Recommended Method for Interfacing jetson-inference with NvBuffer

Robotics & Edge Computing Jetson & Embedded Systems Jetson TX2
1

Our vision pipeline uses Argus and the NvBuffer API (nvbuf_utils.h) to handle format conversions, resizing, etc. My next goal is to add a segNet from jetson-inference to our processing, which takes floating-point RGBA.

I plan on using the jetson-utils cudaNV12ToRGBA32 kernel with cuGraphicsEGLRegisterImage to convert from NvBufferColorFormat_NV12 to floating-point RGBA, but jetson-utils provides no kernels for going the other direction.

Is there any good way to handle floating-point RGBA buffers with nvbuf_utils or should I use a kernel to convert back to something like NvBufferColorFormat_ARGB32 (ARGB-8-8-8-8) and go from there?

Thanks!

5

Hi,
You may create Nvbuffer in NvBufferColorFormat_ARGB32, copy the data inot the buffer, and convert to NV12 through NvBufferTransform().

Or implement CUDA kernel like:

6

NvBufferColorFormat_ARGB32 expects 8 bits for each channel, the floating point is a float for each channel. Seems like the easiest thing to do then is to make a kernel to convert between the two and go from there.

__global__ void RGBAToRGBAf(
    uchar4 *srcImage, float4 *dstImage, uint32_t width, uint32_t height)

{
    int x, y, pixel;

    x = (blockIdx.x * blockDim.x) + threadIdx.x;
    y = (blockIdx.y * blockDim.y) + threadIdx.y;

    pixel = y * width + x;

    if (x >= width)
        return; 

    if (y >= height)
        return;

    const float  s  = 1.0f;
    const uchar4 px = srcImage[pixel];
    dstImage[pixel] = make_float4(px.x * s, px.y * s, px.z * s, px.w * s);
}

__global__ void RGBAfToRGBA(
    float4 *srcImage, uchar4 *dstImage, uint32_t width, uint32_t height)

{
    int x, y, pixel;

    x = (blockIdx.x * blockDim.x) + threadIdx.x;
    y = (blockIdx.y * blockDim.y) + threadIdx.y;

    pixel = y * width + x;

    if (x >= width)
        return; 

    if (y >= height)
        return;

    const float4 px = srcImage[pixel];
    dstImage[pixel] = make_uchar4(px.x, px.y, px.z, px.w);
}