From ed35a6fea4a1604db81c56fc71f7756822fcf212 Mon Sep 17 00:00:00 2001 From: Richard Burton Date: Mon, 14 Feb 2022 11:55:35 +0000 Subject: MLECO-2874: Move NMS out of the OD use_case * Add ImageUtils * Move image related code from UseCaseCommonUtils to ImageUtils * Move NMS related code to ImageUtils * Delete test specific ImageUtils and use new ImageUtils Signed-off-by: Richard Burton Change-Id: Icbf5dd9c6a941b0126ecdf69a0c9d9969f22729f --- source/use_case/ad/src/UseCaseHandler.cc | 3 +- source/use_case/asr/src/UseCaseHandler.cc | 3 +- source/use_case/img_class/src/UseCaseHandler.cc | 5 +- source/use_case/kws/src/UseCaseHandler.cc | 3 +- source/use_case/kws_asr/src/UseCaseHandler.cc | 3 +- .../use_case/noise_reduction/src/UseCaseHandler.cc | 3 +- .../include/DetectorPostProcessing.hpp | 68 +------------- .../object_detection/src/DetectorPostProcessing.cc | 102 +++------------------ source/use_case/vww/src/UseCaseHandler.cc | 3 +- 9 files changed, 30 insertions(+), 163 deletions(-) (limited to 'source/use_case') diff --git a/source/use_case/ad/src/UseCaseHandler.cc b/source/use_case/ad/src/UseCaseHandler.cc index 420e6d4..853ab08 100644 --- a/source/use_case/ad/src/UseCaseHandler.cc +++ b/source/use_case/ad/src/UseCaseHandler.cc @@ -1,5 +1,5 @@ /* - * Copyright (c) 2021 Arm Limited. All rights reserved. + * Copyright (c) 2021-2022 Arm Limited. All rights reserved. * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -22,6 +22,7 @@ #include "hal.h" #include "AdMelSpectrogram.hpp" #include "AudioUtils.hpp" +#include "ImageUtils.hpp" #include "UseCaseCommonUtils.hpp" #include "AdPostProcessing.hpp" #include "log_macros.h" diff --git a/source/use_case/asr/src/UseCaseHandler.cc b/source/use_case/asr/src/UseCaseHandler.cc index afcb6e4..7bce2c6 100644 --- a/source/use_case/asr/src/UseCaseHandler.cc +++ b/source/use_case/asr/src/UseCaseHandler.cc @@ -1,5 +1,5 @@ /* - * Copyright (c) 2021 Arm Limited. All rights reserved. + * Copyright (c) 2021-2022 Arm Limited. All rights reserved. * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -22,6 +22,7 @@ #include "hal.h" #include "Wav2LetterMfcc.hpp" #include "AudioUtils.hpp" +#include "ImageUtils.hpp" #include "UseCaseCommonUtils.hpp" #include "AsrResult.hpp" #include "Wav2LetterPreprocess.hpp" diff --git a/source/use_case/img_class/src/UseCaseHandler.cc b/source/use_case/img_class/src/UseCaseHandler.cc index fafc6b9..1f1d78b 100644 --- a/source/use_case/img_class/src/UseCaseHandler.cc +++ b/source/use_case/img_class/src/UseCaseHandler.cc @@ -1,5 +1,5 @@ /* - * Copyright (c) 2021 Arm Limited. All rights reserved. + * Copyright (c) 2021-2022 Arm Limited. All rights reserved. * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -19,6 +19,7 @@ #include "Classifier.hpp" #include "InputFiles.hpp" #include "MobileNetModel.hpp" +#include "ImageUtils.hpp" #include "UseCaseCommonUtils.hpp" #include "hal.h" #include "log_macros.h" @@ -136,7 +137,7 @@ namespace app { arm::app::DumpTensor(outputTensor); #endif /* VERIFY_TEST_OUTPUT */ - if (!image::PresentInferenceResult(platform, results)) { + if (!PresentInferenceResult(platform, results)) { return false; } diff --git a/source/use_case/kws/src/UseCaseHandler.cc b/source/use_case/kws/src/UseCaseHandler.cc index c2d2ea4..8dd7724 100644 --- a/source/use_case/kws/src/UseCaseHandler.cc +++ b/source/use_case/kws/src/UseCaseHandler.cc @@ -1,5 +1,5 @@ /* - * Copyright (c) 2021 Arm Limited. All rights reserved. + * Copyright (c) 2021-2022 Arm Limited. All rights reserved. * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -22,6 +22,7 @@ #include "hal.h" #include "MicroNetKwsMfcc.hpp" #include "AudioUtils.hpp" +#include "ImageUtils.hpp" #include "UseCaseCommonUtils.hpp" #include "KwsResult.hpp" #include "log_macros.h" diff --git a/source/use_case/kws_asr/src/UseCaseHandler.cc b/source/use_case/kws_asr/src/UseCaseHandler.cc index bfc1d25..d598de6 100644 --- a/source/use_case/kws_asr/src/UseCaseHandler.cc +++ b/source/use_case/kws_asr/src/UseCaseHandler.cc @@ -1,5 +1,5 @@ /* - * Copyright (c) 2021 Arm Limited. All rights reserved. + * Copyright (c) 2021-2022 Arm Limited. All rights reserved. * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -19,6 +19,7 @@ #include "hal.h" #include "InputFiles.hpp" #include "AudioUtils.hpp" +#include "ImageUtils.hpp" #include "UseCaseCommonUtils.hpp" #include "MicroNetKwsModel.hpp" #include "MicroNetKwsMfcc.hpp" diff --git a/source/use_case/noise_reduction/src/UseCaseHandler.cc b/source/use_case/noise_reduction/src/UseCaseHandler.cc index 0c5984c..792b460 100644 --- a/source/use_case/noise_reduction/src/UseCaseHandler.cc +++ b/source/use_case/noise_reduction/src/UseCaseHandler.cc @@ -1,5 +1,5 @@ /* - * Copyright (c) 2021 Arm Limited. All rights reserved. + * Copyright (c) 2021-2022 Arm Limited. All rights reserved. * SPDX-License-Identifier: Apache-2.0 * * Licensed under the Apache License, Version 2.0 (the "License"); @@ -18,6 +18,7 @@ #include "UseCaseHandler.hpp" #include "UseCaseCommonUtils.hpp" #include "AudioUtils.hpp" +#include "ImageUtils.hpp" #include "InputFiles.hpp" #include "RNNoiseModel.hpp" #include "RNNoiseProcess.hpp" diff --git a/source/use_case/object_detection/include/DetectorPostProcessing.hpp b/source/use_case/object_detection/include/DetectorPostProcessing.hpp index 3e9c819..5393f89 100644 --- a/source/use_case/object_detection/include/DetectorPostProcessing.hpp +++ b/source/use_case/object_detection/include/DetectorPostProcessing.hpp @@ -18,6 +18,7 @@ #define DETECTOR_POST_PROCESSING_HPP #include "UseCaseCommonUtils.hpp" +#include "ImageUtils.hpp" #include "DetectionResult.hpp" #include "YoloFastestModel.hpp" @@ -45,20 +46,6 @@ namespace object_detection { int topN; }; - - struct Box { - float x; - float y; - float w; - float h; - }; - - struct Detection { - Box bbox; - std::vector prob; - float objectness; - }; - /** * @brief Helper class to manage tensor post-processing for "object_detection" * output. @@ -98,19 +85,12 @@ namespace object_detection { int m_numClasses; /* Number of classes */ int m_topN; /* TopN */ - /** - * @brief Calculate the Sigmoid function of the give value. - * @param[in] x Value. - * @return Sigmoid value of the input. - **/ - float Sigmoid(float x); - /** * @brief Insert the given Detection in the list. * @param[in] detections List of detections. * @param[in] det Detection to be inserted. **/ - void InsertTopNDetections(std::forward_list& detections, Detection& det); + void InsertTopNDetections(std::forward_list& detections, image::Detection& det); /** * @brief Given a Network calculate the detection boxes. @@ -124,49 +104,7 @@ namespace object_detection { int imageWidth, int imageHeight, float threshold, - std::forward_list& detections); - - /** - * @brief Calculate the 1D overlap. - * @param[in] x1Center First center point. - * @param[in] width1 First width. - * @param[in] x2Center Second center point. - * @param[in] width2 Second width. - * @return The overlap between the two lines. - **/ - float Calculate1DOverlap(float x1Center, float width1, float x2Center, float width2); - - /** - * @brief Calculate the intersection between the two given boxes. - * @param[in] box1 First box. - * @param[in] box2 Second box. - * @return The intersection value. - **/ - float CalculateBoxIntersect(Box& box1, Box& box2); - - /** - * @brief Calculate the union between the two given boxes. - * @param[in] box1 First box. - * @param[in] box2 Second box. - * @return The two given boxes union value. - **/ - float CalculateBoxUnion(Box& box1, Box& box2); - /** - * @brief Calculate the intersection over union between the two given boxes. - * @param[in] box1 First box. - * @param[in] box2 Second box. - * @return The intersection over union value. - **/ - float CalculateBoxIOU(Box& box1, Box& box2); - - /** - * @brief Calculate the Non-Maxima suppression on the given detection boxes. - * @param[in] detections Detection boxes. - * @param[in] classes Number of classes. - * @param[in] iouThreshold Intersection over union threshold. - * @return true or false based on execution success. - **/ - void CalculateNMS(std::forward_list& detections, int classes, float iouThreshold); + std::forward_list& detections); /** * @brief Draw on the given image a bounding box starting at (boxX, boxY). 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 #include @@ -75,7 +76,7 @@ void DetectorPostprocessing::RunPostProcessing( int originalImageWidth = originalImageSize; int originalImageHeight = originalImageSize; - std::forward_list detections; + std::forward_list 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& detections, Detection& det) +void DetectorPostprocessing::InsertTopNDetections(std::forward_list& detections, image::Detection& det) { - std::forward_list::iterator it; - std::forward_list::iterator last_it; + std::forward_list::iterator it; + std::forward_list::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& } } -void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int imageHeight, float threshold, std::forward_list& detections) +void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int imageHeight, float threshold, std::forward_list& 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& 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::iterator it=detections.begin(); it != detections.end(); ++it) { - if (it->prob[idxClass] == 0) continue; - for (std::forward_list::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) { diff --git a/source/use_case/vww/src/UseCaseHandler.cc b/source/use_case/vww/src/UseCaseHandler.cc index 01011e2..a47f191 100644 --- a/source/use_case/vww/src/UseCaseHandler.cc +++ b/source/use_case/vww/src/UseCaseHandler.cc @@ -18,6 +18,7 @@ #include "VisualWakeWordModel.hpp" #include "Classifier.hpp" #include "InputFiles.hpp" +#include "ImageUtils.hpp" #include "UseCaseCommonUtils.hpp" #include "hal.h" #include "log_macros.h" @@ -144,7 +145,7 @@ namespace app { arm::app::DumpTensor(outputTensor); #endif /* VERIFY_TEST_OUTPUT */ - if (!image::PresentInferenceResult(platform, results)) { + if (!PresentInferenceResult(platform, results)) { return false; } -- cgit v1.2.1