Develop zerocopy #1053
There are no files selected for viewing
|
There was a problem hiding this comment. I think we can remove this one before the merge. |
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| #include <depthai/depthai.hpp> | ||
| #include <opencv2/highgui.hpp> | ||
| #include "depthai/pipeline/ThreadedHostNode.hpp" | ||
| #include "depthai/pipeline/node/ImageManip.hpp" | ||
|
|
||
| class TestSource : public dai::NodeCRTP<dai::node::ThreadedHostNode, TestSource> { | ||
| public: | ||
| Output output = dai::Node::Output{*this, {}}; | ||
|
|
||
| void run() override { | ||
| int64_t seqNum = 0; | ||
|
|
||
| // Generate a cv::Mat frame with a gradient | ||
| cv::Mat frame(768, 1920, CV_8UC3); | ||
| for(int i = 0; i < frame.rows; i++) { | ||
| for(int j = 0; j < frame.cols; j++) { | ||
| frame.at<cv::Vec3b>(i, j) = cv::Vec3b(i % 256, j % 256, (i + j) % 256); | ||
| } | ||
| } | ||
| if(frame.empty()) { | ||
| throw std::runtime_error("Couldn't capture frame"); | ||
| } | ||
|
|
||
| cv::Mat frameResized; | ||
| cv::resize(frame, frameResized, cv::Size(1920, 768)); | ||
|
|
||
| while(isRunning()) { | ||
| auto imgFrame = std::make_shared<dai::ImgFrame>(); | ||
| imgFrame->setFrame(frameResized); | ||
| imgFrame->setSequenceNum(seqNum++); | ||
| imgFrame->setType(dai::ImgFrame::Type::NV12); | ||
| imgFrame->setWidth(frameResized.cols); | ||
| imgFrame->setHeight(frameResized.rows); | ||
| imgFrame->setTimestamp(std::chrono::steady_clock::now()); | ||
| output.send(imgFrame); | ||
| } | ||
| } | ||
| }; | ||
|
|
||
| int main() { | ||
| // Create pipeline | ||
| dai::Pipeline pipeline(true); | ||
| auto camRgb = pipeline.create<TestSource>(); | ||
| auto manip = pipeline.create<dai::node::ImageManip>(); | ||
| camRgb->output.link(manip->inputImage); | ||
| manip->initialConfig.setResize(1920, 768); | ||
| manip->setMaxOutputFrameSize(1920 * 768 * 3); | ||
| auto queue = manip->out.createOutputQueue(); | ||
| pipeline.start(); | ||
|
|
||
| std::cout << "Pipeline running" << std::endl; | ||
| std::size_t framesRecieved = 0; | ||
| std::size_t totalTime = 0; | ||
| while(pipeline.isRunning()) { | ||
| std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); | ||
|
|
||
| auto img = queue->get<dai::ImgFrame>(); | ||
| auto cvFrame = img->getCvFrame(); | ||
|
|
||
| std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); | ||
| ++framesRecieved; | ||
| totalTime += std::chrono::duration_cast<std::chrono::microseconds>(end - begin).count(); | ||
|
|
||
| if (framesRecieved % 1024 == 0) { | ||
| std::cout << "Mean time: " << totalTime / framesRecieved << "µs" << std::endl; | ||
| } | ||
| } | ||
|
|
||
| pipeline.wait(); | ||
| return 0; | ||
| } |
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| #pragma once | ||
|
|
||
| // std | ||
| #include <cstdint> | ||
| #include <cstring> | ||
| #include <functional> | ||
| #include <iostream> | ||
| #ifdef __unix__ | ||
| #include <fcntl.h> | ||
| #include <sys/mman.h> | ||
| #include <sys/stat.h> | ||
| #include <sys/un.h> | ||
| #include <unistd.h> | ||
| #endif | ||
|
|
||
| // project | ||
| #include "depthai/utility/Memory.hpp" | ||
|
|
||
| namespace dai { | ||
|
|
||
| // memory as interface | ||
| class SharedMemory : public Memory { | ||
| protected: | ||
| long fd = -1; | ||
| void* mapping; | ||
| void mapFd() { | ||
| mapping = mmap(NULL, getSize(), PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0); | ||
| if (mapping == NULL) { | ||
| /* Error handling here */ | ||
| } | ||
| } | ||
| void unmapFd() { | ||
| if (mapping == NULL) { | ||
| return; | ||
| } | ||
|
|
||
| munmap(mapping, getSize()); | ||
| } | ||
| public: | ||
| SharedMemory() { | ||
| kind = MemoryKinds::MEMORY_KIND_SHARED_MEMORY; | ||
| fd = -1; | ||
| } | ||
|
There was a problem hiding this comment. Does it make sense to allow this? I think it would make more sense to only allow to pass in a size and allocate the shared memory. There was a problem hiding this comment. Yeah probably useless, i removed it.
Well, yes, that makes sense. So both passing the FD externally or automatically allocating with a shared memory buffer. Also, i think it would be worth it looking into There was a problem hiding this comment. Please look into There was a problem hiding this comment. It is pretty nice. It's like There was a problem hiding this comment. Oh btw, that constructor is actually needed because of the There was a problem hiding this comment. If we set it in the constructor, can we just initialize shared memory in the initializer list?
There was a problem hiding this comment. Oh I see what you mean (checked the source). Let's leave it then. |
||
| SharedMemory(long argFd) : fd(argFd) { | ||
| kind = MemoryKinds::MEMORY_KIND_SHARED_MEMORY; | ||
| mapFd(); | ||
| } | ||
|
|
||
| ~SharedMemory() { | ||
| unmapFd(); | ||
| close(fd); | ||
| } | ||
|
|
||
| SharedMemory& operator=(long argFd) { | ||
| unmapFd(); | ||
| fd = argFd; | ||
| mapFd(); | ||
|
|
||
| return *this; | ||
| } | ||
|
|
||
| span<std::uint8_t> getData() override { | ||
| if (mapping == NULL) { | ||
| mapFd(); | ||
| } | ||
| return {(uint8_t*)mapping, getSize()}; | ||
| } | ||
| span<const std::uint8_t> getData() const override { | ||
| return {(const uint8_t*)mapping, getSize()}; | ||
| } | ||
| std::size_t getMaxSize() const override { | ||
| struct stat fileStats; | ||
| fstat(fd, &fileStats); | ||
|
|
||
| return fileStats.st_size; | ||
| } | ||
| std::size_t getOffset() const override { | ||
| return ftell(fdopen(fd, "r")); | ||
| } | ||
| void setSize(std::size_t size) override { | ||
| ftruncate(fd, size); | ||
| } | ||
|
There was a problem hiding this comment. What if size is bigger than current size? There was a problem hiding this comment. Well, technically ftruncate extends it, but how that would interact with the various kinds of shared memory depends on the implementation If it's for example memory created with shm_open, it will just expand it. If it's a DMA buffer, it depends on the implementation. For Gst, it seems to be the same as shm_open. However, we probably need to unmap and map the FD so that we can actually have a mapping of the correct size. There was a problem hiding this comment. Makes sense, I though truncate only downsizes. |
||
|
|
||
| std::size_t getSize() const { | ||
| return getMaxSize(); | ||
| } | ||
|
|
||
| long getFd() const { | ||
| return fd; | ||
| } | ||
| }; | ||
|
|
||
| } // namespace dai | ||
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
I think this can be removed.