v01

thirdparty/Pangolin/examples/VBODisplay/CMakeLists.txt

@@ -0,0 +1,19 @@
+# Find Pangolin (https://github.com/stevenlovegrove/Pangolin)
+find_package(Pangolin 0.4 REQUIRED)
+include_directories(${Pangolin_INCLUDE_DIRS})
+link_directories(${Pangolin_LIBRARY_DIRS})
+link_libraries(${Pangolin_LIBRARIES})
+
+find_package(CUDA QUIET)
+
+# This example could be made to work with C++11, but the kernel code must be
+# compiled without it.
+if(CUDA_FOUND)
+  cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+  cuda_add_executable(
+    VBODisplay
+    main.cpp kernal.cu
+  )
+
+endif()

thirdparty/Pangolin/examples/VBODisplay/kernal.cu

@@ -0,0 +1,30 @@
+// Colour Sine wave Kernal
+// Based on kernal_colour in kernelVBO.cpp by Rob Farber
+__global__ void kernel(float4* dVertexArray, uchar4 *dColorArray,
+           unsigned int width, unsigned int height, float time)
+{
+    unsigned int x = blockIdx.x*blockDim.x + threadIdx.x;
+    unsigned int y = blockIdx.y*blockDim.y + threadIdx.y;
+
+    // Each thread is unique point (u,v) in interval [-1,1],[-1,1]
+    const float u = 2.0f* (x/(float)width)  - 1.0f;
+    const float v = 2.0f* (y/(float)height) - 1.0f;
+    const float w = 0.5f * sinf(4.0f*u + time) * cosf(4.0f*v + time);
+
+    // Update vertex array for point
+    dVertexArray[y*width+x] = make_float4(u, w, v, 1.0f);
+
+    // Update colour array for point
+    dColorArray[y*width+x].w = 0.0f;
+    dColorArray[y*width+x].x = 255.0f *0.5f*(1.f+sinf(w+x));
+    dColorArray[y*width+x].y = 255.0f *0.5f*(1.f+sinf(x)*cosf(y));
+    dColorArray[y*width+x].z = 255.0f *0.5f*(1.f+sinf(w+time/10.0f));
+}
+
+extern "C" void launch_kernel(float4* dVertexArray, uchar4* dColourArray,
+            unsigned int width, unsigned int height, float time)
+{
+  dim3 block(8, 8, 1);
+  dim3 grid(width / block.x, height / block.y, 1);
+  kernel<<< grid, block>>>(dVertexArray, dColourArray, width, height, time);
+}

thirdparty/Pangolin/examples/VBODisplay/main.cpp

@@ -0,0 +1,84 @@
+#include <iostream>
+
+#include <GL/glew.h>
+
+#include <pangolin/pangolin.h>
+#include <pangolin/gl/glcuda.h>
+#include <pangolin/gl/glvbo.h>
+
+#include <cuda_runtime.h>
+#include <cuda_gl_interop.h>
+#include <vector_types.h>
+
+using namespace pangolin;
+using namespace std;
+
+// Mesh size
+const int mesh_width=256;
+const int mesh_height=256;
+
+extern "C" void launch_kernel(float4* dVertexArray, uchar4* dColourArray, unsigned int width, unsigned int height, float time);
+
+int main( int /*argc*/, char* argv[] )
+{
+//  cudaGLSetGLDevice(0);
+
+  pangolin::CreateWindowAndBind("Main",640,480);
+  glewInit();
+  
+  // 3D Mouse handler requires depth testing to be enabled  
+  glEnable(GL_DEPTH_TEST);  
+
+  // Create vertex and colour buffer objects and register them with CUDA
+  GlBufferCudaPtr vertex_array(
+      GlArrayBuffer, mesh_width*mesh_height, GL_FLOAT, 4,
+      cudaGraphicsMapFlagsWriteDiscard, GL_STREAM_DRAW
+  );
+  GlBufferCudaPtr colour_array(
+      GlArrayBuffer, mesh_width*mesh_height, GL_UNSIGNED_BYTE, 4,
+      cudaGraphicsMapFlagsWriteDiscard, GL_STREAM_DRAW
+  );
+
+  // Define Camera Render Object (for view / scene browsing)
+  pangolin::OpenGlRenderState s_cam(
+    ProjectionMatrix(640,480,420,420,320,240,0.1,1000),
+    ModelViewLookAt(-0,2,-2, 0,0,0, AxisY)
+  );
+  const int UI_WIDTH = 180;
+
+  // Add named OpenGL viewport to window and provide 3D Handler
+  View& d_cam = pangolin::Display("cam")
+    .SetBounds(0.0, 1.0, Attach::Pix(UI_WIDTH), 1.0, -640.0f/480.0f)
+    .SetHandler(new Handler3D(s_cam));
+
+  // Add named Panel and bind to variables beginning 'ui'
+  // A Panel is just a View with a default layout and input handling
+  View& d_panel = pangolin::CreatePanel("ui")
+      .SetBounds(0.0, 1.0, 0.0, Attach::Pix(UI_WIDTH));
+
+  // Default hooks for exiting (Esc) and fullscreen (tab).
+  for(int frame=0; !pangolin::ShouldQuit(); ++frame)
+  {
+    static double time = 0;
+    static Var<double> delta("ui.time delta", 0.001, 0, 0.005);
+
+    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+
+    d_cam.Activate(s_cam);
+    glColor3f(1.0,1.0,1.0);
+
+    {
+      CudaScopedMappedPtr var(vertex_array);
+      CudaScopedMappedPtr car(colour_array);
+      launch_kernel((float4*)*var,(uchar4*)*car,mesh_width,mesh_height,time);
+      time += delta;
+    }
+
+    pangolin::RenderVboCbo(vertex_array, colour_array);
+
+    // Swap frames and Process Events
+    pangolin::FinishFrame();
+  }
+
+  return 0;
+}