From 0cad90efcd6242d0dbec2c528dc79ec40b5cecb4 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Thu, 13 Aug 2020 14:02:38 +0300
Subject: [PATCH] Tidy and log vr pose
---
components/renderers/cpp/src/CUDARender.cpp | 17 --------------
.../streams/src/renderers/openvr_render.cpp | 22 +------------------
2 files changed, 1 insertion(+), 38 deletions(-)
diff --git a/components/renderers/cpp/src/CUDARender.cpp b/components/renderers/cpp/src/CUDARender.cpp
index bf0edd27f..1ed37cca6 100644
--- a/components/renderers/cpp/src/CUDARender.cpp
+++ b/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;
diff --git a/components/streams/src/renderers/openvr_render.cpp b/components/streams/src/renderers/openvr_render.cpp
index a1b802edb..9aa104b95 100644
--- a/components/streams/src/renderers/openvr_render.cpp
+++ b/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;
--
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