root / rgbdslam / external / siftgpu / src / SiftGPU / CuTexImage.cpp @ 9240aaa3
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////////////////////////////////////////////////////////////////////////////
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// File: CuTexImage.cpp
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// Author: Changchang Wu
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// Description : implementation of the CuTexImage class.
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//
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// Copyright (c) 2007 University of North Carolina at Chapel Hill
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// All Rights Reserved
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//
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// Permission to use, copy, modify and distribute this software and its
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// documentation for educational, research and non-profit purposes, without
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// fee, and without a written agreement is hereby granted, provided that the
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// above copyright notice and the following paragraph appear in all copies.
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//
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// The University of North Carolina at Chapel Hill make no representations
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// about the suitability of this software for any purpose. It is provided
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// 'as is' without express or implied warranty.
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//
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// Please send BUG REPORTS to ccwu@cs.unc.edu
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//
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////////////////////////////////////////////////////////////////////////////
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#if defined(CUDA_SIFTGPU_ENABLED)
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#include "GL/glew.h" |
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#include <iostream> |
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#include <vector> |
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#include <algorithm> |
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#include <stdlib.h> |
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#include <math.h> |
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using namespace std; |
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#include <cuda.h> |
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#include <cuda_runtime_api.h> |
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#include <cuda_gl_interop.h> |
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#include "GlobalUtil.h" |
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#include "GLTexImage.h" |
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#include "CuTexImage.h" |
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#include "ProgramCU.h" |
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#if CUDA_VERSION <= 2010 && defined(SIFTGPU_ENABLE_LINEAR_TEX2D) |
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#error "Require CUDA 2.2 or higher" |
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#endif
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CuTexImage::CuTexImage() |
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{ |
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_cuData = NULL;
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_cuData2D = NULL;
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_fromPBO = 0;
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_numChannel = _numBytes = 0;
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_imgWidth = _imgHeight = _texWidth = _texHeight = 0;
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} |
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CuTexImage::CuTexImage(int width, int height, int nchannel, GLuint pbo) |
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{ |
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_cuData = NULL;
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//check size of pbo
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GLint bsize, esize = width * height * nchannel * sizeof(float); |
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glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, pbo); |
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glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
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if(bsize < esize)
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{ |
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glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize, NULL, GL_STATIC_DRAW_ARB);
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glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
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} |
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glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
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if(bsize >=esize)
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{ |
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cudaGLRegisterBufferObject(pbo); |
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cudaGLMapBufferObject(&_cuData, pbo); |
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ProgramCU::CheckErrorCUDA("cudaGLMapBufferObject");
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_fromPBO = pbo; |
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}else
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{ |
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_cuData = NULL;
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_fromPBO = 0;
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} |
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if(_cuData)
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{ |
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_numBytes = bsize; |
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_imgWidth = width; |
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_imgHeight = height; |
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_numChannel = nchannel; |
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}else
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{ |
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_numBytes = 0;
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_imgWidth = 0;
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_imgHeight = 0;
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_numChannel = 0;
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} |
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_texWidth = _texHeight =0;
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_cuData2D = NULL;
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} |
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CuTexImage::~CuTexImage() |
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{ |
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if(_fromPBO)
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{ |
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cudaGLUnmapBufferObject(_fromPBO); |
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cudaGLUnregisterBufferObject(_fromPBO); |
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}else if(_cuData) |
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{ |
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cudaFree(_cuData); |
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} |
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if(_cuData2D) cudaFreeArray(_cuData2D);
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} |
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void CuTexImage::SetImageSize(int width, int height) |
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{ |
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_imgWidth = width; |
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_imgHeight = height; |
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} |
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void CuTexImage::InitTexture(int width, int height, int nchannel) |
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{ |
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int size;
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_imgWidth = width; |
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_imgHeight = height; |
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_numChannel = min(max(nchannel, 1), 4); |
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size = width * height * _numChannel * sizeof(float); |
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if(size <= _numBytes) return; |
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if(_cuData) cudaFree(_cuData);
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//allocate the array data
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cudaMalloc(&_cuData, _numBytes = size); |
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#ifdef _DEBUG
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ProgramCU::CheckErrorCUDA("CuTexImage::InitTexture");
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#endif
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} |
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void CuTexImage::CopyFromHost(const void * buf) |
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{ |
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if(_cuData == NULL) return; |
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cudaMemcpy( _cuData, buf, _imgWidth * _imgHeight * _numChannel * sizeof(float), cudaMemcpyHostToDevice); |
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} |
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void CuTexImage::CopyToHost(void * buf) |
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{ |
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if(_cuData == NULL) return; |
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cudaMemcpy(buf, _cuData, _imgWidth * _imgHeight * _numChannel * sizeof(float), cudaMemcpyDeviceToHost); |
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} |
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void CuTexImage::CopyToHost(void * buf, int stream) |
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{ |
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if(_cuData == NULL) return; |
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cudaMemcpyAsync(buf, _cuData, _imgWidth * _imgHeight * _numChannel * sizeof(float), cudaMemcpyDeviceToHost, (cudaStream_t)stream); |
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} |
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void CuTexImage::InitTexture2D()
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{ |
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#if !defined(SIFTGPU_ENABLE_LINEAR_TEX2D)
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if(_cuData2D && (_texWidth < _imgWidth || _texHeight < _imgHeight))
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{ |
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cudaFreeArray(_cuData2D); |
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_cuData2D = NULL;
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} |
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if(_cuData2D == NULL) |
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{ |
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_texWidth = max(_texWidth, _imgWidth); |
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_texHeight = max(_texHeight, _imgHeight); |
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cudaChannelFormatDesc desc; |
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desc.f = cudaChannelFormatKindFloat; |
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desc.x = sizeof(float) * 8; |
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desc.y = _numChannel >=2 ? sizeof(float) * 8 : 0; |
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desc.z = _numChannel >=3 ? sizeof(float) * 8 : 0; |
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desc.w = _numChannel >=4 ? sizeof(float) * 8 : 0; |
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cudaMallocArray(&_cuData2D, &desc, _texWidth, _texHeight); |
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ProgramCU::CheckErrorCUDA("cudaMallocArray");
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} |
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#endif
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} |
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void CuTexImage::CopyToTexture2D()
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{ |
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#if !defined(SIFTGPU_ENABLE_LINEAR_TEX2D)
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InitTexture2D(); |
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if(_cuData2D)
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{ |
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cudaMemcpy2DToArray(_cuData2D, 0, 0, _cuData, _imgWidth* _numChannel* sizeof(float) , |
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_imgWidth * _numChannel*sizeof(float), _imgHeight, cudaMemcpyDeviceToDevice); |
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ProgramCU::CheckErrorCUDA("cudaMemcpy2DToArray");
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} |
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#endif
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} |
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int CuTexImage::DebugCopyToTexture2D()
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{ |
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/* CuTexImage tex;
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float data1[2][3] = {{1, 2, 5}, {3, 4, 5}}, data2[2][5];
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tex.InitTexture(3, 2, 1);
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cudaMemcpy(tex._cuData, data1[0], 6 * sizeof(float), cudaMemcpyHostToDevice);
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cudaMemcpy(data1, tex._cuData, 4 * sizeof(float) , cudaMemcpyDeviceToHost);
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tex._texWidth =5; tex._texHeight = 2;
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tex.CopyToTexture2D();
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cudaMemcpyFromArray(data2[0], tex._cuData2D, 0, 0, 10 * sizeof(float), cudaMemcpyDeviceToHost);*/
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return 1; |
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} |
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void CuTexImage::CopyFromPBO(int width, int height, GLuint pbo) |
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{ |
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void* pbuf =NULL; |
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GLint esize = width * height * sizeof(float); |
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cudaGLRegisterBufferObject(pbo); |
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cudaGLMapBufferObject(&pbuf, pbo); |
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cudaMemcpy(_cuData, pbuf, esize, cudaMemcpyDeviceToDevice); |
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cudaGLUnmapBufferObject(pbo); |
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cudaGLUnregisterBufferObject(pbo); |
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} |
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int CuTexImage::CopyToPBO(GLuint pbo)
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{ |
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void* pbuf =NULL; |
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GLint bsize, esize = _imgWidth * _imgHeight * sizeof(float) * _numChannel; |
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glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, pbo); |
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glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
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if(bsize < esize)
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{ |
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glBufferData(GL_PIXEL_PACK_BUFFER_ARB, esize*3/2, NULL, GL_STATIC_DRAW_ARB); |
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glGetBufferParameteriv(GL_PIXEL_PACK_BUFFER_ARB, GL_BUFFER_SIZE, &bsize); |
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} |
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glBindBuffer(GL_PIXEL_PACK_BUFFER_ARB, 0);
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if(bsize >= esize)
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{ |
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cudaGLRegisterBufferObject(pbo); |
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cudaGLMapBufferObject(&pbuf, pbo); |
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cudaMemcpy(pbuf, _cuData, esize, cudaMemcpyDeviceToDevice); |
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cudaGLUnmapBufferObject(pbo); |
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cudaGLUnregisterBufferObject(pbo); |
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return 1; |
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}else
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{ |
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return 0; |
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} |
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} |
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#endif
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