RemoteSensingFrank/UAVProduct

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