int main(int argc, char* argv[])
{
try
{
nvxio::Application &app = nvxio::Application::get();
//
// Parse command line arguments
//
// std::string sourceUri = app.findSampleFilePath("file:///dev/video0");
// "/home/ubuntu/VisionWorks-SFM-0.82-Samples/data/sfm/parking_sfm.mp4";
std::string sourceUri = "/home/px4/test.mp4";
std::string configFile = app.findSampleFilePath("sfm/sfm_config.ini");
bool fullPipeline = false;
std::string maskFile;
bool noLoop = false;
app.setDescription("This sample demonstrates Structure from Motion (SfM) algorithm");
app.addOption(0, "mask", "Optional mask", nvxio::OptionHandler::string(&maskFile));
app.addBooleanOption('f', "fullPipeline", "Run full SfM pipeline without using IMU data", &fullPipeline);
app.addBooleanOption('n', "noLoop", "Run sample without loop", &noLoop);
app.init(argc, argv);
nvx_module_version_t sfmVersion;
nvxSfmGetVersion(&sfmVersion);
std::cout << "VisionWorks SFM version: " << sfmVersion.major << "." << sfmVersion.minor
<< "." << sfmVersion.patch << sfmVersion.suffix << std::endl;
std::string imuDataFile;
std::string frameDataFile;
if (!fullPipeline)
{
imuDataFile = app.findSampleFilePath("sfm/imu_data.txt");
frameDataFile = app.findSampleFilePath("sfm/images_timestamps.txt");
}
if (app.getPreferredRenderName() != "default")
{
std::cerr << "The sample uses custom Render for GUI. --nvxio_render option is not supported!" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_RENDER;
}
//
// Read SfMParams
//
nvx::SfM::SfMParams params;
std::string msg;
if (!read(configFile, params, msg))
{
std::cout << msg << std::endl;
return nvxio::Application::APP_EXIT_CODE_INVALID_VALUE;
}
//
// Create OpenVX context
//
nvxio::ContextGuard context;
//
// Messages generated by the OpenVX framework will be processed by nvxio::stdoutLogCallback
//
vxRegisterLogCallback(context, &nvxio::stdoutLogCallback, vx_false_e);
//
// Add SfM kernels
//
NVXIO_SAFE_CALL(nvxSfmRegisterKernels(context));
//
// Create a Frame Source
//
std::unique_ptr<nvxio::FrameSource> source(
nvxio::createDefaultFrameSource(context, sourceUri));
if (!source || !source->open())
{
std::cout << "Can't open source file: " << sourceUri << std::endl;
// int haha=3;
// fprintf(stderr, "errno = %d \n", haha);
return nvxio::Application::APP_EXIT_CODE_NO_RESOURCE;
}
nvxio::FrameSource::Parameters sourceParams = source->getConfiguration();
//
// Create OpenVX Image to hold frames from video source
//
vx_image frame = vxCreateImage(context,
sourceParams.frameWidth, sourceParams.frameHeight, sourceParams.format);
NVXIO_CHECK_REFERENCE(frame);
//
// Load mask image if needed
//
vx_image mask = NULL;
if (!maskFile.empty())
{
mask = nvxio::loadImageFromFile(context, maskFile, VX_DF_IMAGE_U8);
vx_uint32 mask_width = 0, mask_height = 0;
vxQueryImage(mask, VX_IMAGE_ATTRIBUTE_WIDTH, &mask_width, sizeof(mask_width));
vxQueryImage(mask, VX_IMAGE_ATTRIBUTE_HEIGHT, &mask_height, sizeof(mask_height));
if (mask_width != sourceParams.frameWidth || mask_height != sourceParams.frameHeight)
{
std::cerr << "The mask must have the same size as the input source." << std::endl;
return nvxio::Application::APP_EXIT_CODE_INVALID_DIMENSIONS;
}
}
//
// Create 3D Render instance
//
std::unique_ptr<nvxio::Render3D> render3D(nvxio::createDefaultRender3D(context, 0, 0,
"SfM Point Cloud", sourceParams.frameWidth, sourceParams.frameHeight));
nvxio::Render::TextBoxStyle style = {{255, 255, 255, 255}, {0, 0, 0, 255}, {10, 10}};
if (!render3D)
{
std::cerr << "Can't create a renderer" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_RENDER;
}
float fovYinRad = 2.f * atanf(sourceParams.frameHeight / 2.f / params.pFy);
render3D->setDefaultFOV(180.f / nvxio::PI_F * fovYinRad);
EventData eventData;
render3D->setOnKeyboardEventCallback(eventCallback, &eventData);
//
// Create SfM class instance
//
std::unique_ptr<nvx::SfM> sfm(nvx::SfM::createSfM(context, params));
//
// Create FenceDetectorWithKF class instance
//
FenceDetectorWithKF fenceDetector;
nvxio::FrameSource::FrameStatus frameStatus;
do
{
frameStatus = source->fetch(frame);
}
while (frameStatus == nvxio::FrameSource::TIMEOUT);
if (frameStatus == nvxio::FrameSource::CLOSED)
{
std::cerr << "Source has no frames" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_FRAMESOURCE;
}
vx_status status = sfm->init(frame, mask, imuDataFile, frameDataFile);
if (status != VX_SUCCESS)
{
std::cerr << "Failed to initialize the algorithm" << std::endl;
return nvxio::Application::APP_EXIT_CODE_ERROR;
}
const vx_size maxNumOfPoints = 2000;
const vx_size maxNumOfPlanesVertices = 2000;
vx_array filteredPoints = vxCreateArray(context, NVX_TYPE_POINT3F, maxNumOfPoints);
vx_array planesVertices = vxCreateArray(context, NVX_TYPE_POINT3F, maxNumOfPlanesVertices);
//
// Run processing loop
//
vx_matrix model = vxCreateMatrix(context, VX_TYPE_FLOAT32, 4, 4);
float eye_data[4*4] = {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1};
vxWriteMatrix(model, eye_data);
nvxio::Render3D::PointCloudStyle pcStyle = {0, 12};
nvxio::Render3D::PlaneStyle fStyle = {0, 10};
GroundPlaneSmoother groundPlaneSmoother(7);
nvx::Timer totalTimer;
totalTimer.tic();
double proc_ms = 0;
float yGroundPlane = 0;
while (!eventData.shouldStop)
{
if (!eventData.pause)
{
frameStatus = source->fetch(frame);
if (frameStatus == nvxio::FrameSource::TIMEOUT)
{
continue;
}
if (frameStatus == nvxio::FrameSource::CLOSED)
{
if(noLoop) break;
if (!source->open())
{
std::cerr << "Failed to reopen the source" << std::endl;
break;
}
do
{
frameStatus = source->fetch(frame);
}
while (frameStatus == nvxio::FrameSource::TIMEOUT);
sfm->init(frame, mask, imuDataFile, frameDataFile);
fenceDetector.reset();
continue;
}
// Process
nvx::Timer procTimer;
procTimer.tic();
sfm->track(frame, mask);
proc_ms = procTimer.toc();
}
// Print performance results
sfm->printPerfs();
if (!eventData.showPointCloud)
{
render3D->disableDefaultKeyboardEventCallback();
render3D->putImage(frame);
}
else
{
render3D->enableDefaultKeyboardEventCallback();
}
filterPoints(sfm->getPointCloud(), filteredPoints);
render3D->putPointCloud(filteredPoints, model, pcStyle);
if (eventData.showFences)
{
fenceDetector.getFencePlaneVertices(filteredPoints, planesVertices);
render3D->putPlanes(planesVertices, model, fStyle);
}
if (fullPipeline && eventData.showGP)
{
const float x1(-1.5), x2(1.5), z1(1), z2(4);
vx_matrix gp = sfm->getGroundPlane();
yGroundPlane = groundPlaneSmoother.getSmoothedY(gp, x1, z1);
nvx_point3f_t pt[4] = {{x1, yGroundPlane, z1},
{x1, yGroundPlane, z2},
{x2, yGroundPlane, z2},
{x2, yGroundPlane, z1}};
vx_array gpPoints = vxCreateArray(context, NVX_TYPE_POINT3F, 4);
vxAddArrayItems(gpPoints, 4, pt, sizeof(pt[0]));
render3D->putPlanes(gpPoints, model, fStyle);
vxReleaseArray(&gpPoints);
}
double total_ms = totalTimer.toc();
// Add a delay to limit frame rate
app.sleepToLimitFPS(total_ms);
total_ms = totalTimer.toc();
totalTimer.tic();
std::string state = createInfo(fullPipeline, proc_ms, total_ms, eventData);
render3D->putText(state.c_str(), style);
if (!render3D->flush())
{
eventData.shouldStop = true;
}
}
//
// Release all objects
//
vxReleaseImage(&frame);
vxReleaseImage(&mask);
vxReleaseMatrix(&model);
vxReleaseArray(&filteredPoints);
vxReleaseArray(&planesVertices);
}
catch (const std::exception& e)
{
std::cerr << "Error: " << e.what() << std::endl;
return nvxio::Application::APP_EXIT_CODE_ERROR;
}
return nvxio::Application::APP_EXIT_CODE_SUCCESS;
}
FrameSource::FrameStatus GStreamerBaseFrameSourceImpl::fetch(vx_image image, vx_uint32 /*timeout*/)
{
if (end)
{
close();
return FrameSource::CLOSED;
}
handleGStreamerMessages();
if (gst_app_sink_is_eos(GST_APP_SINK(sink)))
{
close();
return FrameSource::CLOSED;
}
if ((lastFrameTimestamp.toc()/1000.0) > Application::get().getSourceDefaultTimeout())
{
close();
return FrameSource::CLOSED;
}
lastFrameTimestamp.tic();
#if GST_VERSION_MAJOR == 0
std::unique_ptr<GstBuffer, GStreamerObjectDeleter> bufferHolder(
gst_app_sink_pull_buffer(GST_APP_SINK(sink)));
GstBuffer* buffer = bufferHolder.get();
#else
std::unique_ptr<GstSample, GStreamerObjectDeleter> sample(gst_app_sink_pull_sample(GST_APP_SINK(sink)));
if (!sample)
{
close();
return FrameSource::CLOSED;
}
GstBuffer* buffer = gst_sample_get_buffer(sample.get());
#endif
gint width;
gint height;
#if GST_VERSION_MAJOR == 0
std::unique_ptr<GstCaps, GStreamerObjectDeleter> bufferCapsHolder(gst_buffer_get_caps(buffer));
GstCaps* bufferCaps = bufferCapsHolder.get();
#else
GstCaps* bufferCaps = gst_sample_get_caps(sample.get());
#endif
// bail out in no caps
assert(gst_caps_get_size(bufferCaps) == 1);
GstStructure* structure = gst_caps_get_structure(bufferCaps, 0);
// bail out if width or height are 0
if (!gst_structure_get_int(structure, "width", &width) ||
!gst_structure_get_int(structure, "height", &height))
{
close();
return FrameSource::CLOSED;
}
int depth = 3;
#if GST_VERSION_MAJOR > 0
depth = 0;
const gchar* name = gst_structure_get_name(structure);
const gchar* format = gst_structure_get_string(structure, "format");
if (!name || !format)
{
close();
return FrameSource::CLOSED;
}
// we support 2 types of data:
// video/x-raw, format=BGR -> 8bit, 3 channels
// video/x-raw, format=GRAY8 -> 8bit, 1 channel
if (strcasecmp(name, "video/x-raw") == 0)
{
if (strcasecmp(format, "RGB") == 0)
{
depth = 3;
}
else if(strcasecmp(format, "GRAY8") == 0)
{
depth = 1;
}
}
#endif
if (depth == 0)
{
close();
return FrameSource::CLOSED;
}
vx_imagepatch_addressing_t decodedImageAddr;
decodedImageAddr.dim_x = width;
decodedImageAddr.dim_y = height;
decodedImageAddr.stride_x = depth;
// GStreamer uses as stride width rounded up to the nearest multiple of 4
decodedImageAddr.stride_y = ((width*depth+3)/4)*4;
decodedImageAddr.scale_x = 1;
decodedImageAddr.scale_y = 1;
vx_image decodedImage = NULL;
vx_df_image_e vx_type_map[5] = { VX_DF_IMAGE_VIRT, VX_DF_IMAGE_U8,
VX_DF_IMAGE_VIRT, VX_DF_IMAGE_RGB, VX_DF_IMAGE_RGBX };
// fetch image width and height
vx_uint32 actual_width, actual_height;
vx_df_image_e actual_format;
NVXIO_SAFE_CALL( vxQueryImage(image, VX_IMAGE_ATTRIBUTE_WIDTH, (void *)&actual_width, sizeof(actual_width)) );
NVXIO_SAFE_CALL( vxQueryImage(image, VX_IMAGE_ATTRIBUTE_HEIGHT, (void *)&actual_height, sizeof(actual_height)) );
NVXIO_SAFE_CALL( vxQueryImage(image, VX_IMAGE_ATTRIBUTE_FORMAT, (void *)&actual_format, sizeof(actual_format)) );
bool needScale = width != (int)configuration.frameWidth || height != (int)configuration.frameHeight;
// config and actual image sized must be the same!
if ((actual_height != configuration.frameHeight) ||
(actual_width != configuration.frameWidth) ||
(actual_format != configuration.format))
{
close();
NVXIO_THROW_EXCEPTION("Actual image [ " << actual_width << " x " << actual_height <<
" ] does not equal configuration one [ " << configuration.frameWidth
<< " x " << configuration.frameHeight << " ]");
}
// we assume that decoced image will have no more than 3 channels per pixel
if (!devMem)
{
NVXIO_ASSERT( cudaSuccess == cudaMallocPitch(&devMem, &devMemPitch, width * 3, height) );
}
// check if decoded image format has changed
if (scaledImage)
{
vx_df_image_e scaled_format;
NVXIO_SAFE_CALL( vxQueryImage(scaledImage, VX_IMAGE_ATTRIBUTE_FORMAT, (void *)&scaled_format, sizeof(scaled_format)) );
if (scaled_format != vx_type_map[depth])
{
vxReleaseImage(&scaledImage);
scaledImage = NULL;
}
}
if (needScale && !scaledImage)
{
scaledImage = vxCreateImage(vxContext, configuration.frameWidth,
configuration.frameHeight, vx_type_map[depth]);
NVXIO_CHECK_REFERENCE( scaledImage );
}
#if GST_VERSION_MAJOR == 0
bool needConvert = configuration.format != VX_DF_IMAGE_RGB;
void * decodedPtr = GST_BUFFER_DATA(buffer);
#else
GstMapInfo info;
gboolean success = gst_buffer_map(buffer, &info, (GstMapFlags)GST_MAP_READ);
if (!success)
{
printf("GStreamer: unable to map buffer\n");
close();
return FrameSource::CLOSED;
}
bool needConvert = configuration.format != vx_type_map[depth];
void * decodedPtr = info.data;
#endif
if (!needConvert && !needScale)
{
decodedImage = vxCreateImageFromHandle(vxContext, vx_type_map[depth], &decodedImageAddr,
&decodedPtr, VX_IMPORT_TYPE_HOST);
NVXIO_CHECK_REFERENCE( decodedImage );
NVXIO_SAFE_CALL( nvxuCopyImage(vxContext, decodedImage, image) );
}
else
{
// 1. upload decoced image to CUDA buffer
NVXIO_ASSERT( cudaSuccess == cudaMemcpy2D(devMem, devMemPitch,
decodedPtr, decodedImageAddr.stride_y,
decodedImageAddr.dim_x * depth, decodedImageAddr.dim_y,
cudaMemcpyHostToDevice) );
// 2. create vx_image wrapper for decoded buffer
decodedImageAddr.stride_y = static_cast<vx_int32>(devMemPitch);
decodedImage = vxCreateImageFromHandle(vxContext, vx_type_map[depth], &decodedImageAddr,
&devMem, NVX_IMPORT_TYPE_CUDA);
NVXIO_CHECK_REFERENCE( decodedImage );
if (needScale)
{
// 3. scale image
NVXIO_SAFE_CALL( vxuScaleImage(vxContext, decodedImage, scaledImage, VX_INTERPOLATION_TYPE_BILINEAR) );
// 4. convert to dst image
NVXIO_SAFE_CALL( vxuColorConvert(vxContext, scaledImage, image) );
}
else
{
// 3. convert to dst image
NVXIO_SAFE_CALL( vxuColorConvert(vxContext, decodedImage, image) );
}
}
#if GST_VERSION_MAJOR != 0
gst_buffer_unmap(buffer, &info);
#endif
NVXIO_SAFE_CALL( vxReleaseImage(&decodedImage) );
return FrameSource::OK;
}
int main(int argc, char* argv[])
{
try
{
nvxio::Application &app = nvxio::Application::get();
//
// Parse command line arguments
//
std::string sourceUri = app.findSampleFilePath("cars.mp4");
std::string configFile = app.findSampleFilePath("feature_tracker_demo_config.ini");
app.setDescription("This demo demonstrates Feature Tracker algorithm");
app.addOption('s', "source", "Source URI", nvxio::OptionHandler::string(&sourceUri));
app.addOption('c', "config", "Config file path", nvxio::OptionHandler::string(&configFile));
#if defined USE_OPENCV || defined USE_GSTREAMER
std::string maskFile;
app.addOption('m', "mask", "Optional mask", nvxio::OptionHandler::string(&maskFile));
#endif
app.init(argc, argv);
//
// Create OpenVX context
//
nvxio::ContextGuard context;
//
// Reads and checks input parameters
//
nvx::FeatureTracker::HarrisPyrLKParams params;
std::string error;
if (!read(configFile, params, error))
{
std::cout<<error;
return nvxio::Application::APP_EXIT_CODE_INVALID_VALUE;
}
//
// Create a Frame Source
//
std::unique_ptr<nvxio::FrameSource> source(
nvxio::createDefaultFrameSource(context, sourceUri));
if (!source || !source->open())
{
std::cerr << "Can't open source URI " << sourceUri << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_RESOURCE;
}
if (source->getSourceType() == nvxio::FrameSource::SINGLE_IMAGE_SOURCE)
{
std::cerr << "Can't work on a single image." << std::endl;
return nvxio::Application::APP_EXIT_CODE_INVALID_FORMAT;
}
nvxio::FrameSource::Parameters sourceParams = source->getConfiguration();
//
// Create a Render
//
std::unique_ptr<nvxio::Render> renderer(nvxio::createDefaultRender(
context, "Feature Tracker Demo", sourceParams.frameWidth, sourceParams.frameHeight));
if (!renderer)
{
std::cerr << "Can't create a renderer" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_RENDER;
}
EventData eventData;
renderer->setOnKeyboardEventCallback(eventCallback, &eventData);
//
// Messages generated by the OpenVX framework will be processed by nvxio::stdoutLogCallback
//
vxRegisterLogCallback(context, &nvxio::stdoutLogCallback, vx_false_e);
//
// Create OpenVX Image to hold frames from video source
//
vx_image frameExemplar = vxCreateImage(context,
sourceParams.frameWidth, sourceParams.frameHeight, sourceParams.format);
NVXIO_CHECK_REFERENCE(frameExemplar);
vx_delay frame_delay = vxCreateDelay(context, (vx_reference)frameExemplar, 2);
NVXIO_CHECK_REFERENCE(frame_delay);
vxReleaseImage(&frameExemplar);
vx_image prevFrame = (vx_image)vxGetReferenceFromDelay(frame_delay, -1);
vx_image frame = (vx_image)vxGetReferenceFromDelay(frame_delay, 0);
//
// Load mask image if needed
//
vx_image mask = NULL;
#if defined USE_OPENCV || defined USE_GSTREAMER
if (!maskFile.empty())
{
mask = nvxio::loadImageFromFile(context, maskFile, VX_DF_IMAGE_U8);
vx_uint32 mask_width = 0, mask_height = 0;
NVXIO_SAFE_CALL( vxQueryImage(mask, VX_IMAGE_ATTRIBUTE_WIDTH, &mask_width, sizeof(mask_width)) );
NVXIO_SAFE_CALL( vxQueryImage(mask, VX_IMAGE_ATTRIBUTE_HEIGHT, &mask_height, sizeof(mask_height)) );
if (mask_width != sourceParams.frameWidth || mask_height != sourceParams.frameHeight)
{
std::cerr << "The mask must have the same size as the input source." << std::endl;
return nvxio::Application::APP_EXIT_CODE_INVALID_DIMENSIONS;
}
}
#endif
//
// Create FeatureTracker instance
//
std::unique_ptr<nvx::FeatureTracker> tracker(nvx::FeatureTracker::createHarrisPyrLK(context, params));
nvxio::FrameSource::FrameStatus frameStatus;
do
{
frameStatus = source->fetch(frame);
} while (frameStatus == nvxio::FrameSource::TIMEOUT);
if (frameStatus == nvxio::FrameSource::CLOSED)
{
std::cerr << "Source has no frames" << std::endl;
return nvxio::Application::APP_EXIT_CODE_NO_FRAMESOURCE;
}
tracker->init(frame, mask);
vxAgeDelay(frame_delay);
//
// Run processing loop
//
nvx::Timer totalTimer;
totalTimer.tic();
double proc_ms = 0;
while (!eventData.shouldStop)
{
if (!eventData.pause)
{
frameStatus = source->fetch(frame);
if (frameStatus == nvxio::FrameSource::TIMEOUT) {
continue;
}
if (frameStatus == nvxio::FrameSource::CLOSED) {
if (!source->open()) {
std::cerr << "Failed to reopen the source" << std::endl;
break;
}
continue;
}
//
// Process
//
nvx::Timer procTimer;
procTimer.tic();
tracker->track(frame, mask);
proc_ms = procTimer.toc();
//
// Print performance results
//
tracker->printPerfs();
}
//
// show the previous frame
//
renderer->putImage(prevFrame);
//
// Draw arrows & state
//
drawArrows(renderer.get(), tracker->getPrevFeatures(), tracker->getCurrFeatures());
double total_ms = totalTimer.toc();
std::cout << "Display Time : " << total_ms << " ms" << std::endl << std::endl;
//
// Add a delay to limit frame rate
//
app.sleepToLimitFPS(total_ms);
total_ms = totalTimer.toc();
totalTimer.tic();
displayState(renderer.get(), sourceParams, proc_ms, total_ms);
if (!renderer->flush())
{
eventData.shouldStop = true;
}
if (!eventData.pause)
{
vxAgeDelay(frame_delay);
}
}
//
// Release all objects
//
vxReleaseImage(&mask);
vxReleaseDelay(&frame_delay);
}
catch (const std::exception& e)
{
std::cerr << "Error: " << e.what() << std::endl;
return nvxio::Application::APP_EXIT_CODE_ERROR;
}
return nvxio::Application::APP_EXIT_CODE_SUCCESS;
}
void convertFrame(vx_context vxContext,
vx_image frame,
const FrameSource::Parameters & configuration,
vx_imagepatch_addressing_t & decodedImageAddr,
void * decodedPtr,
bool is_cuda,
void *& devMem,
size_t & devMemPitch,
vx_image & scaledImage
)
{
vx_df_image_e vx_type_map[5] = { VX_DF_IMAGE_VIRT, VX_DF_IMAGE_U8,
VX_DF_IMAGE_VIRT, VX_DF_IMAGE_RGB, VX_DF_IMAGE_RGBX };
vx_df_image_e decodedFormat = vx_type_map[decodedImageAddr.stride_x];
// fetch image width and height
vx_uint32 frameWidth, frameHeight;
vx_df_image_e frameFormat;
NVXIO_SAFE_CALL( vxQueryImage(frame, VX_IMAGE_ATTRIBUTE_WIDTH, (void *)&frameWidth, sizeof(frameWidth)) );
NVXIO_SAFE_CALL( vxQueryImage(frame, VX_IMAGE_ATTRIBUTE_HEIGHT, (void *)&frameHeight, sizeof(frameHeight)) );
NVXIO_SAFE_CALL( vxQueryImage(frame, VX_IMAGE_ATTRIBUTE_FORMAT, (void *)&frameFormat, sizeof(frameFormat)) );
bool needScale = frameWidth != decodedImageAddr.dim_x ||
frameHeight != decodedImageAddr.dim_y;
bool needConvert = frameFormat != decodedFormat;
// config and actual image sized must be the same!
if ((frameWidth != configuration.frameWidth) ||
(frameHeight != configuration.frameHeight))
{
NVXIO_THROW_EXCEPTION("Actual image [ " << frameWidth << " x " << frameHeight <<
" ] is not equal to configuration one [ " << configuration.frameWidth
<< " x " << configuration.frameHeight << " ]");
}
// allocate CUDA memory to copy decoded image to
if (!is_cuda)
{
if (!devMem)
{
// we assume that decoded image will have no more than 4 channels per pixel
NVXIO_ASSERT( cudaSuccess == cudaMallocPitch(&devMem, &devMemPitch, decodedImageAddr.dim_x * 4,
decodedImageAddr.dim_y) );
}
}
// check if decoded image format has changed
if (scaledImage)
{
vx_df_image_e scaledFormat;
NVXIO_SAFE_CALL( vxQueryImage(scaledImage, VX_IMAGE_ATTRIBUTE_FORMAT, (void *)&scaledFormat, sizeof(scaledFormat)) );
if (scaledFormat != decodedFormat)
{
NVXIO_SAFE_CALL( vxReleaseImage(&scaledImage) );
scaledImage = NULL;
}
}
if (needScale && !scaledImage)
{
scaledImage = vxCreateImage(vxContext, frameWidth, frameHeight, decodedFormat);
NVXIO_CHECK_REFERENCE( scaledImage );
}
vx_image decodedImage = NULL;
// 1. create vx_image wrapper
if (is_cuda)
{
// a. create vx_image wrapper from CUDA pointer
decodedImage = vxCreateImageFromHandle(vxContext, decodedFormat, &decodedImageAddr,
&decodedPtr, NVX_IMPORT_TYPE_CUDA);
}
else
{
// a. upload decoded image to CUDA buffer
NVXIO_ASSERT( cudaSuccess == cudaMemcpy2D(devMem, devMemPitch,
decodedPtr, decodedImageAddr.stride_y,
decodedImageAddr.dim_x * decodedImageAddr.stride_x,
decodedImageAddr.dim_y, cudaMemcpyHostToDevice) );
// b. create vx_image wrapper for decoded buffer
decodedImageAddr.stride_y = static_cast<vx_int32>(devMemPitch);
decodedImage = vxCreateImageFromHandle(vxContext, decodedFormat, &decodedImageAddr,
&devMem, NVX_IMPORT_TYPE_CUDA);
}
NVXIO_CHECK_REFERENCE( decodedImage );
// 2. scale if necessary
if (needScale)
{
// a. scale image
NVXIO_SAFE_CALL( vxuScaleImage(vxContext, decodedImage, scaledImage, VX_INTERPOLATION_TYPE_BILINEAR) );
}
else
{
scaledImage = decodedImage;
}
// 3. convert / copy to dst image
if (needConvert)
{
NVXIO_SAFE_CALL( vxuColorConvert(vxContext, scaledImage, frame) );
}
else
{
NVXIO_SAFE_CALL( nvxuCopyImage(vxContext, scaledImage, frame) );
}
if (!needScale)
scaledImage = NULL;
NVXIO_SAFE_CALL( vxReleaseImage(&decodedImage) );
}