tensorrt c++ 对视频进行推理 #13
Labels
enhancement
New feature or request
Comments
YOLOX那个问题解决了吗？ |
|
可以参考这个代码 #include <fstream>
#include <iostream>
#include <sstream>
#include <numeric>
#include <chrono>
#include <vector>
#include <opencv2/opencv.hpp>
#include <dirent.h>
#include "NvInfer.h"
#include "cuda_runtime_api.h"
#include "logging.h"
#define CHECK(status) \
do\
{\
auto ret = (status);\
if (ret != 0)\
{\
std::cerr << "Cuda failure: " << ret << std::endl;\
abort();\
}\
} while (0)
#define DEVICE 0 // GPU id
#define NMS_THRESH 0.45
#define BBOX_CONF_THRESH 0.2
using namespace nvinfer1;
// stuff we know about the network and the input/output blobs
static const int INPUT_W = 640;
static const int INPUT_H = 640;
const char* INPUT_BLOB_NAME = "image_arrays";
const char* OUTPUT_BLOB_NAME = "outputs";
static Logger gLogger;
cv::Mat static_resize(cv::Mat& img) {
float r = std::min(INPUT_W / (img.cols*1.0), INPUT_H / (img.rows*1.0));
int unpad_w = r * img.cols;
int unpad_h = r * img.rows;
cv::Mat re(unpad_h, unpad_w, CV_8UC3);
cv::resize(img, re, re.size());
cv::Mat out(INPUT_W, INPUT_H, CV_8UC3, cv::Scalar(114, 114, 114));
re.copyTo(out(cv::Rect(0, 0, re.cols, re.rows)));
return out;
}
struct Object
{
cv::Rect_<float> rect;
int label;
float prob;
};
static inline float intersection_area(const Object& a, const Object& b)
{
cv::Rect_<float> inter = a.rect & b.rect;
return inter.area();
}
static void qsort_descent_inplace(std::vector<Object>& faceobjects, int left, int right)
{
int i = left;
int j = right;
float p = faceobjects[(left + right) / 2].prob;
while (i <= j)
{
while (faceobjects[i].prob > p)
i++;
while (faceobjects[j].prob < p)
j--;
if (i <= j)
{
// swap
std::swap(faceobjects[i], faceobjects[j]);
i++;
j--;
}
}
#pragma omp parallel sections
{
#pragma omp section
{
if (left < j) qsort_descent_inplace(faceobjects, left, j);
}
#pragma omp section
{
if (i < right) qsort_descent_inplace(faceobjects, i, right);
}
}
}
static void qsort_descent_inplace(std::vector<Object>& objects)
{
if (objects.empty())
return;
qsort_descent_inplace(objects, 0, objects.size() - 1);
}
static void nms_sorted_bboxes(const std::vector<Object>& faceobjects, std::vector<int>& picked, float nms_threshold)
{
picked.clear();
const int n = faceobjects.size();
std::vector<float> areas(n);
for (int i = 0; i < n; i++)
{
areas[i] = faceobjects[i].rect.area();
}
for (int i = 0; i < n; i++)
{
const Object& a = faceobjects[i];
int keep = 1;
for (int j = 0; j < (int)picked.size(); j++)
{
const Object& b = faceobjects[picked[j]];
// intersection over union
float inter_area = intersection_area(a, b);
float union_area = areas[i] + areas[picked[j]] - inter_area;
// float IoU = inter_area / union_area
if (inter_area / union_area > nms_threshold)
keep = 0;
}
if (keep)
picked.push_back(i);
}
}
static void generate_yolo_proposals(float* feat_blob, int output_size, float prob_threshold, std::vector<Object>& objects)
{
const int num_class = 80;
auto dets = output_size / (num_class + 5);
for (int boxs_idx = 0; boxs_idx < dets; boxs_idx++)
{
const int basic_pos = boxs_idx *(num_class + 5);
float x_center = feat_blob[basic_pos+0];
float y_center = feat_blob[basic_pos+1];
float w = feat_blob[basic_pos+2];
float h = feat_blob[basic_pos+3];
float x0 = x_center - w * 0.5f;
float y0 = y_center - h * 0.5f;
float box_objectness = feat_blob[basic_pos+4];
// std::cout<<*feat_blob<<std::endl;
for (int class_idx = 0; class_idx < num_class; class_idx++)
{
float box_cls_score = feat_blob[basic_pos + 5 + class_idx];
float box_prob = box_objectness * box_cls_score;
if (box_prob > prob_threshold)
{
Object obj;
obj.rect.x = x0;
obj.rect.y = y0;
obj.rect.width = w;
obj.rect.height = h;
obj.label = class_idx;
obj.prob = box_prob;
objects.push_back(obj);
}
} // class loop
}
}
float* blobFromImage(cv::Mat& img){
cv::cvtColor(img, img, cv::COLOR_BGR2RGB);
float* blob = new float[img.total()*3];
int channels = 3;
int img_h = img.rows;
int img_w = img.cols;
for (size_t c = 0; c < channels; c++)
{
for (size_t h = 0; h < img_h; h++)
{
for (size_t w = 0; w < img_w; w++)
{
blob[c * img_w * img_h + h * img_w + w] =
(((float)img.at<cv::Vec3b>(h, w)[c]) / 255.0f);
}
}
}
return blob;
}
static void decode_outputs(float* prob, int output_size, std::vector<Object>& objects, float scale, const int img_w, const int img_h) {
std::vector<Object> proposals;
generate_yolo_proposals(prob, output_size, BBOX_CONF_THRESH, proposals);
std::cout << "num of boxes before nms: " << proposals.size() << std::endl;
qsort_descent_inplace(proposals);
std::vector<int> picked;
nms_sorted_bboxes(proposals, picked, NMS_THRESH);
int count = picked.size();
std::cout << "num of boxes: " << count << std::endl;
objects.resize(count);
for (int i = 0; i < count; i++)
{
objects[i] = proposals[picked[i]];
// adjust offset to original unpadded
float x0 = (objects[i].rect.x) / scale;
float y0 = (objects[i].rect.y) / scale;
float x1 = (objects[i].rect.x + objects[i].rect.width) / scale;
float y1 = (objects[i].rect.y + objects[i].rect.height) / scale;
// clip
x0 = std::max(std::min(x0, (float)(img_w - 1)), 0.f);
y0 = std::max(std::min(y0, (float)(img_h - 1)), 0.f);
x1 = std::max(std::min(x1, (float)(img_w - 1)), 0.f);
y1 = std::max(std::min(y1, (float)(img_h - 1)), 0.f);
objects[i].rect.x = x0;
objects[i].rect.y = y0;
objects[i].rect.width = x1 - x0;
objects[i].rect.height = y1 - y0;
}
}
const float color_list[80][3] =
{
{0.000, 0.447, 0.741},
{0.850, 0.325, 0.098},
{0.929, 0.694, 0.125},
{0.494, 0.184, 0.556},
{0.466, 0.674, 0.188},
{0.301, 0.745, 0.933},
{0.635, 0.078, 0.184},
{0.300, 0.300, 0.300},
{0.600, 0.600, 0.600},
{1.000, 0.000, 0.000},
{1.000, 0.500, 0.000},
{0.749, 0.749, 0.000},
{0.000, 1.000, 0.000},
{0.000, 0.000, 1.000},
{0.667, 0.000, 1.000},
{0.333, 0.333, 0.000},
{0.333, 0.667, 0.000},
{0.333, 1.000, 0.000},
{0.667, 0.333, 0.000},
{0.667, 0.667, 0.000},
{0.667, 1.000, 0.000},
{1.000, 0.333, 0.000},
{1.000, 0.667, 0.000},
{1.000, 1.000, 0.000},
{0.000, 0.333, 0.500},
{0.000, 0.667, 0.500},
{0.000, 1.000, 0.500},
{0.333, 0.000, 0.500},
{0.333, 0.333, 0.500},
{0.333, 0.667, 0.500},
{0.333, 1.000, 0.500},
{0.667, 0.000, 0.500},
{0.667, 0.333, 0.500},
{0.667, 0.667, 0.500},
{0.667, 1.000, 0.500},
{1.000, 0.000, 0.500},
{1.000, 0.333, 0.500},
{1.000, 0.667, 0.500},
{1.000, 1.000, 0.500},
{0.000, 0.333, 1.000},
{0.000, 0.667, 1.000},
{0.000, 1.000, 1.000},
{0.333, 0.000, 1.000},
{0.333, 0.333, 1.000},
{0.333, 0.667, 1.000},
{0.333, 1.000, 1.000},
{0.667, 0.000, 1.000},
{0.667, 0.333, 1.000},
{0.667, 0.667, 1.000},
{0.667, 1.000, 1.000},
{1.000, 0.000, 1.000},
{1.000, 0.333, 1.000},
{1.000, 0.667, 1.000},
{0.333, 0.000, 0.000},
{0.500, 0.000, 0.000},
{0.667, 0.000, 0.000},
{0.833, 0.000, 0.000},
{1.000, 0.000, 0.000},
{0.000, 0.167, 0.000},
{0.000, 0.333, 0.000},
{0.000, 0.500, 0.000},
{0.000, 0.667, 0.000},
{0.000, 0.833, 0.000},
{0.000, 1.000, 0.000},
{0.000, 0.000, 0.167},
{0.000, 0.000, 0.333},
{0.000, 0.000, 0.500},
{0.000, 0.000, 0.667},
{0.000, 0.000, 0.833},
{0.000, 0.000, 1.000},
{0.000, 0.000, 0.000},
{0.143, 0.143, 0.143},
{0.286, 0.286, 0.286},
{0.429, 0.429, 0.429},
{0.571, 0.571, 0.571},
{0.714, 0.714, 0.714},
{0.857, 0.857, 0.857},
{0.000, 0.447, 0.741},
{0.314, 0.717, 0.741},
{0.50, 0.5, 0}
};
cv::Mat draw_objects(const cv::Mat& bgr, const std::vector<Object>& objects, std::string f)
{
static const char* class_names[] = {
"person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light",
"fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow",
"elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee",
"skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard",
"tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple",
"sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch",
"potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone",
"microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear",
"hair drier", "toothbrush"
};
cv::Mat image = bgr.clone();
for (size_t i = 0; i < objects.size(); i++)
{
const Object& obj = objects[i];
// fprintf(stderr, "%d = %.5f at %.2f %.2f %.2f x %.2f\n", obj.label, obj.prob,
// obj.rect.x, obj.rect.y, obj.rect.width, obj.rect.height);
cv::Scalar color = cv::Scalar(color_list[obj.label][0], color_list[obj.label][1], color_list[obj.label][2]);
float c_mean = cv::mean(color)[0];
cv::Scalar txt_color;
if (c_mean > 0.5){
txt_color = cv::Scalar(0, 0, 0);
}else{
txt_color = cv::Scalar(255, 255, 255);
}
cv::rectangle(image, obj.rect, color * 255, 2);
char text[256];
sprintf(text, "%s %.1f%%", class_names[obj.label], obj.prob * 100);
int baseLine = 0;
cv::Size label_size = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, 0.4, 1, &baseLine);
cv::Scalar txt_bk_color = color * 0.7 * 255;
int x = obj.rect.x;
int y = obj.rect.y + 1;
//int y = obj.rect.y - label_size.height - baseLine;
if (y > image.rows)
y = image.rows;
//if (x + label_size.width > image.cols)
//x = image.cols - label_size.width;
cv::rectangle(image, cv::Rect(cv::Point(x, y), cv::Size(label_size.width, label_size.height + baseLine)),
txt_bk_color, -1);
cv::putText(image, text, cv::Point(x, y + label_size.height),
cv::FONT_HERSHEY_SIMPLEX, 0.4, txt_color, 1);
}
// cv::imwrite("det_res.jpg", image);
// fprintf(stderr, "save vis file\n");
/* cv::imshow("image", image); */
/* cv::waitKey(0); */
return image;
}
void doInference(IExecutionContext& context, float* input, float* output, const int output_size, cv::Size input_shape) {
const ICudaEngine& engine = context.getEngine();
// Pointers to input and output device buffers to pass to engine.
// Engine requires exactly IEngine::getNbBindings() number of buffers.
assert(engine.getNbBindings() == 2);
void* buffers[2];
// In order to bind the buffers, we need to know the names of the input and output tensors.
// Note that indices are guaranteed to be less than IEngine::getNbBindings()
const int inputIndex = engine.getBindingIndex(INPUT_BLOB_NAME);
assert(engine.getBindingDataType(inputIndex) == nvinfer1::DataType::kFLOAT);
const int outputIndex = engine.getBindingIndex(OUTPUT_BLOB_NAME);
assert(engine.getBindingDataType(outputIndex) == nvinfer1::DataType::kFLOAT);
int mBatchSize = engine.getMaxBatchSize();
// Create GPU buffers on device
CHECK(cudaMalloc(&buffers[inputIndex], 3 * input_shape.height * input_shape.width * sizeof(float)));
CHECK(cudaMalloc(&buffers[outputIndex], output_size*sizeof(float)));
// Create stream
cudaStream_t stream;
CHECK(cudaStreamCreate(&stream));
// DMA input batch data to device, infer on the batch asynchronously, and DMA output back to host
CHECK(cudaMemcpyAsync(buffers[inputIndex], input, 3 * input_shape.height * input_shape.width * sizeof(float), cudaMemcpyHostToDevice, stream));
context.enqueue(1, buffers, stream, nullptr);
CHECK(cudaMemcpyAsync(output, buffers[outputIndex], output_size * sizeof(float), cudaMemcpyDeviceToHost, stream));
cudaStreamSynchronize(stream);
// Release stream and buffers
cudaStreamDestroy(stream);
CHECK(cudaFree(buffers[inputIndex]));
CHECK(cudaFree(buffers[outputIndex]));
}
int main(int argc, char** argv) {
cudaSetDevice(DEVICE);
// create a model using the API directly and serialize it to a stream
char *trtModelStream{nullptr};
size_t size{0};
if (argc == 4 && std::string(argv[2]) == "-i") {
const std::string engine_file_path {argv[1]};
std::ifstream file(engine_file_path, std::ios::binary);
if (file.good()) {
file.seekg(0, file.end);
size = file.tellg();
file.seekg(0, file.beg);
trtModelStream = new char[size];
assert(trtModelStream);
file.read(trtModelStream, size);
file.close();
}
} else {
std::cerr << "arguments not right!" << std::endl;
std::cerr << "run 'python3 yolox/deploy/trt.py -n yolox-{tiny, s, m, l, x}' to serialize model first!" << std::endl;
std::cerr << "Then use the following command:" << std::endl;
std::cerr << "./yolox ../model_trt.engine -i ../../../assets/dog.jpg // deserialize file and run inference" << std::endl;
return -1;
}
const std::string input_image_path {argv[3]};
cv::VideoCapture capture(input_image_path);
if (!capture.isOpened()) {
printf("could not read this video file...\n");
return -1;
}
//std::vector<std::string> file_names;
//if (read_files_in_dir(argv[2], file_names) < 0) {
//std::cout << "read_files_in_dir failed." << std::endl;
//return -1;
//}
IRuntime* runtime = createInferRuntime(gLogger);
assert(runtime != nullptr);
ICudaEngine* engine = runtime->deserializeCudaEngine(trtModelStream, size);
assert(engine != nullptr);
IExecutionContext* context = engine->createExecutionContext();
assert(context != nullptr);
delete[] trtModelStream;
auto out_dims = engine->getBindingDimensions(1);
auto output_size = 1;
for(int j=0;j<out_dims.nbDims;j++) {
output_size *= out_dims.d[j];
}
static float* prob = new float[output_size];
std::string outputVideoPath = "../process.mp4";
int width = 1920;
int height = 1080;
cv::VideoWriter outputVideo;
outputVideo.open(outputVideoPath, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'), 20.0, cv::Size(width, height), true);
// cv::Mat img = cv::imread(input_image_path);
cv::Mat img;
cv::namedWindow("yolov6", 0);
cv::resizeWindow("yolov6", 640, 640);
while (capture.read(img)) {
int img_w = img.cols;
int img_h = img.rows;
cv::Mat pr_img = static_resize(img);
std::cout << "blob image" << std::endl;
float* blob;
blob = blobFromImage(pr_img);
float scale = std::min(INPUT_W / (img.cols*1.0), INPUT_H / (img.rows*1.0));
// run inference
auto start = std::chrono::system_clock::now();
doInference(*context, blob, prob, output_size, pr_img.size());
auto end = std::chrono::system_clock::now();
std::cout << std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << "ms " << std::endl;
std::vector<Object> objects;
decode_outputs(prob, output_size, objects, scale, img_w, img_h);
cv::Mat res;
res = draw_objects(img, objects, input_image_path);
// delete the pointer to the float
delete blob;
// destroy the engine
std::stringstream fpsSs;
fpsSs << "FPS: " << int(1000.0f / std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() * 100) / 100.0f;
cv::putText(res, fpsSs.str(), cv::Point(16, 32), cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(0, 0, 255));
cv::imshow("yolov6", res);
char c = cv::waitKey(10);
if (c == 27) {
break;
}
outputVideo << res;
}
capture.release();
context->destroy();
engine->destroy();
runtime->destroy();
return 0;
}
|
还没有的，大佬 用的0.1.0版本 导出的.trt， |
好的，非常感谢 |
|
代码也是0.1.0吗? |
yolox代码是拉取的最新的，那我去试试0.1.0版的，感谢大佬指导 |
好的，欢迎及时反馈，我看其他同学也遇到了同样的问题。 |
您好，我这边已测试，使用的0.1.0版本的yolox源码和0.1.0版本的yolox_s.pth |
可以提供一个onnx模型吗？ linaom1214@163.com |
好的，已发送 |
class Predictor(BaseEngine):
def __init__(self, engine_path , imgsz=(640,640)):
super(Predictor, self).__init__(engine_path)
self.imgsz = imgsz
self.mean = None
self.std = None
def preproc(image, input_size, mean, std, swap=(2, 0, 1)):
if len(image.shape) == 3:
padded_img = np.ones((input_size[0], input_size[1], 3)) * 114.0
else:
padded_img = np.ones(input_size) * 114.0
img = np.array(image)
r = min(input_size[0] / img.shape[0], input_size[1] / img.shape[1])
resized_img = cv2.resize(
img,
(int(img.shape[1] * r), int(img.shape[0] * r)),
interpolation=cv2.INTER_LINEAR,
).astype(np.float32)
padded_img[: int(img.shape[0] * r), : int(img.shape[1] * r)] = resized_img
padded_img = padded_img[:, :, ::-1]
padded_img /= 255.0
if mean is not None:
padded_img -= mean
if std is not None:
padded_img /= std
padded_img = padded_img.transpose(swap)
padded_img = np.ascontiguousarray(padded_img, dtype=np.float32)
return padded_img, r
刚用你的模型测试都是正常的，建议仔细检查代码 |
好的，多谢大佬，我再去试试哈 |
|
I am seeing similar behaviour while trying to run yolov7-tiny engine file in a tensorrt c++ inference session. It work as expected using python |
Now the c++ demo don't support the model with nms plugin !!!!! |
|
Does that mean the c++ interface doesn't support it or what is the limitation? |
Code containing NMS is more complex to implement. I will update the code in the future. more dtails you find in the file |
|
I think I don't understand the difference between running the engine in python vs c++. Why can’t we provide the engine file with nms included and except the output to be correct in c++, like we see from the python script with end2end enabled |
|
Thank you so for answering my question. Can you advise how to export the onnx model of yolov7 to run with the c++ test app that you have |
please read the readme file of this repo |
Now I add the C++ support |
|
Why not use DeepStream? |
I think might TRT is more popular and DeepStream is also use TRT as inference engine |
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您好，大佬
麻烦请教下，如何用C++版的tensorrt对视频进行推理呢？
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