void WorldView::adjust_render_texture_to_pixel_box_ (Ogre::PixelBox &dst)
{
size_t width (dst.getWidth()), height (dst.getHeight());
if ((width != texture_-> getWidth()) || (height != texture_-> getHeight()))
create_render_texture_ (width, height);
}
void
Terrain::_createAtlasPixmap(size_t pixmapId)
{
const TerrainData::Pixmap& pixmap = mData->mPixmaps[pixmapId];
size_t textureId = pixmap.textureId;
assert(textureId < mData->mTextures.size());
const Ogre::String& textureName = mData->mTextures[textureId];
// If the atlas texture already exist, use it.
AtlasArray::const_iterator it;
for (it = mAtlases.begin(); it != mAtlases.end(); ++it)
{
if (it->texture->getName() == textureName)
break;
}
if (it != mAtlases.end())
{
// Fill up atlas pixmap info
size_t atlasId = it - mAtlases.begin() + 1;
mAtlasPixmaps[pixmapId].atlasId = atlasId;
mAtlasPixmaps[pixmapId].left = pixmap.left;
mAtlasPixmaps[pixmapId].top = pixmap.top;
mAtlasPixmaps[pixmapId].right = pixmap.right;
mAtlasPixmaps[pixmapId].bottom = pixmap.bottom;
return;
}
// If texture already loaded and is composited, use it without any modify.
Ogre::TexturePtr texture = Ogre::TextureManager::getSingleton().getByName(textureName);
if (!texture.isNull() &&
(texture->getWidth() > mAtlasPixmapSize || texture->getHeight() > mAtlasPixmapSize))
{
mAtlases.push_back(Atlas());
Atlas& atlas = mAtlases.back();
atlas.texture = texture;
// Fill up atlas pixmap info
size_t atlasId = mAtlases.size();
mAtlasPixmaps[pixmapId].atlasId = atlasId;
mAtlasPixmaps[pixmapId].left = pixmap.left;
mAtlasPixmaps[pixmapId].top = pixmap.top;
mAtlasPixmaps[pixmapId].right = pixmap.right;
mAtlasPixmaps[pixmapId].bottom = pixmap.bottom;
return;
}
// Load the image
Ogre::Image image;
image.load(textureName, BRUSH_RESOURCE_GROUP_NAME);
// If the image is composited, use it without any modify.
if (image.getWidth() > mAtlasPixmapSize || image.getHeight() > mAtlasPixmapSize)
{
mAtlases.push_back(Atlas());
Atlas& atlas = mAtlases.back();
// re-use the loaded image avoid load it again
atlas.texture =
Ogre::TextureManager::getSingleton()
.loadImage(textureName, BRUSH_RESOURCE_GROUP_NAME, image);
// Fill up atlas pixmap info
size_t atlasId = mAtlases.size();
mAtlasPixmaps[pixmapId].atlasId = atlasId;
mAtlasPixmaps[pixmapId].left = pixmap.left;
mAtlasPixmaps[pixmapId].top = pixmap.top;
mAtlasPixmaps[pixmapId].right = pixmap.right;
mAtlasPixmaps[pixmapId].bottom = pixmap.bottom;
return;
}
// Composite into the atlas texture.
bool isTransparent = image.getHasAlpha();
AtlasAllocInfo& allocInfo = isTransparent ? mTransparentAtlasAllocInfo : mSolidAtlasAllocInfo;
if (allocInfo.blockId >= mMaxAtlasBlockId)
{
// Use special name to avoid confuse with other reference with this texture
Ogre::String atlasName = "<Terrain/Atlas>:" + Ogre::StringConverter::toString(mAtlases.size());
mAtlases.push_back(Atlas());
Atlas& atlas = mAtlases.back();
Ogre::PixelFormat pixelFormat = isTransparent ? Ogre::PF_A8R8G8B8 : Ogre::PF_X8R8G8B8;
atlas.image.bind(new Ogre::Image);
atlas.image->loadDynamicImage(0, mAtlasTextureSize, mAtlasTextureSize, 1, pixelFormat, true, 1, mAtlasNumMipMaps);
memset(atlas.image->getData(), 0, atlas.image->getSize());
atlas.texture =
Ogre::TextureManager::getSingleton().createManual(atlasName,
BRUSH_RESOURCE_GROUP_NAME, Ogre::TEX_TYPE_2D,
atlas.image->getWidth(), atlas.image->getHeight(),
mAtlasNumMipMaps, atlas.image->getFormat(),
Ogre::TU_DYNAMIC_WRITE_ONLY_DISCARDABLE,
this);
allocInfo.atlasId = mAtlases.size();
allocInfo.blockId = 0;
}
// Copy origin pixmap to atlas image
Atlas& atlas = mAtlases[allocInfo.atlasId - 1];
int blockX = allocInfo.blockId % mAtlasBlockSize;
int blockY = allocInfo.blockId / mAtlasBlockSize;
Ogre::PixelBox dst = atlas.image->getPixelBox().getSubVolume(Ogre::Box(
blockX * mAtlasPixmapSize,
blockY * mAtlasPixmapSize,
blockX * mAtlasPixmapSize + mAtlasPixmapSize,
blockY * mAtlasPixmapSize + mAtlasPixmapSize));
Ogre::PixelBox src = image.getPixelBox().getSubVolume(Ogre::Box(
fast_ifloor(pixmap.left * image.getWidth() + 0.5f),
fast_ifloor(pixmap.top * image.getHeight() + 0.5f),
fast_ifloor(pixmap.right * image.getWidth() + 0.5f),
fast_ifloor(pixmap.bottom * image.getHeight() + 0.5f)));
if (src.getWidth() == mAtlasPixmapSize && src.getHeight() == mAtlasPixmapSize)
Ogre::PixelUtil::bulkPixelConversion(src, dst);
else
Ogre::Image::scale(src, dst);
// Generate mipmaps manual
for (size_t mipmap = 1; mipmap <= mAtlasNumMipMaps; ++mipmap)
{
src = dst;
size_t pixmapSize = mAtlasPixmapSize >> mipmap;
dst = atlas.image->getPixelBox(0, mipmap).getSubVolume(Ogre::Box(
blockX * pixmapSize,
blockY * pixmapSize,
blockX * pixmapSize + pixmapSize,
blockY * pixmapSize + pixmapSize));
Ogre::Image::scale(src, dst);
}
// Notify that the atlas texture need to reload
if (atlas.texture->isLoaded())
atlas.texture->unload();
++allocInfo.blockId;
// Fill up atlas pixmap info
mAtlasPixmaps[pixmapId].atlasId = allocInfo.atlasId;
mAtlasPixmaps[pixmapId].left = blockX * mAtlasBlockTexCoordInc + 0.5f / mAtlasTextureSize;
mAtlasPixmaps[pixmapId].top = blockY * mAtlasBlockTexCoordInc + 0.5f / mAtlasTextureSize;
mAtlasPixmaps[pixmapId].right = mAtlasPixmaps[pixmapId].left + mAtlasBlockTexCoordInc - 1.0f / mAtlasTextureSize;
mAtlasPixmaps[pixmapId].bottom = mAtlasPixmaps[pixmapId].top + mAtlasBlockTexCoordInc - 1.0f / mAtlasTextureSize;
}
void GPUSurfFeatureDetector::update(Ogre::PixelBox& frame)
{
mNbFeatureFound = 0;
int width = frame.getWidth();
int height = frame.getHeight();
if (resize(frame.getWidth(), frame.getHeight()))
{
std::cout << "Warning resizing to " << width << "x" <<height << std::endl;
}
mWebcamTexture->getBuffer(0, 0)->blitFromMemory(frame);
for (int i=0; i<mNbOctave; ++i)
{
mGPGPURoot->compute(mGrayResults[i], mGrayOperations[i]);
mGPGPURoot->compute(mGxResults[i], mGxOperations[i]);
mGPGPURoot->compute(mGyResults[i], mGyOperations[i]);
mGPGPURoot->compute(mHResults[i], mHOperations[i]);
mNMSOperations[i]->setParameter("threshold", (float) mThreshold);
mGPGPURoot->compute(mNMSResults[i], mNMSOperations[i]);
}
/*
for (int i=0; i<mNbOctave; ++i)
{
std::stringstream name;
name << "gaussian_" << i<< ".png";
mGrayResults[i]->save(name.str());
}
*/
glFinish();
mCudaRoot->synchronize();
//std::cout << "0 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
for (int i=0; i<mNbOctave; ++i)
{
mCudaNMSTexture->map();
mCudaRoot->synchronize();
//std::cout << "1 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
Ogre::Cuda::TextureDeviceHandle textureHandle = mCudaNMSTexture->getDeviceHandle(0, i);
mCudaRoot->synchronize();
//std::cout << "2 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
mCudaNMSTexture->updateReading(textureHandle);
mCudaRoot->synchronize();
//std::cout << "3 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
mNbFeatureFound += extractFeatureLocationCuda(textureHandle.width, textureHandle.height, textureHandle.getPointer(),
mDeviceScanPlan[i],
i,
mDeviceFeatureCounterPass1[i],
mDeviceFeatureCounterPass2[i],
mDeviceFeatureFound,
mNbFeatureFound);
mCudaRoot->synchronize();
mCudaNMSTexture->unmap();
//std::cout << "6 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
//std::cout << "4 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
mCudaRoot->synchronize();
//std::cout << "5 Cuda Error : " << mCudaRoot->getLastError() <<std::endl;
}
mCudaRoot->synchronize();
if (mNbFeatureFound < mNbFeatureMax)
{
cudaMemcpy(mHostFeatureFound, mDeviceFeatureFound, mNbFeatureFound*sizeof(Feature), cudaMemcpyDeviceToHost);
}
else
{
mNbFeatureFound = 0;
//should launch again with a bigger feature buffer...
}
}
