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This commit is contained in:
Francesco Gatti
2020-06-01 15:34:59 +02:00
parent af9bb411be 7259511ea2
commit 2df8bb92c2
20 changed files with 1466 additions and 151 deletions
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src/CenternetDetection.cpp
+15 -13
View File
@@ -3,10 +3,11 @@
namespace tk { namespace dnn {
bool CenternetDetection::init(const std::string& tensor_path, const int n_classes){
bool CenternetDetection::init(const std::string& tensor_path, const int n_classes, const int n_batches){
std::cout<<(tensor_path).c_str()<<"\n";
netRT = new tk::dnn::NetworkRT(NULL, (tensor_path).c_str() );
classes = n_classes;
nBatches = n_batches;
dim = netRT->input_dim;
@@ -41,7 +42,7 @@ bool CenternetDetection::init(const std::string& tensor_path, const int n_classe
trans = cv::Mat(cv::Size(3,2), CV_32F);
trans2 = cv::Mat(cv::Size(3,2), CV_32F);
checkCuda(cudaMalloc(&input_d, sizeof(dnnType)*netRT->input_dim.tot()));
checkCuda(cudaMalloc(&input_d, sizeof(dnnType)*netRT->input_dim.tot() * nBatches));
dim_hm = tk::dnn::dataDim_t(1, 80, 128, 128, 1);
dim_wh = tk::dnn::dataDim_t(1, 2, 128, 128, 1);
@@ -98,7 +99,7 @@ bool CenternetDetection::init(const std::string& tensor_path, const int n_classe
checkCuda(cudaMemcpy(mean_d, mean, 3*sizeof(float), cudaMemcpyHostToDevice));
checkCuda(cudaMemcpy(stddev_d, stddev, 3*sizeof(float), cudaMemcpyHostToDevice));
#else
checkCuda(cudaMallocHost(&input, sizeof(dnnType)*netRT->input_dim.tot()));
checkCuda(cudaMallocHost(&input, sizeof(dnnType)*netRT->input_dim.tot()* nBatches));
mean << 0.408, 0.447, 0.47;
stddev << 0.289, 0.274, 0.278;
#endif
@@ -120,13 +121,13 @@ bool CenternetDetection::init(const std::string& tensor_path, const int n_classe
}
void CenternetDetection::preprocess(cv::Mat &frame){
void CenternetDetection::preprocess(cv::Mat &frame, const int bi){
// -----------------------------------pre-process ------------------------------------------
// auto start_t = std::chrono::steady_clock::now();
// auto step_t = std::chrono::steady_clock::now();
// auto end_t = std::chrono::steady_clock::now();
cv::Size sz = originalSize;
cv::Size sz = originalSize[bi];
// std::cout<<"image: "<<sz.width<<", "<<sz.height<<std::endl;
cv::Size sz_old;
float scale = 1.0;
@@ -212,7 +213,7 @@ void CenternetDetection::preprocess(cv::Mat &frame){
// std::cout << " TIME normalize: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
// step_t = end_t;
checkCuda(cudaMemcpy(input_d, d_ptrs, dim2.tot()*sizeof(dnnType), cudaMemcpyDeviceToDevice));
checkCuda(cudaMemcpy(input_d+ netRT->input_dim.tot()*bi, d_ptrs, dim2.tot()*sizeof(dnnType), cudaMemcpyDeviceToDevice));
// end_t = std::chrono::steady_clock::now();
// std::cout << " TIME Memcpy to input_d: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
@@ -254,18 +255,18 @@ void CenternetDetection::preprocess(cv::Mat &frame){
int idx = i*imageF.rows*imageF.cols;
int ch = dim2.c-3 +i;
// std::cout<<"i: "<<i<<", idx: "<<idx<<", ch: "<<ch<<std::endl;
memcpy((void*)&input[idx], (void*)bgr[ch].data, imageF.rows*imageF.cols*sizeof(dnnType));
memcpy((void*)&input[idx+ netRT->input_dim.tot()*bi], (void*)bgr[ch].data, imageF.rows*imageF.cols*sizeof(dnnType));
}
checkCuda(cudaMemcpyAsync(input_d, input, dim2.tot()*sizeof(dnnType), cudaMemcpyHostToDevice));
checkCuda(cudaMemcpyAsync(input_d+ netRT->input_dim.tot()*bi, input+ netRT->input_dim.tot()*bi, dim2.tot()*sizeof(dnnType), cudaMemcpyHostToDevice));
#endif
}
void CenternetDetection::postprocess(){
void CenternetDetection::postprocess(const int bi, const bool mAP){
dnnType *rt_out[4];
rt_out[0] = (dnnType *)netRT->buffersRT[1];
rt_out[1] = (dnnType *)netRT->buffersRT[2];
rt_out[2] = (dnnType *)netRT->buffersRT[3];
rt_out[3] = (dnnType *)netRT->buffersRT[4];
rt_out[0] = (dnnType *)netRT->buffersRT[1]+ netRT->buffersDIM[1].tot()*bi;
rt_out[1] = (dnnType *)netRT->buffersRT[2]+ netRT->buffersDIM[2].tot()*bi;
rt_out[2] = (dnnType *)netRT->buffersRT[3]+ netRT->buffersDIM[3].tot()*bi;
rt_out[3] = (dnnType *)netRT->buffersRT[4]+ netRT->buffersDIM[4].tot()*bi;
// auto start_t = std::chrono::steady_clock::now();
// auto step_t = std::chrono::steady_clock::now();
@@ -389,6 +390,7 @@ void CenternetDetection::postprocess(){
}
}
batchDetected.push_back(detected);
// end_t = std::chrono::steady_clock::now();
// std::cout << " TIME detections: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
// step_t = end_t;
src/MobilenetDetection.cpp
+18 -12
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@@ -126,11 +126,12 @@ float MobilenetDetection::iou(const tk::dnn::box &a, const tk::dnn::box &b){
return iou;
}
bool MobilenetDetection::init(const std::string& tensor_path, const int n_classes){
bool MobilenetDetection::init(const std::string& tensor_path, const int n_classes, const int n_batches){
std::cout<<(tensor_path).c_str()<<"\n";
netRT = new tk::dnn::NetworkRT(NULL, (tensor_path).c_str());
imageSize = netRT->input_dim.h;
classes = n_classes;
nBatches = n_batches;
SSDSpec specs[N_SSDSPEC];
@@ -157,9 +158,9 @@ bool MobilenetDetection::init(const std::string& tensor_path, const int n_classe
generate_ssd_priors(specs, N_SSDSPEC);
#ifndef OPENCV_CUDACONTRIB
checkCuda(cudaMallocHost(&input, sizeof(dnnType) * netRT->input_dim.tot()));
checkCuda(cudaMallocHost(&input, sizeof(dnnType) * netRT->input_dim.tot() * nBatches));
#endif
checkCuda(cudaMalloc(&input_d, sizeof(dnnType) * netRT->input_dim.tot()));
checkCuda(cudaMalloc(&input_d, sizeof(dnnType) * netRT->input_dim.tot() * nBatches));
locations_h = (float *)malloc(N_COORDS * nPriors * sizeof(float));
confidences_h = (float *)malloc(nPriors * classes * sizeof(float));
@@ -208,7 +209,7 @@ bool MobilenetDetection::init(const std::string& tensor_path, const int n_classe
return 1;
}
void MobilenetDetection::preprocess(cv::Mat &frame){
void MobilenetDetection::preprocess(cv::Mat &frame, const int bi){
#ifdef OPENCV_CUDACONTRIB
//move original image on GPU
cv::cuda::GpuMat orig_img, frame_nomean;
@@ -224,7 +225,7 @@ void MobilenetDetection::preprocess(cv::Mat &frame){
for(int i=0; i < netRT->input_dim.c; i++){
int idx = i * imagePreproc.rows * imagePreproc.cols;
checkCuda( cudaMemcpy((void *)&input_d[idx], (void *)bgr[i].data, imagePreproc.rows * imagePreproc.cols* sizeof(float), cudaMemcpyDeviceToDevice) );
checkCuda( cudaMemcpy((void *)&input_d[idx + netRT->input_dim.tot()*bi], (void *)bgr[i].data, imagePreproc.rows * imagePreproc.cols* sizeof(float), cudaMemcpyDeviceToDevice) );
}
#else
//resize image, remove mean, divide by std
@@ -237,17 +238,17 @@ void MobilenetDetection::preprocess(cv::Mat &frame){
cv::split(imagePreproc, bgr);
for (int i = 0; i < netRT->input_dim.c; i++){
int idx = i * imagePreproc.rows * imagePreproc.cols;
memcpy((void *)&input[idx], (void *)bgr[i].data, imagePreproc.rows * imagePreproc.cols * sizeof(dnnType));
memcpy((void *)&input[idx + netRT->input_dim.tot()*bi], (void *)bgr[i].data, imagePreproc.rows * imagePreproc.cols * sizeof(dnnType));
}
checkCuda(cudaMemcpyAsync(input_d, input, netRT->input_dim.tot() * sizeof(dnnType), cudaMemcpyHostToDevice, netRT->stream));
checkCuda(cudaMemcpyAsync(input_d+ netRT->input_dim.tot()*bi, input + netRT->input_dim.tot()*bi, netRT->input_dim.tot() * sizeof(dnnType), cudaMemcpyHostToDevice, netRT->stream));
#endif
}
void MobilenetDetection::postprocess(){
void MobilenetDetection::postprocess(const int bi, const bool mAP){
//get confidences and locations_h
dnnType *rt_out[2];
rt_out[0] = (dnnType *)netRT->buffersRT[3];
rt_out[1] = (dnnType *)netRT->buffersRT[4];
rt_out[0] = (dnnType *)netRT->buffersRT[3]+ netRT->buffersDIM[3].tot()*bi;
rt_out[1] = (dnnType *)netRT->buffersRT[4]+ netRT->buffersDIM[4].tot()*bi;
detected.clear();
@@ -255,8 +256,8 @@ void MobilenetDetection::postprocess(){
checkCuda(cudaMemcpy(locations_h, rt_out[1], N_COORDS * nPriors * sizeof(float), cudaMemcpyDeviceToHost));
convert_locatios_to_boxes_and_center();
int width = originalSize.width;
int height = originalSize.height;
int width = originalSize[bi].width;
int height = originalSize[bi].height;
float *conf_per_class;
for (int i = 1; i < classes; i++){
@@ -273,6 +274,10 @@ void MobilenetDetection::postprocess(){
b.w = locations_h[j * N_COORDS + 2];
b.h = locations_h[j * N_COORDS + 3];
if(mAP)
for(int c=1; c<classes; c++)
b.probs.push_back(confidences_h[c * nPriors + j]);
boxes.push_back(b);
}
}
@@ -298,6 +303,7 @@ void MobilenetDetection::postprocess(){
boxes = remaining;
}
}
batchDetected.push_back(detected);
}
src/Yolo3Detection.cpp
+22 -14
View File
@@ -3,12 +3,16 @@
namespace tk { namespace dnn {
bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes) {
bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes, const int n_batches) {
//convert network to tensorRT
std::cout<<(tensor_path).c_str()<<"\n";
netRT = new tk::dnn::NetworkRT(NULL, (tensor_path).c_str() );
nBatches = n_batches;
tk::dnn::dataDim_t idim = netRT->input_dim;
idim.n = nBatches;
if(netRT->pluginFactory->n_yolos < 2 ) {
FatalError("this is not yolo3");
}
@@ -19,7 +23,7 @@ bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes) {
num = yRT->num;
nMasks = yRT->n_masks;
// make a yolo layer for interpret predictions
// make a yolo layer to interpret predictions
yolo[i] = new tk::dnn::Yolo(nullptr, classes, nMasks, ""); // yolo without input and bias
yolo[i]->mask_h = new dnnType[nMasks];
yolo[i]->bias_h = new dnnType[num*nMasks*2];
@@ -31,9 +35,9 @@ bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes) {
dets = tk::dnn::Yolo::allocateDetections(tk::dnn::Yolo::MAX_DETECTIONS, classes);
#ifndef OPENCV_CUDACONTRIB
checkCuda(cudaMallocHost(&input, sizeof(dnnType)*netRT->input_dim.tot()));
checkCuda(cudaMallocHost(&input, sizeof(dnnType)*idim.tot()));
#endif
checkCuda(cudaMalloc(&input_d, sizeof(dnnType)*netRT->input_dim.tot()));
checkCuda(cudaMalloc(&input_d, sizeof(dnnType)*idim.tot()));
// class colors precompute
for(int c=0; c<classes; c++) {
@@ -48,7 +52,7 @@ bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes) {
return true;
}
void Yolo3Detection::preprocess(cv::Mat &frame){
void Yolo3Detection::preprocess(cv::Mat &frame, const int bi){
#ifdef OPENCV_CUDACONTRIB
cv::cuda::GpuMat orig_img, img_resized;
orig_img = cv::cuda::GpuMat(frame);
@@ -64,7 +68,7 @@ void Yolo3Detection::preprocess(cv::Mat &frame){
int size = imagePreproc.rows * imagePreproc.cols;
int ch = netRT->input_dim.c-1 -i;
bgr[ch].download(bgr_h); //TODO: don't copy back on CPU
checkCuda( cudaMemcpy(input_d + i*size, (float*)bgr_h.data, size*sizeof(dnnType), cudaMemcpyHostToDevice));
checkCuda( cudaMemcpy(input_d + i*size + netRT->input_dim.tot()*bi, (float*)bgr_h.data, size*sizeof(dnnType), cudaMemcpyHostToDevice));
}
#else
cv::resize(frame, frame, cv::Size(netRT->input_dim.w, netRT->input_dim.h));
@@ -77,21 +81,21 @@ void Yolo3Detection::preprocess(cv::Mat &frame){
for(int i=0; i<netRT->input_dim.c; i++) {
int idx = i*imagePreproc.rows*imagePreproc.cols;
int ch = netRT->input_dim.c-1 -i;
memcpy((void*)&input[idx], (void*)bgr[ch].data, imagePreproc.rows*imagePreproc.cols*sizeof(dnnType));
memcpy((void*)&input[idx + netRT->input_dim.tot()*bi], (void*)bgr[ch].data, imagePreproc.rows*imagePreproc.cols*sizeof(dnnType));
}
checkCuda(cudaMemcpyAsync(input_d, input, netRT->input_dim.tot()*sizeof(dnnType), cudaMemcpyHostToDevice, netRT->stream));
checkCuda(cudaMemcpyAsync(input_d + netRT->input_dim.tot()*bi, input + netRT->input_dim.tot()*bi, netRT->input_dim.tot()*sizeof(dnnType), cudaMemcpyHostToDevice, netRT->stream));
#endif
}
void Yolo3Detection::postprocess(){
void Yolo3Detection::postprocess(const int bi, const bool mAP){
//get yolo outputs
dnnType *rt_out[netRT->pluginFactory->n_yolos];
for(int i=0; i<netRT->pluginFactory->n_yolos; i++) {
rt_out[i] = (dnnType*)netRT->buffersRT[i+1];
}
for(int i=0; i<netRT->pluginFactory->n_yolos; i++)
rt_out[i] = (dnnType*)netRT->buffersRT[i+1] + netRT->buffersDIM[i+1].tot()*bi;
float x_ratio = float(originalSize.width) / float(netRT->input_dim.w);
float y_ratio = float(originalSize.height) / float(netRT->input_dim.h);
float x_ratio = float(originalSize[bi].width) / float(netRT->input_dim.w);
float y_ratio = float(originalSize[bi].height) / float(netRT->input_dim.h);
// compute dets
nDets = 0;
@@ -132,9 +136,13 @@ void Yolo3Detection::postprocess(){
res.y = y0;
res.w = x1 - x0;
res.h = y1 - y0;
if(mAP)
for(int c=0; c<classes; c++)
res.probs.push_back(dets[j].prob[c]);
detected.push_back(res);
}
}
batchDetected.push_back(detected);
}
src/evaluation.cpp
+42 -1
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@@ -314,5 +314,46 @@ void computeTPFPFN( std::vector<Frame> &images,const int classes,
std::cout<<"avg precision: "<<avg_precision<<"\tavg recall: "<<avg_recall<<"\tavg f1 score:"<<f1_score<<std::endl;
}
void printJsonCOCOFormat(std::ofstream *out_file, const std::string image_path, std::vector<tk::dnn::box> bbox, const int classes, const int w, const int h)
{
int coco_ids[] = { 1,2,3,4,5,6,7,8,9,10,11,13,14,15,16,17,18,19,20,21,22,23,24,25,27,28,31,32,33,34,35,36,37,38,39,40,41,42,43,44,46,47,48,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,67,70,72,73,74,75,76,77,78,79,80,81,82,84,85,86,87,88,89,90 };
std::string id = image_path.substr(image_path.find("images/")+7, image_path.find(".jpg") - image_path.find("images/") -7);
int image_id = std::stoi(id);
for (int i = 0; i < bbox.size(); ++i) {
float xmin = bbox[i].x ;
float xmax = bbox[i].x + float(bbox[i].w);
float ymin = bbox[i].y;
float ymax = bbox[i].y + float(bbox[i].h);
//limit to image borders
if (xmin < 0) xmin = 0;
if (ymin < 0) ymin = 0;
if (xmax > w) xmax = w;
if (ymax > h) ymax = h;
float bx = xmin;
float by = ymin;
float bw = xmax - xmin;
float bh = ymax - ymin;
if(bbox[i].probs.size() == classes)
for (int j = 0; j < classes; ++j) {
//min threshold confidence is set in DetectionNN.h
if (bbox[i].probs[j] > 0) {
*out_file << "{\"image_id\":" << image_id <<
", \"category_id\":" << coco_ids[j] <<
", \"bbox\":[" << bx << ", " << by << ", " << bw << ", " << bh <<
"], \"score\":" << bbox[i].probs[j] << "},\n";
}
}
else
*out_file << "{\"image_id\":" << image_id <<
", \"category_id\":" << coco_ids[bbox[i].cl] <<
", \"bbox\":[" << bx << ", " << by << ", " << bw << ", " << bh <<
"], \"score\":" << bbox[i].prob << "},\n";
}
}
}}
src/kernels/activation.mish.cu → src/kernels/activation_mish.cu
+22 -3
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@@ -3,20 +3,39 @@
#define MISH_THRESHOLD 20
__device__ float tanh_activate_kernel(float x){return (2/(1 + expf(-2*x)) - 1);}
__device__ float softplus_kernel(float x, float threshold = 20) {
__device__
float tanh_activate_kernel(float x){return (2/(1 + expf(-2*x)) - 1);}
__device__
float softplus_kernel(float x, float threshold = 20) {
if (x > threshold) return x; // too large
else if (x < -threshold) return expf(x); // too small
return logf(expf(x) + 1);
}
__device__
float mish_yashas(float x) {
float e = __expf(x);
if (x <= -18.0f)
return x * e;
float n = e * e + 2 * e;
if (x <= -5.0f)
return x * __fdividef(n, n + 2);
return x - 2 * __fdividef(x, n + 2);
}
// https://github.com/digantamisra98/Mish
// https://github.com/AlexeyAB/darknet/blob/master/src/activation_kernels.cu
__global__
void activation_mish(dnnType *input, dnnType *output, int size) {
int i = (blockIdx.x + blockIdx.y*gridDim.x) * blockDim.x + threadIdx.x;
if (i < size)
output[i] = input[i] * tanh_activate_kernel( softplus_kernel(input[i], MISH_THRESHOLD));
// output[i] = input[i] * tanh_activate_kernel( softplus_kernel(input[i], MISH_THRESHOLD));
output[i] = mish_yashas(input[i]);
}
/**