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- #include <math.h>
- #include <stdio.h>
- #include <string>
- #include <vector>
- #include <algorithm>
- #include "detect.h"
- int num_class = 21;
- float nms_threshold = 0.45f;
- int nms_top_k = 100;
- int keep_top_k = 100;
- //float confidence_threshold = 0.51f;
- float confidence_threshold = 0.45f;
- //float confidence_threshold = 0.48f;
- static inline float intersection_area(const BBoxRect& a, const BBoxRect& b)
- {
- if (a.xmin > b.xmax || a.xmax < b.xmin || a.ymin > b.ymax || a.ymax < b.ymin)
- {
- // no intersection
- return 0.f;
- }
- float inter_width = std::min(a.xmax, b.xmax) - std::max(a.xmin, b.xmin);
- float inter_height = std::min(a.ymax, b.ymax) - std::max(a.ymin, b.ymin);
- return inter_width * inter_height;
- }
- template <typename T>
- static void qsort_descent_inplace(std::vector<T>& datas, std::vector<float>& scores, int left, int right)
- {
- int i = left;
- int j = right;
- //must be instanced ... so this function must include vector
- float p = scores[(left + right) / 2];
- while (i <= j)
- {
- while (scores[i] > p)
- i++;
- while (scores[j] < p)
- j--;
- if (i <= j)
- {
- // swap
- std::swap(datas[i], datas[j]);
- std::swap(scores[i], scores[j]);
- i++;
- j--;
- }
- }
- if (left < j)
- qsort_descent_inplace(datas, scores, left, j);
- if (i < right)
- qsort_descent_inplace(datas, scores, i, right);
- }
- template <typename T>
- static void qsort_descent_inplace(std::vector<T>& datas, std::vector<float>& scores)
- {
- if (datas.empty() || scores.empty())
- return;
- qsort_descent_inplace(datas, scores, 0, scores.size() - 1);
- }
- static void nms_sorted_bboxes(const std::vector<BBoxRect>& bboxes, std::vector<int>& picked, float nms_threshold)
- {
- picked.clear();
- const int n = bboxes.size();
- std::vector<float> areas(n);
- for (int i = 0; i < n; i++)
- {
- const BBoxRect& r = bboxes[i];
- float width = r.xmax - r.xmin;
- float height = r.ymax - r.ymin;
- areas[i] = width * height;
- }
- for (int i = 0; i < n; i++)
- {
- const BBoxRect& a = bboxes[i];
- int keep = 1;
- for (int j = 0; j < (int)picked.size(); j++)
- {
- const BBoxRect& b = bboxes[picked[j]];
- float interarea = intersection_area(a, b);
- float unionarea = areas[i] + areas[picked[j]] - interarea;
- if (interarea / unionarea > nms_threshold)
- keep = 0;
- }
- if (keep)
- picked.push_back(i);
- }
- }
- int ssdforward(float *location,float * confidence,float * priorbox,BBox *bboxes,BBoxOut *out)
- {
- const float* location_ptr = location;
- const float* priorbox_ptr = priorbox;
- const float* variance_ptr = priorbox + num_prior*4;
- for (int i = 0; i < num_prior; i++)
- {
- const float* loc = location_ptr + i * 4;
- const float* pb = priorbox_ptr + i * 4;
- const float* var = variance_ptr;// + i * 4;
- float* bbox = (float*)&bboxes[i];// bboxes.row(i);
- // CENTER_SIZE
- float pb_w = pb[2] - pb[0];
- float pb_h = pb[3] - pb[1];
- float pb_cx = (pb[0] + pb[2]) * 0.5f;
- float pb_cy = (pb[1] + pb[3]) * 0.5f;
- float bbox_cx = var[0] * loc[0] * pb_w + pb_cx;
- float bbox_cy = var[1] * loc[1] * pb_h + pb_cy;
- float bbox_w = exp(var[2] * loc[2]) * pb_w;
- float bbox_h = exp(var[3] * loc[3]) * pb_h;
- bbox[0] = bbox_cx - bbox_w * 0.5f;
- bbox[1] = bbox_cy - bbox_h * 0.5f;
- bbox[2] = bbox_cx + bbox_w * 0.5f;
- bbox[3] = bbox_cy + bbox_h * 0.5f;
- }
- // sort and nms for each class
- std::vector< std::vector<BBoxRect> > all_class_bbox_rects;
- std::vector< std::vector<float> > all_class_bbox_scores;
- all_class_bbox_rects.resize(num_class);
- all_class_bbox_scores.resize(num_class);
- // start from 1 to ignore background class
- for (int i = 1; i < num_class; i++)
- {
- // filter by confidence_threshold
- std::vector<BBoxRect> class_bbox_rects;
- std::vector<float> class_bbox_scores;
- for (int j = 0; j < num_prior; j++)
- {
- float score = confidence[j * num_class + i];
- if (score > confidence_threshold)
- {
- const float* bbox = (float*)&bboxes[j];
- BBoxRect c = { bbox[0], bbox[1], bbox[2], bbox[3], i };
- class_bbox_rects.push_back(c);
- class_bbox_scores.push_back(score);
- }
- }
- // sort inplace
- qsort_descent_inplace(class_bbox_rects, class_bbox_scores);
- // keep nms_top_k
- if (nms_top_k < (int)class_bbox_rects.size())
- {
- class_bbox_rects.resize(nms_top_k);
- class_bbox_scores.resize(nms_top_k);
- }
- // apply nms
- std::vector<int> picked;
- nms_sorted_bboxes(class_bbox_rects, picked, nms_threshold);
- // select
- for (int j = 0; j < (int)picked.size(); j++)
- {
- int z = picked[j];
- all_class_bbox_rects[i].push_back(class_bbox_rects[z]);
- all_class_bbox_scores[i].push_back(class_bbox_scores[z]);
- }
- }
- // gather all class
- std::vector<BBoxRect> bbox_rects;
- std::vector<float> bbox_scores;
- for (int i = 1; i < num_class; i++)
- {
- const std::vector<BBoxRect>& class_bbox_rects = all_class_bbox_rects[i];
- const std::vector<float>& class_bbox_scores = all_class_bbox_scores[i];
- bbox_rects.insert(bbox_rects.end(), class_bbox_rects.begin(), class_bbox_rects.end());
- bbox_scores.insert(bbox_scores.end(), class_bbox_scores.begin(), class_bbox_scores.end());
- }
- // global sort inplace
- qsort_descent_inplace(bbox_rects, bbox_scores);
- // keep_top_k
- if (keep_top_k < (int)bbox_rects.size())
- {
- bbox_rects.resize(keep_top_k);
- bbox_scores.resize(keep_top_k);
- }
- int num_detected = bbox_rects.size();
- if(num_detected >100) num_detected =100;
- for (int i = 0; i < num_detected; i++)
- {
- const BBoxRect& r = bbox_rects[i];
- float score = bbox_scores[i];
- float* outptr = (float*)&out[i];
- int *labelptr = (int *)outptr;
- labelptr[0] = r.label;
- outptr[1] = score;
- outptr[2] = r.xmin;
- outptr[3] = r.ymin;
- outptr[4] = r.xmax;
- outptr[5] = r.ymax;
- }
- return num_detected;
- }
- int readbintomem(float *dst,char *path)
- {
- FILE *pFile = fopen (path, "rb" );
- if (pFile==NULL)
- {
- fputs ("File error",stderr);
- exit (1);
- }
- fseek (pFile , 0 , SEEK_END);
- int fsize = ftell(pFile);
- rewind (pFile);
- //buffer = (char*) malloc (sizeof(char)*lSize);
- int result = fread (dst,1,fsize,pFile);
- fclose(pFile);
- return result;
- }
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