Tidy and log vr pose

components/renderers/cpp/src/CUDARender.cpp

@@ -273,7 +273,6 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 
 		// Calculate and save virtual view screen position of each source pixel
 		if (f.hasChannel(Channel::Depth)) {
-			LOG(INFO) << "DEPTH SCREEN COORD";
 			ftl::cuda::screen_coord(
 				f.createTexture<float>(Channel::Depth),
 				depthbuffer,
@@ -288,7 +287,6 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 				params_, transform, f.getLeftCamera(), stream
 			);
 		} else {
-			LOG(INFO) << "NON-DEPTH SCREEN COORD";
 			// Constant depth version
 			ftl::cuda::screen_coord(
 				depthbuffer,
@@ -304,12 +302,6 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 
 		depth_out_.to_gpumat().setTo(cv::Scalar(1000.0f), cvstream);
 
-		LOG(INFO) << "MESH BEFORE TRIANGLES";
-		cudaSafeCall(cudaStreamSynchronize(stream_));
-
-		LOG(INFO) << "TEMP SIZE = " << temp_.get<cv::cuda::GpuMat>((do_blend) ? Channel::Depth : Channel::Depth2).size();
-		LOG(INFO) << "Depth Buffer Size = " << depthbuffer.width() << "," << depthbuffer.height();
-
 		// Decide on and render triangles around each point
 		ftl::cuda::triangle_render1(
 			depthbuffer,
@@ -321,9 +313,6 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 		// TODO: Reproject here
 		// And merge based upon weight adjusted distances
 
-		LOG(INFO) << "MESH BLENDER";
-		cudaSafeCall(cudaStreamSynchronize(stream_));
-
 		if (do_blend) {
 			// Blend this sources mesh with previous meshes
 			ftl::cuda::mesh_blender(
@@ -343,9 +332,6 @@ void CUDARender::_mesh(ftl::rgbd::Frame &out, const Eigen::Matrix4d &t, cudaStre
 
 	if (valid_count == 0) return;
 
-	LOG(INFO) << "MESH PART 1";
-	cudaSafeCall(cudaStreamSynchronize(stream_));
-
 	// Convert from int depth to float depth
 	//temp_.get<GpuMat>(Channel::Depth2).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 100000.0f, cvstream);
 
@@ -668,10 +654,7 @@ bool CUDARender::submit(ftl::data::FrameSet *in, Channels<0> chans, const Eigen:
 	bool success = true;
 
 	try {
-		LOG(INFO) << "START RENDERPASS 1";
 		_renderPass1(t);
-		cudaSafeCall(cudaStreamSynchronize(stream_));
-		LOG(INFO) << "END RENDERPASS 1";
 	} catch (const ftl::exception &e) {
 		LOG(ERROR) << "Exception in render: " << e.what();
 		success = false;

components/streams/src/renderers/openvr_render.cpp

@@ -261,9 +261,7 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 		int width = rgbdframe.getLeft().width;
 		int height = rgbdframe.getLeft().height;
 
-		LOG(INFO) << "WAIT GET POSE";
 		auto vrerr = vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
-		LOG(INFO) << "GOT POSE";
 
 		if (vrerr != vr::VRCompositorError_None) {
 			frame_out.message(ftl::data::Message::Error_OPENVR, "Could not get VR pose");
@@ -342,6 +340,7 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 			}
 
 			rgbdframe.setPose() = initial_pose_*viewPose;
+			LOG(INFO) << "VR POSE = " << rgbdframe.getPose();
 
 		} else {
 			LOG(ERROR) << "No VR Pose";
@@ -351,8 +350,6 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 
 		// TODO: Get controller data if available...
 
-		LOG(INFO) << "MAKE OPENGL TEXTURES";
-
 		texture1_.make(width, height, ftl::utility::GLTexture::Type::BGRA);
 		texture2_.make(width, height, ftl::utility::GLTexture::Type::BGRA);
 		
@@ -373,8 +370,6 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 			ftl::operators::Poser::get(origin_name, origin);
 		}*/
 
-		LOG(INFO) << "START RENDER";
-
 		try {
 			renderer_->begin(rgbdframe, ftl::codecs::Channel::Left);
 			renderer2_->begin(rgbdframe, Channel::Colour2);
@@ -443,7 +438,6 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 				}
 			}
 
-			LOG(INFO) << "START MIX";
 			mixer_.mix();
 
 			// Write mixed audio to frame.
@@ -454,7 +448,6 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 				int fcount = mixer_.frames();
 				mixer_.read(list.emplace_front().data(), fcount);
 			}
-			LOG(INFO) << "END MIX";
 
 			// TODO: Blend option
 
@@ -467,8 +460,6 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 			frame_out.message(ftl::data::Message::Error_RENDER, e.what());
 		}
 
-		LOG(INFO) << "END RENDER";
-
 		if (!post_pipe_) {
 			post_pipe_ = ftl::config::create<ftl::operators::Graph>(host(), "post_filters");
 			post_pipe_->append<ftl::operators::Poser>("poser");
@@ -478,36 +469,25 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
 
 		post_pipe_->apply(rgbdframe, rgbdframe, 0);
 
-		LOG(INFO) << "END PIPELINE";
-
 		if (host_->value("enable_touch", false)) {
 			ftl::render::collision2touch(rgbdframe, renderer_->getCollisions(), sets, my_id_, host_->value("touch_min", 0.01f), host_->value("touch_max", 0.05f));
 		}
 
-		LOG(INFO) << "FINISHED TOUCH DATA";
-
 		// FIXME: Use a stream
 		ftl::cuda::flip<uchar4>(rgbdframe.set<cv::cuda::GpuMat>(Channel::Colour), 0);
 		ftl::cuda::flip<uchar4>(rgbdframe.set<cv::cuda::GpuMat>(Channel::Colour2), 0);
 
-		LOG(INFO) << "DONE FLIP";
-
 		texture1_.unmap(renderer_->getCUDAStream());
 		texture2_.unmap(renderer2_->getCUDAStream());
 		//return true;
 
-		LOG(INFO) << "UNMAP AND SEND TO VR";
-
 		// Send left and right textures to VR headset
 		vr::Texture_t leftEyeTexture = {(void*)(uintptr_t)texture1_.texture(), vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
 		vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
 		vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)texture2_.texture(), vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
 		vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture );
 
-		LOG(INFO) << "ABOUT TO FLUSH";
 		glFlush();
-		LOG(INFO) << "FINISH VR FRAME";
-
 	}
 
 	return true;