Skip to content

Commit

Permalink
feat: implement yolo world multi outputs support
Browse files Browse the repository at this point in the history 
* feat: implement yolo world multi outputs support

* chore: cleanup

* chore: cleanup

* chore: depracate pfld to generate firmware

* chore: cleanup

* fix: implicit convertions

* chore: cleanup

* fix: wtf imx219 pattern changes, might caused by some overlap inside the firmware

* feat: 40x faster post-process (experimental hacks)

* chore: fix unsigned comparsion

* chore: cleanup, explicitly cast number types when comparing

* chore: cleanup
  • Loading branch information
@iChizer0
iChizer0 committed May 22, 2024
1 parent 2d6ee6e commit 4986c7b
Show file tree
Hide file tree
Showing 7 changed files with 315 additions and 128 deletions.
56 changes: 27 additions & 29 deletions core/algorithm/el_algorithm_yolo_pose.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -84,9 +84,9 @@ el_err_code_t AlgorithmYOLOPOSE::preprocess() {

namespace utils {

inline float sigmoid(float x) { return 1.f / (1.f + std::exp(-x)); }
static inline float sigmoid(float x) { return 1.f / (1.f + std::exp(-x)); }

inline void softmax(float* data, size_t size) {
static inline void softmax(float* data, size_t size) {
float sum{0.f};
for (size_t i = 0; i < size; ++i) {
data[i] = std::exp(data[i]);
Expand All @@ -97,13 +97,13 @@ inline void softmax(float* data, size_t size) {
}
}

inline float dequant_value_i(size_t idx, const int8_t* output_array, int32_t zero_point, float scale) {
static inline float dequant_value_i(size_t idx, const int8_t* output_array, int32_t zero_point, float scale) {
return static_cast<float>(output_array[idx] - zero_point) * scale;
}

decltype(auto) generate_anchor_strides(size_t input_size, std::vector<size_t> strides = {8, 16, 32}) {
std::vector<types::anchor_stride_t> anchor_strides(strides.size());
size_t nth_anchor = 0;
static decltype(auto) generate_anchor_strides(size_t input_size, std::vector<size_t> strides = {8, 16, 32}) {
std::vector<anchor_stride_t> anchor_strides(strides.size());
size_t nth_anchor = 0;
for (size_t i = 0; i < strides.size(); ++i) {
size_t stride = strides[i];
size_t split = input_size / stride;
Expand All @@ -114,13 +114,13 @@ decltype(auto) generate_anchor_strides(size_t input_size, std::vector<size_t> st
return anchor_strides;
}

decltype(auto) generate_anchor_matrix(const std::vector<types::anchor_stride_t>& anchor_strides,
float shift_right = 1.f,
float shift_down = 1.f) {
const auto anchor_matrix_size = anchor_strides.size();
std::vector<std::vector<types::pt_t<float>>> anchor_matrix(anchor_matrix_size);
const float shift_right_init = shift_right * 0.5f;
const float shift_down_init = shift_down * 0.5f;
static decltype(auto) generate_anchor_matrix(const std::vector<anchor_stride_t>& anchor_strides,
float shift_right = 1.f,
float shift_down = 1.f) {
const auto anchor_matrix_size = anchor_strides.size();
std::vector<std::vector<pt_t<float>>> anchor_matrix(anchor_matrix_size);
const float shift_right_init = shift_right * 0.5f;
const float shift_down_init = shift_down * 0.5f;

for (size_t i = 0; i < anchor_matrix_size; ++i) {
const auto& anchor_stride = anchor_strides[i];
Expand All @@ -140,7 +140,7 @@ decltype(auto) generate_anchor_matrix(const std::vector<types::anchor_stride_t>&
return anchor_matrix;
}

inline float compute_iou(const types::anchor_bbox_t& l, const types::anchor_bbox_t& r, float epsilon = 1e-3) {
static inline float compute_iou(const types::anchor_bbox_t& l, const types::anchor_bbox_t& r, float epsilon = 1e-3) {
float x1 = std::max(l.x1, r.x1);
float y1 = std::max(l.y1, r.y1);
float x2 = std::min(l.x2, r.x2);
Expand All @@ -157,11 +157,11 @@ inline float compute_iou(const types::anchor_bbox_t& l, const types::anchor_bbox
return inter / union_area;
}

inline void anchor_nms(std::forward_list<types::anchor_bbox_t>& bboxes,
float nms_iou_thresh,
float nms_score_thresh,
bool soft_nms,
float epsilon = 1e-3) {
static inline void anchor_nms(std::forward_list<types::anchor_bbox_t>& bboxes,
float nms_iou_thresh,
float nms_score_thresh,
bool soft_nms,
float epsilon = 1e-3) {
bboxes.sort([](const types::anchor_bbox_t& l, const types::anchor_bbox_t& r) { return l.score > r.score; });

for (auto it = bboxes.begin(); it != bboxes.end(); it++) {
Expand Down Expand Up @@ -211,22 +211,20 @@ bool AlgorithmYOLOPOSE::is_model_valid(const EngineType* engine) {

switch (output_shape.dims[2]) {
case 1: {
auto it = std::find_if(anchor_strides_1.begin(),
anchor_strides_1.end(),
[&output_shape](const types::anchor_stride_t& anchor_stride) {
return static_cast<int>(anchor_stride.size) == output_shape.dims[1];
});
auto it = std::find_if(
anchor_strides_1.begin(), anchor_strides_1.end(), [&output_shape](const anchor_stride_t& anchor_stride) {
return static_cast<int>(anchor_stride.size) == output_shape.dims[1];
});
if (it == anchor_strides_1.end())
return false;
else
anchor_strides_1.erase(it);
} break;
case 64: {
auto it = std::find_if(anchor_strides_2.begin(),
anchor_strides_2.end(),
[&output_shape](const types::anchor_stride_t& anchor_stride) {
return static_cast<int>(anchor_stride.size) == output_shape.dims[1];
});
auto it = std::find_if(
anchor_strides_2.begin(), anchor_strides_2.end(), [&output_shape](const anchor_stride_t& anchor_stride) {
return static_cast<int>(anchor_stride.size) == output_shape.dims[1];
});
if (it == anchor_strides_2.end())
return false;
else
Expand Down
18 changes: 3 additions & 15 deletions core/algorithm/el_algorithm_yolo_pose.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -59,11 +59,6 @@ struct anchor_bbox_t {
uint16_t anchor_index;
};

template <typename T> struct pt_t {
T x;
T y;
};

template <typename T> struct pt3_t {
T x;
T y;
Expand All @@ -74,13 +69,6 @@ template <typename T, size_t N> struct pt3_set_t {
pt3_t<T> data[N];
};

struct anchor_stride_t {
size_t stride;
size_t split;
size_t size;
size_t start;
};

} // namespace types

class AlgorithmYOLOPOSE final : public Algorithm {
Expand Down Expand Up @@ -129,9 +117,9 @@ class AlgorithmYOLOPOSE final : public Algorithm {
std::atomic<ScoreType> _score_threshold;
std::atomic<IoUType> _iou_threshold;

std::vector<types::anchor_stride_t> _anchor_strides;
std::vector<std::pair<float, float>> _scaled_strides;
std::vector<std::vector<types::pt_t<float>>> _anchor_matrix;
std::vector<anchor_stride_t> _anchor_strides;
std::vector<std::pair<float, float>> _scaled_strides;
std::vector<std::vector<pt_t<float>>> _anchor_matrix;

static constexpr size_t _outputs = 7;
static constexpr size_t _anchor_variants = 3;
Expand Down
Loading

0 comments on commit 4986c7b

Please sign in to comment.