From 0419c54042b7dcdde5ba7857b6d0f91b8fcc2003 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Sun, 07 Jan 2018 00:30:51 +0000
Subject: [PATCH] Tracking and Streaming fixed.
---
src/cuda.c | 1
build/darknet/yolo_cpp_dll.vcxproj | 2
build/darknet/yolo_console_dll.vcxproj | 1
src/yolo_console_dll.cpp | 53 ++++++++---------
src/yolo_v2_class.hpp | 69 +++++++++++-----------
5 files changed, 63 insertions(+), 63 deletions(-)
diff --git a/build/darknet/yolo_console_dll.vcxproj b/build/darknet/yolo_console_dll.vcxproj
index 176d70b..064c94a 100644
--- a/build/darknet/yolo_console_dll.vcxproj
+++ b/build/darknet/yolo_console_dll.vcxproj
@@ -118,6 +118,7 @@
<AdditionalIncludeDirectories>C:\opencv_source\opencv\bin\install\include</AdditionalIncludeDirectories>
<PreprocessorDefinitions>_CRT_SECURE_NO_WARNINGS;_MBCS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ExceptionHandling>Async</ExceptionHandling>
+ <OpenMPSupport>true</OpenMPSupport>
</ClCompile>
<Link>
<EnableCOMDATFolding>true</EnableCOMDATFolding>
diff --git a/build/darknet/yolo_cpp_dll.vcxproj b/build/darknet/yolo_cpp_dll.vcxproj
index 483e258..2cdb390 100644
--- a/build/darknet/yolo_cpp_dll.vcxproj
+++ b/build/darknet/yolo_cpp_dll.vcxproj
@@ -134,7 +134,7 @@
<IntrinsicFunctions>true</IntrinsicFunctions>
<SDLCheck>true</SDLCheck>
<AdditionalIncludeDirectories>..\..\3rdparty\include;%(AdditionalIncludeDirectories);$(CudaToolkitIncludeDir);$(cudnn)\include</AdditionalIncludeDirectories>
- <PreprocessorDefinitions>YOLODLL_EXPORTS;_TIMESPEC_DEFINED;_CRT_SECURE_NO_WARNINGS;GPU;WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+ <PreprocessorDefinitions>CUDNN;YOLODLL_EXPORTS;_TIMESPEC_DEFINED;_CRT_SECURE_NO_WARNINGS;GPU;WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<CLanguageStandard>c11</CLanguageStandard>
<CppLanguageStandard>c++1y</CppLanguageStandard>
<PrecompiledHeaderCompileAs>CompileAsCpp</PrecompiledHeaderCompileAs>
diff --git a/src/cuda.c b/src/cuda.c
index f168e4e..d8db851 100644
--- a/src/cuda.c
+++ b/src/cuda.c
@@ -96,6 +96,7 @@
int i = cuda_get_device();
if(!init[i]) {
cublasCreate(&handle[i]);
+ cublasStatus_t status = cublasSetStream(handle[i], get_cuda_stream());
init[i] = 1;
}
return handle[i];
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 0e291a4..0b47554 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -15,6 +15,7 @@
#endif
#define TRACK_OPTFLOW
+
#include "yolo_v2_class.hpp" // imported functions from DLL
#ifdef OPENCV
@@ -93,8 +94,8 @@
std::string filename;
if (argc > 1) filename = argv[1];
- Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
- //Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
+ //Detector detector("cfg/yolo-voc.cfg", "yolo-voc.weights");
+ Detector detector("tiny-yolo-voc_air.cfg", "backup/tiny-yolo-voc_air_5000.weights");
auto obj_names = objects_names_from_file("data/voc.names");
std::string out_videofile = "result.avi";
@@ -131,7 +132,7 @@
int current_det_fps = 0, current_cap_fps = 0;
std::thread t_detect, t_cap, t_videowrite;
std::mutex mtx;
- std::condition_variable cv;
+ std::condition_variable cv_detected, cv_pre_tracked;
std::chrono::steady_clock::time_point steady_start, steady_end;
cv::VideoCapture cap(filename); cap >> cur_frame;
int const video_fps = cap.get(CV_CAP_PROP_FPS);
@@ -153,35 +154,31 @@
// 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);
- result_vec = thread_result_vec;
- result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
- consumed = false;
+ std::unique_lock<std::mutex> lock(mtx);
+ det_image = detector.mat_to_image_resize(cur_frame);
+ result_vec = thread_result_vec;
+ result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
#ifdef TRACK_OPTFLOW
- // track optical flow
- if (track_optflow_queue.size() > 0) {
- std::queue<cv::Mat> new_track_optflow_queue;
- //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
- tracker_flow.update_tracking_flow(track_optflow_queue.front());
+ // track optical flow
+ if (track_optflow_queue.size() > 0) {
+ std::queue<cv::Mat> new_track_optflow_queue;
+ //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
+ tracker_flow.update_tracking_flow(track_optflow_queue.front());
+ while (track_optflow_queue.size() > 1) {
track_optflow_queue.pop();
- while (track_optflow_queue.size() > 0) {
- result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
- if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
- new_track_optflow_queue = track_optflow_queue;
-
- track_optflow_queue.pop();
- }
- track_optflow_queue = new_track_optflow_queue;
- new_track_optflow_queue.swap(std::queue<cv::Mat>());
- passed_flow_frames = 0;
+ result_vec = tracker_flow.tracking_flow(track_optflow_queue.front(), result_vec);
+ if (track_optflow_queue.size() <= passed_flow_frames && new_track_optflow_queue.size() == 0)
+ new_track_optflow_queue = track_optflow_queue;
}
+ track_optflow_queue = new_track_optflow_queue;
+ new_track_optflow_queue.swap(std::queue<cv::Mat>());
+ passed_flow_frames = 0;
}
#endif
-
+ consumed = false;
+ cv_pre_tracked.notify_all();
}
// launch thread once - Detection
if (!t_detect.joinable()) {
@@ -189,6 +186,7 @@
auto current_image = det_image;
consumed = true;
while (current_image.use_count() > 0) {
+ //std::vector<bbox_t> result;
auto result = detector.detect_resized(*current_image, frame_size, 0.24, false); // true
//Sleep(200);
Sleep(50);
@@ -197,7 +195,8 @@
thread_result_vec = result;
current_image = det_image;
consumed = true;
- cv.notify_all();
+ cv_detected.notify_all();
+ while (consumed) cv_pre_tracked.wait(lock);
}
});
}
@@ -234,7 +233,7 @@
// wait detection result for video-file only (not for net-cam)
//if (protocol != "rtsp://" && protocol != "http://" && protocol != "https:/") {
// std::unique_lock<std::mutex> lock(mtx);
- // while (!consumed) cv.wait(lock);
+ // while (!consumed) cv_detected.wait(lock);
//}
}
if (t_cap.joinable()) t_cap.join();
diff --git a/src/yolo_v2_class.hpp b/src/yolo_v2_class.hpp
index d60f359..edb24cb 100644
--- a/src/yolo_v2_class.hpp
+++ b/src/yolo_v2_class.hpp
@@ -89,12 +89,15 @@
return mat_to_image(det_mat);
}
- static std::shared_ptr<image_t> mat_to_image(cv::Mat img)
+ static std::shared_ptr<image_t> mat_to_image(cv::Mat img_src)
{
+ cv::Mat img;
+ cv::cvtColor(img_src, img, cv::COLOR_RGB2BGR);
+ //std::cout << "\n img_rgb: " << img_rgb.size() << ", " << img_rgb.type() << ", " << img_rgb.channels() << std::endl;
+ //std::cout << "\n img: " << img.size() << ", " << img.type() << ", " << img.channels() << std::endl;
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);
*image_ptr = ipl_to_image(ipl_small.get());
- rgbgr_image(*image_ptr);
return image_ptr;
}
@@ -108,15 +111,23 @@
int c = src->nChannels;
int step = src->widthStep;
image_t out = make_image_custom(w, h, c);
- int i, j, k, count = 0;;
+ int count = 0;
- for (k = 0; k < c; ++k) {
- for (i = 0; i < h; ++i) {
- for (j = 0; j < w; ++j) {
- out.data[count++] = data[i*step + j*c + k] / 255.;
+ //std::vector<unsigned char> tmp(w*h*c);
+
+ for (int k = 0; k < c; ++k) {
+ for (int i = 0; i < h; ++i) {
+ int i_step = i*step;
+ for (int j = 0; j < w; ++j) {
+ out.data[count++] = data[i_step + j*c + k] / 255.;
+ //tmp[count++] = data[i_step + j*c + k];
}
}
}
+ //cv::Mat wrapped_8bit(cv::Size(w, h), CV_8UC3, tmp.data());
+ //cv::Mat wrapped_32float(cv::Size(w, h), CV_32FC3, out.data);
+ //wrapped_8bit.convertTo(wrapped_32float, CV_32FC3, 1 / 255.);
+
return out;
}
@@ -137,16 +148,6 @@
return out;
}
- static void rgbgr_image(image_t im)
- {
- int i;
- for (i = 0; i < im.w*im.h; ++i) {
- float swap = im.data[i];
- im.data[i] = im.data[i + im.w*im.h * 2];
- im.data[i + im.w*im.h * 2] = swap;
- }
- }
-
#endif // OPENCV
};
@@ -156,22 +157,23 @@
class Tracker_optflow {
public:
- int gpu_id;
+ const int gpu_count;
+ const int gpu_id;
- Tracker_optflow(int _gpu_id = 0) : gpu_id(_gpu_id)
+
+ Tracker_optflow(int _gpu_id = 0) : gpu_count(cv::cuda::getCudaEnabledDeviceCount()), gpu_id(std::min(_gpu_id, gpu_count-1))
{
int const old_gpu_id = cv::cuda::getDevice();
- static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
- if (gpu_count > gpu_id)
- cv::cuda::setDevice(gpu_id);
+ cv::cuda::setDevice(gpu_id);
+
+ stream = cv::cuda::Stream();
sync_PyrLKOpticalFlow_gpu = cv::cuda::SparsePyrLKOpticalFlow::create();
- //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(31, 31)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(31, 31);
- //sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(15, 15)); //sync_PyrLKOpticalFlow_gpu.winSize = cv::Size(15, 15);
+ sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21)); // 15, 21, 31
+ sync_PyrLKOpticalFlow_gpu->setMaxLevel(5); // +- 50 ptx
+ sync_PyrLKOpticalFlow_gpu->setNumIters(2000); // def: 30
- sync_PyrLKOpticalFlow_gpu->setWinSize(cv::Size(21, 21));
- sync_PyrLKOpticalFlow_gpu->setMaxLevel(50); //sync_PyrLKOpticalFlow_gpu.maxLevel = 8; // +-32 points // def: 3
- sync_PyrLKOpticalFlow_gpu->setNumIters(6000); //sync_PyrLKOpticalFlow_gpu.iters = 8000; // def: 30
+ cv::cuda::setDevice(old_gpu_id);
}
// just to avoid extra allocations
@@ -183,15 +185,14 @@
cv::cuda::GpuMat src_grey_gpu; // used in both functions
cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> sync_PyrLKOpticalFlow_gpu;
+ cv::cuda::Stream stream;
void update_tracking_flow(cv::Mat src_mat)
{
int const old_gpu_id = cv::cuda::getDevice();
- static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
- if (gpu_count > gpu_id)
- cv::cuda::setDevice(gpu_id);
+ cv::cuda::setDevice(gpu_id);
- cv::cuda::Stream stream;
+ //cv::cuda::Stream stream;
if (src_mat.channels() == 3) {
if (src_mat_gpu.cols == 0) {
@@ -214,11 +215,9 @@
}
int const old_gpu_id = cv::cuda::getDevice();
- static const int gpu_count = cv::cuda::getCudaEnabledDeviceCount();
- if (gpu_count > gpu_id)
- cv::cuda::setDevice(gpu_id);
+ cv::cuda::setDevice(gpu_id);
- cv::cuda::Stream stream;
+ //cv::cuda::Stream stream;
if (dst_mat_gpu.cols == 0) {
dst_mat_gpu = cv::cuda::GpuMat(dst_mat.size(), dst_mat.type());
--
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