How to use remap() function in opencv-2.* with cuda 8.0 on Jetson TX1

Robotics & Edge Computing Jetson & Embedded Systems Jetson TX1
1

Hi all,

Now I am writing a short code as follows:

int f_size = 64 * 64 * sizeof(float);
float *d_input, *d_output, *d_xmap, *d_ymap;
int value;

cudaMalloc((void **)&d_input, f_size);
cudaMalloc((void **)&d_output, f_size);
cudaMalloc((void **)&d_xmap, f_size);
cudaMalloc((void **)&d_ymap, f_size);

After that,

d_input, d_xmap, d_ymap

are assigned the correct data. And then, I have converted them into GpuMat format:

cv::gpu::GpuMat gpu_input(64, 64, CV_32FC1, d_input);
cv::gpu::GpuMat gpu_output(64, 64, CV_32FC1, d_output);
cv::gpu::GpuMat gpu_xmap(64, 64, CV_32FC1, d_xmap);
cv::gpu::GpuMat gpu_ymap(64, 64, CV_32FC1, d_ymap);

Finally, remap() function is applied:

cv::gpu::remap(gpu_input, gpu_output, gpu_xmap, gpu_ymap, cv::INTER_CUBIC, cv::BORDER_CONSTANT, value);

I have used this funtion on OpenCV lib ver-3.4.0 (cv::cuda::remap()) and it have correctly operated. However, with OpenCV < ver-3.4.0, I have reach an error as shown in the figure below:
External Media

Please help me fix this bug of input parameters of cv::gpu::remap() function.

Thank all so much!

2

Hi,

Could you check the return status of cudaMalloc() first?

cudaError_t status cudaMalloc(...); 
...

Thanks.

3

Thank for your help,

I have checked carefully data input and copy them from devive to host for showing them on the graphs. It is completely correct.

4

Hi,

Sorry for the late update.
Could you try to use address of gpu_input rather than gpu_input to see if helps?

Thanks.

5

Could you try this code and tell if it works ?

// testRemapGpu.cpp
#include <iostream>
#include <cuda_runtime.h>
#include <opencv2/opencv.hpp>
#include <opencv2/gpu/gpu.hpp>

int main()
{
    // std::cout << cv::getBuildInformation() << std::endl; 

    int f_size = 64 * 64 * sizeof(float);
    float *d_input, *d_output, *d_xmap, *d_ymap;

    if (cudaMalloc((void **)&d_input, f_size) != cudaSuccess) {
	std::cerr << "CudaMalloc failed" << std::endl;
	return -1;
    }
    if (cudaMalloc((void **)&d_output, f_size) != cudaSuccess) {
	std::cerr << "CudaMalloc failed" << std::endl;
	return -1;
    }
    if (cudaMalloc((void **)&d_xmap, f_size) != cudaSuccess) {
	std::cerr << "CudaMalloc failed" << std::endl;
	return -1;
    }
    if (cudaMalloc((void **)&d_ymap, f_size) != cudaSuccess) {
	std::cerr << "CudaMalloc failed" << std::endl;
	return -1;
    }

    cv::gpu::GpuMat gpu_input(64, 64, CV_32FC1, d_input);
    cv::gpu::GpuMat gpu_output(64, 64, CV_32FC1, d_output);
    cv::gpu::GpuMat gpu_xmap(64, 64, CV_32FC1, d_xmap);
    cv::gpu::GpuMat gpu_ymap(64, 64, CV_32FC1, d_ymap);
    cv::gpu::remap(gpu_input, gpu_output, gpu_xmap, gpu_ymap, cv::INTER_CUBIC, cv::BORDER_CONSTANT, cv::Scalar(0.f));

    std::cout << "Correctly terminated" << std::endl;
    return 0;
}

Build with (you would adjust for your case):

OPENCV_VERSION=opencv4tegra-2.4.13
CUDA_VERSION=8.0
export LD_LIBRARY_PATH=/usr/local/cuda-$CUDA_VERSION/lib64:/usr/local/$OPENCV_VERSION/lib
g++ -std=c++11 -Wall -I/usr/local/$OPENCV_VERSION/include -I/usr/local/cuda-$CUDA_VERSION/targets/aarch64-linux/include  testRemapGpu.cpp -L/usr/local/$OPENCV_VERSION/lib -lopencv_core -lopencv_gpu -L/usr/local/cuda-$CUDA_VERSION/lib64 -lcudart -o testRemapGpu
./testRemapGpu

It works for me on a TX2, using CUDA8 and opencv4tegra-2.4.13.

It seems you are running a very old version R24.
Error -217 may also be a resource outage, or may also happen if you have some code having called cudaDeviceReset() between allocation and remap.

6

Have you also looked at the remapped image, if it looks alright? I get some weird artifacts.

Selection_005.jpg
Selection_005.jpg2515×1219 536 KB

Selection_005.jpg
Selection_005.jpg2515×1219 545 KB

7

I have indeed seen this once with opencv4tegra-2.4.13 and cuda-8.0 on first run frame, but failed to reproduce later. Never seen this with opencv4/cuda9 or 10, but I was not performing very complex remappings.