Homography estimation networks with TensorRT support. More...

#include <homographyNet.h>

Inheritance diagram for homographyNet:

Public Types
enum	NetworkType { CUSTOM = 0, COCO_128, WEBCAM_320 }
	Network choice enumeration. More...

Public Member Functions
virtual	~homographyNet ()
	Destroy. More...

bool	FindDisplacement (float imageA, float imageB, uint32_t width, uint32_t height, float displacement[8])
	Find the displacement from imageA to imageB. More...

bool	FindHomography (float imageA, float imageB, uint32_t width, uint32_t height, float H[3][3])
	Find the homography that warps imageA to imageB. More...

bool	FindHomography (float imageA, float imageB, uint32_t width, uint32_t height, float H[3][3], float H_inv[3][3])
	Find the homography (and it's inverse) that warps imageA to imageB. More...

bool	ComputeHomography (const float displacement[8], float H[3][3])
	Given the displacement from FindDisplacement(), compute the homography. More...

bool	ComputeHomography (const float displacement[8], float H[3][3], float H_inv[3][3])
	Given the displacement from FindDisplacement(), compute the homography and it's inverse. More...

Public Member Functions inherited from tensorNet
virtual	~tensorNet ()
	Destory. More...

bool	LoadNetwork (const char prototxt, const char model, const char mean=NULL, const char input_blob="data", const char output_blob="prob", uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, precisionType precision=TYPE_FASTEST, deviceType device=DEVICE_GPU, bool allowGPUFallback=true, nvinfer1::IInt8Calibrator calibrator=NULL, cudaStream_t stream=NULL)
	Load a new network instance. More...

bool	LoadNetwork (const char prototxt, const char model, const char mean, const char input_blob, const std::vector< std::string > &output_blobs, uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, precisionType precision=TYPE_FASTEST, deviceType device=DEVICE_GPU, bool allowGPUFallback=true, nvinfer1::IInt8Calibrator *calibrator=NULL, cudaStream_t stream=NULL)
	Load a new network instance with multiple output layers. More...

bool	LoadNetwork (const char prototxt, const char model, const char mean, const char input_blob, const Dims3 &input_dims, const std::vector< std::string > &output_blobs, uint32_t maxBatchSize=DEFAULT_MAX_BATCH_SIZE, precisionType precision=TYPE_FASTEST, deviceType device=DEVICE_GPU, bool allowGPUFallback=true, nvinfer1::IInt8Calibrator *calibrator=NULL, cudaStream_t stream=NULL)
	Load a new network instance (this variant is used for UFF models) More...

void	EnableLayerProfiler ()
	Manually enable layer profiling times. More...

void	EnableDebug ()
	Manually enable debug messages and synchronization. More...

bool	AllowGPUFallback () const
	Return true if GPU fallback is enabled. More...

deviceType	GetDevice () const
	Retrieve the device being used for execution. More...

precisionType	GetPrecision () const
	Retrieve the type of precision being used. More...

bool	IsPrecision (precisionType type) const
	Check if a particular precision is being used. More...

cudaStream_t	GetStream () const
	Retrieve the stream that the device is operating on. More...

cudaStream_t	CreateStream (bool nonBlocking=true)
	Create and use a new stream for execution. More...

void	SetStream (cudaStream_t stream)
	Set the stream that the device is operating on. More...

const char *	GetPrototxtPath () const
	Retrieve the path to the network prototxt file. More...

const char *	GetModelPath () const
	Retrieve the path to the network model file. More...

modelType	GetModelType () const
	Retrieve the format of the network model. More...

bool	IsModelType (modelType type) const
	Return true if the model is of the specified format. More...

float	GetNetworkTime ()
	Retrieve the network runtime (in milliseconds). More...

float2	GetProfilerTime (profilerQuery query)
	Retrieve the profiler runtime (in milliseconds). More...

float	GetProfilerTime (profilerQuery query, profilerDevice device)
	Retrieve the profiler runtime (in milliseconds). More...

void	PrintProfilerTimes ()
	Print the profiler times (in millseconds). More...

Static Public Member Functions
static NetworkType	NetworkTypeFromStr (const char *model_name)
	Parse a string to one of the built-in pretrained models. More...

static homographyNet *	Create (NetworkType networkType=WEBCAM_320, uint32_t maxBatchSize=1, precisionType precision=TYPE_FASTEST, deviceType device=DEVICE_GPU, bool allowGPUFallback=true)
	Load a new network instance. More...

static homographyNet *	Create (const char model_path, const char input=HOMOGRAPHY_NET_DEFAULT_INPUT, const char *output=HOMOGRAPHY_NET_DEFAULT_OUTPUT, uint32_t maxBatchSize=1, precisionType precision=TYPE_FASTEST, deviceType device=DEVICE_GPU, bool allowGPUFallback=true)
	Load a custom network instance. More...

static homographyNet *	Create (int argc, char **argv)
	Load a new network instance by parsing the command line. More...

Static Public Member Functions inherited from tensorNet
static precisionType	FindFastestPrecision (deviceType device=DEVICE_GPU, bool allowInt8=true)
	Determine the fastest native precision on a device. More...

static std::vector< precisionType >	DetectNativePrecisions (deviceType device=DEVICE_GPU)
	Detect the precisions supported natively on a device. More...

static bool	DetectNativePrecision (const std::vector< precisionType > &nativeTypes, precisionType type)
	Detect if a particular precision is supported natively. More...

static bool	DetectNativePrecision (precisionType precision, deviceType device=DEVICE_GPU)
	Detect if a particular precision is supported natively. More...

Protected Member Functions
	homographyNet ()

Protected Member Functions inherited from tensorNet
	tensorNet ()
	Constructor. More...

bool	ProfileModel (const std::string &deployFile, const std::string &modelFile, const char input, const Dims3 &inputDims, const std::vector< std::string > &outputs, uint32_t maxBatchSize, precisionType precision, deviceType device, bool allowGPUFallback, nvinfer1::IInt8Calibrator calibrator, std::ostream &modelStream)
	Create and output an optimized network model. More...

void	PROFILER_BEGIN (profilerQuery query)
	Begin a profiling query, before network is run. More...

void	PROFILER_END (profilerQuery query)
	End a profiling query, after the network is run. More...

bool	PROFILER_QUERY (profilerQuery query)
	Query the CUDA part of a profiler query. More...

Additional Inherited Members
Protected Attributes inherited from tensorNet
tensorNet::Logger	gLogger

tensorNet::Profiler	gProfiler

std::string	mPrototxtPath

std::string	mModelPath

std::string	mMeanPath

std::string	mInputBlobName

std::string	mCacheEnginePath

std::string	mCacheCalibrationPath

deviceType	mDevice

precisionType	mPrecision

modelType	mModelType

cudaStream_t	mStream

cudaEvent_t	mEventsGPU [PROFILER_TOTAL *2]

timespec	mEventsCPU [PROFILER_TOTAL *2]

nvinfer1::IRuntime *	mInfer

nvinfer1::ICudaEngine *	mEngine

nvinfer1::IExecutionContext *	mContext

uint32_t	mWidth

uint32_t	mHeight

uint32_t	mInputSize

float *	mInputCPU

float *	mInputCUDA

float2	mProfilerTimes [PROFILER_TOTAL+1]

uint32_t	mProfilerQueriesUsed

uint32_t	mProfilerQueriesDone

uint32_t	mMaxBatchSize

bool	mEnableProfiler

bool	mEnableDebug

bool	mAllowGPUFallback

Dims3	mInputDims

std::vector< outputLayer >	mOutputs

Detailed Description

Homography estimation networks with TensorRT support.

Member Enumeration Documentation

◆ NetworkType

enum homographyNet::NetworkType

Network choice enumeration.

Enumerator
CUSTOM	Custom model from user.
COCO_128	Synthetically-warped COCO (128x128 input)
WEBCAM_320	Sequences collected from webcam (320x240 input)

Constructor & Destructor Documentation

◆ ~homographyNet()

virtual homographyNet::~homographyNet ( )

virtual

Destroy.

◆ homographyNet()

homographyNet::homographyNet ( )

protected

Member Function Documentation

◆ ComputeHomography() [1/2]

bool homographyNet::ComputeHomography	(	const float	displacement[8],
		float	H[3][3]
	)

Given the displacement from FindDisplacement(), compute the homography.

Returns: True if the image was processed without error, false if an error was encountered.

◆ ComputeHomography() [2/2]

bool homographyNet::ComputeHomography	(	const float	displacement[8],
		float	H[3][3],
		float	H_inv[3][3]
	)

Given the displacement from FindDisplacement(), compute the homography and it's inverse.

Returns: True if the image was processed without error, false if an error was encountered.

◆ Create() [1/3]

static homographyNet* homographyNet::Create	(	NetworkType	networkType = `WEBCAM_320`,
		uint32_t	maxBatchSize = `1`,
		precisionType	precision = `TYPE_FASTEST`,
		deviceType	device = `DEVICE_GPU`,
		bool	allowGPUFallback = `true`
	)

static

Load a new network instance.

Parameters

networkType	type of pre-supported network to load
maxBatchSize	The maximum batch size that the network will support and be optimized for.

◆ Create() [2/3]

static homographyNet* homographyNet::Create	(	const char *	model_path,
		const char *	input = `HOMOGRAPHY_NET_DEFAULT_INPUT`,
		const char *	output = `HOMOGRAPHY_NET_DEFAULT_OUTPUT`,
		uint32_t	maxBatchSize = `1`,
		precisionType	precision = `TYPE_FASTEST`,
		deviceType	device = `DEVICE_GPU`,
		bool	allowGPUFallback = `true`
	)

static

Load a custom network instance.

Parameters

model_path	File path to the ONNX model.
input	Name of the input layer blob.
output	Name of the output layer blob.
maxBatchSize	The maximum batch size that the network will support and be optimized for.

◆ Create() [3/3]

static homographyNet* homographyNet::Create	(	int	argc,
		char **	argv
	)

static

Load a new network instance by parsing the command line.

◆ FindDisplacement()

bool homographyNet::FindDisplacement	(	float *	imageA,
		float *	imageB,
		uint32_t	width,
		uint32_t	height,
		float	displacement[8]
	)

Find the displacement from imageA to imageB.

Returns: True if the image was processed without error, false if an error was encountered.

◆ FindHomography() [1/2]

bool homographyNet::FindHomography	(	float *	imageA,
		float *	imageB,
		uint32_t	width,
		uint32_t	height,
		float	H[3][3]
	)

Find the homography that warps imageA to imageB.

Returns: True if the image was processed without error, false if an error was encountered.

◆ FindHomography() [2/2]

bool homographyNet::FindHomography	(	float *	imageA,
		float *	imageB,
		uint32_t	width,
		uint32_t	height,
		float	H[3][3],
		float	H_inv[3][3]
	)

Find the homography (and it's inverse) that warps imageA to imageB.

Returns: True if the image was processed without error, false if an error was encountered.

◆ NetworkTypeFromStr()

static NetworkType homographyNet::NetworkTypeFromStr ( const char * model_name )

static

Parse a string to one of the built-in pretrained models.

Valid names are "coco", "coco_128", "coco-128", "webcam", "webcam_320", and "webcam-320".

Returns: one of the homographyNet::NetworkType enums, or homographyNet::CUSTOM on invalid string.

The documentation for this class was generated from the following file:

jetson-inference/homographyNet.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ NetworkType

Constructor & Destructor Documentation

◆ ~homographyNet()

◆ homographyNet()

Member Function Documentation

◆ ComputeHomography() [1/2]

◆ ComputeHomography() [2/2]

◆ Create() [1/3]

◆ Create() [2/3]

◆ Create() [3/3]

◆ FindDisplacement()

◆ FindHomography() [1/2]

◆ FindHomography() [2/2]

◆ NetworkTypeFromStr()