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yolov8_pose_onnx.cpp
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yolov8_pose_onnx.cpp
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#include "yolov8_pose_onnx.h"
//using namespace std;
//using namespace cv;
//using namespace cv::dnn;
using namespace Ort;
bool Yolov8PoseOnnx::ReadModel(const std::string& modelPath, bool isCuda, int cudaID, bool warmUp) {
if (_batchSize < 1) _batchSize = 1;
try
{
if (!CheckModelPath(modelPath))
return false;
std::vector<std::string> available_providers = GetAvailableProviders();
auto cuda_available = std::find(available_providers.begin(), available_providers.end(), "CUDAExecutionProvider");
if (isCuda && (cuda_available == available_providers.end()))
{
std::cout << "Your ORT build without GPU. Change to CPU." << std::endl;
std::cout << "************* Infer model on CPU! *************" << std::endl;
}
else if (isCuda && (cuda_available != available_providers.end()))
{
std::cout << "************* Infer model on GPU! *************" << std::endl;
#if ORT_API_VERSION < ORT_OLD_VISON
OrtCUDAProviderOptions cudaOption;
cudaOption.device_id = cudaID;
_OrtSessionOptions.AppendExecutionProvider_CUDA(cudaOption);
#else
OrtStatus* status = OrtSessionOptionsAppendExecutionProvider_CUDA(_OrtSessionOptions, cudaID);
#endif
}
else
{
std::cout << "************* Infer model on CPU! *************" << std::endl;
}
//
_OrtSessionOptions.SetGraphOptimizationLevel(GraphOptimizationLevel::ORT_ENABLE_EXTENDED);
#ifdef _WIN32
std::wstring model_path(modelPath.begin(), modelPath.end());
_OrtSession = new Ort::Session(_OrtEnv, model_path.c_str(), _OrtSessionOptions);
#else
_OrtSession = new Ort::Session(_OrtEnv, modelPath.c_str(), _OrtSessionOptions);
#endif
Ort::AllocatorWithDefaultOptions allocator;
//init input
_inputNodesNum = _OrtSession->GetInputCount();
#if ORT_API_VERSION < ORT_OLD_VISON
_inputName = _OrtSession->GetInputName(0, allocator);
_inputNodeNames.push_back(_inputName);
#else
_inputName = std::move(_OrtSession->GetInputNameAllocated(0, allocator));
_inputNodeNames.push_back(_inputName.get());
#endif
//std::cout << _inputNodeNames[0] << std::endl;
Ort::TypeInfo inputTypeInfo = _OrtSession->GetInputTypeInfo(0);
auto input_tensor_info = inputTypeInfo.GetTensorTypeAndShapeInfo();
_inputNodeDataType = input_tensor_info.GetElementType();
_inputTensorShape = input_tensor_info.GetShape();
if (_inputTensorShape[0] == -1)
{
_isDynamicShape = true;
_inputTensorShape[0] = _batchSize;
}
if (_inputTensorShape[2] == -1 || _inputTensorShape[3] == -1) {
_isDynamicShape = true;
_inputTensorShape[2] = _netHeight;
_inputTensorShape[3] = _netWidth;
}
//init output
_outputNodesNum = _OrtSession->GetOutputCount();
#if ORT_API_VERSION < ORT_OLD_VISON
_output_name0 = _OrtSession->GetOutputName(0, allocator);
_outputNodeNames.push_back(_output_name0);
#else
_output_name0 = std::move(_OrtSession->GetOutputNameAllocated(0, allocator));
_outputNodeNames.push_back(_output_name0.get());
#endif
Ort::TypeInfo type_info_output0(nullptr);
type_info_output0 = _OrtSession->GetOutputTypeInfo(0); //output0
auto tensor_info_output0 = type_info_output0.GetTensorTypeAndShapeInfo();
_outputNodeDataType = tensor_info_output0.GetElementType();
_outputTensorShape = tensor_info_output0.GetShape();
//_outputMaskNodeDataType = tensor_info_output1.GetElementType(); //the same as output0
//_outputMaskTensorShape = tensor_info_output1.GetShape();
//if (_outputTensorShape[0] == -1)
//{
// _outputTensorShape[0] = _batchSize;
// _outputMaskTensorShape[0] = _batchSize;
//}
//if (_outputMaskTensorShape[2] == -1) {
// //size_t ouput_rows = 0;
// //for (int i = 0; i < _strideSize; ++i) {
// // ouput_rows += 3 * (_netWidth / _netStride[i]) * _netHeight / _netStride[i];
// //}
// //_outputTensorShape[1] = ouput_rows;
// _outputMaskTensorShape[2] = _segHeight;
// _outputMaskTensorShape[3] = _segWidth;
//}
//warm up
if (isCuda && warmUp) {
//draw run
std::cout << "Start warming up" << std::endl;
size_t input_tensor_length = VectorProduct(_inputTensorShape);
float* temp = new float[input_tensor_length];
std::vector<Ort::Value> input_tensors;
std::vector<Ort::Value> output_tensors;
input_tensors.push_back(Ort::Value::CreateTensor<float>(
_OrtMemoryInfo, temp, input_tensor_length, _inputTensorShape.data(),
_inputTensorShape.size()));
for (int i = 0; i < 3; ++i) {
output_tensors = _OrtSession->Run(Ort::RunOptions{ nullptr },
_inputNodeNames.data(),
input_tensors.data(),
_inputNodeNames.size(),
_outputNodeNames.data(),
_outputNodeNames.size());
}
delete[]temp;
}
}
catch (const std::exception&) {
return false;
}
return true;
}
int Yolov8PoseOnnx::Preprocessing(const std::vector<cv::Mat>& srcImgs, std::vector<cv::Mat>& outSrcImgs, std::vector<cv::Vec4d>& params) {
outSrcImgs.clear();
cv::Size input_size = cv::Size(_netWidth, _netHeight);
for (int i = 0; i < srcImgs.size(); ++i) {
cv::Mat temp_img = srcImgs[i];
cv::Vec4d temp_param = {1,1,0,0};
if (temp_img.size() != input_size) {
cv::Mat borderImg;
LetterBox(temp_img, borderImg, temp_param, input_size, false, false, true, 32);
//std::cout << borderImg.size() << std::endl;
outSrcImgs.push_back(borderImg);
params.push_back(temp_param);
}
else {
outSrcImgs.push_back(temp_img);
params.push_back(temp_param);
}
}
int lack_num = _batchSize- srcImgs.size();
if (lack_num > 0) {
for (int i = 0; i < lack_num; ++i) {
cv::Mat temp_img = cv::Mat::zeros(input_size, CV_8UC3);
cv::Vec4d temp_param = { 1,1,0,0 };
outSrcImgs.push_back(temp_img);
params.push_back(temp_param);
}
}
return 0;
}
bool Yolov8PoseOnnx::OnnxDetect(cv::Mat& srcImg, std::vector<OutputParams>& output) {
std::vector<cv::Mat> input_data = { srcImg };
std::vector<std::vector<OutputParams>> tenp_output;
if (OnnxBatchDetect(input_data, tenp_output)) {
output = tenp_output[0];
return true;
}
else return false;
}
bool Yolov8PoseOnnx::OnnxBatchDetect(std::vector<cv::Mat>& srcImgs, std::vector<std::vector<OutputParams>>& output) {
std::vector<cv::Vec4d> params;
std::vector<cv::Mat> input_images;
cv::Size input_size(_netWidth, _netHeight);
//preprocessing
Preprocessing(srcImgs, input_images, params);
cv::Mat blob = cv::dnn::blobFromImages(input_images, 1 / 255.0, input_size, cv::Scalar(0, 0, 0), true, false);
int64_t input_tensor_length = VectorProduct(_inputTensorShape);
std::vector<Ort::Value> input_tensors;
std::vector<Ort::Value> output_tensors;
input_tensors.push_back(Ort::Value::CreateTensor<float>(_OrtMemoryInfo, (float*)blob.data, input_tensor_length, _inputTensorShape.data(), _inputTensorShape.size()));
output_tensors = _OrtSession->Run(Ort::RunOptions{ nullptr },
_inputNodeNames.data(),
input_tensors.data(),
_inputNodeNames.size(),
_outputNodeNames.data(),
_outputNodeNames.size()
);
//post-process
float* all_data = output_tensors[0].GetTensorMutableData<float>();
_outputTensorShape = output_tensors[0].GetTensorTypeAndShapeInfo().GetShape();
int net_width = _outputTensorShape[1];
int key_point_length = net_width - 5;
int key_point_num = 17; //_bodyKeyPoints.size(), shape[x, y, confidence]
if (key_point_num * 3 != key_point_length) {
std::cout << "Pose should be shape [x, y, confidence] with 17-points" << std::endl;
return false;
}
int64_t one_output_length = VectorProduct(_outputTensorShape) / _outputTensorShape[0];
for (int img_index = 0; img_index < srcImgs.size(); ++img_index) {
cv::Mat output0 = cv::Mat(cv::Size((int)_outputTensorShape[2], (int)_outputTensorShape[1]), CV_32F, all_data).t(); //[bs,116,8400]=>[bs,8400,116]
all_data += one_output_length;
float* pdata = (float*)output0.data;
int rows = output0.rows;
std::vector<int> class_ids;//结果id数组
std::vector<float> confidences;//结果每个id对应置信度数组
std::vector<cv::Rect> boxes;//每个id矩形框
std::vector<std::vector<PoseKeyPoint>> pose_key_points; //保存kpt
for (int r = 0; r < rows; ++r) {
float max_class_socre= pdata[4];
if (max_class_socre >= _classThreshold) {
//rect [x,y,w,h]
float x = (pdata[0] - params[img_index][2]) / params[img_index][0]; //x
float y = (pdata[1] - params[img_index][3]) / params[img_index][1]; //y
float w = pdata[2] / params[img_index][0]; //w
float h = pdata[3] / params[img_index][1]; //h
int left = MAX(int(x - 0.5 * w + 0.5), 0);
int top = MAX(int(y - 0.5 * h + 0.5), 0);
class_ids.push_back(0);
confidences.push_back(max_class_socre);
boxes.push_back(cv::Rect(left, top, int(w + 0.5), int(h + 0.5)));
std::vector<PoseKeyPoint> temp_kpts;
for (int kpt = 0; kpt < key_point_length; kpt += 3) {
PoseKeyPoint temp_kp;
temp_kp.x = (pdata[5 + kpt]- params[img_index][2]) / params[img_index][0];
temp_kp.y = (pdata[6 + kpt] - params[img_index][3]) / params[img_index][1];
temp_kp.confidence = pdata[7 + kpt];
temp_kpts.push_back(temp_kp);
}
pose_key_points.push_back(temp_kpts);
}
pdata += net_width;//下一行
}
std::vector<int> nms_result;
cv::dnn::NMSBoxes(boxes, confidences, _classThreshold, _nmsThreshold, nms_result);
std::vector<std::vector<float>> temp_mask_proposals;
cv::Rect holeImgRect(0, 0, srcImgs[img_index].cols, srcImgs[img_index].rows);
std::vector<OutputParams> temp_output;
for (int i = 0; i < nms_result.size(); ++i) {
int idx = nms_result[i];
OutputParams result;
result.id = class_ids[idx];
result.confidence = confidences[idx];
result.box = boxes[idx] & holeImgRect;
result.keyPoints = pose_key_points[idx];
if (result.box.area() < 1)
continue;
temp_output.push_back(result);
}
output.push_back(temp_output);
}
if (output.size())
return true;
else
return false;
}