GLuint CGLUtil::gpuMapRgb2PixelBufferObj(const cv::cuda::GpuMat& cvgmRGB_ ){ //http://rickarkin.blogspot.co.uk/2012/03/use-pbo-to-share-buffer-between-cuda.html int nPyrLevel_ = getLevel( cvgmRGB_.cols ); GLuint uTexture; // map OpenGL buffer object for writing from CUDA if (cvgmRGB_.channels() == 3) { uTexture = _auTexture[nPyrLevel_]; void *pDev; cudaSafeCall( cudaGraphicsMapResources(1, &_apResourceRGBPxielBO[nPyrLevel_], 0)); size_t nSize; cudaSafeCall( cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize , _apResourceRGBPxielBO[nPyrLevel_])); cv::cuda::GpuMat cvgmRGBA( cvgmRGB_.size(), CV_8UC3, pDev); cvgmRGB_.copyTo(cvgmRGBA); cudaSafeCall( cudaGraphicsUnmapResources(1, &_apResourceRGBPxielBO[nPyrLevel_], 0) ); //texture mapping glBindTexture( GL_TEXTURE_2D, uTexture); glBindBuffer ( GL_PIXEL_UNPACK_BUFFER_ARB, _auRGBPixelBO[nPyrLevel_]); glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, cvgmRGB_.cols, cvgmRGB_.rows, 0, GL_RGB, GL_UNSIGNED_BYTE, NULL); errorDetectorGL(); glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, 0); glBindTexture(GL_TEXTURE_2D, 0); } else if (cvgmRGB_.channels()==1) { uTexture = _auGrayTexture[nPyrLevel_]; void *pDev; cudaSafeCall( cudaGraphicsMapResources(1, &_apResourceGrayPxielBO[nPyrLevel_], 0)); size_t nSize; cudaSafeCall( cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize , _apResourceGrayPxielBO[nPyrLevel_])); cv::cuda::GpuMat cvgmRGBA( cvgmRGB_.size(), CV_8UC1, pDev); cvgmRGB_.copyTo(cvgmRGBA); cudaSafeCall( cudaGraphicsUnmapResources(1, &_apResourceGrayPxielBO[nPyrLevel_], 0) ); //texture mapping glBindTexture(GL_TEXTURE_2D, uTexture); glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, _auGrayPixelBO[nPyrLevel_]); glTexImage2D(GL_TEXTURE_2D, 0, GL_RED, cvgmRGB_.cols, cvgmRGB_.rows, 0, GL_RED, GL_UNSIGNED_BYTE, NULL); errorDetectorGL(); glBindBuffer(GL_PIXEL_UNPACK_BUFFER_ARB, 0); glBindTexture(GL_TEXTURE_2D, 0); } return uTexture; }//gpuMapRgb2PixelBufferObj
void CGLUtil::gpuMapRGBResources(const cv::cuda::GpuMat& cvgmRGBs_){ int nPyrLevel_ = getLevel( cvgmRGBs_.cols ); // map OpenGL buffer object for writing from CUDA void *pDev; cudaGraphicsMapResources(1, &_apResourceRGBVBO[nPyrLevel_], 0); size_t nSize; cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize, _apResourceRGBVBO[nPyrLevel_] ); cv::cuda::GpuMat cvgmRGBs(cvgmRGBs_.size(),CV_8UC3,pDev); cvgmRGBs_.copyTo(cvgmRGBs); cudaGraphicsUnmapResources(1, &_apResourceRGBVBO[nPyrLevel_], 0); // render from the vbo glBindBuffer(GL_ARRAY_BUFFER, _auRGBVBO[nPyrLevel_]); glColorPointer(3, GL_UNSIGNED_BYTE, 0, 0); glEnableClientState(GL_COLOR_ARRAY);//you cant move glEnableClientState infront of cuda GraphicsMapResources, otherwise, you will have weird problem //glDrawArrays(GL_POINTS, 0, btl::kinect::__aKinectWxH[usPyrLevel_] ); //glDisableClientState(GL_COLOR_ARRAY); //glBindBuffer( GL_ARRAY_BUFFER, 0 ); }
void CGLUtil::gpuMapNlResources(const cv::cuda::GpuMat& cvgmNls_){ int nPyrLevel_ = getLevel( cvgmNls_.cols ); // map OpenGL buffer object for writing from CUDA void *pDev; cudaGraphicsMapResources(1, &_apResourceNlVBO[nPyrLevel_], 0); size_t nSize; cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize, _apResourceNlVBO[nPyrLevel_] ); cv::cuda::GpuMat cvgmNls(cvgmNls_.size(),CV_32FC3,pDev); cvgmNls_.copyTo(cvgmNls); cudaGraphicsUnmapResources(1, &_apResourceNlVBO[nPyrLevel_], 0); // render from the vbo glBindBuffer(GL_ARRAY_BUFFER, _auNlVBO[nPyrLevel_]); glNormalPointer(GL_FLOAT, 12, 0); //12 is the stride = the number of bytes occupied by each normal glEnableClientState(GL_NORMAL_ARRAY);//you cant move glEnableClientState infront of cuda GraphicsMapResources, otherwise, you will have weird problem //glColor3f(1.0, 0.0, 0.0); //glDrawArrays(GL_POINTS, 0, btl::kinect::__aKinectWxH[usPyrLevel_] ); //glDisableClientState(GL_NORMAL_ARRAY); //glBindBuffer( GL_ARRAY_BUFFER, 0 ); }
void CGLUtil::gpuMapPtResources(const cv::cuda::GpuMat& cvgmPts_){ int nPyrLevel_ = getLevel( cvgmPts_.cols ); // map OpenGL buffer object for writing from CUDA void *pDev; cudaGraphicsMapResources(1, &_apResourcePtVBO[nPyrLevel_], 0); size_t nSize; cudaGraphicsResourceGetMappedPointer((void **)&pDev, &nSize, _apResourcePtVBO[nPyrLevel_] ); cv::cuda::GpuMat cvgmPts( cvgmPts_.size(),CV_32FC3,pDev ); cvgmPts_.copyTo(cvgmPts); // the operation of the Buffer must be done before cudaGraphicsUnmapResources(), otherwise, the buffer will affects each other cudaGraphicsUnmapResources(1, &_apResourcePtVBO[nPyrLevel_], 0); // render from the vbo glBindBuffer(GL_ARRAY_BUFFER, _auPtVBO[nPyrLevel_]); glVertexPointer(3, GL_FLOAT, 0, 0); glEnableClientState(GL_VERTEX_ARRAY);//you cant move glEnableClientState in front of cuda GraphicsMapResources, otherwise, you will have weird problem //glColor3f(1.0, 0.0, 0.0); //glDrawArrays(GL_POINTS, 0, btl::kinect::__aKinectWxH[usPyrLevel_] ); //glDisableClientState(GL_VERTEX_ARRAY); //glBindBuffer( GL_ARRAY_BUFFER, 0 ); }
std::vector<bbox_t> tracking_flow(cv::Mat dst_mat, bool check_error = true) { if (sync_PyrLKOpticalFlow_gpu.empty()) { std::cout << "sync_PyrLKOpticalFlow_gpu isn't initialized \n"; return cur_bbox_vec; } int const old_gpu_id = cv::cuda::getDevice(); if(old_gpu_id != gpu_id) cv::cuda::setDevice(gpu_id); if (dst_mat_gpu.cols == 0) { dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type()); dst_grey_gpu = cv::cuda::GpuMat(dst_mat.size(), CV_8UC1); } //dst_grey_gpu.upload(dst_mat, stream); // use BGR dst_mat_gpu.upload(dst_mat, stream); cv::cuda::cvtColor(dst_mat_gpu, dst_grey_gpu, CV_BGR2GRAY, 1, stream); if (src_grey_gpu.rows != dst_grey_gpu.rows || src_grey_gpu.cols != dst_grey_gpu.cols) { stream.waitForCompletion(); src_grey_gpu = dst_grey_gpu.clone(); cv::cuda::setDevice(old_gpu_id); return cur_bbox_vec; } ////sync_PyrLKOpticalFlow_gpu.sparse(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, &err_gpu); // OpenCV 2.4.x sync_PyrLKOpticalFlow_gpu->calc(src_grey_gpu, dst_grey_gpu, prev_pts_flow_gpu, cur_pts_flow_gpu, status_gpu, err_gpu, stream); // OpenCV 3.x cv::Mat cur_pts_flow_cpu; cur_pts_flow_gpu.download(cur_pts_flow_cpu, stream); dst_grey_gpu.copyTo(src_grey_gpu, stream); cv::Mat err_cpu, status_cpu; err_gpu.download(err_cpu, stream); status_gpu.download(status_cpu, stream); stream.waitForCompletion(); std::vector<bbox_t> result_bbox_vec; if (err_cpu.cols == cur_bbox_vec.size() && status_cpu.cols == cur_bbox_vec.size()) { for (size_t i = 0; i < cur_bbox_vec.size(); ++i) { cv::Point2f cur_key_pt = cur_pts_flow_cpu.at<cv::Point2f>(0, i); cv::Point2f prev_key_pt = prev_pts_flow_cpu.at<cv::Point2f>(0, i); float moved_x = cur_key_pt.x - prev_key_pt.x; float moved_y = cur_key_pt.y - prev_key_pt.y; if (abs(moved_x) < 100 && abs(moved_y) < 100 && good_bbox_vec_flags[i]) if (err_cpu.at<float>(0, i) < flow_error && status_cpu.at<unsigned char>(0, i) != 0 && ((float)cur_bbox_vec[i].x + moved_x) > 0 && ((float)cur_bbox_vec[i].y + moved_y) > 0) { cur_bbox_vec[i].x += moved_x + 0.5; cur_bbox_vec[i].y += moved_y + 0.5; result_bbox_vec.push_back(cur_bbox_vec[i]); } else good_bbox_vec_flags[i] = false; else good_bbox_vec_flags[i] = false; //if(!check_error && !good_bbox_vec_flags[i]) result_bbox_vec.push_back(cur_bbox_vec[i]); } } cur_pts_flow_gpu.swap(prev_pts_flow_gpu); cur_pts_flow_cpu.copyTo(prev_pts_flow_cpu); if (old_gpu_id != gpu_id) cv::cuda::setDevice(old_gpu_id); return result_bbox_vec; }