program data flow design is above, without the optical flow node, program is work normaly.
But when i add the opticalflow node, the program will block in the 3rd frame. my program is modify from the app_dof example.
opticalflow node cpp file is blow.
vx_status app_init_opticalflow(vx_context context, OpticalFlowObj *opticalflowObj, char *objName)
{
vx_status status = VX_SUCCESS;
// tivx_dmpac_dof_params_init(&opticalflowObj->dof_params);
vx_float32 optical_eps_val = 0.001;
vx_float32 optical_num_iter_val = 100;
vx_float32 optical_use_estimations_val = 1;
opticalflowObj->eps = vxCreateScalar(context, VX_TYPE_FLOAT32, &optical_eps_val);
opticalflowObj->num_iter = vxCreateScalar(context, VX_TYPE_UINT32, &optical_num_iter_val);
opticalflowObj->use_estimations = vxCreateScalar(context, VX_TYPE_BOOL, &optical_use_estimations_val);
if(opticalflowObj->enable_temporal_predicton_flow_vector)
{
vx_array corners_exemplar;
corners_exemplar = vxCreateArray(context, VX_TYPE_KEYPOINT, opticalflowObj->num_corners);
opticalflowObj->out_corners = vxCreateArray(context, VX_TYPE_KEYPOINT, opticalflowObj->num_corners);
// APP_ASSERT_VALID_REF(corners_exemplar);
opticalflowObj->corners_delay = vxCreateDelay(context, (vx_reference)corners_exemplar, 2);
APP_ASSERT_VALID_REF(opticalflowObj->corners_delay);
opticalflowObj->corners_in = (vx_array)vxGetReferenceFromDelay(opticalflowObj->corners_delay, -1);
APP_ASSERT_VALID_REF(opticalflowObj->corners_in);
vxSetReferenceName((vx_reference)opticalflowObj->corners_in, "CornersIn");
opticalflowObj->corners_out = (vx_array)vxGetReferenceFromDelay(opticalflowObj->corners_delay, 0);
APP_ASSERT_VALID_REF(opticalflowObj->corners_out);
vxSetReferenceName((vx_reference)opticalflowObj->corners_out, "CornersOut");
vxReleaseArray(&corners_exemplar);
}
else
{
opticalflowObj->corners_delay = NULL;
opticalflowObj->corners_in = NULL;
opticalflowObj->corners_out = vxCreateArray(context, VX_TYPE_KEYPOINT, opticalflowObj->num_corners);
APP_ASSERT_VALID_REF(opticalflowObj->corners_out);
vxSetReferenceName((vx_reference)opticalflowObj->corners_out, "CornersOut");
}
return status;
}
void app_deinit_opticalflow(OpticalFlowObj *opticalflowObj)
{
if(opticalflowObj->enable_temporal_predicton_flow_vector)
{
vxReleaseDelay(&opticalflowObj->corners_delay);
}
else
{
vxReleaseImage(&opticalflowObj->corners_out);
}
}
void app_delete_opticalflow(OpticalFlowObj *opticalflowObj)
{
if(opticalflowObj->node != NULL)
{
vxReleaseNode(&opticalflowObj->node);
}else{
}
}
vx_status app_create_graph_opticalflow(vx_graph graph, OpticalFlowObj *opticalflowObj,
vx_pyramid old_images,
vx_pyramid new_images,
vx_array old_points,
vx_array new_points_estimates,
vx_scalar eps,
vx_scalar num_iter,
vx_scalar use_estimations)
{
// printf("start set reference optic\n");
vx_status status = VX_SUCCESS;
opticalflowObj->node = vxOpticalFlowPyrLKNode(
graph,
old_images, new_images,
old_points, new_points_estimates, opticalflowObj->out_corners,
VX_TERM_CRITERIA_BOTH, eps, num_iter, use_estimations, opticalflowObj->winSize);
APP_ASSERT_VALID_REF(opticalflowObj->node);
// status = vxSetNodeTarget(opticalflowObj->node, VX_TARGET_STRING, TIVX_TARGET_DMPAC_DOF);
// APP_ASSERT(status == VX_SUCCESS);
vxSetReferenceName((vx_reference)opticalflowObj->node, "OpticalFlow");
// printf("set reference optic\n");
return status;
}
create node in main file
if (status == VX_SUCCESS)
{
status = app_create_graph_opticalflow(obj->graph, &obj->opticalflowObj,
obj->pyramidObj.pyr_ref, obj->pyramidObj.pyr_cur,
obj->harrisObj.har_ref,
obj->harrisObj.har_cur,
obj->opticalflowObj.eps,
obj->opticalflowObj.num_iter,
obj->opticalflowObj.use_estimations);
}
if (obj->opticalflowObj.enable_temporal_predicton_flow_vector && (status == VX_SUCCESS))
{
status = vxRegisterAutoAging(obj->graph, obj->opticalflowObj.corners_delay);
}
if (status == VX_SUCCESS)
{
status = tivxSetNodeParameterNumBufByIndex(obj->opticalflowObj.node, 4, num_buf);
}
the program will block in the 3rd frame when the pipeline > 0
static vx_status app_run_graph(AppObj *obj)
{
char input_file_name[APP_MAX_FILE_PATH];
char output_file_name_flow_img[APP_MAX_FILE_PATH];
char output_file_name_conf_img[APP_MAX_FILE_PATH];
uint32_t curFileNum;
int32_t outputFileNum;
uint32_t iterations = 1;
vx_status status = VX_SUCCESS;
uint32_t num_buf;
num_buf = MAX_NUM_BUF;
int32_t pipeline = -num_buf;
int32_t enqueueCnt = 0;
vx_int32 img_array_idx = -1, img_harray_idx = -1;
/* create output directory is not already existing */
mkdir(obj->output_file_path, S_IRWXU | S_IRWXG | S_IRWXO);
/* run pyramid only for 1st frame */
status = app_run_pyramid_for_first_frame(obj);
/* run DOF for 2nd frame onwards */
vx_uint32 test_counter = 0;
for (curFileNum = obj->start_fileno + 1; curFileNum <= obj->end_fileno; curFileNum++)
{
// TicToc t_process;
if (obj->stop_task)
{
break;
}
appPerfPointBegin(&obj->total_perf);
snprintf(input_file_name, APP_MAX_FILE_PATH, "%s/%d.%s",
obj->input_file_path,
curFileNum,
obj->in_file_ext);
printf(" %d of %d: Loading [%s] ...\n", curFileNum, obj->end_fileno, input_file_name);
// snprintf(input_file_name, APP_MAX_FILE_PATH, "%s/%s%05d%s.%s",
// obj->input_file_path,
// obj->input_file_prefix,
// curFileNum,
// obj->input_file_postfix,
// obj->in_file_ext
// );
if (pipeline < 0)
{
/* Enqueue outpus */
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->flow_vector_field_img_graph_parameter_index, (vx_reference *)&obj->dofvizObj.flow_vector_field_img[enqueueCnt], 1);
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->confidence_img_graph_parameter_index, (vx_reference *)&obj->dofvizObj.confidence_img[enqueueCnt], 1);
// }
// }
if (0 == obj->is_interactive)
{
printf("1 %d of %d: Loading [%s] ...\n", curFileNum, obj->end_fileno, input_file_name);
}
appPerfPointBegin(&obj->fileio_perf);
/* Read input */
if (status == VX_SUCCESS)
{
status = app_load_vximage_from_file(obj->pyramidObj.input_img[enqueueCnt], input_file_name, obj->in_file_format);
}
// if (status == VX_SUCCESS)
// {
// status = app_load_vximage_from_file(obj->harrisObj.input_img[enqueueCnt], input_file_name, obj->in_file_format);
// }
appPerfPointEnd(&obj->fileio_perf);
/* Enqueue input - start execution */
if (status == VX_SUCCESS)
{
status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->input_img_graph_parameter_index, (vx_reference *)&obj->pyramidObj.input_img[enqueueCnt], 1);
}
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->input_img_harris_graph_parameter_index, (vx_reference *)&obj->harrisObj.input_img[enqueueCnt], 1);
// }
enqueueCnt++;
enqueueCnt = (enqueueCnt >= num_buf) ? 0 : enqueueCnt;
pipeline++;
}
else if (pipeline >= 0)
{
vx_image input_image, input_image1;
// vx_image flow_vector_field_image;
// vx_image confidence_image;
uint32_t num_refs;
vx_uint32 actual_checksum = 0;
/* Dequeue input */
if (status == VX_SUCCESS)
{
status = vxGraphParameterDequeueDoneRef(obj->graph, obj->input_img_graph_parameter_index, (vx_reference *)&input_image, 1, &num_refs);
}
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterDequeueDoneRef(obj->graph, obj->input_img_harris_graph_parameter_index, (vx_reference *)&input_image1, 1, &num_refs);
// }
if ((vx_true_e == tivxIsTargetEnabled(TIVX_TARGET_DISPLAY1)) && (1 == obj->displayObj.display_option) && (!obj->test_mode))
{
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterDequeueDoneRef(obj->graph, obj->flow_vector_field_img_graph_parameter_index, (vx_reference *)&flow_vector_field_image, 1, &num_refs);
// }
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterDequeueDoneRef(obj->graph, obj->confidence_img_graph_parameter_index, (vx_reference *)&confidence_image, 1, &num_refs);
// }
// /* Enqueue output */
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->flow_vector_field_img_graph_parameter_index, (vx_reference *)&flow_vector_field_image, 1);
// }
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->confidence_img_graph_parameter_index, (vx_reference *)&confidence_image, 1);
// }
}
else
{
/* Dequeue & Save output */
outputFileNum = curFileNum - num_buf;
outputFileNum = (outputFileNum <= obj->start_fileno) ? (obj->end_fileno - obj->start_fileno + outputFileNum + 1) : outputFileNum;
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterDequeueDoneRef(obj->graph, obj->flow_vector_field_img_graph_parameter_index, (vx_reference *)&flow_vector_field_image, 1, &num_refs);
// snprintf(output_file_name_flow_img, APP_MAX_FILE_PATH, "%s/%sflov_%05d.%s",
// obj->output_file_path,
// obj->output_file_prefix,
// outputFileNum,
// obj->out_file_ext);
// }
// if ((status == VX_SUCCESS) && (!obj->test_mode))
// {
// if (0 == obj->is_interactive)
// {
// printf(" %d of %d: Saving [%s] ...\n", outputFileNum, obj->end_fileno, output_file_name_flow_img);
// }
// status = app_save_vximage_to_file(output_file_name_flow_img, flow_vector_field_image, obj->out_file_format);
// }
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterDequeueDoneRef(obj->graph, obj->confidence_img_graph_parameter_index, (vx_reference *)&confidence_image, 1, &num_refs);
// snprintf(output_file_name_conf_img, APP_MAX_FILE_PATH, "%s/%sconf_%05d.%s",
// obj->output_file_path,
// obj->output_file_prefix,
// outputFileNum,
// obj->out_file_ext);
// }
// if ((status == VX_SUCCESS) && (!obj->test_mode))
// {
// if (0 == obj->is_interactive)
// {
// printf(" %d of %d: Saving [%s] ...\n", outputFileNum, obj->end_fileno, output_file_name_conf_img);
// }
// status = app_save_vximage_to_file(output_file_name_conf_img, confidence_image, obj->out_file_format);
// }
// if (obj->test_mode == 1)
// {
// if (app_test_check_image(confidence_image, obj->width, obj->height, checksums_expected[0][test_counter], &actual_checksum) == vx_false_e)
// {
// test_result = vx_false_e;
// populate_gatherer(0, test_counter, actual_checksum);
// }
// if (app_test_check_image(flow_vector_field_image, obj->width, obj->height, checksums_expected[1][test_counter], &actual_checksum) == vx_false_e)
// {
// test_result = vx_false_e;
// populate_gatherer(1, test_counter, actual_checksum);
// }
// }
/* Enqueue output */
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->flow_vector_field_img_graph_parameter_index, (vx_reference *)&flow_vector_field_image, 1);
// }
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->confidence_img_graph_parameter_index, (vx_reference *)&confidence_image, 1);
// }
}
app_find_image_array_index(obj->pyramidObj.input_img, (vx_reference)input_image, num_buf, &img_array_idx);
// app_find_image_array_index(obj->harrisObj.input_img, (vx_reference)input_image1, num_buf, &img_harray_idx);
// printf("harris id %i", img_harray_idx);
if (img_array_idx != -1)
{
if (0 == obj->is_interactive)
{
printf(" %d of %d: Loading [%s] ...\n", curFileNum, obj->end_fileno, input_file_name);
}
appPerfPointBegin(&obj->fileio_perf);
if (status == VX_SUCCESS)
{
status = app_load_vximage_from_file(obj->pyramidObj.input_img[img_array_idx], input_file_name, obj->in_file_format);
}
// if (status == VX_SUCCESS)
// {
// status = app_load_vximage_from_file(obj->harrisObj.input_img[img_harray_idx], input_file_name, obj->in_file_format);
// }
appPerfPointEnd(&obj->fileio_perf);
}
// if (img_harray_idx != -1)
// {
// if (0 == obj->is_interactive)
// {
// printf(" %d of %d: Loading [%s] ...\n", curFileNum, obj->end_fileno, input_file_name);
// }
// appPerfPointBegin(&obj->fileio_perf);
// if (status == VX_SUCCESS)
// {
// status = app_load_vximage_from_file(obj->harrisObj.input_img[img_harray_idx], input_file_name, obj->in_file_format);
// }
// appPerfPointEnd(&obj->fileio_perf);
// }
/* Enqueue input - start execution */
if (status == VX_SUCCESS)
{
status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->input_img_graph_parameter_index, (vx_reference *)&input_image, 1);//(vx_reference *)&input_image
}
// if (status == VX_SUCCESS)
// {
// status = vxGraphParameterEnqueueReadyRef(obj->graph, obj->input_img_harris_graph_parameter_index, (vx_reference *)&input_image1, 1);
// }
test_counter++;
}
appPerfPointEnd(&obj->total_perf);
/* Run for num_iterations - loop to first image if we're on the last image */
if ((curFileNum == obj->end_fileno) && (iterations < obj->num_iterations))
{
test_counter = 0;
if (0 == obj->is_interactive)
{
printf("Iteration %d of %d: Done !!!\n", iterations, obj->num_iterations);
}
#if 1 //def APP_DEBUG
appPerfPointPrintFPS(&obj->total_perf);
appPerfPointReset(&obj->total_perf);
if (iterations == 1)
{
/* after first iteration reset performance stats */
appPerfStatsResetAll();
}
#endif
curFileNum = obj->start_fileno - 1u;
iterations++;
}
printf("image process done.\n");
}
appPerfPointPrintFPS(&obj->total_perf);
if (0 == obj->is_interactive)
{
printf("Ran %d times successfully!\n", obj->num_iterations * (obj->end_fileno - obj->start_fileno));
}
if (status == VX_SUCCESS)
{
status = vxWaitGraph(obj->graph);
}
obj->stop_task = 1;
return status;
}
tda4 run result above, the pipeline depth is set to 10, and the program is block in 13 frame.
