Micaela Verucchi
107 lines
2.6 KiB
C++
107 lines
2.6 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 "tkDNN/DepthNN.h"
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bool gRun;
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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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signal(SIGINT, sig_handler);
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std::string net = "monodepth2_fp32.rt";
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if(argc > 1)
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net = argv[1];
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#ifdef __linux__
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std::string input = "../demo/yolo_test.mp4";
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#elif _WIN32
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std::string input = "..\\..\\..\\demo\\yolo_test.mp4";
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#endif
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if(argc > 2)
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input = argv[2];
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bool show = true;
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if(argc > 3)
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show = atoi(argv[3]);
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bool save = true;
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if(argc > 4)
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save = atoi(argv[4]);
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std::cout <<"Net settings - net: "<< net
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<<"\n";
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std::cout <<"Demo settings - input: "<< input
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<<", show: "<< show
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<<", save: "<< save<<"\n\n";
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tk::dnn::DepthNN depthNN;
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// create depth network
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int n_batch = 1;
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depthNN.init(net, n_batch);
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// open video stream
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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) {
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int w = depthNN.output_w;
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int h = depthNN.output_h;
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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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if(show)
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cv::namedWindow("depth", cv::WINDOW_NORMAL);
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cv::Mat frame;
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std::vector<cv::Mat> batch_frame;
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std::vector<cv::Mat> batch_dnn_input;
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// start detection loop
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gRun = true;
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while(gRun) {
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batch_dnn_input.clear();
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batch_frame.clear();
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//read frame
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cap >> frame;
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if(!frame.data)
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break;
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batch_frame.push_back(frame);
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batch_dnn_input.push_back(frame.clone());
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//inference
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depthNN.update(batch_dnn_input, 1);
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if(show){
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cv::imshow("depth", depthNN.depthMats[0]);
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cv::waitKey(1);
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}
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if(save)
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resultVideo << depthNN.depthMats[0];
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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 depth:\n";
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std::cout<<"Min: "<<*std::min_element(depthNN.stats.begin(), depthNN.stats.end())<<" ms\n";
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std::cout<<"Max: "<<*std::max_element(depthNN.stats.begin(), depthNN.stats.end())<<" ms\n";
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for(int i=0; i<depthNN.stats.size(); i++) mean += depthNN.stats[i]; mean /= depthNN.stats.size();
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std::cout<<"Avg: "<<mean<<" ms\t"<<1000/(mean)<<" FPS\n";
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return 0;
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}
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