Concatenating two cv::Mat to get format [1,2,128,128]


Im trying to run interference using a model that requires an input of [1,2,128,128] in C++.
I have generated two cv::Mat in the format [1,128,128]
I want to upload them to the GPU so i can run interference on them but first i have to concatenate them. How do I concatenate two [1,128,128] images to one [1,2,128,128] so i can upload it and run interference on it?


TensorRT Version:
GPU Type: iGPU ga10b (i think)
Nvidia Driver Version: Jetson Orin Nano
CUDA Version: 11.4.315
CUDNN Version:
Operating System + Version: Ubuntu 20.04 focal
Python Version (if applicable):
TensorFlow Version (if applicable):
PyTorch Version (if applicable):
Baremetal or Container (if container which image + tag):

Relevant Files

Here is my preprocessing method that is supposed to upload the two images to the GPU so i can run interference on them:

void ThroatSegmentationFilter::preprocess(PCLRGBFrame &frame, float *gpu_input, const nvinfer1::Dims &dims)
        auto& bbox = std::any_cast<std::array<std::array<int, 2>, 2>&>(frame.metaData["mouthBox"]);
        std::vector<int> fbbox = fixedShapeBBox(frame, bbox);

        cv::Mat depth = cv::Mat(480,640, CV_32FC1, frame.ToFframe.depthData);
        cv::Point topleft(fbbox[0], fbbox[1]);
        cv::Point btmright(fbbox[2], fbbox[3]);
        cv::Rect roiRect(topleft, btmright);
        cv::Mat roiI = frame.ToFframe.intensity(roiRect);
        cv::Mat roiD = depth(roiRect);

        auto input_width = dims.d[3];
        auto input_height = dims.d[2];
        auto channels = dims.d[1];
        auto input_size = cv::Size(input_width, input_height);
        //TODO: figure out if this is how we concatenate two Images to get the format [1,2,128,128]
        cv::cuda::GpuMat gpu_frame;
        std::vector< cv::cuda::GpuMat > chw;
        for (size_t i = 0; i < channels; ++i)
            chw.emplace_back(cv::cuda::GpuMat(input_size, CV_32FC1, gpu_input + i * input_width * input_height));
        cv::cuda::split(gpu_frame, chw);

Steps To Reproduce


May be cv::hconcat() will help you. For more details please refer to the OpenCV documentation.

Thank you.

But if I use cv::hconcat() wont i get an input in the format [1,128,256]?
Or will I get the format [2,128,128]?

It might result in an extended dimension. You can also check out cv::add() for element-wise addition. Please check OpenCV documentation.

ill look into it