CV_32FC3,pDev );
cvgmPts_.copyTo(cvgmPts); // the operation of the Buffer must be done before cudaGraphicsUnmapResources(), otherwise, the buffer will affects each other
cudaGraphicsUnmapResources(1, &_apResourcePtVBO[nPyrLevel_], 0);
// render from the vbo
glBindBuffer(GL_ARRAY_BUFFER, _auPtVBO[nPyrLevel_]);
glVertexPointer(3, GL_FLOAT, 0, 0);
glEnableClientState(GL_VERTEX_ARRAY);//you cant move glEnableClientState in front of cuda GraphicsMapResources, otherwise, you will have weird problem
//glColor3f(1.0, 0.0, 0.0);
//glDrawArrays(GL_POINTS, 0, btl::kinect::__aKinectWxH[usPyrLevel_] );
//glDisableClientState(GL_VERTEX_ARRAY);
//glBindBuffer( GL_ARRAY_BUFFER, 0 );
}