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tfmain.c
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tfmain.c
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#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include <sys/time.h>
#include <errno.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <sys/types.h>
#include <sys/time.h>
#include <time.h>
#include <signal.h>
#include <string.h>
#include <sys/mman.h>
#include <sys/ioctl.h>
#include <turbojpeg.h>
#include <cuda.h>
#include <tensorflow/c/c_api.h>
#include <nppi.h>
#include <linux/videodev2.h>
#include <libv4l2.h>
#include <microhttpd.h>
#include <pthread.h>
#include <sqlite3.h>
#include <openssl/md5.h>
#include <cairo.h>
#include <fts.h>
#include <cairo_jpg.h>
#include <libxml/tree.h>
#include "yuv_rgb.h"
#define DEBUG(...) fprintf(stderr, __VA_ARGS__)
#define UC_FPS 3
#define SCORES_PASS 0.65f
const char* USB_CAMERA_NULL = "/dev/null";
const char* USB_CAMERA_DEV0 = "/dev/video0";
const char* USB_CAMERA_DEV1 = "/dev/video1";
const char* TF_OUTPUT_DB = "/tmp/tfoutput.db";
struct yuv_buffer {
void *start;
size_t length;
};
//const char* classes_name[] = {"dummy", "earsoup", "rice", "lacery", "octagon", "triangle", "small_shellw", "rect"};
//const char* classes_name[] = {"dummy", "lacery", "triangle", "small_shellw" };
//const char* classes_name[] = {"dummy", "earsoup", "lacery", "octagon", "triangle", "rect", "rice", "egg"};
const char* classes_name[] = {"dummy", "汤碗", "花边", "八边", "三角", "方盘", "米饭", "绿汤"};
#define CLASSES_NAME_SIZE sizeof(classes_name)/sizeof(const char*)
static int g_GET_reqcnt = 0;
const char* tensor_name[] = {"boxes", "scores", "classes", "count"};
typedef struct {
const char* tfHandle;
TF_Session* tfSession;
TF_Status* tfStatus;
TF_Graph* tfGraph;
TF_Operation* inop;
TF_Operation *oo_scores, *oo_boxes, *oo_classes, *oo_count;
//struct event* int_sigev;
//struct event* ucev;
//struct event_base* base;
struct yuv_buffer* buffers;
int n_buffers;
int vfd;
int img_width, img_height;
unsigned char* yuvimg;
void* yuvimg_gpu;
struct MHD_Daemon* httpd;
pthread_mutex_t mutex;
char output_json[8192];
char output_csv[8192];
sqlite3* db;
void* rgbbuf;
int rgbsize;
cairo_surface_t* surface;
char* autolabel_imgdir;
char* pbfn;
char* camera;
} gotensor_t;
void free_my_buffer(void* data, size_t length) {
free(data);
}
static int xioctl(int fd, int request, void* argp) {
int r;
do r = v4l2_ioctl(fd, request, argp);
while (-1 == r && EINTR == errno);
return r;
}
TF_Buffer* load_graph_file(const char* pbfile) {
int nsize = 0;
void* pbdata = NULL;
TF_Buffer* buf = NULL;
FILE* fp = fopen(pbfile, "rb");
if(fp != NULL) {
fseek(fp, 0, SEEK_END);
nsize = ftell(fp);
fseek(fp, 0, SEEK_SET);
pbdata = malloc(nsize);
fread(pbdata, nsize, 1, fp);
fclose(fp);
DEBUG("graph_file %s nsize = %d\n", pbfile, nsize);
buf = TF_NewBuffer();
buf->data = pbdata;
buf->length = nsize;
buf->data_deallocator = free_my_buffer;
}
return buf;
}
static void free_cuda_buffer(void* data, size_t length) {
cudaFreeHost(data);
}
TF_Buffer* load_graph_file_gpu(const char* pbfile) {
int nsize = 0;
void* pbdata = NULL;
TF_Buffer* buf = NULL;
FILE* fp = fopen(pbfile, "rb");
if(fp != NULL) {
fseek(fp, 0, SEEK_END);
nsize = ftell(fp);
fseek(fp, 0, SEEK_SET);
if(cudaSuccess != cudaHostAlloc(&pbdata, nsize, cudaHostAllocMapped)) {
DEBUG("cudaHostAlloc failed \n");
}
fread(pbdata, nsize, 1, fp);
fclose(fp);
DEBUG("graph_file %s nsize = %d\n", pbfile, nsize);
buf = TF_NewBuffer();
buf->data = pbdata;
buf->length = nsize;
buf->data_deallocator = free_cuda_buffer;
}
return buf;
}
void free_yuv_buffer(void* data, size_t nsize, void* arg) {
tjFree(data);
}
TF_Tensor* create_image_tensor_from_v4l2(const char* jpegfn, float* img_width, float* img_height) {
int nbytes = 0;
int64_t dims[] = {1, 0, 0, 3};
//unsigned char* nparray[] = {NULL};
FILE* fp = fopen(jpegfn, "rb");
tjhandle tjInstance = tjInitDecompress();
unsigned char* jpegBuf = NULL, *imgBuf = NULL;
int jpegSize = 0, width = 0, height = 0;
int inSubsamp = 0, inColorspace = 0;
if(fp != NULL) {
fseek(fp, 0, SEEK_END);
jpegSize = ftell(fp);
if(jpegSize > 0) {
if ((jpegBuf = (unsigned char *)tjAlloc(jpegSize)) == NULL) {
} else {
fseek(fp, 0, SEEK_SET);
fread(jpegBuf, jpegSize, 1, fp);
fclose(fp);
}
}
}
if(jpegBuf != NULL) {
if(tjDecompressHeader3(tjInstance, jpegBuf, jpegSize, &width, &height, &inSubsamp, &inColorspace) < 0) {
DEBUG("%s isn't valid jpeg file, error = %s\n", jpegfn, tjGetErrorStr2(tjInstance));
}
DEBUG("%s size = %d, width = %d, height = %d, tjInstance = %p\n", jpegfn, jpegSize, width, height, tjInstance);
*img_width = (float) width, *img_height = (float) height;
nbytes = width * height * tjPixelSize[TJPF_RGB];
imgBuf = (unsigned char *)tjAlloc(nbytes);
if(tjDecompress2(tjInstance, jpegBuf, jpegSize, imgBuf, width, 0, height, TJPF_RGB, 0) < 0) {
DEBUG("decompress %s as TJPF_RGB failed\n", jpegfn);
}
tjFree(jpegBuf);
tjDestroy(tjInstance);
dims[0] = 1, dims[1] = height, dims[2] = width, dims[3] = 3;
//dims[0] = 3, dims[1] = width, dims[2] = height;//, dims[3] = 1;
return TF_NewTensor(TF_UINT8, dims, 4, imgBuf, nbytes, free_yuv_buffer, imgBuf);
}
return NULL;
}
void free_rgbbuf (void* data, size_t nsize, void* arg) {
//free(data);
cudaFreeHost(data);
}
TF_Tensor* create_tensor_from_rgbbuf(unsigned char* rgbbuf, int nbytes, int height, int width) {
int64_t dims[] = {1, 0, 0, 3};
if(rgbbuf != NULL) {
dims[0] = 1, dims[1] = height, dims[2] = width, dims[3] = 3;
return TF_NewTensor(TF_UINT8, dims, 4, rgbbuf, nbytes, free_rgbbuf, rgbbuf);
}
return NULL;
}
void show_tf_devices(TF_Graph* graph) {
TF_SessionOptions* opts = TF_NewSessionOptions();
TF_Status* status = TF_NewStatus();
TF_Session* session = TF_NewSession(graph, opts, status);
TF_DeleteSessionOptions(opts);
TF_DeviceList* devices = TF_SessionListDevices(session, status);
if(TF_GetCode(status) != TF_OK) {
DEBUG("show_tf_devices.TF_SessionListDevices failed\n");
} else {
int ndev = TF_DeviceListCount(devices);
DEBUG("tensorflow device number %d\n", ndev);
for(int i = 0; i < ndev; ++i) {
DEBUG("device.%d name = %s, type = %s\n", i,
TF_DeviceListName(devices, i, status),
TF_DeviceListType(devices, i, status)
);
}
}
TF_DeleteDeviceList(devices);
TF_DeleteSession(session, status);
TF_DeleteStatus(status);
}
int image_detection_setup(gotensor_t* ptr) {
struct timeval tm;
long long stm = 0, etm = 0;
if(ptr->tfHandle != NULL) return 0;
gettimeofday(&tm, NULL);
stm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
if(ptr != NULL) {
TF_Output feeds[] = {{ptr->inop, 0}};
TF_Output fetches[] = {{ptr->oo_boxes, 0}, {ptr->oo_scores, 0}, {ptr->oo_classes, 0}, {ptr->oo_count, 0}};
TF_SessionPRunSetup(ptr->tfSession, feeds, 1, fetches, 4, NULL, 0, &ptr->tfHandle, ptr->tfStatus);
if(TF_GetCode(ptr->tfStatus) == TF_OK) {
DEBUG("\nTF_SessionPRunSetup (%s), tfHandle = '%s'\n", TF_Message(ptr->tfStatus), ptr->tfHandle);
}
}
gettimeofday(&tm, NULL);
etm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
DEBUG("image_detection_setup time = %lld msec\n\n", etm-stm);
return 0;
}
static void draw_tfoutput_for_imgbuf(gotensor_t* go, cairo_t* cr, int output_idx, int classes, float scores, float x0, float y0, float x1, float y1) {
//cairo_surface_t* surface = NULL;
//cairo_t *cr = NULL;
double corner_radius = go->img_height/10.0;
double radius = corner_radius/3.0;
double degrees = 3.14159265358979323846/180.0;
cairo_status_t e = 0;
char scores_text[256] = {0};
char classes_text[256] = {0};
double tx, ty;
double line_width = 3.0 * scores;
//int nstride = cairo_format_stride_for_width (CAIRO_FORMAT_RGB24, go->img_width);
//surface = cairo_image_surface_create_for_data(go->rgbbuf, CAIRO_FORMAT_RGB24, go->img_width, go->img_height, nstride);
//cr = cairo_create(go->surface);
cairo_new_sub_path (cr);
cairo_arc (cr, x1 - radius, y0 + radius, radius, -90 * degrees, 0 * degrees);
cairo_arc (cr, x1 - radius, y1 - radius, radius, 0 * degrees, 90 * degrees);
cairo_arc (cr, x0 + radius, y1 - radius, radius, 90 * degrees, 180 * degrees);
cairo_arc (cr, x0 + radius, y0 + radius, radius, 180 * degrees, 270 * degrees);
cairo_close_path (cr);
cairo_set_source_rgba (cr, 0.6, 0, 0, scores + 0.2);
cairo_set_line_width(cr, line_width);
cairo_stroke (cr);
//cairo_set_source_rgba (cr, 0, 0, 0, 1.0);
cairo_set_source_rgba (cr, 1, 1, 1, scores + 0.25);
cairo_text_extents_t extents;
//cairo_select_font_face(cr, "Serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_BOLD);
//cairo_select_font_face(cr, "Noto Mono", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
//cairo_select_font_face(cr, "Droid Sans Fallback", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
cairo_select_font_face(cr, "WenQuanYi Zen Hei", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
//cairo_select_font_face(cr, "Noto Mono", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_BOLD);
cairo_set_font_size (cr, 32.0);
if(classes >= 0 && classes < CLASSES_NAME_SIZE)
snprintf(scores_text, 256, "%s %.2f",classes_name[classes], scores);
else
snprintf(scores_text, 256, "***%d*** %.2f", classes, scores);
cairo_text_extents (cr, scores_text, &extents);
//DEBUG("extents(%f, %f, %f, %f)\n", extents.width, extents.height, extents.x_bearing, extents.y_bearing);
tx = (x0 + x1)/2 - (extents.width/2 + extents.x_bearing); //x0 + (x1-x0)/2 - (extents.width/2 + extents.x_bearing);
//tx = x0 + line_width - (extents.width/2 + extents.x_bearing); //x0 + (x1-x0)/2 - (extents.width/2 + extents.x_bearing);
//ty = y1 + (extents.height) + line_width;
ty = (output_idx * 10) + (y0 + y1)/2 - (extents.height/2 + extents.y_bearing); //y1 + (extents.height + extents.y_bearing) - line_width;
cairo_move_to (cr, tx, ty);
cairo_show_text(cr, scores_text);
#if 0
//cairo_set_source_rgba (cr, 0, 0, 0, 1.0);
if(classes >= 0 && classes < CLASSES_NAME_SIZE)
snprintf(classes_text, 256, "%s", classes_name[classes]);
else
snprintf(classes_text, 256, "***%d***", classes);
cairo_text_extents (cr, classes_text, &extents);
//DEBUG("extents(%f, %f, %f, %f)\n", extents.width, extents.height, extents.x_bearing, extents.y_bearing);
tx = x0 + (x1-x0)/2 - (extents.width/2 + extents.x_bearing);
ty = y0 + (extents.height/2 - extents.y_bearing) + line_width;
//ty = y0 + (extents.height) + line_width;
cairo_move_to (cr, tx, ty);
cairo_show_text(cr, classes_text);
#endif
//e = cairo_image_surface_write_to_jpeg(surface, "/tmp/output.jpg", 90);
//if(CAIRO_STATUS_SUCCESS != e) {
// DEBUG("cairo_image_surface_write_to_jpeg failed, e = %x\n", e);
//}
//cairo_destroy(cr);
//cairo_surface_destroy(surface);
}
void do_rgbimg_detection(gotensor_t* ptr, unsigned char* rgbbuf, int nbytes, int img_width, int img_height) {
//struct timeval tm;
//long long stm = 0, etm = 0;
float width = (float)img_width , height = (float)img_height;
//gettimeofday(&tm, NULL);
//stm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
if(ptr != NULL) {
TF_Status* status = TF_NewStatus();
TF_Output feeds[] = {{ptr->inop, 0}};
TF_Output fetches[] = {{ptr->oo_boxes, 0}, {ptr->oo_scores, 0}, {ptr->oo_classes, 0}, {ptr->oo_count, 0}};
TF_Tensor* v4l2_tensor = create_tensor_from_rgbbuf(rgbbuf, nbytes, img_height, img_width);
TF_Tensor* in_tensors[] = {v4l2_tensor};
TF_Tensor* oo_tensor[] = {NULL, NULL, NULL, NULL};
DEBUG("do_rgbimg_detection, v4l2_tensor = %p, tfSession = %p, tfHandle = '%s'\n", v4l2_tensor, ptr->tfSession, ptr->tfHandle, ptr->tfHandle);
if(v4l2_tensor != NULL) {
int ret = 0;
int count = 0;
float *boxes_data, *scores_data, *classes_data, *count_data;
TF_SessionPRun(ptr->tfSession, ptr->tfHandle, feeds, in_tensors, 1, fetches, oo_tensor, 4, NULL, 0, status);
ret = TF_GetCode(status) != TF_OK;
DEBUG("do_rgbimg_detection.TF_SessionPRun status %c= TF_OK (%s), tm = %ld\n", ret ? '!' : '=', TF_Message(status), time(NULL));
boxes_data = TF_TensorData(oo_tensor[0]), scores_data = TF_TensorData(oo_tensor[1]), classes_data = TF_TensorData(oo_tensor[2]), count_data = TF_TensorData(oo_tensor[3]);
count = (int) *(float *)count_data;
DEBUG("oo_tensor.data (%p, %p, %p, %p), num_detections = %d\n", boxes_data, scores_data, classes_data, count_data, count);
//for(int i = 0; i < 4; i++) {
// TF_Tensor* t = oo_tensor[i];
// int nbytes = TF_TensorByteSize(t);
// switch(TF_NumDims(oo_tensor[i])) {
// case 1:
// DEBUG("oo_tensor[%d].name = %s (%d)", i, tensor_name[i], TF_Dim(t, 0));
// break;
// case 2:
// DEBUG("oo_tensor[%d].name = %s (%d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1));
// break;
// case 3:
// DEBUG("oo_tensor[%d].name = %s (%d, %d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1), TF_Dim(t, 2));
// break;
// case 4:
// DEBUG("oo_tensor[%d].name = %s (%d, %d, %d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1), TF_Dim(t, 2), TF_Dim(t, 3));
// break;
// }
// DEBUG(" type = %x, bytesize = %d\n", TF_TensorType(t), nbytes);
//}
cairo_t* cr = cairo_create(ptr->surface);
char* oojson = ptr->output_json;
char* oocsv = ptr->output_csv;
oojson += sprintf(oojson, "{\"Recognition\":[");
for(int i = 0; i < count; i++, scores_data++, classes_data++) {
float scores;
float x0, y0, x1, y1;
int classes;
scores = *(float *) scores_data;
classes = (int) *(float *) classes_data;
y0 = *(float *) boxes_data, x0 = *(float *) (boxes_data + 1), y1 = *(float *) (boxes_data + 2), x1 = *(float *) (boxes_data + 3);
//DEBUG("raw boxes(%.5f, %5f, %5f, %5f)\n", x0, y0, x1, y1);
x0 *= width, x1 *= width;
y0 *= height, y1 *= height;
if(scores > SCORES_PASS) {
const char* classes_name_str = "******";
DEBUG("oo_tensor[%d], scores = %.2f, classes %d, (%.2f, %.2f, %.2f, %.2f)\n", i, scores, classes, x0, y0, x1, y1);
oocsv += sprintf(oocsv, "%d,%.3f,%.3f,%.3f,%.3f,%.3f;", classes, scores, x0, y0, x1, y1);
if(classes >= 0 && classes < CLASSES_NAME_SIZE) {
classes_name_str = classes_name[classes];
}
if(i > 0) {
oojson += sprintf(oojson, ",{\"outputName\":\"%s\",\"outputClasses\":%d,\"outputScores\":%.2f,\"x0\":%.2f,\"y0\":%.2f,\"x1\":%.2f,\"y1\":%.2f}", classes_name_str, classes, scores, x0, y0, x1, y1);
} else {
oojson += sprintf(oojson, "{\"outputName\":\"%s\",\"outputClasses\":%d,\"outputScores\":%.2f,\"x0\":%.2f,\"y0\":%.2f,\"x1\":%.2f,\"y1\":%.2f}", classes_name_str, classes, scores, x0, y0, x1, y1);
}
draw_tfoutput_for_imgbuf(ptr, cr, i, classes, scores, x0, y0, x1, y1);
}
boxes_data += 4;
}
sprintf(oojson, "]}");
//draw_tfoutput_for_imgbuf(ptr, cr, 0, 2, 0.9, 20.0, 20.0, 360.0, 360.0);
//draw_tfoutput_for_imgbuf(ptr, cr, 1, 3, 0.5, 30.0, 420.0, 390.0, 700.0);
cairo_destroy(cr);
TF_DeleteTensor(oo_tensor[0]);
TF_DeleteTensor(oo_tensor[1]);
TF_DeleteTensor(oo_tensor[2]);
TF_DeleteTensor(oo_tensor[3]);
}
TF_DeletePRunHandle(ptr->tfHandle);
TF_DeleteStatus(status);
ptr->tfHandle = NULL;
}
//gettimeofday(&tm, NULL);
//etm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
//DEBUG("do_rgbimg_detection time = %lld msec\n\n", etm-stm);
//DEBUG("output=%s\n", ptr->output_json);
}
typedef void (* tf_output_callback_t) (void* data, float scores, int classes, float x0, float y0, float x1, float y1) ;
void do_jpegimg_detection_ex(gotensor_t* ptr, const char* jpegfn, tf_output_callback_t outputcb, void* data) {
struct timeval tm;
long long stm = 0, etm = 0;
float width, height;
gettimeofday(&tm, NULL);
stm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
if(ptr != NULL) {
TF_Status* status = TF_NewStatus();
TF_Output feeds[] = {{ptr->inop, 0}};
TF_Output fetches[] = {{ptr->oo_boxes, 0}, {ptr->oo_scores, 0}, {ptr->oo_classes, 0}, {ptr->oo_count, 0}};
TF_Tensor* v4l2_tensor = create_image_tensor_from_v4l2(jpegfn, &width, &height);
TF_Tensor* in_tensors[] = {v4l2_tensor};
TF_Tensor* oo_tensor[] = {NULL, NULL, NULL, NULL};
DEBUG("do_jpegimg_detection_ex, v4l2_tensor = %p, tfSession = %p, tfHandle = %p '%s'\n", v4l2_tensor, ptr->tfSession, ptr->tfHandle, ptr->tfHandle);
if(v4l2_tensor != NULL) {
int ret = 0;
int count = 0;
float *boxes_data, *scores_data, *classes_data, *count_data;
TF_SessionPRun(ptr->tfSession, ptr->tfHandle, feeds, in_tensors, 1, fetches, oo_tensor, 4, NULL, 0, status);
ret = TF_GetCode(status) != TF_OK;
DEBUG("do_jpegimg_detection_ex.TF_SessionPRun status %c= TF_OK (%s), tm = %ld\n", ret ? '!' : '=', TF_Message(status), time(NULL));
boxes_data = TF_TensorData(oo_tensor[0]), scores_data = TF_TensorData(oo_tensor[1]), classes_data = TF_TensorData(oo_tensor[2]), count_data = TF_TensorData(oo_tensor[3]);
count = (int) *(float *)count_data;
DEBUG("oo_tensor.data (%p, %p, %p, %p), num_detections = %d\n", boxes_data, scores_data, classes_data, count_data, count);
char* oojson = ptr->output_json;
oojson += sprintf(oojson, "{\"Recognition\":[");
for(int i = 0; i < count; i++, scores_data++, classes_data++) {
float scores;
float x0, y0, x1, y1;
int classes;
scores = *(float *) scores_data;
classes = (int) *(float *) classes_data;
y0 = *(float *) boxes_data, x0 = *(float *) (boxes_data + 1), y1 = *(float *) (boxes_data + 2), x1 = *(float *) (boxes_data + 3);
x0 *= width, x1 *= width;
y0 *= height, y1 *= height;
if(scores > SCORES_PASS) {
DEBUG("oo_tensor[%d], scores = %.2f, classes %d, (%.2f, %.2f, %.2f, %.2f)\n", i, scores, classes, x0, y0, x1, y1);
if(outputcb != NULL) {
outputcb(data, scores, classes, x0, y0, x1, y1);
}
if(i > 0) {
oojson += sprintf(oojson, ",{\"outputClasses\":%d,\"outputScores\":%.3f,\"x0\":%.3f,\"y0\":%.3f,\"x1\":%.3f,\"y1\":%.3f}", classes, scores, x0, y0, x1, y1);
} else {
oojson += sprintf(oojson, "{\"outputClasses\":%d,\"outputScores\":%.3f,\"x0\":%.3f,\"y0\":%.3f,\"x1\":%.3f,\"y1\":%.3f}", classes, scores, x0, y0, x1, y1);
}
DEBUG("output %s\n", ptr->output_json);
}
boxes_data += 4;
}
sprintf(oojson, "]}");
TF_DeleteTensor(oo_tensor[0]);
TF_DeleteTensor(oo_tensor[1]);
TF_DeleteTensor(oo_tensor[2]);
TF_DeleteTensor(oo_tensor[3]);
}
TF_DeletePRunHandle(ptr->tfHandle);
TF_DeleteStatus(status);
ptr->tfHandle = NULL;
}
gettimeofday(&tm, NULL);
etm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
DEBUG("do_jpegimg_detection_ex %s time = %lld msec\n\n", jpegfn, etm-stm);
DEBUG("output = %s\n", ptr->output_json);
}
#if 0
void do_jpegimg_detection_ex(gotensor_t* ptr, const char* jpegfn) {
struct timeval tm;
long long stm = 0, etm = 0;
float width, height;
gettimeofday(&tm, NULL);
stm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
if(ptr != NULL) {
TF_Status* status = TF_NewStatus();
TF_Output feeds[] = {{ptr->inop, 0}};
TF_Output fetches[] = {{ptr->oo_boxes, 0}, {ptr->oo_scores, 0}, {ptr->oo_classes, 0}, {ptr->oo_count, 0}};
TF_Tensor* v4l2_tensor = create_image_tensor_from_v4l2(jpegfn, &width, &height);
TF_Tensor* in_tensors[] = {v4l2_tensor};
TF_Tensor* oo_tensor[] = {NULL, NULL, NULL, NULL};
DEBUG("do_jpegimg_detection_ex, v4l2_tensor = %p, tfSession = %p, tfHandle = %p '%s'\n", v4l2_tensor, ptr->tfSession, ptr->tfHandle, ptr->tfHandle);
if(v4l2_tensor != NULL) {
int ret = 0;
int count = 0;
float *boxes_data, *scores_data, *classes_data, *count_data;
TF_SessionPRun(ptr->tfSession, ptr->tfHandle, feeds, in_tensors, 1, fetches, oo_tensor, 4, NULL, 0, status);
ret = TF_GetCode(status) != TF_OK;
DEBUG("do_jpegimg_detection_ex.TF_SessionPRun status %c= TF_OK (%s), tm = %ld\n", ret ? '!' : '=', TF_Message(status), time(NULL));
boxes_data = TF_TensorData(oo_tensor[0]), scores_data = TF_TensorData(oo_tensor[1]), classes_data = TF_TensorData(oo_tensor[2]), count_data = TF_TensorData(oo_tensor[3]);
count = (int) *(float *)count_data;
DEBUG("oo_tensor.data (%p, %p, %p, %p), num_detections = %d\n", boxes_data, scores_data, classes_data, count_data, count);
//for(int i = 0; i < 4; i++) {
// TF_Tensor* t = oo_tensor[i];
// int nbytes = TF_TensorByteSize(t);
// switch(TF_NumDims(oo_tensor[i])) {
// case 1:
// DEBUG("oo_tensor[%d].name = %s (%d)", i, tensor_name[i], TF_Dim(t, 0));
// break;
// case 2:
// DEBUG("oo_tensor[%d].name = %s (%d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1));
// break;
// case 3:
// DEBUG("oo_tensor[%d].name = %s (%d, %d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1), TF_Dim(t, 2));
// break;
// case 4:
// DEBUG("oo_tensor[%d].name = %s (%d, %d, %d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1), TF_Dim(t, 2), TF_Dim(t, 3));
// break;
// }
// DEBUG(" type = %x, bytesize = %d\n", TF_TensorType(t), nbytes);
//}
char* oojson = ptr->output_json;
oojson += sprintf(oojson, "{\"Recognition\":[");
for(int i = 0; i < count; i++, scores_data++, classes_data++) {
float scores;
float x0, y0, x1, y1;
int classes;
scores = *(float *) scores_data;
classes = (int) *(float *) classes_data;
x0 = *(float *) boxes_data, y0 = *(float *) (boxes_data + 1), x1 = *(float *) (boxes_data + 2), y1 = *(float *) (boxes_data + 3);
x0 *= width, x1 *= width;
y0 *= height, y1 *= height;
if(scores > 0.3f) {
DEBUG("oo_tensor[%d], scores = %.2f, classes %d, (%.2f, %.2f, %.2f, %.2f)\n", i, scores, classes, x0, y0, x1, y1);
if(i > 0) {
oojson += sprintf(oojson, ",{\"outputClasses\":%d,\"outputScores\":%.3f,\"x0\":%.3f,\"y0\":%.3f,\"x1\":%.3f,\"y1\":%.3f}", classes, scores, x0, y0, x1, y1);
} else {
oojson += sprintf(oojson, "{\"outputClasses\":%d,\"outputScores\":%.3f,\"x0\":%.3f,\"y0\":%.3f,\"x1\":%.3f,\"y1\":%.3f}", classes, scores, x0, y0, x1, y1);
}
DEBUG("output %s\n", ptr->output_json);
}
boxes_data += 4;
}
sprintf(oojson, "]}");
TF_DeleteTensor(oo_tensor[0]);
TF_DeleteTensor(oo_tensor[1]);
TF_DeleteTensor(oo_tensor[2]);
TF_DeleteTensor(oo_tensor[3]);
}
TF_DeletePRunHandle(ptr->tfHandle);
TF_DeleteStatus(status);
ptr->tfHandle = NULL;
}
gettimeofday(&tm, NULL);
etm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
DEBUG("do_jpegimg_detection_ex %s time = %lld msec\n\n", jpegfn, etm-stm);
DEBUG("output = %s\n", ptr->output_json);
}
#endif
static void _output_xml_cb(void* data, float scores, int classes, float x0, float y0, float x1, float y1) {
xmlNodePtr root = (xmlNodePtr )data;
xmlNodePtr obj = xmlNewChild(root, NULL, "object", NULL);
const char* classes_name_str = "******";
if(classes >= 0 && classes < CLASSES_NAME_SIZE) {
classes_name_str = classes_name[classes];
}
xmlNewChild(obj, NULL, "name", classes_name_str);
xmlNewChild(obj, NULL, "pose", "Unspecified");
xmlNewChild(obj, NULL, "truncated", "0");
xmlNewChild(obj, NULL, "difficult", "0");
xmlNodePtr bndbox = xmlNewChild(obj, NULL, "bndbox", NULL);
char xmin[16] = {0}, ymin[16] = {0};
char xmax[16] = {0}, ymax[16] = {0};
snprintf(xmin, 16, "%d", (int)x0);
snprintf(ymin, 16, "%d", (int)y0);
snprintf(xmax, 16, "%d", (int)x1);
snprintf(ymax, 16, "%d", (int)y1);
xmlNewChild(bndbox, NULL, "xmin", xmin);
xmlNewChild(bndbox, NULL, "ymin", ymin);
xmlNewChild(bndbox, NULL, "xmax", xmax);
xmlNewChild(bndbox, NULL, "ymax", ymax);
}
void do_image_detection(TF_Graph* graph,TF_Session* session, const char* jpegfn) {
TF_Status* status = TF_NewStatus();
struct timeval tm;
long long stm = 0, etm = 0;
float width, height;
gettimeofday(&tm, NULL);
stm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
TF_Operation* inop = TF_GraphOperationByName(graph, "image_tensor");
//DEBUG("opname = %s, optype = %s, opnum = %d, %s\n", TF_OperationName(inop), TF_OperationOpType(inop), TF_OperationNumInputs(inop), TF_OperationDevice(inop));
TF_Operation* oo_scores = TF_GraphOperationByName(graph, "detection_scores");
TF_Operation* oo_boxes = TF_GraphOperationByName(graph, "detection_boxes");
TF_Operation* oo_classes = TF_GraphOperationByName(graph, "detection_classes");
TF_Operation* oo_count = TF_GraphOperationByName(graph, "num_detections");
//DEBUG("oo_scores = %p, oo_boxes = %p, oo_classes = %p, oo_count = %p, devicename = %s\n", oo_scores, oo_boxes, oo_classes, oo_count, TF_OperationDevice(oo_scores));
DEBUG("do_image_detection %s\n", jpegfn);
TF_Output feeds[] = {{inop, 0}};
TF_Tensor* v4l2_tensor = create_image_tensor_from_v4l2(jpegfn, &width, &height);
TF_Tensor* in_tensors[] = {NULL};
TF_Output fetches[] = {{oo_boxes, 0}, {oo_scores, 0}, {oo_classes, 0}, {oo_count, 0}};
TF_Tensor* oo_tensor[] = {NULL, NULL, NULL, NULL};
DEBUG("*v4l2_tensor = %p, tm = %ld\n", v4l2_tensor, time(NULL));
if(v4l2_tensor != NULL) {
int ret = 0;
int count = 0;
in_tensors[0] = v4l2_tensor;
float *boxes_data, *scores_data, *classes_data, *count_data;
TF_SessionRun(session, NULL, feeds, in_tensors, 1, fetches, oo_tensor, 4, NULL, 0, NULL, status);
ret = TF_GetCode(status) != TF_OK;
DEBUG("TF_SessionRun status %c= TF_OK (%s), tm = %ld\n", ret ? '!' : '=', TF_Message(status), time(NULL));
boxes_data = TF_TensorData(oo_tensor[0]), scores_data = TF_TensorData(oo_tensor[1]), classes_data = TF_TensorData(oo_tensor[2]), count_data = TF_TensorData(oo_tensor[3]);
count = (int) *(float *)count_data;
DEBUG("oo_tensor.data (%p, %p, %p, %p), num_detections = %d\n", boxes_data, scores_data, classes_data, count_data, count);
for(int i = 0; i < 4; i++) {
TF_Tensor* t = oo_tensor[i];
int nbytes = TF_TensorByteSize(t);
switch(TF_NumDims(oo_tensor[i])) {
case 1:
DEBUG("oo_tensor[%d].name = %s (%d)", i, tensor_name[i], TF_Dim(t, 0));
break;
case 2:
DEBUG("oo_tensor[%d].name = %s (%d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1));
break;
case 3:
DEBUG("oo_tensor[%d].name = %s (%d, %d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1), TF_Dim(t, 2));
break;
case 4:
DEBUG("oo_tensor[%d].name = %s (%d, %d, %d, %d)", i, tensor_name[i], TF_Dim(t, 0), TF_Dim(t, 1), TF_Dim(t, 2), TF_Dim(t, 3));
break;
}
DEBUG(" type = %x, bytesize = %d\n", TF_TensorType(t), nbytes);
}
for(int i = 0; i < count; i++, scores_data++, classes_data++) {
float scores;
float x0, y0, x1, y1;
int classes;
scores = *(float *) scores_data;
classes = (int) *(float *) classes_data;
x0 = *(float *) boxes_data, y0 = *(float *) (boxes_data + 1), x1 = *(float *) (boxes_data + 2), y1 = *(float *) (boxes_data + 3);
x0 *= width, x1 *= width;
y0 *= height, y1 *= height;
if(scores > SCORES_PASS) {
DEBUG("oo_tensor[%d], scores = %.2f, classes %d, (%.2f, %.2f, %.2f, %.2f)\n", i, scores, classes, x0, y0, x1, y1);
}
boxes_data += 4;
}
TF_DeleteTensor(oo_tensor[0]);
TF_DeleteTensor(oo_tensor[1]);
TF_DeleteTensor(oo_tensor[2]);
TF_DeleteTensor(oo_tensor[3]);
}
gettimeofday(&tm, NULL);
etm = tm.tv_sec * 1000LL + tm.tv_usec/1000;
DEBUG("do_image_detection %s time = %lld msec\n\n", jpegfn, etm-stm);
TF_DeleteStatus(status);
}
void dump_all_operation(TF_Graph* graph) {
TF_Operation* oper = NULL;
size_t pos = 0;
while ((oper = TF_GraphNextOperation(graph, &pos)) != NULL) {
DEBUG("OP.%d: op.name = %s, op.type = %s, op.device = %s, op.output.num = %d\n", pos, TF_OperationName(oper), TF_OperationOpType(oper), TF_OperationDevice(oper), TF_OperationNumOutputs(oper));
}
}
int usbcamera_open(const char* usbcam) {
int fd = 0;
struct stat st;
if(stat(usbcam, &st) == -1) {
DEBUG(" USB CAMERA %s isn't available\n", usbcam);
}
if (!S_ISCHR(st.st_mode)) {
DEBUG(" %s isn't USB CAMERA\n", usbcam);
}
fd = v4l2_open(usbcam, O_RDWR /* required */ | O_NONBLOCK, 0);
DEBUG("*usbcamera_open.v4l2_open fd = %d\n", fd);
return fd;
}
typedef struct camera_param {
int cid;
int val;
const char* name;
} camera_param_t;
static camera_param_t usb_camera_param[] = {
//{V4L2_CID_BRIGHTNESS, -17, "V4L2_CID_BRIGHTNESS"},
{V4L2_CID_BRIGHTNESS, 17, "V4L2_CID_BRIGHTNESS"},
{V4L2_CID_FOCUS_AUTO, 1, "V4L2_CID_FOCUS_AUTO"},
{V4L2_CID_FOCUS_ABSOLUTE, 95, "V4L2_CID_FOCUS_ABSOLUTE"},
{V4L2_CID_EXPOSURE_AUTO, 1, "V4L2_CID_EXPOSURE_AUTO"},
{V4L2_CID_EXPOSURE_ABSOLUTE, 118, "V4L2_CID_EXPOSURE_ABSOLUTE"},
{0, 0, NULL}
};
static void usbcamera_start(gotensor_t* go) {
unsigned int i;
enum v4l2_buf_type type;
struct v4l2_control ctrl;
int ret;
for(i = 0; usb_camera_param[i].cid != 0; i++) {
ctrl.id = usb_camera_param[i].cid;
ctrl.value = usb_camera_param[i].val;
ret = xioctl(go->vfd, VIDIOC_S_CTRL, &ctrl);
DEBUG("VIDIOC_S_CTRL.%s ret = %d\n", usb_camera_param[i].name, ret);
}
for (i = 0; i < go->n_buffers; ++i) {
struct v4l2_buffer buf = {0};
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = i;
if (-1 == xioctl(go->vfd, VIDIOC_QBUF, &buf)) {
DEBUG("usbcamera_start.xioctl VIDIOC_QBUF failed for index(%d)\n", i);
}
}
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(go->vfd, VIDIOC_STREAMON, &type)) {
DEBUG("xioctl VIDIOC_STREAMON failed\n");
}
DEBUG("xioctl VIDIOC_STREAMON n_buffers = %d\n", go->n_buffers);
}
static void usbcamera_stop(int vfd) {
enum v4l2_buf_type type;
type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (-1 == xioctl(vfd, VIDIOC_STREAMOFF, &type)) {
DEBUG("xioctl VIDIOC_STREAMOFF failed\n");
}
DEBUG("xioctl VIDIOC_STREAMOFF\n");
}
static int v4l2_mmap_init(gotensor_t* go) {
struct v4l2_requestbuffers req = {0};
int idx = 0, ret = 0;
req.count = 2;
req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
req.memory = V4L2_MEMORY_MMAP;
if (-1 == xioctl(go->vfd, VIDIOC_REQBUFS, &req)) {
if (EINVAL == errno) {
fprintf(stderr, "%s does not support memory mapping\n", go->camera);
} else {
DEBUG("v4l2_mmap_init.xioctl VIDIOC_REQBUFS error = %s\n", strerror(errno));
}
ret = -1;
}
DEBUG("VIDIOC_REQBUFS req.count = %d\n", req.count);
if (req.count < 2) {
fprintf(stderr, "Insufficient buffer memory on %s\n", go->camera);
ret = -1;
}
go->buffers = calloc(req.count, sizeof(struct yuv_buffer));
DEBUG("v4l2_mmap_init buffers = %p\n", go->buffers);
for (idx = 0; idx < req.count; ++idx) {
struct v4l2_buffer buf = {0};
buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
buf.memory = V4L2_MEMORY_MMAP;
buf.index = idx;
if (-1 == xioctl(go->vfd, VIDIOC_QUERYBUF, &buf)) {
DEBUG("v4l2_mmap_init.xioctl VIDIOC_QUERYBUF failed\n");
}
go->buffers[idx].length = buf.length;
go->buffers[idx].start = v4l2_mmap(NULL /* start anywhere */, buf.length, PROT_READ | PROT_WRITE /* required */, MAP_SHARED /* recommended */, go->vfd, buf.m.offset);
if (MAP_FAILED == go->buffers[idx].start) {
DEBUG("v4l2_mmap_init.v4l2_mmap failed for buffers[%d], buf.length = %d\n", idx, buf.length);
}
}
go->yuvimg = calloc(go->buffers[0].length, sizeof(unsigned char));
//if(cudaSuccess != cudaMalloc(&go->yuvimg_gpu, sizeof(unsigned char) * (go->buffers[0].length))) {
// DEBUG("cudaMalloc yuvimg failed\n");
// go->yuvimg = calloc(go->buffers[0].length, sizeof(unsigned char));
// go->yuvimg_gpu = NULL;
//}
go->n_buffers = req.count;
return ret;
}
static int usbcamera_setup(gotensor_t* go) {
struct v4l2_capability cap;
struct v4l2_cropcap cropcap = {0};
struct v4l2_crop crop;
struct v4l2_format fmt = {0};
struct v4l2_streamparm frameint = {0};
unsigned int min;
int ret = 0;
if (-1 == xioctl(go->vfd, VIDIOC_QUERYCAP, &cap)) {
if (EINVAL == errno) {
fprintf(stderr, "%s is no V4L2 device\n", go->camera);
}
ret = -1;
}
if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
fprintf(stderr, "%s is no video capture device\n", go->camera);
}
if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
fprintf(stderr, "%s does not support streaming i/o\n", go->camera);
}
/* Select video input, video standard and tune here. */
cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
if (0 == xioctl(go->vfd, VIDIOC_CROPCAP, &cropcap)) {
crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
crop.c = cropcap.defrect; /* reset to default */
if (-1 == xioctl(go->vfd, VIDIOC_S_CROP, &crop)) {
//DEBUG("xioctl VIDIOC_S_CROP errno = %s\n", strerror(errno));
}
} else {
/* Errors ignored. */
}
//v4l2_format
fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
fmt.fmt.pix.width = 1280;
fmt.fmt.pix.height = 720;
fmt.fmt.pix.field = V4L2_FIELD_INTERLACED;
fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV420;
//fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;
if (-1 == xioctl(go->vfd, VIDIOC_S_FMT, &fmt)) {
fprintf(stderr, "xioctl VIDIOC_S_FMT failed\n");
}
if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_YUV420) {
//if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_YUYV) {
fprintf(stderr,"camera didn't accept YUV420 format.\n");
}
DEBUG("USB Camera accept format V4L2_PIX_FMT_YUV420, width = %d, height = %d \n", fmt.fmt.pix.width, fmt.fmt.pix.height);
go->img_width = fmt.fmt.pix.width;
go->img_height = fmt.fmt.pix.height;
/* Attempt to set the frame interval. */
frameint.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
frameint.parm.capture.timeperframe.numerator = 1;
frameint.parm.capture.timeperframe.denominator = UC_FPS;
if (-1 == xioctl(go->vfd, VIDIOC_S_PARM, &frameint))
fprintf(stderr,"Unable to set frame interval.\n");
/* Buggy driver paranoia. */
min = fmt.fmt.pix.width * 2;
if (fmt.fmt.pix.bytesperline < min)
fmt.fmt.pix.bytesperline = min;
min = fmt.fmt.pix.bytesperline * fmt.fmt.pix.height;
if (fmt.fmt.pix.sizeimage < min)
fmt.fmt.pix.sizeimage = min;
ret = v4l2_mmap_init(go);
return ret;
}
void usbcamera_close(gotensor_t* go) {
for (int i = 0; i < go->n_buffers; ++i) {
if (-1 == v4l2_munmap(go->buffers[i].start, go->buffers[i].length)) {
DEBUG("usbcamera_close.v4l2_munmap failed fo buf[%d]\n", i);
}
}
if(go->yuvimg != NULL) {
free(go->yuvimg);
}
if(go->yuvimg_gpu != NULL) {
cudaFree(go->yuvimg_gpu);
}
free(go->buffers);
v4l2_close(go->vfd);
}
#if 0
static void imageProcess(void* p, int width, int height, struct timeval timestamp) {
int nDstStep = width * 3;
int nSrcStep = width * 2;
int nbytes = nDstStep * height * sizeof(unsigned char);
unsigned char* dst = malloc(nbytes);
NppiSize roi = {0, 0};
const Npp8u* pSrc[3] = {NULL, NULL, NULL};
int rSrcStep[3] = {0, 0, 0};
NppStatus npps = 0;
int ystride = width * height;
int uvstride = (width * height)/4;
unsigned char *base_py = p;
unsigned char *base_pu = p + ystride;
unsigned char *base_pv = p + ystride + uvstride;
pSrc[0] = base_py, pSrc[1] = base_pu, pSrc[2] = base_pv;
//pSrc[0] = base_pv, pSrc[1] = base_pu, pSrc[2] = base_py;
//rSrcStep[0] = height * width, rSrcStep[1] = (height*width)+(height*width)/4, rSrcStep[2] = 0;
rSrcStep[0] = width, rSrcStep[1] = width/2, rSrcStep[2] = width/2;
//rSrcStep[2] = width, rSrcStep[1] = width/2, rSrcStep[0] = width/2;
//printf("NPP_SIZE_ERROR = %x, NPP_STEP_ERROR = %x\n", NPP_SIZE_ERROR, NPP_STEP_ERROR);
if(dst != NULL) {
char bmpfn[256] = {0};
snprintf(bmpfn, 256, "/tmp/%ld.bmp", time(NULL));
if(access(bmpfn, F_OK) != 0) {
yuv420_rgb24_sseu(width, height, base_py, base_pu, base_pv, width, width/2, dst, nDstStep, YCBCR_JPEG);
} else {
DEBUG("%s is exist, ignore this image frame\n", bmpfn);
}
//roi.width = width/2, roi.height = height/2;
//roi.width = 0, roi.height = 0;
//npps = nppiYUVToRGB_8u_C3R(p, nSrcStep, dst, nDstStep, roi);
//npps = nppiYUV422ToRGB_8u_C2C3R(p, nSrcStep, dst, nDstStep, roi);
//npps = nppiYUV420ToRGB_8u_P3C3R(pSrc, rSrcStep, dst, nDstStep, roi);