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GeekAlexis / FastMOT

High-performance multiple object tracking based on YOLO, Deep SORT, and KLT 🚀
MIT License
1.12k stars 256 forks source link

the output value of yolov4 are all zero,computes: 53 on jetson nano #241

Closed 43998213 closed 2 years ago

43998213 commented 2 years ago

This project is very interesting. Thank you for your generosity. It well on Jetson Agx and Jetson NX , but something went wrong on Jetson Nano. yolov4 detector can not detect anything. [[0. 0. 0. ... 0. 0. 0.] [0. 0. 0. ... 0. 0. 0.] [0. 0. 0. ... 0. 0. 0.] ... [0. 0. 0. ... 0. 0. 0.] [0. 0. 0. ... 0. 0. 0.] [0. 0. 0. ... 0. 0. 0.]]

/usr/local/cuda-10.2/bin/nvcc --version nvcc: NVIDIA (R) Cuda compiler driver Copyright (c) 2005-2019 NVIDIA Corporation Built on Wed_Oct_23_21:14:42_PDT_2019 Cuda compilation tools, release 10.2, V10.2.89

make computes: 53 NVCCFLAGS: -gencode arch=compute_53,code=[sm_53,compute_53] g++ -shared -o libyolo_layer.so yolo_layer.o -L"/usr/local/cuda/lib64" -L"/usr/local/TensorRT-7.1.3.4/lib" -L"/usr/local/lib" -Wl,--start-group -lnvinfer -lnvparsers -lnvinfer_plugin -lcudnn -lcublas -lnvToolsExt -lcudart -lrt -ldl -lpthread -Wl,--end-group

pip list Package Version

absl-py 1.0.0 actionlib 1.12.1 angles 1.9.12 apt-clone 0.2.1 apturl 0.5.2 asn1crypto 0.24.0 astor 0.8.1 attrs 17.4.0 backports.entry-points-selectable 1.1.0 base_local_planner 1.16.7 beautifulsoup4 4.6.0 blinker 1.4 bondpy 1.8.5 Brlapi 0.6.6 cachetools 4.2.4 camera_calibration 1.15.0 camera_calibration_parsers 1.11.13 catkin 0.7.29 catkin-pkg 0.4.24 certifi 2018.1.18 chardet 3.0.4 charset-normalizer 2.0.7 colorama 0.4.4 controller_manager 0.18.4 controller_manager_msgs 0.18.4 cryptography 2.1.4 cupshelpers 1.0 cupy 9.6.0 cv_bridge 1.13.0 cycler 0.10.0 Cython 0.29.24 dataclasses 0.8 decorator 4.1.2 defer 1.0.6 diagnostic_analysis 1.9.7 diagnostic_common_diagnostics 1.9.7 diagnostic_updater 1.9.7 distlib 0.3.3 distro 1.6.0 distro-info 0.18ubuntu0.18.04.1 docutils 0.18 drone_wrapper 1.3.8 dynamic_reconfigure 1.6.3 fastrlock 0.8 feedparser 5.2.1 filelock 3.3.0 flatbuffers 2.0 future 0.18.2 gast 0.2.2 gazebo_plugins 2.8.7 gazebo_ros 2.8.7 gdown 4.2.0 gencpp 0.6.5 geneus 2.2.6 genlisp 0.4.16 genmsg 0.5.16 gennodejs 2.0.1 genpy 0.6.16 google-auth 1.35.0 google-auth-oauthlib 0.4.6 google-pasta 0.2.0 graphsurgeon 0.4.5 grpcio 1.41.1 h5py 2.10.0 html5lib 0.999999999 httplib2 0.9.2 idna 2.6 image_geometry 1.13.0 importlib-metadata 4.8.1 importlib-resources 5.2.2 interactive-markers 1.11.5 Jetson.GPIO 2.0.16 joblib 0.11 joint_state_publisher 1.12.15 joint_state_publisher_gui 1.12.15 jsonpatch 1.32 jsonpointer 2.2 kdl_parser_py 1.13.1 Keras-Applications 1.0.8 Keras-Preprocessing 1.1.2 keyring 10.6.0 keyrings.alt 3.0 language-selector 0.1 laser_geometry 1.6.7 launchpadlib 1.10.6 lazr.restfulclient 0.13.5 lazr.uri 1.0.3 llvmlite 0.31.0 louis 3.5.0 lxml 4.2.1 macaroonbakery 1.1.3 Mako 1.0.7 Markdown 3.3.4 MarkupSafe 1.0 matplotlib 2.1.1 mavros 1.9.0 message_filters 1.14.12 moveit_commander 1.0.8 moveit-core 1.0.8 moveit_ros_planning_interface 1.0.8 moveit_ros_visualization 1.0.8 mpi4py 3.1.2 nose 1.3.7 numba 0.48.0 numpy 1.19.5 oauth 1.0.1 oauthlib 3.1.1 olefile 0.45.1 onboard 1.4.1 onnx 1.6.0 onnx-simplifier 0.2.16 onnxruntime 1.10.0 opencv-python 4.5.5.62 opt-einsum 3.3.0 PAM 0.4.2 pandas 0.22.0 pbr 5.6.0 Pillow 8.4.0 pip 21.3.1 platformdirs 2.4.0 pluggy 0.6.0 protobuf 3.19.1 py 1.5.2 py-trees 0.6.9 pyasn1 0.4.8 pyasn1-modules 0.2.8 pycairo 1.16.2 pycocotools 2.0.2 pycparser 2.21 pycrypto 2.6.1 pycups 1.9.73 PyGObject 3.26.1 PyICU 1.9.8 PyJWT 1.5.3 pymacaroons 0.13.0 pymongo 4.0.1 PyNaCl 1.1.2 pyparsing 2.2.0 pyRFC3339 1.0 pyserial 3.5 PySocks 1.7.1 pytest 3.3.2 python-apt 1.6.5+ubuntu0.3 python-dateutil 2.6.1 python-debian 0.1.32 python_qt_binding 0.4.4 pytz 2018.3 pyxattr 0.6.0 pyxdg 0.25 PyYAML 3.12 pyzmq 22.3.0 qt-dotgraph 0.4.2 qt-gui 0.4.2 qt-gui-cpp 0.4.2 qt-gui-py-common 0.4.2 requests 2.26.0 requests-oauthlib 1.3.0 requests-unixsocket 0.1.5 resource_retriever 1.12.6 ros_numpy 0.0.3 rosbag 1.14.12 rosboost-cfg 1.14.9 rosclean 1.14.9 roscreate 1.14.9 rosgraph 1.14.12 roslaunch 1.14.12 roslib 1.14.9 roslint 0.11.2 roslz4 1.14.12 rosmake 1.14.9 rosmaster 1.14.12 rosmsg 1.14.12 rosnode 1.14.12 rosparam 1.14.12 rospkg 1.3.0 rospy 1.14.12 rosservice 1.14.12 rostest 1.14.12 rostopic 1.14.12 rosunit 1.14.9 roswtf 1.14.12 rqt_action 0.4.9 rqt_bag 0.5.1 rqt_bag_plugins 0.5.1 rqt_console 0.4.9 rqt_controller_manager 0.18.4 rqt_dep 0.4.9 rqt_drone_teleop 1.3.8 rqt_ez_publisher 0.5.0 rqt_graph 0.4.11 rqt_ground_robot_teleop 1.3.8 rqt_gui 0.5.2 rqt_gui_py 0.5.2 rqt_image_view 0.4.16 rqt_joint_trajectory_controller 0.17.2 rqt_joint_trajectory_plot 0.0.5 rqt_launch 0.4.8 rqt_launchtree 0.2.0 rqt_logger_level 0.4.8 rqt-moveit 0.5.10 rqt_msg 0.4.8 rqt_multiplot 0.0.10 rqt_nav_view 0.5.7 rqt_play_motion_builder 1.0.2 rqt_plot 0.4.13 rqt_pose_view 0.5.8 rqt_publisher 0.4.8 rqt_py_common 0.5.2 rqt_py_console 0.4.8 rqt_py_trees 0.3.1 rqt-reconfigure 0.5.4 rqt_robot_dashboard 0.5.7 rqt-robot-monitor 0.5.13 rqt_robot_steering 0.5.10 rqt_rotors 2.2.3 rqt_runtime_monitor 0.5.7 rqt-rviz 0.7.0 rqt_service_caller 0.4.8 rqt_shell 0.4.9 rqt_srv 0.4.8 rqt_tf_tree 0.6.0 rqt_top 0.4.8 rqt_topic 0.4.11 rqt_virtual_joy 0.1.2 rqt_web 0.4.8 rsa 4.7.2 rtabmap-ros 0.20.14 rviz 1.13.19 scikit-learn 0.19.1 scipy 1.5.0 SecretStorage 2.3.1 sensor-msgs 1.12.8 setuptools 59.5.0 simplejson 3.13.2 six 1.11.0 sklearn 0.0 smach 2.0.1 smach_ros 2.0.1 smclib 1.8.5 srdfdom 0.5.2 ssh-import-id 5.7 stevedore 3.4.0 system-service 0.3 systemd-python 234 tb-nightly 2.8.0a20211114 tensorboard 2.0.2 tensorboard-data-server 0.6.1 tensorboard-plugin-wit 1.8.0 tensorboardX 2.4 tensorflow-estimator 2.0.1 tensorflow-gpu 2.0.0+nv19.11.tf2 tensorrt 7.2.0.14 termcolor 1.1.0 tf 1.12.1 tf_conversions 1.12.1 tf2_geometry_msgs 0.6.5 tf2_kdl 0.6.5 tf2_py 0.6.5 tf2_ros 0.6.5 tf2_sensor_msgs 0.6.5 topic_tools 1.14.12 torch 1.9.0 torch2trt 0.3.0 torchfile 0.1.0 torchreid 1.0.6 torchvision 0.10.0a0+300a8a4 tornado 6.1 tqdm 4.62.3 trac_ik_python 1.5.1 typing 3.7.4.3 typing-extensions 3.10.0.2 ubuntu-drivers-common 0.0.0 uff 0.6.9 ufw 0.36 unique_id 1.0.6 unity-scope-calculator 0.1 unity-scope-chromiumbookmarks 0.1 unity-scope-colourlovers 0.1 unity-scope-devhelp 0.1 unity-scope-firefoxbookmarks 0.1 unity-scope-manpages 0.1 unity-scope-openclipart 0.1 unity-scope-texdoc 0.1 unity-scope-tomboy 0.1 unity-scope-virtualbox 0.1 unity-scope-yelp 0.1 unity-scope-zotero 0.1 urdfdom-py 0.4.5 urllib3 1.22 urwid 2.0.1 virtualenv 20.8.1 virtualenv-clone 0.5.7 virtualenvwrapper 4.8.4 visdom 0.1.8.9 wadllib 1.3.2 webencodings 0.5 websocket-client 1.2.1 Werkzeug 2.0.2 wheel 0.37.0 wrapt 1.13.3 xacro 1.13.13 xkit 0.0.0 yacs 0.1.8 youtube_dl 2018.3.14 zipp 3.6.0 zope.interface 4.3.2

{ "resize_to": [640,480],

"stream_cfg": {
    "resolution": [1920, 1080],
    "frame_rate": 30,
    "buffer_size": 10
},

"mot_cfg": {
    "detector_type": "YOLO",
    "detector_frame_skip": 1,

    "ssd_detector_cfg": {
        "model": "SSDInceptionV2",
        "class_ids": [1],
        "tile_overlap": 0.25,
        "tiling_grid": [4, 2],
        "conf_thresh": 0.5,
        "merge_thresh": 0.6,
        "max_area": 120000
    },

    "yolo_detector_cfg": {
        "model": "YOLOv4",
        "class_ids": [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21],
        "conf_thresh": 0.2,
        "nms_thresh": 0.1,
        "max_area": 800000,
        "min_aspect_ratio": 0.3
    },
    "public_detector_cfg": {
        "sequence_path": "MOT20/train/MOT20-01",
        "conf_thresh": 0.5,
        "max_area": 800000
    },
    "feature_extractor_cfg": {
        "model": "OSNet025",
        "batch_size": 16
    },
    "tracker_cfg": {
        "max_age": 1,
        "age_penalty":10000,
        "motion_weight": 0.01,
        "max_assoc_cost": 2.0,
        "max_reid_cost": 2.0,
        "iou_thresh": 0.1,
        "duplicate_thresh": 0.01,
        "occlusion_thresh": 0.01,
        "conf_thresh": 0.8,
        "confirm_hits": 5,
        "history_size": 999999,

        "kalman_filter_cfg": {
            "std_factor_acc": 500.25,
            "std_offset_acc": 500.5,
            "std_factor_det": [0.08, 0.08],
            "std_factor_klt": [0.14, 0.14],
            "min_std_det": [4.0, 4.0],
            "min_std_klt": [5.0, 5.0],
            "init_pos_weight": 10,
            "init_vel_weight": 20,
            "vel_coupling": 1.0,
            "vel_half_life": 100
        },

        "flow_cfg": {
            "bg_feat_scale_factor": [0.1, 0.1],
            "opt_flow_scale_factor": [0.5, 0.5],
            "feat_density": 0.005,
            "feat_dist_factor": 0.06,
            "ransac_max_iter": 500,
            "ransac_conf": 0.99,
            "max_error": 100,
            "inlier_thresh": 4,
            "bg_feat_thresh": 10,
            "obj_feat_params": {
                "maxCorners": 1000,
                "qualityLevel": 0.06,
                "blockSize": 3
            },
            "opt_flow_params": {
                "winSize": [5, 5],
                "maxLevel": 5,
                "criteria": [3, 10, 0.03]
            }
        }
    },

    "visualizer_cfg": {
        "draw_detections": false,
        "draw_confidence": false,
        "draw_covariance": false,
        "draw_klt": false,
        "draw_obj_flow": false,
        "draw_bg_flow": false
    }
}

}

I hope you can give me some advice in your busy schedule,Thanks

GeekAlexis commented 2 years ago

Please search past issues. You need to build the models differently with Nano due to limited memory.