mirror of
https://github.com/pjreddie/darknet.git
synced 2023-08-10 21:13:14 +03:00
ZED 3D Camera support added to ./uselib (yolo_console_cpp.exe) example
This commit is contained in:
AlexeyAB
2
Makefile
2
Makefile
@ -111,7 +111,7 @@ CFLAGS+= -DCUDNN_HALF
|
|||||||
ARCH+= -gencode arch=compute_70,code=[sm_70,compute_70]
|
ARCH+= -gencode arch=compute_70,code=[sm_70,compute_70]
|
||||||
endif
|
endif
|
||||||
|
|
||||||
OBJ=http_stream.o gemm.o utils.o cuda.o convolutional_layer.o list.o image.o activations.o im2col.o col2im.o blas.o crop_layer.o dropout_layer.o maxpool_layer.o softmax_layer.o data.o matrix.o network.o connected_layer.o cost_layer.o parser.o option_list.o darknet.o detection_layer.o captcha.o route_layer.o writing.o box.o nightmare.o normalization_layer.o avgpool_layer.o coco.o dice.o yolo.o detector.o layer.o compare.o classifier.o local_layer.o swag.o shortcut_layer.o activation_layer.o rnn_layer.o gru_layer.o rnn.o rnn_vid.o crnn_layer.o demo.o tag.o cifar.o go.o batchnorm_layer.o art.o region_layer.o reorg_layer.o reorg_old_layer.o super.o voxel.o tree.o yolo_layer.o upsample_layer.o lstm_layer.o
|
OBJ=http_stream.o gemm.o utils.o dark_cuda.o convolutional_layer.o list.o image.o activations.o im2col.o col2im.o blas.o crop_layer.o dropout_layer.o maxpool_layer.o softmax_layer.o data.o matrix.o network.o connected_layer.o cost_layer.o parser.o option_list.o darknet.o detection_layer.o captcha.o route_layer.o writing.o box.o nightmare.o normalization_layer.o avgpool_layer.o coco.o dice.o yolo.o detector.o layer.o compare.o classifier.o local_layer.o swag.o shortcut_layer.o activation_layer.o rnn_layer.o gru_layer.o rnn.o rnn_vid.o crnn_layer.o demo.o tag.o cifar.o go.o batchnorm_layer.o art.o region_layer.o reorg_layer.o reorg_old_layer.o super.o voxel.o tree.o yolo_layer.o upsample_layer.o lstm_layer.o
|
||||||
ifeq ($(GPU), 1)
|
ifeq ($(GPU), 1)
|
||||||
LDFLAGS+= -lstdc++
|
LDFLAGS+= -lstdc++
|
||||||
OBJ+=convolutional_kernels.o activation_kernels.o im2col_kernels.o col2im_kernels.o blas_kernels.o crop_layer_kernels.o dropout_layer_kernels.o maxpool_layer_kernels.o network_kernels.o avgpool_layer_kernels.o
|
OBJ+=convolutional_kernels.o activation_kernels.o im2col_kernels.o col2im_kernels.o blas_kernels.o crop_layer_kernels.o dropout_layer_kernels.o maxpool_layer_kernels.o network_kernels.o avgpool_layer_kernels.o
|
||||||
|
|||||||
10
README.md
10
README.md
@ -76,9 +76,9 @@ You can get cfg-files by path: `darknet/cfg/`
|
|||||||
|
|
||||||
##### Examples of results
|
##### Examples of results
|
||||||
|
|
||||||
[](https://www.youtube.com/watch?v=VOC3huqHrss "Everything Is AWESOME")
|
[](https://www.youtube.com/watch?v=MPU2HistivI "Yolo v3")
|
||||||
|
|
||||||
Others: https://www.youtube.com/channel/UC7ev3hNVkx4DzZ3LO19oebg
|
Others: https://www.youtube.com/user/pjreddie/videos
|
||||||
|
|
||||||
### Improvements in this repository
|
### Improvements in this repository
|
||||||
|
|
||||||
@ -344,11 +344,13 @@ Training Yolo v3:
|
|||||||
|
|
||||||
5. You should label each object on images from your dataset. Use this visual GUI-software for marking bounded boxes of objects and generating annotation files for Yolo v2 & v3: https://github.com/AlexeyAB/Yolo_mark
|
5. You should label each object on images from your dataset. Use this visual GUI-software for marking bounded boxes of objects and generating annotation files for Yolo v2 & v3: https://github.com/AlexeyAB/Yolo_mark
|
||||||
|
|
||||||
It will create `.txt`-file for each `.jpg`-image-file - in the same directory and with the same name, but with `.txt`-extension, and put to file: object number and object coordinates on this image, for each object in new line: `<object-class> <x> <y> <width> <height>`
|
It will create `.txt`-file for each `.jpg`-image-file - in the same directory and with the same name, but with `.txt`-extension, and put to file: object number and object coordinates on this image, for each object in new line:
|
||||||
|
|
||||||
|
`<object-class> <x_center> <y_center> <width> <height>`
|
||||||
|
|
||||||
Where:
|
Where:
|
||||||
* `<object-class>` - integer object number from `0` to `(classes-1)`
|
* `<object-class>` - integer object number from `0` to `(classes-1)`
|
||||||
* `<x_center> <y_center> <width> <height>` - float values relative to width and height of image, it can be equal from (0.0 to 1.0]
|
* `<x_center> <y_center> <width> <height>` - float values **relative** to width and height of image, it can be equal from `(0.0 to 1.0]`
|
||||||
* for example: `<x> = <absolute_x> / <image_width>` or `<height> = <absolute_height> / <image_height>`
|
* for example: `<x> = <absolute_x> / <image_width>` or `<height> = <absolute_height> / <image_height>`
|
||||||
* atention: `<x_center> <y_center>` - are center of rectangle (are not top-left corner)
|
* atention: `<x_center> <y_center>` - are center of rectangle (are not top-left corner)
|
||||||
|
|
||||||
|
|||||||
@ -133,7 +133,7 @@
|
|||||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||||
<SDLCheck>true</SDLCheck>
|
<SDLCheck>true</SDLCheck>
|
||||||
<AdditionalIncludeDirectories>C:\opencv_3.0\opencv\build\include;..\..\include;..\..\3rdparty\include;%(AdditionalIncludeDirectories);$(CudaToolkitIncludeDir);$(CUDNN)\include;$(cudnn)\include</AdditionalIncludeDirectories>
|
<AdditionalIncludeDirectories>C:\opencv_3.0\opencv\build\include;..\..\include;..\..\3rdparty\include;%(AdditionalIncludeDirectories);$(CudaToolkitIncludeDir);$(CUDNN)\include;$(cudnn)\include</AdditionalIncludeDirectories>
|
||||||
<PreprocessorDefinitions>CUDNN_HALF;OPENCV;CUDNN;_TIMESPEC_DEFINED;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CRT_RAND_S;GPU;WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
<PreprocessorDefinitions>OPENCV;CUDNN_HALF;CUDNN;_TIMESPEC_DEFINED;_SCL_SECURE_NO_WARNINGS;_CRT_SECURE_NO_WARNINGS;_CRT_RAND_S;GPU;WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||||
<CLanguageStandard>c11</CLanguageStandard>
|
<CLanguageStandard>c11</CLanguageStandard>
|
||||||
<CppLanguageStandard>c++1y</CppLanguageStandard>
|
<CppLanguageStandard>c++1y</CppLanguageStandard>
|
||||||
<PrecompiledHeaderCompileAs>CompileAsCpp</PrecompiledHeaderCompileAs>
|
<PrecompiledHeaderCompileAs>CompileAsCpp</PrecompiledHeaderCompileAs>
|
||||||
@ -188,8 +188,8 @@
|
|||||||
<ClCompile Include="..\..\src\cpu_gemm.c" />
|
<ClCompile Include="..\..\src\cpu_gemm.c" />
|
||||||
<ClCompile Include="..\..\src\crnn_layer.c" />
|
<ClCompile Include="..\..\src\crnn_layer.c" />
|
||||||
<ClCompile Include="..\..\src\crop_layer.c" />
|
<ClCompile Include="..\..\src\crop_layer.c" />
|
||||||
<ClCompile Include="..\..\src\cuda.c" />
|
|
||||||
<ClCompile Include="..\..\src\darknet.c" />
|
<ClCompile Include="..\..\src\darknet.c" />
|
||||||
|
<ClCompile Include="..\..\src\dark_cuda.c" />
|
||||||
<ClCompile Include="..\..\src\data.c" />
|
<ClCompile Include="..\..\src\data.c" />
|
||||||
<ClCompile Include="..\..\src\deconvolutional_layer.c" />
|
<ClCompile Include="..\..\src\deconvolutional_layer.c" />
|
||||||
<ClCompile Include="..\..\src\demo.c" />
|
<ClCompile Include="..\..\src\demo.c" />
|
||||||
@ -251,7 +251,7 @@
|
|||||||
<ClInclude Include="..\..\src\cost_layer.h" />
|
<ClInclude Include="..\..\src\cost_layer.h" />
|
||||||
<ClInclude Include="..\..\src\crnn_layer.h" />
|
<ClInclude Include="..\..\src\crnn_layer.h" />
|
||||||
<ClInclude Include="..\..\src\crop_layer.h" />
|
<ClInclude Include="..\..\src\crop_layer.h" />
|
||||||
<ClInclude Include="..\..\src\cuda.h" />
|
<ClInclude Include="..\..\src\dark_cuda.h" />
|
||||||
<ClInclude Include="..\..\src\data.h" />
|
<ClInclude Include="..\..\src\data.h" />
|
||||||
<ClInclude Include="..\..\src\deconvolutional_layer.h" />
|
<ClInclude Include="..\..\src\deconvolutional_layer.h" />
|
||||||
<ClInclude Include="..\..\src\demo.h" />
|
<ClInclude Include="..\..\src\demo.h" />
|
||||||
|
|||||||
@ -11,8 +11,16 @@ policy=steps
|
|||||||
steps=1000,1500
|
steps=1000,1500
|
||||||
scales=.1,.1
|
scales=.1,.1
|
||||||
|
|
||||||
[rnn]
|
try_fix_nan=1
|
||||||
|
|
||||||
|
[connected]
|
||||||
|
output=256
|
||||||
|
activation=leaky
|
||||||
|
|
||||||
|
[crnn]
|
||||||
batch_normalize=1
|
batch_normalize=1
|
||||||
|
size=1
|
||||||
|
pad=0
|
||||||
output = 1024
|
output = 1024
|
||||||
hidden=1024
|
hidden=1024
|
||||||
activation=leaky
|
activation=leaky
|
||||||
|
|||||||
@ -51,8 +51,7 @@
|
|||||||
<CharacterSet>MultiByte</CharacterSet>
|
<CharacterSet>MultiByte</CharacterSet>
|
||||||
</PropertyGroup>
|
</PropertyGroup>
|
||||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||||
<ImportGroup Label="ExtensionSettings">
|
<ImportGroup Label="ExtensionSettings" />
|
||||||
</ImportGroup>
|
|
||||||
<ImportGroup Label="Shared">
|
<ImportGroup Label="Shared">
|
||||||
</ImportGroup>
|
</ImportGroup>
|
||||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
|
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
|
||||||
@ -93,7 +92,7 @@
|
|||||||
<PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;_MBCS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
<PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;_MBCS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||||
</ClCompile>
|
</ClCompile>
|
||||||
<Link>
|
<Link>
|
||||||
<AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib</AdditionalLibraryDirectories>
|
<AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib;$(CUDA_PATH)\lib\x64\;$(ZED_SDK_ROOT_DIR)\lib</AdditionalLibraryDirectories>
|
||||||
</Link>
|
</Link>
|
||||||
</ItemDefinitionGroup>
|
</ItemDefinitionGroup>
|
||||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||||
@ -117,7 +116,7 @@
|
|||||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||||
<SDLCheck>true</SDLCheck>
|
<SDLCheck>true</SDLCheck>
|
||||||
<AdditionalIncludeDirectories>..\..\include;C:\opencv_source\opencv\bin\install\include</AdditionalIncludeDirectories>
|
<AdditionalIncludeDirectories>..\..\include;C:\opencv_source\opencv\bin\install\include;$(CUDA_PATH)\include;$(ZED_SDK_ROOT_DIR)\include</AdditionalIncludeDirectories>
|
||||||
<PreprocessorDefinitions>OPENCV;_CRT_SECURE_NO_WARNINGS;_MBCS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
<PreprocessorDefinitions>OPENCV;_CRT_SECURE_NO_WARNINGS;_MBCS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||||
<ExceptionHandling>Async</ExceptionHandling>
|
<ExceptionHandling>Async</ExceptionHandling>
|
||||||
<OpenMPSupport>true</OpenMPSupport>
|
<OpenMPSupport>true</OpenMPSupport>
|
||||||
@ -125,7 +124,8 @@
|
|||||||
<Link>
|
<Link>
|
||||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||||
<OptimizeReferences>true</OptimizeReferences>
|
<OptimizeReferences>true</OptimizeReferences>
|
||||||
<AdditionalLibraryDirectories>C:\opencv_source\opencv\bin\install\x64\vc14\lib;C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib</AdditionalLibraryDirectories>
|
<AdditionalLibraryDirectories>C:\opencv_source\opencv\bin\install\x64\vc14\lib;C:\opencv_3.0\opencv\build\x64\vc14\lib;C:\opencv_2.4.13\opencv\build\x64\vc12\lib;$(CUDA_PATH)\lib\x64\;$(ZED_SDK_ROOT_DIR)\lib</AdditionalLibraryDirectories>
|
||||||
|
<AdditionalDependencies>kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||||
</Link>
|
</Link>
|
||||||
</ItemDefinitionGroup>
|
</ItemDefinitionGroup>
|
||||||
<ItemGroup>
|
<ItemGroup>
|
||||||
@ -138,6 +138,5 @@
|
|||||||
<ClInclude Include="..\..\include\yolo_v2_class.hpp" />
|
<ClInclude Include="..\..\include\yolo_v2_class.hpp" />
|
||||||
</ItemGroup>
|
</ItemGroup>
|
||||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||||
<ImportGroup Label="ExtensionTargets">
|
<ImportGroup Label="ExtensionTargets" />
|
||||||
</ImportGroup>
|
|
||||||
</Project>
|
</Project>
|
||||||
@ -102,7 +102,7 @@
|
|||||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||||
<AdditionalLibraryDirectories>$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
<AdditionalLibraryDirectories>$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||||
<OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
|
<OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
|
||||||
<AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
<AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;cuda.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||||
<AssemblyDebug>true</AssemblyDebug>
|
<AssemblyDebug>true</AssemblyDebug>
|
||||||
</Link>
|
</Link>
|
||||||
<CudaCompile>
|
<CudaCompile>
|
||||||
@ -142,8 +142,7 @@
|
|||||||
<CppLanguageStandard>c++1y</CppLanguageStandard>
|
<CppLanguageStandard>c++1y</CppLanguageStandard>
|
||||||
<PrecompiledHeaderCompileAs>CompileAsCpp</PrecompiledHeaderCompileAs>
|
<PrecompiledHeaderCompileAs>CompileAsCpp</PrecompiledHeaderCompileAs>
|
||||||
<CompileAs>Default</CompileAs>
|
<CompileAs>Default</CompileAs>
|
||||||
<UndefinePreprocessorDefinitions>
|
<UndefinePreprocessorDefinitions>OPENCV;</UndefinePreprocessorDefinitions>
|
||||||
</UndefinePreprocessorDefinitions>
|
|
||||||
<MultiProcessorCompilation>true</MultiProcessorCompilation>
|
<MultiProcessorCompilation>true</MultiProcessorCompilation>
|
||||||
</ClCompile>
|
</ClCompile>
|
||||||
<Link>
|
<Link>
|
||||||
@ -151,7 +150,7 @@
|
|||||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||||
<OptimizeReferences>true</OptimizeReferences>
|
<OptimizeReferences>true</OptimizeReferences>
|
||||||
<AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
<AdditionalLibraryDirectories>C:\opencv_3.0\opencv\build\x64\vc14\lib;$(CUDA_PATH)lib\$(PlatformName);$(CUDNN)\lib\x64;$(cudnn)\lib\x64;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||||
<AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
<AdditionalDependencies>..\..\3rdparty\lib\x64\pthreadVC2.lib;cublas.lib;curand.lib;cudart.lib;cuda.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||||
<OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
|
<OutputFile>$(OutDir)\$(TargetName)$(TargetExt)</OutputFile>
|
||||||
</Link>
|
</Link>
|
||||||
<CudaCompile>
|
<CudaCompile>
|
||||||
@ -192,8 +191,8 @@
|
|||||||
<ClCompile Include="..\..\src\cpu_gemm.c" />
|
<ClCompile Include="..\..\src\cpu_gemm.c" />
|
||||||
<ClCompile Include="..\..\src\crnn_layer.c" />
|
<ClCompile Include="..\..\src\crnn_layer.c" />
|
||||||
<ClCompile Include="..\..\src\crop_layer.c" />
|
<ClCompile Include="..\..\src\crop_layer.c" />
|
||||||
<ClCompile Include="..\..\src\cuda.c" />
|
|
||||||
<ClCompile Include="..\..\src\darknet.c" />
|
<ClCompile Include="..\..\src\darknet.c" />
|
||||||
|
<ClCompile Include="..\..\src\dark_cuda.c" />
|
||||||
<ClCompile Include="..\..\src\data.c" />
|
<ClCompile Include="..\..\src\data.c" />
|
||||||
<ClCompile Include="..\..\src\deconvolutional_layer.c" />
|
<ClCompile Include="..\..\src\deconvolutional_layer.c" />
|
||||||
<ClCompile Include="..\..\src\demo.c" />
|
<ClCompile Include="..\..\src\demo.c" />
|
||||||
@ -257,7 +256,7 @@
|
|||||||
<ClInclude Include="..\..\src\cost_layer.h" />
|
<ClInclude Include="..\..\src\cost_layer.h" />
|
||||||
<ClInclude Include="..\..\src\crnn_layer.h" />
|
<ClInclude Include="..\..\src\crnn_layer.h" />
|
||||||
<ClInclude Include="..\..\src\crop_layer.h" />
|
<ClInclude Include="..\..\src\crop_layer.h" />
|
||||||
<ClInclude Include="..\..\src\cuda.h" />
|
<ClInclude Include="..\..\src\dark_cuda.h" />
|
||||||
<ClInclude Include="..\..\src\data.h" />
|
<ClInclude Include="..\..\src\data.h" />
|
||||||
<ClInclude Include="..\..\src\deconvolutional_layer.h" />
|
<ClInclude Include="..\..\src\deconvolutional_layer.h" />
|
||||||
<ClInclude Include="..\..\src\demo.h" />
|
<ClInclude Include="..\..\src\demo.h" />
|
||||||
|
|||||||
@ -11,8 +11,16 @@ policy=steps
|
|||||||
steps=1000,1500
|
steps=1000,1500
|
||||||
scales=.1,.1
|
scales=.1,.1
|
||||||
|
|
||||||
[rnn]
|
try_fix_nan=1
|
||||||
|
|
||||||
|
[connected]
|
||||||
|
output=256
|
||||||
|
activation=leaky
|
||||||
|
|
||||||
|
[crnn]
|
||||||
batch_normalize=1
|
batch_normalize=1
|
||||||
|
size=1
|
||||||
|
pad=0
|
||||||
output = 1024
|
output = 1024
|
||||||
hidden=1024
|
hidden=1024
|
||||||
activation=leaky
|
activation=leaky
|
||||||
|
|||||||
@ -792,10 +792,11 @@ LIB_API void free_data(data d);
|
|||||||
LIB_API pthread_t load_data(load_args args);
|
LIB_API pthread_t load_data(load_args args);
|
||||||
LIB_API pthread_t load_data_in_thread(load_args args);
|
LIB_API pthread_t load_data_in_thread(load_args args);
|
||||||
|
|
||||||
// cuda.h
|
// dark_cuda.h
|
||||||
LIB_API void cuda_pull_array(float *x_gpu, float *x, size_t n);
|
LIB_API void cuda_pull_array(float *x_gpu, float *x, size_t n);
|
||||||
LIB_API void cuda_pull_array_async(float *x_gpu, float *x, size_t n);
|
LIB_API void cuda_pull_array_async(float *x_gpu, float *x, size_t n);
|
||||||
LIB_API void cuda_set_device(int n);
|
LIB_API void cuda_set_device(int n);
|
||||||
|
LIB_API void *cuda_get_context();
|
||||||
|
|
||||||
// utils.h
|
// utils.h
|
||||||
LIB_API void free_ptrs(void **ptrs, int n);
|
LIB_API void free_ptrs(void **ptrs, int n);
|
||||||
@ -809,6 +810,8 @@ LIB_API metadata get_metadata(char *file);
|
|||||||
|
|
||||||
|
|
||||||
// http_stream.h
|
// http_stream.h
|
||||||
|
LIB_API void delete_json_sender();
|
||||||
|
LIB_API void send_json_custom(char const* send_buf, int port, int timeout);
|
||||||
LIB_API double get_time_point();
|
LIB_API double get_time_point();
|
||||||
void start_timer();
|
void start_timer();
|
||||||
void stop_timer();
|
void stop_timer();
|
||||||
|
|||||||
@ -25,6 +25,7 @@ struct bbox_t {
|
|||||||
unsigned int obj_id; // class of object - from range [0, classes-1]
|
unsigned int obj_id; // class of object - from range [0, classes-1]
|
||||||
unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
|
unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
|
||||||
unsigned int frames_counter; // counter of frames on which the object was detected
|
unsigned int frames_counter; // counter of frames on which the object was detected
|
||||||
|
float x_3d, y_3d, z_3d; // center of object (in Meters) if ZED 3D Camera is used
|
||||||
};
|
};
|
||||||
|
|
||||||
struct image_t {
|
struct image_t {
|
||||||
@ -60,8 +61,8 @@ extern "C" LIB_API int get_device_name(int gpu, char* deviceName);
|
|||||||
class Detector {
|
class Detector {
|
||||||
std::shared_ptr<void> detector_gpu_ptr;
|
std::shared_ptr<void> detector_gpu_ptr;
|
||||||
std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;
|
std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;
|
||||||
const int cur_gpu_id;
|
|
||||||
public:
|
public:
|
||||||
|
const int cur_gpu_id;
|
||||||
float nms = .4;
|
float nms = .4;
|
||||||
bool wait_stream;
|
bool wait_stream;
|
||||||
|
|
||||||
@ -79,6 +80,11 @@ public:
|
|||||||
LIB_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history = true,
|
LIB_API std::vector<bbox_t> tracking_id(std::vector<bbox_t> cur_bbox_vec, bool const change_history = true,
|
||||||
int const frames_story = 5, int const max_dist = 40);
|
int const frames_story = 5, int const max_dist = 40);
|
||||||
|
|
||||||
|
LIB_API void *get_cuda_context();
|
||||||
|
|
||||||
|
LIB_API bool send_json_http(std::vector<bbox_t> cur_bbox_vec, std::vector<std::string> obj_names, int frame_id,
|
||||||
|
std::string filename = "", int timeout = 400000, int port = 8070);
|
||||||
|
|
||||||
std::vector<bbox_t> detect_resized(image_t img, int init_w, int init_h, float thresh = 0.2, bool use_mean = false)
|
std::vector<bbox_t> detect_resized(image_t img, int init_w, int init_h, float thresh = 0.2, bool use_mean = false)
|
||||||
{
|
{
|
||||||
if (img.data == NULL)
|
if (img.data == NULL)
|
||||||
@ -115,7 +121,10 @@ public:
|
|||||||
static std::shared_ptr<image_t> mat_to_image(cv::Mat img_src)
|
static std::shared_ptr<image_t> mat_to_image(cv::Mat img_src)
|
||||||
{
|
{
|
||||||
cv::Mat img;
|
cv::Mat img;
|
||||||
cv::cvtColor(img_src, img, cv::COLOR_RGB2BGR);
|
if (img_src.channels() == 4) cv::cvtColor(img_src, img, cv::COLOR_RGBA2BGR);
|
||||||
|
else if (img_src.channels() == 3) cv::cvtColor(img_src, img, cv::COLOR_RGB2BGR);
|
||||||
|
else if (img_src.channels() == 1) cv::cvtColor(img_src, img, cv::COLOR_GRAY2BGR);
|
||||||
|
else std::cerr << " Warning: img_src.channels() is not 1, 3 or 4. It is = " << img_src.channels() << std::endl;
|
||||||
std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { free_image(*img); delete img; });
|
std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { free_image(*img); delete img; });
|
||||||
std::shared_ptr<IplImage> ipl_small = std::make_shared<IplImage>(img);
|
std::shared_ptr<IplImage> ipl_small = std::make_shared<IplImage>(img);
|
||||||
*image_ptr = ipl_to_image(ipl_small.get());
|
*image_ptr = ipl_to_image(ipl_small.get());
|
||||||
@ -166,7 +175,7 @@ private:
|
|||||||
#endif // OPENCV
|
#endif // OPENCV
|
||||||
|
|
||||||
};
|
};
|
||||||
|
// --------------------------------------------------------------------------------
|
||||||
|
|
||||||
|
|
||||||
#if defined(TRACK_OPTFLOW) && defined(OPENCV) && defined(GPU)
|
#if defined(TRACK_OPTFLOW) && defined(OPENCV) && defined(GPU)
|
||||||
@ -183,7 +192,7 @@ public:
|
|||||||
const int flow_error;
|
const int flow_error;
|
||||||
|
|
||||||
|
|
||||||
Tracker_optflow(int _gpu_id = 0, int win_size = 9, int max_level = 3, int iterations = 8000, int _flow_error = -1) :
|
Tracker_optflow(int _gpu_id = 0, int win_size = 15, int max_level = 3, int iterations = 8000, int _flow_error = -1) :
|
||||||
gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)),
|
gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1)),
|
||||||
flow_error((_flow_error > 0)? _flow_error:(win_size*4))
|
flow_error((_flow_error > 0)? _flow_error:(win_size*4))
|
||||||
{
|
{
|
||||||
@ -249,18 +258,32 @@ public:
|
|||||||
if (old_gpu_id != gpu_id)
|
if (old_gpu_id != gpu_id)
|
||||||
cv::cuda::setDevice(gpu_id);
|
cv::cuda::setDevice(gpu_id);
|
||||||
|
|
||||||
if (src_mat.channels() == 3) {
|
if (src_mat.channels() == 1 || src_mat.channels() == 3 || src_mat.channels() == 4) {
|
||||||
if (src_mat_gpu.cols == 0) {
|
if (src_mat_gpu.cols == 0) {
|
||||||
src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type());
|
src_mat_gpu = cv::cuda::GpuMat(src_mat.size(), src_mat.type());
|
||||||
src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
|
src_grey_gpu = cv::cuda::GpuMat(src_mat.size(), CV_8UC1);
|
||||||
}
|
}
|
||||||
|
|
||||||
update_cur_bbox_vec(_cur_bbox_vec);
|
if (src_mat.channels() == 1) {
|
||||||
|
src_mat_gpu.upload(src_mat, stream);
|
||||||
|
src_mat_gpu.copyTo(src_grey_gpu);
|
||||||
|
}
|
||||||
|
else if (src_mat.channels() == 3) {
|
||||||
|
src_mat_gpu.upload(src_mat, stream);
|
||||||
|
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 1, stream);
|
||||||
|
}
|
||||||
|
else if (src_mat.channels() == 4) {
|
||||||
|
src_mat_gpu.upload(src_mat, stream);
|
||||||
|
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGRA2GRAY, 1, stream);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
std::cerr << " Warning: src_mat.channels() is not: 1, 3 or 4. It is = " << src_mat.channels() << " \n";
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
//src_grey_gpu.upload(src_mat, stream); // use BGR
|
|
||||||
src_mat_gpu.upload(src_mat, stream);
|
|
||||||
cv::cuda::cvtColor(src_mat_gpu, src_grey_gpu, CV_BGR2GRAY, 1, stream);
|
|
||||||
}
|
}
|
||||||
|
update_cur_bbox_vec(_cur_bbox_vec);
|
||||||
|
|
||||||
if (old_gpu_id != gpu_id)
|
if (old_gpu_id != gpu_id)
|
||||||
cv::cuda::setDevice(old_gpu_id);
|
cv::cuda::setDevice(old_gpu_id);
|
||||||
}
|
}
|
||||||
@ -355,7 +378,7 @@ public:
|
|||||||
const int flow_error;
|
const int flow_error;
|
||||||
|
|
||||||
|
|
||||||
Tracker_optflow(int win_size = 9, int max_level = 3, int iterations = 8000, int _flow_error = -1) :
|
Tracker_optflow(int win_size = 15, int max_level = 3, int iterations = 8000, int _flow_error = -1) :
|
||||||
flow_error((_flow_error > 0)? _flow_error:(win_size*4))
|
flow_error((_flow_error > 0)? _flow_error:(win_size*4))
|
||||||
{
|
{
|
||||||
sync_PyrLKOpticalFlow = cv::SparsePyrLKOpticalFlow::create();
|
sync_PyrLKOpticalFlow = cv::SparsePyrLKOpticalFlow::create();
|
||||||
@ -396,12 +419,20 @@ public:
|
|||||||
|
|
||||||
void update_tracking_flow(cv::Mat new_src_mat, std::vector<bbox_t> _cur_bbox_vec)
|
void update_tracking_flow(cv::Mat new_src_mat, std::vector<bbox_t> _cur_bbox_vec)
|
||||||
{
|
{
|
||||||
if (new_src_mat.channels() == 3) {
|
if (new_src_mat.channels() == 1) {
|
||||||
|
src_grey = new_src_mat.clone();
|
||||||
update_cur_bbox_vec(_cur_bbox_vec);
|
}
|
||||||
|
else if (new_src_mat.channels() == 3) {
|
||||||
cv::cvtColor(new_src_mat, src_grey, CV_BGR2GRAY, 1);
|
cv::cvtColor(new_src_mat, src_grey, CV_BGR2GRAY, 1);
|
||||||
}
|
}
|
||||||
|
else if (new_src_mat.channels() == 4) {
|
||||||
|
cv::cvtColor(new_src_mat, src_grey, CV_BGRA2GRAY, 1);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
std::cerr << " Warning: new_src_mat.channels() is not: 1, 3 or 4. It is = " << new_src_mat.channels() << " \n";
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
update_cur_bbox_vec(_cur_bbox_vec);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
@ -416,6 +447,7 @@ public:
|
|||||||
|
|
||||||
if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) {
|
if (src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols) {
|
||||||
src_grey = dst_grey.clone();
|
src_grey = dst_grey.clone();
|
||||||
|
//std::cerr << " Warning: src_grey.rows != dst_grey.rows || src_grey.cols != dst_grey.cols \n";
|
||||||
return cur_bbox_vec;
|
return cur_bbox_vec;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -611,56 +643,361 @@ public:
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
||||||
|
class track_kalman_t
|
||||||
|
{
|
||||||
|
int track_id_counter;
|
||||||
|
std::chrono::steady_clock::time_point global_last_time;
|
||||||
|
float dT;
|
||||||
|
|
||||||
|
public:
|
||||||
|
int max_objects; // max objects for tracking
|
||||||
|
int min_frames; // min frames to consider an object as detected
|
||||||
|
const float max_dist; // max distance (in px) to track with the same ID
|
||||||
|
cv::Size img_size; // max value of x,y,w,h
|
||||||
|
|
||||||
|
struct tst_t {
|
||||||
|
int track_id;
|
||||||
|
int state_id;
|
||||||
|
std::chrono::steady_clock::time_point last_time;
|
||||||
|
int detection_count;
|
||||||
|
tst_t() : track_id(-1), state_id(-1) {}
|
||||||
|
};
|
||||||
|
std::vector<tst_t> track_id_state_id_time;
|
||||||
|
std::vector<bbox_t> result_vec_pred;
|
||||||
|
|
||||||
|
struct one_kalman_t;
|
||||||
|
std::vector<one_kalman_t> kalman_vec;
|
||||||
|
|
||||||
|
struct one_kalman_t
|
||||||
|
{
|
||||||
|
cv::KalmanFilter kf;
|
||||||
|
cv::Mat state;
|
||||||
|
cv::Mat meas;
|
||||||
|
int measSize, stateSize, contrSize;
|
||||||
|
|
||||||
|
void set_delta_time(float dT) {
|
||||||
|
kf.transitionMatrix.at<float>(2) = dT;
|
||||||
|
kf.transitionMatrix.at<float>(9) = dT;
|
||||||
|
}
|
||||||
|
|
||||||
|
void set(bbox_t box)
|
||||||
|
{
|
||||||
|
initialize_kalman();
|
||||||
|
|
||||||
|
kf.errorCovPre.at<float>(0) = 1; // px
|
||||||
|
kf.errorCovPre.at<float>(7) = 1; // px
|
||||||
|
kf.errorCovPre.at<float>(14) = 1;
|
||||||
|
kf.errorCovPre.at<float>(21) = 1;
|
||||||
|
kf.errorCovPre.at<float>(28) = 1; // px
|
||||||
|
kf.errorCovPre.at<float>(35) = 1; // px
|
||||||
|
|
||||||
|
state.at<float>(0) = box.x;
|
||||||
|
state.at<float>(1) = box.y;
|
||||||
|
state.at<float>(2) = 0;
|
||||||
|
state.at<float>(3) = 0;
|
||||||
|
state.at<float>(4) = box.w;
|
||||||
|
state.at<float>(5) = box.h;
|
||||||
|
// <<<< Initialization
|
||||||
|
|
||||||
|
kf.statePost = state;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Kalman.correct() calculates: statePost = statePre + gain * (z(k)-measurementMatrix*statePre);
|
||||||
|
// corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
|
||||||
|
void correct(bbox_t box) {
|
||||||
|
meas.at<float>(0) = box.x;
|
||||||
|
meas.at<float>(1) = box.y;
|
||||||
|
meas.at<float>(2) = box.w;
|
||||||
|
meas.at<float>(3) = box.h;
|
||||||
|
|
||||||
|
kf.correct(meas);
|
||||||
|
|
||||||
|
bbox_t new_box = predict();
|
||||||
|
if (new_box.w == 0 || new_box.h == 0) {
|
||||||
|
set(box);
|
||||||
|
//std::cerr << " force set(): track_id = " << box.track_id <<
|
||||||
|
// ", x = " << box.x << ", y = " << box.y << ", w = " << box.w << ", h = " << box.h << std::endl;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// Kalman.predict() calculates: statePre = TransitionMatrix * statePost;
|
||||||
|
// predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
|
||||||
|
bbox_t predict() {
|
||||||
|
bbox_t box;
|
||||||
|
state = kf.predict();
|
||||||
|
|
||||||
|
box.x = state.at<float>(0);
|
||||||
|
box.y = state.at<float>(1);
|
||||||
|
box.w = state.at<float>(4);
|
||||||
|
box.h = state.at<float>(5);
|
||||||
|
return box;
|
||||||
|
}
|
||||||
|
|
||||||
|
void initialize_kalman()
|
||||||
|
{
|
||||||
|
kf = cv::KalmanFilter(stateSize, measSize, contrSize, CV_32F);
|
||||||
|
|
||||||
|
// Transition State Matrix A
|
||||||
|
// Note: set dT at each processing step!
|
||||||
|
// [ 1 0 dT 0 0 0 ]
|
||||||
|
// [ 0 1 0 dT 0 0 ]
|
||||||
|
// [ 0 0 1 0 0 0 ]
|
||||||
|
// [ 0 0 0 1 0 0 ]
|
||||||
|
// [ 0 0 0 0 1 0 ]
|
||||||
|
// [ 0 0 0 0 0 1 ]
|
||||||
|
cv::setIdentity(kf.transitionMatrix);
|
||||||
|
|
||||||
|
// Measure Matrix H
|
||||||
|
// [ 1 0 0 0 0 0 ]
|
||||||
|
// [ 0 1 0 0 0 0 ]
|
||||||
|
// [ 0 0 0 0 1 0 ]
|
||||||
|
// [ 0 0 0 0 0 1 ]
|
||||||
|
kf.measurementMatrix = cv::Mat::zeros(measSize, stateSize, CV_32F);
|
||||||
|
kf.measurementMatrix.at<float>(0) = 1.0f;
|
||||||
|
kf.measurementMatrix.at<float>(7) = 1.0f;
|
||||||
|
kf.measurementMatrix.at<float>(16) = 1.0f;
|
||||||
|
kf.measurementMatrix.at<float>(23) = 1.0f;
|
||||||
|
|
||||||
|
// Process Noise Covariance Matrix Q - result smoother with lower values (1e-2)
|
||||||
|
// [ Ex 0 0 0 0 0 ]
|
||||||
|
// [ 0 Ey 0 0 0 0 ]
|
||||||
|
// [ 0 0 Ev_x 0 0 0 ]
|
||||||
|
// [ 0 0 0 Ev_y 0 0 ]
|
||||||
|
// [ 0 0 0 0 Ew 0 ]
|
||||||
|
// [ 0 0 0 0 0 Eh ]
|
||||||
|
//cv::setIdentity(kf.processNoiseCov, cv::Scalar(1e-3));
|
||||||
|
kf.processNoiseCov.at<float>(0) = 1e-2;
|
||||||
|
kf.processNoiseCov.at<float>(7) = 1e-2;
|
||||||
|
kf.processNoiseCov.at<float>(14) = 1e-2;// 5.0f;
|
||||||
|
kf.processNoiseCov.at<float>(21) = 1e-2;// 5.0f;
|
||||||
|
kf.processNoiseCov.at<float>(28) = 1e-2;
|
||||||
|
kf.processNoiseCov.at<float>(35) = 1e-2;
|
||||||
|
|
||||||
|
// Measures Noise Covariance Matrix R - result smoother with higher values (1e-1)
|
||||||
|
cv::setIdentity(kf.measurementNoiseCov, cv::Scalar(1e-1));
|
||||||
|
|
||||||
|
//cv::setIdentity(kf.errorCovPost, cv::Scalar::all(1e-2));
|
||||||
|
// <<<< Kalman Filter
|
||||||
|
|
||||||
|
set_delta_time(0);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
one_kalman_t(int _stateSize = 6, int _measSize = 4, int _contrSize = 0) :
|
||||||
|
kf(_stateSize, _measSize, _contrSize, CV_32F), measSize(_measSize), stateSize(_stateSize), contrSize(_contrSize)
|
||||||
|
{
|
||||||
|
state = cv::Mat(stateSize, 1, CV_32F); // [x,y,v_x,v_y,w,h]
|
||||||
|
meas = cv::Mat(measSize, 1, CV_32F); // [z_x,z_y,z_w,z_h]
|
||||||
|
//cv::Mat procNoise(stateSize, 1, type)
|
||||||
|
// [E_x,E_y,E_v_x,E_v_y,E_w,E_h]
|
||||||
|
|
||||||
|
initialize_kalman();
|
||||||
|
}
|
||||||
|
};
|
||||||
|
// ------------------------------------------
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
track_kalman_t(int _max_objects = 1000, int _min_frames = 3, float _max_dist = 40, cv::Size _img_size = cv::Size(10000, 10000)) :
|
||||||
|
max_objects(_max_objects), min_frames(_min_frames), max_dist(_max_dist), img_size(_img_size),
|
||||||
|
track_id_counter(0)
|
||||||
|
{
|
||||||
|
kalman_vec.resize(max_objects);
|
||||||
|
track_id_state_id_time.resize(max_objects);
|
||||||
|
result_vec_pred.resize(max_objects);
|
||||||
|
}
|
||||||
|
|
||||||
|
float calc_dt() {
|
||||||
|
dT = std::chrono::duration<double>(std::chrono::steady_clock::now() - global_last_time).count();
|
||||||
|
return dT;
|
||||||
|
}
|
||||||
|
|
||||||
|
static float get_distance(float src_x, float src_y, float dst_x, float dst_y) {
|
||||||
|
return sqrtf((src_x - dst_x)*(src_x - dst_x) + (src_y - dst_y)*(src_y - dst_y));
|
||||||
|
}
|
||||||
|
|
||||||
|
void clear_old_states() {
|
||||||
|
// clear old bboxes
|
||||||
|
for (size_t state_id = 0; state_id < track_id_state_id_time.size(); ++state_id)
|
||||||
|
{
|
||||||
|
float time_sec = std::chrono::duration<double>(std::chrono::steady_clock::now() - track_id_state_id_time[state_id].last_time).count();
|
||||||
|
float time_wait = 0.5; // 0.5 second
|
||||||
|
if (track_id_state_id_time[state_id].track_id > -1)
|
||||||
|
{
|
||||||
|
if ((result_vec_pred[state_id].x > img_size.width) ||
|
||||||
|
(result_vec_pred[state_id].y > img_size.height))
|
||||||
|
{
|
||||||
|
track_id_state_id_time[state_id].track_id = -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (time_sec >= time_wait || track_id_state_id_time[state_id].detection_count < 0) {
|
||||||
|
//std::cerr << " remove track_id = " << track_id_state_id_time[state_id].track_id << ", state_id = " << state_id << std::endl;
|
||||||
|
track_id_state_id_time[state_id].track_id = -1; // remove bbox
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
tst_t get_state_id(bbox_t find_box, std::vector<bool> &busy_vec)
|
||||||
|
{
|
||||||
|
tst_t tst;
|
||||||
|
tst.state_id = -1;
|
||||||
|
|
||||||
|
float min_dist = std::numeric_limits<float>::max();
|
||||||
|
|
||||||
|
for (size_t i = 0; i < max_objects; ++i)
|
||||||
|
{
|
||||||
|
if (track_id_state_id_time[i].track_id > -1 && result_vec_pred[i].obj_id == find_box.obj_id && busy_vec[i] == false)
|
||||||
|
{
|
||||||
|
bbox_t pred_box = result_vec_pred[i];
|
||||||
|
|
||||||
|
float dist = get_distance(pred_box.x, pred_box.y, find_box.x, find_box.y);
|
||||||
|
|
||||||
|
float movement_dist = std::max(max_dist, static_cast<float>(std::max(pred_box.w, pred_box.h)) );
|
||||||
|
|
||||||
|
if ((dist < movement_dist) && (dist < min_dist)) {
|
||||||
|
min_dist = dist;
|
||||||
|
tst.state_id = i;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (tst.state_id > -1) {
|
||||||
|
track_id_state_id_time[tst.state_id].last_time = std::chrono::steady_clock::now();
|
||||||
|
track_id_state_id_time[tst.state_id].detection_count = std::max(track_id_state_id_time[tst.state_id].detection_count + 2, 10);
|
||||||
|
tst = track_id_state_id_time[tst.state_id];
|
||||||
|
busy_vec[tst.state_id] = true;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
//std::cerr << " Didn't find: obj_id = " << find_box.obj_id << ", x = " << find_box.x << ", y = " << find_box.y <<
|
||||||
|
// ", track_id_counter = " << track_id_counter << std::endl;
|
||||||
|
}
|
||||||
|
|
||||||
|
return tst;
|
||||||
|
}
|
||||||
|
|
||||||
|
tst_t new_state_id(std::vector<bool> &busy_vec)
|
||||||
|
{
|
||||||
|
tst_t tst;
|
||||||
|
// find empty cell to add new track_id
|
||||||
|
auto it = std::find_if(track_id_state_id_time.begin(), track_id_state_id_time.end(), [&](tst_t &v) { return v.track_id == -1; });
|
||||||
|
if (it != track_id_state_id_time.end()) {
|
||||||
|
it->state_id = it - track_id_state_id_time.begin();
|
||||||
|
//it->track_id = track_id_counter++;
|
||||||
|
it->track_id = 0;
|
||||||
|
it->last_time = std::chrono::steady_clock::now();
|
||||||
|
it->detection_count = 1;
|
||||||
|
tst = *it;
|
||||||
|
busy_vec[it->state_id] = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
return tst;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::vector<tst_t> find_state_ids(std::vector<bbox_t> result_vec)
|
||||||
|
{
|
||||||
|
std::vector<tst_t> tst_vec(result_vec.size());
|
||||||
|
|
||||||
|
std::vector<bool> busy_vec(max_objects, false);
|
||||||
|
|
||||||
|
for (size_t i = 0; i < result_vec.size(); ++i)
|
||||||
|
{
|
||||||
|
tst_t tst = get_state_id(result_vec[i], busy_vec);
|
||||||
|
int state_id = tst.state_id;
|
||||||
|
int track_id = tst.track_id;
|
||||||
|
|
||||||
|
// if new state_id
|
||||||
|
if (state_id < 0) {
|
||||||
|
tst = new_state_id(busy_vec);
|
||||||
|
state_id = tst.state_id;
|
||||||
|
track_id = tst.track_id;
|
||||||
|
if (state_id > -1) {
|
||||||
|
kalman_vec[state_id].set(result_vec[i]);
|
||||||
|
//std::cerr << " post: ";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//std::cerr << " track_id = " << track_id << ", state_id = " << state_id <<
|
||||||
|
// ", x = " << result_vec[i].x << ", det_count = " << tst.detection_count << std::endl;
|
||||||
|
|
||||||
|
if (state_id > -1) {
|
||||||
|
tst_vec[i] = tst;
|
||||||
|
result_vec_pred[state_id] = result_vec[i];
|
||||||
|
result_vec_pred[state_id].track_id = track_id;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return tst_vec;
|
||||||
|
}
|
||||||
|
|
||||||
|
std::vector<bbox_t> predict()
|
||||||
|
{
|
||||||
|
clear_old_states();
|
||||||
|
std::vector<bbox_t> result_vec;
|
||||||
|
|
||||||
|
for (size_t i = 0; i < max_objects; ++i)
|
||||||
|
{
|
||||||
|
tst_t tst = track_id_state_id_time[i];
|
||||||
|
if (tst.track_id > -1) {
|
||||||
|
bbox_t box = kalman_vec[i].predict();
|
||||||
|
|
||||||
|
result_vec_pred[i].x = box.x;
|
||||||
|
result_vec_pred[i].y = box.y;
|
||||||
|
result_vec_pred[i].w = box.w;
|
||||||
|
result_vec_pred[i].h = box.h;
|
||||||
|
|
||||||
|
if (tst.detection_count >= min_frames)
|
||||||
|
{
|
||||||
|
if (track_id_state_id_time[i].track_id == 0) {
|
||||||
|
track_id_state_id_time[i].track_id = ++track_id_counter;
|
||||||
|
result_vec_pred[i].track_id = track_id_counter;
|
||||||
|
}
|
||||||
|
|
||||||
|
result_vec.push_back(result_vec_pred[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
//std::cerr << " result_vec.size() = " << result_vec.size() << std::endl;
|
||||||
|
|
||||||
|
//global_last_time = std::chrono::steady_clock::now();
|
||||||
|
|
||||||
|
return result_vec;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
std::vector<bbox_t> correct(std::vector<bbox_t> result_vec)
|
||||||
|
{
|
||||||
|
calc_dt();
|
||||||
|
clear_old_states();
|
||||||
|
|
||||||
|
for (size_t i = 0; i < max_objects; ++i)
|
||||||
|
track_id_state_id_time[i].detection_count--;
|
||||||
|
|
||||||
|
std::vector<tst_t> tst_vec = find_state_ids(result_vec);
|
||||||
|
|
||||||
|
for (size_t i = 0; i < tst_vec.size(); ++i) {
|
||||||
|
tst_t tst = tst_vec[i];
|
||||||
|
int state_id = tst.state_id;
|
||||||
|
if (state_id > -1)
|
||||||
|
{
|
||||||
|
kalman_vec[state_id].set_delta_time(dT);
|
||||||
|
kalman_vec[state_id].correct(result_vec_pred[state_id]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
result_vec = predict();
|
||||||
|
|
||||||
|
global_last_time = std::chrono::steady_clock::now();
|
||||||
|
|
||||||
|
return result_vec;
|
||||||
|
}
|
||||||
|
|
||||||
|
};
|
||||||
|
// ----------------------------------------------
|
||||||
#endif // OPENCV
|
#endif // OPENCV
|
||||||
|
|
||||||
//extern "C" {
|
|
||||||
#endif // __cplusplus
|
#endif // __cplusplus
|
||||||
|
|
||||||
/*
|
#endif // YOLO_V2_CLASS_HPP
|
||||||
// C - wrappers
|
|
||||||
LIB_API void create_detector(char const* cfg_filename, char const* weight_filename, int gpu_id);
|
|
||||||
LIB_API void delete_detector();
|
|
||||||
LIB_API bbox_t* detect_custom(image_t img, float thresh, bool use_mean, int *result_size);
|
|
||||||
LIB_API bbox_t* detect_resized(image_t img, int init_w, int init_h, float thresh, bool use_mean, int *result_size);
|
|
||||||
LIB_API bbox_t* detect(image_t img, int *result_size);
|
|
||||||
LIB_API image_t load_img(char *image_filename);
|
|
||||||
LIB_API void free_img(image_t m);
|
|
||||||
|
|
||||||
#ifdef __cplusplus
|
|
||||||
} // extern "C"
|
|
||||||
|
|
||||||
static std::shared_ptr<void> c_detector_ptr;
|
|
||||||
static std::vector<bbox_t> c_result_vec;
|
|
||||||
|
|
||||||
void create_detector(char const* cfg_filename, char const* weight_filename, int gpu_id) {
|
|
||||||
c_detector_ptr = std::make_shared<LIB_API Detector>(cfg_filename, weight_filename, gpu_id);
|
|
||||||
}
|
|
||||||
|
|
||||||
void delete_detector() { c_detector_ptr.reset(); }
|
|
||||||
|
|
||||||
bbox_t* detect_custom(image_t img, float thresh, bool use_mean, int *result_size) {
|
|
||||||
c_result_vec = static_cast<Detector*>(c_detector_ptr.get())->detect(img, thresh, use_mean);
|
|
||||||
*result_size = c_result_vec.size();
|
|
||||||
return c_result_vec.data();
|
|
||||||
}
|
|
||||||
|
|
||||||
bbox_t* detect_resized(image_t img, int init_w, int init_h, float thresh, bool use_mean, int *result_size) {
|
|
||||||
c_result_vec = static_cast<Detector*>(c_detector_ptr.get())->detect_resized(img, init_w, init_h, thresh, use_mean);
|
|
||||||
*result_size = c_result_vec.size();
|
|
||||||
return c_result_vec.data();
|
|
||||||
}
|
|
||||||
|
|
||||||
bbox_t* detect(image_t img, int *result_size) {
|
|
||||||
return detect_custom(img, 0.24, true, result_size);
|
|
||||||
}
|
|
||||||
|
|
||||||
image_t load_img(char *image_filename) {
|
|
||||||
return static_cast<Detector*>(c_detector_ptr.get())->load_image(image_filename);
|
|
||||||
}
|
|
||||||
void free_img(image_t m) {
|
|
||||||
static_cast<Detector*>(c_detector_ptr.get())->free_image(m);
|
|
||||||
}
|
|
||||||
|
|
||||||
#endif // __cplusplus
|
|
||||||
*/
|
|
||||||
#endif
|
|
||||||
|
|||||||
@ -16,6 +16,12 @@ Cityscapes: https://www.cityscapes-dataset.com/
|
|||||||
|
|
||||||
Object Tracking Benchmark: http://cvlab.hanyang.ac.kr/tracker_benchmark/datasets.html
|
Object Tracking Benchmark: http://cvlab.hanyang.ac.kr/tracker_benchmark/datasets.html
|
||||||
|
|
||||||
|
MOT (Multiple object tracking benchmark): https://motchallenge.net/
|
||||||
|
|
||||||
|
VOT (Visual object tracking): http://www.votchallenge.net/challenges.html
|
||||||
|
|
||||||
|
FREE FLIR Thermal Dataset (infrared): https://www.flir.eu/oem/adas/adas-dataset-form/
|
||||||
|
|
||||||
MARS: http://www.liangzheng.com.cn/Project/project_mars.html
|
MARS: http://www.liangzheng.com.cn/Project/project_mars.html
|
||||||
|
|
||||||
Market-1501: http://www.liangzheng.org/Project/project_reid.html
|
Market-1501: http://www.liangzheng.org/Project/project_reid.html
|
||||||
@ -30,7 +36,22 @@ Visual Question Answering: https://visualqa.org/download.html
|
|||||||
|
|
||||||
Large Movie Review Dataset: http://ai.stanford.edu/~amaas/data/sentiment/
|
Large Movie Review Dataset: http://ai.stanford.edu/~amaas/data/sentiment/
|
||||||
|
|
||||||
|
KITTI (for autonomous driving): http://www.cvlibs.net/datasets/kitti/
|
||||||
|
|
||||||
|
nuScenes (for autonomous driving): https://www.nuscenes.org/overview
|
||||||
|
|
||||||
|
----
|
||||||
|
|
||||||
|
Wikipedia's List of datasets: https://en.wikipedia.org/wiki/List_of_datasets_for_machine-learning_research
|
||||||
|
|
||||||
Other datasets (Music, Natural Images, Artificial Datasets, Faces, Text, Speech, Recommendation Systems, Misc): http://deeplearning.net/datasets/
|
Other datasets (Music, Natural Images, Artificial Datasets, Faces, Text, Speech, Recommendation Systems, Misc): http://deeplearning.net/datasets/
|
||||||
|
|
||||||
25 datasets: https://www.analyticsvidhya.com/blog/2018/03/comprehensive-collection-deep-learning-datasets/
|
25 datasets: https://www.analyticsvidhya.com/blog/2018/03/comprehensive-collection-deep-learning-datasets/
|
||||||
|
|
||||||
|
List of datasets: https://riemenschneider.hayko.at/vision/dataset/index.php
|
||||||
|
|
||||||
|
Another list of datasets: http://homepages.inf.ed.ac.uk/rbf/CVonline/Imagedbase.htm
|
||||||
|
|
||||||
|
Pedestrian DATASETs for Vision based Detection and Tracking: https://hemprasad.wordpress.com/2014/11/08/pedestrian-datasets-for-vision-based-detection-and-tracking/
|
||||||
|
|
||||||
|
TrackingNet: https://tracking-net.org/
|
||||||
@ -4,7 +4,7 @@
|
|||||||
#include "cublas_v2.h"
|
#include "cublas_v2.h"
|
||||||
|
|
||||||
#include "activations.h"
|
#include "activations.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
|
|
||||||
__device__ float lhtan_activate_kernel(float x)
|
__device__ float lhtan_activate_kernel(float x)
|
||||||
|
|||||||
@ -1,6 +1,6 @@
|
|||||||
#include "activation_layer.h"
|
#include "activation_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#ifndef ACTIVATIONS_H
|
#ifndef ACTIVATIONS_H
|
||||||
#define ACTIVATIONS_H
|
#define ACTIVATIONS_H
|
||||||
#include "darknet.h"
|
#include "darknet.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "math.h"
|
#include "math.h"
|
||||||
|
|
||||||
//typedef enum{
|
//typedef enum{
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "avgpool_layer.h"
|
#include "avgpool_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
avgpool_layer make_avgpool_layer(int batch, int w, int h, int c)
|
avgpool_layer make_avgpool_layer(int batch, int w, int h, int c)
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#define AVGPOOL_LAYER_H
|
#define AVGPOOL_LAYER_H
|
||||||
|
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
#include "network.h"
|
#include "network.h"
|
||||||
|
|
||||||
|
|||||||
@ -3,7 +3,7 @@
|
|||||||
#include "cublas_v2.h"
|
#include "cublas_v2.h"
|
||||||
|
|
||||||
#include "avgpool_layer.h"
|
#include "avgpool_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
__global__ void forward_avgpool_layer_kernel(int n, int w, int h, int c, float *input, float *output)
|
__global__ void forward_avgpool_layer_kernel(int n, int w, int h, int c, float *input, float *output)
|
||||||
{
|
{
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#ifndef BLAS_H
|
#ifndef BLAS_H
|
||||||
#define BLAS_H
|
#define BLAS_H
|
||||||
#ifdef GPU
|
#ifdef GPU
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "tree.h"
|
#include "tree.h"
|
||||||
#endif
|
#endif
|
||||||
#ifdef __cplusplus
|
#ifdef __cplusplus
|
||||||
|
|||||||
@ -4,7 +4,7 @@
|
|||||||
#include <assert.h>
|
#include <assert.h>
|
||||||
|
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "tree.h"
|
#include "tree.h"
|
||||||
|
|
||||||
|
|||||||
@ -5,7 +5,7 @@
|
|||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "assert.h"
|
#include "assert.h"
|
||||||
#include "classifier.h"
|
#include "classifier.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#ifdef WIN32
|
#ifdef WIN32
|
||||||
#include <time.h>
|
#include <time.h>
|
||||||
#include "gettimeofday.h"
|
#include "gettimeofday.h"
|
||||||
|
|||||||
@ -3,7 +3,7 @@
|
|||||||
#include "cublas_v2.h"
|
#include "cublas_v2.h"
|
||||||
|
|
||||||
#include "col2im.h"
|
#include "col2im.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
// src: https://github.com/BVLC/caffe/blob/master/src/caffe/util/im2col.cu
|
// src: https://github.com/BVLC/caffe/blob/master/src/caffe/util/im2col.cu
|
||||||
// You may also want to read: https://github.com/BVLC/caffe/blob/master/LICENSE
|
// You may also want to read: https://github.com/BVLC/caffe/blob/master/LICENSE
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#include "batchnorm_layer.h"
|
#include "batchnorm_layer.h"
|
||||||
#include "convolutional_layer.h"
|
#include "convolutional_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
|
|
||||||
|
|||||||
@ -2,12 +2,6 @@
|
|||||||
#include "curand.h"
|
#include "curand.h"
|
||||||
#include "cublas_v2.h"
|
#include "cublas_v2.h"
|
||||||
|
|
||||||
#ifdef CUDNN
|
|
||||||
#ifndef USE_CMAKE_LIBS
|
|
||||||
#pragma comment(lib, "cudnn.lib")
|
|
||||||
#endif
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#include "convolutional_layer.h"
|
#include "convolutional_layer.h"
|
||||||
#include "batchnorm_layer.h"
|
#include "batchnorm_layer.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
@ -15,7 +9,7 @@
|
|||||||
#include "im2col.h"
|
#include "im2col.h"
|
||||||
#include "col2im.h"
|
#include "col2im.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
|
|
||||||
__global__ void binarize_kernel(float *x, int n, float *binary)
|
__global__ void binarize_kernel(float *x, int n, float *binary)
|
||||||
@ -598,6 +592,7 @@ void forward_convolutional_layer_gpu(convolutional_layer l, network_state state)
|
|||||||
|
|
||||||
void backward_convolutional_layer_gpu(convolutional_layer l, network_state state)
|
void backward_convolutional_layer_gpu(convolutional_layer l, network_state state)
|
||||||
{
|
{
|
||||||
|
if(state.net.try_fix_nan) constrain_ongpu(l.outputs*l.batch, 1, l.delta_gpu, 1);
|
||||||
gradient_array_ongpu(l.output_gpu, l.outputs*l.batch, l.activation, l.delta_gpu);
|
gradient_array_ongpu(l.output_gpu, l.outputs*l.batch, l.activation, l.delta_gpu);
|
||||||
|
|
||||||
if (!l.batch_normalize)
|
if (!l.batch_normalize)
|
||||||
|
|||||||
@ -8,12 +8,6 @@
|
|||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <time.h>
|
#include <time.h>
|
||||||
|
|
||||||
#ifdef CUDNN
|
|
||||||
#ifndef USE_CMAKE_LIBS
|
|
||||||
#pragma comment(lib, "cudnn.lib")
|
|
||||||
#endif
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef AI2
|
#ifdef AI2
|
||||||
#include "xnor_layer.h"
|
#include "xnor_layer.h"
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#ifndef CONVOLUTIONAL_LAYER_H
|
#ifndef CONVOLUTIONAL_LAYER_H
|
||||||
#define CONVOLUTIONAL_LAYER_H
|
#define CONVOLUTIONAL_LAYER_H
|
||||||
|
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "activations.h"
|
#include "activations.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
|
|||||||
@ -1,6 +1,6 @@
|
|||||||
#include "cost_layer.h"
|
#include "cost_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
#include <string.h>
|
#include <string.h>
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "crnn_layer.h"
|
#include "crnn_layer.h"
|
||||||
#include "convolutional_layer.h"
|
#include "convolutional_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
|
|
||||||
@ -268,16 +268,18 @@ void forward_crnn_layer_gpu(layer l, network_state state)
|
|||||||
layer input_layer = *(l.input_layer);
|
layer input_layer = *(l.input_layer);
|
||||||
layer self_layer = *(l.self_layer);
|
layer self_layer = *(l.self_layer);
|
||||||
layer output_layer = *(l.output_layer);
|
layer output_layer = *(l.output_layer);
|
||||||
/*
|
|
||||||
#ifdef CUDNN_HALF
|
/*
|
||||||
// slow and bad
|
#ifdef CUDNN_HALF // slow and bad for training
|
||||||
s.index = state.index;
|
if (!state.train && state.net.cudnn_half) {
|
||||||
s.net = state.net;
|
s.index = state.index;
|
||||||
cuda_convert_f32_to_f16(input_layer.weights_gpu, input_layer.c*input_layer.n*input_layer.size*input_layer.size, input_layer.weights_gpu16);
|
cuda_convert_f32_to_f16(input_layer.weights_gpu, input_layer.c*input_layer.n*input_layer.size*input_layer.size, input_layer.weights_gpu16);
|
||||||
cuda_convert_f32_to_f16(self_layer.weights_gpu, self_layer.c*self_layer.n*self_layer.size*self_layer.size, self_layer.weights_gpu16);
|
cuda_convert_f32_to_f16(self_layer.weights_gpu, self_layer.c*self_layer.n*self_layer.size*self_layer.size, self_layer.weights_gpu16);
|
||||||
cuda_convert_f32_to_f16(output_layer.weights_gpu, output_layer.c*output_layer.n*output_layer.size*output_layer.size, output_layer.weights_gpu16);
|
cuda_convert_f32_to_f16(output_layer.weights_gpu, output_layer.c*output_layer.n*output_layer.size*output_layer.size, output_layer.weights_gpu16);
|
||||||
|
}
|
||||||
#endif //CUDNN_HALF
|
#endif //CUDNN_HALF
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
|
||||||
if (state.train) {
|
if (state.train) {
|
||||||
fill_ongpu(l.outputs * l.batch * l.steps, 0, output_layer.delta_gpu, 1);
|
fill_ongpu(l.outputs * l.batch * l.steps, 0, output_layer.delta_gpu, 1);
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "crop_layer.h"
|
#include "crop_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
image get_crop_image(crop_layer l)
|
image get_crop_image(crop_layer l)
|
||||||
|
|||||||
@ -4,7 +4,7 @@
|
|||||||
|
|
||||||
#include "crop_layer.h"
|
#include "crop_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
|
|
||||||
__device__ float get_pixel_kernel(float *image, int w, int h, int x, int y, int c)
|
__device__ float get_pixel_kernel(float *image, int w, int h, int x, int y, int c)
|
||||||
|
|||||||
@ -14,6 +14,15 @@ int gpu_index = 0;
|
|||||||
#include "assert.h"
|
#include "assert.h"
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
#include <time.h>
|
#include <time.h>
|
||||||
|
#include <cuda.h>
|
||||||
|
|
||||||
|
#pragma comment(lib, "cuda.lib")
|
||||||
|
|
||||||
|
#ifdef CUDNN
|
||||||
|
#ifndef USE_CMAKE_LIBS
|
||||||
|
#pragma comment(lib, "cudnn.lib")
|
||||||
|
#endif // USE_CMAKE_LIBS
|
||||||
|
#endif // CUDNN
|
||||||
|
|
||||||
void cuda_set_device(int n)
|
void cuda_set_device(int n)
|
||||||
{
|
{
|
||||||
@ -30,6 +39,14 @@ int cuda_get_device()
|
|||||||
return n;
|
return n;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void *cuda_get_context()
|
||||||
|
{
|
||||||
|
CUcontext pctx;
|
||||||
|
CUresult status = cuCtxGetCurrent(&pctx);
|
||||||
|
if(status != CUDA_SUCCESS) fprintf(stderr, " Error: cuCtxGetCurrent() is failed \n");
|
||||||
|
return (void *)pctx;
|
||||||
|
}
|
||||||
|
|
||||||
void check_error(cudaError_t status)
|
void check_error(cudaError_t status)
|
||||||
{
|
{
|
||||||
cudaError_t status2 = cudaGetLastError();
|
cudaError_t status2 = cudaGetLastError();
|
||||||
@ -18,11 +18,12 @@ extern int gpu_index;
|
|||||||
#define WARP_SIZE 32
|
#define WARP_SIZE 32
|
||||||
#define BLOCK_TRANSPOSE32 256
|
#define BLOCK_TRANSPOSE32 256
|
||||||
|
|
||||||
|
#include <cuda.h>
|
||||||
#include <cuda_runtime.h>
|
#include <cuda_runtime.h>
|
||||||
#include <curand.h>
|
#include <curand.h>
|
||||||
#include <cublas_v2.h>
|
#include <cublas_v2.h>
|
||||||
#include <cuda_runtime_api.h>
|
#include <cuda_runtime_api.h>
|
||||||
#include <driver_types.h>
|
//#include <driver_types.h>
|
||||||
|
|
||||||
#ifdef CUDNN
|
#ifdef CUDNN
|
||||||
#include <cudnn.h>
|
#include <cudnn.h>
|
||||||
@ -87,4 +88,4 @@ void cudnn_check_error_extended(cudnnStatus_t status, const char *file, int line
|
|||||||
#else // GPU
|
#else // GPU
|
||||||
//LIB_API void cuda_set_device(int n);
|
//LIB_API void cuda_set_device(int n);
|
||||||
#endif // GPU
|
#endif // GPU
|
||||||
#endif // CUDA_H
|
#endif // DARKCUDA_H
|
||||||
@ -8,7 +8,7 @@
|
|||||||
#include "darknet.h"
|
#include "darknet.h"
|
||||||
#include "parser.h"
|
#include "parser.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "connected_layer.h"
|
#include "connected_layer.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "data.h"
|
#include "data.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
|
|||||||
@ -9,7 +9,7 @@
|
|||||||
#include "im2col.h"
|
#include "im2col.h"
|
||||||
#include "col2im.h"
|
#include "col2im.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
extern "C" void forward_deconvolutional_layer_gpu(deconvolutional_layer layer, network_state state)
|
extern "C" void forward_deconvolutional_layer_gpu(deconvolutional_layer layer, network_state state)
|
||||||
{
|
{
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#ifndef DECONVOLUTIONAL_LAYER_H
|
#ifndef DECONVOLUTIONAL_LAYER_H
|
||||||
#define DECONVOLUTIONAL_LAYER_H
|
#define DECONVOLUTIONAL_LAYER_H
|
||||||
|
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "activations.h"
|
#include "activations.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
|
|||||||
@ -3,7 +3,7 @@
|
|||||||
#include "softmax_layer.h"
|
#include "softmax_layer.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "box.h"
|
#include "box.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <assert.h>
|
#include <assert.h>
|
||||||
|
|||||||
@ -923,6 +923,11 @@ float validate_detector_map(char *datacfg, char *cfgfile, char *weightfile, floa
|
|||||||
printf("\n detections_count = %d, unique_truth_count = %d \n", detections_count, unique_truth_count);
|
printf("\n detections_count = %d, unique_truth_count = %d \n", detections_count, unique_truth_count);
|
||||||
|
|
||||||
|
|
||||||
|
int* detection_per_class_count = (int*)calloc(classes, sizeof(int));
|
||||||
|
for (j = 0; j < detections_count; ++j) {
|
||||||
|
detection_per_class_count[detections[j].class_id]++;
|
||||||
|
}
|
||||||
|
|
||||||
int* truth_flags = (int*)calloc(unique_truth_count, sizeof(int));
|
int* truth_flags = (int*)calloc(unique_truth_count, sizeof(int));
|
||||||
|
|
||||||
int rank;
|
int rank;
|
||||||
@ -945,7 +950,8 @@ float validate_detector_map(char *datacfg, char *cfgfile, char *weightfile, floa
|
|||||||
{
|
{
|
||||||
truth_flags[d.unique_truth_index] = 1;
|
truth_flags[d.unique_truth_index] = 1;
|
||||||
pr[d.class_id][rank].tp++; // true-positive
|
pr[d.class_id][rank].tp++; // true-positive
|
||||||
}
|
} else
|
||||||
|
pr[d.class_id][rank].fp++;
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
pr[d.class_id][rank].fp++; // false-positive
|
pr[d.class_id][rank].fp++; // false-positive
|
||||||
@ -963,6 +969,10 @@ float validate_detector_map(char *datacfg, char *cfgfile, char *weightfile, floa
|
|||||||
|
|
||||||
if ((tp + fn) > 0) pr[i][rank].recall = (double)tp / (double)(tp + fn);
|
if ((tp + fn) > 0) pr[i][rank].recall = (double)tp / (double)(tp + fn);
|
||||||
else pr[i][rank].recall = 0;
|
else pr[i][rank].recall = 0;
|
||||||
|
|
||||||
|
if (rank == (detections_count - 1) && detection_per_class_count[i] != (tp + fp)) { // check for last rank
|
||||||
|
printf(" class_id: %d - detections = %d, tp+fp = %d, tp = %d, fp = %d \n", i, detection_per_class_count[i], tp+fp, tp, fp);
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -1014,6 +1024,7 @@ float validate_detector_map(char *datacfg, char *cfgfile, char *weightfile, floa
|
|||||||
free(pr);
|
free(pr);
|
||||||
free(detections);
|
free(detections);
|
||||||
free(truth_classes_count);
|
free(truth_classes_count);
|
||||||
|
free(detection_per_class_count);
|
||||||
|
|
||||||
fprintf(stderr, "Total Detection Time: %f Seconds\n", (double)(time(0) - start));
|
fprintf(stderr, "Total Detection Time: %f Seconds\n", (double)(time(0) - start));
|
||||||
if (reinforcement_fd != NULL) fclose(reinforcement_fd);
|
if (reinforcement_fd != NULL) fclose(reinforcement_fd);
|
||||||
|
|||||||
@ -1,6 +1,6 @@
|
|||||||
#include "dropout_layer.h"
|
#include "dropout_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
|
|||||||
@ -3,7 +3,7 @@
|
|||||||
#include "cublas_v2.h"
|
#include "cublas_v2.h"
|
||||||
|
|
||||||
#include "dropout_layer.h"
|
#include "dropout_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
|
|
||||||
__global__ void yoloswag420blazeit360noscope(float *input, int size, float *rand, float prob, float scale)
|
__global__ void yoloswag420blazeit360noscope(float *input, int size, float *rand, float prob, float scale)
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "im2col.h"
|
#include "im2col.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <math.h>
|
#include <math.h>
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "gru_layer.h"
|
#include "gru_layer.h"
|
||||||
#include "connected_layer.h"
|
#include "connected_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,7 +1,8 @@
|
|||||||
|
#define _XOPEN_SOURCE
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "http_stream.h"
|
#include "http_stream.h"
|
||||||
|
|
||||||
#ifdef OPENCV
|
|
||||||
//
|
//
|
||||||
// a single-threaded, multi client(using select), debug webserver - streaming out mjpg.
|
// a single-threaded, multi client(using select), debug webserver - streaming out mjpg.
|
||||||
// on win, _WIN32 has to be defined, must link against ws2_32.lib (socks on linux are for free)
|
// on win, _WIN32 has to be defined, must link against ws2_32.lib (socks on linux are for free)
|
||||||
@ -11,6 +12,8 @@
|
|||||||
#include <vector>
|
#include <vector>
|
||||||
#include <iostream>
|
#include <iostream>
|
||||||
#include <algorithm>
|
#include <algorithm>
|
||||||
|
#include <memory>
|
||||||
|
#include <mutex>
|
||||||
using std::cerr;
|
using std::cerr;
|
||||||
using std::endl;
|
using std::endl;
|
||||||
|
|
||||||
@ -87,6 +90,219 @@ static int close_socket(SOCKET s) {
|
|||||||
#endif // _WIN32
|
#endif // _WIN32
|
||||||
|
|
||||||
|
|
||||||
|
class JSON_sender
|
||||||
|
{
|
||||||
|
SOCKET sock;
|
||||||
|
SOCKET maxfd;
|
||||||
|
fd_set master;
|
||||||
|
int timeout; // master sock timeout, shutdown after timeout usec.
|
||||||
|
int close_all_sockets;
|
||||||
|
|
||||||
|
int _write(int sock, char const*const s, int len)
|
||||||
|
{
|
||||||
|
if (len < 1) { len = strlen(s); }
|
||||||
|
return ::send(sock, s, len, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
public:
|
||||||
|
|
||||||
|
JSON_sender(int port = 0, int _timeout = 400000)
|
||||||
|
: sock(INVALID_SOCKET)
|
||||||
|
, timeout(_timeout)
|
||||||
|
{
|
||||||
|
close_all_sockets = 0;
|
||||||
|
FD_ZERO(&master);
|
||||||
|
if (port)
|
||||||
|
open(port);
|
||||||
|
}
|
||||||
|
|
||||||
|
~JSON_sender()
|
||||||
|
{
|
||||||
|
close_all();
|
||||||
|
release();
|
||||||
|
}
|
||||||
|
|
||||||
|
bool release()
|
||||||
|
{
|
||||||
|
if (sock != INVALID_SOCKET)
|
||||||
|
::shutdown(sock, 2);
|
||||||
|
sock = (INVALID_SOCKET);
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
void close_all()
|
||||||
|
{
|
||||||
|
close_all_sockets = 1;
|
||||||
|
write("\n]"); // close JSON array
|
||||||
|
}
|
||||||
|
|
||||||
|
bool open(int port)
|
||||||
|
{
|
||||||
|
sock = ::socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
|
||||||
|
|
||||||
|
SOCKADDR_IN address;
|
||||||
|
address.sin_addr.s_addr = INADDR_ANY;
|
||||||
|
address.sin_family = AF_INET;
|
||||||
|
address.sin_port = htons(port); // ::htons(port);
|
||||||
|
int reuse = 1;
|
||||||
|
if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, (const char*)&reuse, sizeof(reuse)) < 0)
|
||||||
|
cerr << "setsockopt(SO_REUSEADDR) failed" << endl;
|
||||||
|
|
||||||
|
#ifdef SO_REUSEPORT
|
||||||
|
if (setsockopt(sock, SOL_SOCKET, SO_REUSEPORT, (const char*)&reuse, sizeof(reuse)) < 0)
|
||||||
|
cerr << "setsockopt(SO_REUSEPORT) failed" << endl;
|
||||||
|
#endif
|
||||||
|
if (::bind(sock, (SOCKADDR*)&address, sizeof(SOCKADDR_IN)) == SOCKET_ERROR)
|
||||||
|
{
|
||||||
|
cerr << "error JSON_sender: couldn't bind sock " << sock << " to port " << port << "!" << endl;
|
||||||
|
return release();
|
||||||
|
}
|
||||||
|
if (::listen(sock, 10) == SOCKET_ERROR)
|
||||||
|
{
|
||||||
|
cerr << "error JSON_sender: couldn't listen on sock " << sock << " on port " << port << " !" << endl;
|
||||||
|
return release();
|
||||||
|
}
|
||||||
|
FD_ZERO(&master);
|
||||||
|
FD_SET(sock, &master);
|
||||||
|
maxfd = sock;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool isOpened()
|
||||||
|
{
|
||||||
|
return sock != INVALID_SOCKET;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool write(char const* outputbuf)
|
||||||
|
{
|
||||||
|
fd_set rread = master;
|
||||||
|
struct timeval select_timeout = { 0, 0 };
|
||||||
|
struct timeval socket_timeout = { 0, timeout };
|
||||||
|
if (::select(maxfd + 1, &rread, NULL, NULL, &select_timeout) <= 0)
|
||||||
|
return true; // nothing broken, there's just noone listening
|
||||||
|
|
||||||
|
size_t outlen = strlen(outputbuf);
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
for (unsigned i = 0; i<rread.fd_count; i++)
|
||||||
|
{
|
||||||
|
int addrlen = sizeof(SOCKADDR);
|
||||||
|
SOCKET s = rread.fd_array[i]; // fd_set on win is an array, while ...
|
||||||
|
#else
|
||||||
|
for (int s = 0; s <= maxfd; s++)
|
||||||
|
{
|
||||||
|
socklen_t addrlen = sizeof(SOCKADDR);
|
||||||
|
if (!FD_ISSET(s, &rread)) // ... on linux it's a bitmask ;)
|
||||||
|
continue;
|
||||||
|
#endif
|
||||||
|
if (s == sock) // request on master socket, accept and send main header.
|
||||||
|
{
|
||||||
|
SOCKADDR_IN address = { 0 };
|
||||||
|
SOCKET client = ::accept(sock, (SOCKADDR*)&address, &addrlen);
|
||||||
|
if (client == SOCKET_ERROR)
|
||||||
|
{
|
||||||
|
cerr << "error JSON_sender: couldn't accept connection on sock " << sock << " !" << endl;
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
if (setsockopt(client, SOL_SOCKET, SO_RCVTIMEO, (char *)&socket_timeout, sizeof(socket_timeout)) < 0) {
|
||||||
|
cerr << "error JSON_sender: SO_RCVTIMEO setsockopt failed\n";
|
||||||
|
}
|
||||||
|
if (setsockopt(client, SOL_SOCKET, SO_SNDTIMEO, (char *)&socket_timeout, sizeof(socket_timeout)) < 0) {
|
||||||
|
cerr << "error JSON_sender: SO_SNDTIMEO setsockopt failed\n";
|
||||||
|
}
|
||||||
|
maxfd = (maxfd>client ? maxfd : client);
|
||||||
|
FD_SET(client, &master);
|
||||||
|
_write(client, "HTTP/1.0 200 OK\r\n", 0);
|
||||||
|
_write(client,
|
||||||
|
"Server: Mozarella/2.2\r\n"
|
||||||
|
"Accept-Range: bytes\r\n"
|
||||||
|
"Connection: close\r\n"
|
||||||
|
"Max-Age: 0\r\n"
|
||||||
|
"Expires: 0\r\n"
|
||||||
|
"Cache-Control: no-cache, private\r\n"
|
||||||
|
"Pragma: no-cache\r\n"
|
||||||
|
"Content-Type: application/json\r\n"
|
||||||
|
//"Content-Type: multipart/x-mixed-replace; boundary=boundary\r\n"
|
||||||
|
"\r\n", 0);
|
||||||
|
_write(client, "[\n", 0); // open JSON array
|
||||||
|
int n = _write(client, outputbuf, outlen);
|
||||||
|
cerr << "JSON_sender: new client " << client << endl;
|
||||||
|
}
|
||||||
|
else // existing client, just stream pix
|
||||||
|
{
|
||||||
|
//char head[400];
|
||||||
|
// application/x-resource+json or application/x-collection+json - when you are representing REST resources and collections
|
||||||
|
// application/json or text/json or text/javascript or text/plain.
|
||||||
|
// https://stackoverflow.com/questions/477816/what-is-the-correct-json-content-type
|
||||||
|
//sprintf(head, "\r\nContent-Length: %zu\r\n\r\n", outlen);
|
||||||
|
//sprintf(head, "--boundary\r\nContent-Type: application/json\r\nContent-Length: %zu\r\n\r\n", outlen);
|
||||||
|
//_write(s, head, 0);
|
||||||
|
if (!close_all_sockets) _write(s, ", \n", 0);
|
||||||
|
int n = _write(s, outputbuf, outlen);
|
||||||
|
if (n < outlen)
|
||||||
|
{
|
||||||
|
cerr << "JSON_sender: kill client " << s << endl;
|
||||||
|
::shutdown(s, 2);
|
||||||
|
FD_CLR(s, &master);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (close_all_sockets) {
|
||||||
|
int result = close_socket(s);
|
||||||
|
cerr << "JSON_sender: close clinet: " << result << " \n";
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (close_all_sockets) {
|
||||||
|
int result = close_socket(sock);
|
||||||
|
cerr << "JSON_sender: close acceptor: " << result << " \n\n";
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
};
|
||||||
|
// ----------------------------------------
|
||||||
|
|
||||||
|
static std::unique_ptr<JSON_sender> js_ptr;
|
||||||
|
static std::mutex mtx;
|
||||||
|
|
||||||
|
void delete_json_sender()
|
||||||
|
{
|
||||||
|
std::lock_guard<std::mutex> lock(mtx);
|
||||||
|
js_ptr.release();
|
||||||
|
}
|
||||||
|
|
||||||
|
void send_json_custom(char const* send_buf, int port, int timeout)
|
||||||
|
{
|
||||||
|
try {
|
||||||
|
std::lock_guard<std::mutex> lock(mtx);
|
||||||
|
if(!js_ptr) js_ptr.reset(new JSON_sender(port, timeout));
|
||||||
|
|
||||||
|
js_ptr->write(send_buf);
|
||||||
|
}
|
||||||
|
catch (...) {
|
||||||
|
cerr << " Error in send_json_custom() function \n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void send_json(detection *dets, int nboxes, int classes, char **names, long long int frame_id, int port, int timeout)
|
||||||
|
{
|
||||||
|
try {
|
||||||
|
char *send_buf = detection_to_json(dets, nboxes, classes, names, frame_id, NULL);
|
||||||
|
|
||||||
|
send_json_custom(send_buf, port, timeout);
|
||||||
|
std::cout << " JSON-stream sent. \n";
|
||||||
|
|
||||||
|
free(send_buf);
|
||||||
|
}
|
||||||
|
catch (...) {
|
||||||
|
cerr << " Error in send_json() function \n";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// ----------------------------------------
|
||||||
|
|
||||||
|
|
||||||
|
#ifdef OPENCV
|
||||||
|
|
||||||
#include <opencv2/opencv.hpp>
|
#include <opencv2/opencv.hpp>
|
||||||
#include <opencv2/highgui/highgui.hpp>
|
#include <opencv2/highgui/highgui.hpp>
|
||||||
#include <opencv2/highgui/highgui_c.h>
|
#include <opencv2/highgui/highgui_c.h>
|
||||||
@ -287,195 +503,6 @@ void send_mjpeg(IplImage* ipl, int port, int timeout, int quality)
|
|||||||
}
|
}
|
||||||
// ----------------------------------------
|
// ----------------------------------------
|
||||||
|
|
||||||
class JSON_sender
|
|
||||||
{
|
|
||||||
SOCKET sock;
|
|
||||||
SOCKET maxfd;
|
|
||||||
fd_set master;
|
|
||||||
int timeout; // master sock timeout, shutdown after timeout usec.
|
|
||||||
int close_all_sockets;
|
|
||||||
|
|
||||||
int _write(int sock, char const*const s, int len)
|
|
||||||
{
|
|
||||||
if (len < 1) { len = strlen(s); }
|
|
||||||
return ::send(sock, s, len, 0);
|
|
||||||
}
|
|
||||||
|
|
||||||
public:
|
|
||||||
|
|
||||||
JSON_sender(int port = 0, int _timeout = 400000)
|
|
||||||
: sock(INVALID_SOCKET)
|
|
||||||
, timeout(_timeout)
|
|
||||||
{
|
|
||||||
close_all_sockets = 0;
|
|
||||||
FD_ZERO(&master);
|
|
||||||
if (port)
|
|
||||||
open(port);
|
|
||||||
}
|
|
||||||
|
|
||||||
~JSON_sender()
|
|
||||||
{
|
|
||||||
close_all();
|
|
||||||
release();
|
|
||||||
}
|
|
||||||
|
|
||||||
bool release()
|
|
||||||
{
|
|
||||||
if (sock != INVALID_SOCKET)
|
|
||||||
::shutdown(sock, 2);
|
|
||||||
sock = (INVALID_SOCKET);
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
|
|
||||||
void close_all()
|
|
||||||
{
|
|
||||||
close_all_sockets = 1;
|
|
||||||
write("\n]"); // close JSON array
|
|
||||||
}
|
|
||||||
|
|
||||||
bool open(int port)
|
|
||||||
{
|
|
||||||
sock = ::socket(AF_INET, SOCK_STREAM, IPPROTO_TCP);
|
|
||||||
|
|
||||||
SOCKADDR_IN address;
|
|
||||||
address.sin_addr.s_addr = INADDR_ANY;
|
|
||||||
address.sin_family = AF_INET;
|
|
||||||
address.sin_port = htons(port); // ::htons(port);
|
|
||||||
int reuse = 1;
|
|
||||||
if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, (const char*)&reuse, sizeof(reuse)) < 0)
|
|
||||||
cerr << "setsockopt(SO_REUSEADDR) failed" << endl;
|
|
||||||
|
|
||||||
#ifdef SO_REUSEPORT
|
|
||||||
if (setsockopt(sock, SOL_SOCKET, SO_REUSEPORT, (const char*)&reuse, sizeof(reuse)) < 0)
|
|
||||||
cerr << "setsockopt(SO_REUSEPORT) failed" << endl;
|
|
||||||
#endif
|
|
||||||
if (::bind(sock, (SOCKADDR*)&address, sizeof(SOCKADDR_IN)) == SOCKET_ERROR)
|
|
||||||
{
|
|
||||||
cerr << "error JSON_sender: couldn't bind sock " << sock << " to port " << port << "!" << endl;
|
|
||||||
return release();
|
|
||||||
}
|
|
||||||
if (::listen(sock, 10) == SOCKET_ERROR)
|
|
||||||
{
|
|
||||||
cerr << "error JSON_sender: couldn't listen on sock " << sock << " on port " << port << " !" << endl;
|
|
||||||
return release();
|
|
||||||
}
|
|
||||||
FD_ZERO(&master);
|
|
||||||
FD_SET(sock, &master);
|
|
||||||
maxfd = sock;
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool isOpened()
|
|
||||||
{
|
|
||||||
return sock != INVALID_SOCKET;
|
|
||||||
}
|
|
||||||
|
|
||||||
bool write(char *outputbuf)
|
|
||||||
{
|
|
||||||
fd_set rread = master;
|
|
||||||
struct timeval select_timeout = { 0, 0 };
|
|
||||||
struct timeval socket_timeout = { 0, timeout };
|
|
||||||
if (::select(maxfd + 1, &rread, NULL, NULL, &select_timeout) <= 0)
|
|
||||||
return true; // nothing broken, there's just noone listening
|
|
||||||
|
|
||||||
size_t outlen = strlen(outputbuf);
|
|
||||||
|
|
||||||
#ifdef _WIN32
|
|
||||||
for (unsigned i = 0; i<rread.fd_count; i++)
|
|
||||||
{
|
|
||||||
int addrlen = sizeof(SOCKADDR);
|
|
||||||
SOCKET s = rread.fd_array[i]; // fd_set on win is an array, while ...
|
|
||||||
#else
|
|
||||||
for (int s = 0; s <= maxfd; s++)
|
|
||||||
{
|
|
||||||
socklen_t addrlen = sizeof(SOCKADDR);
|
|
||||||
if (!FD_ISSET(s, &rread)) // ... on linux it's a bitmask ;)
|
|
||||||
continue;
|
|
||||||
#endif
|
|
||||||
if (s == sock) // request on master socket, accept and send main header.
|
|
||||||
{
|
|
||||||
SOCKADDR_IN address = { 0 };
|
|
||||||
SOCKET client = ::accept(sock, (SOCKADDR*)&address, &addrlen);
|
|
||||||
if (client == SOCKET_ERROR)
|
|
||||||
{
|
|
||||||
cerr << "error JSON_sender: couldn't accept connection on sock " << sock << " !" << endl;
|
|
||||||
return false;
|
|
||||||
}
|
|
||||||
if (setsockopt(client, SOL_SOCKET, SO_RCVTIMEO, (char *)&socket_timeout, sizeof(socket_timeout)) < 0) {
|
|
||||||
cerr << "error JSON_sender: SO_RCVTIMEO setsockopt failed\n";
|
|
||||||
}
|
|
||||||
if (setsockopt(client, SOL_SOCKET, SO_SNDTIMEO, (char *)&socket_timeout, sizeof(socket_timeout)) < 0) {
|
|
||||||
cerr << "error JSON_sender: SO_SNDTIMEO setsockopt failed\n";
|
|
||||||
}
|
|
||||||
maxfd = (maxfd>client ? maxfd : client);
|
|
||||||
FD_SET(client, &master);
|
|
||||||
_write(client, "HTTP/1.0 200 OK\r\n", 0);
|
|
||||||
_write(client,
|
|
||||||
"Server: Mozarella/2.2\r\n"
|
|
||||||
"Accept-Range: bytes\r\n"
|
|
||||||
"Connection: close\r\n"
|
|
||||||
"Max-Age: 0\r\n"
|
|
||||||
"Expires: 0\r\n"
|
|
||||||
"Cache-Control: no-cache, private\r\n"
|
|
||||||
"Pragma: no-cache\r\n"
|
|
||||||
"Content-Type: application/json\r\n"
|
|
||||||
//"Content-Type: multipart/x-mixed-replace; boundary=boundary\r\n"
|
|
||||||
"\r\n", 0);
|
|
||||||
_write(client, "[\n", 0); // open JSON array
|
|
||||||
int n = _write(client, outputbuf, outlen);
|
|
||||||
cerr << "JSON_sender: new client " << client << endl;
|
|
||||||
}
|
|
||||||
else // existing client, just stream pix
|
|
||||||
{
|
|
||||||
//char head[400];
|
|
||||||
// application/x-resource+json or application/x-collection+json - when you are representing REST resources and collections
|
|
||||||
// application/json or text/json or text/javascript or text/plain.
|
|
||||||
// https://stackoverflow.com/questions/477816/what-is-the-correct-json-content-type
|
|
||||||
//sprintf(head, "\r\nContent-Length: %zu\r\n\r\n", outlen);
|
|
||||||
//sprintf(head, "--boundary\r\nContent-Type: application/json\r\nContent-Length: %zu\r\n\r\n", outlen);
|
|
||||||
//_write(s, head, 0);
|
|
||||||
if(!close_all_sockets) _write(s, ", \n", 0);
|
|
||||||
int n = _write(s, outputbuf, outlen);
|
|
||||||
if (n < outlen)
|
|
||||||
{
|
|
||||||
cerr << "JSON_sender: kill client " << s << endl;
|
|
||||||
::shutdown(s, 2);
|
|
||||||
FD_CLR(s, &master);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (close_all_sockets) {
|
|
||||||
int result = close_socket(s);
|
|
||||||
cerr << "JSON_sender: close clinet: " << result << " \n";
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
if (close_all_sockets) {
|
|
||||||
int result = close_socket(sock);
|
|
||||||
cerr << "JSON_sender: close acceptor: " << result << " \n\n";
|
|
||||||
}
|
|
||||||
return true;
|
|
||||||
}
|
|
||||||
};
|
|
||||||
// ----------------------------------------
|
|
||||||
|
|
||||||
void send_json(detection *dets, int nboxes, int classes, char **names, long long int frame_id, int port, int timeout)
|
|
||||||
{
|
|
||||||
try {
|
|
||||||
static JSON_sender js(port, timeout);
|
|
||||||
char *send_buf = detection_to_json(dets, nboxes, classes, names, frame_id, NULL);
|
|
||||||
|
|
||||||
js.write(send_buf);
|
|
||||||
std::cout << " JSON-stream sent. \n";
|
|
||||||
free(send_buf);
|
|
||||||
}
|
|
||||||
catch (...) {
|
|
||||||
cerr << " Error in send_json() function \n";
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// ----------------------------------------
|
|
||||||
|
|
||||||
CvCapture* get_capture_video_stream(const char *path) {
|
CvCapture* get_capture_video_stream(const char *path) {
|
||||||
CvCapture* cap = NULL;
|
CvCapture* cap = NULL;
|
||||||
try {
|
try {
|
||||||
@ -641,8 +668,7 @@ image load_image_resize(char *filename, int w, int h, int c, image *im)
|
|||||||
return out;
|
return out;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#endif // OPENCV
|
||||||
#endif // OPENCV
|
|
||||||
|
|
||||||
// -----------------------------------------------------
|
// -----------------------------------------------------
|
||||||
|
|
||||||
|
|||||||
@ -4,11 +4,10 @@
|
|||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
|
||||||
#include "im2col.h"
|
#include "im2col.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <assert.h>
|
#include <assert.h>
|
||||||
//#include <cuda.h>
|
|
||||||
|
|
||||||
|
|
||||||
template<typename T1, typename T2>
|
template<typename T1, typename T2>
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#ifndef _USE_MATH_DEFINES
|
#ifndef _USE_MATH_DEFINES
|
||||||
#define _USE_MATH_DEFINES
|
#define _USE_MATH_DEFINES
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include <stdlib.h>
|
#include <stdlib.h>
|
||||||
|
|
||||||
void free_layer(layer l)
|
void free_layer(layer l)
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#ifndef LOCAL_LAYER_H
|
#ifndef LOCAL_LAYER_H
|
||||||
#define LOCAL_LAYER_H
|
#define LOCAL_LAYER_H
|
||||||
|
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "activations.h"
|
#include "activations.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "lstm_layer.h"
|
#include "lstm_layer.h"
|
||||||
#include "connected_layer.h"
|
#include "connected_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "maxpool_layer.h"
|
#include "maxpool_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
@ -32,8 +32,8 @@ void cudnn_maxpool_setup(layer *l)
|
|||||||
CUDNN_NOT_PROPAGATE_NAN, // CUDNN_PROPAGATE_NAN, CUDNN_NOT_PROPAGATE_NAN
|
CUDNN_NOT_PROPAGATE_NAN, // CUDNN_PROPAGATE_NAN, CUDNN_NOT_PROPAGATE_NAN
|
||||||
l->size,
|
l->size,
|
||||||
l->size,
|
l->size,
|
||||||
0, //l.pad,
|
l->pad/2, //0, //l.pad,
|
||||||
0, //l.pad,
|
l->pad/2, //0, //l.pad,
|
||||||
l->stride,
|
l->stride,
|
||||||
l->stride);
|
l->stride);
|
||||||
|
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#define MAXPOOL_LAYER_H
|
#define MAXPOOL_LAYER_H
|
||||||
|
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
#include "network.h"
|
#include "network.h"
|
||||||
|
|
||||||
|
|||||||
@ -3,7 +3,7 @@
|
|||||||
#include "cublas_v2.h"
|
#include "cublas_v2.h"
|
||||||
|
|
||||||
#include "maxpool_layer.h"
|
#include "maxpool_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
|
|
||||||
__global__ void forward_maxpool_layer_kernel(int n, int in_h, int in_w, int in_c, int stride, int size, int pad, float *input, float *output, int *indexes)
|
__global__ void forward_maxpool_layer_kernel(int n, int in_h, int in_w, int in_c, int stride, int size, int pad, float *input, float *output, int *indexes)
|
||||||
{
|
{
|
||||||
|
|||||||
@ -1,7 +1,4 @@
|
|||||||
//#include "cuda_runtime.h"
|
#include "dark_cuda.h"
|
||||||
//#include "curand.h"
|
|
||||||
//#include "cublas_v2.h"
|
|
||||||
#include "cuda.h"
|
|
||||||
|
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <time.h>
|
#include <time.h>
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#include "activations.h"
|
#include "activations.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "box.h"
|
#include "box.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <assert.h>
|
#include <assert.h>
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "reorg_layer.h"
|
#include "reorg_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#define REORG_LAYER_H
|
#define REORG_LAYER_H
|
||||||
|
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
#include "network.h"
|
#include "network.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "reorg_old_layer.h"
|
#include "reorg_old_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#define REORG_OLD_LAYER_H
|
#define REORG_OLD_LAYER_H
|
||||||
|
|
||||||
#include "image.h"
|
#include "image.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
#include "network.h"
|
#include "network.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
#include "rnn_layer.h"
|
#include "rnn_layer.h"
|
||||||
#include "connected_layer.h"
|
#include "connected_layer.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "gemm.h"
|
#include "gemm.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "route_layer.h"
|
#include "route_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "shortcut_layer.h"
|
#include "shortcut_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <assert.h>
|
#include <assert.h>
|
||||||
|
|||||||
@ -1,6 +1,6 @@
|
|||||||
#include "softmax_layer.h"
|
#include "softmax_layer.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
|
|
||||||
|
|||||||
@ -1,5 +1,5 @@
|
|||||||
#include "upsample_layer.h"
|
#include "upsample_layer.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
|
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|||||||
@ -1,6 +1,6 @@
|
|||||||
#ifndef UPSAMPLE_LAYER_H
|
#ifndef UPSAMPLE_LAYER_H
|
||||||
#define UPSAMPLE_LAYER_H
|
#define UPSAMPLE_LAYER_H
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "layer.h"
|
#include "layer.h"
|
||||||
#include "network.h"
|
#include "network.h"
|
||||||
|
|
||||||
|
|||||||
@ -252,6 +252,8 @@ void replace_image_to_label(const char* input_path, char* output_path)
|
|||||||
find_replace_extension(output_path, ".BMP", ".txt", output_path);
|
find_replace_extension(output_path, ".BMP", ".txt", output_path);
|
||||||
find_replace_extension(output_path, ".ppm", ".txt", output_path);
|
find_replace_extension(output_path, ".ppm", ".txt", output_path);
|
||||||
find_replace_extension(output_path, ".PPM", ".txt", output_path);
|
find_replace_extension(output_path, ".PPM", ".txt", output_path);
|
||||||
|
find_replace_extension(output_path, ".tiff", ".txt", output_path);
|
||||||
|
find_replace_extension(output_path, ".TIFF", ".txt", output_path);
|
||||||
}
|
}
|
||||||
|
|
||||||
float sec(clock_t clocks)
|
float sec(clock_t clocks)
|
||||||
|
|||||||
@ -5,21 +5,146 @@
|
|||||||
#include <queue>
|
#include <queue>
|
||||||
#include <fstream>
|
#include <fstream>
|
||||||
#include <thread>
|
#include <thread>
|
||||||
|
#include <future>
|
||||||
#include <atomic>
|
#include <atomic>
|
||||||
#include <mutex> // std::mutex, std::unique_lock
|
#include <mutex> // std::mutex, std::unique_lock
|
||||||
#include <condition_variable> // std::condition_variable
|
#include <unordered_map> // std::unordered_map
|
||||||
|
|
||||||
|
|
||||||
// To use tracking - uncomment the following line. Tracking is supported only by OpenCV 3.x
|
// It makes sense only for video-Camera (not for video-File)
|
||||||
|
// To use - uncomment the following line. Optical-flow is supported only by OpenCV 3.x - 4.x
|
||||||
//#define TRACK_OPTFLOW
|
//#define TRACK_OPTFLOW
|
||||||
|
//#define GPU
|
||||||
|
|
||||||
|
// To use 3D-stereo camera ZED - uncomment the following line. ZED_SDK should be installed.
|
||||||
|
//#define ZED_STEREO
|
||||||
|
|
||||||
//#include "C:\Program Files\NVIDIA GPU Computing Toolkit\CUDA\v9.1\include\cuda_runtime.h"
|
|
||||||
//#pragma comment(lib, "C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v9.1/lib/x64/cudart.lib")
|
|
||||||
//static std::shared_ptr<image_t> device_ptr(NULL, [](void *img) { cudaDeviceReset(); });
|
|
||||||
|
|
||||||
#include "yolo_v2_class.hpp" // imported functions from DLL
|
#include "yolo_v2_class.hpp" // imported functions from DLL
|
||||||
|
|
||||||
#ifdef OPENCV
|
#ifdef OPENCV
|
||||||
|
#ifdef ZED_STEREO
|
||||||
|
#include <sl_zed/Camera.hpp>
|
||||||
|
#pragma comment(lib, "sl_core64.lib")
|
||||||
|
#pragma comment(lib, "sl_input64.lib")
|
||||||
|
#pragma comment(lib, "sl_zed64.lib")
|
||||||
|
|
||||||
|
float getMedian(std::vector<float> &v) {
|
||||||
|
size_t n = v.size() / 2;
|
||||||
|
std::nth_element(v.begin(), v.begin() + n, v.end());
|
||||||
|
return v[n];
|
||||||
|
}
|
||||||
|
|
||||||
|
std::vector<bbox_t> get_3d_coordinates(std::vector<bbox_t> bbox_vect, cv::Mat xyzrgba)
|
||||||
|
{
|
||||||
|
bool valid_measure;
|
||||||
|
int i, j;
|
||||||
|
const int R_max = 4;
|
||||||
|
|
||||||
|
std::vector<bbox_t> bbox3d_vect;
|
||||||
|
|
||||||
|
for (auto &cur_box : bbox_vect) {
|
||||||
|
|
||||||
|
int center_i = cur_box.x + cur_box.w * 0.5f, center_j = cur_box.y + cur_box.h * 0.5f;
|
||||||
|
|
||||||
|
std::vector<float> x_vect, y_vect, z_vect;
|
||||||
|
for (int R = 0; R < R_max; R++) {
|
||||||
|
for (int y = -R; y <= R; y++) {
|
||||||
|
for (int x = -R; x <= R; x++) {
|
||||||
|
i = center_i + x;
|
||||||
|
j = center_j + y;
|
||||||
|
sl::float4 out(NAN, NAN, NAN, NAN);
|
||||||
|
if (i >= 0 && i < xyzrgba.cols && j >= 0 && j < xyzrgba.rows) {
|
||||||
|
cv::Vec4f &elem = xyzrgba.at<cv::Vec4f>(j, i); // x,y,z,w
|
||||||
|
out.x = elem[0];
|
||||||
|
out.y = elem[1];
|
||||||
|
out.z = elem[2];
|
||||||
|
out.w = elem[3];
|
||||||
|
}
|
||||||
|
valid_measure = std::isfinite(out.z);
|
||||||
|
if (valid_measure)
|
||||||
|
{
|
||||||
|
x_vect.push_back(out.x);
|
||||||
|
y_vect.push_back(out.y);
|
||||||
|
z_vect.push_back(out.z);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (x_vect.size() * y_vect.size() * z_vect.size() > 0)
|
||||||
|
{
|
||||||
|
cur_box.x_3d = getMedian(x_vect);
|
||||||
|
cur_box.y_3d = getMedian(y_vect);
|
||||||
|
cur_box.z_3d = getMedian(z_vect);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
cur_box.x_3d = NAN;
|
||||||
|
cur_box.y_3d = NAN;
|
||||||
|
cur_box.z_3d = NAN;
|
||||||
|
}
|
||||||
|
|
||||||
|
bbox3d_vect.emplace_back(cur_box);
|
||||||
|
}
|
||||||
|
|
||||||
|
return bbox3d_vect;
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Mat slMat2cvMat(sl::Mat &input) {
|
||||||
|
// Mapping between MAT_TYPE and CV_TYPE
|
||||||
|
int cv_type = -1;
|
||||||
|
switch (input.getDataType()) {
|
||||||
|
case sl::MAT_TYPE_32F_C1:
|
||||||
|
cv_type = CV_32FC1;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_32F_C2:
|
||||||
|
cv_type = CV_32FC2;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_32F_C3:
|
||||||
|
cv_type = CV_32FC3;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_32F_C4:
|
||||||
|
cv_type = CV_32FC4;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_8U_C1:
|
||||||
|
cv_type = CV_8UC1;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_8U_C2:
|
||||||
|
cv_type = CV_8UC2;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_8U_C3:
|
||||||
|
cv_type = CV_8UC3;
|
||||||
|
break;
|
||||||
|
case sl::MAT_TYPE_8U_C4:
|
||||||
|
cv_type = CV_8UC4;
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return cv::Mat(input.getHeight(), input.getWidth(), cv_type, input.getPtr<sl::uchar1>(sl::MEM_CPU));
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Mat zed_capture_rgb(sl::Camera &zed) {
|
||||||
|
sl::Mat left;
|
||||||
|
zed.retrieveImage(left);
|
||||||
|
return slMat2cvMat(left).clone();
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Mat zed_capture_3d(sl::Camera &zed) {
|
||||||
|
sl::Mat cur_cloud;
|
||||||
|
zed.retrieveMeasure(cur_cloud, sl::MEASURE_XYZ);
|
||||||
|
return slMat2cvMat(cur_cloud).clone();
|
||||||
|
}
|
||||||
|
|
||||||
|
static sl::Camera zed; // ZED-camera
|
||||||
|
|
||||||
|
#else // ZED_STEREO
|
||||||
|
std::vector<bbox_t> get_3d_coordinates(std::vector<bbox_t> bbox_vect, cv::Mat xyzrgba) {
|
||||||
|
return bbox_vect;
|
||||||
|
}
|
||||||
|
#endif // ZED_STEREO
|
||||||
|
|
||||||
|
|
||||||
#include <opencv2/opencv.hpp> // C++
|
#include <opencv2/opencv.hpp> // C++
|
||||||
#include <opencv2/core/version.hpp>
|
#include <opencv2/core/version.hpp>
|
||||||
#ifndef CV_VERSION_EPOCH
|
#ifndef CV_VERSION_EPOCH
|
||||||
@ -44,139 +169,6 @@
|
|||||||
#endif // USE_CMAKE_LIBS
|
#endif // USE_CMAKE_LIBS
|
||||||
#endif // CV_VERSION_EPOCH
|
#endif // CV_VERSION_EPOCH
|
||||||
|
|
||||||
class track_kalman {
|
|
||||||
public:
|
|
||||||
cv::KalmanFilter kf;
|
|
||||||
int state_size, meas_size, contr_size;
|
|
||||||
|
|
||||||
|
|
||||||
track_kalman(int _state_size = 10, int _meas_size = 10, int _contr_size = 0)
|
|
||||||
: state_size(_state_size), meas_size(_meas_size), contr_size(_contr_size)
|
|
||||||
{
|
|
||||||
kf.init(state_size, meas_size, contr_size, CV_32F);
|
|
||||||
|
|
||||||
cv::setIdentity(kf.measurementMatrix);
|
|
||||||
cv::setIdentity(kf.measurementNoiseCov, cv::Scalar::all(1e-1));
|
|
||||||
cv::setIdentity(kf.processNoiseCov, cv::Scalar::all(1e-5));
|
|
||||||
cv::setIdentity(kf.errorCovPost, cv::Scalar::all(1e-2));
|
|
||||||
cv::setIdentity(kf.transitionMatrix);
|
|
||||||
}
|
|
||||||
|
|
||||||
void set(std::vector<bbox_t> result_vec) {
|
|
||||||
for (size_t i = 0; i < result_vec.size() && i < state_size*2; ++i) {
|
|
||||||
kf.statePost.at<float>(i * 2 + 0) = result_vec[i].x;
|
|
||||||
kf.statePost.at<float>(i * 2 + 1) = result_vec[i].y;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Kalman.correct() calculates: statePost = statePre + gain * (z(k)-measurementMatrix*statePre);
|
|
||||||
// corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
|
|
||||||
std::vector<bbox_t> correct(std::vector<bbox_t> result_vec) {
|
|
||||||
cv::Mat measurement(meas_size, 1, CV_32F);
|
|
||||||
for (size_t i = 0; i < result_vec.size() && i < meas_size * 2; ++i) {
|
|
||||||
measurement.at<float>(i * 2 + 0) = result_vec[i].x;
|
|
||||||
measurement.at<float>(i * 2 + 1) = result_vec[i].y;
|
|
||||||
}
|
|
||||||
cv::Mat estimated = kf.correct(measurement);
|
|
||||||
for (size_t i = 0; i < result_vec.size() && i < meas_size * 2; ++i) {
|
|
||||||
result_vec[i].x = estimated.at<float>(i * 2 + 0);
|
|
||||||
result_vec[i].y = estimated.at<float>(i * 2 + 1);
|
|
||||||
}
|
|
||||||
return result_vec;
|
|
||||||
}
|
|
||||||
|
|
||||||
// Kalman.predict() calculates: statePre = TransitionMatrix * statePost;
|
|
||||||
// predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
|
|
||||||
std::vector<bbox_t> predict() {
|
|
||||||
std::vector<bbox_t> result_vec;
|
|
||||||
cv::Mat control;
|
|
||||||
cv::Mat prediction = kf.predict(control);
|
|
||||||
for (size_t i = 0; i < prediction.rows && i < state_size * 2; ++i) {
|
|
||||||
result_vec[i].x = prediction.at<float>(i * 2 + 0);
|
|
||||||
result_vec[i].y = prediction.at<float>(i * 2 + 1);
|
|
||||||
}
|
|
||||||
return result_vec;
|
|
||||||
}
|
|
||||||
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
class extrapolate_coords_t {
|
|
||||||
public:
|
|
||||||
std::vector<bbox_t> old_result_vec;
|
|
||||||
std::vector<float> dx_vec, dy_vec, time_vec;
|
|
||||||
std::vector<float> old_dx_vec, old_dy_vec;
|
|
||||||
|
|
||||||
void new_result(std::vector<bbox_t> new_result_vec, float new_time) {
|
|
||||||
old_dx_vec = dx_vec;
|
|
||||||
old_dy_vec = dy_vec;
|
|
||||||
if (old_dx_vec.size() != old_result_vec.size()) std::cout << "old_dx != old_res \n";
|
|
||||||
dx_vec = std::vector<float>(new_result_vec.size(), 0);
|
|
||||||
dy_vec = std::vector<float>(new_result_vec.size(), 0);
|
|
||||||
update_result(new_result_vec, new_time, false);
|
|
||||||
old_result_vec = new_result_vec;
|
|
||||||
time_vec = std::vector<float>(new_result_vec.size(), new_time);
|
|
||||||
}
|
|
||||||
|
|
||||||
void update_result(std::vector<bbox_t> new_result_vec, float new_time, bool update = true) {
|
|
||||||
for (size_t i = 0; i < new_result_vec.size(); ++i) {
|
|
||||||
for (size_t k = 0; k < old_result_vec.size(); ++k) {
|
|
||||||
if (old_result_vec[k].track_id == new_result_vec[i].track_id && old_result_vec[k].obj_id == new_result_vec[i].obj_id) {
|
|
||||||
float const delta_time = new_time - time_vec[k];
|
|
||||||
if (abs(delta_time) < 1) break;
|
|
||||||
size_t index = (update) ? k : i;
|
|
||||||
float dx = ((float)new_result_vec[i].x - (float)old_result_vec[k].x) / delta_time;
|
|
||||||
float dy = ((float)new_result_vec[i].y - (float)old_result_vec[k].y) / delta_time;
|
|
||||||
float old_dx = dx, old_dy = dy;
|
|
||||||
|
|
||||||
// if it's shaking
|
|
||||||
if (update) {
|
|
||||||
if (dx * dx_vec[i] < 0) dx = dx / 2;
|
|
||||||
if (dy * dy_vec[i] < 0) dy = dy / 2;
|
|
||||||
} else {
|
|
||||||
if (dx * old_dx_vec[k] < 0) dx = dx / 2;
|
|
||||||
if (dy * old_dy_vec[k] < 0) dy = dy / 2;
|
|
||||||
}
|
|
||||||
dx_vec[index] = dx;
|
|
||||||
dy_vec[index] = dy;
|
|
||||||
|
|
||||||
//if (old_dx == dx && old_dy == dy) std::cout << "not shakin \n";
|
|
||||||
//else std::cout << "shakin \n";
|
|
||||||
|
|
||||||
if (dx_vec[index] > 1000 || dy_vec[index] > 1000) {
|
|
||||||
//std::cout << "!!! bad dx or dy, dx = " << dx_vec[index] << ", dy = " << dy_vec[index] <<
|
|
||||||
// ", delta_time = " << delta_time << ", update = " << update << std::endl;
|
|
||||||
dx_vec[index] = 0;
|
|
||||||
dy_vec[index] = 0;
|
|
||||||
}
|
|
||||||
old_result_vec[k].x = new_result_vec[i].x;
|
|
||||||
old_result_vec[k].y = new_result_vec[i].y;
|
|
||||||
time_vec[k] = new_time;
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
std::vector<bbox_t> predict(float cur_time) {
|
|
||||||
std::vector<bbox_t> result_vec = old_result_vec;
|
|
||||||
for (size_t i = 0; i < old_result_vec.size(); ++i) {
|
|
||||||
float const delta_time = cur_time - time_vec[i];
|
|
||||||
auto &bbox = result_vec[i];
|
|
||||||
float new_x = (float) bbox.x + dx_vec[i] * delta_time;
|
|
||||||
float new_y = (float) bbox.y + dy_vec[i] * delta_time;
|
|
||||||
if (new_x > 0) bbox.x = new_x;
|
|
||||||
else bbox.x = 0;
|
|
||||||
if (new_y > 0) bbox.y = new_y;
|
|
||||||
else bbox.y = 0;
|
|
||||||
}
|
|
||||||
return result_vec;
|
|
||||||
}
|
|
||||||
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
|
void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
|
||||||
int current_det_fps = -1, int current_cap_fps = -1)
|
int current_det_fps = -1, int current_cap_fps = -1)
|
||||||
@ -190,11 +182,22 @@ void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std
|
|||||||
std::string obj_name = obj_names[i.obj_id];
|
std::string obj_name = obj_names[i.obj_id];
|
||||||
if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
|
if (i.track_id > 0) obj_name += " - " + std::to_string(i.track_id);
|
||||||
cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
|
cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
|
||||||
int const max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
|
int max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
|
||||||
cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 0), std::max((int)i.y - 30, 0)),
|
std::string coords_3d;
|
||||||
cv::Point2f(std::min((int)i.x + max_width, mat_img.cols-1), std::min((int)i.y, mat_img.rows-1)),
|
if (!isnan(i.z_3d)) {
|
||||||
|
std::stringstream ss;
|
||||||
|
ss << std::fixed << std::setprecision(2) << "x:" << i.x_3d << "m y:" << i.y_3d << "m z:" << i.z_3d << "m ";
|
||||||
|
coords_3d = ss.str();
|
||||||
|
cv::Size const text_size_3d = getTextSize(ss.str(), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, 1, 0);
|
||||||
|
int const max_width_3d = (text_size_3d.width > i.w + 2) ? text_size_3d.width : (i.w + 2);
|
||||||
|
if (max_width_3d > max_width) max_width = max_width_3d;
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::rectangle(mat_img, cv::Point2f(std::max((int)i.x - 1, 0), std::max((int)i.y - 35, 0)),
|
||||||
|
cv::Point2f(std::min((int)i.x + max_width, mat_img.cols - 1), std::min((int)i.y, mat_img.rows - 1)),
|
||||||
color, CV_FILLED, 8, 0);
|
color, CV_FILLED, 8, 0);
|
||||||
putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 10), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
|
putText(mat_img, obj_name, cv::Point2f(i.x, i.y - 16), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(0, 0, 0), 2);
|
||||||
|
if(!coords_3d.empty()) putText(mat_img, coords_3d, cv::Point2f(i.x, i.y-1), cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cv::Scalar(0, 0, 0), 1);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
if (current_det_fps >= 0 && current_cap_fps >= 0) {
|
if (current_det_fps >= 0 && current_cap_fps >= 0) {
|
||||||
@ -205,7 +208,8 @@ void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std
|
|||||||
#endif // OPENCV
|
#endif // OPENCV
|
||||||
|
|
||||||
|
|
||||||
void show_console_result(std::vector<bbox_t> const result_vec, std::vector<std::string> const obj_names) {
|
void show_console_result(std::vector<bbox_t> const result_vec, std::vector<std::string> const obj_names, int frame_id = -1) {
|
||||||
|
if (frame_id >= 0) std::cout << " Frame: " << frame_id << std::endl;
|
||||||
for (auto &i : result_vec) {
|
for (auto &i : result_vec) {
|
||||||
if (obj_names.size() > i.obj_id) std::cout << obj_names[i.obj_id] << " - ";
|
if (obj_names.size() > i.obj_id) std::cout << obj_names[i.obj_id] << " - ";
|
||||||
std::cout << "obj_id = " << i.obj_id << ", x = " << i.x << ", y = " << i.y
|
std::cout << "obj_id = " << i.obj_id << ", x = " << i.x << ", y = " << i.y
|
||||||
@ -223,6 +227,38 @@ std::vector<std::string> objects_names_from_file(std::string const filename) {
|
|||||||
return file_lines;
|
return file_lines;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
template<typename T>
|
||||||
|
class send_one_replaceable_object_t {
|
||||||
|
const bool sync;
|
||||||
|
std::atomic<T *> a_ptr;
|
||||||
|
public:
|
||||||
|
|
||||||
|
void send(T const& _obj) {
|
||||||
|
T *new_ptr = new T;
|
||||||
|
*new_ptr = _obj;
|
||||||
|
if (sync) {
|
||||||
|
while (a_ptr.load()) std::this_thread::sleep_for(std::chrono::milliseconds(3));
|
||||||
|
}
|
||||||
|
std::unique_ptr<T> old_ptr(a_ptr.exchange(new_ptr));
|
||||||
|
}
|
||||||
|
|
||||||
|
T receive() {
|
||||||
|
std::unique_ptr<T> ptr;
|
||||||
|
do {
|
||||||
|
while(!a_ptr.load()) std::this_thread::sleep_for(std::chrono::milliseconds(3));
|
||||||
|
ptr.reset(a_ptr.exchange(NULL));
|
||||||
|
} while (!ptr);
|
||||||
|
T obj = *ptr;
|
||||||
|
return obj;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool is_object_present() {
|
||||||
|
return (a_ptr.load() != NULL);
|
||||||
|
}
|
||||||
|
|
||||||
|
send_one_replaceable_object_t(bool _sync) : sync(_sync), a_ptr(NULL)
|
||||||
|
{}
|
||||||
|
};
|
||||||
|
|
||||||
int main(int argc, char *argv[])
|
int main(int argc, char *argv[])
|
||||||
{
|
{
|
||||||
@ -239,17 +275,23 @@ int main(int argc, char *argv[])
|
|||||||
}
|
}
|
||||||
else if (argc > 1) filename = argv[1];
|
else if (argc > 1) filename = argv[1];
|
||||||
|
|
||||||
float const thresh = (argc > 5) ? std::stof(argv[5]) : 0.20;
|
float const thresh = (argc > 5) ? std::stof(argv[5]) : 0.2;
|
||||||
|
|
||||||
Detector detector(cfg_file, weights_file);
|
Detector detector(cfg_file, weights_file);
|
||||||
|
|
||||||
auto obj_names = objects_names_from_file(names_file);
|
auto obj_names = objects_names_from_file(names_file);
|
||||||
std::string out_videofile = "result.avi";
|
std::string out_videofile = "result.avi";
|
||||||
bool const save_output_videofile = true;
|
bool const save_output_videofile = false; // true - for history
|
||||||
#ifdef TRACK_OPTFLOW
|
bool const send_network = false; // true - for remote detection
|
||||||
|
bool const use_kalman_filter = false; // true - for stationary camera
|
||||||
|
|
||||||
|
bool detection_sync = true; // true - for video-file
|
||||||
|
#ifdef TRACK_OPTFLOW // for slow GPU
|
||||||
|
detection_sync = false;
|
||||||
Tracker_optflow tracker_flow;
|
Tracker_optflow tracker_flow;
|
||||||
detector.wait_stream = true;
|
//detector.wait_stream = true;
|
||||||
#endif
|
#endif // TRACK_OPTFLOW
|
||||||
|
|
||||||
|
|
||||||
while (true)
|
while (true)
|
||||||
{
|
{
|
||||||
@ -259,187 +301,318 @@ int main(int argc, char *argv[])
|
|||||||
|
|
||||||
try {
|
try {
|
||||||
#ifdef OPENCV
|
#ifdef OPENCV
|
||||||
extrapolate_coords_t extrapolate_coords;
|
|
||||||
bool extrapolate_flag = false;
|
|
||||||
float cur_time_extrapolate = 0, old_time_extrapolate = 0;
|
|
||||||
preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
|
preview_boxes_t large_preview(100, 150, false), small_preview(50, 50, true);
|
||||||
bool show_small_boxes = false;
|
bool show_small_boxes = false;
|
||||||
|
|
||||||
std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
|
std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
|
||||||
std::string const protocol = filename.substr(0, 7);
|
std::string const protocol = filename.substr(0, 7);
|
||||||
if (file_ext == "avi" || file_ext == "mp4" || file_ext == "mjpg" || file_ext == "mov" || // video file
|
if (file_ext == "avi" || file_ext == "mp4" || file_ext == "mjpg" || file_ext == "mov" || // video file
|
||||||
protocol == "rtmp://" || protocol == "rtsp://" || protocol == "http://" || protocol == "https:/") // video network stream
|
protocol == "rtmp://" || protocol == "rtsp://" || protocol == "http://" || protocol == "https:/" || // video network stream
|
||||||
|
filename == "zed_camera" || file_ext == "svo" || filename == "web_camera") // ZED stereo camera
|
||||||
|
|
||||||
{
|
{
|
||||||
cv::Mat cap_frame, cur_frame, det_frame, write_frame;
|
if (protocol == "rtsp://" || protocol == "http://" || protocol == "https:/" || filename == "zed_camera" || filename == "web_camera")
|
||||||
std::queue<cv::Mat> track_optflow_queue;
|
detection_sync = false;
|
||||||
int passed_flow_frames = 0;
|
|
||||||
std::shared_ptr<image_t> det_image;
|
cv::Mat cur_frame;
|
||||||
std::vector<bbox_t> result_vec, thread_result_vec;
|
std::atomic<int> fps_cap_counter(0), fps_det_counter(0);
|
||||||
detector.nms = 0.02; // comment it - if track_id is not required
|
std::atomic<int> current_fps_cap(0), current_fps_det(0);
|
||||||
std::atomic<bool> consumed, videowrite_ready;
|
std::atomic<bool> exit_flag(false);
|
||||||
bool exit_flag = false;
|
|
||||||
consumed = true;
|
|
||||||
videowrite_ready = true;
|
|
||||||
std::atomic<int> fps_det_counter, fps_cap_counter;
|
|
||||||
fps_det_counter = 0;
|
|
||||||
fps_cap_counter = 0;
|
|
||||||
int current_det_fps = 0, current_cap_fps = 0;
|
|
||||||
std::thread t_detect, t_cap, t_videowrite;
|
|
||||||
std::mutex mtx;
|
|
||||||
std::condition_variable cv_detected, cv_pre_tracked;
|
|
||||||
std::chrono::steady_clock::time_point steady_start, steady_end;
|
std::chrono::steady_clock::time_point steady_start, steady_end;
|
||||||
cv::VideoCapture cap(filename); cap >> cur_frame;
|
int video_fps = 25;
|
||||||
int const video_fps = cap.get(CV_CAP_PROP_FPS);
|
bool use_zed_camera = false;
|
||||||
|
|
||||||
|
track_kalman_t track_kalman;
|
||||||
|
|
||||||
|
#ifdef ZED_STEREO
|
||||||
|
sl::InitParameters init_params;
|
||||||
|
init_params.camera_resolution = sl::RESOLUTION_HD720;
|
||||||
|
init_params.coordinate_units = sl::UNIT_METER;
|
||||||
|
//init_params.sdk_cuda_ctx = (CUcontext)detector.get_cuda_context();
|
||||||
|
init_params.sdk_gpu_id = detector.cur_gpu_id;
|
||||||
|
init_params.camera_buffer_count_linux = 2;
|
||||||
|
if (file_ext == "svo") init_params.svo_input_filename.set(filename.c_str());
|
||||||
|
if (filename == "zed_camera" || file_ext == "svo") {
|
||||||
|
std::cout << "ZED 3D Camera " << zed.open(init_params) << std::endl;
|
||||||
|
cur_frame = zed_capture_rgb(zed);
|
||||||
|
use_zed_camera = true;
|
||||||
|
}
|
||||||
|
#endif // ZED_STEREO
|
||||||
|
|
||||||
|
cv::VideoCapture cap;
|
||||||
|
if (filename == "web_camera") {
|
||||||
|
cap.open(0);
|
||||||
|
video_fps = cap.get(CV_CAP_PROP_FPS);
|
||||||
|
cap >> cur_frame;
|
||||||
|
} else if (!use_zed_camera) {
|
||||||
|
cap.open(filename);
|
||||||
|
video_fps = cap.get(CV_CAP_PROP_FPS);
|
||||||
|
cap >> cur_frame;
|
||||||
|
}
|
||||||
cv::Size const frame_size = cur_frame.size();
|
cv::Size const frame_size = cur_frame.size();
|
||||||
|
//cv::Size const frame_size(cap.get(CV_CAP_PROP_FRAME_WIDTH), cap.get(CV_CAP_PROP_FRAME_HEIGHT));
|
||||||
|
std::cout << "\n Video size: " << frame_size << std::endl;
|
||||||
|
|
||||||
cv::VideoWriter output_video;
|
cv::VideoWriter output_video;
|
||||||
if (save_output_videofile)
|
if (save_output_videofile)
|
||||||
output_video.open(out_videofile, CV_FOURCC('D', 'I', 'V', 'X'), std::max(35, video_fps), frame_size, true);
|
output_video.open(out_videofile, CV_FOURCC('D', 'I', 'V', 'X'), std::max(35, video_fps), frame_size, true);
|
||||||
|
|
||||||
while (!cur_frame.empty())
|
struct detection_data_t {
|
||||||
|
cv::Mat cap_frame;
|
||||||
|
std::shared_ptr<image_t> det_image;
|
||||||
|
std::vector<bbox_t> result_vec;
|
||||||
|
cv::Mat draw_frame;
|
||||||
|
bool new_detection;
|
||||||
|
uint64_t frame_id;
|
||||||
|
bool exit_flag;
|
||||||
|
cv::Mat zed_cloud;
|
||||||
|
std::queue<cv::Mat> track_optflow_queue;
|
||||||
|
detection_data_t() : exit_flag(false), new_detection(false) {}
|
||||||
|
};
|
||||||
|
|
||||||
|
const bool sync = detection_sync; // sync data exchange
|
||||||
|
send_one_replaceable_object_t<detection_data_t> cap2prepare(sync), cap2draw(sync),
|
||||||
|
prepare2detect(sync), detect2draw(sync), draw2show(sync), draw2write(sync), draw2net(sync);
|
||||||
|
|
||||||
|
std::thread t_cap, t_prepare, t_detect, t_post, t_draw, t_write, t_network;
|
||||||
|
|
||||||
|
// capture new video-frame
|
||||||
|
if (t_cap.joinable()) t_cap.join();
|
||||||
|
t_cap = std::thread([&]()
|
||||||
{
|
{
|
||||||
// always sync
|
uint64_t frame_id = 0;
|
||||||
if (t_cap.joinable()) {
|
detection_data_t detection_data;
|
||||||
t_cap.join();
|
do {
|
||||||
++fps_cap_counter;
|
detection_data = detection_data_t();
|
||||||
cur_frame = cap_frame.clone();
|
#ifdef ZED_STEREO
|
||||||
}
|
if (use_zed_camera) {
|
||||||
t_cap = std::thread([&]() { cap >> cap_frame; });
|
while (zed.grab() != sl::SUCCESS) std::this_thread::sleep_for(std::chrono::milliseconds(2));
|
||||||
++cur_time_extrapolate;
|
detection_data.cap_frame = zed_capture_rgb(zed);
|
||||||
|
detection_data.zed_cloud = zed_capture_3d(zed);
|
||||||
// swap result bouned-boxes and input-frame
|
|
||||||
if(consumed)
|
|
||||||
{
|
|
||||||
std::unique_lock<std::mutex> lock(mtx);
|
|
||||||
det_image = detector.mat_to_image_resize(cur_frame);
|
|
||||||
auto old_result_vec = detector.tracking_id(result_vec);
|
|
||||||
auto detected_result_vec = thread_result_vec;
|
|
||||||
result_vec = detected_result_vec;
|
|
||||||
#ifdef TRACK_OPTFLOW
|
|
||||||
// track optical flow
|
|
||||||
if (track_optflow_queue.size() > 0) {
|
|
||||||
//std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
|
|
||||||
cv::Mat first_frame = track_optflow_queue.front();
|
|
||||||
tracker_flow.update_tracking_flow(track_optflow_queue.front(), result_vec);
|
|
||||||
|
|
||||||
while (track_optflow_queue.size() > 1) {
|
|
||||||
track_optflow_queue.pop();
|
|
||||||
result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), true);
|
|
||||||
}
|
|
||||||
track_optflow_queue.pop();
|
|
||||||
passed_flow_frames = 0;
|
|
||||||
|
|
||||||
result_vec = detector.tracking_id(result_vec);
|
|
||||||
auto tmp_result_vec = detector.tracking_id(detected_result_vec, false);
|
|
||||||
small_preview.set(first_frame, tmp_result_vec);
|
|
||||||
|
|
||||||
extrapolate_coords.new_result(tmp_result_vec, old_time_extrapolate);
|
|
||||||
old_time_extrapolate = cur_time_extrapolate;
|
|
||||||
extrapolate_coords.update_result(result_vec, cur_time_extrapolate - 1);
|
|
||||||
}
|
}
|
||||||
#else
|
else
|
||||||
result_vec = detector.tracking_id(result_vec); // comment it - if track_id is not required
|
#endif // ZED_STEREO
|
||||||
extrapolate_coords.new_result(result_vec, cur_time_extrapolate - 1);
|
{
|
||||||
#endif
|
cap >> detection_data.cap_frame;
|
||||||
// add old tracked objects
|
}
|
||||||
for (auto &i : old_result_vec) {
|
fps_cap_counter++;
|
||||||
auto it = std::find_if(result_vec.begin(), result_vec.end(),
|
detection_data.frame_id = frame_id++;
|
||||||
[&i](bbox_t const& b) { return b.track_id == i.track_id && b.obj_id == i.obj_id; });
|
if (detection_data.cap_frame.empty() || exit_flag) {
|
||||||
bool track_id_absent = (it == result_vec.end());
|
std::cout << " exit_flag: detection_data.cap_frame.size = " << detection_data.cap_frame.size() << std::endl;
|
||||||
if (track_id_absent) {
|
detection_data.exit_flag = true;
|
||||||
if (i.frames_counter-- > 1)
|
detection_data.cap_frame = cv::Mat(frame_size, CV_8UC3);
|
||||||
result_vec.push_back(i);
|
}
|
||||||
|
|
||||||
|
if (!detection_sync) {
|
||||||
|
cap2draw.send(detection_data); // skip detection
|
||||||
|
}
|
||||||
|
cap2prepare.send(detection_data);
|
||||||
|
} while (!detection_data.exit_flag);
|
||||||
|
std::cout << " t_cap exit \n";
|
||||||
|
});
|
||||||
|
|
||||||
|
|
||||||
|
// pre-processing video frame (resize, convertion)
|
||||||
|
t_prepare = std::thread([&]()
|
||||||
|
{
|
||||||
|
std::shared_ptr<image_t> det_image;
|
||||||
|
detection_data_t detection_data;
|
||||||
|
do {
|
||||||
|
detection_data = cap2prepare.receive();
|
||||||
|
|
||||||
|
det_image = detector.mat_to_image_resize(detection_data.cap_frame);
|
||||||
|
detection_data.det_image = det_image;
|
||||||
|
prepare2detect.send(detection_data); // detection
|
||||||
|
|
||||||
|
} while (!detection_data.exit_flag);
|
||||||
|
std::cout << " t_prepare exit \n";
|
||||||
|
});
|
||||||
|
|
||||||
|
|
||||||
|
// detection by Yolo
|
||||||
|
if (t_detect.joinable()) t_detect.join();
|
||||||
|
t_detect = std::thread([&]()
|
||||||
|
{
|
||||||
|
std::shared_ptr<image_t> det_image;
|
||||||
|
detection_data_t detection_data;
|
||||||
|
do {
|
||||||
|
detection_data = prepare2detect.receive();
|
||||||
|
det_image = detection_data.det_image;
|
||||||
|
std::vector<bbox_t> result_vec;
|
||||||
|
|
||||||
|
if(det_image)
|
||||||
|
result_vec = detector.detect_resized(*det_image, frame_size.width, frame_size.height, thresh, true); // true
|
||||||
|
fps_det_counter++;
|
||||||
|
//std::this_thread::sleep_for(std::chrono::milliseconds(150));
|
||||||
|
|
||||||
|
detection_data.new_detection = true;
|
||||||
|
detection_data.result_vec = result_vec;
|
||||||
|
detect2draw.send(detection_data);
|
||||||
|
} while (!detection_data.exit_flag);
|
||||||
|
std::cout << " t_detect exit \n";
|
||||||
|
});
|
||||||
|
|
||||||
|
// draw rectangles (and track objects)
|
||||||
|
t_draw = std::thread([&]()
|
||||||
|
{
|
||||||
|
std::queue<cv::Mat> track_optflow_queue;
|
||||||
|
detection_data_t detection_data;
|
||||||
|
do {
|
||||||
|
|
||||||
|
// for Video-file
|
||||||
|
if (detection_sync) {
|
||||||
|
detection_data = detect2draw.receive();
|
||||||
|
}
|
||||||
|
// for Video-camera
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// get new Detection result if present
|
||||||
|
if (detect2draw.is_object_present()) {
|
||||||
|
cv::Mat old_cap_frame = detection_data.cap_frame; // use old captured frame
|
||||||
|
detection_data = detect2draw.receive();
|
||||||
|
if (!old_cap_frame.empty()) detection_data.cap_frame = old_cap_frame;
|
||||||
|
}
|
||||||
|
// get new Captured frame
|
||||||
|
else {
|
||||||
|
std::vector<bbox_t> old_result_vec = detection_data.result_vec; // use old detections
|
||||||
|
detection_data = cap2draw.receive();
|
||||||
|
detection_data.result_vec = old_result_vec;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
cv::Mat cap_frame = detection_data.cap_frame;
|
||||||
|
cv::Mat draw_frame = detection_data.cap_frame.clone();
|
||||||
|
std::vector<bbox_t> result_vec = detection_data.result_vec;
|
||||||
|
|
||||||
|
#ifdef TRACK_OPTFLOW
|
||||||
|
if (detection_data.new_detection) {
|
||||||
|
tracker_flow.update_tracking_flow(detection_data.cap_frame, detection_data.result_vec);
|
||||||
|
while (track_optflow_queue.size() > 0) {
|
||||||
|
draw_frame = track_optflow_queue.back();
|
||||||
|
result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), false);
|
||||||
|
track_optflow_queue.pop();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
track_optflow_queue.push(cap_frame);
|
||||||
|
result_vec = tracker_flow.tracking_flow(cap_frame, false);
|
||||||
|
}
|
||||||
|
detection_data.new_detection = true; // to correct kalman filter
|
||||||
|
#endif //TRACK_OPTFLOW
|
||||||
|
|
||||||
|
// track ID by using kalman filter
|
||||||
|
if (use_kalman_filter) {
|
||||||
|
if (detection_data.new_detection) {
|
||||||
|
result_vec = track_kalman.correct(result_vec);
|
||||||
}
|
}
|
||||||
else {
|
else {
|
||||||
it->frames_counter = std::min((unsigned)3, i.frames_counter + 1);
|
result_vec = track_kalman.predict();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
#ifdef TRACK_OPTFLOW
|
// track ID by using custom function
|
||||||
tracker_flow.update_cur_bbox_vec(result_vec);
|
else {
|
||||||
result_vec = tracker_flow.tracking_flow(cur_frame, true); // track optical flow
|
int frame_story = std::max(5, current_fps_cap.load());
|
||||||
#endif
|
result_vec = detector.tracking_id(result_vec, true, frame_story, 40);
|
||||||
consumed = false;
|
|
||||||
cv_pre_tracked.notify_all();
|
|
||||||
}
|
|
||||||
// launch thread once - Detection
|
|
||||||
if (!t_detect.joinable()) {
|
|
||||||
t_detect = std::thread([&]() {
|
|
||||||
auto current_image = det_image;
|
|
||||||
consumed = true;
|
|
||||||
while (current_image.use_count() > 0 && !exit_flag) {
|
|
||||||
auto result = detector.detect_resized(*current_image, frame_size.width, frame_size.height,
|
|
||||||
thresh, false); // true
|
|
||||||
++fps_det_counter;
|
|
||||||
std::unique_lock<std::mutex> lock(mtx);
|
|
||||||
thread_result_vec = result;
|
|
||||||
consumed = true;
|
|
||||||
cv_detected.notify_all();
|
|
||||||
if (detector.wait_stream) {
|
|
||||||
while (consumed && !exit_flag) cv_pre_tracked.wait(lock);
|
|
||||||
}
|
|
||||||
current_image = det_image;
|
|
||||||
}
|
|
||||||
});
|
|
||||||
}
|
|
||||||
//while (!consumed); // sync detection
|
|
||||||
|
|
||||||
if (!cur_frame.empty()) {
|
|
||||||
steady_end = std::chrono::steady_clock::now();
|
|
||||||
if (std::chrono::duration<double>(steady_end - steady_start).count() >= 1) {
|
|
||||||
current_det_fps = fps_det_counter;
|
|
||||||
current_cap_fps = fps_cap_counter;
|
|
||||||
steady_start = steady_end;
|
|
||||||
fps_det_counter = 0;
|
|
||||||
fps_cap_counter = 0;
|
|
||||||
}
|
}
|
||||||
|
|
||||||
large_preview.set(cur_frame, result_vec);
|
if (use_zed_camera && !detection_data.zed_cloud.empty()) {
|
||||||
#ifdef TRACK_OPTFLOW
|
result_vec = get_3d_coordinates(result_vec, detection_data.zed_cloud);
|
||||||
++passed_flow_frames;
|
|
||||||
track_optflow_queue.push(cur_frame.clone());
|
|
||||||
result_vec = tracker_flow.tracking_flow(cur_frame); // track optical flow
|
|
||||||
extrapolate_coords.update_result(result_vec, cur_time_extrapolate);
|
|
||||||
small_preview.draw(cur_frame, show_small_boxes);
|
|
||||||
#endif
|
|
||||||
auto result_vec_draw = result_vec;
|
|
||||||
if (extrapolate_flag) {
|
|
||||||
result_vec_draw = extrapolate_coords.predict(cur_time_extrapolate);
|
|
||||||
cv::putText(cur_frame, "extrapolate", cv::Point2f(10, 40), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(50, 50, 0), 2);
|
|
||||||
}
|
}
|
||||||
draw_boxes(cur_frame, result_vec_draw, obj_names, current_det_fps, current_cap_fps);
|
|
||||||
//show_console_result(result_vec, obj_names);
|
|
||||||
large_preview.draw(cur_frame);
|
|
||||||
|
|
||||||
cv::imshow("window name", cur_frame);
|
//small_preview.set(draw_frame, result_vec);
|
||||||
int key = cv::waitKey(3); // 3 or 16ms
|
//large_preview.set(draw_frame, result_vec);
|
||||||
if (key == 'f') show_small_boxes = !show_small_boxes;
|
draw_boxes(draw_frame, result_vec, obj_names, current_fps_det, current_fps_cap);
|
||||||
if (key == 'p') while (true) if(cv::waitKey(100) == 'p') break;
|
//show_console_result(result_vec, obj_names, detection_data.frame_id);
|
||||||
if (key == 'e') extrapolate_flag = !extrapolate_flag;
|
//large_preview.draw(draw_frame);
|
||||||
if (key == 27) { exit_flag = true; break; }
|
//small_preview.draw(draw_frame, true);
|
||||||
|
|
||||||
if (output_video.isOpened() && videowrite_ready) {
|
detection_data.result_vec = result_vec;
|
||||||
if (t_videowrite.joinable()) t_videowrite.join();
|
detection_data.draw_frame = draw_frame;
|
||||||
write_frame = cur_frame.clone();
|
draw2show.send(detection_data);
|
||||||
videowrite_ready = false;
|
if (send_network) draw2net.send(detection_data);
|
||||||
t_videowrite = std::thread([&]() {
|
if (output_video.isOpened()) draw2write.send(detection_data);
|
||||||
output_video << write_frame; videowrite_ready = true;
|
} while (!detection_data.exit_flag);
|
||||||
});
|
std::cout << " t_draw exit \n";
|
||||||
}
|
});
|
||||||
|
|
||||||
|
|
||||||
|
// write frame to videofile
|
||||||
|
t_write = std::thread([&]()
|
||||||
|
{
|
||||||
|
if (output_video.isOpened()) {
|
||||||
|
detection_data_t detection_data;
|
||||||
|
cv::Mat output_frame;
|
||||||
|
do {
|
||||||
|
detection_data = draw2write.receive();
|
||||||
|
if(detection_data.draw_frame.channels() == 4) cv::cvtColor(detection_data.draw_frame, output_frame, CV_RGBA2RGB);
|
||||||
|
else output_frame = detection_data.draw_frame;
|
||||||
|
output_video << output_frame;
|
||||||
|
} while (!detection_data.exit_flag);
|
||||||
|
output_video.release();
|
||||||
|
}
|
||||||
|
std::cout << " t_write exit \n";
|
||||||
|
});
|
||||||
|
|
||||||
|
// send detection to the network
|
||||||
|
t_network = std::thread([&]()
|
||||||
|
{
|
||||||
|
if (send_network) {
|
||||||
|
detection_data_t detection_data;
|
||||||
|
do {
|
||||||
|
detection_data = draw2net.receive();
|
||||||
|
|
||||||
|
detector.send_json_http(detection_data.result_vec, obj_names, detection_data.frame_id, filename);
|
||||||
|
|
||||||
|
} while (!detection_data.exit_flag);
|
||||||
|
}
|
||||||
|
std::cout << " t_network exit \n";
|
||||||
|
});
|
||||||
|
|
||||||
|
|
||||||
|
// show detection
|
||||||
|
detection_data_t detection_data;
|
||||||
|
do {
|
||||||
|
|
||||||
|
steady_end = std::chrono::steady_clock::now();
|
||||||
|
float time_sec = std::chrono::duration<double>(steady_end - steady_start).count();
|
||||||
|
if (time_sec >= 1) {
|
||||||
|
current_fps_det = fps_det_counter.load() / time_sec;
|
||||||
|
current_fps_cap = fps_cap_counter.load() / time_sec;
|
||||||
|
steady_start = steady_end;
|
||||||
|
fps_det_counter = 0;
|
||||||
|
fps_cap_counter = 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
#ifndef TRACK_OPTFLOW
|
detection_data = draw2show.receive();
|
||||||
// wait detection result for video-file only (not for net-cam)
|
cv::Mat draw_frame = detection_data.draw_frame;
|
||||||
if (protocol != "rtsp://" && protocol != "http://" && protocol != "https:/") {
|
|
||||||
std::unique_lock<std::mutex> lock(mtx);
|
//if (extrapolate_flag) {
|
||||||
while (!consumed) cv_detected.wait(lock);
|
// cv::putText(draw_frame, "extrapolate", cv::Point2f(10, 40), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.0, cv::Scalar(50, 50, 0), 2);
|
||||||
}
|
//}
|
||||||
#endif
|
|
||||||
}
|
cv::imshow("window name", draw_frame);
|
||||||
exit_flag = true;
|
int key = cv::waitKey(3); // 3 or 16ms
|
||||||
|
if (key == 'f') show_small_boxes = !show_small_boxes;
|
||||||
|
if (key == 'p') while (true) if (cv::waitKey(100) == 'p') break;
|
||||||
|
//if (key == 'e') extrapolate_flag = !extrapolate_flag;
|
||||||
|
if (key == 27) { exit_flag = true;}
|
||||||
|
|
||||||
|
//std::cout << " current_fps_det = " << current_fps_det << ", current_fps_cap = " << current_fps_cap << std::endl;
|
||||||
|
} while (!detection_data.exit_flag);
|
||||||
|
std::cout << " show detection exit \n";
|
||||||
|
|
||||||
|
cv::destroyWindow("window name");
|
||||||
|
// wait for all threads
|
||||||
if (t_cap.joinable()) t_cap.join();
|
if (t_cap.joinable()) t_cap.join();
|
||||||
|
if (t_prepare.joinable()) t_prepare.join();
|
||||||
if (t_detect.joinable()) t_detect.join();
|
if (t_detect.joinable()) t_detect.join();
|
||||||
if (t_videowrite.joinable()) t_videowrite.join();
|
if (t_post.joinable()) t_post.join();
|
||||||
std::cout << "Video ended \n";
|
if (t_draw.joinable()) t_draw.join();
|
||||||
|
if (t_write.joinable()) t_write.join();
|
||||||
|
if (t_network.joinable()) t_network.join();
|
||||||
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
}
|
}
|
||||||
else if (file_ext == "txt") { // list of image files
|
else if (file_ext == "txt") { // list of image files
|
||||||
std::ifstream file(filename);
|
std::ifstream file(filename);
|
||||||
@ -470,14 +643,14 @@ int main(int argc, char *argv[])
|
|||||||
show_console_result(result_vec, obj_names);
|
show_console_result(result_vec, obj_names);
|
||||||
cv::waitKey(0);
|
cv::waitKey(0);
|
||||||
}
|
}
|
||||||
#else
|
#else // OPENCV
|
||||||
//std::vector<bbox_t> result_vec = detector.detect(filename);
|
//std::vector<bbox_t> result_vec = detector.detect(filename);
|
||||||
|
|
||||||
auto img = detector.load_image(filename);
|
auto img = detector.load_image(filename);
|
||||||
std::vector<bbox_t> result_vec = detector.detect(img);
|
std::vector<bbox_t> result_vec = detector.detect(img);
|
||||||
detector.free_image(img);
|
detector.free_image(img);
|
||||||
show_console_result(result_vec, obj_names);
|
show_console_result(result_vec, obj_names);
|
||||||
#endif
|
#endif // OPENCV
|
||||||
}
|
}
|
||||||
catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }
|
catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }
|
||||||
catch (...) { std::cerr << "unknown exception \n"; getchar(); }
|
catch (...) { std::cerr << "unknown exception \n"; getchar(); }
|
||||||
|
|||||||
@ -2,7 +2,7 @@
|
|||||||
#include "activations.h"
|
#include "activations.h"
|
||||||
#include "blas.h"
|
#include "blas.h"
|
||||||
#include "box.h"
|
#include "box.h"
|
||||||
#include "cuda.h"
|
#include "dark_cuda.h"
|
||||||
#include "utils.h"
|
#include "utils.h"
|
||||||
|
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
|
|||||||
@ -250,8 +250,6 @@ LIB_API std::vector<bbox_t> Detector::detect(image_t img, float thresh, bool use
|
|||||||
#endif
|
#endif
|
||||||
//std::cout << "net.gpu_index = " << net.gpu_index << std::endl;
|
//std::cout << "net.gpu_index = " << net.gpu_index << std::endl;
|
||||||
|
|
||||||
//float nms = .4;
|
|
||||||
|
|
||||||
image im;
|
image im;
|
||||||
im.c = img.c;
|
im.c = img.c;
|
||||||
im.data = img.data;
|
im.data = img.data;
|
||||||
@ -305,6 +303,9 @@ LIB_API std::vector<bbox_t> Detector::detect(image_t img, float thresh, bool use
|
|||||||
bbox.obj_id = obj_id;
|
bbox.obj_id = obj_id;
|
||||||
bbox.prob = prob;
|
bbox.prob = prob;
|
||||||
bbox.track_id = 0;
|
bbox.track_id = 0;
|
||||||
|
bbox.x_3d = NAN;
|
||||||
|
bbox.y_3d = NAN;
|
||||||
|
bbox.z_3d = NAN;
|
||||||
|
|
||||||
bbox_vec.push_back(bbox);
|
bbox_vec.push_back(bbox);
|
||||||
}
|
}
|
||||||
@ -379,3 +380,70 @@ LIB_API std::vector<bbox_t> Detector::tracking_id(std::vector<bbox_t> cur_bbox_v
|
|||||||
|
|
||||||
return cur_bbox_vec;
|
return cur_bbox_vec;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
LIB_API bool Detector::send_json_http(std::vector<bbox_t> cur_bbox_vec, std::vector<std::string> obj_names, int frame_id, std::string filename, int timeout, int port)
|
||||||
|
{
|
||||||
|
//int timeout = 400000;
|
||||||
|
//int port = 8070;
|
||||||
|
//send_json(local_dets, local_nboxes, l.classes, demo_names, frame_id, demo_json_port, timeout);
|
||||||
|
|
||||||
|
std::string send_str;
|
||||||
|
|
||||||
|
char *tmp_buf = (char *)calloc(1024, sizeof(char));
|
||||||
|
if (!filename.empty()) {
|
||||||
|
sprintf(tmp_buf, "{\n \"frame_id\":%d, \n \"filename\":\"%s\", \n \"objects\": [ \n", frame_id, filename);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
sprintf(tmp_buf, "{\n \"frame_id\":%d, \n \"objects\": [ \n", frame_id);
|
||||||
|
}
|
||||||
|
send_str = tmp_buf;
|
||||||
|
free(tmp_buf);
|
||||||
|
|
||||||
|
for (auto & i : cur_bbox_vec) {
|
||||||
|
char *buf = (char *)calloc(2048, sizeof(char));
|
||||||
|
|
||||||
|
sprintf(buf, " {\"class_id\":%d, \"name\":\"%s\", \"absolute_coordinates\":{\"center_x\":%d, \"center_y\":%d, \"width\":%d, \"height\":%d}, \"confidence\":%f",
|
||||||
|
i.obj_id, obj_names[i.obj_id], i.x, i.y, i.w, i.h, i.prob);
|
||||||
|
|
||||||
|
//sprintf(buf, " {\"class_id\":%d, \"name\":\"%s\", \"relative_coordinates\":{\"center_x\":%f, \"center_y\":%f, \"width\":%f, \"height\":%f}, \"confidence\":%f",
|
||||||
|
// i.obj_id, obj_names[i.obj_id], i.x, i.y, i.w, i.h, i.prob);
|
||||||
|
|
||||||
|
send_str += buf;
|
||||||
|
|
||||||
|
if (!isnan(i.z_3d)) {
|
||||||
|
sprintf(buf, "\n , \"coordinates_in_meters\":{\"x_3d\":%.2f, \"y_3d\":%.2f, \"z_3d\":%.2f}",
|
||||||
|
i.x_3d*100, i.y_3d, i.z_3d);
|
||||||
|
send_str += buf;
|
||||||
|
}
|
||||||
|
|
||||||
|
send_str += "}\n";
|
||||||
|
|
||||||
|
free(buf);
|
||||||
|
}
|
||||||
|
|
||||||
|
//send_str += "\n ] \n}, \n";
|
||||||
|
send_str += "\n ] \n}";
|
||||||
|
|
||||||
|
send_json_custom(send_str.c_str(), port, timeout);
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
void *Detector::get_cuda_context()
|
||||||
|
{
|
||||||
|
#ifdef GPU
|
||||||
|
int old_gpu_index;
|
||||||
|
cudaGetDevice(&old_gpu_index);
|
||||||
|
if (cur_gpu_id != old_gpu_index)
|
||||||
|
cudaSetDevice(cur_gpu_id);
|
||||||
|
|
||||||
|
void *cuda_context = cuda_get_context();
|
||||||
|
|
||||||
|
if (cur_gpu_id != old_gpu_index)
|
||||||
|
cudaSetDevice(old_gpu_index);
|
||||||
|
|
||||||
|
return cuda_context;
|
||||||
|
#else // GPU
|
||||||
|
return NULL;
|
||||||
|
#endif // GPU
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user