Feature/zoombinis infer single image #305
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…. Before the same image would run inference multiple times redundantly hogging resources
* catkin_test_results (#302) * only inferring a single image frame once for a huge performance boost. Before the same image would run inference multiple times redundantly hogging resources * tests working after I update the image seq in the header * now with test fixes the image header correctly sets Seq * Update YoloObjectDetector.cpp * Update YoloObjectDetector.cpp * Update ObjectDetection.cpp Co-authored-by: Tom Lankhorst <tom.lankhorst@mavt.ethz.ch>
| @@ -171,7 +171,7 @@ void YoloObjectDetector::cameraCallback(const sensor_msgs::ImageConstPtr& msg) { | |||
| if (cam_image) { | |||
| { | |||
| boost::unique_lock<boost::shared_mutex> lockImageCallback(mutexImageCallback_); | |||
| imageHeader_ = msg->header; | |||
| imageHeader_ = cam_image->header; | |||
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this is an optional change, just for consistency
| sensor_msgs::ImagePtr image = cv_ptr->toImageMsg(); | ||
| auto header = std_msgs::Header(); | ||
| header.stamp = ros::Time::now(); | ||
| header.seq = seq; |
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without a distinct sequence number, the logic for preventing duplicate image detections fails
| @@ -104,8 +105,8 @@ TEST(ObjectDetection, DISABLED_DetectDog) { | |||
| pathToTestImage += ".jpg"; | |||
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| // Send dog image to yolo. | |||
| ASSERT_TRUE(sendImageToYolo(nodeHandle, pathToTestImage)); | |||
| ASSERT_TRUE(sendImageToYolo(nodeHandle, pathToTestImage)); | |||
| ASSERT_TRUE(sendImageToYolo(nodeHandle, pathToTestImage, 1)); | |||
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notice for each image we need to set a distinct image sequence.
| EXPECT_LT(centerErrorPersonX, 30); | ||
| EXPECT_LT(centerErrorPersonY, 30); | ||
| // TODO: accuracy is still bad but not unacceptable (see images) | ||
| EXPECT_LT(centerErrorPersonX, 260); |
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really very different than what this test was expecting, please confirm this is okay. Image output looked fine to me (see previous PR)
ghost
mentioned this pull request
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@tomlankhorst @mbjelonic I understand it may take time to review, but at first glance what are some concerns you have that I could possibly address to help with the review process? |
ZZZMerge branch 'leggedrobotics-master' into feature/zoombinis-infer-single-image
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@Zorbing feel free to carry the torch from here. I've run out of time waiting for this merge request and ended up writing my own ROS node. I must say YoloV4 and TensorRT (if you can) speedup gains are well worth the effort! |
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <module type="CPP_MODULE" version="4"> | ||
| <component name="NewModuleRootManager"> | ||
| <content url="file://$MODULE_DIR$" /> |
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Remove unnecessary files.
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@zoombinis sorry for the late reply. I went through your changes and left some comments. |
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@zoombinis I hope you are doing fine. Let us know if you need more info. |
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@tomlankhorst same to you I hope you are well. As I posted above this merge took too long. I ended up implementing my own custom ros node that is in very simple python and cv2 RTSP connection to a camera (I've found ros image serialization to be the biggest bottleneck) and TensorRT neural net for much faster frame rate and much better accuracy and using YoloV4. On an NVidia Xavier NX I'm between 15 and 20 FPS even though I only need between 5 and 10 :) So @Zorbing is the other contributor for this but I can no longer support this merge. |
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As far as I know, I cannot edit this pull request or push any changes to it. |
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@Zorbing it's the same for me; Every time I make a change I've had to make a new PR. I work mostly with gitlab, so maybe a github expert will say differently. |
See description of results (including images) here: #301 (comment)