Using GPU Stream with OpenCV and Nvidia Jetson TK1 - c++

I have acquired the Nvidia Jetson TK1 a few weeks ago and I'm trying to use CPU and GPU at the same time, hence the use of the Stream class. With a simple test I realize it does not do what I think it should, I'm probably using it wrong, or maybe a compiler option.
I checked this link for answers before posting this question : how to use gpu::Stream in OpenCV?
Here is my code :
#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/gpu/gpu.hpp"
#include <time.h>
using namespace cv;
using namespace std;
using namespace gpu;
int main(int argc,char** argv)
{
unsigned long AAtime=0, BBtime=0;
gpu::setDevice(0);
gpu::FeatureSet(FEATURE_SET_COMPUTE_30);
Mat host_src= imread(argv[1],0);
GpuMat gpu_src, gpu_dst;
Stream stream;
gpu_src.upload(host_src);
AAtime = getTickCount();
blur(gpu_src, gpu_dst, Size(5,5), Point(-1,-1), stream);
//Cpu function
int k=0;
for(unsigned long long int j=0;j<10;j++)
for(unsigned long long int i=0;i<10000000;i++)
k+=rand();
stream.waitForCompletion();
Mat host_dst;
BBtime = getTickCount();
cout<<(BBtime - AAtime)/getTickFrequency()<<endl;
gpu_dst.download(host_dst);
return 0;
}
With the timer function I saw that the overall time is CPU + GPU, not the longest of the two, so they do not work in parallel. I tried using the CudaMem as jet47 showed but when I watch the image it's only stripes and not my image:
CudaMem host_src_pl(Size(900, 1200), CV_8UC1, CudaMem::ALLOC_PAGE_LOCKED); // My image is 1200 by 900
CudaMem host_dst_pl;
Mat host_src= imread(argv[1],0);
host_src = host_src_pl;
//rest of the code
To compile I used this command : "g++ -Ofast -mfpu=neon -funsafe-math-optimizations -fabi-version=8 -Wabi -std=c++11 -march=armv7-a testStream.cpp -fopenmp -lopencv_core -lopencv_imgproc -lopencv_highgui -lopencv_calib3d -lopencv_contrib -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_legacy -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_video -lopencv_videostab -o gpuStream" Some might be redundant, I tried without them and it does the same.
What do I miss? Thanks for you answers :)

Related

libopencv_core.so.2.4: error adding symbols: DSO missing from command line

I have installed OpenCV 3.3.0 to Ubuntu 16.04. Just want to compile this code.
#include <iostream>
using namespace std;
#include "opencv2/opencv.hpp"
#include "opencv2/gpu/gpu.hpp"
#include <opencv2/opencv.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <cmath>
using namespace cv;
int main(int argc, char* argv[])
{
try
{
int kernel_size = 3;
cv::Mat src_host = cv::imread("crack2.jpg");
cv::Mat gray_img, avg, kernel;
cv::gpu::GpuMat dst, src;
src.upload(src_host);
cv::gpu::threshold(src, dst, 128.0, 255.0, CV_THRESH_BINARY);
cv::Mat result_host;
dst.download(result_host);
std::cout<< "Done!!!" <<std::endl;
}catch(const cv::Exception& ex)
{
std::cout<<"Error: " << ex.what() << std::endl;
}
return 0;
}
g++ -o main gpu_thresh.cpp 'pkg-config opencv --cflags --libs' -lopencv_gpu -lopencv_core
g++ -L/usr/local/lib -o main gpu_thresh.cpp 'pkg-config opencv --cflags --libs' -lopencv_gpu -lopencv_core
I tried to compile it with these ways but still giving same warning and error.
/usr/bin/ld: warning: libopencv_core.so.2.4, needed by
/usr/lib/gcc/x86_64-linux-gnu/5/../../../x86_64-linux-gnu/libopencv_gpu.so,
may conflict with libopencv_core.so.3.3 /usr/bin/ld: /tmp/ccdhLGL0.o:
undefined reference to symbol '_ZN2cv3gpu6GpuMat7releaseEv'
//usr/lib/x86_64-linux-gnu/libopencv_core.so.2.4: error adding
symbols: DSO missing from command line collect2: error: ld returned 1
exit status
What should I do?
There's no opencv2/gpu/gpu.hpp in OpenCV 3.3. If your code compiles then it means that you've both OpenCV 2.4 and 3.3 on your machine.
In OpenCV 3.3, include:
#include <opencv2/core/cuda.hpp>
and then use
cv::cuda::GpuMat img;
See details here.
Edit: I just noticed your compilation method. When using pkg-config opencv --cflags --libs, you don't need to manually add the libopencv files anymore.
Just do: g++ -o main gpu_thresh.cpp 'pkg-config opencv --cflags --libs'

cv::imwrite "undefined" when using OpenCV 3.2

I am using OpenCV 3.2.0 on Ubuntu 64-bit and have the written following code which I call WebImageIO.cpp
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "cv.h"
#include "highgui.h"
#include <opencv2/core.hpp>
#include <opencv2/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/videoio.hpp>
#include <math.h>
#include <windows.h>
#include "Generic.h"
#include "Palette.h"
#include "CWebImageIO.h"
using namespace cv;
ERROR_NUMBER CWebImageIO::WriteColourImageToPNGFile(BytePlane bytePlane, BYTE *bpOutputImage,
TCHAR *outputFileName)
{
int iNumBands=3;
int row, col, inputInc, inc;
BytePlane bpBufferPlane;
// Make real colour output plane
bpBufferPlane=MakeBytePlane(bytePlane.iRows, iNumBands*bytePlane.iColumns, NULL);
if (!(bpBufferPlane.Data))
return ERROR_MEMORY_ALLOCATION;
// Fill buffer plane with test values
cv::Mat outputImage=cv::Mat(bytePlane.iRows, bytePlane.iColumns, CV_8UC3);
if (!(outputImage.data))
{
FreeBytePlane(bpBufferPlane);
return ERROR_MEMORY_ALLOCATION;
}
memcpy((void *)(outputImage.data), (void *)(bpOutputImage),
bytePlane.iRows*bytePlane.iColumns*3);
if (!(imwrite((char *)outputFileName, outputImage)))
{
free(bpOutputImage);
return ErrorWritingFile(outputFileName);
}
// Cleanup
FreeBytePlane(bpBufferPlane);
return ERROR_NONE;
}
I then try to build it with the following.
g++ `pkg-config opencv --libs` -o dist/Debug/GNU-Linux/progName build/Debug/GNU-Linux/_ext/73c876dd/WebImageIO.o build/Debug/GNU-Linux/main.o /usr/lib/x86_64-linux-gnu/libopencv_calib3d.so -lopencv_calib3d -lopencv_contrib -lopencv_core -lopencv_features2d -lopencv_flann -lopencv_gpu -lopencv_highgui -lopencv_imgproc -lopencv_legacy -lopencv_ml -lopencv_objdetect -lopencv_ocl -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_ts -lopencv_video -lopencv_videostab -lpng
I get the following error message.
/home/peter/NetBeansProjects/ApplyModelToSet/../../DraculaFiles/CWebImageIO.cpp:247: undefined reference to `cv::imwrite(cv::String const&, cv::_InputArray const&, std::vector<int, std::allocator<int> > const&)'
I have read that cv::imread (at least) uses the imgcodecs library but
sudo find / -name '*imgcodecs*.so' -print
returns no results after my having installed opencv 3.2 on my system
EDIT:
pkg-config opencv --libs
returns
/usr/lib/x86_64-linux-gnu/libopencv_calib3d.so -lopencv_calib3d /usr/lib/x86_64-linux-gnu/libopencv_contrib.so -lopencv_contrib /usr/lib/x86_64-linux-gnu/libopencv_core.so -lopencv_core /usr/lib/x86_64-linux-gnu/libopencv_features2d.so -lopencv_features2d /usr/lib/x86_64-linux-gnu/libopencv_flann.so -lopencv_flann /usr/lib/x86_64-linux-gnu/libopencv_gpu.so -lopencv_gpu /usr/lib/x86_64-linux-gnu/libopencv_highgui.so -lopencv_highgui /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so -lopencv_imgproc /usr/lib/x86_64-linux-gnu/libopencv_legacy.so -lopencv_legacy /usr/lib/x86_64-linux-gnu/libopencv_ml.so -lopencv_ml /usr/lib/x86_64-linux-gnu/libopencv_objdetect.so -lopencv_objdetect /usr/lib/x86_64-linux-gnu/libopencv_ocl.so -lopencv_ocl /usr/lib/x86_64-linux-gnu/libopencv_photo.so -lopencv_photo /usr/lib/x86_64-linux-gnu/libopencv_stitching.so -lopencv_stitching /usr/lib/x86_64-linux-gnu/libopencv_superres.so -lopencv_superres /usr/lib/x86_64-linux-gnu/libopencv_ts.so -lopencv_ts /usr/lib/x86_64-linux-gnu/libopencv_video.so -lopencv_video /usr/lib/x86_64-linux-gnu/libopencv_videostab.so -lopencv_videostab

Get a opencv_gpu function working in Qt5

I have an OpenSUSE 13.2 System with Qt5 and OpenCV installed with cudasupport. The Hardware is an Intel i5 processor with an integrated intel gpu chip and a NVidia GForce 940 M and i have tried to compile this file.
#include <iostream>
#include <time.h>
#include "opencv2/core/core.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/opencv.hpp"
#include "opencv2/gpu/gpu.hpp"
using namespace std;
int main()
{
try
{
cv::Mat dst_mat;
cv::Mat src_host = cv::imread("/home/peter/testCuda/testCuda/GothaOrangerie.JPG", CV_LOAD_IMAGE_GRAYSCALE);
cv::namedWindow("Result",cv::WINDOW_NORMAL);
cv::imshow("Result", src_host);
cv::waitKey();
cv::gpu::GpuMat dst, src;
src.upload(src_host);
clock_t t = clock();
cv::gpu::threshold(src, dst, 128.0, 255.0, CV_THRESH_BINARY);
t = clock() -t;
cv::Mat result_host(dst);
cout << ((float)t)/CLOCKS_PER_SEC << endl;
cv::imshow("Result", result_host);
cv::waitKey();
t = clock();
cv::threshold(src_host, dst_mat, 128.0, 255.0, CV_THRESH_BINARY);
t = clock() -t;
cout << ((float)t)/CLOCKS_PER_SEC << endl;
cv::imshow("Result", dst_mat);
cv::waitKey();
}
catch(const cv::Exception& ex)
{
cout << "Error: " << ex.what() << endl;
}
return 0;
}
The compilation in the shell with
g++ main.cpp -o threshold `pkg-config --cflags --libs opencv` -lopencv_gpu -L/usr/local/cuda-7.5/lib64
works pretty well i can run the small program without any issues. If i try it with the Qt5 IDE it returns me this error.
OpenCV Error: No GPU support (The library is compiled without CUDA support) in mallocPitch, file /home/abuild/rpmbuild/BUILD/opencv-2.4.9/modules/dynamicuda/include/opencv2/dynamicuda/dynamicuda.hpp, line 126
Error: /home/abuild/rpmbuild/BUILD/opencv-2.4.9/modules/dynamicuda/include/opencv2/dynamicuda/dynamicuda.hpp:126: error: (-216) The library is compiled without CUDA support in function mallocPitch
If i run the shellcompiled program with this command
optirun ./threshold
i get the same error.
The .pro File is
#-------------------------------------------------
#
# Project created by QtCreator 2015-10-15T04:02:07
#
#-------------------------------------------------
TARGET = testCuda
LIBS += -L/usr/lib64/
LIBS += -L/usr/local/cuda-7.5/lib64 -lopencv_gpu
LIBS += `pkg-config opencv --cflags --libs`
SOURCES += main.cpp
and the Qt compilation command is
22:58:12: Running steps for project testCuda...
22:58:12: Configuration unchanged, skipping qmake step.
22:58:12: Starting: "/usr/bin/make"
g++ -c -pipe -O2 -Wall -W -D_REENTRANT -DQT_NO_DEBUG -DQT_GUI_LIB -DQT_CORE_LIB -DQT_SHARED -I/usr/share/qt4/mkspecs/linux-g++ -I../testCuda -I/usr/include/QtCore -I/usr/include/QtGui -I/usr/include -I. -I../testCuda -I. -o main.o ../testCuda/main.cpp
g++ -Wl,-O1 -o testCuda main.o -L/usr/lib64 -L/usr/lib64/ -L/usr/local/cuda-7.5/lib64 -lopencv_gpu `pkg-config opencv --cflags --libs` -lQtGui -L/usr/lib64 -L/usr/X11R6/lib -lQtCore -lpthread
22:58:13: The process "/usr/bin/make" exited normally.
22:58:13: Elapsed time: 00:01.
Anybody an idea how to fix that?
Deinstalling the preinstalled libopencv-2.4.9 package solved it.

Using OpenCV in eclipse

I am trying to setup opencv in eclipse Luna. I have written a sample application as follows :
#include <cv.h>
#include <highgui.h>
#include<iostream>
using namespace cv;
int main( int argc, char** argv )
{
Mat image;
image = imread( argv[1], 1 );
if( argc != 2 || !image.data )
{
printf( "No image data \n" );
return -1;
}
namedWindow( "Display Image", CV_WINDOW_AUTOSIZE );
imshow( "Display Image", image );
waitKey(0);
return 0;
}
In my project properties i have included /usr/local/include/opencv in (Project->Properties->C/C++ Build->Settings->Tool Settings -> GCC C++ Compiler -> Includes -> Include Paths. )
and /usr/local/lib in (Project->Properties->C/C++ Build->Settings->Tool Settings -> GCC C++ Linker -> Libraries -> Library Search Path. )
My output of the command pkg-config --cflags opencv is -I/usr/local/include/opencv -I/usr/local/include
and the output of pkg-config --libs opencv is
-L/usr/local/lib -lopencv_stitching -lopencv_superres -lopencv_videostab -lopencv_viz -lopencv_adas -lopencv_bgsegm -lopencv_bioinspired -lopencv_ccalib -lopencv_datasets -lopencv_face -lopencv_latentsvm -lopencv_objdetect -lopencv_line_descriptor -lopencv_optflow -lopencv_reg -lopencv_rgbd -lopencv_saliency -lopencv_stereo -lopencv_surface_matching -lopencv_text -lopencv_tracking -lopencv_xfeatures2d -lopencv_shape -lopencv_video -lopencv_ximgproc -lopencv_calib3d -lopencv_features2d -lopencv_ml -lopencv_flann -lopencv_xobjdetect -lopencv_xphoto -lopencv_highgui -lopencv_videoio -lopencv_imgcodecs -lopencv_photo -lopencv_imgproc -lopencv_core -lopencv_hal
When I tried building my project i got the following errors.
‘imread’ was not declared in this scope
‘imshow’ was not declared in this scope
‘namedWindow’ was not declared in this scope
‘waitKey’ was not declared in this scope
Function 'imread' could not be resolved
Function 'imshow' could not be resolved
Function 'namedWindow' could not be resolved
Function 'waitKey' could not be resolved
Can anyone help me fixing the problem and explain what is that I was missing.
Try to change:
#include <cv.h>
#include <highgui.h>
To this:
#include <opencv2/opencv.hpp>
You also need to link the Libraries (GCC C++ Linker » Libraries):
opencv_core
opencv_imgcodecs
opencv_highgui
You didn't say which version you are using, but as you have -lopencv_imgcodecs, you are probably using OpenCV 3. If you prefer, follow the instructions here. Also change from CV_WINDOW_AUTOSIZE to WINDOW_AUTOSIZE.

undefined reference to cv::calcOpticalFlow

EDIT
Hey,
For anyone else having a similar issue, I figured something of a work around out. If you just compile this using :
gcc `pkg-config --cflags opencv` CameraMotionTest.cpp `pkg-config --libs opencv` -o cammotion
instead of the makefile that I used, it compiles correctly. I'm not exactly sure what was wrong with the method I was using before still so if someone still wants to comment on that go ahead.
After doing this i found some other issues in the code that needed fixed as well but those didn't have anything to do with this question so I won't go into them here.
Thanks!
ORIGINAL
I am trying to compile a short code for camera motion estimation on Ubuntu using openCV but am running into and "undefined reference" error for one of the openCV functions (and only one). The error I get when I try to compile is as follows:
g++ CameraMotionTest.cpp -lopencv_video -lopencv_calib3d -lopencv_imgproc -lopencv_objdetect -lopencv_features2d -lopencv_core -lopencv_highgui -lopencv_videostab -lopencv_contrib -lopencv_flann -lopencv_legacy -lopencv_ml -lopencv_nonfree -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_ts -lopencv_gpu -lopencv_ocl -o CameraMotion
/tmp/ccdHB3Pr.o: In function `main':
CameraMotionTest.cpp:(.text+0x77f): undefined reference to `cv::calcOpticalFlowPyrLK(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray
const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::_OutputArray const&, cv::Size_<int>, int, cv::TermCriteria, int, double)'
collect2: ld returned 1 exit status
make: *** [CameraMotion] Error 1
I am using this makefile to try and compile and run the program:
all: run
run: CameraMotion
./CameraMotion *.jpg
CameraMotion: CameraMotionTest.cpp
g++ CameraMotionTest.cpp -lopencv_video -lopencv_calib3d -lopencv_imgproc -lopencv_objdetect -lopencv_features2d -lopencv_core -lopencv_highgui -lopencv_videostab -lopencv_contrib -lopencv_flann -lopencv_legacy -lopencv_ml -lopencv_nonfree -lopencv_photo -lopencv_stitching -lopencv_superres -lopencv_ts -lopencv_gpu -lopencv_ocl -o CameraMotion
Finally, the code I am trying to compile is:
#include <opencv2/objdetect/objdetect.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/video/tracking.hpp>
#include <opencv/cv.h>
#include <opencv/cxcore.h>
#include <iostream>
#include <stdio.h>
#include <fstream>
using namespace std;
using namespace cv;
int main(int argc, const char** argv){
//storing the image in a temporary variable
vector<Mat> img;
int noi=5;
for( int index=0; index<noi;index++){
img.push_back(imread(argv[index+1]));
}
Mat im1=img[0];
//converting image to grayscale
cvtColor(im1,im1,CV_RGB2GRAY);
//initializing variable
vector<Point2f> corners1, corners2;
//setting parameters for corner detection
int maxCorner=200;
double quality=0.01;
double minDist=20;
int blockSize=3;
double k=0.04;
Mat mask;
vector<uchar> status;
vector<float> track_err;
int maxlevel=3;
Mat im2=img[1];
TermCriteria termcrit(CV_TERMCRIT_ITER | CV_TERMCRIT_EPS,20,.03);
vector<Point2f> pointskept1,pointskept2;
vector<int>pointskeptindex;
Mat F,E,R,tran;
Matx33d W(0,-1,0,
1,0,0,
0,0,1);
Matx33d Winv(0,1,0,
-1,0,0,
0,0,1);
OutputArray statF=noArray();
float fx=951.302687761842550;
float fy=951.135570101293520;
float cx=484.046807724895250;
float cy=356.325026020307800;
float alpha=0;
float kmatdata[3][3]={{fx,fy*tan(alpha),cx},{0,fy,cy},{0,0,1}};
Mat K(3,3,CV_32FC1,kmatdata);
cout<<K<<endl;
ofstream myfile;
//collecting new images, determining corners, and calculating optical flow
for (int i=1; i<noi-1; i++) {
//capturing next image
//converting new image to grayscale
cvtColor(im2,im2,CV_RGB2GRAY);
//determining corner features
goodFeaturesToTrack(im1,corners1, maxCorner, quality, minDist, mask, blockSize, false,k);
goodFeaturesToTrack(im2,corners2, maxCorner, quality, minDist, mask, blockSize, false,k);
//calculating optical flow
calcOpticalFlowPyrLK(im1,im2,corners1,corners2,status,track_err,Size(10,10),maxlevel,termcrit,0.0001);
//filtering points
for(int t=0; t<status.size();i++){
if(status[t] && track_err[i]<12.0){
pointskeptindex.push_back(i);
pointskept1.push_back(corners1[i]);
pointskept2.push_back(corners2[i]);
} else {
status[i]=0;
}
}
F=findFundamentalMat(pointskept1,pointskept2,FM_RANSAC,1,0.99,statF);
E=K.t()*F*K;
SVD svd(E);
R=svd.u*Mat(W)*svd.vt;
tran=svd.u.col(2);
//renaming new image to image 1
im2.copyTo(im1);
im2=img[i+1];
myfile.open("output.txt", ios_base::app);
myfile<<"Rotation mat: ";
for(int l=0;l<R.rows;l++){
for(int m=0; m<R.cols; m++){
myfile<<R.at<float>(i,m)<<", ";
}
}
myfile<<"Translation vector: ";
for(int l=0; l<tran.rows;l++){
myfile<<tran.at<float>(l,1)<<", ";
}
myfile<<"\n";
myfile.close();
}
return 0;
}
Has anyone else run into a problem like this? I am assuming that there is just a linking error somewhere but I am quite frankly pretty new to opencv and c++ in general and i haven't been able to figure out what is wrong yet.
Thanks!
Andrew
For anyone else having a similar issue, I figured something of a work around out. If you just compile this using :
gcc `pkg-config --cflags opencv` CameraMotionTest.cpp `pkg-config --libs opencv` -o cammotion
instead of the makefile that I used, it compiles correctly. I'm not exactly sure what was wrong with the method I was using before still so if someone still wants to comment on that go ahead.
After doing this i found some other issues in the code that needed fixed as well but those didn't have anything to do with this question so I won't go into them here.
Thanks!
It seems that You have some problem with Your OpenCV instalation. To compile Your code, on OpenCV 2.4.9, it was enough to use
g++ t1.cpp -lopencv_video -lopencv_core -lopencv_objdetect -lopencv_imgproc -lopencv_highgui -lopencv_calib3d -o CameraMotion
You can also try using nm -g <library> | grep -i <function_name> to check if Your libopencv_video.so contains calcOpticalFlowPyrLK... (based on this answer).