void FeatureTracker::changeType(vx_array vx_pt, vector<cv::Point2f> &cv_pt )
{
vx_size vCount = 0;
vxQueryArray(vx_pt, VX_ARRAY_ATTRIBUTE_NUMITEMS, &vCount, sizeof(vCount));
vx_enum item_type = 0;
NVXIO_SAFE_CALL( vxQueryArray(vx_pt, VX_ARRAY_ATTRIBUTE_ITEMTYPE, &item_type, sizeof(item_type)) );
NVXIO_ASSERT( item_type == NVX_TYPE_POINT2F) ;
vx_size stride;
void * featureData = NULL;
NVXIO_SAFE_CALL( vxAccessArrayRange(vx_pt, 0, vCount, &stride,
(void**)&featureData, VX_READ_ONLY) );
int id = 0;
cv_pt.resize(vCount);
for (vx_size i = 0; i < vCount; i++)
{
nvx_point2f_t feature = vxArrayItem(nvx_point2f_t, featureData, i, stride);
cv_pt[id].x = feature.x;
cv_pt[id].y = feature.y;
id++;
}
NVXIO_SAFE_CALL( vxCommitArrayRange(vx_pt, 0, vCount, featureData) );
cv_pt.resize(id);
//cout<<"point size "<<cv_pt.size()<<" id "<<id<<endl;
}
static vx_status VX_CALLBACK vxFindWarpKernel(vx_node node, vx_reference *parameters, vx_uint32 num)
{
if(num != 3)
return VX_ERROR_INVALID_PARAMETERS;
vx_status status = VX_SUCCESS;
vx_array def_pnts = (vx_array) parameters[0];
vx_array moved_pnts = (vx_array) parameters[1];
vx_matrix matrix = (vx_matrix)parameters[2];
vx_size points_num;
status |= vxQueryArray(def_pnts, VX_ARRAY_ATTRIBUTE_NUMITEMS, &points_num, sizeof(points_num));
if(status != VX_SUCCESS)
{
VX_PRINT(VX_ZONE_ERROR, "Can't query array attribute(%d)!\n", status);
return VX_FAILURE;
}
if(points_num < 4)
{
vx_float32 matr_buff[9];
vxAccessMatrix(matrix, (void*)matr_buff);
memset(matr_buff, 0, sizeof(vx_float32) * 9);
matr_buff[0] = matr_buff[4] = matr_buff[8] = 1.;
vxCommitMatrix(matrix, (void*)matr_buff);
VX_PRINT(VX_ZONE_WARNING, "Number of points less then 4(%d)!\n", points_num);
return VX_SUCCESS;//VX_FAILURE;
}
/*** CV array initialize ***/
std::vector<cv::Point2f> cv_points_from, cv_points_to;
cv_points_from.reserve(points_num);
cv_points_to.reserve(points_num);
/***************************/
vx_size i, stride1 = 0ul, stride2 = 0ul;
void *def_buff = NULL, *moved_buff = NULL;
status |= vxAccessArrayRange(def_pnts, 0, points_num, &stride1, &def_buff, VX_READ_AND_WRITE);
status |= vxAccessArrayRange(moved_pnts, 0, points_num, &stride2, &moved_buff, VX_READ_AND_WRITE);
if(def_buff && moved_buff)
{
for (i = 0; i < points_num; i++)
{
if(vxArrayItem(vx_keypoint_t, moved_buff, i, stride2).tracking_status)
{
cv::Point2f pnt_from;
pnt_from.x = vxArrayItem(vx_keypoint_t, def_buff, i, stride1).x;
pnt_from.y = vxArrayItem(vx_keypoint_t, def_buff, i, stride1).y;
cv_points_from.push_back(pnt_from);
cv::Point2f pnt_to;
pnt_to.x = vxArrayItem(vx_keypoint_t, moved_buff, i, stride2).x;
pnt_to.y = vxArrayItem(vx_keypoint_t, moved_buff, i, stride2).y;
cv_points_to.push_back(pnt_to);
}
}
}
else
{
status = VX_FAILURE;
}
status |= vxCommitArrayRange(def_pnts, 0, points_num, def_buff);
status |= vxCommitArrayRange(moved_pnts, 0, points_num, moved_buff);
VX_PRINT(VX_ZONE_LOG, "Number of points = (%d)!\n", cv_points_from.size());
/*** CV find homography ***/
cv::Mat_<float> cv_matr = cv::Mat::eye(3, 3, CV_32FC1);
if(cv_points_from.size() > 0 && cv_points_to.size() > 0)
cv_matr = cv::findHomography(cv_points_from, cv_points_to, CV_RANSAC);
else
VX_PRINT(VX_ZONE_WARNING, "Number of points is equal to zero!\n");
vx_float32 matr_buff[9];
status |= vxAccessMatrix(matrix, (void*)matr_buff);
memcpy(matr_buff, cv_matr.data, sizeof(vx_float32) * 9);
status |= vxCommitMatrix(matrix, (void*)matr_buff);
return status;
}
bool CVxParamArray::CompareFrameCoord2d(size_t numItems, size_t numItemsRef, vx_uint8 * bufItems, int frameNumber, const char * fileName)
{
FILE * fpLog = NULL;
if (m_fileNameCompareLog.length() > 0) {
char fileName[MAX_FILE_NAME_LENGTH]; sprintf(fileName, m_fileNameCompareLog.c_str(), frameNumber);
fpLog = fopen(fileName, "w");
if (!fpLog) ReportError("ERROR: Unable to create: %s\n", fileName);
printf("OK: creating array compare output log for %s in %s\n", GetVxObjectName(), fileName);
}
enum { // color indices of each list for viewing
colorIndex_match_XYexact = 0,
colorIndex_match_XY = 1,
colorIndex_missing_in_ref = 2,
colorIndex_missing_in_cur = 3,
};
// number of keypoint counts
size_t count_match_XYexact = 0;
size_t count_match_XY = 0;
size_t count_missing_in_ref = 0;
size_t count_missing_in_cur = 0;
// reset array list for viewing
ResetArrayListForView();
// get reference and actual keypoint buffers
vx_coordinates2d_t * kpRefBase = (vx_coordinates2d_t *)m_bufForRead, *kpActualBase = nullptr;
vx_size stride;
if (numItems > 0) {
ERROR_CHECK(vxAccessArrayRange(m_array, 0, numItems, &stride, (void **)&kpActualBase, VX_READ_ONLY));
}
// try matching reference keypoints with actual
for (size_t j = 0; j < numItemsRef; j++) {
vx_coordinates2d_t * kpRef = &kpRefBase[j];
bool matched = false;
for (size_t i = 0; i < numItems; i++) {
vx_coordinates2d_t * kpCur = &vxArrayItem(vx_coordinates2d_t, kpActualBase, i, stride);
if ((kpCur->x == kpRef->x) && (kpCur->y == kpRef->y)) {
AddToArrayListForView(colorIndex_match_XYexact, kpCur->x, kpCur->y, 0.0f);
if (fpLog) fprintf(fpLog, "MATCH-XY-EXACT -- %5d %5d (ref:%06d) %5d %5d (cur:%06d)\n", kpRef->x, kpRef->y, (int)j, kpCur->x, kpCur->y, (int)i);
count_match_XYexact++;
matched = true;
}
else if ((abs((vx_int32)kpCur->x - (vx_int32)kpRef->x) <= m_errX) && (abs((vx_int32)kpCur->y - (vx_int32)kpRef->y) <= m_errY)) {
AddToArrayListForView(colorIndex_match_XY, kpCur->x, kpCur->y, 0.0f);
if (fpLog) fprintf(fpLog, "MATCH-XY -- %5d %5d (ref:%06d) %5d %5d (cur:%06d)\n", kpRef->x, kpRef->y, (int)j, kpCur->x, kpCur->y, (int)i);
count_match_XY++;
matched = true;
}
if (matched)
break;
}
if (!matched) {
AddToArrayListForView(colorIndex_missing_in_cur, kpRef->x, kpRef->y, 0.0f);
if (fpLog) fprintf(fpLog, "MISMATCH-WITH-CUR -- %5d %5d (ref:%06d)\n", kpRef->x, kpRef->y, (int)j);
count_missing_in_cur++;
}
}
// try matching actual keypoints with reference
for (size_t i = 0; i < numItems; i++) {
vx_coordinates2d_t * kpCur = &vxArrayItem(vx_coordinates2d_t, kpActualBase, i, stride);
bool matched = false;
for (size_t j = 0; j < numItemsRef; j++) {
vx_coordinates2d_t * kpRef = &kpRefBase[j];
if ((abs((vx_int32)kpCur->x - (vx_int32)kpRef->x) <= m_errX) && (abs((vx_int32)kpCur->y - (vx_int32)kpRef->y) <= m_errY)) {
matched = true;
break;
}
}
if (!matched) {
AddToArrayListForView(colorIndex_missing_in_ref, kpCur->x, kpCur->y, 0.0f);
if (fpLog) fprintf(fpLog, "MISMATCH-WITH-REF -- %5d %5d (cur:%06d)\n", kpCur->x, kpCur->y, (int)i);
count_missing_in_ref++;
}
}
if (numItems > 0) {
ERROR_CHECK(vxCommitArrayRange(m_array, 0, numItems, kpActualBase));
}
// check for overall mismatch criteria
size_t totalMatched = count_match_XYexact + count_match_XY;
size_t totalMismatchesOrMissing = max(count_missing_in_ref, count_missing_in_cur);
size_t total = totalMatched + totalMismatchesOrMissing;
float percentMismatches = (total > 0) ? (100.0f * (float)totalMismatchesOrMissing / (float)total) : 0.0f;
bool mismatched = false;
if (percentMismatches > m_errMismatchPercent) {
mismatched = true;
printf("ERROR: array COMPARE MISMATCHED [matched %d; mismatched/missing %d (%.3f%%)] for %s with frame#%d of %s\n", (int)totalMatched, (int)totalMismatchesOrMissing, percentMismatches, GetVxObjectName(), frameNumber, fileName);
if (fpLog) fprintf(fpLog, "ERROR: array COMPARE MISMATCHED [matched %d; mismatched/missing %d (%.3f%%)] for %s with frame#%d of %s\n", (int)totalMatched, (int)totalMismatchesOrMissing, percentMismatches, GetVxObjectName(), frameNumber, fileName);
}
else {
if (m_verbose) printf("OK: array COMPARE MATCHED %.3f%% for %s with frame#%d of %s\n", 100.0f - percentMismatches, GetVxObjectName(), frameNumber, fileName);
if (fpLog) fprintf(fpLog, "OK: array COMPARE MATCHED %.3f%% for %s with frame#%d of %s\n", 100.0f - percentMismatches, GetVxObjectName(), frameNumber, fileName);
}
if (fpLog) fclose(fpLog);
return mismatched;
}
