Merge pull request #194 from fixstars/feature/opencv-explicit-linking

Feature/opencv explicit linking

.github/workflows/linux.yml

@@ -26,24 +26,29 @@ jobs:
       - name: Setup dependencies
         shell: bash
         run: |
-            sudo apt-get update
-            sudo apt-get install -y curl cmake build-essential libopencv-dev zlib1g-dev
-            sudo apt-get clean
-            sudo rm -rf /var/lib/apt/lists/*
-
-            mkdir ${HOME}/halide
-            curl -L https://github.com/halide/Halide/releases/download/v16.0.0/Halide-16.0.0-x86-64-linux-1e963ff817ef0968cc25d811a25a7350c8953ee6.tar.gz | tar zx -C ${HOME}/halide --strip-components 1
-            find ${HOME}/halide -type d | xargs chmod 755
-            sudo cp -r ${HOME}/halide/* /usr/
-
-            mkdir ${HOME}/onnxruntime
-            curl -L https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-x64-1.16.3.tgz | tar zx -C ${HOME}/onnxruntime --strip-components 1
-            find ${HOME}/onnxruntime -type d | xargs chmod 755
-            sudo cp -r ${HOME}/onnxruntime/* /usr/
+          sudo apt-get update
+          sudo apt-get install -y curl cmake build-essential libopencv-dev
+          sudo apt-get clean
+          sudo rm -rf /var/lib/apt/lists/*
+
+          # Halide
+          mkdir ${HOME}/halide
+          curl -L https://github.com/halide/Halide/releases/download/v16.0.0/Halide-16.0.0-x86-64-linux-1e963ff817ef0968cc25d811a25a7350c8953ee6.tar.gz | tar zx -C ${HOME}/halide --strip-components 1
+          find ${HOME}/halide -type d | xargs chmod 755
+          sudo cp -r ${HOME}/halide/* /usr/
+
+          # ONNXRuntime
+          mkdir ${HOME}/onnxruntime
+          curl -L https://github.com/microsoft/onnxruntime/releases/download/v1.16.3/onnxruntime-linux-x64-1.16.3.tgz | tar zx -C ${HOME}/onnxruntime --strip-components 1
+          find ${HOME}/onnxruntime -type d | xargs chmod 755
+          sudo cp -r ${HOME}/onnxruntime/* /usr/
+
+          # zlib, libjpeg, libpng
+          vcpkg install zlib libjpeg-turbo libpng
 
       - name: Configure
         shell: bash
-        run: cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -D ION_BUILD_TEST=ON -D ION_BUILD_EXAMPLE=ON $GITHUB_WORKSPACE
+        run: cmake -D CMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -D ION_BUILD_TEST=ON -D ION_BUILD_EXAMPLE=ON $GITHUB_WORKSPACE
 
       - name: Build
         shell: bash

.github/workflows/release.yml

@@ -19,18 +19,22 @@ jobs:
         run: |
           # Packages
           sudo apt-get update
-          sudo apt-get install -y doxygen curl build-essential zlib1g-dev
+          sudo apt-get install -y doxygen curl build-essential
           sudo apt-get clean
           sudo rm -rf /var/lib/apt/lists/*
 
       - name: Download Halide package
         run: |
-            mkdir ${HOME}/Halide
-            curl -L https://github.com/halide/Halide/releases/download/v16.0.0/Halide-16.0.0-x86-64-linux-1e963ff817ef0968cc25d811a25a7350c8953ee6.tar.gz | tar zx -C ${HOME}/Halide --strip-components 1
-            find ${HOME}/Halide -type d | xargs chmod 755
+          # Halide
+          mkdir ${HOME}/Halide
+          curl -L https://github.com/halide/Halide/releases/download/v16.0.0/Halide-16.0.0-x86-64-linux-1e963ff817ef0968cc25d811a25a7350c8953ee6.tar.gz | tar zx -C ${HOME}/Halide --strip-components 1
+          find ${HOME}/Halide -type d | xargs chmod 755
+
+          # zlib, libjpeg, libpng
+          vcpkg install zlib libjpeg-turbo libpng
 
       - name: Configure
-        run: cmake -D CMAKE_BUILD_TYPE=Release -D ION_BUILD_TEST=OFF -D ION_BUILD_EXAMPLE=OFF -D ION_BUNDLE_HALIDE=ON -D HalideHelpers_DIR=${HOME}/Halide/lib/cmake/HalideHelpers -D Halide_DIR=${HOME}/Halide/lib/cmake/Halide $GITHUB_WORKSPACE
+        run: cmake -D CMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -D CMAKE_BUILD_TYPE=Release -D ION_BUILD_TEST=OFF -D ION_BUILD_EXAMPLE=OFF -D ION_BUNDLE_HALIDE=ON -D HalideHelpers_DIR=${HOME}/Halide/lib/cmake/HalideHelpers -D Halide_DIR=${HOME}/Halide/lib/cmake/Halide $GITHUB_WORKSPACE
 
       - name: Build
         run: cmake --build . --config Release --target package
@@ -65,9 +69,12 @@ jobs:
           rm Halide.zip
           mv Halide*/* ${HOME}/Halide
 
+          # zlib, libjpeg, libpng
+          vcpkg install zlib:x64-windows-static libjpeg-turbo:x64-windows-static libpng:x64-windows-static
+
       - name: Configure
         shell: bash
-        run: cmake -G "Visual Studio 16 2019" -A x64 -D ION_BUILD_DOC=OFF -D ION_BUILD_TEST=OFF -D ION_BUILD_EXAMPLE=OFF -D ION_BUNDLE_HALIDE=ON -D HalideHelpers_DIR=${HOME}/Halide/lib/cmake/HalideHelpers -D Halide_DIR=${HOME}/Halide/lib/cmake/Halide $GITHUB_WORKSPACE
+        run: cmake -G "Visual Studio 16 2019" -A x64 -D VCPKG_TARGET_TRIPLET=x64-windows-static -D CMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -D ION_BUILD_DOC=OFF -D ION_BUILD_TEST=OFF -D ION_BUILD_EXAMPLE=OFF -D ION_BUNDLE_HALIDE=ON -D HalideHelpers_DIR=${HOME}/Halide/lib/cmake/HalideHelpers -D Halide_DIR=${HOME}/Halide/lib/cmake/Halide $GITHUB_WORKSPACE
 
       - name: Build
         shell: bash

.github/workflows/windows.yml

@@ -36,9 +36,12 @@ jobs:
           rm Halide.zip
           mv Halide*/* ${HOME}/Halide
 
+          # zlib, libjpeg, libpng
+          vcpkg install zlib:x64-windows-static libjpeg-turbo:x64-windows-static libpng:x64-windows-static
+
       - name: Configure
         shell: bash
-        run: cmake -G "Visual Studio 16 2019" -A x64 -D ION_BUILD_TEST=ON -D ION_BUILD_EXAMPLE=ON -D HalideHelpers_DIR=${HOME}/Halide/lib/cmake/HalideHelpers -D Halide_DIR=${HOME}/Halide/lib/cmake/Halide $GITHUB_WORKSPACE
+        run: cmake -G "Visual Studio 16 2019" -A x64 -D VCPKG_TARGET_TRIPLET=x64-windows-static -D CMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake -D ION_BUILD_TEST=ON -D ION_BUILD_EXAMPLE=ON -D HalideHelpers_DIR=${HOME}/Halide/lib/cmake/HalideHelpers -D Halide_DIR=${HOME}/Halide/lib/cmake/Halide $GITHUB_WORKSPACE
 
       - name: Build
         shell: bash

CMakeLists.txt

@@ -7,7 +7,6 @@ project(ion-kit LANGUAGES C CXX)
 option(ION_BUILD_DOC "Build documents." OFF)
 option(ION_BUILD_TEST "Enable to build tests" ON)
 option(ION_BUILD_EXAMPLE "Enable to build examples" ON)
-option(ION_BUNDLE_HALIDE "Enable to bundle Halide binary into package" OFF)
 option(ION_ENABLE_HALIDE_FPGA_BACKEND "Enable to Halide FPGA backend" OFF)
 
 #
@@ -146,32 +145,30 @@ install(FILES
     DESTINATION license)
 
 # Halide
-if (ION_BUNDLE_HALIDE)
-    set(HALIDE_ROOT ${Halide_DIR}/../../..)
-
-    file(GLOB HALIDE_HEADERS ${HALIDE_ROOT}/include/Halide*.h ${HALIDE_ROOT}/include/wasm*.h)
-    install(FILES ${HALIDE_HEADERS} DESTINATION include)
-
-    file(GLOB HALIDE_BINS
-        ${HALIDE_ROOT}/bin/featurization_to_sample*
-        ${HALIDE_ROOT}/bin/get_host_target*
-        ${HALIDE_ROOT}/bin/retrain_cost_model*
-        ${HALIDE_ROOT}/bin/weightsdir_to_weightsfile*)
-    install(FILES ${HALIDE_BINS} DESTINATION bin)
-
-    install(DIRECTORY ${HALIDE_ROOT}/lib/cmake/Halide DESTINATION lib/cmake/)
-    if (EXISTS ${HALIDE_ROOT}/lib/cmake/HalideHelpers)
-        install(DIRECTORY ${HALIDE_ROOT}/lib/cmake/HalideHelpers DESTINATION lib/cmake/)
-    endif()
-    if (UNIX)
-        file(GLOB HALIDE_LIBRARIES ${HALIDE_ROOT}/lib/libHalide*)
-        install(FILES ${HALIDE_LIBRARIES} DESTINATION lib)
-        file(GLOB HALIDE_LIBRARIES ${HALIDE_ROOT}/lib/libautoschedule*)
-        install(FILES ${HALIDE_LIBRARIES} DESTINATION lib)
-    else()
-        install(FILES ${HALIDE_ROOT}/bin/Release/Halide.dll DESTINATION bin)
-        install(FILES ${HALIDE_ROOT}/lib/Release/Halide.lib DESTINATION lib)
-    endif()
+set(HALIDE_ROOT ${Halide_DIR}/../../..)
+
+file(GLOB HALIDE_HEADERS ${HALIDE_ROOT}/include/Halide*.h ${HALIDE_ROOT}/include/wasm*.h)
+install(FILES ${HALIDE_HEADERS} DESTINATION include)
+
+file(GLOB HALIDE_BINS
+    ${HALIDE_ROOT}/bin/featurization_to_sample*
+    ${HALIDE_ROOT}/bin/get_host_target*
+    ${HALIDE_ROOT}/bin/retrain_cost_model*
+    ${HALIDE_ROOT}/bin/weightsdir_to_weightsfile*)
+install(FILES ${HALIDE_BINS} DESTINATION bin)
+
+install(DIRECTORY ${HALIDE_ROOT}/lib/cmake/Halide DESTINATION lib/cmake/)
+if (EXISTS ${HALIDE_ROOT}/lib/cmake/HalideHelpers)
+    install(DIRECTORY ${HALIDE_ROOT}/lib/cmake/HalideHelpers DESTINATION lib/cmake/)
+endif()
+if (UNIX)
+    file(GLOB HALIDE_LIBRARIES ${HALIDE_ROOT}/lib/libHalide*)
+    install(FILES ${HALIDE_LIBRARIES} DESTINATION lib)
+    file(GLOB HALIDE_LIBRARIES ${HALIDE_ROOT}/lib/libautoschedule*)
+    install(FILES ${HALIDE_LIBRARIES} DESTINATION lib)
+else()
+    install(FILES ${HALIDE_ROOT}/bin/Release/Halide.dll DESTINATION bin)
+    install(FILES ${HALIDE_ROOT}/lib/Release/Halide.lib DESTINATION lib)
 endif()
 
 #

README.md

@@ -9,6 +9,9 @@ The pipeline can be ran just in time or compiled into binary object.
 
 ## Depedencies
 * [Halide (v16.0.0)](https://github.com/halide/Halide/releases/tag/v16.0.0)
+* [libjpeg](https://libjpeg-turbo.org/)
+* [libpng](http://www.libpng.org/)
+* [zlib](https://www.zlib.net/)
 
 ## Quick start
 

example/CMakeLists.txt

@@ -12,38 +12,38 @@ if(${ION_BB_BUILD_base})
     endif()
 endif()
 
-if(${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_sgm})
+if(${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_sgm} AND OpenCV_FOUND)
     ion_aot_executable(sgm SRCS_COMPILE sgm_compile.cc SRCS_RUN sgm_run.cc INCS ${OPenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES} TARGET_STRING "host-profile")
     if(${CUDA_FOUND})
         ion_aot_executable(sgm_gpu SRCS_COMPILE sgm_compile.cc SRCS_RUN sgm_run.cc INCS ${OPenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES} TARGET_STRING "host-cuda-cuda_capability_50-profile")
     endif()
 endif()
 
-if(${ION_BB_BUILD_base} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_dnn})
+if(${ION_BB_BUILD_base} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_dnn} AND OpenCV_FOUND)
     ion_aot_executable(dnn SRCS_COMPILE dnn_compile.cc SRCS_RUN dnn_run.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES} TARGET_STRING "host-profile")
     if(${CUDA_FOUND})
         ion_aot_executable(dnn_gpu SRCS_COMPILE dnn_compile.cc SRCS_RUN dnn_run.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES} TARGET_STRING "host-cuda-cuda_capability_50-profile")
     endif()
     ion_jit_executable(dnn SRCS dnn.cc INCS ${OpenCV_INCLUDE_DIRS} LIBS ${OpenCV_LIBRARIES})
 endif()
 
-if(${ION_BB_BUILD_base} AND ${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io})
+if(${ION_BB_BUILD_base} AND ${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io} AND OpenCV_FOUND)
     ion_aot_executable(demo SRCS_COMPILE demo_compile.cc SRCS_RUN demo_run.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES} TARGET_STRING "host-profile")
     if(${CUDA_FOUND})
         ion_aot_executable(demo_gpu SRCS_COMPILE demo_compile.cc SRCS_RUN demo_run.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES} TARGET_STRING "host-cuda-cuda_capability_50-profile")
     endif()
     ion_jit_executable(demo SRCS demo.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ion-bb ${OpenCV_LIBRARIES})
 endif()
 
-if(${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io})
+if(${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io} AND OpenCV_FOUND)
     ion_jit_executable(isp SRCS isp.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ${OpenCV_LIBRARIES})
 endif()
 
-if(${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_sgm})
+if(${ION_BB_BUILD_image-processing} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_sgm} AND OpenCV_FOUND)
     ion_jit_executable(isp_and_sgm SRCS isp_and_sgm.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ${OpenCV_LIBRARIES})
 endif()
 
-if(${ION_BB_BUILD_base} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_image-processing})
+if(${ION_BB_BUILD_base} AND ${ION_BB_BUILD_image-io} AND ${ION_BB_BUILD_image-processing} AND OpenCV_FOUND)
     ion_jit_executable(imx219_isp_display_jit SRCS imx219_isp_display.cc)
 endif()
 
@@ -55,7 +55,7 @@ endif()
 #    ion_jit_executable(u3v_jit SRCS u3v.cc)
 #endif()
 
-if(${ION_BB_BUILD_image-io} AND UNIX AND NOT APPLE)
+if(${ION_BB_BUILD_image-io} AND OpenCV_FOUND AND UNIX AND NOT APPLE)
     ion_jit_executable(v4l2_jit SRCS v4l2.cc)
     ion_jit_executable(realsense_jit SRCS realsense.cc INCS ${OpenCV_INCLUDE_DIR} LIBS ${OpenCV_LIBRARIES})
 endif()

example/demo_compile.cc

@@ -57,7 +57,7 @@ int main(int argc, char *argv[]) {
             // IMX219
             Node imx = b.add("image_io_imx219")
                            .set_param(Param{"index", std::to_string(i)},
-                                      Param{"url", "http://ion-kit.s3.us-west-2.amazonaws.com/images/pedestrian.jpg"});
+                                      Param{"url", "http://ion-kit.s3.us-west-2.amazonaws.com/images/pedestrian.png"});
 
             // ISP
             Node downscale = b.add("image_processing_bayer_downscale_uint16")

example/dnn.cc

@@ -18,7 +18,7 @@ int main(int argc, char *argv[]) {
         b.with_bb_module("ion-bb");
 
         Node n;
-        n = b.add("image_io_color_data_loader").set_param(Param("url", "http://ion-kit.s3.us-west-2.amazonaws.com/images/pedestrian.jpg"), Param("width", width), Param("height", height));
+        n = b.add("image_io_color_data_loader").set_param(Param("url", "http://ion-kit.s3.us-west-2.amazonaws.com/images/pedestrian.png"), Param("width", width), Param("height", height));
         n = b.add("base_normalize_3d_uint8")(n["output"]);
         n = b.add("base_reorder_buffer_3d_float")(n["output"]).set_param(Param("dim0", 2), Param("dim1", 0), Param("dim2", 1));  // CHW -> HWC
         n = b.add("dnn_object_detection")(n["output"]);

example/dnn_compile.cc

@@ -13,7 +13,7 @@ int main(int argc, char *argv[]) {
         b.with_bb_module("ion-bb");
 
         Node n;
-        n = b.add("image_io_color_data_loader").set_param(Param{"url", "http://ion-kit.s3.us-west-2.amazonaws.com/images/pedestrian.jpg"}, Param{"width", std::to_string(input_width)}, Param{"height", std::to_string(input_height)});
+        n = b.add("image_io_color_data_loader").set_param(Param{"url", "http://ion-kit.s3.us-west-2.amazonaws.com/images/pedestrian.png"}, Param{"width", std::to_string(input_width)}, Param{"height", std::to_string(input_height)});
         n = b.add("base_normalize_3d_uint8")(n["output"]);
         n = b.add("base_reorder_buffer_3d_float")(n["output"]).set_param(Param{"dim0", "2"}, Param{"dim1", "0"}, Param{"dim2", "1"});  // CHW -> HWC
         n = b.add("dnn_object_detection")(n["output"]);

example/opencv_bb.cc

@@ -0,0 +1,47 @@
+#include <ion/ion.h>
+
+using namespace ion;
+
+int main(int argc, char *argv[]) {
+    try {
+        const int width = 640;
+        const int height = 480;
+
+        Builder b;
+        b.set_target(Halide::get_target_from_environment());
+        b.with_bb_module("ion-bb");
+
+        Port in{"input", Halide::type_of<uint8_t>(), 3};
+
+        Node n;
+        n = b.add("opencv_median_blur")(in);
+        n = b.add("opencv_display")(n["output"]);
+
+        Halide::Buffer<uint8_t> in_buf(3, width, height);
+        for (int y=0; y<height; ++y) {
+            for (int x=0; x<width; ++x) {
+                in_buf(0, x, y) = y * width + x;
+                in_buf(1, x, y) = y * width + x;
+                in_buf(2, x, y) = y * width + x;
+            }
+        }
+
+        Halide::Buffer<int32_t> r = Halide::Buffer<int32_t>::make_scalar();
+
+        PortMap pm;
+        pm.set(in, in_buf);
+        pm.set(n["output"], r);
+
+        for (int i=0; i<1000; ++i) {
+            b.run(pm);
+        }
+
+    } catch (const std::exception &e) {
+        std::cerr << e.what() << std::endl;
+        return -1;
+    } catch (...) {
+        return -1;
+    }
+
+    return 0;
+}

src/bb/CMakeLists.txt

@@ -28,6 +28,7 @@ endforeach()
 
 add_library(ion-bb SHARED bb.cc)
 target_include_directories(ion-bb PUBLIC ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR} ${ION_BB_INCLUDE_DIRS})
+
 target_link_libraries(ion-bb PUBLIC ion-core ${ION_BB_LIBRARIES})
 if(UNIX)
     target_compile_options(ion-bb PUBLIC -fno-rtti)  # For Halide::Generator

src/bb/image-io/bb.h

@@ -689,9 +689,9 @@ class ImageSaver : public ion::BuildingBlock<ImageSaver> {
         Func in(static_cast<std::string>(gc_prefix) + "input");
         Var x, y, c;
         in(c, x, y) = mux(c,
-                          {input(x, y, 2),
+                          {input(x, y, 0),
                            input(x, y, 1),
-                           input(x, y, 0)});
+                           input(x, y, 2)});
         in.compute_root();
         if (get_target().has_gpu_feature()) {
             Var xo, yo, xi, yi;
@@ -729,7 +729,7 @@ class U3VCamera1 : public ion::BuildingBlock<U3VCamera1<T, D>> {
         Func camera1("u3v_camera1");
         {
             Buffer<uint8_t> id_buf = this->get_id();
-           
+
             const std::string gain_key(gain_key_ptr);
             Buffer<uint8_t> gain_key_buf(static_cast<int>(gain_key.size() + 1));
             gain_key_buf.fill(0);
@@ -749,14 +749,14 @@ class U3VCamera1 : public ion::BuildingBlock<U3VCamera1<T, D>> {
             camera1.compute_root();
             output0(_) = camera1(_);
         }
-    
+
         Func camera1_frame_count;
         {
             Buffer<uint8_t> id_buf = this->get_id();
             camera1_frame_count.define_extern("ion_bb_image_io_u3v_camera1_frame_count",{camera1, 1, static_cast<bool>(frame_sync), static_cast<bool>(realtime_diaplay_mode), id_buf}, type_of<uint32_t>(), 1);
             camera1_frame_count.compute_root();
             frame_count(_) = camera1_frame_count(_);
-        }     
+        }
 
         this->register_disposer("u3v_dispose");
 
@@ -812,7 +812,7 @@ class U3VCamera2 : public ion::BuildingBlock<U3VCamera2<T, D>> {
             output0(_) = camera2(_)[0];
             output1(_) = camera2(_)[1];
         }
-        
+
         Func camera2_frame_count;{
             Buffer<uint8_t> id_buf = this->get_id();
             camera2_frame_count.define_extern("ion_bb_image_io_u3v_camera2_frame_count", { camera2,  2, static_cast<bool>(frame_sync), static_cast<bool>(realtime_diaplay_mode), id_buf}, type_of<uint32_t>(), 1);
@@ -935,7 +935,7 @@ class U3VCameraN : public ion::BuildingBlock<U3VCameraN<T, D>> {
         }
         this->register_disposer("u3v_dispose");
     }
-  
+
 };
 
 using U3VCameraN_U8x3 = U3VCameraN<uint8_t, 3>;