MAINT: reorganize DL inference code.

cpp/drafts/CMakeLists.txt

@@ -13,7 +13,6 @@ add_subdirectory(ChessboardDetection)
 add_subdirectory(Calibration)
 add_subdirectory(Compute)
 add_subdirectory(MatchPropagation)
-add_subdirectory(NeuralNetworks)
 add_subdirectory(NuScenes)
 add_subdirectory(Taskflow)
 

cpp/examples/Sara/CMakeLists.txt

@@ -12,3 +12,5 @@ add_subdirectory(MultiViewGeometry)
 if (SARA_BUILD_VIDEOIO)
   add_subdirectory(VideoIO)
 endif ()
+
+add_subdirectory(NeuralNetworks)

cpp/drafts/NeuralNetworks/Darknet/examples/CMakeLists.txt → cpp/examples/Sara/NeuralNetworks/CMakeLists.txt

@@ -13,7 +13,6 @@ foreach (file ${neuralnetworks_SOURCE_FILES})
     DO::Sara::ImageIO
     DO::Sara::VideoIO
     DO::Sara::Darknet
-    Boost::filesystem
     $<$<BOOL:${OpenMP_CXX_FOUND}>:OpenMP::OpenMP_CXX>)
   set_target_properties(${filename}
       PROPERTIES

cpp/drafts/NeuralNetworks/Darknet/examples/yolo_v4_example.cpp → cpp/examples/Sara/NeuralNetworks/yolo_v4_example.cpp

@@ -9,29 +9,31 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/Darknet/Network.hpp>
-#include <drafts/NeuralNetworks/Darknet/Parser.hpp>
-#include <drafts/NeuralNetworks/Darknet/YoloUtilities.hpp>
-
 #include <DO/Sara/Core.hpp>
 #include <DO/Sara/Core/TicToc.hpp>
+
+#include <DO/Sara/ImageProcessing.hpp>
+
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/ImageIO.hpp>
-#include <DO/Sara/ImageProcessing.hpp>
 #include <DO/Sara/VideoIO.hpp>
 
-#include <boost/filesystem.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Network.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Parser.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/YoloUtilities.hpp>
+
 
+#include <filesystem>
 #include <iomanip>
 
 #ifdef _OPENMP
-#include <omp.h>
+#  include <omp.h>
 #endif
 
 
 namespace sara = DO::Sara;
 namespace d = DO::Sara::Darknet;
-namespace fs = boost::filesystem;
+namespace fs = std::filesystem;
 
 
 // The API.

cpp/examples/Shakti/CMakeLists.txt

@@ -15,3 +15,5 @@ endif()
 
 add_subdirectory(OpenCL)
 add_subdirectory(Vulkan)
+
+add_subdirectory(TensorRT)

cpp/drafts/NeuralNetworks/TensorRT/examples/CMakeLists.txt → cpp/examples/Shakti/TensorRT/CMakeLists.txt

@@ -16,9 +16,9 @@ foreach(file ${TRT_SOURCE_FILES})
             DO::Sara::VideoIO
             DO::Sara::ImageProcessing
             DO::Sara::Darknet
-            DO::Sara::TensorRT
             DO::Shakti::Cuda::MultiArray
-            DO::Shakti::Cuda::Utilities)
+            DO::Shakti::Cuda::Utilities
+            DO::Shakti::Cuda::TensorRT)
 
   set_target_properties(
     ${filename} PROPERTIES COMPILE_FLAGS ${SARA_DEFINITIONS}

cpp/drafts/NeuralNetworks/TensorRT/examples/tensorrt_yolov4_tiny_example.cpp → cpp/examples/Shakti/TensorRT/tensorrt_yolov4_tiny_example.cpp

@@ -9,20 +9,20 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/Darknet/YoloUtilities.hpp>
-#include <drafts/NeuralNetworks/TensorRT/DarknetParser.hpp>
-#include <drafts/NeuralNetworks/TensorRT/InferenceExecutor.hpp>
+#include <DO/Shakti/Cuda/TensorRT/DarknetParser.hpp>
+#include <DO/Shakti/Cuda/TensorRT/InferenceExecutor.hpp>
 
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/ImageProcessing/FastColorConversion.hpp>
 #include <DO/Sara/ImageProcessing/Resize.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/YoloUtilities.hpp>
 #include <DO/Sara/VideoIO.hpp>
 
-#include <boost/filesystem.hpp>
+#include <filesystem>
 
 
 namespace sara = DO::Sara;
-namespace fs = boost::filesystem;
+namespace fs = std::filesystem;
 namespace trt = sara::TensorRT;
 namespace d = sara::Darknet;
 

cpp/src/DO/Sara/CMakeLists.txt

@@ -31,3 +31,5 @@ include(UseDOSaraMultiViewGeometry)
 include(UseDOSaraRANSAC)
 
 include(UseDOSaraVisualization)
+
+add_subdirectory(NeuralNetworks)

cpp/src/DO/Sara/NeuralNetworks/CMakeLists.txt

@@ -0,0 +1 @@
+add_subdirectory(Darknet)

cpp/src/DO/Sara/NeuralNetworks/Darknet/CMakeLists.txt

@@ -0,0 +1,10 @@
+file(GLOB DO_Sara_Darknet_SOURCE_FILES FILES *.hpp *.cpp)
+
+add_library(DO_Sara_Darknet ${DO_Sara_Darknet_SOURCE_FILES})
+add_library(DO::Sara::Darknet ALIAS DO_Sara_Darknet)
+
+target_link_libraries(
+  DO_Sara_Darknet
+  PUBLIC DO::Sara::Core DO::Sara::ImageProcessing
+  PRIVATE Boost::filesystem)
+set_property(TARGET DO_Sara_Darknet PROPERTY FOLDER "Libraries/Sara")

cpp/drafts/NeuralNetworks/Darknet/Debug.hpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/Debug.hpp

@@ -11,13 +11,11 @@
 
 #pragma once
 
-#include <drafts/NeuralNetworks/Darknet/Network.hpp>
-
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/ImageProcessing.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Network.hpp>
 
-#include <boost/filesystem.hpp>
-
+#include <filesystem>
 #include <string>
 
 
@@ -45,7 +43,7 @@ namespace DO::Sara::Darknet {
   // CAVEAT: this is sensitive to the CPU architecture endianness.
   inline auto read_all_intermediate_outputs(const std::string& dir_path)
   {
-    namespace fs = boost::filesystem;
+    namespace fs = std::filesystem;
 
     auto stringify = [](int n) {
       std::ostringstream ss;
@@ -169,7 +167,7 @@ namespace DO::Sara::Darknet {
   inline auto check_yolov4_tiny_implementation(Network& model,
                                                const std::string& output_dir)
   {
-    namespace fs = boost::filesystem;
+    namespace fs = std::filesystem;
 
     if (!fs::exists(output_dir))
       throw std::runtime_error{"Ouput directory " + output_dir +

cpp/drafts/NeuralNetworks/Darknet/Layer.cpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/Layer.cpp

@@ -9,7 +9,9 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/Darknet/Layer.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Layer.hpp>
+
+#include <boost/algorithm/string.hpp>
 
 
 using namespace DO::Sara::Darknet;

cpp/drafts/NeuralNetworks/Darknet/Layer.hpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/Layer.hpp

@@ -14,7 +14,7 @@
 #include <DO/Sara/Core/Tensor.hpp>
 #include <DO/Sara/ImageProcessing/GemmBasedConvolution.hpp>
 
-#include <boost/algorithm/string.hpp>
+#include <memory>
 
 
 namespace DO::Sara::Darknet {

cpp/drafts/NeuralNetworks/Darknet/Network.hpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/Network.hpp

@@ -13,10 +13,8 @@
 
 #include <DO/Sara/Core/MultiArray/Slice.hpp>
 #include <DO/Sara/Core/TicToc.hpp>
-
 #include <DO/Sara/ImageProcessing/GemmBasedConvolution.hpp>
-
-#include <drafts/NeuralNetworks/Darknet/Layer.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Layer.hpp>
 
 #include <iomanip>
 

cpp/drafts/NeuralNetworks/Darknet/Parser.cpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/Parser.cpp

@@ -9,7 +9,9 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/Darknet/Parser.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Parser.hpp>
+
+#include <boost/algorithm/string.hpp>
 
 #include <fstream>
 
@@ -206,7 +208,7 @@ namespace DO::Sara::Darknet {
   }
 
 
-  auto load_yolov4_tiny_model(const boost::filesystem::path& model_dir_path)
+  auto load_yolov4_tiny_model(const std::filesystem::path& model_dir_path)
       -> Network
   {
     const auto cfg_filepath = model_dir_path / "yolov4-tiny.cfg";

cpp/drafts/NeuralNetworks/Darknet/Parser.hpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/Parser.hpp

@@ -11,10 +11,10 @@
 
 #pragma once
 
-#include <drafts/NeuralNetworks/Darknet/Layer.hpp>
-#include <drafts/NeuralNetworks/Darknet/Network.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Layer.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Network.hpp>
 
-#include <boost/filesystem.hpp>
+#include <filesystem>
 
 
 namespace DO::Sara::Darknet {
@@ -66,7 +66,7 @@ namespace DO::Sara::Darknet {
   };
 
 
-  auto load_yolov4_tiny_model(const boost::filesystem::path& model_dir_path)
+  auto load_yolov4_tiny_model(const std::filesystem::path& model_dir_path)
       -> Network;
 
 }  // namespace DO::Sara::Darknet

cpp/drafts/NeuralNetworks/Darknet/YoloUtilities.cpp → cpp/src/DO/Sara/NeuralNetworks/Darknet/YoloUtilities.cpp

@@ -9,7 +9,7 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/Darknet/YoloUtilities.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/YoloUtilities.hpp>
 
 
 namespace DO::Sara::Darknet {

cpp/src/DO/Shakti/Cuda/CMakeLists.txt

@@ -15,3 +15,5 @@ if (NvidiaVideoCodec_ROOT)
 endif ()
 
 add_subdirectory(FeatureDetectors)
+
+add_subdirectory(TensorRT)

cpp/src/DO/Shakti/Cuda/TensorRT/CMakeLists.txt

@@ -0,0 +1,31 @@
+if(NOT CMAKE_CUDA_COMPILER OR NOT TensorRT_FOUND)
+  return()
+endif()
+
+add_library(
+  DO_Shakti_Cuda_TensorRT #
+  Helpers.hpp #
+  IO.hpp #
+  IO.cpp #
+  InferenceExecutor.hpp #
+  InferenceExecutor.cpp #
+  DarknetParser.hpp #
+  DarknetParser.cpp #
+  Yolo.cpp
+  Yolo.hpp
+  YoloImpl.hpp
+  YoloImpl.cu)
+add_library(DO::Shakti::Cuda::TensorRT ALIAS DO_Shakti_Cuda_TensorRT)
+if(SARA_BUILD_SHARED_LIBS)
+  target_compile_definitions(DO_Shakti_Cuda_TensorRT PRIVATE DO_SARA_EXPORTS)
+else()
+  target_compile_definitions(DO_Shakti_Cuda_TensorRT PUBLIC DO_SARA_STATIC)
+endif()
+
+target_link_libraries(
+  DO_Shakti_Cuda_TensorRT
+  PUBLIC $<$<PLATFORM_ID:Linux>:CUDA::cudart> #
+         TensorRT::TensorRT #
+         DO::Shakti::Cuda::Utilities #
+         DO::Sara::Darknet)
+set_property(TARGET DO_Shakti_Cuda_TensorRT PROPERTY FOLDER "Libraries/Shakti")

cpp/drafts/NeuralNetworks/TensorRT/DarknetParser.cpp → cpp/src/DO/Shakti/Cuda/TensorRT/DarknetParser.cpp

@@ -9,12 +9,15 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/Darknet/Parser.hpp>
-#include <drafts/NeuralNetworks/TensorRT/DarknetParser.hpp>
-#include <drafts/NeuralNetworks/TensorRT/IO.hpp>
+#include <DO/Shakti/Cuda/TensorRT/DarknetParser.hpp>
+#include <DO/Shakti/Cuda/TensorRT/IO.hpp>
+
+#include <DO/Sara/NeuralNetworks/Darknet/Parser.hpp>
 
 
 namespace DO::Sara::TensorRT {
+  using nvinfer1::IPluginV2;
+
 
   static inline auto shape(const nvinfer1::ITensor& t) -> Eigen::Vector4i
   {
@@ -293,7 +296,7 @@ namespace DO::Sara::TensorRT {
 
     // Create the YOLO plugin.
     const auto yolo_plugin =
-        std::unique_ptr<nvinfer1::IPluginV2, decltype(delete_plugin)>{
+        std::unique_ptr<IPluginV2, decltype(delete_plugin)>{
             yolo_plugin_creator->createPlugin("", &fc), delete_plugin};
     assert(yolo_plugin.get() != nullptr);
 

cpp/drafts/NeuralNetworks/TensorRT/DarknetParser.hpp → cpp/src/DO/Shakti/Cuda/TensorRT/DarknetParser.hpp

@@ -11,11 +11,11 @@
 
 #pragma once
 
-#include <drafts/NeuralNetworks/Darknet/Network.hpp>
-#include <drafts/NeuralNetworks/TensorRT/Helpers.hpp>
-#include <drafts/NeuralNetworks/TensorRT/Yolo.hpp>
+#include <DO/Shakti/Cuda/TensorRT/Helpers.hpp>
+#include <DO/Shakti/Cuda/TensorRT/Yolo.hpp>
 
 #include <DO/Sara/Core/DebugUtilities.hpp>
+#include <DO/Sara/NeuralNetworks/Darknet/Network.hpp>
 
 #include <NvInfer.h>
 
@@ -59,7 +59,8 @@ namespace DO::Sara::TensorRT {
                           std::vector<nvinfer1::ITensor*>& fmaps) const -> void;
 
     auto add_maxpool_layer(const int layer_idx,
-                           std::vector<nvinfer1::ITensor*>& fmaps) const -> void;
+                           std::vector<nvinfer1::ITensor*>& fmaps) const
+        -> void;
 
     auto add_upsample_layer(const int layer_idx,
                             std::vector<nvinfer1::ITensor*>& fmaps) const

cpp/drafts/NeuralNetworks/TensorRT/IO.cpp → cpp/src/DO/Shakti/Cuda/TensorRT/IO.cpp

@@ -9,7 +9,7 @@
 // you can obtain one at http://mozilla.org/MPL/2.0/.
 // ========================================================================== //
 
-#include <drafts/NeuralNetworks/TensorRT/Helpers.hpp>
+#include <DO/Shakti/Cuda/TensorRT/Helpers.hpp>
 
 
 namespace DO::Sara::TensorRT {