diff options
Diffstat (limited to 'source/use_case/object_detection/src/DetectorPostProcessing.cc')
-rw-r--r-- | source/use_case/object_detection/src/DetectorPostProcessing.cc | 102 |
1 files changed, 12 insertions, 90 deletions
diff --git a/source/use_case/object_detection/src/DetectorPostProcessing.cc b/source/use_case/object_detection/src/DetectorPostProcessing.cc index edfb137..e97e6b3 100644 --- a/source/use_case/object_detection/src/DetectorPostProcessing.cc +++ b/source/use_case/object_detection/src/DetectorPostProcessing.cc @@ -15,6 +15,7 @@ * limitations under the License. */ #include "DetectorPostProcessing.hpp" +#include "PlatformMath.hpp" #include <algorithm> #include <cmath> @@ -75,7 +76,7 @@ void DetectorPostprocessing::RunPostProcessing( int originalImageWidth = originalImageSize; int originalImageHeight = originalImageSize; - std::forward_list<Detection> detections; + std::forward_list<image::Detection> detections; GetNetworkBoxes(net, originalImageWidth, originalImageHeight, m_threshold, detections); /* Do nms */ @@ -124,15 +125,11 @@ void DetectorPostprocessing::RunPostProcessing( } } -float DetectorPostprocessing::Sigmoid(float x) -{ - return 1.f/(1.f + exp(-x)); -} -void DetectorPostprocessing::InsertTopNDetections(std::forward_list<Detection>& detections, Detection& det) +void DetectorPostprocessing::InsertTopNDetections(std::forward_list<image::Detection>& detections, image::Detection& det) { - std::forward_list<Detection>::iterator it; - std::forward_list<Detection>::iterator last_it; + std::forward_list<image::Detection>::iterator it; + std::forward_list<image::Detection>::iterator last_it; for ( it = detections.begin(); it != detections.end(); ++it ) { if(it->objectness > det.objectness) break; @@ -144,11 +141,11 @@ void DetectorPostprocessing::InsertTopNDetections(std::forward_list<Detection>& } } -void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int imageHeight, float threshold, std::forward_list<Detection>& detections) +void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int imageHeight, float threshold, std::forward_list<image::Detection>& detections) { int numClasses = net.numClasses; int num = 0; - auto det_objectness_comparator = [](Detection& pa, Detection& pb) { + auto det_objectness_comparator = [](image::Detection& pa, image::Detection& pb) { return pa.objectness < pb.objectness; }; for (size_t i = 0; i < net.branches.size(); ++i) { @@ -162,10 +159,10 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i /* Objectness score */ int bbox_obj_offset = h * width * channel + w * channel + anc * (numClasses + 5) + 4; - float objectness = Sigmoid(((float)net.branches[i].modelOutput[bbox_obj_offset] - net.branches[i].zeroPoint) * net.branches[i].scale); + float objectness = math::MathUtils::SigmoidF32(((float)net.branches[i].modelOutput[bbox_obj_offset] - net.branches[i].zeroPoint) * net.branches[i].scale); if(objectness > threshold) { - Detection det; + image::Detection det; det.objectness = objectness; /* Get bbox prediction data for each anchor, each feature point */ int bbox_x_offset = bbox_obj_offset -4; @@ -183,8 +180,8 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i float bbox_x, bbox_y; /* Eliminate grid sensitivity trick involved in YOLOv4 */ - bbox_x = Sigmoid(det.bbox.x); - bbox_y = Sigmoid(det.bbox.y); + bbox_x = math::MathUtils::SigmoidF32(det.bbox.x); + bbox_y = math::MathUtils::SigmoidF32(det.bbox.y); det.bbox.x = (bbox_x + w) / width; det.bbox.y = (bbox_y + h) / height; @@ -192,7 +189,7 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i det.bbox.h = exp(det.bbox.h) * net.branches[i].anchor[anc*2+1] / net.inputHeight; for (int s = 0; s < numClasses; s++) { - float sig = Sigmoid(((float)net.branches[i].modelOutput[bbox_scores_offset + s] - net.branches[i].zeroPoint) * net.branches[i].scale)*objectness; + float sig = math::MathUtils::SigmoidF32(((float)net.branches[i].modelOutput[bbox_scores_offset + s] - net.branches[i].zeroPoint) * net.branches[i].scale)*objectness; det.prob.emplace_back((sig > threshold) ? sig : 0); } @@ -221,81 +218,6 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i num -=1; } -float DetectorPostprocessing::Calculate1DOverlap(float x1Center, float width1, float x2Center, float width2) -{ - float left_1 = x1Center - width1/2; - float left_2 = x2Center - width2/2; - float leftest = left_1 > left_2 ? left_1 : left_2; - - float right_1 = x1Center + width1/2; - float right_2 = x2Center + width2/2; - float rightest = right_1 < right_2 ? right_1 : right_2; - - return rightest - leftest; -} - -float DetectorPostprocessing::CalculateBoxIntersect(Box& box1, Box& box2) -{ - float width = Calculate1DOverlap(box1.x, box1.w, box2.x, box2.w); - if (width < 0) { - return 0; - } - float height = Calculate1DOverlap(box1.y, box1.h, box2.y, box2.h); - if (height < 0) { - return 0; - } - - float total_area = width*height; - return total_area; -} - -float DetectorPostprocessing::CalculateBoxUnion(Box& box1, Box& box2) -{ - float boxes_intersection = CalculateBoxIntersect(box1, box2); - float boxes_union = box1.w * box1.h + box2.w * box2.h - boxes_intersection; - return boxes_union; -} - - -float DetectorPostprocessing::CalculateBoxIOU(Box& box1, Box& box2) -{ - float boxes_intersection = CalculateBoxIntersect(box1, box2); - if (boxes_intersection == 0) { - return 0; - } - - float boxes_union = CalculateBoxUnion(box1, box2); - if (boxes_union == 0) { - return 0; - } - - return boxes_intersection / boxes_union; -} - -void DetectorPostprocessing::CalculateNMS(std::forward_list<Detection>& detections, int classes, float iouThreshold) -{ - int idxClass{0}; - auto CompareProbs = [idxClass](Detection& prob1, Detection& prob2) { - return prob1.prob[idxClass] > prob2.prob[idxClass]; - }; - - for (idxClass = 0; idxClass < classes; ++idxClass) { - detections.sort(CompareProbs); - - for (std::forward_list<Detection>::iterator it=detections.begin(); it != detections.end(); ++it) { - if (it->prob[idxClass] == 0) continue; - for (std::forward_list<Detection>::iterator itc=std::next(it, 1); itc != detections.end(); ++itc) { - if (itc->prob[idxClass] == 0) { - continue; - } - if (CalculateBoxIOU(it->bbox, itc->bbox) > iouThreshold) { - itc->prob[idxClass] = 0; - } - } - } - } -} - void DetectorPostprocessing::DrawBoxOnImage(uint8_t* imgIn, int imWidth, int imHeight, int boxX,int boxY, int boxWidth, int boxHeight) { auto CheckAndFixOffset = [](int im_width,int im_height,int& offset) { |