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@ -1,5 +1,5 @@ |
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#ifndef SRC_TETRA_SUBSYSTEMS_HPP_ |
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#define SRC_TETRA_SUBSYSTEMS_HPP_ |
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#ifndef SRC_SUBSYSTEMS_HPP_ |
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#define SRC_SUBSYSTEMS_HPP_ |
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#include <dirent.h> |
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#include <fcntl.h> |
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@ -16,11 +16,17 @@ |
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#include <X11/Xutil.h> |
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#include <GL/glew.h> |
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#include <EGL/egl.h> |
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#include <EGL/eglext.h> |
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#include <GL/gl.h> |
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#include "nanovg.h" |
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#define NANOVG_GL3_IMPLEMENTATION |
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#include "nanovg_gl.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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@ -53,13 +59,13 @@ void eglCheckError(const std::filesystem::path &file, unsigned int line, const c |
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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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cv::ocl::OpenCLExecutionContext context; |
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VADisplay display = NULL; |
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bool initialized = false; |
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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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@ -221,7 +227,6 @@ bool open_display() { |
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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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@ -271,13 +276,15 @@ void check_if_YUV420_available() { |
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throw std::runtime_error("Desired YUV420 RT format not found"); |
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} |
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void init_va() { |
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void init() { |
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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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va::context = cv::ocl::OpenCLExecutionContext::getCurrent(); |
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} |
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std::string get_info() { |
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@ -285,6 +292,10 @@ std::string get_info() { |
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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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void bind() { |
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context.bind(); |
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} |
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} // namespace va
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namespace x11 { |
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@ -295,6 +306,14 @@ Atom wmDeleteMessage; |
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bool initialized = false; |
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std::pair<unsigned int, unsigned int> get_window_size() { |
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std::pair<unsigned int, unsigned int> ret; |
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int x, y; |
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unsigned int border, depth; |
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XGetGeometry(xdisplay, xwin, &xroot, &x, &y, &ret.first, &ret.second, &border, &depth); |
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return ret; |
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} |
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Display* get_x11_display() { |
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return xdisplay; |
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} |
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@ -314,8 +333,7 @@ bool window_closed() { |
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XEvent event; |
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XNextEvent(xdisplay, &event); |
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switch (event.type) |
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{ |
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switch (event.type) { |
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case ClientMessage: |
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if (event.xclient.data.l[0] == static_cast<long int>(wmDeleteMessage)) |
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return true; |
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@ -327,8 +345,7 @@ bool window_closed() { |
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return false; |
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} |
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void init_x11() { |
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void init() { |
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xdisplay = XOpenDisplay(nullptr); |
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if (xdisplay == nullptr) { |
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cerr << "Unable to open X11 display" << endl; |
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@ -346,11 +363,8 @@ void init_x11() { |
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XChangeWindowAttributes(xdisplay, xwin, CWOverrideRedirect, &xattr); |
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int one = 1; |
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XChangeProperty( |
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xdisplay, xwin, |
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XInternAtom ( xdisplay, "_HILDON_NON_COMPOSITED_WINDOW", False ), |
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XA_INTEGER, 32, PropModeReplace, |
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(unsigned char*) &one, 1); |
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XChangeProperty(xdisplay, xwin, XInternAtom(xdisplay, "_HILDON_NON_COMPOSITED_WINDOW", False), |
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XA_INTEGER, 32, PropModeReplace, (unsigned char*) &one, 1); |
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XWMHints hints; |
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hints.input = True; |
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@ -358,12 +372,46 @@ void init_x11() { |
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XSetWMHints(xdisplay, xwin, &hints); |
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XMapWindow(xdisplay, xwin); |
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XStoreName(xdisplay, xwin, "tetra-demo"); |
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XStoreName(xdisplay, xwin, "nanovg-demo"); |
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wmDeleteMessage = XInternAtom(xdisplay, "WM_DELETE_WINDOW", False); |
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XSetWMProtocols(xdisplay, xwin, &wmDeleteMessage, 1); |
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XSelectInput(xdisplay, xwin, ButtonPressMask | Button1MotionMask ); |
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initialized = true; |
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} |
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enum EventState { |
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NONE, |
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PRESS, |
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RELEASE, |
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MOTION |
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}; |
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std::pair<EventState,cv::Point> consume_event() { |
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XEvent event; |
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EventState state; |
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int revert_to; |
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XGetInputFocus(xdisplay, &xwin, &revert_to); |
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int x = 0, y = 0; |
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if (XEventsQueued(xdisplay, QueuedAlready) > 0) { |
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XNextEvent(xdisplay, &event); |
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switch (event.type) { |
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case ButtonPress: |
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x = event.xmotion.x; |
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y = event.xmotion.y; |
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state = PRESS; |
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break; |
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case MotionNotify: |
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x = event.xmotion.x; |
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y = event.xmotion.y; |
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state = MOTION; |
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break; |
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} |
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} |
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return {state,{x,y}}; |
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} |
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} |
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namespace egl { |
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@ -372,10 +420,7 @@ EGLDisplay display; |
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EGLSurface surface; |
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EGLContext context; |
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void debugMessageCallback(GLenum source, GLenum type, GLuint id, |
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GLenum severity, GLsizei length, |
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const GLchar *msg, const void *data) |
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{ |
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void debugMessageCallback(GLenum source, GLenum type, GLuint id, GLenum severity, GLsizei length, const GLchar *msg, const void *data) { |
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std::string _source; |
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std::string _type; |
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std::string _severity; |
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@ -466,14 +511,17 @@ void debugMessageCallback(GLenum source, GLenum type, GLuint id, |
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break; |
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} |
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fprintf(stderr, "%d: %s of %s severity, raised from %s: %s\n", |
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id, _type.c_str(), _severity.c_str(), _source.c_str(), msg); |
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fprintf(stderr, "%d: %s of %s severity, raised from %s: %s\n", id, _type.c_str(), _severity.c_str(), _source.c_str(), msg); |
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if (type == GL_DEBUG_TYPE_ERROR) |
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exit(2); |
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} |
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void init_egl(bool debug = false) { |
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EGLBoolean swap_buffers() { |
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return eglCheck(eglSwapBuffers(display, surface)); |
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} |
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void init(bool debug = false) { |
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bool offscreen = !x11::is_initialized(); |
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eglCheck(eglBindAPI(EGL_OPENGL_API)); |
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@ -485,40 +533,49 @@ void init_egl(bool debug = false) { |
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eglCheck(eglInitialize(display, nullptr, nullptr)); |
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const EGLint egl_config_constraints[] = { |
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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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}; |
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EGL_STENCIL_SIZE, static_cast<EGLint>(8), |
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EGL_DEPTH_SIZE, static_cast<EGLint>(16), |
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EGL_BUFFER_SIZE, static_cast<EGLint>(32), |
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EGL_RED_SIZE, static_cast<EGLint>(8), |
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EGL_GREEN_SIZE, static_cast<EGLint>(8), |
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EGL_BLUE_SIZE, static_cast<EGLint>(8), |
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EGL_ALPHA_SIZE, static_cast<EGLint>(8), |
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EGL_SAMPLE_BUFFERS, EGL_TRUE, |
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EGL_SAMPLES, 16, |
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EGL_SURFACE_TYPE, EGL_WINDOW_BIT | EGL_PBUFFER_BIT, |
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EGL_RENDERABLE_TYPE, EGL_OPENGL_BIT, |
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EGL_CONFORMANT, EGL_OPENGL_BIT, |
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EGL_CONFIG_CAVEAT, EGL_NONE, |
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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, egl_config_constraints, configs, 1, &configCount)); |
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EGLint stencilSize; |
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eglGetConfigAttrib(display, configs[0], |
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EGL_STENCIL_SIZE, &stencilSize); |
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if (!offscreen) { |
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eglCheck(surface = eglCreateWindowSurface(display, configs[0], x11::get_x11_window(), nullptr)); |
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} else { |
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EGLint pbuffer_attrib_list[] = { |
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EGL_WIDTH, WIDTH, |
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EGL_HEIGHT, HEIGHT, |
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EGL_NONE |
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}; |
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EGL_NONE }; |
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eglCheck(surface = eglCreatePbufferSurface(display, configs[0], pbuffer_attrib_list)); |
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} |
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const EGLint contextVersion[] = { |
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EGL_CONTEXT_CLIENT_VERSION, 2, |
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EGL_CONTEXT_MAJOR_VERSION, 4, |
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EGL_CONTEXT_MINOR_VERSION, 6, |
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EGL_CONTEXT_OPENGL_PROFILE_MASK, EGL_CONTEXT_OPENGL_COMPATIBILITY_PROFILE_BIT, |
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EGL_CONTEXT_OPENGL_DEBUG, debug ? EGL_TRUE : EGL_FALSE, |
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EGL_NONE |
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}; |
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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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eglCheck(eglSwapInterval(display, 1)); |
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if (debug) { |
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glCheck(glEnable(GL_DEBUG_OUTPUT_SYNCHRONOUS)); |
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auto glDebugMessageCallback = (void (*)(void*, void*)) eglGetProcAddress("glDebugMessageCallback"); |
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@ -527,10 +584,6 @@ void init_egl(bool debug = false) { |
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} |
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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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@ -540,52 +593,57 @@ 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; |
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cv::ocl::OpenCLExecutionContext context; |
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bool initialized = false; |
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void bind() { |
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context.bind(); |
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} |
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void init_gl() { |
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void init() { |
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glewExperimental = true; |
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glewInit(); |
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cv::ogl::ocl::initializeContextFromGL(); |
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frame_buf = 0; |
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glCheck(glGenFramebuffers(1, &frame_buf)); |
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glCheck(glBindFramebuffer(GL_FRAMEBUFFER, frame_buf)); |
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glCheck(glBindFramebuffer(GL_DRAW_FRAMEBUFFER, frame_buf)); |
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GLuint sb; |
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glGenRenderbuffers(1, &sb); |
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glBindRenderbuffer(GL_RENDERBUFFER, sb); |
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glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, WIDTH, HEIGHT); |
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glCheck(glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT, GL_RENDERBUFFER, sb)); |
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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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glCheck(glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, frame_buf_tex->texId(), 0)); |
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assert(glCheckFramebufferStatus(GL_FRAMEBUFFER) == GL_FRAMEBUFFER_COMPLETE); |
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glCheck(glViewport(0, 0, WIDTH, HEIGHT)); |
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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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gl::context = cv::ocl::OpenCLExecutionContext::getCurrent(); |
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initialized = true; |
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} |
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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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bool is_initialized() { |
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return initialized; |
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} |
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void swapBuffers() { |
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kb::egl::swapBuffers(); |
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void swap_buffers() { |
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kb::egl::swap_buffers(); |
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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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void acquire_frame_buffer(cv::UMat &m) { |
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void acquire_from_gl(cv::UMat &m) { |
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glCheck(cv::ogl::convertFromGLTexture2D(*gl::frame_buf_tex, m)); |
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} |
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void release_frame_buffer(cv::UMat &m) { |
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void release_to_gl(cv::UMat &m) { |
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glCheck(cv::ogl::convertToGLTexture2D(m, *gl::frame_buf_tex)); |
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} |
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@ -594,6 +652,7 @@ void blit_frame_buffer_to_screen() { |
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glReadBuffer(GL_COLOR_ATTACHMENT0); |
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glBindFramebuffer(GL_DRAW_FRAMEBUFFER, 0); |
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glBlitFramebuffer(0, 0, WIDTH, HEIGHT, 0, 0, WIDTH, HEIGHT, GL_COLOR_BUFFER_BIT, GL_NEAREST); |
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} |
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} // namespace gl
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@ -613,7 +672,75 @@ std::string get_info() { |
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ss << "\t VAAPI media sharing: " << (device.isExtensionSupported("cl_intel_va_api_media_sharing") ? "true" : "false") << endl; |
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return ss.str(); |
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} |
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} //namespace cl
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namespace nvg { |
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NVGcontext *vg; |
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void clear() { |
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glCheck(glClearColor(0.0f, 0.0f, 0.0f, 1.0f)); |
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glCheck(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT)); |
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} |
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void push() { |
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glCheck(glPushClientAttrib(GL_CLIENT_ALL_ATTRIB_BITS)); |
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glCheck(glPushAttrib(GL_ALL_ATTRIB_BITS)); |
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glCheck(glMatrixMode(GL_MODELVIEW)); |
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glCheck(glPushMatrix()); |
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glCheck(glMatrixMode(GL_PROJECTION)); |
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glCheck(glPushMatrix()); |
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glCheck(glMatrixMode(GL_TEXTURE)); |
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glCheck(glPushMatrix()); |
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} |
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void pop() { |
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glCheck(glMatrixMode(GL_TEXTURE)); |
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glCheck(glPopMatrix()); |
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glCheck(glMatrixMode(GL_PROJECTION)); |
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glCheck(glPopMatrix()); |
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glCheck(glMatrixMode(GL_MODELVIEW)); |
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glCheck(glPopMatrix()); |
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glCheck(glPopClientAttrib()); |
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glCheck(glPopAttrib()); |
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|
} |
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|
void begin(int w, int h, double pxRatio = 1) { |
|
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|
|
push(); |
|
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|
|
glCheck(glBindFramebuffer(GL_DRAW_FRAMEBUFFER, kb::gl::frame_buf)); |
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|
|
nvgSave(vg); |
|
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|
nvgBeginFrame(vg, w, h, pxRatio); |
|
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|
} |
|
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|
|
void end() { |
|
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|
|
nvgEndFrame(vg); |
|
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|
|
nvgRestore(vg); |
|
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|
|
pop(); |
|
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|
|
glCheck(glFlush()); |
|
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|
|
glCheck(glFinish()); |
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|
} |
|
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|
|
void init(bool debug = false) { |
|
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|
|
push(); |
|
|
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|
|
|
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|
|
glCheck(glViewport(0, 0, WIDTH, HEIGHT)); |
|
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|
|
glCheck(glEnable(GL_STENCIL_TEST)); |
|
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|
|
glCheck(glStencilMask(~0)); |
|
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|
|
glCheck(glClearColor(0.0f, 0.0f, 0.0f, 1.0f)); |
|
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|
|
glCheck(glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT)); |
|
|
|
|
|
|
|
|
|
vg = nvgCreateGL3(NVG_STENCIL_STROKES | debug ? NVG_DEBUG : 0); |
|
|
|
|
if (vg == NULL) { |
|
|
|
|
cerr << "Couldn't init nanovg." << endl; |
|
|
|
|
exit(24); |
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
nvgCreateFont(vg, "icons", "fonts/entypo.ttf"); |
|
|
|
|
nvgCreateFont(vg, "sans-bold", "fonts/DejaVuSans-Bold.ttf"); |
|
|
|
|
nvgCreateFont(vg, "sans", "fonts/DejaVuSans.ttf"); |
|
|
|
|
|
|
|
|
|
pop(); |
|
|
|
|
} |
|
|
|
|
} //namespace nvg
|
|
|
|
|
} |
|
|
|
|
|
|
|
|
|
#endif /* SRC_TETRA_SUBSYSTEMS_HPP_ */ |
|
|
|
|
#endif /* SRC_SUBSYSTEMS_HPP_ */ |
|
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|
kallaballa
3 years ago