fix streaming

vr180_streaming/sam2_streaming_simple.py

@@ -42,12 +42,16 @@ class SAM2StreamingProcessor:
         
         model_cfg = config_mapping.get(model_cfg_name, model_cfg_name)
         
-        # Build predictor (simple, clean approach)
+        # Build predictor (disable compilation to fix CUDA graph issues)
         self.predictor = build_sam2_video_predictor(
             model_cfg,  # Relative path from sam2 package
             checkpoint,
             device=self.device,
-            vos_optimized=True  # Enable VOS optimizations for speed
+            vos_optimized=False,  # Disable to avoid CUDA graph issues
+            hydra_overrides_extra=[
+                "++model.compile_image_encoder=false",  # Disable compilation
+                "++model.memory_attention.use_amp=false",  # Disable AMP for stability
+            ]
         )
         
         # Frame buffer for streaming (like det-sam2)
@@ -95,8 +99,12 @@ class SAM2StreamingProcessor:
         if len(self.frame_buffer) >= self.frame_buffer_size or detections:
             return self._process_buffer()
         else:
-            # Return empty mask if no processing yet
-            return np.zeros((frame.shape[0], frame.shape[1]), dtype=np.uint8)
+            # For frames without detections, still try to propagate if we have existing objects
+            if self.inference_state is not None and self.object_ids:
+                return self._propagate_existing_objects()
+            else:
+                # Return empty mask if no processing yet
+                return np.zeros((frame.shape[0], frame.shape[1]), dtype=np.uint8)
     
     def _process_buffer(self) -> np.ndarray:
         """Process current frame buffer (adapted det-sam2 approach)"""
@@ -219,6 +227,67 @@ class SAM2StreamingProcessor:
             frame_shape = self.frame_buffer[-1]['frame'].shape
             return np.zeros((frame_shape[0], frame_shape[1]), dtype=np.uint8)
             
+    def _propagate_existing_objects(self) -> np.ndarray:
+        """Propagate existing objects without adding new detections"""
+        if not self.object_ids or not self.frame_buffer:
+            frame_shape = self.frame_buffer[-1]['frame'].shape if self.frame_buffer else (480, 640)
+            return np.zeros((frame_shape[0], frame_shape[1]), dtype=np.uint8)
+            
+        try:
+            # Update temp frames with current buffer
+            self._create_temp_frames()
+            
+            # Reinitialize state (since we can't incrementally update)
+            self.inference_state = self.predictor.init_state(
+                video_path=self.temp_dir,
+                offload_video_to_cpu=self.memory_offload,
+                offload_state_to_cpu=self.memory_offload
+            )
+            
+            # Re-add all previous detections from buffer
+            for buffer_idx, buffer_item in enumerate(self.frame_buffer):
+                detections = buffer_item.get('detections', [])
+                if detections:  # Only add frames that had detections
+                    for det_idx, detection in enumerate(detections):
+                        box = detection['box']
+                        try:
+                            self.predictor.add_new_points_or_box(
+                                inference_state=self.inference_state,
+                                frame_idx=buffer_idx,
+                                obj_id=det_idx,
+                                box=np.array(box, dtype=np.float32)
+                            )
+                        except Exception as e:
+                            print(f"   Warning: Failed to re-add detection: {e}")
+            
+            # Get masks for latest frame
+            latest_frame_idx = len(self.frame_buffer) - 1
+            for out_frame_idx, out_obj_ids, out_mask_logits in self.predictor.propagate_in_video(
+                self.inference_state,
+                start_frame_idx=latest_frame_idx,
+                max_frame_num_to_track=1,
+                reverse=False
+            ):
+                if out_frame_idx == latest_frame_idx and len(out_mask_logits) > 0:
+                    combined_mask = None
+                    for mask_logit in out_mask_logits:
+                        mask = (mask_logit > 0.0).cpu().numpy()
+                        if combined_mask is None:
+                            combined_mask = mask.astype(bool)
+                        else:
+                            combined_mask = combined_mask | mask.astype(bool)
+                    
+                    return (combined_mask * 255).astype(np.uint8)
+            
+            # If no masks, return empty
+            frame_shape = self.frame_buffer[-1]['frame'].shape
+            return np.zeros((frame_shape[0], frame_shape[1]), dtype=np.uint8)
+            
+        except Exception as e:
+            print(f"   Warning: Object propagation failed: {e}")
+            frame_shape = self.frame_buffer[-1]['frame'].shape
+            return np.zeros((frame_shape[0], frame_shape[1]), dtype=np.uint8)
+            
         except Exception as e:
             print(f"   Warning: Mask propagation failed: {e}")
             frame_shape = self.frame_buffer[-1]['frame'].shape