kallaballa
3 years ago
parent
9d104ad0ae
commit
3ea330eb95
2 changed files with 414 additions and 409 deletions
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#ifndef SRC_TETRA_SUBSYSTEMS_HPP_ |
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#define SRC_TETRA_SUBSYSTEMS_HPP_ |
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#include <dirent.h> |
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#include <fcntl.h> |
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#include <unistd.h> |
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#include <filesystem> |
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#include <va/va.h> |
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#include <va/va_drm.h> |
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#include <va/va_backend.h> |
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#include <opencv2/opencv.hpp> |
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#include "opencv2/core/va_intel.hpp" |
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#include <opencv2/videoio.hpp> |
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#include <GL/glew.h> |
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#include <EGL/egl.h> |
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#include <CL/cl.h> |
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#include <CL/cl_gl.h> |
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#include <opencv2/core/ocl.hpp> |
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#include <opencv2/core/opengl.hpp> |
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using std::cout; |
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using std::cerr; |
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using std::endl; |
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namespace kb { |
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namespace va { |
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//code in the kb::va namespace adapted from https://github.com/opencv/opencv/blob/4.x/samples/va_intel/display.cpp.inc
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bool open_display(); |
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void close_display(); |
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VADisplay display = NULL; |
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bool initialized = false; |
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#define VA_INTEL_PCI_DIR "/sys/bus/pci/devices" |
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#define VA_INTEL_DRI_DIR "/dev/dri/" |
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#define VA_INTEL_PCI_DISPLAY_CONTROLLER_CLASS 0x03 |
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static unsigned read_id(const char *devName, const char *idName); |
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static int find_adapter(unsigned desiredVendorId); |
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int drmfd = -1; |
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class Directory { |
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typedef int (*fsort)(const struct dirent**, const struct dirent**); |
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public: |
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Directory(const char *path) { |
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dirEntries_ = 0; |
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numEntries_ = scandir(path, &dirEntries_, filterFunc, (fsort) alphasort); |
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} |
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~Directory() { |
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if (numEntries_ && dirEntries_) { |
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for (int i = 0; i < numEntries_; ++i) |
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free(dirEntries_[i]); |
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free(dirEntries_); |
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} |
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} |
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int count() const { |
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return numEntries_; |
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} |
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const struct dirent* operator[](int index) const { |
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return ((dirEntries_ != 0) && (index >= 0) && (index < numEntries_)) ? dirEntries_[index] : 0; |
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} |
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protected: |
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static int filterFunc(const struct dirent *dir) { |
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if (!dir) |
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return 0; |
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if (!strcmp(dir->d_name, ".")) |
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return 0; |
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if (!strcmp(dir->d_name, "..")) |
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return 0; |
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return 1; |
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} |
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private: |
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int numEntries_; |
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struct dirent **dirEntries_; |
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}; |
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static unsigned read_id(const char *devName, const char *idName) { |
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long int id = 0; |
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std::string fileName = cv::format("%s/%s/%s", VA_INTEL_PCI_DIR, devName, idName); |
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FILE *file = fopen(fileName.c_str(), "r"); |
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if (file) { |
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char str[16] = ""; |
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if (fgets(str, sizeof(str), file)) |
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id = strtol(str, NULL, 16); |
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fclose(file); |
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} |
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return (unsigned) id; |
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} |
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static int find_adapter(unsigned desiredVendorId) { |
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int adapterIndex = -1; |
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Directory dir(VA_INTEL_PCI_DIR); |
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for (int i = 0; i < dir.count(); ++i) { |
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const char *name = dir[i]->d_name; |
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unsigned classId = read_id(name, "class"); |
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if ((classId >> 16) == VA_INTEL_PCI_DISPLAY_CONTROLLER_CLASS) { |
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unsigned vendorId = read_id(name, "vendor"); |
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if (vendorId == desiredVendorId) { |
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std::string subdirName = cv::format("%s/%s/%s", VA_INTEL_PCI_DIR, name, "drm"); |
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Directory subdir(subdirName.c_str()); |
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for (int j = 0; j < subdir.count(); ++j) { |
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if (!strncmp(subdir[j]->d_name, "card", 4)) { |
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adapterIndex = strtoul(subdir[j]->d_name + 4, NULL, 10); |
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} |
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} |
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break; |
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} |
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} |
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} |
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return adapterIndex; |
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} |
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class NodeInfo { |
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enum { |
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NUM_NODES = 2 |
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}; |
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public: |
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NodeInfo(int adapterIndex) { |
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const char *names[NUM_NODES] = { "renderD", "card" }; |
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int numbers[NUM_NODES]; |
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numbers[0] = adapterIndex + 128; |
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numbers[1] = adapterIndex; |
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for (int i = 0; i < NUM_NODES; ++i) { |
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paths_[i] = cv::format("%s%s%d", VA_INTEL_DRI_DIR, names[i], numbers[i]); |
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} |
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} |
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~NodeInfo() { |
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// nothing
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} |
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int count() const { |
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return NUM_NODES; |
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} |
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const char* path(int index) const { |
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return ((index >= 0) && (index < NUM_NODES)) ? paths_[index].c_str() : 0; |
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} |
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private: |
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std::string paths_[NUM_NODES]; |
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}; |
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static bool open_device_intel(); |
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static bool open_device_generic(); |
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static bool open_device_intel() { |
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const unsigned IntelVendorID = 0x8086; |
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int adapterIndex = find_adapter(IntelVendorID); |
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if (adapterIndex >= 0) { |
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NodeInfo nodes(adapterIndex); |
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for (int i = 0; i < nodes.count(); ++i) { |
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drmfd = open(nodes.path(i), O_RDWR); |
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if (drmfd >= 0) { |
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display = vaGetDisplayDRM(drmfd); |
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vaSetInfoCallback(display,nullptr,nullptr); |
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if (display) |
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return true; |
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close(drmfd); |
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drmfd = -1; |
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} |
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} |
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} |
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return false; |
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} |
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static bool open_device_generic() { |
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static const char *device_paths[] = { "/dev/dri/renderD128", "/dev/dri/card0" }; |
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static const int num_devices = sizeof(device_paths) / sizeof(device_paths[0]); |
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for (int i = 0; i < num_devices; ++i) { |
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drmfd = open(device_paths[i], O_RDWR); |
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if (drmfd >= 0) { |
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display = vaGetDisplayDRM(drmfd); |
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vaSetInfoCallback(display,nullptr,nullptr); |
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if (display) |
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return true; |
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close(drmfd); |
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drmfd = -1; |
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} |
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} |
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return false; |
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} |
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bool open_display() { |
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if (!initialized) { |
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drmfd = -1; |
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display = 0; |
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if (open_device_intel() || open_device_generic()) { |
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int majorVersion = 0, minorVersion = 0; |
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if (vaInitialize(display, &majorVersion, &minorVersion) == VA_STATUS_SUCCESS) { |
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initialized = true; |
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return true; |
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} |
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close(drmfd); |
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display = 0; |
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drmfd = -1; |
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} |
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return false; // Can't open VA display
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} |
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return true; |
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} |
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void close_display() { |
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if (initialized) { |
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if (display) |
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vaTerminate(display); |
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if (drmfd >= 0) |
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close(drmfd); |
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display = 0; |
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drmfd = -1; |
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initialized = false; |
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} |
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} |
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void check_if_YUV420_available() { |
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VAEntrypoint entrypoints[5]; |
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int num_entrypoints, vld_entrypoint; |
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VAConfigAttrib attrib; |
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VAStatus status; |
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status = vaQueryConfigEntrypoints(va::display, VAProfileVP9Profile0, entrypoints, &num_entrypoints); |
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assert(status == VA_STATUS_SUCCESS); |
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for (vld_entrypoint = 0; vld_entrypoint < num_entrypoints; ++vld_entrypoint) { |
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if (entrypoints[vld_entrypoint] == VAEntrypointVLD) |
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break; |
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} |
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if (vld_entrypoint == num_entrypoints) |
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throw std::runtime_error("Failed to find VLD entry point"); |
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attrib.type = VAConfigAttribRTFormat; |
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vaGetConfigAttributes(va::display, VAProfileVP9Profile0, VAEntrypointVLD, &attrib, 1); |
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if ((attrib.value & VA_RT_FORMAT_YUV420) == 0) |
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throw std::runtime_error("Desired YUV444 RT format not found"); |
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} |
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void init_va() { |
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if (!va::open_display()) |
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throw std::runtime_error("Failed to open VA display for CL-VA interoperability"); |
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va::check_if_YUV420_available(); |
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cv::va_intel::ocl::initializeContextFromVA(va::display, true); |
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} |
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std::string get_info() { |
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std::stringstream ss; |
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ss << VA_VERSION_S << " (" << vaQueryVendorString(display) << ")"; |
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return ss.str(); |
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} |
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} // namespace va
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} |
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namespace kb { |
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namespace egl { |
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//code in the kb::egl namespace deals with setting up EGL
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EGLDisplay display; |
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EGLSurface surface; |
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EGLContext context; |
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void eglCheckError(const std::filesystem::path &file, unsigned int line, const char *expression) { |
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EGLint errorCode = eglGetError(); |
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if (errorCode != EGL_SUCCESS) { |
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cerr << "EGL failed in " << file.filename() << " (" << line << ") : " << "\nExpression:\n " << expression << "\nError code:\n " << errorCode << "\n " << endl; |
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assert(false); |
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} |
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} |
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#define eglCheck(expr) \ |
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expr; \
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egl::eglCheckError(__FILE__, __LINE__, #expr); |
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void init_egl() { |
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eglCheck(eglBindAPI(EGL_OPENGL_API)); |
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eglCheck(display = eglGetDisplay(EGL_DEFAULT_DISPLAY)); |
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eglCheck(eglInitialize(display, nullptr, nullptr)); |
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const EGLint attributes[] = { |
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EGL_BUFFER_SIZE, static_cast<EGLint>(24), |
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EGL_DEPTH_SIZE, static_cast<EGLint>(24), |
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EGL_STENCIL_SIZE, static_cast<EGLint>(0), |
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EGL_SAMPLE_BUFFERS, |
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EGL_FALSE, |
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EGL_SAMPLES, 0, |
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EGL_SURFACE_TYPE, |
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EGL_WINDOW_BIT | EGL_PBUFFER_BIT, |
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EGL_RENDERABLE_TYPE, |
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EGL_OPENGL_BIT, |
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EGL_NONE }; |
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EGLint configCount; |
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EGLConfig configs[1]; |
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eglCheck(eglChooseConfig(display, attributes, configs, 1, &configCount)); |
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EGLint attrib_list[] = { EGL_WIDTH, WIDTH, EGL_HEIGHT, HEIGHT, EGL_NONE }; |
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eglCheck(surface = eglCreatePbufferSurface(display, configs[0], attrib_list)); |
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const EGLint contextVersion[] = { EGL_CONTEXT_CLIENT_VERSION, 1, EGL_CONTEXT_OPENGL_DEBUG, EGL_FALSE, EGL_NONE }; |
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eglCheck(context = eglCreateContext(display, configs[0], EGL_NO_CONTEXT, contextVersion)); |
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eglCheck(eglMakeCurrent(display, surface, surface, context)); |
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} |
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EGLBoolean swapBuffers() { |
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return eglCheck(eglSwapBuffers(display, surface)); |
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} |
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std::string get_info() { |
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return eglQueryString(display, EGL_VERSION); |
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} |
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} |
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} |
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namespace kb { |
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namespace gl { |
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//code in the kb::gl namespace deals with OpenGL (and OpenCV/GL) internals
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cv::ogl::Texture2D *frame_buf_tex; |
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GLuint frame_buf_tex_name; |
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void glCheckError(const std::filesystem::path &file, unsigned int line, const char *expression) { |
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GLint errorCode = glGetError(); |
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if (errorCode != GL_NO_ERROR) { |
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cerr << "GL failed in " << file.filename() << " (" << line << ") : " << "\nExpression:\n " << expression << "\nError code:\n " << errorCode << "\n " << endl; |
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assert(false); |
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} |
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} |
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#define glCheck(expr) \ |
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expr; \
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gl::glCheckError(__FILE__, __LINE__, #expr); |
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void init_gl() { |
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glewInit(); |
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cv::ogl::ocl::initializeContextFromGL(); |
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frame_buf_tex_name = 0; |
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glCheck(glGenFramebuffers(1, &frame_buf_tex_name)); |
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glCheck(glBindFramebuffer(GL_FRAMEBUFFER, frame_buf_tex_name)); |
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frame_buf_tex = new cv::ogl::Texture2D(cv::Size(WIDTH, HEIGHT), cv::ogl::Texture2D::RGBA, false); |
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frame_buf_tex->bind(); |
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glCheck(glFramebufferTexture(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, frame_buf_tex->texId(), 0)); |
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GLenum drawBuffers[1] = { GL_COLOR_ATTACHMENT0 }; |
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glCheck(glDrawBuffers(1, drawBuffers)); |
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assert(glCheckFramebufferStatus(GL_FRAMEBUFFER) == GL_FRAMEBUFFER_COMPLETE); |
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glCheck(glBindFramebuffer(GL_FRAMEBUFFER, frame_buf_tex_name)); |
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glCheck(glClearColor(0.1, 0.39, 0.88, 1.0)); |
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glCheck(glColor3f(1.0, 1.0, 1.0)); |
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glCheck(glEnable(GL_CULL_FACE)); |
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glCheck(glCullFace(GL_BACK)); |
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glCheck(glMatrixMode(GL_PROJECTION)); |
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glCheck(glLoadIdentity()); |
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glCheck(glFrustum(-2, 2, -1.5, 1.5, 1, 40)); |
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glCheck(glMatrixMode(GL_MODELVIEW)); |
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glCheck(glLoadIdentity()); |
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glCheck(glTranslatef(0, 0, -3)); |
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glCheck(glRotatef(50, 1, 0, 0)); |
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glCheck(glRotatef(70, 0, 1, 0)); |
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} |
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void swapBuffers() { |
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kb::egl::swapBuffers(); |
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} |
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void fetch_frame_buffer(cv::UMat &m) { |
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glCheck(cv::ogl::convertFromGLTexture2D(*frame_buf_tex, m)); |
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} |
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void return_frame_buffer(cv::UMat &m) { |
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glCheck(cv::ogl::convertToGLTexture2D(m, *frame_buf_tex)); |
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} |
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std::string get_info() { |
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return reinterpret_cast<const char*>(glGetString(GL_VERSION)); |
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} |
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} |
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} |
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namespace kb { |
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namespace cl { |
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std::string get_info() { |
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std::stringstream ss; |
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std::vector<cv::ocl::PlatformInfo> plt_info; |
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cv::ocl::getPlatfomsInfo(plt_info); |
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for (const auto &info : plt_info) { |
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ss << '\t' << info.version() << " = " << info.name() << endl; |
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} |
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return ss.str(); |
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} |
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} |
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} |
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#endif /* SRC_TETRA_SUBSYSTEMS_HPP_ */ |
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