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#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include <fstream>
#include <iostream>
#include <sys/time.h>
#include "rockchip/rknn_api.h"
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/highgui/highgui.hpp"
using namespace std;
using namespace cv;
int demo_done=0;
const int net_width=416; //网络输入大小,实际上计算IOU需要根据原图大小,此程序简化直接根据416*416来算
const int net_height=416;
const int img_channels=3;
cv::Mat img[3]; //IMREAD_COLOR=1 default BGR
int buff_index=0;
int outputs_index=0;
cv::VideoCapture cap;
rknn_context ctx;
rknn_input inputs[1];
rknn_output outputs[2][2];
rknn_perf_detail perf_detail;
rknn_perf_run perf_run;
rknn_tensor_attr outputs_attr[2];
Scalar colorArray[10]={
Scalar(139,0,0,255),
Scalar(139,0,139,255),
Scalar(0,0,139,255),
Scalar(0,100,0,255),
Scalar(139,139,0,255),
Scalar(209,206,0,255),
Scalar(0,127,255,255),
Scalar(139,61,72,255),
Scalar(0,255,0,255),
Scalar(255,0,0,255),
};
static string labels[80]={"person", "bicycle", "car","motorbike ","aeroplane ","bus ","train","truck ","boat","traffic light","fire hydrant","stop sign ","parking meter","bench","bird","cat","dog ","horse ","sheep","cow","elephant","bear","zebra ","giraffe","backpack","umbrella","handbag","tie","suitcase","frisbee","skis","snowboard","sports ball","kite","baseball bat","baseball glove","skateboard","surfboard","tennis racket","bottle","wine glass","cup","fork","knife ","spoon","bowl","banana","apple","sandwich","orange","broccoli","carrot","hot dog","pizza ","donut","cake","chair","sofa","pottedplant","bed","diningtable","toilet ","tvmonitor","laptop","mouse","remote ","keyboard ","cell phone","microwave ","oven ","toaster","sink","refrigerator ","book","clock","vase","scissors ","teddy bear ","hair drier", "toothbrush "};
static int GRID0=13;
static int GRID1=26;
static int nclasses=80;
static int nyolo=2; //n yolo layers;
static int nanchor=3; //n anchor per yolo layer
static int nboxes_0=GRID0*GRID0*nanchor;
static int nboxes_1=GRID1*GRID1*nanchor;
static int nboxes_total=nboxes_0+nboxes_1;
float OBJ_THRESH=0.2;
float DRAW_CLASS_THRESH=0.2;
float NMS_THRESH=0.4; //darknet demo nms=0.4
typedef struct{
float x,y,w,h;
}box;
typedef struct detection{
box bbox;
int classes;
float *prob;
float objectness;
int sort_class;
} detection;
detection* dets=0;
void free_detections(detection *dets, int n)
{
int i;
for(i = 0; i < n; ++i){
free(dets[i].prob);
}
free(dets);
}
double what_time_is_it_now()
{
struct timeval time;
if (gettimeofday(&time,NULL)){
return 0;
}
return (double)time.tv_sec + (double)time.tv_usec * .000001;
}
box get_yolo_box(float *x, float *biases, int n, int index, int i, int j, int lw, int lh, int netw, int neth, int stride)
{
box b;
b.x = (i + x[index + 0*stride]) / lw;
b.y = (j + x[index + 1*stride]) / lh;
b.w = exp(x[index + 2*stride]) * biases[2*n] / netw;
b.h = exp(x[index + 3*stride]) * biases[2*n+1] / neth;
return b;
}
detection *get_network_boxes(float *predictions, int netw,int neth,int GRID,int* masks, float* anchors, int box_off)
{
int lw=GRID;
int lh=GRID;
int nboxes=GRID*GRID*nanchor;
int LISTSIZE=1+4+nclasses;
//darkent output排列格式: box顺序为先grid再anchor
//1个anchor: 7*7*x+7*7*y+7*7*w+7*7*w+7*7*obj+7*7*classes1+7*7*classes2..+7*7*classes80,共3个anchor
//x和y(先做,或者放在后面转换到实际坐标这一步中也行),以及obj和classes做logisic
//xy做logistic
for(int n=0;n<nanchor;n++){
int index=n*lw*lh*LISTSIZE;
int index_end=index+2*lw*lh;
for(int i=index;i<index_end;i++)
predictions[i]=1./(1.+exp(-predictions[i]));
}
//类别和obj做logistic
for(int n=0;n<nanchor;n++){
int index=n*lw*lh*LISTSIZE+4*lw*lh;
int index_end=index+(1+nclasses)*lw*lh;
for(int i=index;i<index_end;i++){
predictions[i]=1./(1.+exp(-predictions[i]));
}
}
//dets将outpus重排列,dets[i]为第i个框,box顺序为先anchor再grid
int count=box_off;
for(int i=0;i<lw*lh;i++){
int row=i/lw;
int col=i%lw;
for(int n=0;n<nanchor;n++){
int box_loc=n*lw*lh+i;
int box_index=n*lw*lh*LISTSIZE+i; //box的x索引,ywh索引只要依次加上lw*lh
int obj_index=box_index+4*lw*lh;
float objectness=predictions[obj_index];
if(objectness<OBJ_THRESH) continue;
dets[count].objectness=objectness;
dets[count].classes=nclasses;
dets[count].bbox=get_yolo_box(predictions,anchors,masks[n],box_index,col,row,lw,lh,netw,neth,lw*lh);
for(int j=0;j<nclasses;j++){
int class_index=box_index+(5+j)*lw*lh;
float prob=objectness*predictions[class_index];
dets[count].prob[j]=prob;
}
++count;
}
}
//cout<<"count: "<<count-box_off<<"\n";
return dets;
}
detection* outputs_transform(rknn_output rknn_outputs[], int net_width, int net_height){
float* output_0=(float*)rknn_outputs[0].buf;
float* output_1=(float*)rknn_outputs[1].buf;
int masks_0[3] = {3, 4, 5};
int masks_1[3] = {0, 1, 2};
float anchors[12] = {10, 14, 23, 27, 37, 58, 81, 82, 135, 169, 344, 319};
//输出xywh均在0-1范围内
get_network_boxes(output_0,net_width,net_height,GRID0,masks_0,anchors,0);
get_network_boxes(output_1,net_width,net_height,GRID1,masks_1,anchors,nboxes_0);
return dets;
}
float overlap(float x1,float w1,float x2,float w2){
float l1=x1-w1/2;
float l2=x2-w2/2;
float left=l1>l2? l1:l2;
float r1=x1+w1/2;
float r2=x2+w2/2;
float right=r1<r2? r1:r2;
return right-left;
}
float box_intersection(box a, box b)
{
float w = overlap(a.x, a.w, b.x, b.w);
float h = overlap(a.y, a.h, b.y, b.h);
if(w < 0 || h < 0) return 0;
float area = w*h;
return area;
}
float box_union(box a, box b)
{
float i = box_intersection(a, b);
float u = a.w*a.h + b.w*b.h - i;
return u;
}
float box_iou(box a, box b)
{
return box_intersection(a, b)/box_union(a, b);
}
int nms_comparator(const void *pa, const void *pb)
{
detection a = *(detection *)pa;
detection b = *(detection *)pb;
float diff = 0;
if(b.sort_class >= 0){
diff = a.prob[b.sort_class] - b.prob[b.sort_class];
} else {
diff = a.objectness - b.objectness;
}
if(diff < 0) return 1;
else if(diff > 0) return -1;
return 0;
}
int do_nms_sort(detection *dets, int total, int classes, float thresh)
{
int i, j, k;
k = total-1;
for(i = 0; i <= k; ++i){
if(dets[i].objectness == 0){
detection swap = dets[i];
dets[i] = dets[k];
dets[k] = swap;
--k;
--i;
}
}
total = k+1;
cout<<"total after OBJ_THRESH: "<<total<<"\n";
for(k = 0; k < classes; ++k){
for(i = 0; i < total; ++i){
dets[i].sort_class = k;
}
qsort(dets, total, sizeof(detection), nms_comparator);
for(i = 0; i < total; ++i){
if(dets[i].prob[k] == 0) continue;
box a = dets[i].bbox;
for(j = i+1; j < total; ++j){
box b = dets[j].bbox;
if (box_iou(a, b) > thresh){
dets[j].prob[k] = 0;
}
}
}
}
return total;
}
//简化的nms, 只对obj做了nms,未对每个类做nms
//对class进行nms的函数见darknet do_nms_sort
int do_nms_obj(detection *dets, int total, int classes, float thresh)
{
int i, j, k;
k = total-1;
cout<<"k: "<<k<<"\n";
for(i = 0; i <= k; ++i){
if(dets[i].objectness == 0){
detection swap = dets[i];
dets[i] = dets[k];
dets[k] = swap;
--k;
--i;
}
}
total = k+1;
cout<<"total after OBJ_THRESH: "<<total<<"\n";
for(i = 0; i < total; ++i){
dets[i].sort_class = -1;
}
qsort(dets, total, sizeof(detection), nms_comparator); //此处nms sort_classes<0,并未对类别nms, 直接对obj做nms
for(i = 0; i < total; ++i){
if(dets[i].objectness == 0) continue;
box a = dets[i].bbox;
for(j = i+1; j < total; ++j){
if(dets[j].objectness == 0) continue;
box b = dets[j].bbox;
if (box_iou(a, b) > thresh){
dets[j].objectness = 0;
for(k = 0; k < classes; ++k){
dets[j].prob[k] = 0;
}
}
}
}
return total;
}
int draw_image(cv::Mat img,detection* dets,int total,float thresh){
cv::cvtColor(img, img, cv::COLOR_RGB2BGR);
for(int i=0;i<total;i++){
char labelstr[4096]={0};
int class_=-1;
int topclass=-1;
float topclass_score=0;
if(dets[i].objectness==0) continue;
for(int j=0;j<nclasses;j++){
if(dets[i].prob[j]>thresh){
if(topclass_score<dets[i].prob[j]){
topclass_score=dets[i].prob[j];
topclass=j;
}
if(class_<0){
strcat(labelstr,labels[j].data());
class_=j;
}
else{
strcat(labelstr,",");
strcat(labelstr,labels[j].data());
}
printf("%s: %.02f%%\n",labels[j].data(),dets[i].prob[j]*100);
}
}
//如果class>0说明框中有物体,需画框
if(class_>=0){
box b=dets[i].bbox;
int x1 =(b.x-b.w/2.)*img.cols;
int x2=(b.x+b.w/2.)*img.cols;
int y1=(b.y-b.h/2.)*img.rows;
int y2=(b.y+b.h/2.)*img.rows;
if(x1 < 0) x1 = 0;
if(x2> img.cols-1) x2 = img.cols-1;
if(y1 < 0) y1 = 0;
if(x2 > img.rows-1) x2 = img.rows-1;
std::cout << labels[topclass] << "\t@ (" << x1 << ", " << y1 << ") (" << x2 << ", " << y2 << ")" << "\n";
rectangle(img, Point(x1, y1), Point(x2, y2), colorArray[class_%10], 3);
putText(img, labelstr, Point(x1, y1 - 12), 1, 2, Scalar(0, 255, 0, 255));
}
}
//imwrite("out.jpg",img);
return 0;
}
void *display_in_thread(void *ptr){
double start_time,end_time;
start_time=what_time_is_it_now();
cv::Mat img_show;
img_show=img[(buff_index)%3];
cv::resize(img[(buff_index)%3],img_show,cv::Size(600,600),0,0,cv::INTER_LINEAR);
cv::imshow("yolov3_tiny",img_show);
int c = cv::waitKey(1);
if (c != -1) c = c%256;
if (c == 27) {
demo_done = 1;
return 0;
} else if (c == 82) {
DRAW_CLASS_THRESH += .02;
} else if (c == 84) {
DRAW_CLASS_THRESH -= .02;
if(DRAW_CLASS_THRESH <= .02) DRAW_CLASS_THRESH = .02;
} else if (c == 83) {
NMS_THRESH += .02;
} else if (c == 81) {
NMS_THRESH -= .02;
if(NMS_THRESH <= .0) NMS_THRESH = .0;
}
end_time=what_time_is_it_now();
cout<<"display thread time:"<<(end_time-start_time)*1000<<" ms\n";
return 0;
}
void *fetch_in_thread(void *ptr){
double start_time,end_time;
start_time=what_time_is_it_now();
cv::Mat frame;
cap>>frame;
if(!frame.data) {
printf("fetch frame fail!\n");
return 0;
}
if(frame.cols != net_width || frame.rows != net_height)
cv::resize(frame, frame, cv::Size(net_width, net_height), (0, 0), (0, 0), cv::INTER_LINEAR);
//BGR->RGB
cv::cvtColor(frame, img[buff_index], cv::COLOR_BGR2RGB);
//cv::imshow("camera",frame);
end_time=what_time_is_it_now();
cout<<"fetch thread time:"<<(end_time-start_time)*1000<<" ms\n";
return 0;
}
void *process_in_thread(void *ptr){
double start_time,end_time;
start_time=what_time_is_it_now();
int nboxes_left=0;
//每次要重新清零, 否则会残留上次检测结果
for(int i=0;i<nboxes_total;++i){
dets[i].objectness=0;
}
outputs_transform(outputs[(outputs_index+1)%2],net_width,net_height);
nboxes_left=do_nms_sort(dets,nboxes_total,nclasses,NMS_THRESH);
//nboxes_left=do_nms_obj(dets,nboxes_total,nclasses,NMS_THRESH);
draw_image(img[(buff_index+2)%3],dets,nboxes_left,DRAW_CLASS_THRESH);
rknn_outputs_release(ctx,2,outputs[(outputs_index+1)%2]);
end_time=what_time_is_it_now();
cout<<"process thread time:"<<(end_time-start_time)*1000<<" ms\n";
return 0;
}
void *detect_in_thread(void *ptr){
double start_time,end_time;
start_time=what_time_is_it_now();
inputs[0].buf = img[(buff_index+2)%3].data;
//inputs[0].buf = img[0].data;
int ret = rknn_inputs_set(ctx, 1, inputs);
if(ret < 0) {
printf("rknn_input_set fail! ret=%d\n", ret);
goto Error;
}
//run
ret = rknn_run(ctx, nullptr);
if(ret < 0) {
printf("rknn_run fail! ret=%d\n", ret);
goto Error;
}
//cout<<"rknn_run done\n";
ret = rknn_outputs_get(ctx, 2, outputs[outputs_index], NULL);
if(ret < 0) {
printf("rknn_outputs_get fail! ret=%d\n", ret);
goto Error;
}
//查询单帧推理时间
ret = rknn_query(ctx, RKNN_QUERY_PERF_RUN, &perf_run, sizeof(rknn_perf_run));
printf("NPU run time: %ld us\n", perf_run.run_duration);
//坐标转换
end_time=what_time_is_it_now();
cout<<"detect thread time:"<<(end_time-start_time)*1000<<" ms\n";
return 0;
Error:
if(ctx) rknn_destroy(ctx);
return 0;
}
int main(int argc, char** argb){
const char *model_path = "./yolov3_tiny.rknn";
cv::Mat frame;
//cv::namedWindow("yolov3_tiny");
//cv::namedWindow("camera");
double begin,end,real_fps;
int frame_count=0;
//alloc total dets
dets =(detection*) calloc(nboxes_total,sizeof(detection));
for(int i=0;i<nboxes_total;++i){
dets[i].prob=(float*) calloc(nclasses,sizeof(float));
}
// Load model
FILE *fp = fopen(model_path, "rb");
if(fp == NULL) {
printf("fopen %s fail!\n", model_path);
return -1;
}
fseek(fp, 0, SEEK_END); //fp指向end,fseek(FILE *stream, long offset, int fromwhere);
int model_len = ftell(fp); //相对文件首偏移
void *model = malloc(model_len);
fseek(fp, 0, SEEK_SET); //SEEK_SET为文件头
if(model_len != fread(model, 1, model_len, fp)) {
printf("fread %s fail!\n", model_path);
free(model);
return -1;
}
cout<<"model load done\n";
int ret=0;
rknn_input_output_num io_num;
//init
ret=rknn_init(&ctx,model,model_len,RKNN_FLAG_PRIOR_MEDIUM);//优先级
//ret=rknn_init(&ctx,model,model_len,RKNN_FLAG_PRIOR_MEDIUM | RKNN_FLAG_COLLECT_PERF_MASK);//优先级
if(ret < 0) {
printf("rknn_init fail! ret=%d\n", ret);
goto Error;
}
printf("rknn_init done\n");
//rknn input output num
ret = rknn_query(ctx,RKNN_QUERY_IN_OUT_NUM,&io_num,sizeof(io_num));
if(ret < 0) {
printf("rknn_query fail! ret=%d\n", ret);
goto Error;
}
cout<<"io_num query done\n";
cout<<"input num: "<<io_num.n_input<<"; ";
cout<<"output num: "<<io_num.n_output<<"; \n";
//rknn inputs
inputs[0].index = 0;
inputs[0].size = net_width * net_height * img_channels;
inputs[0].pass_through = false; //需要type和fmt
inputs[0].type = RKNN_TENSOR_UINT8;
inputs[0].fmt = RKNN_TENSOR_NHWC;
//rknn outputs
outputs[0][0].want_float = true;
outputs[0][0].is_prealloc = false;
outputs[0][1].want_float = true;
outputs[0][1].is_prealloc = false;
outputs[1][0].want_float = true;
outputs[1][0].is_prealloc = false;
outputs[1][1].want_float = true;
outputs[1][1].is_prealloc = false;
//rknn outputs_attr
outputs_attr[0].index = 0;
ret = rknn_query(ctx, RKNN_QUERY_OUTPUT_ATTR, &(outputs_attr[0]), sizeof(outputs_attr[0]));
if(ret < 0) {
printf("rknn_query fail! ret=%d\n", ret);
goto Error;
}
outputs_attr[1].index = 1;
ret = rknn_query(ctx, RKNN_QUERY_OUTPUT_ATTR, &(outputs_attr[1]), sizeof(outputs_attr[1]));
if(ret < 0) {
printf("rknn_query fail! ret=%d\n", ret);
goto Error;
}
pthread_t detect_thread;
pthread_t process_thread;
//cap.open("../tmp/test_video.mp4");
cap.open("/dev/video0");
if(!cap.isOpened()){
return -1;
}
cout<<"camera open done\n";
cap>>frame;
if(!frame.data) {
printf("fetch frame fail!\n");
return 0;
}
if(frame.cols != net_width || frame.rows != net_height)
cv::resize(frame, frame, cv::Size(net_width, net_height), (0, 0), (0, 0), cv::INTER_LINEAR);
//BGR->RGB
cv::cvtColor(frame, frame, cv::COLOR_BGR2RGB);
img[0]=frame.clone();
img[1]=frame.clone();
img[2]=frame.clone();
cout<<"image first load & resize & cvtColor done\n";
detect_in_thread(0);
cout<<"first detect done\n";
begin=what_time_is_it_now();
while(!demo_done){
double start_time,end_time,fps;
start_time=what_time_is_it_now();
clock_t start,end;
outputs_index=(outputs_index+1)%2;
buff_index=(buff_index+1)%3;
if(pthread_create(&process_thread,0,process_in_thread,0)) {
printf("Thread process creation failed");
break;
}
if(pthread_create(&detect_thread,0,detect_in_thread,0)) {
printf("Thread detect creation failed");
break;
}
display_in_thread(0);
fetch_in_thread(0);
pthread_join(detect_thread,0);
pthread_join(process_thread,0);
end_time=what_time_is_it_now();
fps=1./(end_time-start_time);
cout<<"total time:"<<(end_time-start_time)*1000<<" ms\n";
cout<<"fps: "<<fps<<" \n\n";
frame_count++;
//rknn_outputs_release(ctx,io_num.n_output,outputs[0]);
}
end=what_time_is_it_now();
real_fps=frame_count/(end-begin);
cout<<"real fps: "<<real_fps<<" \n\n";
rknn_outputs_release(ctx,io_num.n_output,outputs[0]);
rknn_destroy(ctx);
Error:
if(ctx) rknn_destroy(ctx);
if(model) free(model);
if(fp) fclose(fp);
if(dets) free(dets);
return 0;
}
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