From 9d23aad8696268e8ce3a94fee9490fd1db000dc8 Mon Sep 17 00:00:00 2001
From: AlexeyAB <alexeyab84@gmail.com>
Date: Sun, 31 Dec 2017 17:10:32 +0000
Subject: [PATCH] Added CUDA-streams to Darknet-Yolo forward inference
---
src/yolo_console_dll.cpp | 259 ++++++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 222 insertions(+), 37 deletions(-)
diff --git a/src/yolo_console_dll.cpp b/src/yolo_console_dll.cpp
index 52c59df..16a9049 100644
--- a/src/yolo_console_dll.cpp
+++ b/src/yolo_console_dll.cpp
@@ -2,12 +2,19 @@
#include <iomanip>
#include <string>
#include <vector>
+#include <queue>
#include <fstream>
#include <thread>
#include <atomic>
+#include <mutex> // std::mutex, std::unique_lock
+#include <condition_variable> // std::condition_variable
+#ifdef _WIN32
#define OPENCV
+#include "windows.h"
+#endif
+#define TRACK_OPTFLOW
#include "yolo_v2_class.hpp" // imported functions from DLL
#ifdef OPENCV
@@ -15,35 +22,54 @@
#include "opencv2/core/version.hpp"
#ifndef CV_VERSION_EPOCH
#include "opencv2/videoio/videoio.hpp"
-#pragma comment(lib, "opencv_world320.lib")
+#define OPENCV_VERSION CVAUX_STR(CV_VERSION_MAJOR)""CVAUX_STR(CV_VERSION_MINOR)""CVAUX_STR(CV_VERSION_REVISION)
+#pragma comment(lib, "opencv_world" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_cudaoptflow" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_cudaimgproc" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_core" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_imgproc" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#else
-#pragma comment(lib, "opencv_core2413.lib")
-#pragma comment(lib, "opencv_imgproc2413.lib")
-#pragma comment(lib, "opencv_highgui2413.lib")
+#define OPENCV_VERSION CVAUX_STR(CV_VERSION_EPOCH)""CVAUX_STR(CV_VERSION_MAJOR)""CVAUX_STR(CV_VERSION_MINOR)
+#pragma comment(lib, "opencv_core" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_imgproc" OPENCV_VERSION ".lib")
+#pragma comment(lib, "opencv_highgui" OPENCV_VERSION ".lib")
#endif
-void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names, unsigned int wait_msec = 0) {
+void draw_boxes(cv::Mat mat_img, std::vector<bbox_t> result_vec, std::vector<std::string> obj_names,
+ unsigned int wait_msec = 0, int current_det_fps = -1, int current_cap_fps = -1)
+{
+ int const colors[6][3] = { { 1,0,1 },{ 0,0,1 },{ 0,1,1 },{ 0,1,0 },{ 1,1,0 },{ 1,0,0 } };
+
for (auto &i : result_vec) {
- cv::Scalar color(60, 160, 260);
+ int const offset = i.obj_id * 123457 % 6;
+ int const color_scale = 150 + (i.obj_id * 123457) % 100;
+ cv::Scalar color(colors[offset][0], colors[offset][1], colors[offset][2]);
+ color *= color_scale;
cv::rectangle(mat_img, cv::Rect(i.x, i.y, i.w, i.h), color, 5);
if (obj_names.size() > 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);
cv::Size const text_size = getTextSize(obj_name, cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, 2, 0);
- size_t const max_width = (text_size.width > i.w + 2) ? text_size.width : (i.w + 2);
- if(i.x > 3 && (i.x + max_width) < mat_img.cols && i.y > 30 && i.y < mat_img.rows)
- cv::rectangle(mat_img, cv::Point2f(i.x - 3, i.y - 30), cv::Point2f(i.x + max_width, i.y), color, CV_FILLED, 8, 0);
+ int const 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 - 3, 0), std::max((int)i.y - 30, 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);
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);
}
}
+ if (current_det_fps >= 0 && current_cap_fps >= 0) {
+ std::string fps_str = "FPS detection: " + std::to_string(current_det_fps) + " FPS capture: " + std::to_string(current_cap_fps);
+ putText(mat_img, fps_str, cv::Point2f(10, 20), cv::FONT_HERSHEY_COMPLEX_SMALL, 1.2, cv::Scalar(50, 255, 0), 2);
+ }
cv::imshow("window name", mat_img);
cv::waitKey(wait_msec);
}
#endif // OPENCV
-void show_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) {
for (auto &i : result_vec) {
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
@@ -56,51 +82,209 @@
std::ifstream file(filename);
std::vector<std::string> file_lines;
if (!file.is_open()) return file_lines;
- for(std::string line; file >> line;) file_lines.push_back(line);
+ for(std::string line; getline(file, line);) file_lines.push_back(line);
std::cout << "object names loaded \n";
return file_lines;
}
-int main()
+int main(int argc, char *argv[])
{
- Detector detector("yolo-voc.cfg", "yolo-voc.weights");
+ 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");
auto obj_names = objects_names_from_file("data/voc.names");
+ std::string out_videofile = "result.avi";
+ bool const save_output_videofile = false;
+#ifdef TRACK_OPTFLOW
+ Tracker_optflow tracker_flow;
+#endif
while (true)
- {
- std::string filename;
+ {
std::cout << "input image or video filename: ";
- std::cin >> filename;
+ if(filename.size() == 0) std::cin >> filename;
if (filename.size() == 0) break;
try {
#ifdef OPENCV
std::string const file_ext = filename.substr(filename.find_last_of(".") + 1);
- std::string const protocol = filename.substr(0, 4);
- if (file_ext == "avi" || file_ext == "mp4" || file_ext == "mjpg" || file_ext == "mov" || protocol == "rtsp") { // video file
- cv::Mat frame, prev_frame, det_frame;
+ std::string const protocol = filename.substr(0, 7);
+ 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
+ {
+ cv::Mat cap_frame, cur_frame, det_frame, write_frame;
+ std::queue<cv::Mat> track_optflow_queue;
+ int passed_flow_frames = 0;
+ std::shared_ptr<image_t> det_image;
std::vector<bbox_t> result_vec, thread_result_vec;
detector.nms = 0.02; // comment it - if track_id is not required
- std::thread td([]() {});
- std::atomic<int> ready_flag = false;
- cv::VideoCapture cap(filename);
- for (; cap >> frame, cap.isOpened();) {
- td.join();
- result_vec = thread_result_vec;
- det_frame = frame;
- td = std::thread([&]() { thread_result_vec = detector.detect(det_frame, 0.2, true); ready_flag = true; });
+ std::atomic<bool> consumed, videowrite_ready;
+ 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;
+ 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);
+ cv::Size const frame_size = cur_frame.size();
+ cv::VideoWriter output_video;
+ if (save_output_videofile)
+ output_video.open(out_videofile, CV_FOURCC('D', 'I', 'V', 'X'), std::max(35, video_fps), frame_size, true);
- if (!prev_frame.empty()) {
- result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
- draw_boxes(prev_frame, result_vec, obj_names, 3);
- show_result(result_vec, obj_names);
+ while (!cur_frame.empty())
+ {
+ // always sync
+ if (t_cap.joinable()) {
+ t_cap.join();
+ ++fps_cap_counter;
+ cur_frame = cap_frame.clone();
}
- prev_frame = frame;
- //if(protocol == "rtsp") while (!ready_flag) cap.grab(); // use if cam-fps 2x or more than dnn-fps
- ready_flag = false;
+ t_cap = std::thread([&]() { cap >> cap_frame; });
+
+ // 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;
+ }
+
+#ifdef TRACK_OPTFLOW
+ int y = 0, x = 0;
+ cv::Mat show_flow = cur_frame.clone();
+ auto lambda = [&x, &y](cv::Mat draw_frame, cv::Mat src_frame, std::vector<bbox_t> result_vec) {
+ //if (x > 10) return;
+ if (result_vec.size() == 0) return;
+ bbox_t i = result_vec[0];
+ cv::Rect r(i.x, i.y, i.w, i.h);
+ //cv::Rect r(i.x + (i.w-31)/2, i.y + (i.h - 31)/2, 31, 31);
+ cv::Rect img_rect(cv::Point2i(0, 0), src_frame.size());
+ cv::Rect rect_roi = r & img_rect;
+ if (rect_roi.width < 1 || rect_roi.height < 1) return;
+ cv::Mat roi = src_frame(rect_roi);
+ cv::Mat dst;
+ cv::resize(roi, dst, cv::Size(100, 100));
+ if (x > 10) x = 0, ++y;
+ cv::Rect dst_rect_roi(cv::Point2i(x*100, y*100), dst.size());
+ cv::Mat dst_roi = draw_frame(dst_rect_roi);
+ dst.copyTo(dst_roi);
+
+ ++x;
+ };
+
+
+ // track optical flow
+ if (track_optflow_queue.size() > 0) {
+ //show_flow = track_optflow_queue.front().clone();
+ //draw_boxes(show_flow, result_vec, obj_names, 3, current_det_fps, current_cap_fps);
+
+ std::queue<cv::Mat> new_track_optflow_queue;
+ //std::cout << "\n !!!! all = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
+ if (result_vec.size() > 0) {
+ draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps);
+ std::cout << "\n frame_size = " << track_optflow_queue.size() << std::endl;
+ cv::waitKey(1000);
+ }
+ tracker_flow.update_tracking_flow(track_optflow_queue.front());
+ lambda(show_flow, track_optflow_queue.front(), result_vec);
+ track_optflow_queue.pop();
+ while(track_optflow_queue.size() > 0) {
+ if (result_vec.size() > 0) {
+ draw_boxes(track_optflow_queue.front().clone(), result_vec, obj_names, 3, current_det_fps, current_cap_fps);
+ std::cout << "\n frame_size = " << track_optflow_queue.size() << std::endl;
+ cv::waitKey(1000);
+ }
+ 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;
+ lambda(show_flow, track_optflow_queue.front(), result_vec);
+ track_optflow_queue.pop();
+ }
+ track_optflow_queue = new_track_optflow_queue;
+ new_track_optflow_queue.swap(std::queue<cv::Mat>());
+ passed_flow_frames = 0;
+ //std::cout << "\n !!!! now = " << track_optflow_queue.size() << ", cur = " << passed_flow_frames << std::endl;
+
+ cv::imshow("flow", show_flow);
+ cv::waitKey(3);
+ //if (result_vec.size() > 0) {
+ // cv::waitKey(1000);
+ //}
+ }
+#endif
+
+ }
+ // 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) {
+ auto result = detector.detect_resized(*current_image, frame_size, 0.24, false); // true
+ //Sleep(200);
+ Sleep(50);
+ ++fps_det_counter;
+ std::unique_lock<std::mutex> lock(mtx);
+ thread_result_vec = result;
+ current_image = det_image;
+ consumed = true;
+ cv.notify_all();
+ }
+ });
+ }
+
+ 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;
+ }
+
+#ifdef TRACK_OPTFLOW
+ ++passed_flow_frames;
+ track_optflow_queue.push(cur_frame.clone());
+ result_vec = tracker_flow.tracking_flow(cur_frame, result_vec); // track optical flow
+#endif
+
+ draw_boxes(cur_frame, result_vec, obj_names, 3, current_det_fps, current_cap_fps);
+ //show_console_result(result_vec, obj_names);
+
+ if (output_video.isOpened() && videowrite_ready) {
+ if (t_videowrite.joinable()) t_videowrite.join();
+ write_frame = cur_frame.clone();
+ videowrite_ready = false;
+ t_videowrite = std::thread([&]() {
+ output_video << write_frame; videowrite_ready = true;
+ });
+ }
+ }
+
+ // 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);
+ //}
}
+ if (t_cap.joinable()) t_cap.join();
+ if (t_detect.joinable()) t_detect.join();
+ if (t_videowrite.joinable()) t_videowrite.join();
+ std::cout << "Video ended \n";
}
else if (file_ext == "txt") { // list of image files
std::ifstream file(filename);
@@ -110,7 +294,7 @@
std::cout << line << std::endl;
cv::Mat mat_img = cv::imread(line);
std::vector<bbox_t> result_vec = detector.detect(mat_img);
- show_result(result_vec, obj_names);
+ show_console_result(result_vec, obj_names);
//draw_boxes(mat_img, result_vec, obj_names);
//cv::imwrite("res_" + line, mat_img);
}
@@ -121,7 +305,7 @@
std::vector<bbox_t> result_vec = detector.detect(mat_img);
result_vec = detector.tracking(result_vec); // comment it - if track_id is not required
draw_boxes(mat_img, result_vec, obj_names);
- show_result(result_vec, obj_names);
+ show_console_result(result_vec, obj_names);
}
#else
//std::vector<bbox_t> result_vec = detector.detect(filename);
@@ -129,11 +313,12 @@
auto img = detector.load_image(filename);
std::vector<bbox_t> result_vec = detector.detect(img);
detector.free_image(img);
- show_result(result_vec, obj_names);
+ show_console_result(result_vec, obj_names);
#endif
}
catch (std::exception &e) { std::cerr << "exception: " << e.what() << "\n"; getchar(); }
catch (...) { std::cerr << "unknown exception \n"; getchar(); }
+ filename.clear();
}
return 0;
--
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