diff --git a/components/renderers/cpp/CMakeLists.txt b/components/renderers/cpp/CMakeLists.txt
index 5b720cf7765ad488172e26aaa88ee1ddf601e1ac..bf3c36d83994ba0f5055816a0f3ccb070147271a 100644
--- a/components/renderers/cpp/CMakeLists.txt
+++ b/components/renderers/cpp/CMakeLists.txt
@@ -33,4 +33,6 @@ target_precompile_headers(ftlrender REUSE_FROM ftldata)
set_property(TARGET ftlrender PROPERTY CUDA_ARCHITECTURES OFF)
-#ADD_SUBDIRECTORY(test)
+if (BUILD_TESTS)
+ ADD_SUBDIRECTORY(test)
+endif()
diff --git a/components/renderers/cpp/test/CMakeLists.txt b/components/renderers/cpp/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6212e13bd1c0e5faf692d31661d31581b0e8c050
--- /dev/null
+++ b/components/renderers/cpp/test/CMakeLists.txt
@@ -0,0 +1,12 @@
+### Renderer Unit ##############################################################
+add_executable(render_unit
+ $<TARGET_OBJECTS:CatchTest>
+ ./render_unit.cpp
+)
+target_include_directories(render_unit PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}/../include")
+target_link_libraries(render_unit
+ ftlcommon ftlcodecs ftldata ftlrgbd)
+
+ target_precompile_headers(render_unit REUSE_FROM ftlcommon)
+
+add_test(RenderUnitTest render_unit)
\ No newline at end of file
diff --git a/components/renderers/cpp/test/render_unit.cpp b/components/renderers/cpp/test/render_unit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8fb470a861b0f0db26f958522f960a5e4f70ceeb
--- /dev/null
+++ b/components/renderers/cpp/test/render_unit.cpp
@@ -0,0 +1,134 @@
+#include "catch.hpp"
+
+#include <ftl/data/new_frameset.hpp>
+#include <ftl/data/framepool.hpp>
+#include <ftl/render/CUDARender.hpp>
+
+#include <nlohmann/json.hpp>
+
+using ftl::data::Frame;
+using ftl::data::FrameSet;
+using ftl::config::json_t;
+using ftl::codecs::Channel;
+
+TEST_CASE("Renderer Single Frame", "") {
+ json_t global = json_t{{"$id","ftl://test"}};
+ auto *root = ftl::config::configure(global);
+
+ ftl::data::Pool pool(5,7);
+
+ Frame f = pool.allocate(ftl::data::FrameID(0,0), 1000);
+ f.store();
+ auto fsptr = FrameSet::fromFrame(f);
+
+ auto renderer = std::unique_ptr<ftl::render::CUDARender>(
+ ftl::create<ftl::render::CUDARender>(root, "renderer")
+ );
+
+ Frame out = pool.allocate(ftl::data::FrameID(1,0), 1000);
+ out.store();
+
+ ftl::rgbd::Frame &rgbdframe = out.cast<ftl::rgbd::Frame>();
+ auto &calib = rgbdframe.setLeft();
+ calib.width = 640;
+ calib.height = 480;
+ calib.fx = 700;
+ calib.fy = 700;
+ calib.cx = -250;
+ calib.cy = -200;
+ calib.minDepth = 0.1f;
+ calib.maxDepth = 10.0f;
+ rgbdframe.setPose() = Eigen::Matrix4d::Identity();
+
+ int width = rgbdframe.getLeft().width;
+ int height = rgbdframe.getLeft().height;
+
+ auto &colour = rgbdframe.create<cv::cuda::GpuMat>(Channel::Colour);
+ colour.create(height, width, CV_8UC4);
+ rgbdframe.create<cv::cuda::GpuMat>(Channel::Depth).create(height, width, CV_32F);
+ rgbdframe.createTexture<float>(Channel::Depth);
+
+ SECTION("copes with single frame missing colour") {
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+
+ /*SECTION("single colour empty mat") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }*/
+
+ SECTION("single colour only frame") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(640,480,CV_8UC4);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+
+ SECTION("single full only frame") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(640,480,CV_8UC4);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ auto &depth = fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour);
+ depth.create(640,480,CV_8UC4);
+ depth.setTo(cv::Scalar(5.0f));
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+
+ SECTION("single frame empty depth") {
+ fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour).create(640,480,CV_8UC4);
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setLeft() = calib;
+ fsptr->frames[0].cast<ftl::rgbd::Frame>().setPose() = Eigen::Matrix4d::Identity();
+
+ auto &depth = fsptr->frames[0].create<cv::cuda::GpuMat>(Channel::Colour);
+ //depth.create(640,480,CV_8UC4);
+ //depth.setTo(cv::Scalar(5.0f));
+
+ for (int i=0; i<20; ++i) {
+ renderer->begin(out.cast<ftl::rgbd::Frame>(), Channel::Colour);
+
+ Eigen::Matrix4d pose;
+ pose.setIdentity();
+ renderer->submit(fsptr.get(), ftl::codecs::Channels<0>(Channel::Colour), pose);
+ renderer->render();
+ renderer->end();
+ }
+ }
+}
diff --git a/components/streams/src/renderers/openvr_render.cpp b/components/streams/src/renderers/openvr_render.cpp
index 2a23beb3e8b305dbd395c9dcb43215c4d22904b2..62e1b1088cb8934f53d0ea0e2a59007db1695055 100644
--- a/components/streams/src/renderers/openvr_render.cpp
+++ b/components/streams/src/renderers/openvr_render.cpp
@@ -233,6 +233,9 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
right.cx = intrinsic(0,2);
right.cy = intrinsic(1,2);
+ LOG(INFO) << "VR Left Intrinsics: fx=" << left.fx << ",cx=" << left.cx << ",cy=" << left.cy;
+ LOG(INFO) << "VR Right Intrinsics: fx=" << right.fx << ",cx=" << right.cx << ",cy=" << right.cy;
+
if (!frame_out.has(Channel::Capabilities)) {
auto &cap = frame_out.create<std::unordered_set<Capability>>(Channel::Capabilities);
cap.emplace(Capability::VIDEO);
@@ -282,6 +285,8 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
auto cur_right = rgbdframe.getRight();
cur_right.baseline = baseline_;
rgbdframe.setRight() = cur_right;
+
+ LOG(INFO) << "VR Baseline: " << baseline_;
}
Eigen::Matrix4d pose = ConvertSteamVRMatrixToMatrix4(rTrackedDevicePose_[vr::k_unTrackedDeviceIndex_Hmd].mDeviceToAbsoluteTracking);
Eigen::Vector3d ea = pose.block<3, 3>(0, 0).eulerAngles(0, 1, 2);
@@ -455,6 +460,7 @@ bool OpenVRRender::retrieve(ftl::data::Frame &frame_out) {
if (!post_pipe_) {
post_pipe_ = ftl::config::create<ftl::operators::Graph>(host(), "post_filters");
+ post_pipe_->append<ftl::operators::Poser>("poser");
post_pipe_->append<ftl::operators::FXAA>("fxaa");
post_pipe_->append<ftl::operators::GTAnalysis>("gtanalyse");
}