Merge pull request #20785 from smirnov-alexey:as/oak_backend

GAPI: Add OAK backend * Initial tests and cmake integration * Add a public header and change tests * Stub initial empty template for the OAK backend * WIP * WIP * WIP * WIP * Runtime dai hang debug * Refactoring * Fix hang and debug frame data * Fix frame size * Fix data size issue * Move test code to sample * tmp refactoring * WIP: Code refactoring except for the backend * WIP: Add non-camera sample * Fix samples * Backend refactoring wip * Backend rework wip * Backend rework wip * Remove mat encoder * Fix namespace * Minor backend fixes * Fix hetero sample and refactor backend * Change linking logic in the backend * Fix oak sample * Fix working with ins/outs in OAK island * Trying to fix nv12 problem * Make both samples work * Small refactoring * Remove meta args * WIP refactoring kernel API * Change in/out args API for kernels * Fix build * Fix cmake warning * Partially address review comments * Partially address review comments * Address remaining comments * Add memory ownership * Change pointer-to-pointer to reference-to-pointer * Remove unnecessary reference wrappers * Apply review comments * Check that graph contains only one OAK island * Minor refactoring * Address review comments
2026-07-29 23:33:05 +04:00 · 2022-01-18 01:56:01 +03:00
parent a1ec4ea3a9
commit f2d5d6d24e
10 changed files with 1155 additions and 2 deletions
@@ -0,0 +1,70 @@
+#include <fstream>
+
+#include <opencv2/gapi.hpp>
+#include <opencv2/gapi/core.hpp>
+#include <opencv2/gapi/gframe.hpp>
+
+#include <opencv2/gapi/oak/oak.hpp>
+#include <opencv2/gapi/streaming/format.hpp> // BGR accessor
+
+#include <opencv2/highgui.hpp> // CommandLineParser
+
+const std::string keys =
+    "{ h help  |              | Print this help message }"
+    "{ output  | output.h265  | Path to the output .h265 video file }";
+
+#ifdef HAVE_OAK
+
+int main(int argc, char *argv[]) {
+    cv::CommandLineParser cmd(argc, argv, keys);
+    if (cmd.has("help")) {
+        cmd.printMessage();
+        return 0;
+    }
+
+    const std::string output_name = cmd.get<std::string>("output");
+
+    cv::gapi::oak::EncoderConfig cfg;
+    cfg.profile = cv::gapi::oak::EncoderConfig::Profile::H265_MAIN;
+
+    cv::GFrame in;
+    cv::GArray<uint8_t> encoded = cv::gapi::oak::encode(in, cfg);
+
+    auto args = cv::compile_args(cv::gapi::oak::ColorCameraParams{}, cv::gapi::oak::kernels());
+
+    auto pipeline = cv::GComputation(cv::GIn(in), cv::GOut(encoded)).compileStreaming(std::move(args));
+
+    // Graph execution /////////////////////////////////////////////////////////
+    pipeline.setSource(cv::gapi::wip::make_src<cv::gapi::oak::ColorCamera>());
+    pipeline.start();
+
+    std::vector<uint8_t> out_h265_data;
+
+    std::ofstream out_h265_file;
+    out_h265_file.open(output_name, std::ofstream::out | std::ofstream::binary | std::ofstream::trunc);
+
+    // Pull 300 frames from the camera
+    uint32_t frames = 300;
+    uint32_t pulled = 0;
+
+    while (pipeline.pull(cv::gout(out_h265_data))) {
+        if (out_h265_file.is_open()) {
+            out_h265_file.write(reinterpret_cast<const char*>(out_h265_data.data()),
+                                                              out_h265_data.size());
+        }
+        if (pulled++ == frames) {
+            pipeline.stop();
+            break;
+        }
+    }
+
+    std::cout << "Pipeline finished: " << output_name << " file has been written." << std::endl;
+}
+#else // HAVE_OAK
+
+int main() {
+    GAPI_Assert(false && "Built without OAK support");
+    return -1;
+}
+
+#endif // HAVE_OAK
@@ -0,0 +1,69 @@
+#include <opencv2/gapi.hpp>
+#include <opencv2/gapi/core.hpp>
+#include <opencv2/gapi/cpu/core.hpp>
+#include <opencv2/gapi/gframe.hpp>
+#include <opencv2/gapi/media.hpp>
+
+#include <opencv2/gapi/oak/oak.hpp>
+#include <opencv2/gapi/streaming/format.hpp> // BGR accessor
+
+#include <opencv2/highgui.hpp> // CommandLineParser
+
+const std::string keys =
+    "{ h help  |              | Print this help message }"
+    "{ output  | output.png   | Path to the output file }";
+
+#ifdef HAVE_OAK
+
+int main(int argc, char *argv[]) {
+    cv::CommandLineParser cmd(argc, argv, keys);
+    if (cmd.has("help")) {
+        cmd.printMessage();
+        return 0;
+    }
+
+    const std::string output_name = cmd.get<std::string>("output");
+
+    std::vector<int> h = {1, 0, -1,
+                          2, 0, -2,
+                          1, 0, -1};
+    std::vector<int> v = { 1,  2,  1,
+                           0,  0,  0,
+                          -1, -2, -1};
+    cv::Mat hk(3, 3, CV_32SC1, h.data());
+    cv::Mat vk(3, 3, CV_32SC1, v.data());
+
+    // Heterogeneous pipeline:
+    // OAK camera -> Sobel -> streaming accessor (CPU)
+    cv::GFrame in;
+    cv::GFrame sobel = cv::gapi::oak::sobelXY(in, hk, vk);
+    // Default camera and then sobel work only with nv12 format
+    cv::GMat out = cv::gapi::streaming::Y(sobel);
+
+    auto args = cv::compile_args(cv::gapi::oak::ColorCameraParams{},
+                                 cv::gapi::oak::kernels());
+
+    auto pipeline = cv::GComputation(cv::GIn(in), cv::GOut(out)).compileStreaming(std::move(args));
+
+    // Graph execution /////////////////////////////////////////////////////////
+    cv::Mat out_mat(1920, 1080, CV_8UC1);
+
+    pipeline.setSource(cv::gapi::wip::make_src<cv::gapi::oak::ColorCamera>());
+    pipeline.start();
+
+    // pull 1 frame
+    pipeline.pull(cv::gout(out_mat));
+
+    cv::imwrite(output_name, out_mat);
+
+    std::cout << "Pipeline finished: " << output_name << " file has been written." << std::endl;
+}
+
+#else // HAVE_OAK
+
+int main() {
+    GAPI_Assert(false && "Built without OAK support");
+    return -1;
+}
+
+#endif // HAVE_OAK