unique-unit-map-for-model

configs/tasks/fusion/fusion_model.yaml

@@ -3,7 +3,7 @@
 name: CameraModel
 inputNames: [cvVisImage, cvThermalImage]
 # outputNames: [fusionedDetections]
-outputNames: [trackedDetections]
+outputNames: [trackedDetections, undistortVisImage]
 
 units:
 # camera rgb, using TraDes segmentor

configs/tasks/fusion/rgb_intrinsic.yaml

@@ -12,6 +12,15 @@ distortion_coefficients:
     rows: 1
     cols: 5
     data: [-0.308855, 0.080618, -0.000948, -0.000307, 0.000000]
+new_image_width: 1920
+new_image_height: 1080
+new_camera_matrix:
+   rows: 3
+   cols: 3
+   dt: d
+   data: [ 954.94556,    0.     ,  959.48891,
+              0.     ,  955.72757,  550.42017,
+              0.     ,    0.     ,    1.     ]
 rectification_matrix:
     rows: 3
     cols: 3

include/interfaces/base_io.h

@@ -22,12 +22,24 @@ public:
 using BaseIOPtr = std::shared_ptr<BaseIO>;
 
 
-typedef std::map<std::string, BaseIOPtr> BaseIOMap;
-BaseIOMap &GlobalBaseIOMap();
 
-BaseIOPtr GetIOPtr(std::string& ioName);
 
-void SetIOPtr(std::string& ioName, BaseIOPtr src);
+class BaseIOMap{
+    
+public:
+    BaseIOMap() = default;
+
+    BaseIOPtr GetIOPtr(std::string& ioName);
+
+    void SetIOPtr(std::string& ioName, BaseIOPtr src);
+
+private:
+    std::map<std::string, BaseIOPtr> map;
+
+};
+using BaseIOMapPtr = std::shared_ptr<BaseIOMap>;
+
+
 
 
 }  // namespace interfaces

include/interfaces/base_model.h

@@ -36,6 +36,7 @@ public:
     
 public:
     std::vector<BaseUnitPtr> units_;
+    BaseIOMapPtr modelUnitMap;
     std::vector<std::string> inputNames;
     std::vector<std::string> outputNames;
 

include/interfaces/base_unit.h

@@ -10,6 +10,7 @@
 #include "base/blob.h"
 #include "common/log.h"
 #include "common/register.h"
+#include "interfaces/base_io.h"
 
 namespace waytous {
 namespace deepinfer {
@@ -22,7 +23,7 @@ public:
     BaseUnit() = default;
     virtual ~BaseUnit() = default;
     
-    virtual bool Init(YAML::Node& node);
+    virtual bool Init(YAML::Node& node, BaseIOMapPtr pmap);
 
     virtual bool Exec() = 0;
 
@@ -33,6 +34,7 @@ public:
 public:
     std::vector<std::string> inputNames;
     std::vector<std::string> outputNames;
+    BaseIOMapPtr pMap;
 
 };
 using BaseUnitPtr = std::shared_ptr<BaseUnit>;

main.cpp

@@ -128,7 +128,7 @@ int main(int argc, char** argv){
 
 ./main TaskBSW image ../configs/tasks/bsw/bsw.yaml ../test/bsw.jpg ../test/bsw_res.jpg
 
-./main TaskMulti image ../configs/tasks/multi/multi_task.yaml ../test/bsw.jpg ../test/multi_res.jpg
+./main TaskMulti image ../configs/tasks/multi/multi_task.yaml ../test/multi_test.jpg ../test/multi_res.jpg
 
 */
 

src/interfaces/base_io.cpp

@@ -6,25 +6,23 @@ namespace deepinfer {
 namespace interfaces {
 
 // cudafree global variable -> cuda_error 29
-BaseIOMap &GlobalBaseIOMap(){
-    static BaseIOMap GlobalIOMap;
-    return GlobalIOMap;
-}
+// BaseIOMap &GlobalBaseIOMap(){
+//     static BaseIOMap GlobalIOMap;
+//     return GlobalIOMap;
+// }
 
 
-BaseIOPtr GetIOPtr(std::string& ioName){
-    auto& gmap = GlobalBaseIOMap();
-    auto iter = gmap.find(ioName);
-    if (iter == gmap.end()) {
+BaseIOPtr BaseIOMap::GetIOPtr(std::string& ioName){
+    auto iter = map.find(ioName);
+    if (iter == map.end()) {
         return nullptr;
     }
     return iter->second;
 }
 
 
-void SetIOPtr(std::string& ioName, BaseIOPtr src){
-    auto& gmap = GlobalBaseIOMap();
-    gmap[ioName] = src;
+void BaseIOMap::SetIOPtr(std::string& ioName, BaseIOPtr src){
+    map[ioName] = src;
 }
 
 

src/interfaces/base_unit.cpp

@@ -4,9 +4,10 @@ namespace waytous {
 namespace deepinfer {
 namespace interfaces {
 
-bool BaseUnit::Init(YAML::Node& node){
+bool BaseUnit::Init(YAML::Node& node, BaseIOMapPtr pmap){
     inputNames = node["inputNames"].as<std::vector<std::string>>();
     outputNames = node["outputNames"].as<std::vector<std::string>>();
+    pMap = pmap;
     return true;
 };
 

src/libs/fusioner/bayesian_fusioner.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace fusioner {
 
 
-bool BayesianFusioner::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool BayesianFusioner::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init BayesianFusioner error";
         return false;
     };
@@ -26,7 +26,7 @@ bool BayesianFusioner::Exec(){
     std::vector<ios::Det2DPtr> all_objects; 
     for(int i=0; i<inputNames.size(); i++){
         auto inputName = inputNames[i];
-        auto ptr = std::dynamic_pointer_cast<ios::Detection2Ds>(interfaces::GetIOPtr(inputName));
+        auto ptr = std::dynamic_pointer_cast<ios::Detection2Ds>(pMap->GetIOPtr(inputName));
         if (ptr == nullptr){
             LOG_ERROR << "BayesianFusioner input " << inputName << " haven't been init or doesn't exist.";
             return false;
@@ -47,7 +47,7 @@ bool BayesianFusioner::Exec(){
     );
 
     auto fusioned_objects = std::make_shared<ios::Detection2Ds>();
-    interfaces::SetIOPtr(outputNames[0], fusioned_objects);
+    pMap->SetIOPtr(outputNames[0], fusioned_objects);
     for(size_t i=0; i < indices.size(); i++){
         if(!deleted[indices[i]]){
             std::vector<ios::Det2DPtr> matched_objs;

src/libs/fusioner/bayesian_fusioner.h

@@ -31,7 +31,7 @@ public:
         {"IOA", BayesianFusionMatchMethod::IOA}
     };
 
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/inferences/tensorrt/trt_infer.cpp

@@ -28,8 +28,8 @@ TRTInference::~TRTInference(){
 }
 
 
-bool TRTInference::Init(YAML::Node& configNode){
-    if(!BaseUnit::Init(configNode)){
+bool TRTInference::Init(YAML::Node& configNode, interfaces::BaseIOMapPtr pmap){
+    if(!BaseUnit::Init(configNode, pmap)){
         LOG_WARN << "Init trt engine error";
         return false;
     };
@@ -79,7 +79,7 @@ bool TRTInference::Init(YAML::Node& configNode){
     }
 
     for (auto inputName: inputNames){
-        auto input = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputName));
+        auto input = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputName));
         if (input == nullptr){
             LOG_ERROR << "inference engine input " << inputName << " haven't been init or doesn't exist.";
             return false;
@@ -108,7 +108,7 @@ bool TRTInference::Init(YAML::Node& configNode){
         auto blob = std::make_shared<base::Blob<float>>(shape);
         blobs_.insert(std::make_pair(name, blob));
         auto output = std::make_shared<ios::NormalIO>(blob);
-        interfaces::SetIOPtr(name, output);
+        pMap->SetIOPtr(name, output);
         auto binding = blob->mutable_gpu_data();
         mBindings.emplace_back(static_cast<void*>(binding));
     }

src/libs/inferences/tensorrt/trt_infer.h

@@ -32,7 +32,7 @@ class TRTInference: public interfaces::BaseUnit {
 public:
     ~TRTInference();
 
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
     virtual bool BuildEngine(YAML::Node& node);
     bool Exec() override;
     virtual std::string Name() override;

src/libs/postprocessors/homo_project.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace postprocess {
 
 
-bool HomoProject::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool HomoProject::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init homo project error";
         return false;
     };
@@ -34,7 +34,7 @@ bool HomoProject::Init(YAML::Node& node) {
 
 
 bool HomoProject::Exec(){
-    auto ptr = std::dynamic_pointer_cast<ios::Detection2Ds>(interfaces::GetIOPtr(inputNames[0]));
+    auto ptr = std::dynamic_pointer_cast<ios::Detection2Ds>(pMap->GetIOPtr(inputNames[0]));
     if (ptr == nullptr){
         LOG_ERROR << "HomoProject input " << inputNames[0] << " haven't been init or doesn't exist.";
         return false;
@@ -68,7 +68,7 @@ bool HomoProject::Exec(){
 
         projected_dets->detections.push_back(projected_obj);
     }
-    interfaces::SetIOPtr(outputNames[0], projected_dets);
+    pMap->SetIOPtr(outputNames[0], projected_dets);
     return true;
 }
 

src/libs/postprocessors/homo_project.h

@@ -17,7 +17,7 @@ namespace postprocess {
 class HomoProject: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/postprocessors/mobilefacenet_post.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace postprocess {
 
 
-bool MobileFaceNetPostProcess::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool MobileFaceNetPostProcess::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init mobilefacenet postprocess error";
         return false;
     };
@@ -24,7 +24,7 @@ bool MobileFaceNetPostProcess::Exec(){
         return false;
     }
 
-    auto input = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputNames[0]));
+    auto input = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputNames[0]));
     if (input == nullptr){
         LOG_ERROR << "mobilefacenet postprocess input " << inputNames[0] << " haven't been init or doesn't exist.";
         return false;
@@ -33,7 +33,7 @@ bool MobileFaceNetPostProcess::Exec(){
     std::vector<base::Image8UPtr> inputImages;
     for(int j=1; j<inputNames.size(); j++){
         auto iName = inputNames[j];
-        auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(iName));
+        auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(pMap->GetIOPtr(iName));
         if (iptr == nullptr){
             LOG_ERROR << "mobilefacenet postprocess input " << iName << " haven't been init or doesn't exist.";
             return false;
@@ -58,7 +58,7 @@ bool MobileFaceNetPostProcess::Exec(){
             lptr->y = points[l * 2 + 1] * inputHeight / scaley;
             face_landmarks->landmarks.push_back(lptr);
         }
-        interfaces::SetIOPtr(outputNames[b], face_landmarks);
+        pMap->SetIOPtr(outputNames[b], face_landmarks);
     }
     
     return true;

src/libs/postprocessors/mobilefacenet_post.h

@@ -17,7 +17,7 @@ namespace postprocess {
 class MobileFaceNetPostProcess: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/postprocessors/multi_post.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace postprocess {
 
 
-bool MultiPostProcess::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool MultiPostProcess::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init multitask postprocess error";
         return false;
     };
@@ -44,27 +44,27 @@ bool MultiPostProcess::Init(YAML::Node& node) {
 
 bool MultiPostProcess::Exec() {
     
-    auto rawDetections = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputNames[0]));
+    auto rawDetections = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputNames[0]));
     if (rawDetections == nullptr){
         LOG_ERROR << "multitask postprocess input " << inputNames[0] << " haven't been init or doesn't exist.";
         return false;
     }
-    auto segProtos = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputNames[1]));
+    auto segProtos = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputNames[1]));
     if (segProtos == nullptr){
         LOG_ERROR << "multitask postprocess input " << inputNames[1] << " haven't been init or doesn't exist.";
         return false;
     }
-    auto rawDepths = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputNames[2]));
+    auto rawDepths = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputNames[2]));
     if (rawDepths == nullptr){
         LOG_ERROR << "multitask postprocess input " << inputNames[2] << " haven't been init or doesn't exist.";
         return false;
     }
-    auto rawSemantics = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputNames[3]));
+    auto rawSemantics = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputNames[3]));
     if (rawSemantics == nullptr){
         LOG_ERROR << "multitask postprocess input " << inputNames[3] << " haven't been init or doesn't exist.";
         return false;
     }
-    auto inputImage = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(inputNames[4]));
+    auto inputImage = std::dynamic_pointer_cast<ios::CameraSrcOut>(pMap->GetIOPtr(inputNames[4]));
     if (inputImage == nullptr){
         LOG_ERROR << "multitask postprocess input " << inputNames[4] << " haven't been init or doesn't exist.";
         return false;
@@ -168,7 +168,7 @@ bool MultiPostProcess::Exec() {
         );
         // LOG_INFO << x1 << " " << x2 << " " << y1 << " " << y2 <<", " << det->mask_ptr->rle_string;
     }
-    interfaces::SetIOPtr(outputNames[0], dets);
+    pMap->SetIOPtr(outputNames[0], dets);
 
     // Semantic Mask
     auto semantics = std::make_shared<ios::Semantics>();
@@ -200,7 +200,7 @@ bool MultiPostProcess::Exec() {
         // LOG_INFO << seg->mask_ptr->rle_string;
         semantics->semantic_segs.push_back(seg);
     }
-    interfaces::SetIOPtr(outputNames[1], semantics);
+    pMap->SetIOPtr(outputNames[1], semantics);
 
     // Depth
     auto depth = std::make_shared<ios::Depth>();
@@ -223,7 +223,7 @@ bool MultiPostProcess::Exec() {
     //     cv::resize(mask_mat, mask_res, cv::Size(img_width, img_height));
     // }
     depth->depth = mask_mat;
-    interfaces::SetIOPtr(outputNames[2], depth);
+    pMap->SetIOPtr(outputNames[2], depth);
 
     return true;
 

src/libs/postprocessors/multi_post.h

@@ -21,7 +21,7 @@ namespace postprocess {
 class MultiPostProcess: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/postprocessors/trades_post.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace postprocess {
 
 
-bool TraDesPostProcess::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool TraDesPostProcess::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init trades postprocess error";
         return false;
     };
@@ -45,7 +45,7 @@ bool TraDesPostProcess::Exec() {
     std::vector<base::BlobPtr<float>> inputs;
     for(int i=0; i<5; i++){
         auto iName = inputNames[i];
-        auto p = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(iName));
+        auto p = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(iName));
         if (p == nullptr){
             LOG_ERROR << "TraDeS postprocess input " << iName << " haven't been init or doesn't exist.";
             return false;
@@ -56,7 +56,7 @@ bool TraDesPostProcess::Exec() {
     std::vector<base::Image8UPtr> inputImages;
     for(int j=5; j<inputNames.size(); j++){
         auto iName = inputNames[j];
-        auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(iName));
+        auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(pMap->GetIOPtr(iName));
         if (iptr == nullptr){
             LOG_ERROR << "TraDeS postprocess input image " << iName << " haven't been init or doesn't exist.";
             return false;
@@ -123,7 +123,7 @@ bool TraDesPostProcess::Exec() {
             ));
             dets->detections.push_back(obj);
         }
-        interfaces::SetIOPtr(outName, dets);
+        pMap->SetIOPtr(outName, dets);
     }
     return true;
 

src/libs/postprocessors/trades_post.h

@@ -18,7 +18,7 @@ namespace postprocess {
 class TraDesPostProcess: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/postprocessors/whenet_post.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace postprocess {
 
 
-bool WHENetPostProcess::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool WHENetPostProcess::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init WHENet postprocess error";
         return false;
     };
@@ -21,7 +21,7 @@ bool WHENetPostProcess::Exec(){
     std::vector<base::BlobPtr<float>> inputs; // model outputs
     for(int i=0; i<inputNames.size(); i++){
         auto inputName = inputNames[i];
-        auto ptr = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputName));
+        auto ptr = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputName));
         if (ptr == nullptr){
             LOG_ERROR << "WHENet postprocess input " << inputName << " haven't been init or doesn't exist.";
             return false;
@@ -36,7 +36,7 @@ bool WHENetPostProcess::Exec(){
 
     for(int b=0; b<outputNames.size(); b++){
         auto headpose = std::make_shared<ios::HeadPose>();
-        interfaces::SetIOPtr(outputNames[b], headpose);
+        pMap->SetIOPtr(outputNames[b], headpose);
         
         float yawSum = 0, pitchSum=0, rollSum = 0;
         // yaw

src/libs/postprocessors/whenet_post.h

@@ -17,7 +17,7 @@ namespace postprocess {
 class WHENetPostProcess: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/postprocessors/yolov5_post.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace postprocess {
 
 
-bool YoloV5PostProcess::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool YoloV5PostProcess::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init yolov5 postprocess error";
         return false;
     };
@@ -29,7 +29,7 @@ bool YoloV5PostProcess::Exec(){
     std::vector<base::BlobPtr<float>> inputs; // model outputs
     for(int i=0; i<4; i++){
         auto inputName = inputNames[i];
-        auto ptr = std::dynamic_pointer_cast<ios::NormalIO>(interfaces::GetIOPtr(inputName));
+        auto ptr = std::dynamic_pointer_cast<ios::NormalIO>(pMap->GetIOPtr(inputName));
         if (ptr == nullptr){
             LOG_ERROR << "YoloV5 postprocess input " << inputName << " haven't been init or doesn't exist.";
             return false;
@@ -40,7 +40,7 @@ bool YoloV5PostProcess::Exec(){
     std::vector<base::Image8UPtr> inputImages;
     for(int j=4; j<inputNames.size(); j++){
         auto iName = inputNames[j];
-        auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(iName));
+        auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(pMap->GetIOPtr(iName));
         if (iptr == nullptr){
             LOG_ERROR << "YoloV5 postprocess input " << iName << " haven't been init or doesn't exist.";
             return false;
@@ -86,7 +86,7 @@ bool YoloV5PostProcess::Exec(){
             }
             dets->detections.push_back(obj);
         }
-        interfaces::SetIOPtr(outName, dets);
+        pMap->SetIOPtr(outName, dets);
     }
     return true;
 }

src/libs/postprocessors/yolov5_post.h

@@ -17,7 +17,7 @@ namespace postprocess {
 class YoloV5PostProcess: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/preprocessors/resize_norm.cpp

@@ -6,9 +6,9 @@ namespace deepinfer {
 namespace preprocess {
 
 
-bool ResizeNorm::Init(YAML::Node& node){
+bool ResizeNorm::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap){
     // CUDA_CHECK(cudaStreamCreate(&stream_));
-    if(!BaseUnit::Init(node)){
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init resize_norm error";
         return false;
     };
@@ -28,7 +28,7 @@ bool ResizeNorm::Init(YAML::Node& node){
 
     dst.reset(new base::Blob<float>({inferBatchSize, 3, inputHeight, inputWidth}));
     auto dst_ptr = std::make_shared<ios::NormalIO>(dst);
-    interfaces::SetIOPtr(outputNames[0], dst_ptr);
+    pMap->SetIOPtr(outputNames[0], dst_ptr);
 
     mean.reset(new base::Blob<float>({3, 1}, inputMean.data()));
     mean->mutable_gpu_data();
@@ -41,7 +41,7 @@ bool ResizeNorm::Init(YAML::Node& node){
 bool ResizeNorm::Exec(){
     for(int b=0; b < inputNames.size(); b++){
         auto inputName = inputNames[b];
-        auto input = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(inputName));
+        auto input = std::dynamic_pointer_cast<ios::CameraSrcOut>(pMap->GetIOPtr(inputName));
         if(input == nullptr){
             LOG_ERROR << "resize norm input" << inputName << " haven't init";
             return false;

src/libs/preprocessors/resize_norm.h

@@ -18,7 +18,7 @@ namespace preprocess {
 class ResizeNorm: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/preprocessors/undistort.cpp

@@ -5,8 +5,8 @@ namespace deepinfer {
 namespace preprocess {
 
 
-bool Undistort::Init(YAML::Node& node) {
-    if(!BaseUnit::Init(node)){
+bool Undistort::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) {
+    if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init trades postprocess error";
         return false;
     };
@@ -34,7 +34,7 @@ bool Undistort::Init(YAML::Node& node) {
 
     dst_img = std::make_shared<base::Image8U>(dst_height_, dst_width_, base::Color::BGR);
     auto output = std::make_shared<ios::CameraSrcOut>(dst_img);
-    interfaces::SetIOPtr(outputNames[0], output);
+    pMap->SetIOPtr(outputNames[0], output);
     inited_ = true;
     return true;
 }
@@ -162,7 +162,7 @@ void Undistort::InitUndistortRectifyMap(
 
 
 bool Undistort::Exec(){
-    auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(inputNames[0]));
+    auto iptr = std::dynamic_pointer_cast<ios::CameraSrcOut>(pMap->GetIOPtr(inputNames[0]));
     if (iptr == nullptr){
         LOG_ERROR << "Undistort input " << inputNames[0] << " haven't been init or doesn't exist.";
         return false;

src/libs/preprocessors/undistort.h

@@ -22,7 +22,7 @@ namespace preprocess {
 class Undistort: public interfaces::BaseUnit{
 
 public:
-    bool Init(YAML::Node& node) override;
+    bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 
     bool Exec() override;
 

src/libs/sources/camera_src.cpp

@@ -8,7 +8,7 @@ namespace sources {
 
 
 bool CameraSrc::Exec(){
-    auto src_input = interfaces::GetIOPtr(inputNames[0]);
+    auto src_input = pMap->GetIOPtr(inputNames[0]);
     if(src_input == nullptr){
         LOG_ERROR << "CameraSrc input" << inputNames[0] << " haven't init";
         return false;
@@ -16,7 +16,7 @@ bool CameraSrc::Exec(){
     auto src = std::dynamic_pointer_cast<ios::CameraSrcIn>(src_input);
     auto img = std::make_shared<base::Image8U>(src->cv_img_);
     auto dst = std::make_shared<ios::CameraSrcOut>(img);
-    interfaces::SetIOPtr(outputNames[0], dst);
+    pMap->SetIOPtr(outputNames[0], dst);
     return true;
 }
 

src/libs/trackers/byte_tracker.cpp

@@ -7,9 +7,9 @@ namespace tracker{
 
 
 
-bool ByteTracker::Init(YAML::Node& node)
+bool ByteTracker::Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap)
 {
-	if(!BaseUnit::Init(node)){
+	if(!BaseUnit::Init(node, pmap)){
         LOG_WARN << "Init ByteTracker error";
         return false;
     };
@@ -31,7 +31,7 @@ bool ByteTracker::Init(YAML::Node& node)
 
 bool ByteTracker::Exec()
 {
-	auto input = std::dynamic_pointer_cast<ios::Detection2Ds>(interfaces::GetIOPtr(inputNames[0]));
+	auto input = std::dynamic_pointer_cast<ios::Detection2Ds>(pMap->GetIOPtr(inputNames[0]));
 	if(input == nullptr){
 		LOG_ERROR << "ByteTracker input " << inputNames[0] << " haven't init";
 		return false;
@@ -263,7 +263,7 @@ bool ByteTracker::Exec()
 		}
 	}
 	// }
-	interfaces::SetIOPtr(outputNames[0], tracked_bboxes);
+	pMap->SetIOPtr(outputNames[0], tracked_bboxes);
     LOG_INFO << "Get " << tracked_bboxes->detections.size() << " tracked objs. Removed track length: " << this->removed_tracks.size();
     return true;
 }

src/libs/trackers/byte_tracker.h

@@ -18,7 +18,7 @@ class ByteTracker: public interfaces::BaseUnit
 {
 public:
 
-	bool Init(YAML::Node& node) override;
+	bool Init(YAML::Node& node, interfaces::BaseIOMapPtr pmap) override;
 	bool Exec() override;
 	std::string Name() override;
 

src/models/camera_model.cpp

@@ -20,6 +20,8 @@ bool CameraModel::Init(std::string& configPath) {
     inputNames = modelConfigNode["inputNames"].as<std::vector<std::string>>();
     outputNames = modelConfigNode["outputNames"].as<std::vector<std::string>>();
 
+    modelUnitMap = std::make_shared<interfaces::BaseIOMap>();
+
     // units
     auto unitNodes = modelConfigNode["units"];
     for(int i=0; i<unitNodes.size(); i++){
@@ -28,7 +30,7 @@ bool CameraModel::Init(std::string& configPath) {
         LOG_INFO << "Init CameraModel unit: " << unitName; 
         interfaces::BaseUnitPtr unitPtr;
         unitPtr.reset(interfaces::BaseUnitRegisterer::GetInstanceByName(unitName));
-        if(!unitPtr->Init(unitNode)){
+        if(!unitPtr->Init(unitNode, modelUnitMap)){
             LOG_WARN << "Init CameraModel unit " << unitName << " failed!";
             return false;
         };
@@ -45,7 +47,7 @@ bool CameraModel::Exec(std::vector<cv::Mat*> inputs, std::vector<interfaces::Bas
         auto inputName = inputNames[i];
         LOG_INFO << "CameraModel input: " << inputName;
         auto input = std::make_shared<ios::CameraSrcIn>(input_img);
-        interfaces::SetIOPtr(inputName, input);
+        modelUnitMap->SetIOPtr(inputName, input);
     }
     // infer
     for(auto& unit: units_){
@@ -59,7 +61,7 @@ bool CameraModel::Exec(std::vector<cv::Mat*> inputs, std::vector<interfaces::Bas
     // output
     for(auto outName: outputNames){
         LOG_INFO << "CameraModel output: " << outName;
-        outputs.push_back(interfaces::GetIOPtr(outName));
+        outputs.push_back(modelUnitMap->GetIOPtr(outName));
     }
 
     return true;
@@ -72,7 +74,7 @@ bool CameraModel::Exec(std::vector<base::Image8UPtr> inputs, std::vector<interfa
         auto input_img = inputs[i];
         auto inputName = inputNames[i];
         auto input = std::make_shared<ios::CameraSrcOut>(input_img);
-        interfaces::SetIOPtr(inputName, input);
+        modelUnitMap->SetIOPtr(inputName, input);
     }
 
     // infer
@@ -86,7 +88,7 @@ bool CameraModel::Exec(std::vector<base::Image8UPtr> inputs, std::vector<interfa
 
     // output
     for(auto outName: outputNames){
-        outputs.push_back(interfaces::GetIOPtr(outName));
+        outputs.push_back(modelUnitMap->GetIOPtr(outName));
     }
     return true;
 }

src/tasks/task_fusion.cpp

@@ -34,9 +34,13 @@ bool TaskFusion::Exec(std::vector<cv::Mat*> inputs, std::vector<interfaces::Base
 
 
 void TaskFusion::Visualize(cv::Mat* image, interfaces::BaseIOPtr outs){
-    auto mainSrc = std::dynamic_pointer_cast<ios::CameraSrcOut>(interfaces::GetIOPtr(mainSrcName));
+
+}
+
+void TaskFusion::Visualize(cv::Mat* image, std::vector<interfaces::BaseIOPtr>& outputs){
+    auto mainSrc = std::dynamic_pointer_cast<ios::CameraSrcOut>(outputs[outputs.size()-1]);;
     auto mainImage = mainSrc->img_ptr_->toCVMat();
-    auto detections =  std::dynamic_pointer_cast<ios::Detection2Ds>(outs)->detections;
+    auto detections =  std::dynamic_pointer_cast<ios::Detection2Ds>(outputs[0])->detections;
     cv::Mat realInstanceMask, colorInstance;
     for(auto& obj: detections){
         cv::Scalar color = get_color(obj->class_label * 100 + obj->track_id);

src/tasks/task_fusion.h

@@ -21,6 +21,7 @@ public:
 
     bool Exec(std::vector<cv::Mat*> inputs, std::vector<interfaces::BaseIOPtr>& outputs) override;
     void Visualize(cv::Mat* image, interfaces::BaseIOPtr outs) override;
+    void Visualize(cv::Mat* image, std::vector<interfaces::BaseIOPtr>& outputs);
     std::string Name() override;
 
 public: