diff options
Diffstat (limited to 'source/use_case/object_detection/src/DetectorPostProcessing.cc')
| -rw-r--r-- | source/use_case/object_detection/src/DetectorPostProcessing.cc | 75 |
1 files changed, 14 insertions, 61 deletions
diff --git a/source/use_case/object_detection/src/DetectorPostProcessing.cc b/source/use_case/object_detection/src/DetectorPostProcessing.cc index e97e6b3..a890c9e 100644 --- a/source/use_case/object_detection/src/DetectorPostProcessing.cc +++ b/source/use_case/object_detection/src/DetectorPostProcessing.cc @@ -17,7 +17,6 @@ #include "DetectorPostProcessing.hpp" #include "PlatformMath.hpp" -#include <algorithm> #include <cmath> namespace arm { @@ -36,7 +35,6 @@ DetectorPostprocessing::DetectorPostprocessing( {} void DetectorPostprocessing::RunPostProcessing( - uint8_t* imgIn, uint32_t imgRows, uint32_t imgCols, TfLiteTensor* modelOutput0, @@ -117,9 +115,6 @@ void DetectorPostprocessing::RunPostProcessing( tmpResult.m_h = boxHeight; resultsOut.push_back(tmpResult); - - /* TODO: Instead of draw on the image, return the boxes and draw on the LCD */ - DrawBoxOnImage(imgIn, originalImageWidth, originalImageHeight, boxX, boxY, boxWidth, boxHeight);; } } } @@ -159,7 +154,10 @@ 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 = math::MathUtils::SigmoidF32(((float)net.branches[i].modelOutput[bbox_obj_offset] - net.branches[i].zeroPoint) * net.branches[i].scale); + float objectness = math::MathUtils::SigmoidF32( + (static_cast<float>(net.branches[i].modelOutput[bbox_obj_offset]) + - net.branches[i].zeroPoint + ) * net.branches[i].scale); if(objectness > threshold) { image::Detection det; @@ -171,11 +169,10 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i int bbox_h_offset = bbox_x_offset + 3; int bbox_scores_offset = bbox_x_offset + 5; - det.bbox.x = ((float)net.branches[i].modelOutput[bbox_x_offset] - net.branches[i].zeroPoint) * net.branches[i].scale; - det.bbox.y = ((float)net.branches[i].modelOutput[bbox_y_offset] - net.branches[i].zeroPoint) * net.branches[i].scale; - det.bbox.w = ((float)net.branches[i].modelOutput[bbox_w_offset] - net.branches[i].zeroPoint) * net.branches[i].scale; - det.bbox.h = ((float)net.branches[i].modelOutput[bbox_h_offset] - net.branches[i].zeroPoint) * net.branches[i].scale; - + det.bbox.x = (static_cast<float>(net.branches[i].modelOutput[bbox_x_offset]) - net.branches[i].zeroPoint) * net.branches[i].scale; + det.bbox.y = (static_cast<float>(net.branches[i].modelOutput[bbox_y_offset]) - net.branches[i].zeroPoint) * net.branches[i].scale; + det.bbox.w = (static_cast<float>(net.branches[i].modelOutput[bbox_w_offset]) - net.branches[i].zeroPoint) * net.branches[i].scale; + det.bbox.h = (static_cast<float>(net.branches[i].modelOutput[bbox_h_offset]) - net.branches[i].zeroPoint) * net.branches[i].scale; float bbox_x, bbox_y; @@ -185,11 +182,14 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i det.bbox.x = (bbox_x + w) / width; det.bbox.y = (bbox_y + h) / height; - det.bbox.w = exp(det.bbox.w) * net.branches[i].anchor[anc*2] / net.inputWidth; - det.bbox.h = exp(det.bbox.h) * net.branches[i].anchor[anc*2+1] / net.inputHeight; + det.bbox.w = std::exp(det.bbox.w) * net.branches[i].anchor[anc*2] / net.inputWidth; + det.bbox.h = std::exp(det.bbox.h) * net.branches[i].anchor[anc*2+1] / net.inputHeight; for (int s = 0; s < numClasses; s++) { - float sig = math::MathUtils::SigmoidF32(((float)net.branches[i].modelOutput[bbox_scores_offset + s] - net.branches[i].zeroPoint) * net.branches[i].scale)*objectness; + float sig = math::MathUtils::SigmoidF32( + (static_cast<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); } @@ -218,53 +218,6 @@ void DetectorPostprocessing::GetNetworkBoxes(Network& net, int imageWidth, int i num -=1; } -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) { - if ( (offset) >= im_width*im_height*channelsImageDisplayed) { - offset = im_width * im_height * channelsImageDisplayed -1; - } - else if ( (offset) < 0) { - offset = 0; - } - }; - - /* Consistency checks */ - if (!imgIn) { - return; - } - - int offset=0; - for (int i=0; i < boxWidth; i++) { - /* Draw two horizontal lines */ - for (int line=0; line < 2; line++) { - /*top*/ - offset =(i + (boxY + line)*imWidth + boxX) * channelsImageDisplayed; /* channelsImageDisplayed for rgb or grayscale*/ - CheckAndFixOffset(imWidth,imHeight,offset); - imgIn[offset] = 0xFF; - /*bottom*/ - offset = (i + (boxY + boxHeight - line)*imWidth + boxX) * channelsImageDisplayed; - CheckAndFixOffset(imWidth,imHeight,offset); - imgIn[offset] = 0xFF; - } - } - - for (int i=0; i < boxHeight; i++) { - /* Draw two vertical lines */ - for (int line=0; line < 2; line++) { - /*left*/ - offset = ((i + boxY)*imWidth + boxX + line)*channelsImageDisplayed; - CheckAndFixOffset(imWidth,imHeight,offset); - imgIn[offset] = 0xFF; - /*right*/ - offset = ((i + boxY)*imWidth + boxX + boxWidth - line)*channelsImageDisplayed; - CheckAndFixOffset(imWidth,imHeight, offset); - imgIn[offset] = 0xFF; - } - } - -} - } /* namespace object_detection */ } /* namespace app */ } /* namespace arm */ |