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blobdetection.hpp

a guest Jan 29th, 2020 86 in 198 days
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  1. #ifndef DEF_BLOB_DETECTION
  2. #define DEF_BLOB_DETECTION
  3.  
  4. //#define USE_READ_PIXELS
  5. //#define ENABLE_READ_BACK
  6.  
  7. #ifndef USE_READ_PIXELS
  8. #include <interface/vcsm/user-vcsm.h>
  9. #endif
  10.  
  11. /* Includes & CPU stuff omitted */
  12.  
  13. static int maskW, maskH, mapW, mapH;
  14.  
  15. // Regions as read from the GPU memory
  16. typedef uint16_t BlobMapRegion;
  17. static BlobMapRegion *blobMapRegions;
  18.  
  19. // Intermediate render targets
  20. #ifdef USE_READ_PIXELS
  21. static FrameRenderTarget *blobMask, *blobMap;
  22. #else
  23. static FrameRenderTarget *blobMask;
  24. static VCSMRenderTarget *blobMap;
  25. #endif
  26.  
  27. static void initBlobDetection (int width, int height, EGL_Setup eglSetup)
  28. {
  29.     maskW = width;
  30.     maskH = height;
  31.     mapW = maskW / 4;
  32.     mapH = maskH / 4;
  33.  
  34.     /* Init of CPU stuff omitted */
  35.  
  36. #ifdef USE_READ_PIXELS
  37.     // Setup intermediate Render Targets
  38.     blobMask = new FrameRenderTarget(maskW, maskH, GL_RGBA, GL_UNSIGNED_BYTE);
  39.     blobMap = new FrameRenderTarget(mapW/2, mapH, GL_RGBA, GL_UNSIGNED_BYTE);
  40.     // Allocate memory for regions map read back from the GPU
  41.     blobMapRegions = (BlobMapRegion*)malloc(mapW * mapH * 2);
  42. #else
  43.     // Setup Render Targets in Shared Memory
  44.     vcsm_init();
  45.  
  46.     // Switch type of render target between texture and VCSM
  47.     blobMask = new FrameRenderTarget(maskW, maskH, GL_RGBA, GL_UNSIGNED_BYTE);
  48.     //blobMask = new VCSMRenderTarget(maskW, maskH, eglSetup.display);
  49.     blobMap = new VCSMRenderTarget(mapW/2, mapH, eglSetup.display);
  50.     //blobMap = new FrameRenderTarget(mapW/2, mapH, GL_RGBA, GL_UNSIGNED_BYTE);
  51. #endif
  52. }
  53.  
  54.  
  55. static void performBlobDetection(CamGL_Frame *frame, std::vector<Cluster> &blobs)
  56. {
  57.     // -- GPU PART --
  58.  
  59.     // Render from camera frame source to blobMask
  60.     shaderESBlobDetect->use();
  61.     frame->setSource(shaderESBlobDetect, 0);
  62.     blobMask->setTarget();
  63.     SSQuad->draw();
  64.  
  65.     // Encode binary blob flag in source alpha into regions of full color
  66.     // Each region is 4x4 and stores 4bit per channel in 4 channels
  67.     shaderESBlobEncode->use();
  68.     blobMask->setSource(shaderESBlobEncode, 0);
  69.     blobMap->setTarget();
  70.     SSQuad->draw();
  71.  
  72.     // -- CPU PART --
  73.  
  74. #ifdef ENABLE_READ_BACK
  75.  
  76.     int xMin = 0, xMax = mapW, yMin = 0, yMax = mapH;
  77.     int bufW = mapW, bufH = mapH;
  78.  
  79. #ifdef USE_READ_PIXELS
  80.     // Read back encoded regions map from GPU memory
  81.     glReadPixels(0, 0, mapW/2, mapH, GL_RGBA, GL_UNSIGNED_BYTE, blobMapRegions);
  82. #else
  83.     // Wait for current GL operations to finish
  84.     glFinish();
  85.     // Lock the blobMap shared memory so CPU can access it
  86.     blobMapRegions = (BlobMapRegion*)blobMap->lock();
  87.     bufW = blobMap->bufferWidth*2;
  88.     bufH = blobMap->bufferHeight;
  89. #endif
  90.  
  91.     /* Processing omitted */
  92.  
  93. #ifndef USE_READ_PIXELS
  94.     blobMap->unlock();
  95. #endif
  96.  
  97. #else // ENABLE_READ_BACK
  98.     glFinish();
  99. #endif // ENABLE_READ_BACK
  100. }
  101.  
  102. #endif
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