Davide Sapienza
118 lines
2.7 KiB
C++
118 lines
2.7 KiB
C++
#include <iostream>
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#include <signal.h>
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#include <stdlib.h> /* srand, rand */
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#include <unistd.h>
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#include <mutex>
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#include "CenternetDetection3D.h"
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#include "CenternetDetection3DTrack.h"
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bool gRun;
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bool SAVE_RESULT = false;
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void sig_handler(int signo) {
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std::cout<<"request gateway stop\n";
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gRun = false;
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}
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int main(int argc, char *argv[]) {
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std::cout<<"detection\n";
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signal(SIGINT, sig_handler);
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std::string net = "dla34_cnet3d_fp32.rt";
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if(argc > 1)
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net = argv[1];
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std::string input = "../demo/yolo_test.mp4";
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if(argc > 2)
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input = argv[2];
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char ntype = 'c';
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if(argc > 3)
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ntype = argv[3][0];
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int n_classes = 3;
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if(argc > 4)
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n_classes = atoi(argv[4]);
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bool show = false;
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if(argc > 5)
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show = atoi(argv[5]);
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if(!show)
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SAVE_RESULT = true;
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tk::dnn::CenternetDetection3D cnet;
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tk::dnn::CenternetDetection3DTrack ctrack;
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tk::dnn::DetectionNN3D *detNN;
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switch(ntype)
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{
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case 'c':
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detNN = &cnet;
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break;
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case 't':
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detNN = &ctrack;
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break;
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default:
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FatalError("Network type not allowed (3rd parameter)\n");
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}
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detNN->init(net, n_classes);
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gRun = true;
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cv::VideoCapture cap(input);
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if(!cap.isOpened())
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gRun = false;
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else
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std::cout<<"camera started\n";
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cv::VideoWriter resultVideo;
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if(SAVE_RESULT) {
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int w = cap.get(cv::CAP_PROP_FRAME_WIDTH);
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int h = cap.get(cv::CAP_PROP_FRAME_HEIGHT);
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resultVideo.open("result.mp4", cv::VideoWriter::fourcc('M','P','4','V'), 30, cv::Size(w, h));
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}
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cv::Mat frame;
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cv::Mat dnn_input;
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if(show)
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cv::namedWindow("detection", cv::WINDOW_NORMAL);
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std::vector<tk::dnn::box> detected_bbox;
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while(gRun) {
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cap >> frame;
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if(!frame.data) {
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break;
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}
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// this will be resized to the net format
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dnn_input = frame.clone();
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//inference
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detNN->update(dnn_input);
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frame = detNN->draw(frame);
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if(show) {
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cv::imshow("detection", frame);
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cv::waitKey(1);
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}
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if(SAVE_RESULT)
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resultVideo << frame;
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}
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std::cout<<"detection end\n";
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double mean = 0;
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std::cout<<COL_GREENB<<"\n\nTime stats:\n";
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std::cout<<"Min: "<<*std::min_element(detNN->stats.begin(), detNN->stats.end())<<" ms\n";
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std::cout<<"Max: "<<*std::max_element(detNN->stats.begin(), detNN->stats.end())<<" ms\n";
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for(int i=0; i<detNN->stats.size(); i++) mean += detNN->stats[i]; mean /= detNN->stats.size();
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std::cout<<"Avg: "<<mean<<" ms\n"<<COL_END;
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return 0;
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}
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