void Renderer::render_disparity(const uint16_t* d_disp, int disp_size) {
glActiveTexture(GL_TEXTURE0);
glBindTexture(GL_TEXTURE_2D, 0);
// cuda-gl interop
cudaGraphicsResource_t cuda_gl_tex_resource;
cudaGraphicsGLRegisterImage(&cuda_gl_tex_resource, disp_texture_, GL_TEXTURE_2D, cudaGraphicsRegisterFlagsSurfaceLoadStore);
cudaGraphicsMapResources(1, &cuda_gl_tex_resource);
cudaArray_t texture_array;
cudaGraphicsSubResourceGetMappedArray(&texture_array, cuda_gl_tex_resource, 0, 0);
cudaResourceDesc desc;
desc.resType = cudaResourceTypeArray;
desc.res.array.array = texture_array;
cudaSurfaceObject_t write_surface;
cudaCreateSurfaceObject(&write_surface, &desc);
write_surface_U16_with_multiplication(write_surface, d_disp, width_, height_, 256);
cudaDestroySurfaceObject(write_surface);
cudaGraphicsUnmapResources(1, &cuda_gl_tex_resource);
cudaGraphicsUnregisterResource(cuda_gl_tex_resource);
// end cuda-gl interop
glUseProgram(program_disp_);
glBindTexture(GL_TEXTURE_2D, disp_texture_);
glEnableVertexAttribArray(0);
glEnableVertexAttribArray(1);
glBindBuffer(GL_ARRAY_BUFFER, vert_buffer_);
glVertexAttribPointer(0, 2, GL_FLOAT, GL_FALSE, sizeof(float) * 5, (void*)0);
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, sizeof(float) * 5, (float*)0 + 3);
GLint loc;
loc = glGetUniformLocation(program_disp_, "tex_sampler");
if (loc != -1) {
glUniform1i(loc, 0);
}
loc = glGetUniformLocation(program_cdisp_, "inv_disp_size");
if (loc != -1) {
glUniform1i(loc, 256 / disp_size);
}
glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
glBindTexture(GL_TEXTURE_2D, 0);
}
~CudaSurfaceObject()
{
CUDA_CALL(cudaDestroySurfaceObject(m_surfaceObject));
}
