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/*
* Copyright (c) 2022 Arm Limited. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef DETECTOR_POST_PROCESSING_HPP
#define DETECTOR_POST_PROCESSING_HPP
#include "UseCaseCommonUtils.hpp"
#include "DetectionResult.hpp"
#include "YoloFastestModel.hpp"
#include <forward_list>
namespace arm {
namespace app {
namespace object_detection {
struct Branch {
int resolution;
int numBox;
const float* anchor;
int8_t* modelOutput;
float scale;
int zeroPoint;
size_t size;
};
struct Network {
int inputWidth;
int inputHeight;
int numClasses;
std::vector<Branch> branches;
int topN;
};
struct Box {
float x;
float y;
float w;
float h;
};
struct Detection {
Box bbox;
std::vector<float> prob;
float objectness;
};
/**
* @brief Helper class to manage tensor post-processing for "object_detection"
* output.
*/
class DetectorPostprocessing {
public:
/**
* @brief Constructor.
* @param[in] threshold Post-processing threshold.
* @param[in] nms Non-maximum Suppression threshold.
* @param[in] numClasses Number of classes.
* @param[in] topN Top N for each class.
**/
DetectorPostprocessing(float threshold = 0.5f,
float nms = 0.45f,
int numClasses = 1,
int topN = 0);
/**
* @brief Post processing part of Yolo object detection CNN.
* @param[in] imgIn Pointer to the input image,detection bounding boxes drown on it.
* @param[in] imgRows Number of rows in the input image.
* @param[in] imgCols Number of columns in the input image.
* @param[in] modelOutput Output tensors after CNN invoked.
* @param[out] resultsOut Vector of detected results.
**/
void RunPostProcessing(uint8_t* imgIn,
uint32_t imgRows,
uint32_t imgCols,
TfLiteTensor* modelOutput0,
TfLiteTensor* modelOutput1,
std::vector<DetectionResult>& resultsOut);
private:
float m_threshold; /* Post-processing threshold */
float m_nms; /* NMS threshold */
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<Detection>& detections, Detection& det);
/**
* @brief Given a Network calculate the detection boxes.
* @param[in] net Network.
* @param[in] imageWidth Original image width.
* @param[in] imageHeight Original image height.
* @param[in] threshold Detections threshold.
* @param[out] detections Detection boxes.
**/
void GetNetworkBoxes(Network& net,
int imageWidth,
int imageHeight,
float threshold,
std::forward_list<Detection>& 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<Detection>& detections, int classes, float iouThreshold);
/**
* @brief Draw on the given image a bounding box starting at (boxX, boxY).
* @param[in/out] imgIn Image.
* @param[in] imWidth Image width.
* @param[in] imHeight Image height.
* @param[in] boxX Axis X starting point.
* @param[in] boxY Axis Y starting point.
* @param[in] boxWidth Box width.
* @param[in] boxHeight Box height.
**/
void DrawBoxOnImage(uint8_t* imgIn,
int imWidth,
int imHeight,
int boxX,
int boxY,
int boxWidth,
int boxHeight);
};
} /* namespace object_detection */
} /* namespace app */
} /* namespace arm */
#endif /* DETECTOR_POST_PROCESSING_HPP */
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