How to set VPI Array data with cpu memory?

[ayman2]

I am trying to set data coming from opencv’s goodFeaturesToTrack to vpiSubmitOpticalFlowPyrLK, this requires I set a vpiArray type, how can I do this in vpi v3. I don’t see any samples to do this.

Also I know there is a HarrisCornerDetector which will output features in the right format, however, I have found that goodFeaturesToTrack produces better candidate features.

[ayman2]

#include <vpi/Array.h>
#include <vpi/ArrayType.h>
#include <vpi/Status.h>

#include <opencv2/opencv.hpp>

#define CHECK_STATUS(STMT)                                      \
    do {                                                        \
        VPIStatus status__ = (STMT);                            \
        if (status__ != VPI_SUCCESS) {                          \
            char buffer[VPI_MAX_STATUS_MESSAGE_LENGTH];         \
            vpiGetLastStatusMessage(buffer, sizeof(buffer));    \
            std::ostringstream ss;                              \
            ss << vpiStatusGetName(status__) << ": " << buffer; \
            throw std::runtime_error(ss.str());                 \
        }                                                       \
    } while (0);

int main(int argc, char** argv) {

    // Test VPI reading and writing primitives
    VPIArray array = NULL;
    VPIArrayType format = VPI_ARRAY_TYPE_KEYPOINT_F32;

    // Create empty array on the vpi side
    vpiArrayCreate(0, format, 0, &array);

    // Create a array of opencv points
    std::vector<cv::Point2f> points_opencv;
    std::vector<VPIKeypointF32> points;

    points_opencv.push_back(cv::Point2f(1.0, 2.0));

    // Copy the points to the VPI array
    for (auto& point : points_opencv) {
        points.push_back(VPIKeypointF32{point.x, point.y});
    }

    VPIArrayData data_from_opencv;
    data_from_opencv.bufferType = VPI_ARRAY_BUFFER_HOST_AOS;
    data_from_opencv.buffer.aos.capacity = points.capacity();
    data_from_opencv.buffer.aos.type = format;
    int32_t size = points.size();
    data_from_opencv.buffer.aos.sizePointer = &size;
    data_from_opencv.buffer.aos.strideBytes = sizeof(VPIKeypointF32);
    data_from_opencv.buffer.aos.data = &points[0];

    CHECK_STATUS(vpiArrayCreateWrapper(&data_from_opencv, 0, &array));

    VPIArrayData data;
    // Lock the array for reading
    CHECK_STATUS(vpiArrayLockData(array, VPI_LOCK_READ,
                                  VPI_ARRAY_BUFFER_HOST_AOS, &data));

    // Check that the data is the same
    if (data.buffer.aos.capacity != data_from_opencv.buffer.aos.capacity) {
        std::cout << "Size mismatch" << std::endl;
        std::cout << "VPI: " << data.buffer.aos.capacity << std::endl;
        std::cout << "OpenCV: " << data_from_opencv.buffer.aos.capacity
                  << std::endl;

        // Print vpi data type
        std::cout << "VPI data type: " << data.buffer.aos.type << std::endl;
    }

    // Try to access the first element
    VPIKeypointF32* first_element = (VPIKeypointF32*)data.buffer.aos.data;
    std::cout << "First element: " << first_element->x << ", "
              << first_element->y << std::endl;

    // Unlock the array
    CHECK_STATUS(vpiArrayUnlock(array));

    // Destroy the array
    vpiArrayDestroy(array);
}

Read the docs, i was in a mix up thinking I was using vpi2 but I had vpi3 installed, leaving this here for anyone interested in the future.

[AastaLLL]

Hi,

Could you double-check your VPI version?
Since VPI 3 is from JetPack 6 which is only available for the Orin series.

Thanks.