Skip to content

Commit

Permalink
Applied first changes for yolo v3.
Browse files Browse the repository at this point in the history
  • Loading branch information
@mbjelonic
mbjelonic committed Apr 25, 2018
1 parent 9ef2ac1 commit 1aaf8e2
Show file tree
Hide file tree
Showing 5 changed files with 116 additions and 90 deletions.
4 changes: 4 additions & 0 deletions darknet_ros/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -117,6 +117,8 @@ if (CUDA_FOUND)
${DARKNET_PATH}/src/dropout_layer.c ${DARKNET_PATH}/src/softmax_layer.c
${DARKNET_PATH}/src/gemm.c ${DARKNET_PATH}/src/tree.c
${DARKNET_PATH}/src/gru_layer.c ${DARKNET_PATH}/src/utils.c
${DARKNET_PATH}/src/upsample_layer.c ${DARKNET_PATH}/src/logistic_layer.c
${DARKNET_PATH}/src/l2norm_layer.c ${DARKNET_PATH}/src/yolo_layer.c

${DARKNET_PATH}/examples/art.c ${DARKNET_PATH}/examples/lsd.c
${DARKNET_PATH}/examples/attention.c ${DARKNET_PATH}/examples/nightmare.c
Expand Down Expand Up @@ -179,6 +181,8 @@ else()
${DARKNET_PATH}/src/dropout_layer.c ${DARKNET_PATH}/src/softmax_layer.c
${DARKNET_PATH}/src/gemm.c ${DARKNET_PATH}/src/tree.c
${DARKNET_PATH}/src/gru_layer.c ${DARKNET_PATH}/src/utils.c
${DARKNET_PATH}/src/upsample_layer.c ${DARKNET_PATH}/src/logistic_layer.c
${DARKNET_PATH}/src/l2norm_layer.c ${DARKNET_PATH}/src/yolo_layer.c

${DARKNET_PATH}/examples/art.c ${DARKNET_PATH}/examples/lsd.c
${DARKNET_PATH}/examples/attention.c ${DARKNET_PATH}/examples/nightmare.c
Expand Down
11 changes: 9 additions & 2 deletions darknet_ros/include/darknet_ros/YoloObjectDetector.hpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -187,6 +187,7 @@ class YoloObjectDetector
float *lastAvg2_;
float *lastAvg_;
float *avg_;
int demoTotal_ = 0;
double demoTime_;

RosBox_ *roiBoxes_;
Expand All @@ -209,12 +210,18 @@ class YoloObjectDetector
int actionId_;
boost::shared_mutex mutexActionStatus_;

double getWallTime();
// double getWallTime();

void *fetchInThread();
int sizeNetwork(network *net);

void rememberNetwork(network *net);

detection *avgPredictions(network *net, int *nboxes);

void *detectInThread();

void *fetchInThread();

void *displayInThread(void *ptr);

void *displayLoop(void *ptr);
Expand Down
2 changes: 1 addition & 1 deletion darknet_ros/launch/darknet_ros.launch
View file
Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@

<!-- Load parameters -->
<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/ros.yaml"/>
<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/yolov3.yaml"/>
<rosparam command="load" ns="darknet_ros" file="$(find darknet_ros)/config/yolov2-tiny.yaml"/>

<!-- Start darknet and ros wrapper -->
<node pkg="darknet_ros" type="darknet_ros" name="darknet_ros" output="screen" launch-prefix="$(arg launch_prefix)">
Expand Down
0 darknet_ros/launch/darknet_ros_fast.launch → darknet_ros/launch/yolo_v3.launch
View file
File renamed without changes.
189 changes: 102 additions & 87 deletions darknet_ros/src/YoloObjectDetector.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -270,26 +270,58 @@ bool YoloObjectDetector::publishDetectionImage(const cv::Mat& detectionImage)
return true;
}

double YoloObjectDetector::getWallTime()
// double YoloObjectDetector::getWallTime()
// {
// struct timeval time;
// if (gettimeofday(&time, NULL)) {
// return 0;
// }
// return (double) time.tv_sec + (double) time.tv_usec * .000001;
// }

int YoloObjectDetector::sizeNetwork(network *net)
{
struct timeval time;
if (gettimeofday(&time, NULL)) {
return 0;
int i;
int count = 0;
for(i = 0; i < net->n; ++i){
layer l = net->layers[i];
if(l.type == YOLO || l.type == REGION || l.type == DETECTION){
count += l.outputs;
}
}
return (double) time.tv_sec + (double) time.tv_usec * .000001;
return count;
}

void *YoloObjectDetector::fetchInThread()
void YoloObjectDetector::rememberNetwork(network *net)
{
IplImage* ROS_img = getIplImage();
ipl_into_image(ROS_img, buff_[buffIndex_]);
{
boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
buffId_[buffIndex_] = actionId_;
int i;
int count = 0;
for(i = 0; i < net->n; ++i){
layer l = net->layers[i];
if(l.type == YOLO || l.type == REGION || l.type == DETECTION){
memcpy(predictions_[demoIndex_] + count, net->layers[i].output, sizeof(float) * l.outputs);
count += l.outputs;
}
}
rgbgr_image(buff_[buffIndex_]);
letterbox_image_into(buff_[buffIndex_], net_->w, net_->h, buffLetter_[buffIndex_]);
return 0;
}

detection *YoloObjectDetector::avgPredictions(network *net, int *nboxes)
{
int i, j;
int count = 0;
fill_cpu(demoTotal_, 0, avg_, 1);
for(j = 0; j < demoFrame_; ++j){
axpy_cpu(demoTotal_, 1./demoFrame_, predictions_[j], 1, avg_, 1);
}
for(i = 0; i < net->n; ++i){
layer l = net->layers[i];
if(l.type == YOLO || l.type == REGION || l.type == DETECTION){
memcpy(l.output, avg_ + count, sizeof(float) * l.outputs);
count += l.outputs;
}
}
detection *dets = get_network_boxes(net, buff_[0].w, buff_[0].h, demoThresh_, demoHier_, 0, 1, nboxes);
return dets;
}

void *YoloObjectDetector::detectInThread()
Expand All @@ -301,29 +333,21 @@ void *YoloObjectDetector::detectInThread()
float *X = buffLetter_[(buffIndex_ + 2) % 3].data;
float *prediction = network_predict(net_, X);

memcpy(predictions_[demoIndex_], prediction, l.outputs * sizeof(float));
mean_arrays(predictions_, demoFrame_, l.outputs, avg_);
l.output = lastAvg2_;
if (demoDelay_ == 0)
l.output = avg_;
if (l.type == DETECTION) {
get_detection_boxes(l, 1, 1, demoThresh_, probs_, boxes_, 0);
} else if (l.type == REGION) {
get_region_boxes(l, buff_[0].w, buff_[0].h, net_->w, net_->h, demoThresh_, probs_, boxes_, 0, 0, 0,
demoHier_, 1);
} else {
error("Last layer must produce detections\n");
}
if (nms > 0)
do_nms_obj(boxes_, probs_, l.w * l.h * l.n, l.classes, nms);
rememberNetwork(net_);
detection *dets = 0;
int nboxes = 0;
dets = avgPredictions(net_, &nboxes);

if (nms > 0) do_nms_obj(dets, nboxes, l.classes, nms);

if (enableConsoleOutput_) {
printf("\nFPS:%.1f\n", fps_);
printf("\033[2J");
printf("\033[1;1H");
printf("\nFPS:%.1f\n",fps_);
printf("Objects:\n\n");
}
image display = buff_[(buffIndex_ + 2) % 3];
draw_detections(display, demoDetections_, demoThresh_, boxes_, probs_, 0, demoNames_, demoAlphabet_,
demoClasses_);
image display = buff_[(buffIndex_+2) % 3];
draw_detections(display, dets, nboxes, demoThresh_, demoNames_, demoAlphabet_, demoClasses_);

// extract the bounding boxes and send them to ROS
int total = l.w * l.h * l.n;
Expand Down Expand Up @@ -375,41 +399,43 @@ void *YoloObjectDetector::detectInThread()
roiBoxes_[0].num = count;
}

free_detections(dets, nboxes);
demoIndex_ = (demoIndex_ + 1) % demoFrame_;
running_ = 0;
return 0;
}

void *YoloObjectDetector::fetchInThread()
{
IplImage* ROS_img = getIplImage();
ipl_into_image(ROS_img, buff_[buffIndex_]);
{
boost::shared_lock<boost::shared_mutex> lock(mutexImageCallback_);
buffId_[buffIndex_] = actionId_;
}
rgbgr_image(buff_[buffIndex_]);
letterbox_image_into(buff_[buffIndex_], net_->w, net_->h, buffLetter_[buffIndex_]);
return 0;
}

void *YoloObjectDetector::displayInThread(void *ptr)
{
show_image_cv(buff_[(buffIndex_ + 1) % 3], "Demo", ipl_);
show_image_cv(buff_[(buffIndex_ + 1)%3], "YOLO V3", ipl_);
int c = cvWaitKey(waitKeyDelay_);
if (c != -1)
c = c % 256;
if (c == 10) {
if (demoDelay_ == 0)
demoDelay_ = 60;
else if (demoDelay_ == 5)
demoDelay_ = 0;
else if (demoDelay_ == 60)
demoDelay_ = 5;
else
demoDelay_ = 0;
} else if (c == 27) {
demoDone_ = 1;
return 0;
if (c != -1) c = c%256;
if (c == 27) {
demoDone_ = 1;
return 0;
} else if (c == 82) {
demoThresh_ += .02;
demoThresh_ += .02;
} else if (c == 84) {
demoThresh_ -= .02;
if (demoThresh_ <= .02)
demoThresh_ = .02;
demoThresh_ -= .02;
if(demoThresh_ <= .02) demoThresh_ = .02;
} else if (c == 83) {
demoHier_ += .02;
demoHier_ += .02;
} else if (c == 81) {
demoHier_ -= .02;
if (demoHier_ <= .0)
demoHier_ = .0;
demoHier_ -= .02;
if(demoHier_ <= .0) demoHier_ = .0;
}
return 0;
}
Expand All @@ -436,16 +462,15 @@ void YoloObjectDetector::setupNetwork(char *cfgfile, char *weightfile, char *dat
demoPrefix_ = prefix;
demoDelay_ = delay;
demoFrame_ = avg_frames;
predictions_ = (float **) calloc(demoFrame_, sizeof(float*));
image **alphabet = load_alphabet_with_file(datafile);
demoNames_ = names;
demoAlphabet_ = alphabet;
demoClasses_ = classes;
demoThresh_ = thresh;
demoHier_ = hier;
fullScreen_ = fullscreen;
printf("YOLO_V2\n");
net_ = parse_network_cfg(cfgfile);
printf("YOLO V3\n");
net_ = load_network(cfgfile, weightfile, 0);
if (weightfile) {
load_weights(net_, weightfile);
}
Expand All @@ -468,21 +493,20 @@ void YoloObjectDetector::yolo()

srand(2222222);

layer l = net_->layers[net_->n - 1];
demoDetections_ = l.n * l.w * l.h;
int j;

avg_ = (float *) calloc(l.outputs, sizeof(float));
lastAvg_ = (float *) calloc(l.outputs, sizeof(float));
lastAvg2_ = (float *) calloc(l.outputs, sizeof(float));
for (j = 0; j < demoFrame_; ++j)
predictions_[j] = (float *) calloc(l.outputs, sizeof(float));
int i;
demoTotal_ = sizeNetwork(net_);
predictions_ = (float **) calloc(demoFrame_, sizeof(float*));
for (i = 0; i < demoFrame_; ++i){
predictions_[i] = (float *) calloc(demoTotal_, sizeof(float));
}
avg_ = (float *) calloc(demoTotal_, sizeof(float));

layer l = net_->layers[net_->n - 1];
boxes_ = (box *) calloc(l.w * l.h * l.n, sizeof(box));
roiBoxes_ = (darknet_ros::RosBox_ *) calloc(l.w * l.h * l.n, sizeof(darknet_ros::RosBox_));
probs_ = (float **) calloc(l.w * l.h * l.n, sizeof(float *));
for (j = 0; j < l.w * l.h * l.n; ++j)
probs_[j] = (float *) calloc(l.classes + 1, sizeof(float));
for (i = 0; i < l.w * l.h * l.n; ++i)
probs_[i] = (float *) calloc(l.classes + 1, sizeof(float));

IplImage* ROS_img = getIplImage();
buff_[0] = ipl_to_image(ROS_img);
Expand All @@ -496,34 +520,25 @@ void YoloObjectDetector::yolo()
int count = 0;

if (!demoPrefix_ && viewImage_) {
cvNamedWindow("Demo", CV_WINDOW_NORMAL);
cvNamedWindow("YOLO V3", CV_WINDOW_NORMAL);
if (fullScreen_) {
cvSetWindowProperty("Demo", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
cvSetWindowProperty("YOLO V3", CV_WND_PROP_FULLSCREEN, CV_WINDOW_FULLSCREEN);
} else {
cvMoveWindow("Demo", 0, 0);
cvResizeWindow("Demo", 640, 480);
cvMoveWindow("YOLO V3", 0, 0);
cvResizeWindow("YOLO V3", 640, 480);
}
}

demoTime_ = getWallTime();
demoTime_ = what_time_is_it_now();

while (!demoDone_) {
buffIndex_ = (buffIndex_ + 1) % 3;
fetch_thread = std::thread(&YoloObjectDetector::fetchInThread, this);
detect_thread = std::thread(&YoloObjectDetector::detectInThread, this);
if (!demoPrefix_) {
if (count % (demoDelay_ + 1) == 0) {
fps_ = 1. / (getWallTime() - demoTime_);
demoTime_ = getWallTime();
float *swap = lastAvg_;
lastAvg_ = lastAvg2_;
lastAvg2_ = swap;
memcpy(lastAvg_, avg_, l.outputs * sizeof(float));
}
if (viewImage_) {
displayInThread(0);
}
publishInThread();
fps_ = 1./(what_time_is_it_now() - demoTime_);
demoTime_ = what_time_is_it_now();
displayInThread(0);
} else {
char name[256];
sprintf(name, "%s_%08d", demoPrefix_, count);
Expand Down

0 comments on commit 1aaf8e2

Please sign in to comment.