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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,6 @@ | ||
| Changelog (v0.7.6.2) | ||
| - 3D Body Pose Keypoint Tracking | ||
| - Quality improvement in accuracy and stability | ||
| - Property NvAR_Parameter_Config(NVAR_MODE) is now NvAR_Parameter_Config(Mode) | ||
| - Migrated to TensorRT 8.0.1.6 | ||
| - Migrated to CUDA 11.3u1 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -204,21 +204,24 @@ NvCVImage { | |
| //! \param[in] dstY The top coordinate of the dst rectangle. | ||
| //! \param[in] width The width of the rectangle to be copied, in pixels. | ||
| //! \param[in] height The height of the rectangle to be copied, in pixels. | ||
| //! \param[in] stream the CUDA stream. | ||
| //! \note NvCVImage_Transfer() can handle more cases. | ||
| //! \return NVCV_SUCCESS if successful | ||
| //! \return NVCV_ERR_MISMATCH if the formats are different | ||
| //! \return NVCV_ERR_CUDA if a CUDA error occurred | ||
| //! \return NVCV_ERR_PIXELFORMAT if the pixel format is not yet accommodated. | ||
| inline NvCV_Status copyFrom(const NvCVImage *src, int srcX, int srcY, int dstX, int dstY, unsigned width, unsigned height); | ||
| inline NvCV_Status copyFrom(const NvCVImage *src, int srcX, int srcY, int dstX, int dstY, | ||
| unsigned width, unsigned height, struct CUstream_st* stream = 0); | ||
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| //! Copy from one image to another. This works for CPU->CPU, CPU->GPU, GPU->GPU, and GPU->CPU. | ||
| //! \param[in] src The source image from which to copy. | ||
| //! \param[in] stream the CUDA stream. | ||
| //! \note NvCVImage_Transfer() can handle more cases. | ||
| //! \return NVCV_SUCCESS if successful | ||
| //! \return NVCV_ERR_MISMATCH if the formats are different | ||
| //! \return NVCV_ERR_CUDA if a CUDA error occurred | ||
| //! \return NVCV_ERR_PIXELFORMAT if the pixel format is not yet accommodated. | ||
| inline NvCV_Status copyFrom(const NvCVImage *src); | ||
| inline NvCV_Status copyFrom(const NvCVImage *src, struct CUstream_st* stream = 0); | ||
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| #endif // ___cplusplus | ||
| } NvCVImage; | ||
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@@ -466,6 +469,8 @@ NvCV_Status NvCV_API NvCVImage_TransferRect( | |
| //! \param[in] tmp a staging image. | ||
| //! \return NVCV_SUCCESS if the operation was completed successfully. | ||
| //! \note The actual transfer region may be smaller, because the rects are clipped against the images. | ||
| //! \note This is supplied for use with YUV buffers that do not have the standard structure | ||
| //! that are expected for NvCVImage_Transfer() and NvCVImage_TransferRect. | ||
| NvCV_Status NvCV_API NvCVImage_TransferFromYUV( | ||
| const void *y, int yPixBytes, int yPitch, | ||
| const void *u, const void *v, int uvPixBytes, int uvPitch, | ||
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@@ -492,6 +497,8 @@ NvCV_Status NvCV_API NvCVImage_TransferFromYUV( | |
| //! \param[in] tmp a staging image. | ||
| //! \return NVCV_SUCCESS if the operation was completed successfully. | ||
| //! \note The actual transfer region may be smaller, because the rects are clipped against the images. | ||
| //! \note This is supplied for use with YUV buffers that do not have the standard structure | ||
| //! that are expected for NvCVImage_Transfer() and NvCVImage_TransferRect. | ||
| NvCV_Status NvCV_API NvCVImage_TransferToYUV( | ||
| const NvCVImage *src, const NvCVRect2i *srcRect, | ||
| const void *y, int yPixBytes, int yPitch, | ||
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@@ -507,7 +514,9 @@ NvCV_Status NvCV_API NvCVImage_TransferToYUV( | |
| //! \param[in,out] im the image to be mapped. | ||
| //! \param[in] stream the stream on which the mapping is to be performed. | ||
| //! \return NVCV_SUCCESS is the operation was completed successfully. | ||
| NvCV_Status NvCV_API NvCVImage_MapResource(NvCVImage *im, struct CUstream_st *stream); | ||
| //! \note This is an experimental API. If you find it useful, please respond to [email protected], | ||
| //! otherwise we may drop support. | ||
| /* EXPERIMENTAL */ NvCV_Status NvCV_API NvCVImage_MapResource(NvCVImage *im, struct CUstream_st *stream); | ||
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| //! After transfer by CUDA, the texture resource must be unmapped in order to be used by the graphics system again. | ||
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@@ -516,7 +525,9 @@ NvCV_Status NvCV_API NvCVImage_MapResource(NvCVImage *im, struct CUstream_st *st | |
| //! \param[in,out] im the image to be mapped. | ||
| //! \param[in] stream the CUDA stream on which the mapping is to be performed. | ||
| //! \return NVCV_SUCCESS is the operation was completed successfully. | ||
| NvCV_Status NvCV_API NvCVImage_UnmapResource(NvCVImage *im, struct CUstream_st *stream); | ||
| //! \note This is an experimental API. If you find it useful, please respond to [email protected], | ||
| //! otherwise we may drop support. | ||
| /* EXPERIMENTAL */ NvCV_Status NvCV_API NvCVImage_UnmapResource(NvCVImage *im, struct CUstream_st *stream); | ||
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| //! Composite one source image over another using the given matte. | ||
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@@ -530,15 +541,17 @@ NvCV_Status NvCV_API NvCVImage_UnmapResource(NvCVImage *im, struct CUstream_st * | |
| //! \return NVCV_ERR_PIXELFORMAT if the pixel format is not accommodated. | ||
| //! \return NVCV_ERR_MISMATCH if either the fg & bg & dst formats do not match, or if fg & bg & dst & mat are not | ||
| //! in the same address space (CPU or GPU). | ||
| //! \bug Though RGBA destinations are accommodated, the A channel is not updated at all. | ||
| #if RTX_CAMERA_IMAGE == 0 | ||
| NvCV_Status NvCV_API NvCVImage_Composite(const NvCVImage *fg, const NvCVImage *bg, const NvCVImage *mat, NvCVImage *dst, | ||
| struct CUstream_st *stream); | ||
| #else // RTX_CAMERA_IMAGE == 1 // No GPU acceleration | ||
| NvCV_Status NvCV_API NvCVImage_Composite(const NvCVImage *fg, const NvCVImage *bg, const NvCVImage *mat, NvCVImage *dst); | ||
| #endif // RTX_CAMERA_IMAGE == 1 | ||
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| //! Composite one source image over another using the given matte. | ||
| //! Not all pixel format combinations are accommodated. | ||
| //! This accommodates all RGB and RGBA formats, with u8 and f32 components. | ||
| //! \param[in] fg the foreground source image. | ||
| //! \param[in] fgOrg the upper-left corner of the fg image to be composited (NULL implies (0,0)). | ||
| //! \param[in] bg the background source image. | ||
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@@ -566,17 +579,27 @@ NvCV_Status NvCV_API NvCVImage_CompositeRect( | |
| NvCVImage *dst, const NvCVPoint2i *dstOrg, | ||
| struct CUstream_st *stream); | ||
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| //! Composite a BGRu8 source image over a constant color field using the given matte. | ||
| //! \param[in] src the source BGRu8 (or RGBu8) image. | ||
| //! \param[in] mat the matte Yu8 (or Au8) image, indicating where the src should come through. | ||
| //! \param[in] bgColor the desired flat background color, with the same component ordering as the src and dst. | ||
| //! \param[in,out] dst the destination BGRu8 (or RGBu8) image. May be the same as src. | ||
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| //! Composite a source image over a constant color field using the given matte. | ||
| //! \param[in] src the source image. | ||
| //! \param[in] mat the matte image, indicating where the src should come through. | ||
| //! \param[in] bgColor pointer to a location holding the desired flat background color, with the same format | ||
| //! and component ordering as the dst. This acts as a 1x1 background pixel buffer, | ||
| //! so should reside in the same memory space (CUDA or CPU) as the other buffers. | ||
| //! \param[in,out] dst the destination image. May be the same as src. | ||
| //! \return NVCV_SUCCESS if the operation was successful. | ||
| //! \return NVCV_ERR_PIXELFORMAT if the pixel format is not accommodated. | ||
| //! \bug This is only implemented for 3-component u8 src and dst, and 1-component mat, | ||
| //! where all images are resident on the CPU. | ||
| //! \return NVCV_ERR_MISMATCH if fg & mat & dst & bgColor are not in the same address space (CPU or GPU). | ||
| //! \note The bgColor must remain valid until complete; this is an important consideration especially if | ||
| //! the buffers are on the GPU and NvCVImage_CompositeOverConstant() runs asynchronously. | ||
| //! \bug Though RGBA destinations are accommodated, the A channel is not updated at all. | ||
| NvCV_Status NvCV_API NvCVImage_CompositeOverConstant( | ||
| const NvCVImage *src, const NvCVImage *mat, const unsigned char bgColor[3], NvCVImage *dst); | ||
| #if RTX_CAMERA_IMAGE == 0 | ||
| const NvCVImage *src, const NvCVImage *mat, const void *bgColor, NvCVImage *dst, struct CUstream_st *stream | ||
| #else // RTX_CAMERA_IMAGE == 1 | ||
| const NvCVImage *src, const NvCVImage *mat, const unsigned char bgColor[3], NvCVImage *dst | ||
| #endif // RTX_CAMERA_IMAGE | ||
| ); | ||
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| //! Flip the image vertically. | ||
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@@ -649,24 +672,26 @@ NvCVImage::~NvCVImage() { NvCVImage_Dealloc(this); } | |
| ********************************************************************************/ | ||
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| NvCV_Status NvCVImage::copyFrom(const NvCVImage *src, int srcX, int srcY, int dstX, int dstY, unsigned wd, | ||
| unsigned ht) { | ||
| unsigned ht, struct CUstream_st* stream) { | ||
| #if RTX_CAMERA_IMAGE // This only works for chunky images | ||
| NvCVImage srcView, dstView; | ||
| NvCVImage_InitView(&srcView, const_cast<NvCVImage *>(src), srcX, srcY, wd, ht); | ||
| NvCVImage_InitView(&dstView, this, dstX, dstY, wd, ht); | ||
| return NvCVImage_Transfer(&srcView, &dstView, 1.f, 0, nullptr); | ||
| return NvCVImage_Transfer(&srcView, &dstView, 1.f, stream, nullptr); | ||
| #else // !RTX_CAMERA_IMAGE bug fix for non-chunky images | ||
| NvCVRect2i srcRect = { (int)srcX, (int)srcY, (int)wd, (int)ht }; | ||
| NvCVPoint2i dstPt = { (int)dstX, (int)dstY }; | ||
| return NvCVImage_TransferRect(src, &srcRect, this, &dstPt, 1.f, 0, nullptr); | ||
| return NvCVImage_TransferRect(src, &srcRect, this, &dstPt, 1.f, stream, nullptr); | ||
| #endif // RTX_CAMERA_IMAGE | ||
| } | ||
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| /******************************************************************************** | ||
| * copy image | ||
| ********************************************************************************/ | ||
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| NvCV_Status NvCVImage::copyFrom(const NvCVImage *src) { return NvCVImage_Transfer(src, this, 1.f, 0, nullptr); } | ||
| NvCV_Status NvCVImage::copyFrom(const NvCVImage *src, struct CUstream_st* stream) { | ||
| return NvCVImage_Transfer(src, this, 1.f, stream, nullptr); | ||
| } | ||
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| #endif // ___cplusplus | ||
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