mirror of
https://github.com/PaddlePaddle/FastDeploy.git
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213 lines
7.0 KiB
C++
213 lines
7.0 KiB
C++
#include "fastdeploy/vision/ultralytics/yolov5.h"
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#include "fastdeploy/utils/perf.h"
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#include "fastdeploy/vision/utils/utils.h"
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namespace fastdeploy {
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namespace vision {
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namespace ultralytics {
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void LetterBox(Mat* mat, std::vector<int> size, std::vector<float> color,
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bool _auto, bool scale_fill = false, bool scale_up = true,
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int stride = 32) {
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float scale =
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std::min(size[1] * 1.0 / mat->Height(), size[0] * 1.0 / mat->Width());
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if (!scale_up) {
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scale = std::min(scale, 1.0f);
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}
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int resize_h = int(round(mat->Height() * scale));
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int resize_w = int(round(mat->Width() * scale));
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int pad_w = size[0] - resize_w;
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int pad_h = size[1] - resize_h;
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if (_auto) {
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pad_h = pad_h % stride;
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pad_w = pad_w % stride;
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} else if (scale_fill) {
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pad_h = 0;
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pad_w = 0;
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resize_h = size[1];
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resize_w = size[0];
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}
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Resize::Run(mat, resize_w, resize_h);
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if (pad_h > 0 || pad_w > 0) {
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float half_h = pad_h * 1.0 / 2;
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int top = int(round(half_h - 0.1));
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int bottom = int(round(half_h + 0.1));
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float half_w = pad_w * 1.0 / 2;
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int left = int(round(half_w - 0.1));
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int right = int(round(half_w + 0.1));
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Pad::Run(mat, top, bottom, left, right, color);
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}
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}
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YOLOv5::YOLOv5(const std::string& model_file, const std::string& params_file,
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const RuntimeOption& custom_option,
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const Frontend& model_format) {
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if (model_format == Frontend::ONNX) {
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valid_cpu_backends = {Backend::ORT}; // 指定可用的CPU后端
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valid_gpu_backends = {Backend::ORT, Backend::TRT}; // 指定可用的GPU后端
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} else {
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valid_cpu_backends = {Backend::PDINFER, Backend::ORT};
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valid_gpu_backends = {Backend::PDINFER, Backend::ORT, Backend::TRT};
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}
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runtime_option = custom_option;
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runtime_option.model_format = model_format;
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runtime_option.model_file = model_file;
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runtime_option.params_file = params_file;
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initialized = Initialize();
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}
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bool YOLOv5::Initialize() {
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// parameters for preprocess
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size = {640, 640};
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padding_value = {114.0, 114.0, 114.0};
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is_mini_pad = false;
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is_no_pad = false;
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is_scale_up = true;
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stride = 32;
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if (!InitRuntime()) {
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FDERROR << "Failed to initialize fastdeploy backend." << std::endl;
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return false;
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}
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return true;
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}
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bool YOLOv5::Preprocess(Mat* mat, FDTensor* output,
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std::map<std::string, std::array<float, 2>>* im_info) {
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// yolov5's preprocess steps
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// 1. letterbox
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// 2. BGR->RGB
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// 3. HWC->CHW
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LetterBox(mat, size, padding_value, is_mini_pad, is_no_pad, is_scale_up,
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stride);
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BGR2RGB::Run(mat);
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Normalize::Run(mat, std::vector<float>(mat->Channels(), 0.0),
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std::vector<float>(mat->Channels(), 1.0));
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// Record output shape of preprocessed image
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(*im_info)["output_shape"] = {static_cast<float>(mat->Height()),
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static_cast<float>(mat->Width())};
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HWC2CHW::Run(mat);
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Cast::Run(mat, "float");
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mat->ShareWithTensor(output);
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output->shape.insert(output->shape.begin(), 1); // reshape to n, h, w, c
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return true;
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}
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bool YOLOv5::Postprocess(
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FDTensor& infer_result, DetectionResult* result,
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const std::map<std::string, std::array<float, 2>>& im_info,
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float conf_threshold, float nms_iou_threshold) {
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FDASSERT(infer_result.shape[0] == 1, "Only support batch =1 now.");
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result->Clear();
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result->Reserve(infer_result.shape[1]);
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if (infer_result.dtype != FDDataType::FP32) {
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FDERROR << "Only support post process with float32 data." << std::endl;
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return false;
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}
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float* data = static_cast<float*>(infer_result.Data());
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for (size_t i = 0; i < infer_result.shape[1]; ++i) {
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int s = i * infer_result.shape[2];
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float confidence = data[s + 4];
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float* max_class_score =
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std::max_element(data + s + 5, data + s + infer_result.shape[2]);
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confidence *= (*max_class_score);
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// filter boxes by conf_threshold
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if (confidence <= conf_threshold) {
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continue;
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}
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// convert from [x, y, w, h] to [x1, y1, x2, y2]
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result->boxes.emplace_back(std::array<float, 4>{
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data[s] - data[s + 2] / 2, data[s + 1] - data[s + 3] / 2,
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data[s + 0] + data[s + 2] / 2, data[s + 1] + data[s + 3] / 2});
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result->label_ids.push_back(std::distance(data + s + 5, max_class_score));
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result->scores.push_back(confidence);
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}
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utils::NMS(result, nms_iou_threshold);
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// scale the boxes to the origin image shape
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auto iter_out = im_info.find("output_shape");
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auto iter_ipt = im_info.find("input_shape");
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FDASSERT(iter_out != im_info.end() && iter_ipt != im_info.end(),
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"Cannot find input_shape or output_shape from im_info.");
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float out_h = iter_out->second[0];
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float out_w = iter_out->second[1];
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float ipt_h = iter_ipt->second[0];
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float ipt_w = iter_ipt->second[1];
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float scale = std::min(out_h / ipt_h, out_w / ipt_w);
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for (size_t i = 0; i < result->boxes.size(); ++i) {
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float pad_h = (out_h - ipt_h * scale) / 2;
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float pad_w = (out_w - ipt_w * scale) / 2;
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// clip box
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result->boxes[i][0] = std::max((result->boxes[i][0] - pad_w) / scale, 0.0f);
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result->boxes[i][1] = std::max((result->boxes[i][1] - pad_h) / scale, 0.0f);
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result->boxes[i][2] = std::max((result->boxes[i][2] - pad_w) / scale, 0.0f);
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result->boxes[i][3] = std::max((result->boxes[i][3] - pad_h) / scale, 0.0f);
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result->boxes[i][0] = std::min(result->boxes[i][0], ipt_w);
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result->boxes[i][1] = std::min(result->boxes[i][1], ipt_h);
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result->boxes[i][2] = std::min(result->boxes[i][2], ipt_w);
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result->boxes[i][3] = std::min(result->boxes[i][3], ipt_h);
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}
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return true;
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}
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bool YOLOv5::Predict(cv::Mat* im, DetectionResult* result, float conf_threshold,
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float nms_iou_threshold) {
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#ifdef FASTDEPLOY_DEBUG
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TIMERECORD_START(0)
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#endif
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Mat mat(*im);
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std::vector<FDTensor> input_tensors(1);
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std::map<std::string, std::array<float, 2>> im_info;
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// Record the shape of image and the shape of preprocessed image
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im_info["input_shape"] = {static_cast<float>(mat.Height()),
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static_cast<float>(mat.Width())};
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im_info["output_shape"] = {static_cast<float>(mat.Height()),
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static_cast<float>(mat.Width())};
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if (!Preprocess(&mat, &input_tensors[0], &im_info)) {
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FDERROR << "Failed to preprocess input image." << std::endl;
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return false;
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}
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#ifdef FASTDEPLOY_DEBUG
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TIMERECORD_END(0, "Preprocess")
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TIMERECORD_START(1)
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#endif
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input_tensors[0].name = InputInfoOfRuntime(0).name;
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std::vector<FDTensor> output_tensors;
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if (!Infer(input_tensors, &output_tensors)) {
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FDERROR << "Failed to inference." << std::endl;
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return false;
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}
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#ifdef FASTDEPLOY_DEBUG
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TIMERECORD_END(1, "Inference")
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TIMERECORD_START(2)
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#endif
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if (!Postprocess(output_tensors[0], result, im_info, conf_threshold,
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nms_iou_threshold)) {
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FDERROR << "Failed to post process." << std::endl;
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return false;
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}
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#ifdef FASTDEPLOY_DEBUG
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TIMERECORD_END(2, "Postprocess")
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#endif
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return true;
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}
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} // namespace ultralytics
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} // namespace vision
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} // namespace fastdeploy
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