void _SSD::Preprocess(const cv::cuda::GpuMat& img, std::vector<cv::cuda::GpuMat>* input_channels)
{
/* Convert the input image to the input image format of the network. */
cv::cuda::GpuMat sample;
if (img.channels() == 3 && num_channels_ == 1)
cv::cuda::cvtColor(img, sample, cv::COLOR_BGR2GRAY);
else if (img.channels() == 4 && num_channels_ == 1)
cv::cuda::cvtColor(img, sample, cv::COLOR_BGRA2GRAY);
else if (img.channels() == 4 && num_channels_ == 3)
cv::cuda::cvtColor(img, sample, cv::COLOR_BGRA2BGR);
else if (img.channels() == 1 && num_channels_ == 3)
cv::cuda::cvtColor(img, sample, cv::COLOR_GRAY2BGR);
else
sample = img;
cv::cuda::GpuMat sample_resized;
if (sample.size() != input_geometry_)
cv::cuda::resize(sample, sample_resized, input_geometry_);
else
sample_resized = sample;
cv::cuda::GpuMat sample_float;
if (num_channels_ == 3)
sample_resized.convertTo(sample_float, CV_32FC3);
else
sample_resized.convertTo(sample_float, CV_32FC1);
cv::cuda::GpuMat sample_normalized;
// cv::subtract(sample_float, mean_, sample_normalized);
sample_normalized = sample_float;
/* This operation will write the separate BGR planes directly to the
* input layer of the network because it is wrapped by the cv::Mat
* objects in input_channels. */
cv::cuda::split(sample_normalized, *input_channels);
// CHECK(reinterpret_cast<float*>(input_channels->at(0).data)
// == net_->input_blobs()[0]->cpu_data())
// << "Input channels are not wrapping the input layer of the network.";
}
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
