CYOLO – a pure C++ implementation of a YOLOv3 SPE for rt-ai

The Python-based YOLOv3 SPE has been working for a while now but the performance was a little disappointing at 2 or 3 fps using 1280 x 720 frames on an i7 5820K CPU/GTX 1080ti GPU machine. I was interested to see how much effect the Python code was having on overall performance. To do this I implemented the C++ rt-ai SPE API and added the C version of the YOLOv3 demo code. The result is shown above and this version now runs at just over 14 fps (17 fps at 640 x 480) which is very usable.

While Python is very convenient, it is clearly (and unsurprisingly) more efficient to use C/C++ so I will probably do that in the future where possible. The main side-effect is that rtaiDesigner has to deploy the correct compiled SPE for the target node (typically x64 or ARM) and that any shared libraries that are not part of the standard install are included too. A Dockerized version would of course solve the dependency problem and just require a container for each target architecture.