An implementation of an augmented reality prototype built using a head-mounted display with some cameras attached. The hardware used in the prototype was the Oculus Rift Development Kit 2 as a head-mounted display, a Stereolabs ZED camera to provide stereo vision and an Intel Realsense F200 to measure depth.

This project depends on:

• Oculus SDK 1.4
• Latest ZED SDK (with OpenCV bundled inside)
• CUDA 7.5

All other dependencies are packaged in the 3rdparty directory.

Polystyrene head and the AR prototype, an Oculus Rift DK2 with a ZED Camera and Realsense F200 attached.

Occlusion of an AR object by a real object using the depth camera.

A projection of a virtual head over the polystyrene head model.

Unfortunately, I ran out of time before handing in my thesis to work on a number of features in the code. As I no longer have access to the prototype, I cannot change any of the code without potentially breaking it. Here are a number of refactors I had in mind:

• Create a Texture class inside Framework that manages bindings to a texture unit etc, then turn TextureCV into a subclass of Texture.
• Create a new Texture subclass called TextureCuda that behaves like TextureCV but correctly provides a CUDA surface -> OpenGL texture bridge seamlessly.
• Replace the hard-coded cv::Mat -> GL and CUDA -> GL code in RealsenseCamera and ZEDCamera to use the proposed TextureCV and TextureCuda classes.

Objects that are expected to have a single owner, such as a camera or entity, are stored in a unique_ptr. Resources on the other hand such as Models and Shaders that can be shared between many entities are stored in a shared_ptr.