-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathmain.cpp
1318 lines (1158 loc) · 39.6 KB
/
main.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* ff-rknn-v4l2-thread - Grab NV12 frames, AI Inference, Render it on screen
* 2023 Alexander Finger <alex.mobigo@gmail.com>
*
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <SDL2/SDL.h>
#include <SDL2/SDL_thread.h>
#include <drm_fourcc.h>
#include <errno.h>
#include <fcntl.h>
#include <getopt.h>
#include <pthread.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/mman.h>
#include <sys/stat.h>
#include <sys/time.h>
#include <unistd.h>
#include <xf86drm.h>
#include <xf86drmMode.h>
#include <iostream>
extern "C" {
#include <libavcodec/avcodec.h>
#include <libavdevice/avdevice.h>
#include <libavformat/avformat.h>
#include <libavutil/hwcontext_drm.h>
#include <libavutil/pixfmt.h>
#include <libavutil/imgutils.h>
#include <libswscale/swscale.h>
}
#include <rga/RgaApi.h>
#include <rga/rga.h>
#include <SDL_FontCache.h>
#include <postprocess.h>
#include <rknn/rknn_api.h>
#define ALIGN(x, a) ((x) + (a - 1)) & (~(a - 1))
#define DRM_ALIGN(val, align) ((val + (align - 1)) & ~(align - 1))
#ifndef DRM_FORMAT_NV12_10
#define DRM_FORMAT_NV12_10 fourcc_code('N', 'A', '1', '2')
#endif
#ifndef DRM_FORMAT_NV15
#define DRM_FORMAT_NV15 fourcc_code('N', 'A', '1', '5')
#endif
#define MODEL_WIDTH 640
#define MODEL_HEIGHT 640
#define argt_a 36430 // -a
#define argt_b 36431 // -b
#define argt_c 36432 // -c
#define argt_i 36438 // -i
#define argt_x 36453 // -x
#define argt_y 36454 // -y
#define argt_l 36441 // -l
#define argt_m 36442 // -m
#define argt_o 36444 // -o
#define argt_t 36449 // -t
#define argt_e 36434 // -e
#define argt_f 36435 // -f
#define argt_r 36447 // -r
#define argt_d 36433 // -d
#define argt_p 36445 // -p
#define argt_s 36448 // -s
static unsigned int hash_me(char *str);
/* --- RKNN --- */
int channel = 3;
int width = MODEL_WIDTH;
int height = MODEL_HEIGHT;
unsigned char *model_data;
int model_data_size = 0;
char *model_name = NULL;
float scale_w = 1.0f; // (float)width / img_width;
float scale_h = 1.0f; // (float)height / img_height;
detect_result_group_t detect_result_group;
std::vector<float> out_scales;
std::vector<int32_t> out_zps;
rknn_context ctx;
rknn_input_output_num io_num;
rknn_input inputs[2];
rknn_tensor_attr output_attrs[256];
rknn_tensor_attr input_attrs[16];
size_t actual_size = 0;
const float nms_threshold = NMS_THRESH;
const float box_conf_threshold = BOX_THRESH;
char* labelsListFile = (char*)"/usr/share/coco_80_labels_list.txt";
/* --- SDL --- */
int alphablend;
int accur;
unsigned int obj2det;
int frameSize_rknn;
void *resize_buf;
Uint32 format;
SDL_Texture *texture;
SDL_Texture* captureTexture;
SDL_Window *window = NULL;
SDL_Renderer *renderer = NULL;
AVFormatContext *input_ctx = NULL;
AVStream *video = NULL;
int video_stream = 0;
AVCodecParameters *codecpar;
AVCodecContext *codec_ctx = NULL;
AVFormatContext *pOutputFormatCtx = nullptr;
AVStream* pOutStream = nullptr;
AVPacket* outpkt = av_packet_alloc();
AVCodecContext* pOutCodecCtx = nullptr;
const AVCodec* pOutputCodec = nullptr;
AVCodec *codec;
AVFrame *frame;
AVPacket pkt;
AVFrame* pFrameSDL;
AVFrame* pFrameYUV;
SwsContext* swsCtx;
int screen_width = 1024;
int screen_height = 600;
int screen_left = 0;
int screen_top = 0;
int frame_width = 1920;
int frame_height = 1080;
int v4l2; // v4l2 h264
int rtsp; // rtsp h264
int rtmp; // flv h264
int http; // flv h264
int delay; // ms
char *pixel_format;
char *sensor_frame_size;
char *sensor_frame_rate;
int y_size = screen_width * screen_height;
int uv_size = (screen_width * screen_height) / 2;
double avg_inference_time = 0.0, inference_time = 0.0;
float frmrate = 0.0; // Measured frame rate
float avg_frmrate = 0.0; // avg frame rate
float prev_frmrate = 0.0; // avg frame rate
Uint32 currtime;
Uint32 lasttime;
int loop_counter = 0;
const int frmrate_update = 30;
FC_Font *font_small;
FC_Font *font_large;
FC_Font *font_big;
SDL_mutex *mutex;
SDL_cond *cond_read_frame;
SDL_cond *cond_decode_frame;
SDL_cond *cond_inference_frame;
SDL_cond *cond_display_frame;
double __get_us(struct timeval t) { return (t.tv_sec * 1000000 + t.tv_usec); }
enum AVPixelFormat get_format(AVCodecContext *Context, const enum AVPixelFormat *PixFmt)
{
while (*PixFmt != AV_PIX_FMT_NONE) {
if (*PixFmt == AV_PIX_FMT_DRM_PRIME)
return AV_PIX_FMT_DRM_PRIME;
if (*PixFmt == AV_PIX_FMT_NV12)
return AV_PIX_FMT_NV12;
PixFmt++;
}
return AV_PIX_FMT_NONE;
}
static int drm_rga_buf(int src_Width, int src_Height, int wStride, int hStride, int src_fd, int src_format, int dst_Width,
int dst_Height, int dst_format, int frameSize, char *buf)
{
rga_info_t src;
rga_info_t dst;
int ret;
// int hStride = (src_Height + 15) & (~15);
// int wStride = (src_Width + 15) & (~15);
// int dhStride = (dst_Height + 15) & (~15);
// int dwStride = (dst_Width + 15) & (~15);
memset(&src, 0, sizeof(rga_info_t));
src.fd = src_fd;
src.mmuFlag = 1;
memset(&dst, 0, sizeof(rga_info_t));
dst.fd = -1;
dst.virAddr = buf;
dst.mmuFlag = 1;
rga_set_rect(&src.rect, 0, 0, src_Width, src_Height, wStride, hStride, src_format);
rga_set_rect(&dst.rect, 0, 0, dst_Width, dst_Height, dst_Width, dst_Height, dst_format);
ret = c_RkRgaBlit(&src, &dst, NULL);
return ret;
}
static int fast_rga_buf(int src_Width, int src_Height, int src_wStride, int src_hStride, int src_format, char *sbuf,
int dst_Width, int dst_Height, int dst_wStride, int dst_hStride, int dst_format, char *dbuf)
{
rga_info_t src;
rga_info_t dst;
int ret;
memset(&src, 0, sizeof(rga_info_t));
src.fd = -1;
src.mmuFlag = 1;
src.virAddr = sbuf;
memset(&dst, 0, sizeof(rga_info_t));
dst.fd = -1;
dst.virAddr = dbuf;
dst.mmuFlag = 1;
rga_set_rect(&src.rect, 0, 0, src_Width, src_Height, src_wStride, src_hStride, src_format);
rga_set_rect(&dst.rect, 0, 0, dst_Width, dst_Height, dst_wStride, dst_hStride, dst_format);
ret = c_RkRgaBlit(&src, &dst, NULL);
return ret;
}
#if 0
static char *drm_get_rgaformat_str(uint32_t drm_fmt)
{
switch (drm_fmt) {
case DRM_FORMAT_NV12:
return "RK_FORMAT_YCbCr_420_SP";
case DRM_FORMAT_NV12_10:
return "RK_FORMAT_YCbCr_420_SP_10B";
case DRM_FORMAT_NV15:
return "RK_FORMAT_YCbCr_420_SP_10B";
case DRM_FORMAT_NV16:
return "RK_FORMAT_YCbCr_422_SP";
case DRM_FORMAT_YUYV:
return "RK_FORMAT_YUYV_422";
case DRM_FORMAT_UYVY:
return "RK_FORMAT_UYVY_422";
default:
return "0";
}
}
#endif
static uint32_t drm_get_rgaformat(uint32_t drm_fmt)
{
switch (drm_fmt) {
case DRM_FORMAT_NV12:
return RK_FORMAT_YCbCr_420_SP;
case DRM_FORMAT_NV12_10:
return RK_FORMAT_YCbCr_420_SP_10B;
case DRM_FORMAT_NV15:
return RK_FORMAT_YCbCr_420_SP_10B;
case DRM_FORMAT_NV16:
return RK_FORMAT_YCbCr_422_SP;
case DRM_FORMAT_YUYV:
return RK_FORMAT_YUYV_422;
case DRM_FORMAT_UYVY:
return RK_FORMAT_UYVY_422;
default:
return 0;
}
}
static void displayTextureNV12(unsigned char *imageData)
{
unsigned char *texture_data = NULL;
int texture_pitch = 0;
if (loop_counter++ % frmrate_update == 0) {
currtime = SDL_GetTicks(); // [ms]
if (currtime - lasttime > 0) {
frmrate = frmrate_update * (1000.0 / (currtime - lasttime));
}
lasttime = currtime;
avg_frmrate = (prev_frmrate + frmrate) / 2.0;
prev_frmrate = frmrate;
}
int y_size = screen_width * screen_height;
int uv_size = (screen_width * screen_height) / 2;
int total_size = y_size + uv_size;
SDL_LockTexture(texture, 0, (void **)&texture_data, &texture_pitch);
memcpy(texture_data, (unsigned char *)imageData, total_size);
SDL_UnlockTexture(texture);
SDL_RenderClear(renderer);
SDL_RenderCopy(renderer, texture, NULL, NULL);
// Draw Objects
char text[256];
SDL_Rect rect;
SDL_Rect rect_bar;
unsigned int obj;
int accur_obj;
int clr;
for (int i = 0; i < detect_result_group.count; i++) {
detect_result_t *det_result = &(detect_result_group.results[i]);
sprintf(text, "%s %.1f%%", det_result->name, det_result->prop * 100);
#if 0
printf("%s @ (%d %d %d %d) %f\n",
det_result->name,
det_result->box.left,
det_result->box.top,
det_result->box.right,
det_result->box.bottom,
det_result->prop);
#endif
if (obj2det) {
obj = hash_me(det_result->name);
if (obj != obj2det) {
continue;
}
}
if (accur) {
accur_obj = (int)(det_result->prop * 100.0);
if (accur_obj < accur) {
continue;
}
}
rect.x = det_result->box.left;
rect.y = det_result->box.top;
rect.w = det_result->box.right - det_result->box.left + 1;
rect.h = det_result->box.bottom - det_result->box.top + 1;
if (det_result->name[0] == 'p' && det_result->name[1] == 'e')
clr = 1;
else if (det_result->name[0] == 'c' && det_result->name[1] == 'a')
clr = 2;
else if (det_result->name[0] == 'b' && det_result->name[1] == 'u')
clr = 3;
else if (det_result->name[0] == 'b' && det_result->name[1] == 'i')
clr = 4;
else if (det_result->name[0] == 'm' && det_result->name[1] == 'o')
clr = 5;
else if (det_result->name[0] == 'b' && det_result->name[3] == 'k')
clr = 6;
else if (det_result->name[0] == 'u' && det_result->name[1] == 'm')
clr = 7;
else
clr = 0;
if (alphablend) {
if (clr == 1)
SDL_SetRenderDrawColor(renderer, 255, 0, 0, alphablend);
else if (clr == 2)
SDL_SetRenderDrawColor(renderer, 0, 255, 0, alphablend);
else if (clr == 3)
SDL_SetRenderDrawColor(renderer, 255, 0, 255, alphablend);
else if (clr == 4)
SDL_SetRenderDrawColor(renderer, 255, 255, 0, alphablend);
else if (clr == 5)
SDL_SetRenderDrawColor(renderer, 128, 155, 255, alphablend);
else if (clr == 6)
SDL_SetRenderDrawColor(renderer, 128, 128, 128, alphablend);
else if (clr == 7)
SDL_SetRenderDrawColor(renderer, 255, 255, 255, alphablend);
else
SDL_SetRenderDrawColor(renderer, 0, 0, 255, alphablend);
SDL_RenderFillRect(renderer, &rect);
}
if (clr == 1)
SDL_SetRenderDrawColor(renderer, 255, 0, 0, SDL_ALPHA_OPAQUE);
else if (clr == 2)
SDL_SetRenderDrawColor(renderer, 0, 255, 0, SDL_ALPHA_OPAQUE);
else if (clr == 3)
SDL_SetRenderDrawColor(renderer, 255, 0, 255, SDL_ALPHA_OPAQUE);
else if (clr == 4)
SDL_SetRenderDrawColor(renderer, 255, 255, 0, SDL_ALPHA_OPAQUE);
else if (clr == 5)
SDL_SetRenderDrawColor(renderer, 128, 155, 255, SDL_ALPHA_OPAQUE);
else if (clr == 6)
SDL_SetRenderDrawColor(renderer, 128, 128, 128, SDL_ALPHA_OPAQUE);
else if (clr == 7)
SDL_SetRenderDrawColor(renderer, 255, 255, 255, SDL_ALPHA_OPAQUE);
else
SDL_SetRenderDrawColor(renderer, 0, 0, 255, SDL_ALPHA_OPAQUE);
SDL_RenderDrawRect(renderer, &rect);
rect_bar.x = rect.x;
rect_bar.h = 16;
rect_bar.w = rect.w;
if (rect.w < 80)
rect_bar.h += 16;
rect_bar.y = rect.y - rect_bar.h;
SDL_RenderFillRect(renderer, &rect_bar);
rect_bar.y -= 1;
FC_DrawBox(font_small, renderer, rect_bar, text);
}
SDL_SetRenderDrawColor(renderer, 120, 120, 120, 115);
rect.x = 0;
rect.y = 0;
rect.w = 310;
rect.h = 90;
SDL_RenderFillRect(renderer, &rect);
rect = FC_Draw(font_large, renderer, 0, 0, "%.1f FPS", frmrate);
rect.y += rect.h;
FC_Draw(font_large, renderer, rect.x, rect.y, "Inference Time: %.1f ms", avg_inference_time);
SDL_RenderPresent(renderer);
}
static unsigned int hash_me(char *str)
{
unsigned int hash = 32;
while (*str) {
hash = ((hash << 5) + hash) + (*str++);
}
return hash;
}
void print_help(void)
{
fprintf(stderr, "ff-rknn parameters:\n"
"-x displayed width\n"
"-y displayed height\n"
"-m rknn model\n"
"-f protocol (v4l2 only)\n"
"-p pixel format (h264) - camera\n"
"-s video frame size (WxH) - camera\n"
"-r video frame rate - camera\n"
"-o unique object to detect\n"
"-b use alpha blend on detected objects (1 ~ 255)\n"
"-a accuracy perc (1 ~ 100)\n");
}
/*-------------------------------------------
Functions
-------------------------------------------*/
static unsigned char *load_data(FILE *fp, size_t ofst, size_t sz)
{
unsigned char *data;
int ret;
data = NULL;
if (NULL == fp) {
return NULL;
}
ret = fseek(fp, ofst, SEEK_SET);
if (ret != 0) {
fprintf(stderr, "blob seek failure.\n");
return NULL;
}
data = (unsigned char *)malloc(sz);
if (data == NULL) {
fprintf(stderr, "buffer malloc failure.\n");
return NULL;
}
ret = fread(data, 1, sz, fp);
return data;
}
static unsigned char *load_model(char *filename, int *model_size)
{
FILE *fp;
unsigned char *data;
if (!filename)
return NULL;
fp = fopen(filename, "rb");
if (NULL == fp) {
fprintf(stderr, "Open file %s failed.\n", filename);
return NULL;
}
fseek(fp, 0, SEEK_END);
int size = ftell(fp);
data = load_data(fp, 0, size);
fclose(fp);
*model_size = size;
return data;
}
static int saveFloat(const char *file_name, float *output, int element_size)
{
FILE *fp;
fp = fopen(file_name, "w");
for (int i = 0; i < element_size; i++) {
fprintf(fp, "%.6f\n", output[i]);
}
fclose(fp);
return 0;
}
static int eventThread(void *data)
{
int *finished = (int *)data;
SDL_Event event;
SDL_Log("Event thread running...");
while (!*finished) {
while (SDL_PollEvent(&event)) {
if (event.type == SDL_QUIT) {
*finished = 1;
break;
}
if (event.type == SDL_KEYDOWN) {
if (event.key.keysym.sym == SDLK_ESCAPE) {
*finished = 1;
break;
} else {
if (event.key.keysym.sym == SDLK_q) {
*finished = 1;
break;
}
}
}
}
SDL_Delay(50);
}
SDL_Log("Program quit after %d ticks", event.quit.timestamp);
return 0;
}
int create_mutex(void)
{
if (!(mutex = SDL_CreateMutex())) {
av_log(NULL, AV_LOG_FATAL, "SDL_CreateMutex(): %s\n", SDL_GetError());
return 0;
}
if (!(cond_read_frame = SDL_CreateCond())) {
av_log(NULL, AV_LOG_FATAL, "SDL_CreateCond(cond_read_frame): %s\n", SDL_GetError());
return 0;
}
if (!(cond_decode_frame = SDL_CreateCond())) {
av_log(NULL, AV_LOG_FATAL, "SDL_CreateCond(cond_decode_frame): %s\n", SDL_GetError());
return 0;
}
if (!(cond_inference_frame = SDL_CreateCond())) {
av_log(NULL, AV_LOG_FATAL, "SDL_CreateCond(cond_inference_frame): %s\n", SDL_GetError());
return 0;
}
if (!(cond_display_frame = SDL_CreateCond())) {
av_log(NULL, AV_LOG_FATAL, "SDL_CreateCond(cond_display_frame): %s\n", SDL_GetError());
return 0;
}
return 1;
}
void destroy_mutex(void)
{
SDL_DestroyMutex(mutex);
SDL_DestroyCond(cond_read_frame);
SDL_DestroyCond(cond_decode_frame);
SDL_DestroyCond(cond_inference_frame);
SDL_DestroyCond(cond_display_frame);
}
static int readpktThread(void *data)
{
int *finished = (int *)data;
int ret;
int err = 3;
ret = 0;
while (ret >= 0 && !*finished) {
SDL_LockMutex(mutex);
if ((ret = av_read_frame(input_ctx, &pkt)) < 0) {
if (ret == AVERROR(EAGAIN) && err > 0) {
ret = 0;
err--;
SDL_Log("Read Frame WAIT!");
SDL_Delay(5);
SDL_UnlockMutex(mutex);
continue;
}
finished = 1;
SDL_Log("Read Frame error!");
SDL_UnlockMutex(mutex);
break; /* error */
}
err = 3;
SDL_CondSignal(cond_decode_frame);
SDL_CondWait(cond_read_frame, mutex);
SDL_UnlockMutex(mutex);
}
SDL_Log("Read Frame quit!");
SDL_CondSignal(cond_decode_frame);
SDL_CondSignal(cond_inference_frame);
SDL_CondSignal(cond_display_frame);
return 0;
}
static int inferenceThread(void *data)
{
int *finished = (int *)data;
RgaSURF_FORMAT src_format;
RgaSURF_FORMAT dst_format;
int hStride, wStride;
SDL_Rect rect;
int ret;
struct timeval start_time, stop_time;
ret = 0;
while (ret >= 0 && !*finished) {
SDL_LockMutex(mutex);
gettimeofday(&start_time, NULL);
#if 1
inputs[0].buf = resize_buf;
rknn_inputs_set(ctx, io_num.n_input, inputs);
rknn_output outputs[io_num.n_output];
memset(outputs, 0, sizeof(outputs));
for (int i = 0; i < io_num.n_output; i++) {
outputs[i].want_float = 0;
}
ret = rknn_run(ctx, NULL);
ret = rknn_outputs_get(ctx, io_num.n_output, outputs, NULL);
// post process
scale_w = (float)width / codec_ctx->width;
scale_h = (float)height / codec_ctx->height;
for (int i = 0; i < io_num.n_output; ++i) {
out_scales.push_back(output_attrs[i].scale);
out_zps.push_back(output_attrs[i].zp);
}
post_process((int8_t *)outputs[0].buf, (int8_t *)outputs[1].buf, (int8_t *)outputs[2].buf,
height, width, box_conf_threshold, nms_threshold,
scale_w, scale_h, out_zps, out_scales, &detect_result_group, labelsListFile);
ret = rknn_outputs_release(ctx, io_num.n_output, outputs);
#endif
gettimeofday(&stop_time, NULL);
inference_time = ((__get_us(stop_time) - __get_us(start_time)) / 1000);
avg_inference_time = (avg_inference_time + inference_time) / 2.0;
SDL_CondSignal(cond_display_frame);
SDL_CondWait(cond_inference_frame, mutex);
SDL_UnlockMutex(mutex);
}
SDL_Log("Inference Frame quit!");
SDL_CondSignal(cond_read_frame);
SDL_CondSignal(cond_display_frame);
return 0;
}
static int decode(AVCodecContext *dec_ctx, AVFrame *frame, AVPacket *pkt)
{
int ret;
ret = avcodec_send_packet(dec_ctx, pkt);
if (ret < 0) {
fprintf(stderr, "Error sending a packet for decoding\n");
return ret;
}
ret = 0;
while (ret >= 0) {
ret = avcodec_receive_frame(dec_ctx, frame);
if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF) {
break;
} else if (ret < 0) {
fprintf(stderr, "Error during decoding!\n");
return ret;
}
sws_scale(swsCtx, (const uint8_t* const*)frame->data, frame->linesize, 0, codec_ctx->height,
pFrameYUV->data, pFrameYUV->linesize);
// Configurar pFrameYUV antes de la codificación
pFrameYUV->pts = frame->pts;
// pFrameSDL->pts = pFrameYUV->pts;
// int ret = avcodec_send_frame(pOutCodecCtx, pFrameYUV);
// if (ret >= 0) {
// ret = avcodec_receive_packet(pOutCodecCtx, outpkt);
// if (ret >= 0) {
// outpkt->stream_index = pOutStream->index;
// av_interleaved_write_frame(pOutputFormatCtx, outpkt);
// av_packet_unref(outpkt);
// }
// }
break;
}
return 0;
}
static int decodeThread(void *data)
{
int *finished = (int *)data;
RgaSURF_FORMAT src_format;
RgaSURF_FORMAT dst_format;
int hStride, wStride;
int ret;
ret = 0;
while (ret >= 0 && !*finished) {
SDL_LockMutex(mutex);
ret = decode(codec_ctx, frame, &pkt);
if (ret < 0) {
*finished = 1;
SDL_UnlockMutex(mutex);
break;
}
av_packet_unref(&pkt);
/* ------------ RKNN ----------- */
src_format = RK_FORMAT_YCbCr_420_P;
dst_format = RK_FORMAT_BGR_888;
fast_rga_buf(frame->width, frame->height, frame->width, frame->height, src_format, (char *)pFrameYUV->data[0], width, height,
width, height, dst_format, (char *)resize_buf);
SDL_CondSignal(cond_inference_frame);
SDL_CondWait(cond_decode_frame, mutex);
SDL_UnlockMutex(mutex);
}
SDL_Log("Decode Frame quit!");
SDL_CondSignal(cond_read_frame);
SDL_CondSignal(cond_inference_frame);
SDL_CondSignal(cond_display_frame);
return 0;
}
int main(int argc, char *argv[])
{
SDL_Event event;
SDL_Thread *keybthread;
SDL_Thread *readthread;
SDL_Thread *inferencethread;
SDL_Thread *decodethread;
int status;
// SDL_SysWMinfo info;
SDL_version sdl_compiled;
SDL_version sdl_linked;
Uint32 wflags = 0 | SDL_WINDOW_OPENGL | SDL_WINDOW_ALWAYS_ON_TOP | SDL_WINDOW_FULLSCREEN;
/* -- encoding -- */
int ret, kmsgrab = 0;
int lindex, opt;
char *codec_name = NULL;
char *video_name = NULL;
char *pixel_format = NULL, *size_window = NULL;
AVDictionary *opts = NULL;
AVDictionaryEntry *dict = NULL;
const AVInputFormat *ifmt = NULL;
int nframe = 1;
int finished = 0;
int i = 1;
unsigned int a;
int fpts;
int raw_video, skip_some_frames;
SDL_Rect rect;
a = 0;
while (i < argc) {
a = hash_me(argv[i++]);
switch (a) {
case argt_c:
codec_name = argv[i];
break;
case argt_e:
// enc_file_name = argv[i];
break;
case argt_i:
video_name = argv[i];
break;
case argt_x:
screen_width = atoi(argv[i]);
break;
case argt_y:
screen_height = atoi(argv[i]);
break;
case argt_l:
screen_left = atoi(argv[i]);
break;
case argt_t:
screen_top = atoi(argv[i]);
break;
case argt_f:
// v4l2 = atoi(argv[i]);
v4l2 = !strncasecmp(argv[i], "v4l2", 4);
rtsp = !strncasecmp(argv[i], "rtsp", 4);
rtmp = !strncasecmp(argv[i], "rtmp", 4);
http = !strncasecmp(argv[i], "http", 4);
break;
case argt_r:
sensor_frame_rate = argv[i];
break;
case argt_d:
delay = atoi(argv[i]);
break;
case argt_p:
pixel_format = argv[i];
break;
case argt_s:
sensor_frame_size = argv[i];
sscanf(sensor_frame_size, "%dx%d", &frame_width, &frame_height);
break;
case argt_m:
model_name = argv[i];
break;
case argt_o:
obj2det = hash_me(argv[i]);
break;
case argt_b:
alphablend = atoi(argv[i]);
break;
case argt_a:
accur = atoi(argv[i]);
break;
default:
break;
}
i++;
}
if (!video_name) {
fprintf(stderr, "No stream to play! Please pass an input.\n");
print_help();
return -1;
}
if (!model_name) {
fprintf(stderr, "No model to load! Please pass a model.\n");
print_help();
return -1;
}
if (screen_width <= 0)
screen_width = 960;
if (screen_height <= 0)
screen_height = 540;
if (screen_left <= 0)
screen_left = 0;
if (screen_top <= 0)
screen_top = 0;
font_small = FC_CreateFont();
if (!font_small) {
fprintf(stderr, "No small ttf can be created.\n");
return -1;
}
font_large = FC_CreateFont();
if (!font_large) {
fprintf(stderr, "No large ttf can be created.\n");
return -1;
}
font_big = FC_CreateFont();
if (!font_big) {
fprintf(stderr, "No big ttf can be created\n");
return -1;
}
create_mutex();
/* Create the neural network */
model_data_size = 0;
model_data = load_model(model_name, &model_data_size);
if (!model_data) {
fprintf(stderr, "Error locading model: `%s`\n", model_name);
return -1;
}
fprintf(stderr, "Model: %s - size: %d.\n", model_name, model_data_size);
ret = rknn_init(&ctx, model_data, model_data_size, 0, NULL);
if (ret < 0) {
fprintf(stderr, "rknn_init error ret=%d\n", ret);
return -1;
}
rknn_sdk_version version;
ret = rknn_query(ctx, RKNN_QUERY_SDK_VERSION, &version, sizeof(rknn_sdk_version));
if (ret < 0) {
fprintf(stderr, "rknn_init error ret=%d\n", ret);
return -1;
}
fprintf(stderr, "sdk version: %s driver version: %s\n", version.api_version, version.drv_version);
ret = rknn_query(ctx, RKNN_QUERY_IN_OUT_NUM, &io_num, sizeof(io_num));
if (ret < 0) {
fprintf(stderr, "rknn_init error ret=%d\n", ret);
return -1;
}
fprintf(stderr, "model input num: %d, output num: %d\n", io_num.n_input, io_num.n_output);
rknn_tensor_attr input_attrs[io_num.n_input + 1];
memset(input_attrs, 0, sizeof(input_attrs));
for (int i = 0; i < io_num.n_input; i++) {
// fprintf(stderr, "RKNN_QUERY_OUTPUT_ATTR output_attrs[%d].index=%d\n", i, i);
input_attrs[i].index = i;
ret = rknn_query(ctx, RKNN_QUERY_INPUT_ATTR, &(input_attrs[i]), sizeof(rknn_tensor_attr));
if (ret < 0) {
fprintf(stderr, "rknn_init error ret=%d\n", ret);
return -1;
}
}
memset(output_attrs, 0, sizeof(output_attrs));
for (int i = 0; i < io_num.n_output; i++) {
output_attrs[i].index = i;
ret = rknn_query(ctx, RKNN_QUERY_OUTPUT_ATTR, &(output_attrs[i]), sizeof(rknn_tensor_attr));
}
if (input_attrs[0].fmt == RKNN_TENSOR_NCHW) {
channel = input_attrs[0].dims[1];
width = input_attrs[0].dims[2];
height = input_attrs[0].dims[3];
} else {
width = input_attrs[0].dims[1];
height = input_attrs[0].dims[2];
channel = input_attrs[0].dims[3];
}
fprintf(stderr, "model: %dx%dx%d\n", width, height, channel);
memset(inputs, 0, sizeof(inputs));
inputs[0].index = 0;
inputs[0].type = RKNN_TENSOR_UINT8;
inputs[0].size = width * height * channel;
inputs[0].fmt = RKNN_TENSOR_NHWC;
inputs[0].pass_through = 0;
input_ctx = avformat_alloc_context();
if (!input_ctx) {
av_log(0, AV_LOG_ERROR, "Cannot allocate input format (Out of memory?)\n");
return -1;
}
av_dict_set(&opts, "num_capture_buffers", "128", 0);
if (rtsp) {
// av_dict_set(&opts, "rtsp_transport", "tcp", 0);
av_dict_set(&opts, "rtsp_flags", "prefer_tcp", 0);
}
if (v4l2) {
avdevice_register_all();
ifmt = (AVInputFormat*) av_find_input_format("v4l2");
if (!ifmt) {
av_log(0, AV_LOG_ERROR, "Cannot find input format: v4l2\n");
return -1;
}
// input_ctx->flags |= AVFMT_FLAG_NONBLOCK;
// input_ctx->flags |= AVFMT_FLAG_NOBUFFER;
// input_ctx->flags |= AVFMT_FLAG_FLUSH_PACKETS;
// input_ctx->flags |= AVFMT_FLAG_NOPARSE;
// input_ctx->flags |= AVFMT_FLAG_GENPTS;
if (pixel_format) {
av_dict_set(&opts, "input_format", pixel_format, 0);
}
if (sensor_frame_size)
av_dict_set(&opts, "video_size", sensor_frame_size, 0);
if (sensor_frame_rate)
av_dict_set(&opts, "framerate", sensor_frame_rate, 0);
#if 1
av_dict_set(&opts, "fflags", "nobuffer", 0);
av_dict_set(&opts, "num_capture_buffers", "16", 0);
av_dict_set(&opts, "flags", "low_delay", 0);
av_dict_set(&opts, "max_delay", "0", 0);
av_dict_set(&opts, "probesize", "32", 0);
av_dict_set(&opts, "avioflags", "direct", 0);
av_dict_set(&opts, "analyzeduration", "0", 0);
av_dict_set(&opts, "setpts", "0", 0);
av_dict_set(&opts, "sync", "ext", 0);
av_dict_set(&opts, "tune", "zerolatency", 0);
#endif
}
if (rtmp) {
ifmt = av_find_input_format("flv");
if (!ifmt) {
av_log(0, AV_LOG_ERROR, "Cannot find input format: flv\n");
return -1;
}