Simple line using only jetson util

j.perez · September 12, 2020, 8:02am

In a simple program like this:

import jetson.inference
import jetson.utils

net = jetson.inference.detectNet(“ssd-mobilenet-v2”, threshold=0.5)
camera = jetson.utils.videoSource(“csi://0”) # ‘/dev/video0’ for V4L2
display = jetson.utils.videoOutput(“display://0”) # ‘my_video.mp4’ for file

while display.IsStreaming():
img = camera.Capture()
detections = net.Detect(img)
display.Render(img)
display.SetStatus(“Object Detection | Network {:.0f} FPS”.format(net.GetNetworkFPS()))

Are there any way to draw lines, rectangles and circles to the img frame, without using openCV?

AastaLLL · September 14, 2020, 3:56am

Hi,

Jetson_inference has a implementation to overlay input image with a filled rectangle here:

github.com

dusty-nv/jetson-utils/blob/master/cuda/cudaOverlay.cu#L89


      
          	

          	const dim3 blockDim(8, 8);

          	const dim3 gridDim(iDivUp(overlayWidth,blockDim.x), iDivUp(overlayHeight,blockDim.y));

          

          	#define launch_overlay(kernel, type)	\

          		kernel<type><<<gridDim, blockDim>>>((type*)input, inputWidth, inputHeight, (type*)output, outputWidth, outputHeight, x, y)

          	

          	if( format == IMAGE_RGB8 || format == IMAGE_BGR8 )

          		launch_overlay(gpuOverlay, uchar3);

          	else if( format == IMAGE_RGBA8 || format == IMAGE_BGRA8 )

          		launch_overlay(gpuOverlayAlpha, uchar4);

          	else if( format == IMAGE_RGB32F || format == IMAGE_BGR32F )

          		launch_overlay(gpuOverlay, float3);

          	else if( format == IMAGE_RGBA32F || format == IMAGE_BGRA32F )

          		launch_overlay(gpuOverlayAlpha, float4);

          	else if( format == IMAGE_GRAY8 )

          		launch_overlay(gpuOverlay, uint8_t);

          	else if( format == IMAGE_GRAY32F )

          		launch_overlay(gpuOverlay, float);

          	

          	return CUDA(cudaGetLastError());

You can implement the overlay for lines and circles based on this.
Thanks.

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Simple line using only jetson util

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