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PodmogilnyjIvan
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Thirdparty/Pangolin/include/pangolin/gl/glcuda.h
vendored
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258
Thirdparty/Pangolin/include/pangolin/gl/glcuda.h
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/* This file is part of the Pangolin Project.
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* http://github.com/stevenlovegrove/Pangolin
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*
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* Copyright (c) 2011 Steven Lovegrove
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*
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* Permission is hereby granted, free of charge, to any person
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* obtaining a copy of this software and associated documentation
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* files (the "Software"), to deal in the Software without
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* restriction, including without limitation the rights to use,
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* copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following
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* conditions:
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*
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* The above copyright notice and this permission notice shall be
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* included in all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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* OTHER DEALINGS IN THE SOFTWARE.
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*/
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#pragma once
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#include <algorithm>
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#include <cuda_runtime.h>
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#include <cuda_gl_interop.h>
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#include "gl.h"
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namespace pangolin
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{
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////////////////////////////////////////////////
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// Interface
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////////////////////////////////////////////////
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struct GlBufferCudaPtr : public GlBuffer
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{
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//! Default constructor represents 'no buffer'
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GlBufferCudaPtr();
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GlBufferCudaPtr(GlBufferType buffer_type, GLuint size_bytes, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ );
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GlBufferCudaPtr(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ );
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PANGOLIN_DEPRECATED
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GlBufferCudaPtr(GlBufferType buffer_type, GLuint width, GLuint height, GLenum datatype, GLuint count_per_element, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ );
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~GlBufferCudaPtr();
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void Reinitialise(GlBufferType buffer_type, GLuint size_bytes, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ );
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void Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ );
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/**
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* Use parameters from another @c GlBufferCudaPtr to initialize this buffer.
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*/
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void Reinitialise(const GlBufferCudaPtr& other);
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unsigned int cuda_use;
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cudaGraphicsResource* cuda_res;
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};
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struct GlTextureCudaArray : GlTexture
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{
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GlTextureCudaArray();
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// Some internal_formats aren't accepted. I have trouble with GL_RGB8
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GlTextureCudaArray(int width, int height, GLint internal_format, bool sampling_linear = true, int border = 0, GLenum glformat = GL_RGBA, GLenum gltype = GL_UNSIGNED_BYTE, GLvoid* data = NULL);
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~GlTextureCudaArray();
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void Reinitialise(int width, int height, GLint internal_format, bool sampling_linear = true, int border = 0, GLenum glformat = GL_RGBA, GLenum gltype = GL_UNSIGNED_BYTE, GLvoid* data = NULL) override;
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cudaGraphicsResource* cuda_res;
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};
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struct CudaScopedMappedPtr
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{
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CudaScopedMappedPtr(const GlBufferCudaPtr& buffer);
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~CudaScopedMappedPtr();
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void* operator*();
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cudaGraphicsResource* res;
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private:
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CudaScopedMappedPtr(const CudaScopedMappedPtr&) {}
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};
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struct CudaScopedMappedArray
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{
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CudaScopedMappedArray(const GlTextureCudaArray& tex);
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~CudaScopedMappedArray();
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cudaArray* operator*();
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cudaGraphicsResource* res;
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private:
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CudaScopedMappedArray(const CudaScopedMappedArray&) {}
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};
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void CopyPboToTex(GlBufferCudaPtr& buffer, GlTexture& tex);
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void swap(GlBufferCudaPtr& a, GlBufferCudaPtr& b);
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////////////////////////////////////////////////
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// Implementation
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////////////////////////////////////////////////
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inline GlBufferCudaPtr::GlBufferCudaPtr()
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: cuda_res(0)
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{
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}
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inline GlBufferCudaPtr::GlBufferCudaPtr(GlBufferType buffer_type, GLuint size_bytes, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ )
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: cuda_res(0)
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{
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Reinitialise(buffer_type, size_bytes, cudause, gluse);
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}
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inline GlBufferCudaPtr::GlBufferCudaPtr(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, unsigned int cudause, GLenum gluse )
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: cuda_res(0)
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{
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Reinitialise(buffer_type, num_elements, datatype, count_per_element, cudause, gluse);
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}
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inline GlBufferCudaPtr::GlBufferCudaPtr(GlBufferType buffer_type, GLuint width, GLuint height, GLenum datatype, GLuint count_per_element, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ )
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: cuda_res(0)
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{
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Reinitialise(buffer_type, width*height, datatype, count_per_element, cudause, gluse);
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}
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inline GlBufferCudaPtr::~GlBufferCudaPtr()
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{
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if(cuda_res) {
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cudaGraphicsUnregisterResource(cuda_res);
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}
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}
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inline void GlBufferCudaPtr::Reinitialise(GlBufferType buffer_type, GLuint size_bytes, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ )
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{
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GlBufferCudaPtr::Reinitialise(buffer_type, size_bytes, GL_BYTE, 1, cudause, gluse);
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}
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inline void GlBufferCudaPtr::Reinitialise(GlBufferType buffer_type, GLuint num_elements, GLenum datatype, GLuint count_per_element, unsigned int cudause /*= cudaGraphicsMapFlagsNone*/, GLenum gluse /*= GL_DYNAMIC_DRAW*/ )
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{
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if(cuda_res) {
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cudaGraphicsUnregisterResource(cuda_res);
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}
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GlBuffer::Reinitialise(buffer_type, num_elements, datatype, count_per_element, gluse);
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cuda_use = cudause;
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cudaGraphicsGLRegisterBuffer( &cuda_res, bo, cudause );
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}
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inline void GlBufferCudaPtr::Reinitialise(const GlBufferCudaPtr& other)
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{
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Reinitialise(other.buffer_type, other.num_elements, other.datatype, other.count_per_element, other.cuda_use, other.gluse);
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}
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inline GlTextureCudaArray::GlTextureCudaArray()
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: GlTexture(), cuda_res(0)
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{
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// Not a texture
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}
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inline GlTextureCudaArray::GlTextureCudaArray(int width, int height, GLint internal_format, bool sampling_linear, int border, GLenum glformat, GLenum gltype, GLvoid *data)
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:GlTexture(width,height,internal_format, sampling_linear, border, glformat, gltype, data)
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{
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// TODO: specify flags too
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const cudaError_t err = cudaGraphicsGLRegisterImage(&cuda_res, tid, GL_TEXTURE_2D, cudaGraphicsMapFlagsNone);
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if( err != cudaSuccess ) {
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std::cout << "cudaGraphicsGLRegisterImage failed: " << err << std::endl;
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}
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}
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inline GlTextureCudaArray::~GlTextureCudaArray()
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{
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if(cuda_res) {
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cudaGraphicsUnregisterResource(cuda_res);
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}
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}
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inline void GlTextureCudaArray::Reinitialise(int width, int height, GLint internal_format, bool sampling_linear, int border, GLenum glformat, GLenum gltype, GLvoid* data)
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{
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if(cuda_res) {
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cudaGraphicsUnregisterResource(cuda_res);
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}
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GlTexture::Reinitialise(width, height, internal_format, sampling_linear, border, glformat, gltype, data);
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const cudaError_t err = cudaGraphicsGLRegisterImage(&cuda_res, tid, GL_TEXTURE_2D, cudaGraphicsMapFlagsNone);
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if( err != cudaSuccess ) {
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std::cout << "cudaGraphicsGLRegisterImage failed: " << err << std::endl;
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}
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}
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inline CudaScopedMappedPtr::CudaScopedMappedPtr(const GlBufferCudaPtr& buffer)
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: res(buffer.cuda_res)
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{
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cudaGraphicsMapResources(1, &res, 0);
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}
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inline CudaScopedMappedPtr::~CudaScopedMappedPtr()
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{
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cudaGraphicsUnmapResources(1, &res, 0);
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}
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inline void* CudaScopedMappedPtr::operator*()
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{
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size_t num_bytes;
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void* d_ptr;
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cudaGraphicsResourceGetMappedPointer(&d_ptr,&num_bytes,res);
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return d_ptr;
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}
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inline CudaScopedMappedArray::CudaScopedMappedArray(const GlTextureCudaArray& tex)
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: res(tex.cuda_res)
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{
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cudaGraphicsMapResources(1, &res);
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}
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inline CudaScopedMappedArray::~CudaScopedMappedArray()
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{
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cudaGraphicsUnmapResources(1, &res);
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}
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inline cudaArray* CudaScopedMappedArray::operator*()
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{
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cudaArray* array;
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cudaGraphicsSubResourceGetMappedArray(&array, res, 0, 0);
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return array;
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}
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inline void CopyPboToTex(const GlBufferCudaPtr& buffer, GlTexture& tex, GLenum buffer_layout, GLenum buffer_data_type )
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{
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buffer.Bind();
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tex.Bind();
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glTexImage2D(GL_TEXTURE_2D, 0, tex.internal_format, tex.width, tex.height, 0, buffer_layout, buffer_data_type, 0);
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buffer.Unbind();
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tex.Unbind();
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}
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template<typename T>
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inline void CopyDevMemtoTex(T* d_img, size_t pitch, GlTextureCudaArray& tex )
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{
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CudaScopedMappedArray arr_tex(tex);
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cudaMemcpy2DToArray(*arr_tex, 0, 0, d_img, pitch, tex.width*sizeof(T), tex.height, cudaMemcpyDeviceToDevice );
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}
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inline void swap(GlBufferCudaPtr& a, GlBufferCudaPtr& b)
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{
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std::swap(a.bo, b.bo);
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std::swap(a.cuda_res, b.cuda_res);
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std::swap(a.buffer_type, b.buffer_type);
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}
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}
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