Quadrotor

////////////////////////////////////////////////////////////////////////////

//        File:                CuTexImage.cpp

//        Author:                Changchang Wu

//        Description : implementation of the CuTexImage class.

//

//        Copyright (c) 2007 University of North Carolina at Chapel Hill

//        All Rights Reserved

//

//        Permission to use, copy, modify and distribute this software and its

//        documentation for educational, research and non-profit purposes, without

//        fee, and without a written agreement is hereby granted, provided that the

//        above copyright notice and the following paragraph appear in all copies.

//        

//        The University of North Carolina at Chapel Hill make no representations

//        about the suitability of this software for any purpose. It is provided

//        'as is' without express or implied warranty. 

//

//        Please send BUG REPORTS to ccwu@cs.unc.edu

//

////////////////////////////////////////////////////////////////////////////

#if defined(CUDA_SIFTGPU_ENABLED)

#include "GL/glew.h"

#include <iostream>

#include <vector>

#include <algorithm>

#include <stdlib.h>

#include <math.h>

using namespace std;

#include <cuda.h>

#include <cuda_runtime_api.h>

#include <cuda_gl_interop.h>

#include "GlobalUtil.h"

#include "GLTexImage.h"

#include "CuTexImage.h" 

#include "ProgramCU.h"

#if CUDA_VERSION <= 2010 && defined(SIFTGPU_ENABLE_LINEAR_TEX2D) 

#error "Require CUDA 2.2 or higher"

#endif

CuTexImage::CuTexImage()

{

        _cuData = NULL;

        _cuData2D = NULL;

        _fromPBO = 0;

        _numChannel = _numBytes = 0;

        _imgWidth = _imgHeight = _texWidth = _texHeight = 0;

}

CuTexImage::CuTexImage(int width, int height, int nchannel, GLuint pbo)

{

        _cuData = NULL;

        //check size of pbo

        GLint bsize, esize = width * height * nchannel * sizeof(float);

        glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, pbo);

        glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize);

        if(bsize < esize)

        {

                glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize,        NULL, GL_STATIC_DRAW_ARB);

                glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize);

        }

        glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);

        if(bsize >=esize)

        {

                cudaGLRegisterBufferObject(pbo);

                cudaGLMapBufferObject(&_cuData, pbo);

                ProgramCU::CheckErrorCUDA("cudaGLMapBufferObject");

                _fromPBO = pbo;

        }else

        {

                _cuData = NULL;

                _fromPBO = 0;

        }

        if(_cuData)

        {

                _numBytes = bsize;

                _imgWidth = width;

                _imgHeight = height;

                _numChannel = nchannel;

        }else

        {

                _numBytes = 0;

                _imgWidth = 0;

                _imgHeight = 0;

                _numChannel = 0;

        }

        _texWidth = _texHeight =0;

        _cuData2D = NULL;

}

CuTexImage::~CuTexImage()

{

        if(_fromPBO)

        {

                cudaGLUnmapBufferObject(_fromPBO);

                cudaGLUnregisterBufferObject(_fromPBO);

        }else if(_cuData) 

        {

                cudaFree(_cuData);

        }

        if(_cuData2D)  cudaFreeArray(_cuData2D);

}

void CuTexImage::SetImageSize(int width, int height)

{

        _imgWidth = width;

        _imgHeight = height;

}

void CuTexImage::InitTexture(int width, int height, int nchannel)

{

        int size; 

        _imgWidth = width;

        _imgHeight = height;

        _numChannel = min(max(nchannel, 1), 4);

        size = width * height * _numChannel * sizeof(float);

        if(size <= _numBytes) return;

        if(_cuData) cudaFree(_cuData);

        //allocate the array data

        cudaMalloc(&_cuData, _numBytes = size);

#ifdef _DEBUG

        ProgramCU::CheckErrorCUDA("CuTexImage::InitTexture");

#endif

}

void CuTexImage::CopyFromHost(const void * buf)

{

        if(_cuData == NULL) return;

        cudaMemcpy( _cuData, buf, _imgWidth * _imgHeight * _numChannel * sizeof(float), cudaMemcpyHostToDevice);

}

void CuTexImage::CopyToHost(void * buf)

{

        if(_cuData == NULL) return;

        cudaMemcpy(buf, _cuData, _imgWidth * _imgHeight * _numChannel * sizeof(float), cudaMemcpyDeviceToHost);

}

void CuTexImage::CopyToHost(void * buf, int stream)

{

        if(_cuData == NULL) return;

        cudaMemcpyAsync(buf, _cuData, _imgWidth * _imgHeight * _numChannel * sizeof(float), cudaMemcpyDeviceToHost, (cudaStream_t)stream);

}

void CuTexImage::InitTexture2D()

{

#if !defined(SIFTGPU_ENABLE_LINEAR_TEX2D) 

        if(_cuData2D && (_texWidth < _imgWidth || _texHeight < _imgHeight))

        {

                cudaFreeArray(_cuData2D); 

                _cuData2D = NULL;

        }

        if(_cuData2D == NULL)

        {

                _texWidth = max(_texWidth, _imgWidth);

                _texHeight = max(_texHeight, _imgHeight);

                cudaChannelFormatDesc desc;

                desc.f = cudaChannelFormatKindFloat;

                desc.x = sizeof(float) * 8;

                desc.y = _numChannel >=2 ? sizeof(float) * 8 : 0;

                desc.z = _numChannel >=3 ? sizeof(float) * 8 : 0;

                desc.w = _numChannel >=4 ? sizeof(float) * 8 : 0;

                cudaMallocArray(&_cuData2D, &desc, _texWidth, _texHeight); 

                ProgramCU::CheckErrorCUDA("cudaMallocArray");

        }

#endif

}

void CuTexImage::CopyToTexture2D()

{

#if !defined(SIFTGPU_ENABLE_LINEAR_TEX2D) 

        InitTexture2D();

        if(_cuData2D)

        {

                cudaMemcpy2DToArray(_cuData2D, 0, 0, _cuData, _imgWidth* _numChannel* sizeof(float) , 

                _imgWidth * _numChannel*sizeof(float), _imgHeight,        cudaMemcpyDeviceToDevice); 

                ProgramCU::CheckErrorCUDA("cudaMemcpy2DToArray");

        }

#endif

}

int CuTexImage::DebugCopyToTexture2D()

{

/*        CuTexImage tex;

        float data1[2][3] = {{1, 2, 5}, {3, 4, 5}}, data2[2][5];

        tex.InitTexture(3, 2, 1);

        cudaMemcpy(tex._cuData, data1[0], 6 * sizeof(float), cudaMemcpyHostToDevice);

        cudaMemcpy(data1, tex._cuData, 4 * sizeof(float) , cudaMemcpyDeviceToHost);

        tex._texWidth =5;  tex._texHeight = 2;

        tex.CopyToTexture2D();

        cudaMemcpyFromArray(data2[0], tex._cuData2D, 0, 0, 10 * sizeof(float), cudaMemcpyDeviceToHost);*/

        return 1;

}

void CuTexImage::CopyFromPBO(int width, int height, GLuint pbo)

{

        void* pbuf =NULL;

        GLint esize = width * height * sizeof(float);

        cudaGLRegisterBufferObject(pbo);

        cudaGLMapBufferObject(&pbuf, pbo);

        cudaMemcpy(_cuData, pbuf, esize, cudaMemcpyDeviceToDevice);

        cudaGLUnmapBufferObject(pbo);

        cudaGLUnregisterBufferObject(pbo);

}

int CuTexImage::CopyToPBO(GLuint pbo)

{

        void* pbuf =NULL;

        GLint bsize, esize = _imgWidth * _imgHeight * sizeof(float) * _numChannel;

        glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, pbo);

        glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize);

        if(bsize < esize) 

        {

                glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize*3/2,        NULL, GL_STATIC_DRAW_ARB);

                glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize);

        }

        glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);

        if(bsize >= esize)

        {

                cudaGLRegisterBufferObject(pbo);

                cudaGLMapBufferObject(&pbuf, pbo);

                cudaMemcpy(pbuf, _cuData, esize, cudaMemcpyDeviceToDevice);

                cudaGLUnmapBufferObject(pbo);

                cudaGLUnregisterBufferObject(pbo);

                return 1;

        }else

        {

                return 0;

        }

}

#endif