Add yolo3_voc test

Signed-off-by: Micaela Verucchi <micaelaverucchi@gmail.com>

include/tkDNN/Yolo3Detection.h

@@ -13,7 +13,6 @@ private:
     int num = 0;
     int nMasks = 0;
     int nDets = 0;
-    bool letterbox = false;
     tk::dnn::Yolo::detection *dets = nullptr;
     tk::dnn::Yolo* yolo[3];
 
@@ -22,7 +21,7 @@ private:
     cv::Mat bgr_h;
     
 public:
-    Yolo3Detection(const bool letter_box=false) :letterbox(letter_box){}
+    Yolo3Detection() {};
     ~Yolo3Detection() {}; 
 
     bool init(const std::string& tensor_path, const int n_classes=80, const int n_batches=1);

src/Yolo3Detection.cpp

@@ -52,80 +52,28 @@ bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes, c
     return true;
 } 
 
-cv::Mat resize_image(cv::Mat im, int w, int h)
-{
-    cv::Mat resized = cv::Mat(cv::Size(w,h), CV_32FC3, cv::Scalar(0) );
-    cv::Mat part = cv::Mat(cv::Size(w,im.rows), CV_32FC3, cv::Scalar(0) );
-    int r, c, k;
-    float w_scale = (float)(im.cols - 1) / (w - 1);
-    float h_scale = (float)(im.rows - 1) / (h - 1);
-    
-    for(k = 0; k < im.channels(); ++k){
-        for(r = 0; r < im.rows; ++r){
-            for(c = 0; c < w; ++c){
-                float val = 0;
-                if(c == w-1 || im.cols == 1){
-                    val = im.at<cv::Vec3f>(r, im.cols-1)[k];
-                } else {
-                    float sx = c*w_scale;
-                    int ix = (int) sx;
-                    float dx = sx - ix;
-                    val = (1 - dx) * im.at<cv::Vec3f>(r, ix)[k] + dx * im.at<cv::Vec3f>(r,ix+1)[k];
-                }
-                part.at<cv::Vec3f>(r,c)[k] = val;
-            }
-        }
-    }
-    for(k = 0; k < im.channels(); ++k){
-        for(r = 0; r < h; ++r){
-            float sy = r*h_scale;
-            int iy = (int) sy;
-            float dy = sy - iy;
-            for(c = 0; c < w; ++c){
-                float val = (1-dy) * part.at<cv::Vec3f>(iy, c)[k];
-                resized.at<cv::Vec3f>(r, c)[k] = val;
-            }
-            if(r == h-1 || im.rows == 1) continue;
-            for(c = 0; c < w; ++c){
-                float val = dy * part.at<cv::Vec3f>(iy+1, c)[k];
-                resized.at<cv::Vec3f>(r,c)[k] += val;
-            }
-        }
-    }
-
-    return resized;
-}
-
 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);
+    cv::cuda::resize(orig_img, img_resized, cv::Size(netRT->input_dim.w, netRT->input_dim.h));
+
+    img_resized.convertTo(imagePreproc, CV_32FC3, 1/255.0); 
+
+    //split channels
+    cv::cuda::split(imagePreproc,bgr);//split source
+
+    //write channels
+    for(int i=0; i<netRT->input_dim.c; i++) {
+        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 + 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));
     frame.convertTo(imagePreproc, CV_32FC3, 1/255.0); 
 
-    if(letterbox){
-        int im_w = frame.cols;
-        int im_h = frame.rows;
-        int net_w = netRT->input_dim.w;
-        int net_h = netRT->input_dim.h;
-        if(net_w == net_h && letterbox){
-            float ratio = ( im_w > im_h ) ? float(im_w)/float(net_w) : float(im_h)/float(net_h);
-
-            int new_h = im_h/ratio;
-            int new_w = im_w/ratio;
-
-            imagePreproc = resize_image(imagePreproc, new_w, new_h);
-
-            cv::Mat borders;
-            int top = (net_h - new_h)/2;
-            int bottom = (net_h - new_h) - top;
-            int left = (net_w - new_w)/2;
-            int right = (net_w - new_w) - left;
-
-            cv::copyMakeBorder(imagePreproc,imagePreproc, top, bottom, left, right, cv::BORDER_CONSTANT, cv::Scalar(0.5,0.5,0.5));
-        }
-        else
-            FatalError("letterbox not spported with h!=w");
-    }
-    else
-        imagePreproc = resize_image(imagePreproc, netRT->input_dim.w, netRT->input_dim.h);
-
     //split channels
     cv::split(imagePreproc,bgr);//split source
 
@@ -136,6 +84,7 @@ void Yolo3Detection::preprocess(cv::Mat &frame, const int bi){
         memcpy((void*)&input[idx + netRT->input_dim.tot()*bi], (void*)bgr[ch].data, imagePreproc.rows*imagePreproc.cols*sizeof(dnnType));     
     }
     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(const int bi, const bool mAP){
@@ -156,45 +105,14 @@ void Yolo3Detection::postprocess(const int bi, const bool mAP){
     }
     tk::dnn::Yolo::mergeDetections(dets, nDets, classes);
 
-    int im_w = originalSize[bi].width;
-    int im_h = originalSize[bi].height;
-    int net_w = netRT->input_dim.w;
-    int net_h = netRT->input_dim.h;
-    int new_h, new_w;
-
-    int top = 0, left = 0;
-
-    if(letterbox){
-        float ratio = ( im_w > im_h ) ? float(im_w)/float(net_w) : float(im_h)/float(net_h);
-        x_ratio = ratio;
-        y_ratio = ratio;
-        std::cout<<ratio<<std::endl;
-
-        int new_h = im_h/ratio;
-        int new_w = im_w/ratio;
-
-        top = (net_h - new_h)/2;
-        left = (net_w - new_w)/2;
-    }
-    else{
-        new_h = net_h;
-        new_w = net_w;
-    }
-    
-    float deltaw = net_w - new_w;
-    float deltah = net_h - new_h;
-    float ratiow = (float)new_w / net_w;
-    float ratioh = (float)new_h / net_h;
-
     // fill detected
     detected.clear();
     for(int j=0; j<nDets; j++) {
         tk::dnn::Yolo::box b = dets[j].bbox;
-
+        int x0   = (b.x-b.w/2.);
-        float x0   = (b.x - left - b.w/2.);
+        int x1   = (b.x+b.w/2.);
-        float x1   = (b.x - left + b.w/2.);
+        int y0   = (b.y-b.h/2.);
-        float y0   = (b.y - top - b.h/2.);
+        int y1   = (b.y+b.h/2.);
-        float y1   = (b.y - top + b.h/2.);
 
         // convert to image coords
         x0 = x_ratio*x0;
@@ -215,9 +133,15 @@ void Yolo3Detection::postprocess(const int bi, const bool mAP){
                 res.w = x1 - x0;
                 res.h = y1 - y0;
 
+                // FIXME: this shuld be useless
+                // 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

@@ -342,16 +342,14 @@ void printJsonCOCOFormat(std::ofstream *out_file, const std::string image_path,
                 //min threshold confidence is set in DetectionNN.h
                 if (bbox[i].probs[j] > 0) {
 
-                    *out_file << std::fixed  << std::setprecision(6) <<
+                    *out_file <<    "{\"image_id\":" << image_id <<
-                                    "{\"image_id\":" << image_id <<
                                     ", \"category_id\":" << coco_ids[j] << 
                                     ", \"bbox\":[" << bx << ", " << by << ", " << bw << ", " << bh << 
                                     "], \"score\":" << bbox[i].probs[j] << "},\n";
                 }
             }
         else
-            *out_file <<     std::fixed  << std::setprecision(6) <<
+            *out_file <<    "{\"image_id\":" << image_id <<
-                            "{\"image_id\":" << image_id <<
                             ", \"category_id\":" << coco_ids[bbox[i].cl] << 
                             ", \"bbox\":[" << bx << ", " << by << ", " << bw << ", " << bh << 
                             "], \"score\":" << bbox[i].prob << "},\n";

tests/darknet/cfg/yolo3_voc.cfg

@@ -0,0 +1,785 @@
+[net]
+# Testing
+#  batch=1
+#  subdivisions=1
+# Training
+batch=64
+subdivisions=16
+width=416
+height=416
+channels=3
+momentum=0.9
+decay=0.0005
+angle=0
+saturation = 1.5
+exposure = 1.5
+hue=.1
+
+learning_rate=0.001
+burn_in=1000
+max_batches = 50200
+policy=steps
+steps=40000,45000
+scales=.1,.1
+
+
+
+[convolutional]
+batch_normalize=1
+filters=32
+size=3
+stride=1
+pad=1
+activation=leaky
+
+# Downsample
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=32
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+# Downsample
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=64
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+# Downsample
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+# Downsample
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+# Downsample
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+stride=2
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=1024
+size=3
+stride=1
+pad=1
+activation=leaky
+
+[shortcut]
+from=-3
+activation=linear
+
+######################
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=512
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=1024
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=75
+activation=linear
+
+[yolo]
+mask = 6,7,8
+anchors = 10,13,  16,30,  33,23,  30,61,  62,45,  59,119,  116,90,  156,198,  373,326
+classes=20
+num=9
+jitter=.3
+ignore_thresh = .5
+truth_thresh = 1
+random=1
+
+[route]
+layers = -4
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[upsample]
+stride=2
+
+[route]
+layers = -1, 61
+
+
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=256
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=512
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=75
+activation=linear
+
+[yolo]
+mask = 3,4,5
+anchors = 10,13,  16,30,  33,23,  30,61,  62,45,  59,119,  116,90,  156,198,  373,326
+classes=20
+num=9
+jitter=.3
+ignore_thresh = .5
+truth_thresh = 1
+random=1
+
+[route]
+layers = -4
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[upsample]
+stride=2
+
+[route]
+layers = -1, 36
+
+
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=256
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=256
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+filters=128
+size=1
+stride=1
+pad=1
+activation=leaky
+
+[convolutional]
+batch_normalize=1
+size=3
+stride=1
+pad=1
+filters=256
+activation=leaky
+
+[convolutional]
+size=1
+stride=1
+pad=1
+filters=75
+activation=linear
+
+[yolo]
+mask = 0,1,2
+anchors = 10,13,  16,30,  33,23,  30,61,  62,45,  59,119,  116,90,  156,198,  373,326
+classes=20
+num=9
+jitter=.3
+ignore_thresh = .5
+truth_thresh = 1
+random=1
+

tests/darknet/yolo3_voc.cpp

@@ -0,0 +1,35 @@
+#include<iostream>
+#include<vector>
+#include "tkdnn.h"
+#include "test.h"
+#include "DarknetParser.h"
+
+int main() {
+    std::string bin_path  = "yolo3_voc";
+    std::vector<std::string> input_bins = { 
+        bin_path + "/layers/input.bin"
+    };
+    std::vector<std::string> output_bins = {
+	bin_path + "/debug/layer82_out.bin",
+        bin_path + "/debug/layer94_out.bin",
+        bin_path + "/debug/layer106_out.bin"
+    };
+    std::string wgs_path  = bin_path + "/layers";
+    std::string cfg_path  = std::string(TKDNN_PATH) + "/tests/darknet/cfg/yolo3_voc.cfg";
+    std::string name_path = std::string(TKDNN_PATH) + "/tests/darknet/names/voc.names";
+    downloadWeightsifDoNotExist(input_bins[0], bin_path, "https://cloud.hipert.unimore.it/s/mDJwCBgADc2xL4M/download");
+
+    // parse darknet network
+    tk::dnn::Network *net = tk::dnn::darknetParser(cfg_path, wgs_path, name_path);
+    net->print();
+
+    //convert network to tensorRT
+    tk::dnn::NetworkRT *netRT = new tk::dnn::NetworkRT(net, net->getNetworkRTName(bin_path.c_str()));
+    
+    int ret = testInference(input_bins, output_bins, net, netRT);
+    net->releaseLayers();
+    delete net;
+    delete netRT;
+    return ret;
+}
+