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Commit 2cd04da1 authored by Max Breitenfeldt's avatar Max Breitenfeldt
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Add debug messages

parent 8355c3ef
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Stage: build
Stage: package
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Src/Model/BioTrackerTrackingAlgorithm.cpp
+ 89
− 79
View file @ 2cd04da1
#include "BioTrackerTrackingAlgorithm.h"
#include <errno.h>
#include <fcntl.h>
#include <stdio.h>
#include <stdlib.h>
#include <string>
#include <sys/mman.h>
#include <sys/stat.h>
#include <unistd.h>
#include <iostream>
#include "BioTrackerTrackingAlgorithm.h"
#include <future>
#include "TrackedComponents/pose/FishPose.h"
#include <chrono>
#include <future>
#include <iostream>
#include <string>
#include <zmq.hpp>
#include "TrackedComponents/pose/FishPose.h"
#define JSON_USE_IMPLICIT_CONVERSIONS 0
#include "json.hpp"
using json = nlohmann::json;
BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IController *parent, IModel* parameter, IModel* trajectory)
: IModelTrackingAlgorithm(parent)
{
_cfg = static_cast<ControllerTrackingAlgorithm*>(parent)->getConfig();
_TrackingParameter = (TrackerParameter*)parameter;
_TrackedTrajectoryMajor = (BST::TrackedTrajectory*)trajectory;
BioTrackerTrackingAlgorithm::BioTrackerTrackingAlgorithm(IController *parent,
IModel *parameter,
IModel *trajectory)
: IModelTrackingAlgorithm(parent) {
_cfg = static_cast<ControllerTrackingAlgorithm *>(parent)->getConfig();
_TrackingParameter = (TrackerParameter *)parameter;
_TrackedTrajectoryMajor = (BST::TrackedTrajectory *)trajectory;
_noFish = -1;
_noFish = -1;
_lastImage = nullptr;
_lastFramenumber = -1;
}
BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm()
{
stop_python();
}
BioTrackerTrackingAlgorithm::~BioTrackerTrackingAlgorithm() { stop_python(); }
void BioTrackerTrackingAlgorithm::init_shared_memory() {
json j = {
{ "type", "request_shared_memory" },
{ "width", _imageX },
{ "height", _imageY },
{"type", "request_shared_memory"},
{"width", _imageX},
{"height", _imageY},
};
_sock.send(zmq::buffer(j.dump()));
auto res = _sock.recv(_zmq_msg, zmq::recv_flags::none);
......@@ -53,16 +53,15 @@ void BioTrackerTrackingAlgorithm::init_shared_memory() {
throw "shm_open";
}
void *shm_buf = mmap(NULL, shm_len,
PROT_READ | PROT_WRITE,
MAP_SHARED, fd, 0);
void *shm_buf =
mmap(NULL, shm_len, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
close(fd);
if (shm_buf == MAP_FAILED) {
throw "mmap";
}
_shm_img = (float*)shm_buf;
_shm_img = (float *)shm_buf;
}
void BioTrackerTrackingAlgorithm::stop_python() {
......@@ -76,19 +75,23 @@ void BioTrackerTrackingAlgorithm::start_python() {
stop_python();
auto model_path = _TrackingParameter->getModelPath().toStdString();
_python_process = boost::process::child(
boost::process::search_path("python3"),
boost::process::args({
"-c", "from biotracker import BiotrackerAdapter;"
"BiotrackerAdapter('" + model_path + "'"
",verbose=True).run();"
}), _python_process_group);
boost::process::search_path("python3"),
boost::process::args({"-c",
"from biotracker import BiotrackerAdapter;"
"BiotrackerAdapter('" +
model_path +
"'"
",verbose=True).run();"}),
_python_process_group);
fprintf(stderr, "Adapter started\n");
_sock = zmq::socket_t(_ctx, zmq::socket_type::req);
_sock.connect("ipc:///tmp/biotracker.python.zmq");
}
void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(IModelAreaDescriptor *areaDescr) {
_areaInfo = areaDescr;
void BioTrackerTrackingAlgorithm::receiveAreaDescriptorUpdate(
IModelAreaDescriptor *areaDescr) {
_areaInfo = areaDescr;
}
void BioTrackerTrackingAlgorithm::receiveParametersChanged() {
......@@ -101,35 +104,40 @@ void BioTrackerTrackingAlgorithm::receiveParametersChanged() {
}
}
void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, uint framenumber)
{
void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image,
uint framenumber) {
_lastImage = p_image;
_lastFramenumber = framenumber;
//dont do nothing if we ain't got an image
if (p_image->empty()) {
return;
}
// dont do nothing if we ain't got an image
if (p_image->empty()) {
return;
}
// skip frame if model is not yet loaded
if (_python_process.has_value()) {
if (!_python_process) {
fprintf(stderr, "Adapter not running!\n");
return;
}
if (_imageX != p_image->size().width || _imageY != p_image->size().height) {
_imageX = p_image->size().width;
_imageY = p_image->size().height;
if (_imageX != p_image->size().width || _imageY != p_image->size().height) {
_imageX = p_image->size().width;
_imageY = p_image->size().height;
fprintf(stderr, "Initializing shared memory...\n");
init_shared_memory();
Q_EMIT emitDimensionUpdate(_imageX, _imageY);
}
fprintf(stderr, "Done\n");
Q_EMIT emitDimensionUpdate(_imageX, _imageY);
}
//Refuse to run tracking if we have no area info...
if (_AreaInfo == nullptr) {
Q_EMIT emitTrackingDone(framenumber);
return;
}
// Refuse to run tracking if we have no area info...
if (_AreaInfo == nullptr) {
fprintf(stderr, "Missing area info\n");
Q_EMIT emitTrackingDone(framenumber);
return;
}
std::chrono::system_clock::time_point start = std::chrono::system_clock::now();
std::chrono::system_clock::time_point start =
std::chrono::system_clock::now();
cv::Mat grayscale, float_img;
cv::cvtColor(*p_image, grayscale, cv::COLOR_BGR2GRAY);
......@@ -139,8 +147,8 @@ void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, u
memcpy(_shm_img, img_data, img_data_len);
json j = {
{ "type", "predict_frame" },
{ "frame_id", framenumber },
{"type", "predict_frame"},
{"frame_id", framenumber},
};
_sock.send(zmq::buffer(j.dump()));
auto res = _sock.recv(_zmq_msg, zmq::recv_flags::none);
......@@ -148,36 +156,38 @@ void BioTrackerTrackingAlgorithm::doTracking(std::shared_ptr<cv::Mat> p_image, u
std::vector<std::tuple<int, FishPose>> poses;
for (auto pos : msg["data"]) {
fprintf(stderr, "Here\n");
auto pose = std::make_tuple(
pos["id"].get<int>(),
FishPose(
_areaInfo,
cv::Point2f(pos["x"].get<int>(), pos["y"].get<int>()),
pos["orientation"].get<float>(),
1.0)); // FIXME: score
pos["id"].get<int>(),
FishPose(_areaInfo,
cv::Point2f(pos["x"].get<int>(), pos["y"].get<int>()),
pos["orientation"].get<float>(),
1.0)); // FIXME: score
poses.push_back(pose);
}
std::sort(poses.begin(), poses.end(),
[](std::tuple<int, FishPose> a, std::tuple<int, FishPose> b) {
return std::get<0>(a) < std::get<0>(b);
});
//Insert new poses into data structure
int trajNumber = 0;
for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
BST::TrackedTrajectory *t = dynamic_cast<BST::TrackedTrajectory *>(_TrackedTrajectoryMajor->getChild(i));
if (t && t->getValid() && !t->getFixed()) {
BST::TrackedElement *e = new BST::TrackedElement(t, "n.a.", t->getId());
e->setFishPose(std::get<1>(poses[trajNumber]));
e->setTime(start);
t->add(e, framenumber);
trajNumber++;
}
}
std::string newSel = _TrackingParameter->getNewSelection();
Q_EMIT emitChangeDisplayImage("Original");
Q_EMIT emitTrackingDone(framenumber);
[](std::tuple<int, FishPose> a, std::tuple<int, FishPose> b) {
return std::get<0>(a) < std::get<0>(b);
});
// Insert new poses into data structure
int trajNumber = 0;
for (int i = 0; i < _TrackedTrajectoryMajor->size(); i++) {
BST::TrackedTrajectory *t = dynamic_cast<BST::TrackedTrajectory *>(
_TrackedTrajectoryMajor->getChild(i));
if (t && t->getValid() && !t->getFixed()) {
BST::TrackedElement *e =
new BST::TrackedElement(t, "n.a.", t->getId());
e->setFishPose(std::get<1>(poses[trajNumber]));
e->setTime(start);
t->add(e, framenumber);
trajNumber++;
}
}
std::string newSel = _TrackingParameter->getNewSelection();
Q_EMIT emitChangeDisplayImage("Original");
Q_EMIT emitTrackingDone(framenumber);
}
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