From 379c2e8746efc50b24d7f08cc06e094c51ae66e8 Mon Sep 17 00:00:00 2001
From: Sebastian Gomez-Gonzalez <sebastian@robot-learning.de>
Date: Thu, 21 Sep 2017 16:07:30 +0200
Subject: [PATCH] Creating functionality to seemless running CPU or GPU
implementation. Not tested yet on the GPU
---
CMakeLists.txt | 32 +++++--
examples/CMakeLists.txt | 33 +++----
examples/tracking/cpu_track_conf.json | 60 +++++++++++++
examples/tracking/track.cpp | 4 +-
examples/tracking/track_conf.json | 5 +-
include/ball_tracking/cuda/tracker.hpp | 21 ++++-
include/ball_tracking/tracker.hpp | 44 +++++++++-
src/cuda/tracker.cpp | 12 ++-
src/tracker.cpp | 117 +++++++++++++++++++++++--
9 files changed, 288 insertions(+), 40 deletions(-)
create mode 100644 examples/tracking/cpu_track_conf.json
diff --git a/CMakeLists.txt b/CMakeLists.txt
index c025cf8..8951782 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,28 +2,42 @@ cmake_minimum_required(VERSION 3.5)
project(ball_tracking)
find_package(OpenCV REQUIRED)
-find_package(CUDA 8.0 REQUIRED)
+find_package(CUDA 8.0)
+find_library(ZMQPP NAMES zmqpp)
+find_path(ZMQPP_INCLUDES NAMES zmqpp/zmqpp.hpp)
-option (PYLIB "Create a Python Module with interface to some of the C++ implementations" ON)
+if (CUDA_FOUND)
+ option (WITH_CUDA "Compile the library with GPU implementations" ON)
+endif (CUDA_FOUND)
+
+if (WITH_CUDA)
+ include_directories(${CUDA_INCLUDE_DIRS})
+ set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11 -arch=sm_30" )
+ cuda_add_library(cu_ball_track SHARED
+ src/cuda/img_proc.cu
+ )
+ set(GPU_CPP_SRC
+ src/cuda/tracker.cpp
+ )
+ set (GPU_BT_LIB
+ cu_ball_track
+ )
+ add_definitions(-DWITH_CUDA)
+endif(WITH_CUDA)
include_directories(include
${OpenCV_INCLUDES}
- ${CUDA_INCLUDE_DIRS})
-
-set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -std=c++11 -arch=sm_30" )
-cuda_add_library(cu_ball_track SHARED
- src/cuda/img_proc.cu
)
add_library(ball_tracking SHARED
src/img_proc.cpp
src/utils.cpp
src/tracker.cpp
- src/cuda/tracker.cpp
+ ${GPU_CPP_SRC}
)
target_link_libraries(ball_tracking
${OpenCV_LIBS}
- cu_ball_track
+ ${GPU_BT_LIB}
)
#Compile with C++11 support only
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 2d1e5a7..5583d2a 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -11,14 +11,6 @@ target_link_libraries(color_approach
${Boost_LIBRARIES}
)
-add_executable(log_reg_approach
- img_proc/log_reg_approach.cpp
- )
-target_link_libraries(log_reg_approach
- ball_tracking
- ${Boost_LIBRARIES}
- )
-
add_executable(ball_log_lh
img_proc/ball_log_lh.cpp
)
@@ -35,10 +27,21 @@ target_link_libraries(track
${Boost_LIBRARIES}
)
-add_executable(gpu_track
- tracking/gpu_track.cpp
- )
-target_link_libraries(gpu_track
- ball_tracking
- ${Boost_LIBRARIES}
- )
+if (WITH_CUDA)
+ add_executable(log_reg_approach
+ img_proc/log_reg_approach.cpp
+ )
+ target_link_libraries(log_reg_approach
+ ball_tracking
+ ${Boost_LIBRARIES}
+ )
+
+ add_executable(gpu_track
+ tracking/gpu_track.cpp
+ )
+ target_link_libraries(gpu_track
+ ball_tracking
+ ${Boost_LIBRARIES}
+ )
+endif (WITH_CUDA)
+
diff --git a/examples/tracking/cpu_track_conf.json b/examples/tracking/cpu_track_conf.json
new file mode 100644
index 0000000..55ca9d5
--- /dev/null
+++ b/examples/tracking/cpu_track_conf.json
@@ -0,0 +1,60 @@
+{
+ "tracker": {
+ "type": "cpu",
+ "conf": {
+ "ball_log_lh": {
+ "type": "cb_log_reg",
+ "conf": {
+ "weights": [
+ -4.3645153397769523,
+ -1.7528550846385467,
+ -0.94643386271480279,
+ -2.1172356652966022,
+ -1.7266645284508131,
+ -4.0142794641079673,
+ -3.8619400850106795,
+ 1.7698900417473211,
+ 2.2392411493959243,
+ 1.6657076794425114,
+ 1.9180643323474467,
+ -1.8974895205433868,
+ 2.6587407284968458,
+ 2.2491171019131664,
+ 2.6281082938750533,
+ 2.4812839914967717,
+ -2.2706336207474567,
+ 2.5778824379463727,
+ 1.2787179559340944,
+ 1.9590196639347666,
+ -1.1268150111657678,
+ 3.278679714617708,
+ 2.232487133767151,
+ -1.6055001267916118,
+ 3.5447611950425828,
+ -5.4301792573145677,
+ -4.7388290757015756,
+ -5.739125161010926
+ ],
+ "gauss_smooth": {
+ "size": 5,
+ "sigma": 0
+ }
+ }
+ },
+ "blob_detection": {
+ "type": "cv_blob_detect",
+ "conf": {
+ "binarizer": {
+ "p_thresh": 0.05
+ },
+ "filterByArea": true,
+ "minArea": 8,
+ "maxArea": 500,
+ "filterByCircularity": true,
+ "minCircularity": 0.75,
+ "maxCircularity": 1.0
+ }
+ }
+ }
+ }
+}
diff --git a/examples/tracking/track.cpp b/examples/tracking/track.cpp
index 2f25de1..5ad4dd9 100644
--- a/examples/tracking/track.cpp
+++ b/examples/tracking/track.cpp
@@ -107,7 +107,7 @@ int main(int argc, char** argv) {
end_t = std::chrono::steady_clock::now();
llh_time.push_back(std::chrono::duration_cast<std::chrono::microseconds>(end_t - start_t).count());
- //2.1) Binarize
+ //2.1) Binarize (Just for debugging purposes)
start_t = std::chrono::steady_clock::now();
auto bin_img = bin(l_lh);
end_t = std::chrono::steady_clock::now();
@@ -115,7 +115,7 @@ int main(int argc, char** argv) {
//3) Run blob detection algorithm
start_t = std::chrono::steady_clock::now();
- auto key_pts = bf(bin_img);
+ auto key_pts = bf(l_lh);
end_t = std::chrono::steady_clock::now();
blob_time.push_back(std::chrono::duration_cast<std::chrono::microseconds>(end_t - start_t).count());
diff --git a/examples/tracking/track_conf.json b/examples/tracking/track_conf.json
index 7040981..cd3f6eb 100644
--- a/examples/tracking/track_conf.json
+++ b/examples/tracking/track_conf.json
@@ -40,10 +40,13 @@
},
"binarizer": {
"p_thresh": 0.05
- },
+ },
"blob_detection": {
"type": "cv_blob_detect",
"conf": {
+ "binarizer": {
+ "p_thresh": 0.05
+ },
"filterByArea": true,
"minArea": 8,
"maxArea": 500,
diff --git a/include/ball_tracking/cuda/tracker.hpp b/include/ball_tracking/cuda/tracker.hpp
index 3daab03..970926c 100644
--- a/include/ball_tracking/cuda/tracker.hpp
+++ b/include/ball_tracking/cuda/tracker.hpp
@@ -22,7 +22,7 @@ namespace ball_tracking {
class BallLogLikelihood {
private:
class Impl;
- std::unique_ptr<Impl> _impl;
+ std::shared_ptr<Impl> _impl;
public:
/**
* @brief Creates an object with given configuration parameters
@@ -30,6 +30,11 @@ namespace ball_tracking {
BallLogLikelihood(const nlohmann::json& params);
~BallLogLikelihood();
+ /**
+ * @brief Creates an empty object
+ */
+ BallLogLikelihood();
+
/**
* @brief Produces a single channel image representing the log likelihood of each
* pixel being part of the ball
@@ -49,11 +54,16 @@ namespace ball_tracking {
class Binarizer {
private:
class Impl;
- std::unique_ptr<Impl> _impl;
+ std::shared_ptr<Impl> _impl;
public:
Binarizer(const nlohmann::json& params);
~Binarizer();
+ /**
+ * @brief Creates an empty object
+ */
+ Binarizer();
+
/**
* @brief Returns an 8 bit single channel binarized image from a given single channel
* real valued image. The image contains only 0 or 255 values in each pixel.
@@ -70,11 +80,16 @@ namespace ball_tracking {
class FindBallBlob {
private:
class Impl;
- std::unique_ptr<Impl> _impl;
+ std::shared_ptr<Impl> _impl;
public:
FindBallBlob(const nlohmann::json& params);
~FindBallBlob();
+ /**
+ * @brief Creates an empty object
+ */
+ FindBallBlob();
+
/**
* @brief Returns all candidate locations of a ball in a single channel
* likelihood image.
diff --git a/include/ball_tracking/tracker.hpp b/include/ball_tracking/tracker.hpp
index 6f564bf..6bbaa88 100644
--- a/include/ball_tracking/tracker.hpp
+++ b/include/ball_tracking/tracker.hpp
@@ -25,12 +25,21 @@ namespace ball_tracking {
class BallLogLikelihood {
private:
class Impl;
- std::unique_ptr<Impl> _impl;
+ std::shared_ptr<Impl> _impl;
public:
/**
* @brief Creates an object with given configuration parameters
*/
BallLogLikelihood(const nlohmann::json& params);
+
+ /**
+ * @brief Creates an empty object.
+ *
+ * Using an object created with this default constructor will result
+ * in undefined behaviour.
+ */
+ BallLogLikelihood();
+
~BallLogLikelihood();
/**
@@ -51,9 +60,18 @@ namespace ball_tracking {
class Binarizer {
private:
class Impl;
- std::unique_ptr<Impl> _impl;
+ std::shared_ptr<Impl> _impl;
public:
+ /**
+ * @brief Creates a binarizer with the given configuration
+ */
Binarizer(const nlohmann::json& params);
+
+ /**
+ * @brief Creates an empty object
+ */
+ Binarizer();
+
~Binarizer();
/**
@@ -72,11 +90,16 @@ namespace ball_tracking {
class FindBallBlob {
private:
class Impl;
- std::unique_ptr<Impl> _impl;
+ std::shared_ptr<Impl> _impl;
public:
FindBallBlob(const nlohmann::json& params);
~FindBallBlob();
+ /**
+ * @brief Creates an empty object
+ */
+ FindBallBlob();
+
/**
* @brief Returns all candidate locations of a ball in a single channel
* likelihood image.
@@ -87,6 +110,21 @@ namespace ball_tracking {
*/
std::vector<cv::KeyPoint> operator()(cv::InputArray src);
};
+
+ /**
+ * @brief Returns the object position if any from the original image
+ */
+ class Tracker {
+ private:
+ class Impl;
+ std::shared_ptr<Impl> _impl;
+ public:
+ Tracker(const nlohmann::json& params);
+ Tracker();
+ ~Tracker();
+ std::vector<cv::KeyPoint> operator()(cv::InputArray src);
+ };
+
};
#endif
diff --git a/src/cuda/tracker.cpp b/src/cuda/tracker.cpp
index 638fb6b..262124f 100644
--- a/src/cuda/tracker.cpp
+++ b/src/cuda/tracker.cpp
@@ -83,7 +83,11 @@ namespace ball_tracking {
};
BallLogLikelihood::BallLogLikelihood(const nlohmann::json& params) {
- _impl = unique_ptr<Impl>(new Impl(params));
+ _impl = shared_ptr<Impl>(new Impl(params));
+ }
+
+ BallLogLikelihood::BallLogLikelihood() {
+ _impl = nullptr;
}
BallLogLikelihood::~BallLogLikelihood() = default;
@@ -114,7 +118,11 @@ namespace ball_tracking {
};
Binarizer::Binarizer(const nlohmann::json& params) {
- _impl = unique_ptr<Impl>(new Impl(params));
+ _impl = shared_ptr<Impl>(new Impl(params));
+ }
+
+ Binarizer::Binarizer() {
+ _impl = nullptr;
}
Binarizer::~Binarizer() = default;
diff --git a/src/tracker.cpp b/src/tracker.cpp
index d199c6c..90c2e9b 100644
--- a/src/tracker.cpp
+++ b/src/tracker.cpp
@@ -28,7 +28,7 @@ namespace ball_tracking {
cv::Mat operator()(cv::InputArray _src) {
Mat dst;
- GaussianBlur(_src, dst, Size(size,size), sigma, sigma);
+ cv::GaussianBlur(_src, dst, Size(size,size), sigma, sigma);
return dst;
}
};
@@ -82,6 +82,7 @@ namespace ball_tracking {
double thresh;
SimpleBlobDetector::Params params;
Ptr<SimpleBlobDetector> detector;
+ Binarizer bin;
public:
void set_blob_params(const json& conf) {
if (conf.count("filterByArea")) {
@@ -94,6 +95,7 @@ namespace ball_tracking {
params.minCircularity = conf.at("minCircularity");
params.maxCircularity = conf.at("maxCircularity");
}
+ bin = Binarizer(conf.at("binarizer"));
}
CV_blob_detect(const json& conf) {
@@ -105,8 +107,9 @@ namespace ball_tracking {
#endif
}
- vector<KeyPoint> operator()(cv::InputArray bin_img) {
+ vector<KeyPoint> operator()(cv::InputArray llh) {
vector<KeyPoint> ans;
+ Mat bin_img = bin(llh);
detector->detect(bin_img, ans);
return ans;
}
@@ -136,7 +139,11 @@ namespace ball_tracking {
};
Binarizer::Binarizer(const nlohmann::json& params) {
- _impl = unique_ptr<Impl>(new Impl(params));
+ _impl = shared_ptr<Impl>(new Impl(params));
+ }
+
+ Binarizer::Binarizer() {
+ _impl = nullptr;
}
Binarizer::~Binarizer() = default;
@@ -162,7 +169,11 @@ namespace ball_tracking {
};
BallLogLikelihood::BallLogLikelihood(const nlohmann::json& params) {
- _impl = unique_ptr<Impl>(new Impl(params));
+ _impl = shared_ptr<Impl>(new Impl(params));
+ }
+
+ BallLogLikelihood::BallLogLikelihood() {
+ _impl = nullptr;
}
BallLogLikelihood::~BallLogLikelihood() = default;
@@ -188,7 +199,11 @@ namespace ball_tracking {
};
FindBallBlob::FindBallBlob(const nlohmann::json& params) {
- _impl = unique_ptr<Impl>(new Impl(params));
+ _impl = shared_ptr<Impl>(new Impl(params));
+ }
+
+ FindBallBlob::FindBallBlob() {
+ _impl = nullptr;
}
FindBallBlob::~FindBallBlob() = default;
@@ -198,4 +213,96 @@ namespace ball_tracking {
}
+ /**
+ * Implementation of the tracker class
+ */
+ namespace {
+
+ class CPUTracker {
+ private:
+ BallLogLikelihood llh;
+ FindBallBlob blob_detect;
+ public:
+ CPUTracker(const json& conf) {
+ llh = BallLogLikelihood(conf.at("ball_log_lh"));
+ blob_detect = FindBallBlob(conf.at("blob_detection"));
+ }
+
+ vector<KeyPoint> operator()(cv::InputArray img) {
+ Mat llh_img = llh(img);
+ return blob_detect(llh_img);
+ }
+ };
+
+#ifdef WITH_CUDA
+#include <ball_tracking/cuda/tracker.hpp>
+#include <opencv2/core.hpp>
+ class GPUTracker {
+ private:
+ ball_tracking::cuda::BallLogLikelihood llh; //!< Fully implemented in GPU
+ FindBallBlob blob_detect; //!< For the moment only implemented in CPU
+ cv::cuda::Stream stream;
+ public:
+ GPUTracker(const json& conf) {
+ llh = ball_tracking::cuda::BallLogLikelihood(conf.at("ball_log_lh"));
+ blob_detect = FindBallBlob(conf.at("blob_detection"));
+ }
+
+ vector<KeyPoint> operator()(cv::InputArray _img) {
+ Mat img = _img.getMat();
+ GpuMat gpu_img(img, stream);
+ GpuMat gpu_llh_img;
+ llh(gpu_img, gpu_llh_img, stream);
+
+ Mat llh_img;
+ gpu_llh_img.download(llh_img, stream);
+ stream.waitForCompletion();
+
+ return blob_detect(llh_img);
+ }
+ };
+#else
+ class GPUTracker {
+ public:
+ GPUTracker(const json& conf) {
+ throw new std::logic_error("Calling a GPU function on a CPU only compiled tracker");
+ }
+
+ vector<KeyPoint> operator()(cv::InputArray _img) {
+ throw new std::logic_error("Calling a GPU function on a CPU only compiled tracker");
+ }
+ };
+#endif
+ };
+
+ class Tracker::Impl {
+ public:
+ blob_finder tracker;
+
+ Impl(const json& conf) {
+ string type = conf.at("type");
+ if (type == "cpu") {
+ tracker = CPUTracker(conf.at("conf"));
+ } else if (type == "gpu") {
+ tracker = GPUTracker(conf.at("gpu"));
+ } else {
+ throw std::logic_error("Type of tracker selected in the configuration is not recognized");
+ }
+ }
+ };
+
+ Tracker::Tracker(const nlohmann::json& params) {
+ _impl = shared_ptr<Impl>(new Impl(params));
+ }
+
+ Tracker::Tracker() {
+ _impl = nullptr;
+ }
+
+ Tracker::~Tracker() = default;
+
+ std::vector<cv::KeyPoint> Tracker::operator()(cv::InputArray src) {
+ return _impl->tracker(src);
+ }
+
};
--
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