Merge branch 'feature/121/vr' into 'master'

Feature/121/vr

See merge request nicolas.pope/ftl!110

CMakeLists.txt

@@ -40,6 +40,19 @@ if (LibArchive_FOUND)
 	set(HAVE_LIBARCHIVE true)
 endif()
 
+## OpenVR API path
+find_library(OPENVR_LIBRARIES
+  NAMES
+    openvr_api
+)
+set(OPENVR_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../headers)
+
+if (OPENVR_LIBRARIES)
+	message(STATUS "Found OpenVR: ${OPENVR_LIBRARIES}")
+	set(HAVE_OPENVR true)
+endif()
+
+
 if (WITH_FIXSTARS)
 	find_package( LibSGM )
 	if (LibSGM_FOUND)

applications/gui/CMakeLists.txt

@@ -27,6 +27,6 @@ target_include_directories(ftl-gui PUBLIC
 #endif()
 
 #target_include_directories(cv-node PUBLIC ${PROJECT_SOURCE_DIR}/include)
-target_link_libraries(ftl-gui ftlcommon ftlctrl ftlrgbd Threads::Threads ${OpenCV_LIBS} glog::glog ftlnet nanogui GL)
+target_link_libraries(ftl-gui ftlcommon ftlctrl ftlrgbd Threads::Threads ${OpenCV_LIBS} ${OPENVR_LIBRARIES} glog::glog ftlnet nanogui GL)
 
 

applications/gui/src/camera.cpp

@@ -151,6 +151,8 @@ ftl::gui::Camera::Camera(ftl::gui::Screen *screen, ftl::rgbd::Source *src) : scr
 		depth_.create(depth.size(), depth.type());
 		cv::swap(rgb_,rgb);
 		cv::swap(depth_, depth);
+		cv::flip(rgb_,rgb_,0);
+		cv::flip(depth_,depth_,0);
 	});
 }
 
@@ -253,6 +255,17 @@ void ftl::gui::Camera::setChannel(Channel c) {
 	}
 }
 
+static Eigen::Matrix4d ConvertSteamVRMatrixToMatrix4( const vr::HmdMatrix34_t &matPose )
+{
+	Eigen::Matrix4d matrixObj;
+	matrixObj <<
+		matPose.m[0][0], matPose.m[1][0], matPose.m[2][0], 0.0,
+		matPose.m[0][1], matPose.m[1][1], matPose.m[2][1], 0.0,
+		matPose.m[0][2], matPose.m[1][2], matPose.m[2][2], 0.0,
+		matPose.m[0][3], matPose.m[1][3], matPose.m[2][3], 1.0f;
+	return matrixObj;
+}
+
 static void visualizeDepthMap(	const cv::Mat &depth, cv::Mat &out,
 								const float max_depth)
 {
@@ -307,16 +320,44 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
 	if (src_ && src_->isReady()) {
 		UNIQUE_LOCK(mutex_, lk);
 
-		// Lerp the Eye
-		eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
-		eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
-		eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
+		if (screen_->hasVR()) {
+			#ifdef HAVE_OPENVR
+			src_->setChannel(Channel::Right);
+
+			vr::VRCompositor()->WaitGetPoses(rTrackedDevicePose_, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
+
+			if ( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid )
+			{
+				auto pose = ConvertSteamVRMatrixToMatrix4( rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking );
+				pose.inverse();
 
-		Eigen::Translation3d trans(eye_);
-		Eigen::Affine3d t(trans);
-		Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
+				// Lerp the Eye
+				eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
+				eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
+				eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
+
+				Eigen::Translation3d trans(eye_);
+				Eigen::Affine3d t(trans);
+				Eigen::Matrix4d viewPose = t.matrix() * pose;
+
+				if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
+			} else {
+				LOG(ERROR) << "No VR Pose";
+			}
+			#endif
+		} else {
+			// Lerp the Eye
+			eye_[0] += (neye_[0] - eye_[0]) * lerpSpeed_ * delta_;
+			eye_[1] += (neye_[1] - eye_[1]) * lerpSpeed_ * delta_;
+			eye_[2] += (neye_[2] - eye_[2]) * lerpSpeed_ * delta_;
+
+			Eigen::Translation3d trans(eye_);
+			Eigen::Affine3d t(trans);
+			Eigen::Matrix4d viewPose = t.matrix() * rotmat_;
+
+			if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
+		}
 
-		if (src_->hasCapabilities(ftl::rgbd::kCapMovable)) src_->setPose(viewPose);
 		src_->grab();
 		//src_->getFrames(rgb, depth);
 
@@ -368,6 +409,13 @@ const GLTexture &ftl::gui::Camera::captureFrame() {
 				if (rgb_.rows == 0) { break; }
 				//imageSize = Vector2f(rgb.cols,rgb.rows);
 				texture_.update(rgb_);
+
+				#ifdef HAVE_OPENVR
+				if (screen_->hasVR() && depth_.channels() >= 3) {
+					LOG(INFO) << "DRAW RIGHT";
+					textureRight_.update(depth_);
+				}
+				#endif
 		}
 	}
 

applications/gui/src/camera.hpp

@@ -6,6 +6,10 @@
 
 #include <string>
 
+#ifdef HAVE_OPENVR
+#include <openvr/openvr.h>
+#endif
+
 class StatisticsImage;
 
 namespace ftl {
@@ -41,6 +45,8 @@ class Camera {
 	const ftl::rgbd::Channels &availableChannels();
 
 	const GLTexture &captureFrame();
+	const GLTexture &getLeft() const { return texture_; }
+	const GLTexture &getRight() const { return textureRight_; }
 
 	bool thumbnail(cv::Mat &thumb);
 
@@ -53,6 +59,7 @@ class Camera {
 	ftl::rgbd::Source *src_;
 	GLTexture thumb_;
 	GLTexture texture_;
+	GLTexture textureRight_;
 	ftl::gui::PoseWindow *posewin_;
 	nlohmann::json meta_;
 	Eigen::Vector4d neye_;
@@ -69,6 +76,10 @@ class Camera {
 	cv::Mat rgb_;
 	cv::Mat depth_;
 	MUTEX mutex_;
+
+	#ifdef HAVE_OPENVR
+	vr::TrackedDevicePose_t rTrackedDevicePose_[ vr::k_unMaxTrackedDeviceCount ];
+	#endif
 };
 
 }

applications/gui/src/screen.cpp

@@ -37,7 +37,7 @@ namespace {
             uv = vertex;
             vec2 scaledVertex = (vertex * scaleFactor) + position;
             gl_Position  = vec4(2.0*scaledVertex.x - 1.0,
-                                1.0 - 2.0*scaledVertex.y,
+                                2.0*scaledVertex.y - 1.0,
                                 0.0, 1.0);
         })";
 
@@ -244,10 +244,31 @@ ftl::gui::Screen::Screen(ftl::Configurable *proot, ftl::net::Universe *pnet, ftl
 
 	setVisible(true);
 	performLayout();
+
+
+	#ifdef HAVE_OPENVR
+	if (vr::VR_IsHmdPresent()) {
+		// Loading the SteamVR Runtime
+		vr::EVRInitError eError = vr::VRInitError_None;
+		HMD_ = vr::VR_Init( &eError, vr::VRApplication_Scene );
+
+		if ( eError != vr::VRInitError_None )
+		{
+			HMD_ = nullptr;
+			LOG(ERROR) << "Unable to init VR runtime: " << vr::VR_GetVRInitErrorAsEnglishDescription( eError );
+		}
+	} else {
+		HMD_ = nullptr;
+	}
+	#endif
 }
 
 ftl::gui::Screen::~Screen() {
 	mShader.free();
+
+	#ifdef HAVE_OPENVR
+	vr::VR_Shutdown();
+	#endif
 }
 
 void ftl::gui::Screen::setActiveCamera(ftl::gui::Camera *cam) {
@@ -337,6 +358,18 @@ void ftl::gui::Screen::draw(NVGcontext *ctx) {
 		imageSize = {camera_->width(), camera_->height()};
 
 		mImageID = camera_->captureFrame().texture();
+		leftEye_ = mImageID;
+		rightEye_ = camera_->getRight().texture();
+
+		#ifdef HAVE_OPENVR
+		if (hasVR() && imageSize[0] > 0 && camera_->getLeft().isValid() && camera_->getRight().isValid()) {
+			vr::Texture_t leftEyeTexture = {(void*)(uintptr_t)leftEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
+			vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
+			glBindTexture(GL_TEXTURE_2D, rightEye_);
+			vr::Texture_t rightEyeTexture = {(void*)(uintptr_t)rightEye_, vr::TextureType_OpenGL, vr::ColorSpace_Gamma };
+			vr::VRCompositor()->Submit(vr::Eye_Right, &rightEyeTexture );
+		}
+		#endif
 
 		if (mImageID < std::numeric_limits<unsigned int>::max() && imageSize[0] > 0) {
 			auto mScale = (screenSize.cwiseQuotient(imageSize).minCoeff());

applications/gui/src/screen.hpp

@@ -11,6 +11,10 @@
 #include "src_window.hpp"
 #include "gltexture.hpp"
 
+#ifdef HAVE_OPENVR
+#include <openvr/openvr.h>
+#endif
+
 class StatisticsImageNSamples;
 
 namespace ftl {
@@ -39,6 +43,12 @@ class Screen : public nanogui::Screen {
 	void setActiveCamera(ftl::gui::Camera*);
 	ftl::gui::Camera *activeCamera() { return camera_; }
 
+	#ifdef HAVE_OPENVR
+	bool hasVR() const { return HMD_ != nullptr; }
+	#else
+	bool hasVR() const { return false; }
+	#endif
+
 	nanogui::Theme *windowtheme;
 	nanogui::Theme *specialtheme;
 	nanogui::Theme *mediatheme;
@@ -68,6 +78,13 @@ class Screen : public nanogui::Screen {
 	ftl::Configurable *root_;
 	std::string status_;
 	ftl::gui::Camera *camera_;
+
+	GLuint leftEye_;
+	GLuint rightEye_;
+
+	#ifdef HAVE_OPENVR
+	vr::IVRSystem *HMD_;
+	#endif
 };
 
 }

components/common/cpp/include/ftl/config.h.in

@@ -23,6 +23,7 @@
 #cmakedefine HAVE_REALSENSE
 #cmakedefine HAVE_NANOGUI
 #cmakedefine HAVE_LIBARCHIVE
+#cmakedefine HAVE_OPENVR
 #cmakedefine HAVE_NVPIPE
 
 extern const char *FTL_BRANCH;

components/renderers/cpp/include/ftl/render/splat_render.hpp

@@ -22,9 +22,11 @@ class Splatter : public ftl::render::Renderer {
 	~Splatter();
 
 	bool render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream=0) override;
-
 	//void setOutputDevice(int);
 
+	protected:
+	void renderChannel(ftl::render::SplatParams &params, ftl::rgbd::Frame &out, const ftl::rgbd::Channel &channel, cudaStream_t stream);
+
 	private:
 	int device_;
 	/*ftl::cuda::TextureObject<int> depth1_;

components/renderers/cpp/src/splat_render.cpp

@@ -19,75 +19,18 @@ Splatter::~Splatter() {
 
 }
 
-bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream) {
-	SHARED_LOCK(scene_->mtx, lk);
-	if (!src->isReady()) return false;
-
-	const auto &camera = src->parameters();
-
-	//cudaSafeCall(cudaSetDevice(scene_->getCUDADevice()));
-
-	// Create all the required channels
-	out.create<GpuMat>(Channel::Depth, Format<float>(camera.width, camera.height));
-	out.create<GpuMat>(Channel::Colour, Format<uchar4>(camera.width, camera.height));
-
-	// FIXME: Use source resolutions, not virtual resolution
-	temp_.create<GpuMat>(Channel::Colour, Format<float4>(camera.width, camera.height));
-	temp_.create<GpuMat>(Channel::Colour2, Format<uchar4>(camera.width, camera.height));
-	temp_.create<GpuMat>(Channel::Contribution, Format<float>(camera.width, camera.height));
-	temp_.create<GpuMat>(Channel::Depth, Format<int>(camera.width, camera.height));
-	temp_.create<GpuMat>(Channel::Depth2, Format<int>(camera.width, camera.height));
-	temp_.create<GpuMat>(Channel::Normals, Format<float4>(camera.width, camera.height));
-
+void Splatter::renderChannel(
+					ftl::render::SplatParams &params, ftl::rgbd::Frame &out,
+					const Channel &channel, cudaStream_t stream)
+{
 	cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
-
-	// Create buffers if they don't exist
-	/*if ((unsigned int)depth1_.width() != camera.width || (unsigned int)depth1_.height() != camera.height) {
-		depth1_ = ftl::cuda::TextureObject<int>(camera.width, camera.height);
-	}
-	if ((unsigned int)depth3_.width() != camera.width || (unsigned int)depth3_.height() != camera.height) {
-		depth3_ = ftl::cuda::TextureObject<int>(camera.width, camera.height);
-	}
-	if ((unsigned int)colour1_.width() != camera.width || (unsigned int)colour1_.height() != camera.height) {
-		colour1_ = ftl::cuda::TextureObject<uchar4>(camera.width, camera.height);
-	}
-	if ((unsigned int)colour_tmp_.width() != camera.width || (unsigned int)colour_tmp_.height() != camera.height) {
-		colour_tmp_ = ftl::cuda::TextureObject<float4>(camera.width, camera.height);
-	}
-	if ((unsigned int)normal1_.width() != camera.width || (unsigned int)normal1_.height() != camera.height) {
-		normal1_ = ftl::cuda::TextureObject<float4>(camera.width, camera.height);
-	}
-	if ((unsigned int)depth2_.width() != camera.width || (unsigned int)depth2_.height() != camera.height) {
-		depth2_ = ftl::cuda::TextureObject<float>(camera.width, camera.height);
-	}
-	if ((unsigned int)colour2_.width() != camera.width || (unsigned int)colour2_.height() != camera.height) {
-		colour2_ = ftl::cuda::TextureObject<uchar4>(camera.width, camera.height);
-	}*/
-
-	// Parameters object to pass to CUDA describing the camera
-	SplatParams params;
-	params.m_flags = 0;
-	if (src->value("splatting", true) == false) params.m_flags |= ftl::render::kNoSplatting;
-	if (src->value("upsampling", true) == false) params.m_flags |= ftl::render::kNoUpsampling;
-	if (src->value("texturing", true) == false) params.m_flags |= ftl::render::kNoTexturing;
-	params.m_viewMatrix = MatrixConversion::toCUDA(src->getPose().cast<float>().inverse());
-	params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
-	params.camera = camera;
-
-	// Clear all channels to 0 or max depth
 	temp_.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
 	temp_.get<GpuMat>(Channel::Depth2).setTo(cv::Scalar(0x7FFFFFFF), cvstream);
 	temp_.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(0.0f,0.0f,0.0f,0.0f), cvstream);
 	temp_.get<GpuMat>(Channel::Contribution).setTo(cv::Scalar(0.0f), cvstream);
-	out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
-	out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(76,76,76), cvstream);
-
-	//LOG(INFO) << "Render ready: " << camera.width << "," << camera.height;
-
-	temp_.createTexture<int>(Channel::Depth);
-
+	
 	// Render each camera into virtual view
-	for (size_t i=0; i<scene_->frames.size(); ++i) {
+	for (size_t i=0; i < scene_->frames.size(); ++i) {
 		auto &f = scene_->frames[i];
 		auto *s = scene_->sources[i];
 
@@ -145,23 +88,97 @@ bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cuda
 	// Normalise attribute contributions
 	ftl::cuda::dibr_normalise(
 		temp_.createTexture<float4>(Channel::Colour),
-		out.createTexture<uchar4>(Channel::Colour),
+		out.createTexture<uchar4>(channel),
 		temp_.createTexture<float>(Channel::Contribution),
 		stream
 	);
+}
+
+bool Splatter::render(ftl::rgbd::VirtualSource *src, ftl::rgbd::Frame &out, cudaStream_t stream) {
+	SHARED_LOCK(scene_->mtx, lk);
+	if (!src->isReady()) return false;
+
+	const auto &camera = src->parameters();
+
+	//cudaSafeCall(cudaSetDevice(scene_->getCUDADevice()));
+
+	// Create all the required channels
+	out.create<GpuMat>(Channel::Depth, Format<float>(camera.width, camera.height));
+	out.create<GpuMat>(Channel::Colour, Format<uchar4>(camera.width, camera.height));
+
+	// FIXME: Use source resolutions, not virtual resolution
+	temp_.create<GpuMat>(Channel::Colour, Format<float4>(camera.width, camera.height));
+	temp_.create<GpuMat>(Channel::Colour2, Format<uchar4>(camera.width, camera.height));
+	temp_.create<GpuMat>(Channel::Contribution, Format<float>(camera.width, camera.height));
+	temp_.create<GpuMat>(Channel::Depth, Format<int>(camera.width, camera.height));
+	temp_.create<GpuMat>(Channel::Depth2, Format<int>(camera.width, camera.height));
+	temp_.create<GpuMat>(Channel::Normals, Format<float4>(camera.width, camera.height));
+
+	cv::cuda::Stream cvstream = cv::cuda::StreamAccessor::wrapStream(stream);
+
+	// Create buffers if they don't exist
+	/*if ((unsigned int)depth1_.width() != camera.width || (unsigned int)depth1_.height() != camera.height) {
+		depth1_ = ftl::cuda::TextureObject<int>(camera.width, camera.height);
+	}
+	if ((unsigned int)depth3_.width() != camera.width || (unsigned int)depth3_.height() != camera.height) {
+		depth3_ = ftl::cuda::TextureObject<int>(camera.width, camera.height);
+	}
+	if ((unsigned int)colour1_.width() != camera.width || (unsigned int)colour1_.height() != camera.height) {
+		colour1_ = ftl::cuda::TextureObject<uchar4>(camera.width, camera.height);
+	}
+	if ((unsigned int)colour_tmp_.width() != camera.width || (unsigned int)colour_tmp_.height() != camera.height) {
+		colour_tmp_ = ftl::cuda::TextureObject<float4>(camera.width, camera.height);
+	}
+	if ((unsigned int)normal1_.width() != camera.width || (unsigned int)normal1_.height() != camera.height) {
+		normal1_ = ftl::cuda::TextureObject<float4>(camera.width, camera.height);
+	}
+	if ((unsigned int)depth2_.width() != camera.width || (unsigned int)depth2_.height() != camera.height) {
+		depth2_ = ftl::cuda::TextureObject<float>(camera.width, camera.height);
+	}
+	if ((unsigned int)colour2_.width() != camera.width || (unsigned int)colour2_.height() != camera.height) {
+		colour2_ = ftl::cuda::TextureObject<uchar4>(camera.width, camera.height);
+	}*/
 
+	// Parameters object to pass to CUDA describing the camera
+	SplatParams params;
+	params.m_flags = 0;
+	if (src->value("splatting", true) == false) params.m_flags |= ftl::render::kNoSplatting;
+	if (src->value("upsampling", true) == false) params.m_flags |= ftl::render::kNoUpsampling;
+	if (src->value("texturing", true) == false) params.m_flags |= ftl::render::kNoTexturing;
+	params.m_viewMatrix = MatrixConversion::toCUDA(src->getPose().cast<float>().inverse());
+	params.m_viewMatrixInverse = MatrixConversion::toCUDA(src->getPose().cast<float>());
+	params.camera = camera;
+
+	// Clear all channels to 0 or max depth
+
+	out.get<GpuMat>(Channel::Depth).setTo(cv::Scalar(1000.0f), cvstream);
+	out.get<GpuMat>(Channel::Colour).setTo(cv::Scalar(76,76,76), cvstream);
+
+	//LOG(INFO) << "Render ready: " << camera.width << "," << camera.height;
+
+	temp_.createTexture<int>(Channel::Depth);
+
+	renderChannel(params, out, Channel::Colour, stream);
+	
 	Channel chan = src->getChannel();
-	if (chan == Channel::Depth) {
+	if (chan == Channel::Depth)
+	{
 		temp_.get<GpuMat>(Channel::Depth).convertTo(out.get<GpuMat>(Channel::Depth), CV_32F, 1.0f / 1000.0f, cvstream);
-	} else if (chan == Channel::Energy) {
+	}
+	else if (chan == Channel::Energy)
+	{
 		cv::cuda::swap(temp_.get<GpuMat>(Channel::Energy), out.create<GpuMat>(Channel::Energy));
-	} else if (chan == Channel::Right) {
+	}
+	else if (chan == Channel::Right)
+	{
 		Eigen::Affine3f transform(Eigen::Translation3f(camera.baseline,0.0f,0.0f));
 		Eigen::Matrix4f matrix =  src->getPose().cast<float>() * transform.matrix();
 		params.m_viewMatrix = MatrixConversion::toCUDA(matrix.inverse());
 		params.m_viewMatrixInverse = MatrixConversion::toCUDA(matrix);
-
-		// TODO: Repeat rendering process...
+		
+		out.create<GpuMat>(Channel::Right, Format<uchar4>(camera.width, camera.height));
+		out.get<GpuMat>(Channel::Right).setTo(cv::Scalar(76,76,76), cvstream);
+		renderChannel(params, out, Channel::Right, stream);
 	}
 
 	return true;

components/renderers/cpp/src/splatter_cuda.hpp

@@ -6,22 +6,26 @@
 
 namespace ftl {
 namespace cuda {
-    void dibr_merge(ftl::cuda::TextureObject<float4> &points, ftl::cuda::TextureObject<int> &depth, ftl::render::SplatParams params, cudaStream_t stream);
+	void dibr_merge(
+		ftl::cuda::TextureObject<float4> &points,
+		ftl::cuda::TextureObject<int> &depth,
+		ftl::render::SplatParams params,
+		cudaStream_t stream);
 
-    void dibr_attribute(
-        ftl::cuda::TextureObject<uchar4> &colour_in,    // Original colour image
-        ftl::cuda::TextureObject<float4> &points,       // Original 3D points
-        ftl::cuda::TextureObject<int> &depth_in,        // Virtual depth map
-        ftl::cuda::TextureObject<float4> &colour_out,   // Accumulated output
-        //TextureObject<float4> normal_out,
-        ftl::cuda::TextureObject<float> &contrib_out,
-        ftl::render::SplatParams &params, cudaStream_t stream);
+	void dibr_attribute(
+		ftl::cuda::TextureObject<uchar4> &colour_in,	// Original colour image
+		ftl::cuda::TextureObject<float4> &points,		// Original 3D points
+		ftl::cuda::TextureObject<int> &depth_in,		// Virtual depth map
+		ftl::cuda::TextureObject<float4> &colour_out,	// Accumulated output
+		//TextureObject<float4> normal_out,
+		ftl::cuda::TextureObject<float> &contrib_out,
+		ftl::render::SplatParams &params, cudaStream_t stream);
 
-    void dibr_normalise(
-        ftl::cuda::TextureObject<float4> &colour_in,
-        ftl::cuda::TextureObject<uchar4> &colour_out,
-        ftl::cuda::TextureObject<float> &contribs,
-        cudaStream_t stream);
+	void dibr_normalise(
+		ftl::cuda::TextureObject<float4> &colour_in,
+		ftl::cuda::TextureObject<uchar4> &colour_out,
+		ftl::cuda::TextureObject<float> &contribs,
+		cudaStream_t stream);
 }
 }
 

components/rgbd-sources/src/streamer.cpp

@@ -496,7 +496,7 @@ void Streamer::_transmitPacket(StreamSource *src, const ftl::codecs::Packet &pkt
 		frame_no_,
 		static_cast<uint8_t>((chan & 0x1) | ((hasChan2) ? 0x2 : 0x0))
 	};
-
+	LOG(INFO) << "codec:" << (int) pkt.codec;
 	// Lock to prevent clients being added / removed
 	//SHARED_LOCK(src->mutex,lk);
 	auto c = src->clients.begin();

components/rgbd-sources/src/virtual.cpp

@@ -36,13 +36,19 @@ class VirtualImpl : public ftl::rgbd::detail::Source {
 				LOG(ERROR) << "Unknown exception in render callback";
 			}
 
-			if (frame.hasChannel(Channel::Colour) && frame.hasChannel(Channel::Depth)) {
-				frame.download(Channel::Colour + Channel::Depth);
-				cv::swap(frame.get<cv::Mat>(Channel::Colour), rgb_);
-				cv::swap(frame.get<cv::Mat>(Channel::Depth), depth_);
-				LOG(INFO) << "Written: " << rgb_.cols;
+			if (frame.hasChannel(Channel::Colour)) {
+				frame.download(Channel::Colour);
+				cv::swap(frame.get<cv::Mat>(Channel::Colour), rgb_);	
 			} else {
-				LOG(ERROR) << "Missing colour or depth frame in rendering";
+				LOG(ERROR) << "Channel 1 frame in rendering";
+			}
+			
+			if ((host_->getChannel() != Channel::None) &&
+					frame.hasChannel(host_->getChannel())) {
+				frame.download(host_->getChannel());
+				cv::swap(frame.get<cv::Mat>(host_->getChannel()), depth_);
+			} else {
+				LOG(ERROR) << "Channel 2 frame in rendering";
 			}
 
 			auto cb = host_->callback();