In continuing with the discussion here , as the post has been archived, here is the updated get_converted_mat function.
static GstFlowReturn
get_converted_mat (GstDsExample * dsexample, NvBufSurface *input_buf, gint idx,
NvOSD_RectParams * crop_rect_params, gdouble & ratio, gint input_width,
gint input_height)
{
NvBufSurfTransform_Error err;
NvBufSurfTransformConfigParams transform_config_params;
NvBufSurfTransformParams transform_params;
NvBufSurfTransformRect src_rect;
NvBufSurfTransformRect dst_rect;
NvBufSurface ip_surf;
cv::Mat in_mat;
ip_surf = *input_buf;
cv::Rect2f roi;
auto bbox_color = cv::Scalar(0, 255, 0);
ip_surf.numFilled = ip_surf.batchSize = 1;
ip_surf.surfaceList = &(input_buf->surfaceList[idx]);
gint src_left = GST_ROUND_UP_2(crop_rect_params->left);
gint src_top = GST_ROUND_UP_2(crop_rect_params->top);
gint src_width = GST_ROUND_DOWN_2(crop_rect_params->width);
gint src_height = GST_ROUND_DOWN_2(crop_rect_params->height);
// Maintain aspect ratio
double hdest = dsexample->processing_width * src_height / (double) src_width;
double wdest = dsexample->processing_height * src_width / (double) src_height;
guint dest_width, dest_height;
if (hdest <= dsexample->processing_height) {
dest_width = dsexample->processing_width;
dest_height = hdest;
} else {
dest_width = wdest;
dest_height = dsexample->processing_height;
}
// Configure transform session parameters for the transformation
transform_config_params.compute_mode = NvBufSurfTransformCompute_Default;
transform_config_params.gpu_id = dsexample->gpu_id;
transform_config_params.cuda_stream = dsexample->cuda_stream;
// Set the transform session parameters for the conversions executed in this
// thread.
err = NvBufSurfTransformSetSessionParams (&transform_config_params);
if (err != NvBufSurfTransformError_Success) {
GST_ELEMENT_ERROR (dsexample, STREAM, FAILED,
("NvBufSurfTransformSetSessionParams failed with error %d", err), (NULL));
goto error;
}
// Calculate scaling ratio while maintaining aspect ratio
ratio = MIN (1.0 * dest_width/ src_width, 1.0 * dest_height / src_height);
if ((crop_rect_params->width == 0) || (crop_rect_params->height == 0)) {
GST_ELEMENT_ERROR (dsexample, STREAM, FAILED,
("%s:crop_rect_params dimensions are zero",__func__), (NULL));
goto error;
}
#ifdef __aarch64__
if (ratio <= 1.0 / 16 || ratio >= 16.0) {
// Currently cannot scale by ratio > 16 or < 1/16 for Jetson
goto error;
}
#endif
// Set the transform ROIs for source and destination
src_rect = {(guint)src_top, (guint)src_left, (guint)src_width, (guint)src_height};
dst_rect = {0, 0, (guint)dest_width, (guint)dest_height};
// Set the transform parameters
transform_params.src_rect = &src_rect;
transform_params.dst_rect = &dst_rect;
transform_params.transform_flag =
NVBUFSURF_TRANSFORM_FILTER | NVBUFSURF_TRANSFORM_CROP_SRC |
NVBUFSURF_TRANSFORM_CROP_DST;
transform_params.transform_filter = NvBufSurfTransformInter_Default;
//Memset the memory
NvBufSurfaceMemSet (dsexample->inter_buf, 0, 0, 0);
GST_DEBUG_OBJECT (dsexample, "Scaling and converting input buffer\n");
// Transformation scaling+format conversion if any.
err = NvBufSurfTransform (&ip_surf, dsexample->inter_buf, &transform_params);
if (err != NvBufSurfTransformError_Success) {
GST_ELEMENT_ERROR (dsexample, STREAM, FAILED,
("NvBufSurfTransform failed with error %d while converting buffer", err),
(NULL));
goto error;
}
// Map the buffer so that it can be accessed by CPU
if (NvBufSurfaceMap (dsexample->inter_buf, 0, 0, NVBUF_MAP_READ_WRITE) != 0){
goto error;
}
// Cache the mapped data for CPU access
NvBufSurfaceSyncForCpu (dsexample->inter_buf, 0, 0);
// Use openCV to remove padding and convert RGBA to BGR. Can be skipped if
// algorithm can handle padded RGBA data.
in_mat =
cv::Mat (dsexample->processing_height, dsexample->processing_width,
CV_8UC4, dsexample->inter_buf->surfaceList[0].mappedAddr.addr[0],
dsexample->inter_buf->surfaceList[0].pitch);
#if (CV_MAJOR_VERSION >= 4)
cv::cvtColor (in_mat, *dsexample->cvmat, cv::COLOR_RGBA2BGR);
#else
cv::cvtColor (in_mat, *dsexample->cvmat, CV_RGBA2BGR);
#endif
roi.x = 10;
roi.y = 10;
roi.width = 50;
roi.height = 50;
cv::rectangle(*dsexample->cvmat,roi, bbox_color, 1);
cv::putText(*dsexample->cvmat, "car", cv::Point(roi.x, roi.y-10), cv::FONT_HERSHEY_PLAIN, 1, bbox_color);
cv::cvtColor (*dsexample->cvmat, in_mat, cv::COLOR_BGR2RGBA);
NvBufSurfaceSyncForDevice (dsexample->inter_buf, 0, 0);
// Set the transform ROIs for source and destination
src_rect = {(guint)0, (guint)0, (guint)dest_width, (guint)dest_height};
dst_rect = {0, 0, (guint)dest_width, (guint)dest_height};
// Set the transform parameters
transform_params.src_rect = &src_rect;
transform_params.dst_rect = &dst_rect;
transform_params.transform_flag =
NVBUFSURF_TRANSFORM_FILTER | NVBUFSURF_TRANSFORM_CROP_SRC |
NVBUFSURF_TRANSFORM_CROP_DST;
transform_params.transform_filter = NvBufSurfTransformInter_Default;
//Memset the memory
NvBufSurfaceMemSet (&ip_surf, 0, 0, 0);
// Transformation scaling+format conversion if any.
err = NvBufSurfTransform (dsexample->inter_buf, &ip_surf, &transform_params);
if (err != NvBufSurfTransformError_Success) {
GST_ELEMENT_ERROR (dsexample, STREAM, FAILED,
("NvBufSurfTransform failed with error %d while converting buffer", err),
(NULL));
goto error;
}
GST_DEBUG_OBJECT (dsexample, "Scaling and converting input buffer\n");
if (NvBufSurfaceUnMap (dsexample->inter_buf, 0, 0)){
goto error;
}
#ifdef __aarch64__
// To use the converted buffer in CUDA, create an EGLImage and then use
// CUDA-EGL interop APIs
if (USE_EGLIMAGE) {
if (NvBufSurfaceMapEglImage (dsexample->inter_buf, 0) !=0 ) {
goto error;
}
// dsexample->inter_buf->surfaceList[0].mappedAddr.eglImage
// Use interop APIs cuGraphicsEGLRegisterImage and
// cuGraphicsResourceGetMappedEglFrame to access the buffer in CUDA
// Destroy the EGLImage
NvBufSurfaceUnMapEglImage (dsexample->inter_buf, 0);
}
#endif
/* We will first convert only the Region of Interest (the entire frame or the
* object bounding box) to RGB and then scale the converted RGB frame to
* processing resolution. */
return GST_FLOW_OK;
error:
return GST_FLOW_ERROR;
}
The flickering of lines is still observed.
