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v0.8.2.0 Release

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v0.8.2.0 Release
This commit is contained in:
Joy D'Souza
2023-01-06 10:03:38 -08:00
parent cf68600c4f
commit ca10ac3b39
23 changed files with 690 additions and 553 deletions
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94
samples/BodyTrack/BodyEngine.cpp
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@@ -222,32 +222,32 @@ BodyEngine::Err BodyEngine::initKeyPointDetectionIOParams(NvCVImage* inBuf) {
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
nvErr = NvAR_SetF32Array(keyPointDetectHandle, NvAR_Parameter_Output(KeyPointsConfidence),
keypoints_confidence.data(), sizeof(float));
keypoints_confidence.data(), sizeof(float));
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
#if NV_MULTI_OBJECT_TRACKER
if (bEnablePeopleTracking) {
output_tracking_bbox_size = maxTargetsTracked;
output_tracking_bbox_data.assign(output_tracking_bbox_size, { 0.f, 0.f, 0.f, 0.f, 0 });
output_tracking_bboxes.boxes = output_tracking_bbox_data.data();
output_tracking_bboxes.max_boxes = (uint8_t)output_tracking_bbox_size;
output_tracking_bboxes.num_boxes = 0;
nvErr =
NvAR_SetObject(keyPointDetectHandle, NvAR_Parameter_Output(TrackingBoundingBoxes), &output_tracking_bboxes, sizeof(NvAR_TrackingBBoxes));
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
output_tracking_bbox_size = maxTargetsTracked;
output_tracking_bbox_data.assign(output_tracking_bbox_size, { 0.f, 0.f, 0.f, 0.f, 0 });
output_tracking_bboxes.boxes = output_tracking_bbox_data.data();
output_tracking_bboxes.max_boxes = (uint8_t)output_tracking_bbox_size;
output_tracking_bboxes.num_boxes = 0;
nvErr =
NvAR_SetObject(keyPointDetectHandle, NvAR_Parameter_Output(TrackingBoundingBoxes), &output_tracking_bboxes, sizeof(NvAR_TrackingBBoxes));
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
}
else {
output_bbox_data.assign(25, { 0.f, 0.f, 0.f, 0.f });
output_bbox_conf_data.assign(25, 0.f);
output_bboxes.boxes = output_bbox_data.data();
output_bboxes.max_boxes = (uint8_t)output_bbox_data.size();
output_bboxes.num_boxes = 0;
nvErr = NvAR_SetObject(keyPointDetectHandle, NvAR_Parameter_Output(BoundingBoxes), &output_bboxes, sizeof(NvAR_BBoxes));
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
output_bbox_data.assign(25, { 0.f, 0.f, 0.f, 0.f });
output_bbox_conf_data.assign(25, 0.f);
output_bboxes.boxes = output_bbox_data.data();
output_bboxes.max_boxes = (uint8_t)output_bbox_data.size();
output_bboxes.num_boxes = 0;
nvErr = NvAR_SetObject(keyPointDetectHandle, NvAR_Parameter_Output(BoundingBoxes), &output_bboxes, sizeof(NvAR_BBoxes));
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
nvErr = NvAR_SetF32Array(keyPointDetectHandle, NvAR_Parameter_Output(BoundingBoxesConfidence),
output_bbox_conf_data.data(), output_bboxes.max_boxes);
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
nvErr = NvAR_SetF32Array(keyPointDetectHandle, NvAR_Parameter_Output(BoundingBoxesConfidence),
output_bbox_conf_data.data(), output_bboxes.max_boxes);
BAIL_IF_CVERR(nvErr, err, BodyEngine::Err::errParameter);
}
#else
output_bbox_data.assign(25, { 0.f, 0.f, 0.f, 0.f });
@@ -407,7 +407,7 @@ NvAR_TrackingBBoxes* BodyEngine::getTrackingBBoxes() { return &output_tracking_b
float average_confidence = 0.0f;
float* keypoints_confidence_all = getKeyPointsConfidence();
for (int i = 0; i < output_bboxes.num_boxes; i++) {
for (unsigned int j = 0; j < numKeyPoints; j++) {
for (unsigned int j = 0; j < numKeyPoints; j++) {
average_confidence += keypoints_confidence_all[i * numKeyPoints + j];
}
}
@@ -483,39 +483,39 @@ unsigned BodyEngine::acquireBodyBoxAndKeyPoints(cv::Mat& src, NvAR_Point2f* refM
}
#if NV_MULTI_OBJECT_TRACKER
unsigned BodyEngine::acquireBodyBoxAndKeyPoints(cv::Mat& src, NvAR_Point2f* refMarks, NvAR_Point3f* refKeyPoints3D,
NvAR_Quaternion* refJointAngles, NvAR_TrackingBBoxes* refBodyBoxes, int /*variant*/) {
unsigned n = 0;
NvCVImage fxSrcChunkyCPU;
(void)NVWrapperForCVMat(&src, &fxSrcChunkyCPU);
NvCV_Status cvErr = NvCVImage_Transfer(&fxSrcChunkyCPU, &inputImageBuffer, 1.0f, stream, &tmpImage);
NvAR_Quaternion* refJointAngles, NvAR_TrackingBBoxes* refBodyBoxes, int /*variant*/) {
unsigned n = 0;
NvCVImage fxSrcChunkyCPU;
(void)NVWrapperForCVMat(&src, &fxSrcChunkyCPU);
NvCV_Status cvErr = NvCVImage_Transfer(&fxSrcChunkyCPU, &inputImageBuffer, 1.0f, stream, &tmpImage);
if (NVCV_SUCCESS != cvErr) {
return n;
}
if (NVCV_SUCCESS != cvErr) {
return n;
}
#ifdef DEBUG_PERF_RUNTIME
auto start = std::chrono::high_resolution_clock::now();
auto start = std::chrono::high_resolution_clock::now();
#endif
if (findKeyPoints() != NVCV_SUCCESS) return 0;
memcpy(refBodyBoxes, getTrackingBBoxes(), sizeof(NvAR_TrackingBBoxes));
n = 1;
if (findKeyPoints() != NVCV_SUCCESS) return 0;
memcpy(refBodyBoxes, getTrackingBBoxes(), sizeof(NvAR_TrackingBBoxes));
n = 1;
#ifdef DEBUG_PERF_RUNTIME
auto start2 = std::chrono::high_resolution_clock::now();
auto start2 = std::chrono::high_resolution_clock::now();
#endif
memcpy(refMarks, getKeyPoints(), sizeof(NvAR_Point2f) * numKeyPoints * batchSize);
memcpy(refKeyPoints3D, getKeyPoints3D(), sizeof(NvAR_Point3f) * numKeyPoints * batchSize);
memcpy(refJointAngles, getJointAngles(), sizeof(NvAR_Quaternion) * numKeyPoints * batchSize);
memcpy(refMarks, getKeyPoints(), sizeof(NvAR_Point2f) * numKeyPoints * batchSize);
memcpy(refKeyPoints3D, getKeyPoints3D(), sizeof(NvAR_Point3f) * numKeyPoints * batchSize);
memcpy(refJointAngles, getJointAngles(), sizeof(NvAR_Quaternion) * numKeyPoints * batchSize);
#ifdef DEBUG_PERF_RUNTIME
auto end = std::chrono::high_resolution_clock::now();
auto duration3 = std::chrono::duration_cast<std::chrono::microseconds>(start2 - start);
std::cout << "[bodypose] run findKeyPoints(): " << duration3.count() << " microseconds" << std::endl;
auto duration2 = std::chrono::duration_cast<std::chrono::microseconds>(end - start2);
std::cout << "[bodypose] keypoint copy time: " << duration2.count() << " microseconds" << std::endl;
auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start);
std::cout << "[bodypose] end-to-end time: " << duration.count() << " microseconds" << std::endl;
auto end = std::chrono::high_resolution_clock::now();
auto duration3 = std::chrono::duration_cast<std::chrono::microseconds>(start2 - start);
std::cout << "[bodypose] run findKeyPoints(): " << duration3.count() << " microseconds" << std::endl;
auto duration2 = std::chrono::duration_cast<std::chrono::microseconds>(end - start2);
std::cout << "[bodypose] keypoint copy time: " << duration2.count() << " microseconds" << std::endl;
auto duration = std::chrono::duration_cast<std::chrono::microseconds>(end - start);
std::cout << "[bodypose] end-to-end time: " << duration.count() << " microseconds" << std::endl;
#endif
return n;
return n;
}
#endif
void BodyEngine::setBodyStabilization(bool _bStabilizeBody) { bStabilizeBody = _bStabilizeBody; }
@@ -534,10 +534,10 @@ BodyEngine::Err BodyEngine::setFocalLength(float _bFocalLength) {
void BodyEngine::useCudaGraph(bool _bUseCudaGraph) { bUseCudaGraph = _bUseCudaGraph; }
#if NV_MULTI_OBJECT_TRACKER
void BodyEngine::enablePeopleTracking(bool _bEnablePeopleTracking, unsigned int _shadowTrackingAge, unsigned int _probationAge, unsigned int _maxTargetsTracked) {
bEnablePeopleTracking = _bEnablePeopleTracking;
shadowTrackingAge = _shadowTrackingAge;
bEnablePeopleTracking = _bEnablePeopleTracking;
shadowTrackingAge = _shadowTrackingAge;
probationAge = _probationAge;
maxTargetsTracked = _maxTargetsTracked;
maxTargetsTracked = _maxTargetsTracked;
}
#endif
void BodyEngine::setAppMode(BodyEngine::mode _mode) { appMode = _mode; }