diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7dc1566bc1604d4dc336a159f0698b7fa69d85c0..b0aecb25a357a5c978db35a80cb20487adb5d08d 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/applications/gui/CMakeLists.txt b/applications/gui/CMakeLists.txt
index ce12244c67ee0e5ddff94dd3d178ed6aa4eef351..fbed0680dde997c0f0a76519ac272fb3e5c1c64f 100644
--- a/applications/gui/CMakeLists.txt
+++ b/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)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index fe7b115c779989468644014675b020e1a0ed7d52..32d78a4a0ff8bbccfed60b13293b1277ab599792 100644
--- a/applications/gui/src/camera.cpp
+++ b/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
}
}
diff --git a/applications/gui/src/camera.hpp b/applications/gui/src/camera.hpp
index 0d6e99b6d08d5cd5f71dfc20a94d0f35e26518b0..55042fe0d7b3baf5f24a26e390b1348084bcf320 100644
--- a/applications/gui/src/camera.hpp
+++ b/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
};
}
diff --git a/applications/gui/src/screen.cpp b/applications/gui/src/screen.cpp
index 22382626d15ffe037020fd8545772cbd506905e8..03d1847112fa86468d9661d5a9966b71a3d46b09 100644
--- a/applications/gui/src/screen.cpp
+++ b/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());
diff --git a/applications/gui/src/screen.hpp b/applications/gui/src/screen.hpp
index 8bfce830a034e024ec42037dbc43539a62d50101..d51cec2bf2c34afc7c589b7e6114f503379afe30 100644
--- a/applications/gui/src/screen.hpp
+++ b/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
};
}
diff --git a/components/common/cpp/include/ftl/config.h.in b/components/common/cpp/include/ftl/config.h.in
index 121abb0605ae912de254f91a4a5be665e7867fff..540b332035a2ad5f671a51ed80f0de31d60f1ce7 100644
--- a/components/common/cpp/include/ftl/config.h.in
+++ b/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;
diff --git a/components/renderers/cpp/include/ftl/render/splat_render.hpp b/components/renderers/cpp/include/ftl/render/splat_render.hpp
index 55522c483c25f58d843543ee8d5ba42aae9c32c8..2cbb82a8183a3a6269a3888134a57144c93050ca 100644
--- a/components/renderers/cpp/include/ftl/render/splat_render.hpp
+++ b/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 ¶ms, ftl::rgbd::Frame &out, const ftl::rgbd::Channel &channel, cudaStream_t stream);
+
private:
int device_;
/*ftl::cuda::TextureObject<int> depth1_;
diff --git a/components/renderers/cpp/src/splat_render.cpp b/components/renderers/cpp/src/splat_render.cpp
index daf9f5f64c019d24ae9afb9f2e4540c59b722922..9c507fc432c2ce2d9037d98840798bc47c63ff7c 100644
--- a/components/renderers/cpp/src/splat_render.cpp
+++ b/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 ¶ms, 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;
diff --git a/components/renderers/cpp/src/splatter_cuda.hpp b/components/renderers/cpp/src/splatter_cuda.hpp
index 8f6557b7f3e9d9ce99bceed615946c19b1afbec2..3cd22a1441f10bcf0e62d0512ff16473b3196201 100644
--- a/components/renderers/cpp/src/splatter_cuda.hpp
+++ b/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 ¶ms, 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 ¶ms, 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);
}
}
diff --git a/components/rgbd-sources/src/streamer.cpp b/components/rgbd-sources/src/streamer.cpp
index 7a9118c9f47975a31d6389982b2adb818ed8a046..676cf58cf3045111cf966d78d587c0e918a351e7 100644
--- a/components/rgbd-sources/src/streamer.cpp
+++ b/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();
diff --git a/components/rgbd-sources/src/virtual.cpp b/components/rgbd-sources/src/virtual.cpp
index 62b404155e1f302111e99183347d87c9dbda3a0b..0e6db973884a3c8361fcaae764cc1688d2434d9d 100644
--- a/components/rgbd-sources/src/virtual.cpp
+++ b/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();