forked from xuos/xiuos
fix(yolov2): change static input size to dynamic
This commit is contained in:
Liu Yongkai
parent
af42ebca62
commit
545f1f1b3c
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@ -1,66 +1,63 @@
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#include <stdlib.h>
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#include <math.h>
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#include <stdio.h>
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#include "region_layer.h"
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typedef struct
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{
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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typedef struct {
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float x;
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float y;
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float w;
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float h;
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} box_t;
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typedef struct
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{
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typedef struct {
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int index;
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int class;
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float **probs;
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} sortable_box_t;
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int region_layer_init(region_layer_t *rl, int width, int height, int channels, int origin_width, int origin_height)
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{
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int flag = 0;
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rl->coords = 4;
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rl->image_width = 320;
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rl->image_height = 240;
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/* As no more parameter adding to this function,
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image width(height) is regarded as net input shape as well as image capture from sensor.
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If net input did not match sensor input, `dvp_set_image_size` function can set sensor output shape.
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*/
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rl->image_width = origin_width;
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rl->image_height = origin_height;
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rl->classes = channels / 5 - 5;
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rl->net_width = origin_width;
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rl->net_height = origin_height;
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rl->layer_width = width;
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rl->layer_height = height;
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rl->boxes_number = (rl->layer_width * rl->layer_height * rl->anchor_number);
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rl->boxes_number = (rl->layer_width * rl->layer_height * rl->anchor_number);
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rl->output_number = (rl->boxes_number * (rl->classes + rl->coords + 1));
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rl->output = malloc(rl->output_number * sizeof(float));
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if (rl->output == NULL)
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{
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if (rl->output == NULL) {
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flag = -1;
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goto malloc_error;
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}
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rl->boxes = malloc(rl->boxes_number * sizeof(box_t));
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if (rl->boxes == NULL)
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{
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if (rl->boxes == NULL) {
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flag = -2;
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goto malloc_error;
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}
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rl->probs_buf = malloc(rl->boxes_number * (rl->classes + 1) * sizeof(float));
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if (rl->probs_buf == NULL)
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{
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if (rl->probs_buf == NULL) {
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flag = -3;
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goto malloc_error;
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}
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rl->probs = malloc(rl->boxes_number * sizeof(float *));
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if (rl->probs == NULL)
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{
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if (rl->probs == NULL) {
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flag = -4;
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goto malloc_error;
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}
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for (uint32_t i = 0; i < rl->boxes_number; i++)
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rl->probs[i] = &(rl->probs_buf[i * (rl->classes + 1)]);
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for (uint32_t i = 0; i < rl->boxes_number; i++) rl->probs[i] = &(rl->probs_buf[i * (rl->classes + 1)]);
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return 0;
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malloc_error:
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free(rl->output);
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@ -78,24 +75,20 @@ void region_layer_deinit(region_layer_t *rl)
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free(rl->probs);
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}
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static inline float sigmoid(float x)
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{
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return 1.f / (1.f + expf(-x));
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}
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static inline float sigmoid(float x) { return 1.f / (1.f + expf(-x)); }
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static void activate_array(region_layer_t *rl, int index, int n)
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{
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float *output = &rl->output[index];
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float *input = &rl->input[index];
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for (int i = 0; i < n; ++i)
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output[i] = sigmoid(input[i]);
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for (int i = 0; i < n; ++i) output[i] = sigmoid(input[i]);
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}
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static int entry_index(region_layer_t *rl, int location, int entry)
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{
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int wh = rl->layer_width * rl->layer_height;
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int n = location / wh;
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int n = location / wh;
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int loc = location % wh;
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return n * wh * (rl->coords + rl->classes + 1) + entry * wh + loc;
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@ -109,10 +102,8 @@ static void softmax(region_layer_t *rl, float *input, int n, int stride, float *
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float sum = 0;
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float largest_i = input[0];
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for (i = 0; i < n; ++i)
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{
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if (input[i * stride] > largest_i)
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largest_i = input[i * stride];
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for (i = 0; i < n; ++i) {
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if (input[i * stride] > largest_i) largest_i = input[i * stride];
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}
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for (i = 0; i < n; ++i) {
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@ -121,17 +112,16 @@ static void softmax(region_layer_t *rl, float *input, int n, int stride, float *
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sum += e;
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output[i * stride] = e;
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}
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for (i = 0; i < n; ++i)
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output[i * stride] /= sum;
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for (i = 0; i < n; ++i) output[i * stride] /= sum;
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}
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static void softmax_cpu(region_layer_t *rl, float *input, int n, int batch, int batch_offset, int groups, int stride, float *output)
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static void softmax_cpu(region_layer_t *rl, float *input, int n, int batch, int batch_offset, int groups, int stride,
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float *output)
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{
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int g, b;
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for (b = 0; b < batch; ++b) {
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for (g = 0; g < groups; ++g)
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softmax(rl, input + b * batch_offset + g, n, stride, output + b * batch_offset + g);
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for (g = 0; g < groups; ++g) softmax(rl, input + b * batch_offset + g, n, stride, output + b * batch_offset + g);
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}
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}
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@ -139,11 +129,9 @@ static void forward_region_layer(region_layer_t *rl)
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{
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int index;
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for (index = 0; index < rl->output_number; index++)
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rl->output[index] = rl->input[index];
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for (index = 0; index < rl->output_number; index++) rl->output[index] = rl->input[index];
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for (int n = 0; n < rl->anchor_number; ++n)
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{
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for (int n = 0; n < rl->anchor_number; ++n) {
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index = entry_index(rl, n * rl->layer_width * rl->layer_height, 0);
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activate_array(rl, index, 2 * rl->layer_width * rl->layer_height);
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index = entry_index(rl, n * rl->layer_width * rl->layer_height, 4);
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@ -151,9 +139,8 @@ static void forward_region_layer(region_layer_t *rl)
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}
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index = entry_index(rl, 0, rl->coords + 1);
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softmax_cpu(rl, rl->input + index, rl->classes, rl->anchor_number,
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rl->output_number / rl->anchor_number, rl->layer_width * rl->layer_height,
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rl->layer_width * rl->layer_height, rl->output + index);
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softmax_cpu(rl, rl->input + index, rl->classes, rl->anchor_number, rl->output_number / rl->anchor_number,
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rl->layer_width * rl->layer_height, rl->layer_width * rl->layer_height, rl->output + index);
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}
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static void correct_region_boxes(region_layer_t *rl, box_t *boxes)
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@ -166,8 +153,7 @@ static void correct_region_boxes(region_layer_t *rl, box_t *boxes)
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int new_w = 0;
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int new_h = 0;
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if (((float)net_width / image_width) <
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((float)net_height / image_height)) {
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if (((float)net_width / image_width) < ((float)net_height / image_height)) {
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new_w = net_width;
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new_h = (image_height * net_width) / image_width;
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} else {
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@ -177,10 +163,8 @@ static void correct_region_boxes(region_layer_t *rl, box_t *boxes)
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for (int i = 0; i < boxes_number; ++i) {
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box_t b = boxes[i];
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b.x = (b.x - (net_width - new_w) / 2. / net_width) /
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((float)new_w / net_width);
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b.y = (b.y - (net_height - new_h) / 2. / net_height) /
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((float)new_h / net_height);
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b.x = (b.x - (net_width - new_w) / 2. / net_width) / ((float)new_w / net_width);
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b.y = (b.y - (net_height - new_h) / 2. / net_height) / ((float)new_h / net_height);
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b.w *= (float)net_width / new_w;
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b.h *= (float)net_height / new_h;
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boxes[i] = b;
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@ -207,34 +191,29 @@ static void get_region_boxes(region_layer_t *rl, float *predictions, float **pro
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uint32_t coords = rl->coords;
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float threshold = rl->threshold;
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for (int i = 0; i < layer_width * layer_height; ++i)
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{
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for (int i = 0; i < layer_width * layer_height; ++i) {
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int row = i / layer_width;
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int col = i % layer_width;
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for (int n = 0; n < anchor_number; ++n)
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{
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for (int n = 0; n < anchor_number; ++n) {
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int index = n * layer_width * layer_height + i;
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for (int j = 0; j < classes; ++j)
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probs[index][j] = 0;
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for (int j = 0; j < classes; ++j) probs[index][j] = 0;
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int obj_index = entry_index(rl, n * layer_width * layer_height + i, coords);
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int box_index = entry_index(rl, n * layer_width * layer_height + i, 0);
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float scale = predictions[obj_index];
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float scale = predictions[obj_index];
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boxes[index] = get_region_box(predictions, rl->anchor, n, box_index, col, row,
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layer_width, layer_height, layer_width * layer_height);
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boxes[index] = get_region_box(predictions, rl->anchor, n, box_index, col, row, layer_width, layer_height,
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layer_width * layer_height);
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float max = 0;
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for (int j = 0; j < classes; ++j)
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{
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for (int j = 0; j < classes; ++j) {
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int class_index = entry_index(rl, n * layer_width * layer_height + i, coords + 1 + j);
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float prob = scale * predictions[class_index];
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probs[index][j] = (prob > threshold) ? prob : 0;
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if (prob > max)
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max = prob;
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if (prob > max) max = prob;
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}
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probs[index][classes] = max;
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}
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@ -257,11 +236,11 @@ static int nms_comparator(void *pa, void *pb)
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static float overlap(float x1, float w1, float x2, float w2)
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{
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float l1 = x1 - w1/2;
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float l2 = x2 - w2/2;
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float l1 = x1 - w1 / 2;
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float l2 = x2 - w2 / 2;
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float left = l1 > l2 ? l1 : l2;
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float r1 = x1 + w1/2;
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float r2 = x2 + w2/2;
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float r1 = x1 + w1 / 2;
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float r2 = x2 + w2 / 2;
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float right = r1 < r2 ? r1 : r2;
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return right - left;
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@ -272,8 +251,7 @@ static float box_intersection(box_t a, box_t b)
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float w = overlap(a.x, a.w, b.x, b.w);
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float h = overlap(a.y, a.h, b.y, b.h);
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if (w < 0 || h < 0)
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return 0;
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if (w < 0 || h < 0) return 0;
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return w * h;
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}
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@ -285,10 +263,7 @@ static float box_union(box_t a, box_t b)
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return u;
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}
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static float box_iou(box_t a, box_t b)
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{
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return box_intersection(a, b) / box_union(a, b);
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}
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static float box_iou(box_t a, box_t b) { return box_intersection(a, b) / box_union(a, b); }
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static void do_nms_sort(region_layer_t *rl, box_t *boxes, float **probs)
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{
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@ -298,30 +273,23 @@ static void do_nms_sort(region_layer_t *rl, box_t *boxes, float **probs)
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int i, j, k;
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sortable_box_t s[boxes_number];
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for (i = 0; i < boxes_number; ++i)
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{
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for (i = 0; i < boxes_number; ++i) {
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s[i].index = i;
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s[i].class = 0;
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s[i].probs = probs;
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}
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for (k = 0; k < classes; ++k)
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{
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for (i = 0; i < boxes_number; ++i)
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s[i].class = k;
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for (k = 0; k < classes; ++k) {
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for (i = 0; i < boxes_number; ++i) s[i].class = k;
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qsort(s, boxes_number, sizeof(sortable_box_t), nms_comparator);
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for (i = 0; i < boxes_number; ++i)
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{
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if (probs[s[i].index][k] == 0)
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continue;
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for (i = 0; i < boxes_number; ++i) {
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if (probs[s[i].index][k] == 0) continue;
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box_t a = boxes[s[i].index];
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for (j = i + 1; j < boxes_number; ++j)
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{
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for (j = i + 1; j < boxes_number; ++j) {
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box_t b = boxes[s[j].index];
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if (box_iou(a, b) > nms_value)
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probs[s[j].index][k] = 0;
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if (box_iou(a, b) > nms_value) probs[s[j].index][k] = 0;
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}
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}
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}
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@ -332,11 +300,9 @@ static int max_index(float *a, int n)
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int i, max_i = 0;
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float max = a[0];
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for (i = 1; i < n; ++i)
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{
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if (a[i] > max)
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{
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max = a[i];
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for (i = 1; i < n; ++i) {
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if (a[i] > max) {
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max = a[i];
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max_i = i;
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}
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}
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@ -351,14 +317,12 @@ static void region_layer_output(region_layer_t *rl, obj_info_t *obj_info)
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uint32_t boxes_number = rl->boxes_number;
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float threshold = rl->threshold;
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box_t *boxes = (box_t *)rl->boxes;
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for (int i = 0; i < rl->boxes_number; ++i)
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{
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int class = max_index(rl->probs[i], rl->classes);
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for (int i = 0; i < rl->boxes_number; ++i) {
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int class = max_index(rl->probs[i], rl->classes);
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float prob = rl->probs[i][class];
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if (prob > threshold)
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{
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if (prob > threshold) {
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box_t *b = boxes + i;
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obj_info->obj[obj_number].x1 = b->x * image_width - (b->w * image_width / 2);
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obj_info->obj[obj_number].y1 = b->y * image_height - (b->h * image_height / 2);
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@ -380,7 +344,8 @@ void region_layer_run(region_layer_t *rl, obj_info_t *obj_info)
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region_layer_output(rl, obj_info);
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}
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void draw_edge(uint32_t *gram, obj_info_t *obj_info, uint32_t index, uint16_t color)
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void draw_edge(uint32_t *gram, obj_info_t *obj_info, uint32_t index, uint16_t color, uint16_t image_width,
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uint16_t image_height)
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{
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uint32_t data = ((uint32_t)color << 16) | (uint32_t)color;
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uint32_t *addr1, *addr2, *addr3, *addr4, x1, y1, x2, y2;
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@ -390,48 +355,41 @@ void draw_edge(uint32_t *gram, obj_info_t *obj_info, uint32_t index, uint16_t co
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x2 = obj_info->obj[index].x2;
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y2 = obj_info->obj[index].y2;
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if (x1 <= 0)
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x1 = 1;
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if (x2 >= 319)
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x2 = 318;
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if (y1 <= 0)
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y1 = 1;
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if (y2 >= 239)
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y2 = 238;
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if (x1 <= 0) x1 = 1;
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if (x2 >= image_width - 1) x2 = image_width - 2;
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if (y1 <= 0) y1 = 1;
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if (y2 >= image_height - 1) y2 = image_height - 2;
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addr1 = gram + (320 * y1 + x1) / 2;
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addr2 = gram + (320 * y1 + x2 - 8) / 2;
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addr3 = gram + (320 * (y2 - 1) + x1) / 2;
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addr4 = gram + (320 * (y2 - 1) + x2 - 8) / 2;
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for (uint32_t i = 0; i < 4; i++)
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{
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addr1 = gram + (image_width * y1 + x1) / 2;
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addr2 = gram + (image_width * y1 + x2 - 8) / 2;
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addr3 = gram + (image_width * (y2 - 1) + x1) / 2;
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addr4 = gram + (image_width * (y2 - 1) + x2 - 8) / 2;
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for (uint32_t i = 0; i < 4; i++) {
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*addr1 = data;
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*(addr1 + 160) = data;
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*(addr1 + image_width / 2) = data;
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*addr2 = data;
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*(addr2 + 160) = data;
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*(addr2 + image_width / 2) = data;
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*addr3 = data;
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*(addr3 + 160) = data;
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*(addr3 + image_width / 2) = data;
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*addr4 = data;
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*(addr4 + 160) = data;
|
||||
*(addr4 + image_width / 2) = data;
|
||||
addr1++;
|
||||
addr2++;
|
||||
addr3++;
|
||||
addr4++;
|
||||
}
|
||||
addr1 = gram + (320 * y1 + x1) / 2;
|
||||
addr2 = gram + (320 * y1 + x2 - 2) / 2;
|
||||
addr3 = gram + (320 * (y2 - 8) + x1) / 2;
|
||||
addr4 = gram + (320 * (y2 - 8) + x2 - 2) / 2;
|
||||
for (uint32_t i = 0; i < 8; i++)
|
||||
{
|
||||
addr1 = gram + (image_width * y1 + x1) / 2;
|
||||
addr2 = gram + (image_width * y1 + x2 - 2) / 2;
|
||||
addr3 = gram + (image_width * (y2 - 8) + x1) / 2;
|
||||
addr4 = gram + (image_width * (y2 - 8) + x2 - 2) / 2;
|
||||
for (uint32_t i = 0; i < 8; i++) {
|
||||
*addr1 = data;
|
||||
*addr2 = data;
|
||||
*addr3 = data;
|
||||
*addr4 = data;
|
||||
addr1 += 160;
|
||||
addr2 += 160;
|
||||
addr3 += 160;
|
||||
addr4 += 160;
|
||||
addr1 += image_width / 2;
|
||||
addr2 += image_width / 2;
|
||||
addr3 += image_width / 2;
|
||||
addr4 += image_width / 2;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -44,6 +44,6 @@ typedef struct
|
|||
int region_layer_init(region_layer_t *rl, int width, int height, int channels, int origin_width, int origin_height);
|
||||
void region_layer_deinit(region_layer_t *rl);
|
||||
void region_layer_run(region_layer_t *rl, obj_info_t *obj_info);
|
||||
void draw_edge(uint32_t *gram, obj_info_t *obj_info, uint32_t index, uint16_t color);
|
||||
void draw_edge(uint32_t *gram, obj_info_t *obj_info, uint32_t index, uint16_t color, uint16_t image_width, uint16_t image_height);
|
||||
|
||||
#endif // _REGION_LAYER
|
||||
|
|
|
|||
Loading…
Reference in New Issue