#include "YoloDetectServerI.h"
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#include <basic/util/app/AppPreference.hpp>
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#include <QtCore/QString>
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#include <QtCore/QSharedMemory>
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#include <basic/timer_counter/Clocktimer.h>
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YoloDetectServerI::YoloDetectServerI():m_thresh(0.5),m_hier_thresh(0.5),m_nms(0.5),names(nullptr),alphabet(nullptr),
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m_thdInit(init,this),m_bInitThd(false)
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{
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}
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YoloDetectServerI::~YoloDetectServerI()
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{}
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::YoloDetect::ObjInfos YoloDetectServerI::YoloDetect(::Ice::Int w, ::Ice::Int h, const ::std::string& shM, const ::Ice::Current&)
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{
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ClockTimer ct("YoloDetectServerI::YoloDetect");
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::YoloDetect::ObjInfos objInfos;
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if(!m_bInitThd) return objInfos;
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QSharedMemory shareMemory(QString(shM.c_str()));
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if(shareMemory.attach()){
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int channel = 3;
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cv::Mat _mat = bufferToMat(w,h,channel,shareMemory.constData());
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// double bttime=what_time_is_it_now();
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image im = matToImg(_mat);
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// DBG("matToImg : "<<what_time_is_it_now()-bttime);
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// printf("matToImg %f seconds.\n", what_time_is_it_now()-bttime);
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image sized = letterbox_image(im, m_net->w, m_net->h);
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layer l = m_net->layers[m_net->n-1];
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float *X = sized.data;
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//attime=what_time_is_it_now();p->
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network_predict(m_net, X);
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//printf("Predicted in %f seconds.\n", what_time_is_it_now()-attime);
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int nboxes = 0;
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detection *dets = get_network_boxes(m_net, im.w, im.h, m_thresh, m_hier_thresh, 0, 1, &nboxes);
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if (m_nms) do_nms_sort(dets, nboxes, l.classes, m_nms);
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// draw_detections(im, dets, nboxes, m_thresh, names, alphabet, l.classes);
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for(int i=0;i<nboxes;i++)
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{
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::YoloDetect::ObjInfo objInfo;
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std::vector<float> vec(80);
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memcpy(&vec[0],dets[i].prob,sizeof(float)*80);
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int type = -1;
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for(int j = 0; j < l.classes; ++j){
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// if(j != 0){
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// continue;
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// }
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if (dets[i].prob[j] > 0.0f){
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if (type < 0) {
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type = j;
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objInfo.prob = dets[i].prob[j];
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} else {
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}
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} else{
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}
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}
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if(type >= 0){
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// if(type != 0){
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// continue;
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// }
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objInfo.type = type;
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objInfo.rcObj.left = (dets[i].bbox.x-dets[i].bbox.w/2.);
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objInfo.rcObj.top = (dets[i].bbox.y-dets[i].bbox.h/2.);
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objInfo.rcObj.right = (dets[i].bbox.x+dets[i].bbox.w/2.);
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objInfo.rcObj.bottom = (dets[i].bbox.y+dets[i].bbox.h/2.);
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objInfos.push_back(objInfo);
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}
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}
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free_detections(dets, nboxes);
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// show_image(im, "Video");
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// cv::waitKey(10);
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free_image(im);
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free_image(sized);
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//printf("all time use %f seconds.\n", what_time_is_it_now()-bttime);
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}
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return objInfos;
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}
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int YoloDetectServerI::init(void* arg)
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{
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YoloDetectServerI* p = (YoloDetectServerI*)arg;
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p->m_thresh = appPref.getFloatData("thresh.detect");
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cuda_set_device(appPref.getIntData("gpu.index"));
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char *datacfg = "cfg/coco.data";
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char *cfgfile = "cfg/yolov3.cfg";
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char *weightfile = "./yolov3.weights";
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double loadtime = what_time_is_it_now();
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list *options = read_data_cfg(datacfg);
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char *name_list = option_find_str(options, "names", "data/names.list");
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p->names = get_labels(name_list);
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p->alphabet = load_alphabet();
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p->m_net = load_network(cfgfile, weightfile, 0);
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set_batch_network(p->m_net, 1);
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printf("load mod use %f seconds.\n", what_time_is_it_now()-loadtime);
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srand(2222222);
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p->m_bInitThd = true;
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return 0;
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}
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cv::Mat YoloDetectServerI::bufferToMat(const int w,const int h,const int channels,const void* buffer)
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{
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int nType = -1;
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switch(channels){case 1:{nType=CV_8UC1;break;}case 2:{nType=CV_8UC2;break;}case 3:{nType=CV_8UC3;break;}default:{nType=CV_8UC3;break;}}
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cv::Mat mat(h,w,nType,(void*)buffer);
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return mat;
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}
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image YoloDetectServerI::matToImg(cv::Mat& RefImg) {
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CV_Assert(RefImg.depth() == CV_8U);
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int h = RefImg.rows;
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int w = RefImg.cols;
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int channels = RefImg.channels();
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image im = make_image(w, h, 3);
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int count = 0;
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switch(channels){
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case 1:{
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cv::MatIterator_<unsigned char> it, end;
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for (it = RefImg.begin<unsigned char>(), end = RefImg.end<unsigned char>(); it != end; ++it){
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im.data[count] = im.data[w*h + count] = im.data[w*h*2 + count] = (float)(*it)/255.0;
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++count;
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}
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break;
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}
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case 3:{
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float* desData = im.data;
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uchar* srcData = RefImg.data;
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int size = w*h;
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int size2 = size*2;
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for(int i = 0;i<size;i++){
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*(desData) = *(srcData + 2) /255.0f;
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*(desData+size) = *(srcData + 1) /255.0f;
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*(desData+size2) = *(srcData) /255.0f;
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desData++;
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srcData+=3;
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}
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break;
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}
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default:
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printf("Channel number not supported.\n");
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break;
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}
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return im;
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}
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YoloDetect::stringData YoloDetectServerI::getCocoData(const Ice::Current &)
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{
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YoloDetect::stringData retval;
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std::fstream fs("./data/coco.names");
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std::string str;
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while(fs>>str){
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retval.push_back(str);
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}
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return retval;
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}
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