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A little improvement of RealSense latency
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@PINTO0309
PINTO0309 committed Jan 5, 2019
1 parent 795d00f commit 985af1e
Showing 1 changed file with 29 additions and 16 deletions.
45 changes: 29 additions & 16 deletions MultiStickSSDwithRealSense_OpenVINO_NCS2.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,8 @@
time2 = 0
cam = None
camera_mode = 0
camera_width = 320
camera_height = 240
camera_width = 640
camera_height = 480
window_name = ""
background_transparent_mode = 0
ssd_detection_mode = 1
Expand All @@ -48,7 +48,7 @@
'sheep', 'sofa', 'train', 'tvmonitor'],
['background', 'face']]

def camThread(LABELS, results, frameBuffer, camera_mode, camera_width, camera_height, background_transparent_mode, background_img):
def camThread(LABELS, results, frameBuffer, camera_mode, camera_width, camera_height, background_transparent_mode, background_img, vidfps):
global fps
global detectfps
global lastresults
Expand All @@ -68,8 +68,8 @@ def camThread(LABELS, results, frameBuffer, camera_mode, camera_width, camera_he
if camera_mode == 0:
pipeline = rs.pipeline()
config = rs.config()
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, 30)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, 30)
config.enable_stream(rs.stream.depth, 640, 480, rs.format.z16, vidfps)
config.enable_stream(rs.stream.color, 640, 480, rs.format.bgr8, vidfps)
profile = pipeline.start(config)
depth_sensor = profile.get_device().first_depth_sensor()
depth_scale = depth_sensor.get_depth_scale()
Expand All @@ -81,7 +81,7 @@ def camThread(LABELS, results, frameBuffer, camera_mode, camera_width, camera_he
if cam.isOpened() != True:
print("USB Camera Open Error!!!")
sys.exit(0)
cam.set(cv2.CAP_PROP_FPS, 30)
cam.set(cv2.CAP_PROP_FPS, vidfps)
cam.set(cv2.CAP_PROP_FRAME_WIDTH, camera_width)
cam.set(cv2.CAP_PROP_FRAME_HEIGHT, camera_height)
window_name = "USB Camera"
Expand Down Expand Up @@ -163,13 +163,15 @@ def searchlist(l, x, notfoundvalue=-1):

def async_infer(ncsworker):

#ncsworker.skip_frame_measurement()

while True:
ncsworker.predict_async()


class NcsWorker(object):

def __init__(self, devid, frameBuffer, results, camera_mode, camera_width, camera_height, number_of_ncs):
def __init__(self, devid, frameBuffer, results, camera_mode, camera_width, camera_height, number_of_ncs, vidfps, skpfrm):
self.devid = devid
self.frameBuffer = frameBuffer
self.model_xml = "./lrmodel/MobileNetSSD/MobileNetSSD_deploy.xml"
Expand All @@ -187,14 +189,15 @@ def __init__(self, devid, frameBuffer, results, camera_mode, camera_width, camer
self.results = results
self.camera_mode = camera_mode
self.number_of_ncs = number_of_ncs

if self.camera_mode == 0:
self.skip_frame = skpfrm
else:
self.skip_frame = 0
self.roop_frame = 0
self.vidfps = vidfps

def image_preprocessing(self, color_image):

#if self.camera_mode == 0:
# prepimg = cv2.resize(color_image,(532,400))
# prepimg = prepimg[100:100+300,116:116+300]
#else:
prepimg = cv2.resize(color_image, (300, 300))
prepimg = prepimg - 127.5
prepimg = prepimg * 0.007843
Expand All @@ -209,6 +212,12 @@ def predict_async(self):
if self.frameBuffer.empty():
return

self.roop_frame += 1
if self.roop_frame <= self.skip_frame:
self.frameBuffer.get()
return
self.roop_frame = 0

prepimg = self.image_preprocessing(self.frameBuffer.get())
reqnum = searchlist(self.inferred_request, 0)

Expand Down Expand Up @@ -237,12 +246,12 @@ def predict_async(self):
traceback.print_exc()


def inferencer(results, frameBuffer, ssd_detection_mode, face_detection_mode, camera_mode, camera_width, camera_height, number_of_ncs):
def inferencer(results, frameBuffer, ssd_detection_mode, face_detection_mode, camera_mode, camera_width, camera_height, number_of_ncs, vidfps, skpfrm):

# Init infer threads
threads = []
for devid in range(number_of_ncs):
thworker = threading.Thread(target=async_infer, args=(NcsWorker(devid, frameBuffer, results, camera_mode, camera_width, camera_height, number_of_ncs),))
thworker = threading.Thread(target=async_infer, args=(NcsWorker(devid, frameBuffer, results, camera_mode, camera_width, camera_height, number_of_ncs, vidfps, skpfrm),))
thworker.start()
threads.append(thworker)

Expand Down Expand Up @@ -397,6 +406,8 @@ def overlay_on_image(frames, object_infos, LABELS, camera_mode, background_trans
parser.add_argument('-sd','--ssddetection',dest='ssd_detection_mode',type=int,default=1,help='[Future functions] SSDDetectionMode. (0:=Disabled, 1:=Enabled Default=1)')
parser.add_argument('-fd','--facedetection',dest='face_detection_mode',type=int,default=0,help='[Future functions] FaceDetectionMode. (0:=Disabled, 1:=Full, 2:=Short Default=0)')
parser.add_argument('-numncs','--numberofncs',dest='number_of_ncs',type=int,default=1,help='Number of NCS. (Default=1)')
parser.add_argument('-vidfps','--fpsofvideo',dest='fps_of_video',type=int,default=30,help='FPS of Video. (USB Camera Mode Only. Default=30)')
parser.add_argument('-skpfrm','--skipframe',dest='number_of_frame_skip',type=int,default=7,help='Number of frame skip. (RealSense Mode Only. Default=7)')

args = parser.parse_args()

Expand All @@ -407,6 +418,8 @@ def overlay_on_image(frames, object_infos, LABELS, camera_mode, background_trans
ssd_detection_mode = args.ssd_detection_mode
face_detection_mode = args.face_detection_mode
number_of_ncs = args.number_of_ncs
vidfps = args.fps_of_video
skpfrm = args.number_of_frame_skip

# 0:=RealSense Mode, 1:=USB Camera Mode
if camera_mode != 0 and camera_mode != 1:
Expand All @@ -433,15 +446,15 @@ def overlay_on_image(frames, object_infos, LABELS, camera_mode, background_trans

# Start streaming
p = mp.Process(target=camThread,
args=(LABELS, results, frameBuffer, camera_mode, camera_width, camera_height, background_transparent_mode, background_img),
args=(LABELS, results, frameBuffer, camera_mode, camera_width, camera_height, background_transparent_mode, background_img, vidfps),
daemon=True)
p.start()
processes.append(p)

# Start detection MultiStick
# Activation of inferencer
p = mp.Process(target=inferencer,
args=(results, frameBuffer, ssd_detection_mode, face_detection_mode, camera_mode, camera_width, camera_height, number_of_ncs),
args=(results, frameBuffer, ssd_detection_mode, face_detection_mode, camera_mode, camera_width, camera_height, number_of_ncs, vidfps, skpfrm),
daemon=True)
p.start()
processes.append(p)
Expand Down

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