From 152f8ca87d54b2c19a8d90449b5d5faa51c66892 Mon Sep 17 00:00:00 2001 From: liujie Date: Fri, 7 Jul 2023 14:24:33 +0800 Subject: [PATCH] add ai demo --- src/reference/ai_poc/CMakeLists.txt | 36 + src/reference/ai_poc/build_app.sh | 87 ++ src/reference/ai_poc/cmake/Riscv64.cmake | 18 + src/reference/ai_poc/cmake/link.lds | 111 +++ .../ai_poc/face_detection/CMakeLists.txt | 19 + src/reference/ai_poc/face_detection/README.md | 27 + .../ai_poc/face_detection/ai_base.cc | 183 ++++ src/reference/ai_poc/face_detection/ai_base.h | 118 +++ .../ai_poc/face_detection/anchors_320.cc | 25 + .../ai_poc/face_detection/anchors_640.cc | 25 + .../ai_poc/face_detection/face_detection.cc | 414 +++++++++ .../ai_poc/face_detection/face_detection.h | 253 ++++++ src/reference/ai_poc/face_detection/main.cc | 176 ++++ .../ai_poc/face_detection/scoped_timing.hpp | 70 ++ src/reference/ai_poc/face_detection/utils.cc | 402 +++++++++ src/reference/ai_poc/face_detection/utils.h | 307 +++++++ 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src/reference/ai_poc/object_detect_yolov8n/ob_det.h create mode 100644 src/reference/ai_poc/object_detect_yolov8n/scoped_timing.hpp create mode 100644 src/reference/ai_poc/object_detect_yolov8n/utils.cc create mode 100644 src/reference/ai_poc/object_detect_yolov8n/utils.h create mode 100644 src/reference/ai_poc/object_detect_yolov8n/vi_vo.h create mode 100644 src/reference/ai_poc/person_detect/CMakeLists.txt create mode 100644 src/reference/ai_poc/person_detect/README.md create mode 100644 src/reference/ai_poc/person_detect/ai_base.cc create mode 100644 src/reference/ai_poc/person_detect/ai_base.h create mode 100644 src/reference/ai_poc/person_detect/main.cc create mode 100644 src/reference/ai_poc/person_detect/person_detect.cc create mode 100644 src/reference/ai_poc/person_detect/person_detect.h create mode 100644 src/reference/ai_poc/person_detect/scoped_timing.hpp create mode 100644 src/reference/ai_poc/person_detect/utils.cc create mode 100644 src/reference/ai_poc/person_detect/utils.h create mode 100644 src/reference/ai_poc/person_detect/vi_vo.h create mode 100644 src/reference/ai_poc/pose_detect/CMakeLists.txt create mode 100644 src/reference/ai_poc/pose_detect/README.md create mode 100644 src/reference/ai_poc/pose_detect/ai_base.cc create mode 100644 src/reference/ai_poc/pose_detect/ai_base.h create mode 100644 src/reference/ai_poc/pose_detect/main.cc create mode 100644 src/reference/ai_poc/pose_detect/pose_detect.cc create mode 100644 src/reference/ai_poc/pose_detect/pose_detect.h create mode 100644 src/reference/ai_poc/pose_detect/scoped_timing.hpp create mode 100644 src/reference/ai_poc/pose_detect/utils.cc create mode 100644 src/reference/ai_poc/pose_detect/utils.h create mode 100644 src/reference/ai_poc/pose_detect/vi_vo.h create mode 100755 src/reference/ai_poc/shell/face_detect_image.sh create mode 100755 src/reference/ai_poc/shell/face_detect_isp.sh create mode 100755 src/reference/ai_poc/shell/face_emotion_image.sh create mode 100755 src/reference/ai_poc/shell/face_emotion_isp.sh create mode 100755 src/reference/ai_poc/shell/face_gender_image.sh create mode 100755 src/reference/ai_poc/shell/face_gender_isp.sh create mode 100755 src/reference/ai_poc/shell/face_glasses_image.sh create mode 100755 src/reference/ai_poc/shell/face_glasses_isp.sh create mode 100755 src/reference/ai_poc/shell/face_landmark_image.sh create mode 100755 src/reference/ai_poc/shell/face_landmark_isp.sh create mode 100755 src/reference/ai_poc/shell/face_mask_image.sh create mode 100755 src/reference/ai_poc/shell/face_mask_isp.sh create mode 100755 src/reference/ai_poc/shell/face_pose_image.sh create mode 100755 src/reference/ai_poc/shell/face_pose_isp.sh create mode 100644 src/reference/ai_poc/shell/falldown_detect_image.sh create mode 100644 src/reference/ai_poc/shell/falldown_detect_isp.sh create mode 100644 src/reference/ai_poc/shell/handdet_cpp_image.sh create mode 100644 src/reference/ai_poc/shell/handdet_cpp_isp.sh create mode 100644 src/reference/ai_poc/shell/handkpclass_cpp_image.sh create mode 100644 src/reference/ai_poc/shell/handkpclass_cpp_isp.sh create mode 100644 src/reference/ai_poc/shell/handkpdet_cpp_image.sh create mode 100644 src/reference/ai_poc/shell/handkpdet_cpp_isp.sh create mode 100644 src/reference/ai_poc/shell/handreco_cpp_image.sh create mode 100644 src/reference/ai_poc/shell/handreco_cpp_isp.sh create mode 100644 src/reference/ai_poc/shell/ob_detect_image_320.sh create mode 100644 src/reference/ai_poc/shell/ob_detect_image_640.sh create mode 100644 src/reference/ai_poc/shell/ob_detect_isp_320.sh create mode 100644 src/reference/ai_poc/shell/ob_detect_isp_640.sh create mode 100644 src/reference/ai_poc/shell/person_detect_image.sh create mode 100644 src/reference/ai_poc/shell/person_detect_isp.sh create mode 100644 src/reference/ai_poc/shell/pose_detect_image.sh create mode 100644 src/reference/ai_poc/shell/pose_detect_isp.sh create mode 100644 src/reference/ai_poc/sq_hand_det/CMakeLists.txt create mode 100644 src/reference/ai_poc/sq_hand_det/README.md create mode 100644 src/reference/ai_poc/sq_hand_det/ai_base.cc create mode 100644 src/reference/ai_poc/sq_hand_det/ai_base.h create mode 100644 src/reference/ai_poc/sq_hand_det/hand_detection.cc create mode 100644 src/reference/ai_poc/sq_hand_det/hand_detection.h create mode 100644 src/reference/ai_poc/sq_hand_det/main.cc create mode 100644 src/reference/ai_poc/sq_hand_det/scoped_timing.hpp create mode 100644 src/reference/ai_poc/sq_hand_det/utils.cc create mode 100644 src/reference/ai_poc/sq_hand_det/utils.h create mode 100644 src/reference/ai_poc/sq_hand_det/vi_vo.h create mode 100644 src/reference/ai_poc/sq_handkp_class/CMakeLists.txt create mode 100644 src/reference/ai_poc/sq_handkp_class/README.md create mode 100644 src/reference/ai_poc/sq_handkp_class/ai_base.cc create mode 100644 src/reference/ai_poc/sq_handkp_class/ai_base.h create mode 100644 src/reference/ai_poc/sq_handkp_class/hand_detection.cc create mode 100644 src/reference/ai_poc/sq_handkp_class/hand_detection.h create mode 100644 src/reference/ai_poc/sq_handkp_class/hand_keypoint.cc create mode 100644 src/reference/ai_poc/sq_handkp_class/hand_keypoint.h create mode 100644 src/reference/ai_poc/sq_handkp_class/img.png create mode 100644 src/reference/ai_poc/sq_handkp_class/main.cc create mode 100644 src/reference/ai_poc/sq_handkp_class/scoped_timing.hpp create mode 100644 src/reference/ai_poc/sq_handkp_class/utils.cc create mode 100644 src/reference/ai_poc/sq_handkp_class/utils.h create mode 100644 src/reference/ai_poc/sq_handkp_class/vi_vo.h create mode 100644 src/reference/ai_poc/sq_handkp_det/CMakeLists.txt create mode 100644 src/reference/ai_poc/sq_handkp_det/README.md create mode 100644 src/reference/ai_poc/sq_handkp_det/ai_base.cc create mode 100644 src/reference/ai_poc/sq_handkp_det/ai_base.h create mode 100644 src/reference/ai_poc/sq_handkp_det/hand_detection.cc create mode 100644 src/reference/ai_poc/sq_handkp_det/hand_detection.h create mode 100644 src/reference/ai_poc/sq_handkp_det/hand_keypoint.cc create mode 100644 src/reference/ai_poc/sq_handkp_det/hand_keypoint.h create mode 100644 src/reference/ai_poc/sq_handkp_det/main.cc create mode 100644 src/reference/ai_poc/sq_handkp_det/scoped_timing.hpp create mode 100644 src/reference/ai_poc/sq_handkp_det/utils.cc create mode 100644 src/reference/ai_poc/sq_handkp_det/utils.h create mode 100644 src/reference/ai_poc/sq_handkp_det/vi_vo.h create mode 100644 src/reference/ai_poc/sq_handreco/CMakeLists.txt create mode 100644 src/reference/ai_poc/sq_handreco/README.md create mode 100644 src/reference/ai_poc/sq_handreco/ai_base.cc create mode 100644 src/reference/ai_poc/sq_handreco/ai_base.h create mode 100644 src/reference/ai_poc/sq_handreco/hand_detection.cc create mode 100644 src/reference/ai_poc/sq_handreco/hand_detection.h create mode 100644 src/reference/ai_poc/sq_handreco/hand_recognition.cc create mode 100644 src/reference/ai_poc/sq_handreco/hand_recognition.h create mode 100644 src/reference/ai_poc/sq_handreco/img.png create mode 100644 src/reference/ai_poc/sq_handreco/main.cc create mode 100644 src/reference/ai_poc/sq_handreco/scoped_timing.hpp create mode 100644 src/reference/ai_poc/sq_handreco/utils.cc create mode 100644 src/reference/ai_poc/sq_handreco/utils.h create mode 100644 src/reference/ai_poc/sq_handreco/vi_vo.h diff --git a/src/reference/ai_poc/CMakeLists.txt b/src/reference/ai_poc/CMakeLists.txt new file mode 100644 index 000000000..3c9707f99 --- /dev/null +++ b/src/reference/ai_poc/CMakeLists.txt @@ -0,0 +1,36 @@ +cmake_minimum_required(VERSION 3.2) +project(nncase_sdk C CXX) + +set(nncase_sdk_root "${PROJECT_SOURCE_DIR}/../../big/nncase/") +set(k230_sdk ${nncase_sdk_root}/../../../) +set(CMAKE_EXE_LINKER_FLAGS "-T ${PROJECT_SOURCE_DIR}/cmake/link.lds --static") + +# set opencv +set(k230_opencv ${k230_sdk}/src/big/utils/lib/opencv) +include_directories(${k230_opencv}/include/opencv4/) +link_directories(${k230_opencv}/lib ${k230_opencv}/lib/opencv4/3rdparty) + +# set mmz +link_directories(${k230_sdk}/src/big/mpp/userapps/lib) + +# set nncase +include_directories(${nncase_sdk_root}/riscv64) +include_directories(${nncase_sdk_root}/riscv64/nncase/include) +include_directories(${nncase_sdk_root}/riscv64/nncase/include/nncase/runtime) +link_directories(${nncase_sdk_root}/riscv64/nncase/lib/) + +add_subdirectory(face_detection) +add_subdirectory(face_landmark) +add_subdirectory(face_glasses) +add_subdirectory(face_mask) +add_subdirectory(face_emotion) +add_subdirectory(face_pose) +add_subdirectory(face_gender) +add_subdirectory(sq_hand_det) +add_subdirectory(sq_handkp_class) +add_subdirectory(sq_handkp_det) +add_subdirectory(sq_handreco) +add_subdirectory(object_detect_yolov8n) +add_subdirectory(person_detect) +add_subdirectory(falldown_detect) +add_subdirectory(pose_detect) diff --git a/src/reference/ai_poc/build_app.sh b/src/reference/ai_poc/build_app.sh new file mode 100755 index 000000000..b1fbd37de --- /dev/null +++ b/src/reference/ai_poc/build_app.sh @@ -0,0 +1,87 @@ +#!/bin/bash +set -x + +# set cross build toolchain +export PATH=$PATH:/opt/toolchain/riscv64-linux-musleabi_for_x86_64-pc-linux-gnu/bin/ + +clear +rm -rf out +mkdir out +pushd out +cmake -DCMAKE_BUILD_TYPE=Release \ + -DCMAKE_INSTALL_PREFIX=`pwd` \ + -DCMAKE_TOOLCHAIN_FILE=cmake/Riscv64.cmake \ + .. + +make -j && make install +popd + +k230_bin=`pwd`/k230_bin +rm -rf ${k230_bin} +mkdir -p ${k230_bin} + +cp -a ../../big/kmodel/ai_poc/kmodel/*.kmodel ${k230_bin} +cp -a ../../big/kmodel/ai_poc/images/* ${k230_bin} +cp -a shell/* ${k230_bin} + +if [ -f out/bin/face_detection.elf ]; then + cp out/bin/face_detection.elf ${k230_bin} +fi + +if [ -f out/bin/face_landmark.elf ]; then + cp out/bin/face_landmark.elf ${k230_bin} +fi + +if [ -f out/bin/face_glasses.elf ]; then + cp out/bin/face_glasses.elf ${k230_bin} +fi + +if [ -f out/bin/face_mask.elf ]; then + cp out/bin/face_mask.elf ${k230_bin} +fi + +if [ -f out/bin/face_emotion.elf ]; then + cp out/bin/face_emotion.elf ${k230_bin} +fi + +if [ -f out/bin/face_pose.elf ]; then + cp out/bin/face_pose.elf ${k230_bin} +fi + +if [ -f out/bin/face_gender.elf ]; then + cp out/bin/face_gender.elf ${k230_bin} +fi + +if [ -f out/bin/sq_hand_det.elf ]; then + cp out/bin/sq_hand_det.elf ${k230_bin} +fi + +if [ -f out/bin/sq_handkp_class.elf ]; then + cp out/bin/sq_handkp_class.elf ${k230_bin} +fi + +if [ -f out/bin/sq_handkp_det.elf ]; then + cp out/bin/sq_handkp_det.elf ${k230_bin} +fi + +if [ -f out/bin/sq_handreco.elf ]; then + cp out/bin/sq_handreco.elf ${k230_bin} +fi + +if [ -f out/bin/ob_det.elf ]; then + cp out/bin/ob_det.elf ${k230_bin} +fi + +if [ -f out/bin/person_detect.elf ]; then + cp out/bin/person_detect.elf ${k230_bin} +fi + +if [ -f out/bin/falldown_detect.elf ]; then + cp out/bin/falldown_detect.elf ${k230_bin} +fi + +if [ -f out/bin/pose_detect.elf ]; then + cp out/bin/pose_detect.elf ${k230_bin} +fi + +rm -rf out diff --git a/src/reference/ai_poc/cmake/Riscv64.cmake b/src/reference/ai_poc/cmake/Riscv64.cmake new file mode 100755 index 000000000..f7b8bef2f --- /dev/null +++ b/src/reference/ai_poc/cmake/Riscv64.cmake @@ -0,0 +1,18 @@ +include(CMakeForceCompiler) + +# target system +set(CMAKE_SYSTEM_NAME Generic) +set(CMAKE_SYSTEM_PROCESSOR riscv64) + +# cross compiler +set(CMAKE_C_COMPILER riscv64-unknown-linux-musl-gcc) +set(CMAKE_CXX_COMPILER riscv64-unknown-linux-musl-g++) + +set(CMAKE_C_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_C_FLAGS_RELEASE "-O2 -s") +set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_CXX_FLAGS_RELEASE "-O2 -s") +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -march=rv64imafdcv -mabi=lp64d -mcmodel=medany") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=rv64imafdcv -mabi=lp64d -mcmodel=medany") diff --git a/src/reference/ai_poc/cmake/link.lds b/src/reference/ai_poc/cmake/link.lds new file mode 100755 index 000000000..956a9c197 --- /dev/null +++ b/src/reference/ai_poc/cmake/link.lds @@ -0,0 +1,111 @@ +/* + * Copyright (c) 2006-2020, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2020/12/12 bernard The first version + */ + +OUTPUT_ARCH( "riscv" ) + +ENTRY(_start) +SECTIONS +{ + /* + * 64bit userspace: 0x200000000 (default) + * 32bit userspace: 0xD0000000 + */ + . = 0x200000000; + + .text : + { + __text_start__ = .; + *(.start); + //*(.text) /* remaining code */ + *(.text .text.*) /* remaining code */ + + KEEP(*(.init)) + KEEP(*(.fini)) + + /* .ctors */ + *crtbegin.o(.ctors) + *crtbegin?.o(.ctors) + *(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors) + *(SORT(.ctors.*)) + *(.ctors) + + /* .dtors */ + *crtbegin.o(.dtors) + *crtbegin?.o(.dtors) + *(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors) + *(SORT(.dtors.*)) + *(.dtors) + + *(.rodata) /* read-only data (constants) */ + + KEEP(*(.eh_frame*)) + + . = ALIGN(8); + _etext = .; + __text_end__ = .; + } + + . = ALIGN(0x1000); /* must define page align after .text */ + + .plt : + { + *(*.plt) + } + .got : + { + __got_start__ = .; + *(*.got) + __got_end__ = .; + } + + data : + { + __data_start__ = .; + + *(vtable) + *(.data*) + + . = ALIGN(8); + /* preinit data */ + PROVIDE_HIDDEN (__preinit_array_start = .); + KEEP(*(.preinit_array)) + PROVIDE_HIDDEN (__preinit_array_end = .); + + . = ALIGN(8); + /* init data */ + PROVIDE_HIDDEN (__init_array_start = .); + KEEP(*(SORT(.init_array.*))) + KEEP(*(.init_array)) + PROVIDE_HIDDEN (__init_array_end = .); + + . = ALIGN(8); + /* finit data */ + PROVIDE_HIDDEN (__fini_array_start = .); + KEEP(*(SORT(.fini_array.*))) + KEEP(*(.fini_array)) + PROVIDE_HIDDEN (__fini_array_end = .); + + . = ALIGN(8); + /* All data end */ + __data_end__ = .; + } + + bss : + { + __bss_start__ = .; + *(.bss*) + *(COMMON) + *(.stack) + __bss_end__ = .; + } + + _end = .; +} + diff --git a/src/reference/ai_poc/face_detection/CMakeLists.txt b/src/reference/ai_poc/face_detection/CMakeLists.txt new file mode 100644 index 000000000..7d635507d --- /dev/null +++ b/src/reference/ai_poc/face_detection/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc anchors_320.cc anchors_640.cc) +set(bin face_detection.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgcodecs opencv_imgproc opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/README.md b/src/reference/ai_poc/face_detection/README.md new file mode 100644 index 000000000..ce6649ddf --- /dev/null +++ b/src/reference/ai_poc/face_detection/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +人脸检测采用了retina-face网络结构，backbone选取0.25-mobilenet。使用该应用，可得到图像或视频中的每个人脸检测框以及每个人脸的左眼球/右眼球/鼻尖/左嘴角/右嘴角五个landmark。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_detection.elf + +各参数释义如下： + kmodel_det ：人脸检测kmodel文件路径 + obj_thres ：人脸检测阈值 + nms_thres：人脸检测非极大值抑制的阈值 + input_mode：本地图片(图片路径)/ 摄像头(None) + debug_mode：是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_detect_image.sh） +./face_detection.elf face_detection_320.kmodel 0.6 0.2 1024x624.jpg 1 + + #视频流推理：（face_detect_isp.sh） +./face_detection.elf face_detection_320.kmodel 0.6 0.2 None 0 +``` + + + diff --git a/src/reference/ai_poc/face_detection/ai_base.cc b/src/reference/ai_poc/face_detection/ai_base.cc new file mode 100644 index 000000000..931136ef4 --- /dev/null +++ b/src/reference/ai_poc/face_detection/ai_base.cc @@ -0,0 +1,183 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_detection/ai_base.h b/src/reference/ai_poc/face_detection/ai_base.h new file mode 100644 index 000000000..4ad882298 --- /dev/null +++ b/src/reference/ai_poc/face_detection/ai_base.h @@ -0,0 +1,118 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/anchors_320.cc b/src/reference/ai_poc/face_detection/anchors_320.cc new file mode 100644 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_detection/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 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1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/anchors_640.cc b/src/reference/ai_poc/face_detection/anchors_640.cc new file mode 100644 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_detection/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 0.050000}, {0.068750, 0.006250, 0.025000, 0.025000}, {0.068750, 0.006250, 0.050000, 0.050000}, {0.081250, 0.006250, 0.025000, 0.025000}, {0.081250, 0.006250, 0.050000, 0.050000}, {0.093750, 0.006250, 0.025000, 0.025000}, {0.093750, 0.006250, 0.050000, 0.050000}, {0.106250, 0.006250, 0.025000, 0.025000}, {0.106250, 0.006250, 0.050000, 0.050000}, {0.118750, 0.006250, 0.025000, 0.025000}, {0.118750, 0.006250, 0.050000, 0.050000}, {0.131250, 0.006250, 0.025000, 0.025000}, {0.131250, 0.006250, 0.050000, 0.050000}, {0.143750, 0.006250, 0.025000, 0.025000}, {0.143750, 0.006250, 0.050000, 0.050000}, {0.156250, 0.006250, 0.025000, 0.025000}, {0.156250, 0.006250, 0.050000, 0.050000}, {0.168750, 0.006250, 0.025000, 0.025000}, {0.168750, 0.006250, 0.050000, 0.050000}, {0.181250, 0.006250, 0.025000, 0.025000}, {0.181250, 0.006250, 0.050000, 0.050000}, {0.193750, 0.006250, 0.025000, 0.025000}, {0.193750, 0.006250, 0.050000, 0.050000}, {0.206250, 0.006250, 0.025000, 0.025000}, {0.206250, 0.006250, 0.050000, 0.050000}, {0.218750, 0.006250, 0.025000, 0.025000}, {0.218750, 0.006250, 0.050000, 0.050000}, {0.231250, 0.006250, 0.025000, 0.025000}, {0.231250, 0.006250, 0.050000, 0.050000}, {0.243750, 0.006250, 0.025000, 0.025000}, {0.243750, 0.006250, 0.050000, 0.050000}, {0.256250, 0.006250, 0.025000, 0.025000}, {0.256250, 0.006250, 0.050000, 0.050000}, {0.268750, 0.006250, 0.025000, 0.025000}, {0.268750, 0.006250, 0.050000, 0.050000}, {0.281250, 0.006250, 0.025000, 0.025000}, {0.281250, 0.006250, 0.050000, 0.050000}, {0.293750, 0.006250, 0.025000, 0.025000}, {0.293750, 0.006250, 0.050000, 0.050000}, {0.306250, 0.006250, 0.025000, 0.025000}, {0.306250, 0.006250, 0.050000, 0.050000}, {0.318750, 0.006250, 0.025000, 0.025000}, {0.318750, 0.006250, 0.050000, 0.050000}, {0.331250, 0.006250, 0.025000, 0.025000}, {0.331250, 0.006250, 0.050000, 0.050000}, {0.343750, 0.006250, 0.025000, 0.025000}, {0.343750, 0.006250, 0.050000, 0.050000}, {0.356250, 0.006250, 0.025000, 0.025000}, {0.356250, 0.006250, 0.050000, 0.050000}, {0.368750, 0.006250, 0.025000, 0.025000}, {0.368750, 0.006250, 0.050000, 0.050000}, {0.381250, 0.006250, 0.025000, 0.025000}, {0.381250, 0.006250, 0.050000, 0.050000}, {0.393750, 0.006250, 0.025000, 0.025000}, {0.393750, 0.006250, 0.050000, 0.050000}, {0.406250, 0.006250, 0.025000, 0.025000}, {0.406250, 0.006250, 0.050000, 0.050000}, {0.418750, 0.006250, 0.025000, 0.025000}, {0.418750, 0.006250, 0.050000, 0.050000}, {0.431250, 0.006250, 0.025000, 0.025000}, {0.431250, 0.006250, 0.050000, 0.050000}, {0.443750, 0.006250, 0.025000, 0.025000}, {0.443750, 0.006250, 0.050000, 0.050000}, {0.456250, 0.006250, 0.025000, 0.025000}, {0.456250, 0.006250, 0.050000, 0.050000}, {0.468750, 0.006250, 0.025000, 0.025000}, {0.468750, 0.006250, 0.050000, 0.050000}, {0.481250, 0.006250, 0.025000, 0.025000}, {0.481250, 0.006250, 0.050000, 0.050000}, {0.493750, 0.006250, 0.025000, 0.025000}, {0.493750, 0.006250, 0.050000, 0.050000}, {0.506250, 0.006250, 0.025000, 0.025000}, {0.506250, 0.006250, 0.050000, 0.050000}, {0.518750, 0.006250, 0.025000, 0.025000}, {0.518750, 0.006250, 0.050000, 0.050000}, {0.531250, 0.006250, 0.025000, 0.025000}, {0.531250, 0.006250, 0.050000, 0.050000}, {0.543750, 0.006250, 0.025000, 0.025000}, {0.543750, 0.006250, 0.050000, 0.050000}, {0.556250, 0.006250, 0.025000, 0.025000}, {0.556250, 0.006250, 0.050000, 0.050000}, {0.568750, 0.006250, 0.025000, 0.025000}, {0.568750, 0.006250, 0.050000, 0.050000}, {0.581250, 0.006250, 0.025000, 0.025000}, {0.581250, 0.006250, 0.050000, 0.050000}, {0.593750, 0.006250, 0.025000, 0.025000}, {0.593750, 0.006250, 0.050000, 0.050000}, {0.606250, 0.006250, 0.025000, 0.025000}, {0.606250, 0.006250, 0.050000, 0.050000}, {0.618750, 0.006250, 0.025000, 0.025000}, {0.618750, 0.006250, 0.050000, 0.050000}, {0.631250, 0.006250, 0.025000, 0.025000}, {0.631250, 0.006250, 0.050000, 0.050000}, {0.643750, 0.006250, 0.025000, 0.025000}, {0.643750, 0.006250, 0.050000, 0.050000}, {0.656250, 0.006250, 0.025000, 0.025000}, {0.656250, 0.006250, 0.050000, 0.050000}, {0.668750, 0.006250, 0.025000, 0.025000}, {0.668750, 0.006250, 0.050000, 0.050000}, {0.681250, 0.006250, 0.025000, 0.025000}, {0.681250, 0.006250, 0.050000, 0.050000}, {0.693750, 0.006250, 0.025000, 0.025000}, {0.693750, 0.006250, 0.050000, 0.050000}, {0.706250, 0.006250, 0.025000, 0.025000}, {0.706250, 0.006250, 0.050000, 0.050000}, {0.718750, 0.006250, 0.025000, 0.025000}, {0.718750, 0.006250, 0.050000, 0.050000}, {0.731250, 0.006250, 0.025000, 0.025000}, {0.731250, 0.006250, 0.050000, 0.050000}, {0.743750, 0.006250, 0.025000, 0.025000}, {0.743750, 0.006250, 0.050000, 0.050000}, {0.756250, 0.006250, 0.025000, 0.025000}, {0.756250, 0.006250, 0.050000, 0.050000}, {0.768750, 0.006250, 0.025000, 0.025000}, {0.768750, 0.006250, 0.050000, 0.050000}, {0.781250, 0.006250, 0.025000, 0.025000}, {0.781250, 0.006250, 0.050000, 0.050000}, {0.793750, 0.006250, 0.025000, 0.025000}, {0.793750, 0.006250, 0.050000, 0.050000}, {0.806250, 0.006250, 0.025000, 0.025000}, {0.806250, 0.006250, 0.050000, 0.050000}, {0.818750, 0.006250, 0.025000, 0.025000}, {0.818750, 0.006250, 0.050000, 0.050000}, {0.831250, 0.006250, 0.025000, 0.025000}, {0.831250, 0.006250, 0.050000, 0.050000}, {0.843750, 0.006250, 0.025000, 0.025000}, {0.843750, 0.006250, 0.050000, 0.050000}, {0.856250, 0.006250, 0.025000, 0.025000}, {0.856250, 0.006250, 0.050000, 0.050000}, {0.868750, 0.006250, 0.025000, 0.025000}, {0.868750, 0.006250, 0.050000, 0.050000}, {0.881250, 0.006250, 0.025000, 0.025000}, {0.881250, 0.006250, 0.050000, 0.050000}, {0.893750, 0.006250, 0.025000, 0.025000}, {0.893750, 0.006250, 0.050000, 0.050000}, {0.906250, 0.006250, 0.025000, 0.025000}, {0.906250, 0.006250, 0.050000, 0.050000}, {0.918750, 0.006250, 0.025000, 0.025000}, {0.918750, 0.006250, 0.050000, 0.050000}, {0.931250, 0.006250, 0.025000, 0.025000}, {0.931250, 0.006250, 0.050000, 0.050000}, {0.943750, 0.006250, 0.025000, 0.025000}, {0.943750, 0.006250, 0.050000, 0.050000}, {0.956250, 0.006250, 0.025000, 0.025000}, {0.956250, 0.006250, 0.050000, 0.050000}, {0.968750, 0.006250, 0.025000, 0.025000}, {0.968750, 0.006250, 0.050000, 0.050000}, {0.981250, 0.006250, 0.025000, 0.025000}, {0.981250, 0.006250, 0.050000, 0.050000}, {0.993750, 0.006250, 0.025000, 0.025000}, {0.993750, 0.006250, 0.050000, 0.050000}, {0.006250, 0.018750, 0.025000, 0.025000}, {0.006250, 0.018750, 0.050000, 0.050000}, {0.018750, 0.018750, 0.025000, 0.025000}, {0.018750, 0.018750, 0.050000, 0.050000}, {0.031250, 0.018750, 0.025000, 0.025000}, {0.031250, 0.018750, 0.050000, 0.050000}, {0.043750, 0.018750, 0.025000, 0.025000}, {0.043750, 0.018750, 0.050000, 0.050000}, {0.056250, 0.018750, 0.025000, 0.025000}, {0.056250, 0.018750, 0.050000, 0.050000}, {0.068750, 0.018750, 0.025000, 0.025000}, {0.068750, 0.018750, 0.050000, 0.050000}, {0.081250, 0.018750, 0.025000, 0.025000}, {0.081250, 0.018750, 0.050000, 0.050000}, {0.093750, 0.018750, 0.025000, 0.025000}, {0.093750, 0.018750, 0.050000, 0.050000}, {0.106250, 0.018750, 0.025000, 0.025000}, {0.106250, 0.018750, 0.050000, 0.050000}, {0.118750, 0.018750, 0.025000, 0.025000}, {0.118750, 0.018750, 0.050000, 0.050000}, {0.131250, 0.018750, 0.025000, 0.025000}, {0.131250, 0.018750, 0.050000, 0.050000}, {0.143750, 0.018750, 0.025000, 0.025000}, {0.143750, 0.018750, 0.050000, 0.050000}, {0.156250, 0.018750, 0.025000, 0.025000}, {0.156250, 0.018750, 0.050000, 0.050000}, {0.168750, 0.018750, 0.025000, 0.025000}, {0.168750, 0.018750, 0.050000, 0.050000}, {0.181250, 0.018750, 0.025000, 0.025000}, {0.181250, 0.018750, 0.050000, 0.050000}, {0.193750, 0.018750, 0.025000, 0.025000}, {0.193750, 0.018750, 0.050000, 0.050000}, {0.206250, 0.018750, 0.025000, 0.025000}, {0.206250, 0.018750, 0.050000, 0.050000}, {0.218750, 0.018750, 0.025000, 0.025000}, {0.218750, 0.018750, 0.050000, 0.050000}, {0.231250, 0.018750, 0.025000, 0.025000}, {0.231250, 0.018750, 0.050000, 0.050000}, {0.243750, 0.018750, 0.025000, 0.025000}, {0.243750, 0.018750, 0.050000, 0.050000}, {0.256250, 0.018750, 0.025000, 0.025000}, {0.256250, 0.018750, 0.050000, 0.050000}, {0.268750, 0.018750, 0.025000, 0.025000}, {0.268750, 0.018750, 0.050000, 0.050000}, {0.281250, 0.018750, 0.025000, 0.025000}, {0.281250, 0.018750, 0.050000, 0.050000}, {0.293750, 0.018750, 0.025000, 0.025000}, {0.293750, 0.018750, 0.050000, 0.050000}, {0.306250, 0.018750, 0.025000, 0.025000}, {0.306250, 0.018750, 0.050000, 0.050000}, {0.318750, 0.018750, 0.025000, 0.025000}, {0.318750, 0.018750, 0.050000, 0.050000}, {0.331250, 0.018750, 0.025000, 0.025000}, {0.331250, 0.018750, 0.050000, 0.050000}, {0.343750, 0.018750, 0.025000, 0.025000}, {0.343750, 0.018750, 0.050000, 0.050000}, {0.356250, 0.018750, 0.025000, 0.025000}, {0.356250, 0.018750, 0.050000, 0.050000}, {0.368750, 0.018750, 0.025000, 0.025000}, {0.368750, 0.018750, 0.050000, 0.050000}, {0.381250, 0.018750, 0.025000, 0.025000}, {0.381250, 0.018750, 0.050000, 0.050000}, {0.393750, 0.018750, 0.025000, 0.025000}, {0.393750, 0.018750, 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0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_detection/face_detection.cc b/src/reference/ai_poc/face_detection/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_detection/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_detection/face_detection.h b/src/reference/ai_poc/face_detection/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_detection/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/main.cc b/src/reference/ai_poc/face_detection/main.cc new file mode 100644 index 000000000..f6a97b1d8 --- /dev/null +++ b/src/reference/ai_poc/face_detection/main.cc @@ -0,0 +1,176 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测kmodel阈值\n" + << " nms_thres 人脸检测kmodel nms阈值\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[5])); + + vector results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + { + ScopedTiming st("read capture", atoi(argv[5])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[5])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + fd.pre_process(); + fd.inference(); + // 旋转后图像 + fd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + + { + ScopedTiming st("osd draw", atoi(argv[5])); + fd.draw_result(osd_frame,results,false); + } + + { + ScopedTiming st("osd copy", atoi(argv[5])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 6) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[4], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[4]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[5])); + fd.pre_process(ori_img); + fd.inference(); + + vector results; + fd.post_process({ori_w, ori_h}, results); + fd.draw_result(ori_img,results); + + cv::imwrite("face_detection_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/scoped_timing.hpp b/src/reference/ai_poc/face_detection/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_detection/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/utils.cc b/src/reference/ai_poc/face_detection/utils.cc new file mode 100755 index 000000000..15332261d --- /dev/null +++ b/src/reference/ai_poc/face_detection/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_detection/utils.h b/src/reference/ai_poc/face_detection/utils.h new file mode 100755 index 000000000..f2fe8b228 --- /dev/null +++ b/src/reference/ai_poc/face_detection/utils.h @@ -0,0 +1,307 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_detection/vi_vo.h b/src/reference/ai_poc/face_detection/vi_vo.h new file mode 100644 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_detection/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/CMakeLists.txt b/src/reference/ai_poc/face_emotion/CMakeLists.txt new file mode 100644 index 000000000..1e20c74f3 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc face_emotion.cc anchors_320.cc anchors_640.cc) +set(bin face_emotion.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/README.md b/src/reference/ai_poc/face_emotion/README.md new file mode 100644 index 000000000..b35aa0a92 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +人脸检测采用了retina-face网络结构，人脸情感识别backbone选取mobilenet。使用该应用，可得到图像或视频中的每个人表情识别结果，分类包括Anger、Disgust、Fear、Happiness、Neutral、Sadness、Surprise。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_emotion.elf +Options: + kmodel_det 人脸检测kmodel路径 + obj_thres 人脸检测阈值 + nms_thres 人脸检测nms阈值 + kmodel_femo 人脸情感识别kmodel路径 + input_mode 本地图片(图片路径)/ 摄像头(None) + debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_emotion_image.sh） +./face_emotion.elf face_detection_320.kmodel 0.6 0.2 face_emotion.kmodel 1024x768.jpg 2 + + #视频流推理：（face_emotion_isp.sh） +./face_emotion.elf face_detection_320.kmodel 0.6 0.2 face_emotion.kmodel None 0 +``` + + + diff --git a/src/reference/ai_poc/face_emotion/ai_base.cc b/src/reference/ai_poc/face_emotion/ai_base.cc new file mode 100644 index 000000000..c8d374e3b --- /dev/null +++ b/src/reference/ai_poc/face_emotion/ai_base.cc @@ -0,0 +1,195 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + cout<<"desc"<(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + cout<<"unmap"< out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_emotion/ai_base.h b/src/reference/ai_poc/face_emotion/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/face_emotion/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/anchors_320.cc b/src/reference/ai_poc/face_emotion/anchors_320.cc new file mode 100644 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 0.100000}, {0.512500, 0.062500, 0.050000, 0.050000}, {0.512500, 0.062500, 0.100000, 0.100000}, {0.537500, 0.062500, 0.050000, 0.050000}, {0.537500, 0.062500, 0.100000, 0.100000}, {0.562500, 0.062500, 0.050000, 0.050000}, {0.562500, 0.062500, 0.100000, 0.100000}, {0.587500, 0.062500, 0.050000, 0.050000}, {0.587500, 0.062500, 0.100000, 0.100000}, {0.612500, 0.062500, 0.050000, 0.050000}, {0.612500, 0.062500, 0.100000, 0.100000}, {0.637500, 0.062500, 0.050000, 0.050000}, {0.637500, 0.062500, 0.100000, 0.100000}, {0.662500, 0.062500, 0.050000, 0.050000}, {0.662500, 0.062500, 0.100000, 0.100000}, {0.687500, 0.062500, 0.050000, 0.050000}, {0.687500, 0.062500, 0.100000, 0.100000}, {0.712500, 0.062500, 0.050000, 0.050000}, {0.712500, 0.062500, 0.100000, 0.100000}, {0.737500, 0.062500, 0.050000, 0.050000}, {0.737500, 0.062500, 0.100000, 0.100000}, {0.762500, 0.062500, 0.050000, 0.050000}, {0.762500, 0.062500, 0.100000, 0.100000}, {0.787500, 0.062500, 0.050000, 0.050000}, {0.787500, 0.062500, 0.100000, 0.100000}, {0.812500, 0.062500, 0.050000, 0.050000}, {0.812500, 0.062500, 0.100000, 0.100000}, {0.837500, 0.062500, 0.050000, 0.050000}, {0.837500, 0.062500, 0.100000, 0.100000}, {0.862500, 0.062500, 0.050000, 0.050000}, {0.862500, 0.062500, 0.100000, 0.100000}, {0.887500, 0.062500, 0.050000, 0.050000}, {0.887500, 0.062500, 0.100000, 0.100000}, {0.912500, 0.062500, 0.050000, 0.050000}, {0.912500, 0.062500, 0.100000, 0.100000}, {0.937500, 0.062500, 0.050000, 0.050000}, {0.937500, 0.062500, 0.100000, 0.100000}, {0.962500, 0.062500, 0.050000, 0.050000}, {0.962500, 0.062500, 0.100000, 0.100000}, {0.987500, 0.062500, 0.050000, 0.050000}, {0.987500, 0.062500, 0.100000, 0.100000}, {0.012500, 0.087500, 0.050000, 0.050000}, {0.012500, 0.087500, 0.100000, 0.100000}, {0.037500, 0.087500, 0.050000, 0.050000}, {0.037500, 0.087500, 0.100000, 0.100000}, {0.062500, 0.087500, 0.050000, 0.050000}, {0.062500, 0.087500, 0.100000, 0.100000}, {0.087500, 0.087500, 0.050000, 0.050000}, {0.087500, 0.087500, 0.100000, 0.100000}, {0.112500, 0.087500, 0.050000, 0.050000}, {0.112500, 0.087500, 0.100000, 0.100000}, {0.137500, 0.087500, 0.050000, 0.050000}, {0.137500, 0.087500, 0.100000, 0.100000}, {0.162500, 0.087500, 0.050000, 0.050000}, {0.162500, 0.087500, 0.100000, 0.100000}, {0.187500, 0.087500, 0.050000, 0.050000}, {0.187500, 0.087500, 0.100000, 0.100000}, {0.212500, 0.087500, 0.050000, 0.050000}, {0.212500, 0.087500, 0.100000, 0.100000}, {0.237500, 0.087500, 0.050000, 0.050000}, {0.237500, 0.087500, 0.100000, 0.100000}, {0.262500, 0.087500, 0.050000, 0.050000}, {0.262500, 0.087500, 0.100000, 0.100000}, {0.287500, 0.087500, 0.050000, 0.050000}, {0.287500, 0.087500, 0.100000, 0.100000}, {0.312500, 0.087500, 0.050000, 0.050000}, {0.312500, 0.087500, 0.100000, 0.100000}, {0.337500, 0.087500, 0.050000, 0.050000}, {0.337500, 0.087500, 0.100000, 0.100000}, {0.362500, 0.087500, 0.050000, 0.050000}, {0.362500, 0.087500, 0.100000, 0.100000}, {0.387500, 0.087500, 0.050000, 0.050000}, {0.387500, 0.087500, 0.100000, 0.100000}, {0.412500, 0.087500, 0.050000, 0.050000}, {0.412500, 0.087500, 0.100000, 0.100000}, {0.437500, 0.087500, 0.050000, 0.050000}, {0.437500, 0.087500, 0.100000, 0.100000}, {0.462500, 0.087500, 0.050000, 0.050000}, {0.462500, 0.087500, 0.100000, 0.100000}, {0.487500, 0.087500, 0.050000, 0.050000}, {0.487500, 0.087500, 0.100000, 0.100000}, {0.512500, 0.087500, 0.050000, 0.050000}, {0.512500, 0.087500, 0.100000, 0.100000}, {0.537500, 0.087500, 0.050000, 0.050000}, {0.537500, 0.087500, 0.100000, 0.100000}, {0.562500, 0.087500, 0.050000, 0.050000}, {0.562500, 0.087500, 0.100000, 0.100000}, {0.587500, 0.087500, 0.050000, 0.050000}, {0.587500, 0.087500, 0.100000, 0.100000}, {0.612500, 0.087500, 0.050000, 0.050000}, {0.612500, 0.087500, 0.100000, 0.100000}, {0.637500, 0.087500, 0.050000, 0.050000}, {0.637500, 0.087500, 0.100000, 0.100000}, {0.662500, 0.087500, 0.050000, 0.050000}, {0.662500, 0.087500, 0.100000, 0.100000}, {0.687500, 0.087500, 0.050000, 0.050000}, {0.687500, 0.087500, 0.100000, 0.100000}, {0.712500, 0.087500, 0.050000, 0.050000}, {0.712500, 0.087500, 0.100000, 0.100000}, {0.737500, 0.087500, 0.050000, 0.050000}, {0.737500, 0.087500, 0.100000, 0.100000}, {0.762500, 0.087500, 0.050000, 0.050000}, {0.762500, 0.087500, 0.100000, 0.100000}, {0.787500, 0.087500, 0.050000, 0.050000}, {0.787500, 0.087500, 0.100000, 0.100000}, {0.812500, 0.087500, 0.050000, 0.050000}, {0.812500, 0.087500, 0.100000, 0.100000}, {0.837500, 0.087500, 0.050000, 0.050000}, {0.837500, 0.087500, 0.100000, 0.100000}, {0.862500, 0.087500, 0.050000, 0.050000}, {0.862500, 0.087500, 0.100000, 0.100000}, {0.887500, 0.087500, 0.050000, 0.050000}, {0.887500, 0.087500, 0.100000, 0.100000}, {0.912500, 0.087500, 0.050000, 0.050000}, {0.912500, 0.087500, 0.100000, 0.100000}, {0.937500, 0.087500, 0.050000, 0.050000}, {0.937500, 0.087500, 0.100000, 0.100000}, {0.962500, 0.087500, 0.050000, 0.050000}, {0.962500, 0.087500, 0.100000, 0.100000}, {0.987500, 0.087500, 0.050000, 0.050000}, {0.987500, 0.087500, 0.100000, 0.100000}, {0.012500, 0.112500, 0.050000, 0.050000}, {0.012500, 0.112500, 0.100000, 0.100000}, {0.037500, 0.112500, 0.050000, 0.050000}, {0.037500, 0.112500, 0.100000, 0.100000}, {0.062500, 0.112500, 0.050000, 0.050000}, {0.062500, 0.112500, 0.100000, 0.100000}, {0.087500, 0.112500, 0.050000, 0.050000}, {0.087500, 0.112500, 0.100000, 0.100000}, {0.112500, 0.112500, 0.050000, 0.050000}, {0.112500, 0.112500, 0.100000, 0.100000}, {0.137500, 0.112500, 0.050000, 0.050000}, {0.137500, 0.112500, 0.100000, 0.100000}, {0.162500, 0.112500, 0.050000, 0.050000}, {0.162500, 0.112500, 0.100000, 0.100000}, {0.187500, 0.112500, 0.050000, 0.050000}, {0.187500, 0.112500, 0.100000, 0.100000}, {0.212500, 0.112500, 0.050000, 0.050000}, {0.212500, 0.112500, 0.100000, 0.100000}, {0.237500, 0.112500, 0.050000, 0.050000}, {0.237500, 0.112500, 0.100000, 0.100000}, {0.262500, 0.112500, 0.050000, 0.050000}, {0.262500, 0.112500, 0.100000, 0.100000}, {0.287500, 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1.600000, 1.600000}, {0.250000, 0.150000, 0.800000, 0.800000}, {0.250000, 0.150000, 1.600000, 1.600000}, {0.350000, 0.150000, 0.800000, 0.800000}, {0.350000, 0.150000, 1.600000, 1.600000}, {0.450000, 0.150000, 0.800000, 0.800000}, {0.450000, 0.150000, 1.600000, 1.600000}, {0.550000, 0.150000, 0.800000, 0.800000}, {0.550000, 0.150000, 1.600000, 1.600000}, {0.650000, 0.150000, 0.800000, 0.800000}, {0.650000, 0.150000, 1.600000, 1.600000}, {0.750000, 0.150000, 0.800000, 0.800000}, {0.750000, 0.150000, 1.600000, 1.600000}, {0.850000, 0.150000, 0.800000, 0.800000}, {0.850000, 0.150000, 1.600000, 1.600000}, {0.950000, 0.150000, 0.800000, 0.800000}, {0.950000, 0.150000, 1.600000, 1.600000}, {0.050000, 0.250000, 0.800000, 0.800000}, {0.050000, 0.250000, 1.600000, 1.600000}, {0.150000, 0.250000, 0.800000, 0.800000}, {0.150000, 0.250000, 1.600000, 1.600000}, {0.250000, 0.250000, 0.800000, 0.800000}, {0.250000, 0.250000, 1.600000, 1.600000}, {0.350000, 0.250000, 0.800000, 0.800000}, {0.350000, 0.250000, 1.600000, 1.600000}, {0.450000, 0.250000, 0.800000, 0.800000}, {0.450000, 0.250000, 1.600000, 1.600000}, {0.550000, 0.250000, 0.800000, 0.800000}, {0.550000, 0.250000, 1.600000, 1.600000}, {0.650000, 0.250000, 0.800000, 0.800000}, {0.650000, 0.250000, 1.600000, 1.600000}, {0.750000, 0.250000, 0.800000, 0.800000}, {0.750000, 0.250000, 1.600000, 1.600000}, {0.850000, 0.250000, 0.800000, 0.800000}, {0.850000, 0.250000, 1.600000, 1.600000}, {0.950000, 0.250000, 0.800000, 0.800000}, {0.950000, 0.250000, 1.600000, 1.600000}, {0.050000, 0.350000, 0.800000, 0.800000}, {0.050000, 0.350000, 1.600000, 1.600000}, {0.150000, 0.350000, 0.800000, 0.800000}, {0.150000, 0.350000, 1.600000, 1.600000}, {0.250000, 0.350000, 0.800000, 0.800000}, {0.250000, 0.350000, 1.600000, 1.600000}, {0.350000, 0.350000, 0.800000, 0.800000}, {0.350000, 0.350000, 1.600000, 1.600000}, {0.450000, 0.350000, 0.800000, 0.800000}, {0.450000, 0.350000, 1.600000, 1.600000}, {0.550000, 0.350000, 0.800000, 0.800000}, {0.550000, 0.350000, 1.600000, 1.600000}, {0.650000, 0.350000, 0.800000, 0.800000}, {0.650000, 0.350000, 1.600000, 1.600000}, {0.750000, 0.350000, 0.800000, 0.800000}, {0.750000, 0.350000, 1.600000, 1.600000}, {0.850000, 0.350000, 0.800000, 0.800000}, {0.850000, 0.350000, 1.600000, 1.600000}, {0.950000, 0.350000, 0.800000, 0.800000}, {0.950000, 0.350000, 1.600000, 1.600000}, {0.050000, 0.450000, 0.800000, 0.800000}, {0.050000, 0.450000, 1.600000, 1.600000}, {0.150000, 0.450000, 0.800000, 0.800000}, {0.150000, 0.450000, 1.600000, 1.600000}, {0.250000, 0.450000, 0.800000, 0.800000}, {0.250000, 0.450000, 1.600000, 1.600000}, {0.350000, 0.450000, 0.800000, 0.800000}, {0.350000, 0.450000, 1.600000, 1.600000}, {0.450000, 0.450000, 0.800000, 0.800000}, {0.450000, 0.450000, 1.600000, 1.600000}, {0.550000, 0.450000, 0.800000, 0.800000}, {0.550000, 0.450000, 1.600000, 1.600000}, {0.650000, 0.450000, 0.800000, 0.800000}, {0.650000, 0.450000, 1.600000, 1.600000}, {0.750000, 0.450000, 0.800000, 0.800000}, {0.750000, 0.450000, 1.600000, 1.600000}, {0.850000, 0.450000, 0.800000, 0.800000}, {0.850000, 0.450000, 1.600000, 1.600000}, {0.950000, 0.450000, 0.800000, 0.800000}, {0.950000, 0.450000, 1.600000, 1.600000}, {0.050000, 0.550000, 0.800000, 0.800000}, {0.050000, 0.550000, 1.600000, 1.600000}, {0.150000, 0.550000, 0.800000, 0.800000}, {0.150000, 0.550000, 1.600000, 1.600000}, {0.250000, 0.550000, 0.800000, 0.800000}, {0.250000, 0.550000, 1.600000, 1.600000}, {0.350000, 0.550000, 0.800000, 0.800000}, {0.350000, 0.550000, 1.600000, 1.600000}, {0.450000, 0.550000, 0.800000, 0.800000}, {0.450000, 0.550000, 1.600000, 1.600000}, {0.550000, 0.550000, 0.800000, 0.800000}, {0.550000, 0.550000, 1.600000, 1.600000}, {0.650000, 0.550000, 0.800000, 0.800000}, {0.650000, 0.550000, 1.600000, 1.600000}, {0.750000, 0.550000, 0.800000, 0.800000}, {0.750000, 0.550000, 1.600000, 1.600000}, {0.850000, 0.550000, 0.800000, 0.800000}, {0.850000, 0.550000, 1.600000, 1.600000}, {0.950000, 0.550000, 0.800000, 0.800000}, {0.950000, 0.550000, 1.600000, 1.600000}, {0.050000, 0.650000, 0.800000, 0.800000}, {0.050000, 0.650000, 1.600000, 1.600000}, {0.150000, 0.650000, 0.800000, 0.800000}, {0.150000, 0.650000, 1.600000, 1.600000}, {0.250000, 0.650000, 0.800000, 0.800000}, {0.250000, 0.650000, 1.600000, 1.600000}, {0.350000, 0.650000, 0.800000, 0.800000}, {0.350000, 0.650000, 1.600000, 1.600000}, {0.450000, 0.650000, 0.800000, 0.800000}, {0.450000, 0.650000, 1.600000, 1.600000}, {0.550000, 0.650000, 0.800000, 0.800000}, {0.550000, 0.650000, 1.600000, 1.600000}, {0.650000, 0.650000, 0.800000, 0.800000}, {0.650000, 0.650000, 1.600000, 1.600000}, {0.750000, 0.650000, 0.800000, 0.800000}, {0.750000, 0.650000, 1.600000, 1.600000}, {0.850000, 0.650000, 0.800000, 0.800000}, {0.850000, 0.650000, 1.600000, 1.600000}, {0.950000, 0.650000, 0.800000, 0.800000}, {0.950000, 0.650000, 1.600000, 1.600000}, {0.050000, 0.750000, 0.800000, 0.800000}, {0.050000, 0.750000, 1.600000, 1.600000}, {0.150000, 0.750000, 0.800000, 0.800000}, {0.150000, 0.750000, 1.600000, 1.600000}, {0.250000, 0.750000, 0.800000, 0.800000}, {0.250000, 0.750000, 1.600000, 1.600000}, {0.350000, 0.750000, 0.800000, 0.800000}, {0.350000, 0.750000, 1.600000, 1.600000}, {0.450000, 0.750000, 0.800000, 0.800000}, {0.450000, 0.750000, 1.600000, 1.600000}, {0.550000, 0.750000, 0.800000, 0.800000}, {0.550000, 0.750000, 1.600000, 1.600000}, {0.650000, 0.750000, 0.800000, 0.800000}, {0.650000, 0.750000, 1.600000, 1.600000}, {0.750000, 0.750000, 0.800000, 0.800000}, {0.750000, 0.750000, 1.600000, 1.600000}, {0.850000, 0.750000, 0.800000, 0.800000}, {0.850000, 0.750000, 1.600000, 1.600000}, {0.950000, 0.750000, 0.800000, 0.800000}, {0.950000, 0.750000, 1.600000, 1.600000}, {0.050000, 0.850000, 0.800000, 0.800000}, {0.050000, 0.850000, 1.600000, 1.600000}, {0.150000, 0.850000, 0.800000, 0.800000}, {0.150000, 0.850000, 1.600000, 1.600000}, {0.250000, 0.850000, 0.800000, 0.800000}, {0.250000, 0.850000, 1.600000, 1.600000}, {0.350000, 0.850000, 0.800000, 0.800000}, {0.350000, 0.850000, 1.600000, 1.600000}, {0.450000, 0.850000, 0.800000, 0.800000}, {0.450000, 0.850000, 1.600000, 1.600000}, {0.550000, 0.850000, 0.800000, 0.800000}, {0.550000, 0.850000, 1.600000, 1.600000}, {0.650000, 0.850000, 0.800000, 0.800000}, {0.650000, 0.850000, 1.600000, 1.600000}, {0.750000, 0.850000, 0.800000, 0.800000}, {0.750000, 0.850000, 1.600000, 1.600000}, {0.850000, 0.850000, 0.800000, 0.800000}, {0.850000, 0.850000, 1.600000, 1.600000}, {0.950000, 0.850000, 0.800000, 0.800000}, {0.950000, 0.850000, 1.600000, 1.600000}, {0.050000, 0.950000, 0.800000, 0.800000}, {0.050000, 0.950000, 1.600000, 1.600000}, {0.150000, 0.950000, 0.800000, 0.800000}, {0.150000, 0.950000, 1.600000, 1.600000}, {0.250000, 0.950000, 0.800000, 0.800000}, {0.250000, 0.950000, 1.600000, 1.600000}, {0.350000, 0.950000, 0.800000, 0.800000}, {0.350000, 0.950000, 1.600000, 1.600000}, {0.450000, 0.950000, 0.800000, 0.800000}, {0.450000, 0.950000, 1.600000, 1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/anchors_640.cc b/src/reference/ai_poc/face_emotion/anchors_640.cc new file mode 100644 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_emotion/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 0.050000}, {0.068750, 0.006250, 0.025000, 0.025000}, {0.068750, 0.006250, 0.050000, 0.050000}, {0.081250, 0.006250, 0.025000, 0.025000}, {0.081250, 0.006250, 0.050000, 0.050000}, {0.093750, 0.006250, 0.025000, 0.025000}, {0.093750, 0.006250, 0.050000, 0.050000}, {0.106250, 0.006250, 0.025000, 0.025000}, {0.106250, 0.006250, 0.050000, 0.050000}, {0.118750, 0.006250, 0.025000, 0.025000}, {0.118750, 0.006250, 0.050000, 0.050000}, {0.131250, 0.006250, 0.025000, 0.025000}, {0.131250, 0.006250, 0.050000, 0.050000}, {0.143750, 0.006250, 0.025000, 0.025000}, {0.143750, 0.006250, 0.050000, 0.050000}, {0.156250, 0.006250, 0.025000, 0.025000}, {0.156250, 0.006250, 0.050000, 0.050000}, {0.168750, 0.006250, 0.025000, 0.025000}, {0.168750, 0.006250, 0.050000, 0.050000}, {0.181250, 0.006250, 0.025000, 0.025000}, {0.181250, 0.006250, 0.050000, 0.050000}, {0.193750, 0.006250, 0.025000, 0.025000}, {0.193750, 0.006250, 0.050000, 0.050000}, {0.206250, 0.006250, 0.025000, 0.025000}, {0.206250, 0.006250, 0.050000, 0.050000}, {0.218750, 0.006250, 0.025000, 0.025000}, {0.218750, 0.006250, 0.050000, 0.050000}, {0.231250, 0.006250, 0.025000, 0.025000}, {0.231250, 0.006250, 0.050000, 0.050000}, {0.243750, 0.006250, 0.025000, 0.025000}, {0.243750, 0.006250, 0.050000, 0.050000}, {0.256250, 0.006250, 0.025000, 0.025000}, {0.256250, 0.006250, 0.050000, 0.050000}, {0.268750, 0.006250, 0.025000, 0.025000}, {0.268750, 0.006250, 0.050000, 0.050000}, {0.281250, 0.006250, 0.025000, 0.025000}, {0.281250, 0.006250, 0.050000, 0.050000}, {0.293750, 0.006250, 0.025000, 0.025000}, {0.293750, 0.006250, 0.050000, 0.050000}, {0.306250, 0.006250, 0.025000, 0.025000}, {0.306250, 0.006250, 0.050000, 0.050000}, {0.318750, 0.006250, 0.025000, 0.025000}, {0.318750, 0.006250, 0.050000, 0.050000}, {0.331250, 0.006250, 0.025000, 0.025000}, {0.331250, 0.006250, 0.050000, 0.050000}, {0.343750, 0.006250, 0.025000, 0.025000}, {0.343750, 0.006250, 0.050000, 0.050000}, {0.356250, 0.006250, 0.025000, 0.025000}, {0.356250, 0.006250, 0.050000, 0.050000}, {0.368750, 0.006250, 0.025000, 0.025000}, {0.368750, 0.006250, 0.050000, 0.050000}, {0.381250, 0.006250, 0.025000, 0.025000}, {0.381250, 0.006250, 0.050000, 0.050000}, {0.393750, 0.006250, 0.025000, 0.025000}, {0.393750, 0.006250, 0.050000, 0.050000}, {0.406250, 0.006250, 0.025000, 0.025000}, {0.406250, 0.006250, 0.050000, 0.050000}, {0.418750, 0.006250, 0.025000, 0.025000}, {0.418750, 0.006250, 0.050000, 0.050000}, {0.431250, 0.006250, 0.025000, 0.025000}, {0.431250, 0.006250, 0.050000, 0.050000}, {0.443750, 0.006250, 0.025000, 0.025000}, {0.443750, 0.006250, 0.050000, 0.050000}, {0.456250, 0.006250, 0.025000, 0.025000}, {0.456250, 0.006250, 0.050000, 0.050000}, {0.468750, 0.006250, 0.025000, 0.025000}, {0.468750, 0.006250, 0.050000, 0.050000}, {0.481250, 0.006250, 0.025000, 0.025000}, {0.481250, 0.006250, 0.050000, 0.050000}, {0.493750, 0.006250, 0.025000, 0.025000}, {0.493750, 0.006250, 0.050000, 0.050000}, {0.506250, 0.006250, 0.025000, 0.025000}, 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0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_emotion/face_detection.cc b/src/reference/ai_poc/face_emotion/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_emotion/face_detection.h b/src/reference/ai_poc/face_emotion/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/face_emotion.cc b/src/reference/ai_poc/face_emotion/face_emotion.cc new file mode 100644 index 000000000..ceda7a7c8 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/face_emotion.cc @@ -0,0 +1,324 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_emotion.h" +#include + +//图像颜色集 +cv::Scalar color_list_for_emo[] = { + cv::Scalar(255, 255, 0), + cv::Scalar(0, 255, 0), + cv::Scalar(50, 220, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 0, 255), + cv::Scalar(0, 170, 255), + cv::Scalar(0, 255, 255)}; + +//图像颜色集 +cv::Scalar color_list_for_osd_emo[] = { + cv::Scalar(255, 255, 255, 0), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 50, 220, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 170, 255), + cv::Scalar(255, 0, 255, 255)}; + +//文字属性 +int g_font_face= cv::FONT_HERSHEY_COMPLEX; //字体 +double g_font_scale=1.5; //缩放系数 +int g_line_type = 8; //线型 +int g_thickness = 3; //粗细 + +FaceEmotion::FaceEmotion(const char *kmodel_file, const int debug_mode) : AIBase(kmodel_file,"FaceEmotion",debug_mode) +{ + model_name_ = "FaceEmotion"; + label_list_ = {"Anger","Disgust","Fear","Happiness","Neutral","Sadness","Surprise"}; + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceEmotion::FaceEmotion(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"FaceEmotion", debug_mode) +{ + model_name_ = "FaceEmotion"; + label_list_ = {"Anger","Disgust","Fear","Happiness","Neutral","Sadness","Surprise"}; + + // input->isp（Fixed size） + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceEmotion::~FaceEmotion() +{ +} + +// ai2d for image +void FaceEmotion::pre_process(cv::Mat ori_img, float* sparse_points) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + get_affine_matrix(sparse_points); + + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + Utils::affine({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, matrix_dst_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceEmotion_input_gray.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +// ai2d for video +void FaceEmotion::pre_process(float* sparse_points) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); + get_affine_matrix(sparse_points); +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); +#endif + Utils::affine(matrix_dst_, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceEmotion_input.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceEmotion::inference() +{ + this->run(); + this->get_output(); +} + +void FaceEmotion::post_process(FaceEmotionInfo& result) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + vector pred(p_outputs_[0],p_outputs_[0]+each_output_size_by_byte_[1]/4); + vector softmax_pred; + softmax(pred,softmax_pred); + auto max_score = std::max_element(softmax_pred.begin(), softmax_pred.end()); + int argmax = std::distance(softmax_pred.begin(), max_score); + result.idx = argmax; + result.label = label_list_[argmax]; + result.score = *max_score; +} + +void FaceEmotion::draw_result(cv::Mat& src_img,Bbox& bbox,FaceEmotionInfo& result, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + + char text[30]; + sprintf(text, "%s",result.label.c_str()); + // sprintf(text, "%s:%.2f",result.name.c_str(), result.score); + + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(bbox.x, bbox.y , bbox.w, bbox.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {bbox.x,std::max(int(bbox.y-10),0)}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255, 0, 0), 1, 8, 0); + } + else + { + int x = src_w - (bbox.x + bbox.w)/ isp_shape_.width * src_w; + int y = src_h - (bbox.y + bbox.h) / isp_shape_.height * src_h; + int w = bbox.w / isp_shape_.width * src_w; + int h = bbox.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 2, 2, 0); + + int base_line; + cv::Size text_size = cv::getTextSize(result.label, g_font_face, g_font_scale, g_thickness, &base_line); + cv::Mat text_img=cv::Mat::zeros(text_size.height+base_line+g_thickness,text_size.width,src_img.type()); + cv::putText(text_img,text,cv::Point(0,text_img.size().height-g_thickness),g_font_face,g_font_scale,color_list_for_osd_emo[result.idx],g_thickness,g_line_type); + cv::rotate(text_img,text_img,cv::ROTATE_180); + + int text_x = src_w - (bbox.x)/ isp_shape_.width * src_w - text_img.size().width; + text_x = std::max(0, std::min(text_x, int(src_w))); + int text_y = src_h - (bbox.y) / isp_shape_.height * src_h; + text_y = std::max(0, std::min(text_y, int(src_h))); + int text_w = std::min(text_img.size().width,src_w-text_x); + int text_h = std::min(text_img.size().height,src_h-text_y); + cv::Mat text_roi = src_img(cv::Rect(text_x,text_y,text_w,text_h)); + text_img.copyTo(text_roi,text_img); + } +} + +void FaceEmotion::svd22(const float a[4], float u[4], float s[2], float v[4]) +{ + s[0] = (sqrtf(powf(a[0] - a[3], 2) + powf(a[1] + a[2], 2)) + sqrtf(powf(a[0] + a[3], 2) + powf(a[1] - a[2], 2))) / 2; + s[1] = fabsf(s[0] - sqrtf(powf(a[0] - a[3], 2) + powf(a[1] + a[2], 2))); + v[2] = (s[0] > s[1]) ? sinf((atan2f(2 * (a[0] * a[1] + a[2] * a[3]), a[0] * a[0] - a[1] * a[1] + a[2] * a[2] - a[3] * a[3])) / 2) : 0; + v[0] = sqrtf(1 - v[2] * v[2]); + v[1] = -v[2]; + v[3] = v[0]; + u[0] = (s[0] != 0) ? -(a[0] * v[0] + a[1] * v[2]) / s[0] : 1; + u[2] = (s[0] != 0) ? -(a[2] * v[0] + a[3] * v[2]) / s[0] : 0; + u[1] = (s[1] != 0) ? (a[0] * v[1] + a[1] * v[3]) / s[1] : -u[2]; + u[3] = (s[1] != 0) ? (a[2] * v[1] + a[3] * v[3]) / s[1] : u[0]; + v[0] = -v[0]; + v[2] = -v[2]; +} + + //在224分辨率的标准五官点 +static float umeyama_args_224[] = +{ +#define PIC_SIZE 224 + 38.2946 * PIC_SIZE / 112, 51.6963 * PIC_SIZE / 112, + 73.5318 * PIC_SIZE / 112, 51.5014 * PIC_SIZE / 112, + 56.0252 * PIC_SIZE / 112, 71.7366 * PIC_SIZE / 112, + 41.5493 * PIC_SIZE / 112, 92.3655 * PIC_SIZE / 112, + 70.7299 * PIC_SIZE / 112, 92.2041 * PIC_SIZE / 112 +}; + +void FaceEmotion::image_umeyama_224(float* src, float* dst) +{ +#define SRC_NUM 5 +#define SRC_DIM 2 + int i, j, k; + float src_mean[SRC_DIM] = { 0.0 }; + float dst_mean[SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_NUM * 2; i += 2) + { + src_mean[0] += src[i]; + src_mean[1] += src[i + 1]; + dst_mean[0] += umeyama_args_224[i]; + dst_mean[1] += umeyama_args_224[i + 1]; + } + src_mean[0] /= SRC_NUM; + src_mean[1] /= SRC_NUM; + dst_mean[0] /= SRC_NUM; + dst_mean[1] /= SRC_NUM; + + float src_demean[SRC_NUM][2] = { 0.0 }; + float dst_demean[SRC_NUM][2] = { 0.0 }; + + for (i = 0; i < SRC_NUM; i++) + { + src_demean[i][0] = src[2 * i] - src_mean[0]; + src_demean[i][1] = src[2 * i + 1] - src_mean[1]; + dst_demean[i][0] = umeyama_args_224[2 * i] - dst_mean[0]; + dst_demean[i][1] = umeyama_args_224[2 * i + 1] - dst_mean[1]; + } + + float A[SRC_DIM][SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_DIM; i++) + { + for (k = 0; k < SRC_DIM; k++) + { + for (j = 0; j < SRC_NUM; j++) + { + A[i][k] += dst_demean[j][i] * src_demean[j][k]; + } + A[i][k] /= SRC_NUM; + } + } + + float(*T)[SRC_DIM + 1] = (float(*)[SRC_DIM + 1])dst; + T[0][0] = 1; + T[0][1] = 0; + T[0][2] = 0; + T[1][0] = 0; + T[1][1] = 1; + T[1][2] = 0; + T[2][0] = 0; + T[2][1] = 0; + T[2][2] = 1; + + float U[SRC_DIM][SRC_DIM] = { 0 }; + float S[SRC_DIM] = { 0 }; + float V[SRC_DIM][SRC_DIM] = { 0 }; + svd22(&A[0][0], &U[0][0], S, &V[0][0]); + + T[0][0] = U[0][0] * V[0][0] + U[0][1] * V[1][0]; + T[0][1] = U[0][0] * V[0][1] + U[0][1] * V[1][1]; + T[1][0] = U[1][0] * V[0][0] + U[1][1] * V[1][0]; + T[1][1] = U[1][0] * V[0][1] + U[1][1] * V[1][1]; + + float scale = 1.0; + float src_demean_mean[SRC_DIM] = { 0.0 }; + float src_demean_var[SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_NUM; i++) + { + src_demean_mean[0] += src_demean[i][0]; + src_demean_mean[1] += src_demean[i][1]; + } + src_demean_mean[0] /= SRC_NUM; + src_demean_mean[1] /= SRC_NUM; + + for (i = 0; i < SRC_NUM; i++) + { + src_demean_var[0] += (src_demean_mean[0] - src_demean[i][0]) * (src_demean_mean[0] - src_demean[i][0]); + src_demean_var[1] += (src_demean_mean[1] - src_demean[i][1]) * (src_demean_mean[1] - src_demean[i][1]); + } + src_demean_var[0] /= (SRC_NUM); + src_demean_var[1] /= (SRC_NUM); + scale = 1.0 / (src_demean_var[0] + src_demean_var[1]) * (S[0] + S[1]); + T[0][2] = dst_mean[0] - scale * (T[0][0] * src_mean[0] + T[0][1] * src_mean[1]); + T[1][2] = dst_mean[1] - scale * (T[1][0] * src_mean[0] + T[1][1] * src_mean[1]); + T[0][0] *= scale; + T[0][1] *= scale; + T[1][0] *= scale; + T[1][1] *= scale; + float(*TT)[3] = (float(*)[3])T; +} + +void FaceEmotion::softmax(vector& input,vector& output) +{ + //e_x = np.exp(x - np.max(x)) + //return e_x / e_x.sum() + std::vector::iterator p_input_max = std::max_element(input.begin(), input.end()); + float input_max = *p_input_max; + float input_total = 0; + + for(auto x:input) + { + input_total+=exp( x- input_max); + } + + output.resize(input.size()); + for(int i=0;i +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +typedef struct FaceEmotionInfo +{ + int idx; //人脸情感识别结果对应类别id + float score; //人脸情感识别结果对应类别得分 + string label; //人脸情感识别结果对应类别 +} FaceEmotionInfo; + +/** + * @brief 人脸情感识别 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceEmotion : public AIBase +{ +public: + /** + * @brief FaceEmotion构造函数，加载kmodel,并初始化kmodel输入、输出(for image) + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceEmotion(const char *kmodel_file, const int debug_mode); + + /** + * @brief FaceEmotion构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值(for isp) + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceEmotion(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceEmotion析构函数 + * @return None + */ + ~FaceEmotion(); + + /** + * @brief 图片预处理 （ai2d for image） + * @param ori_img 原始图片 + * @param sparse_points 原始人脸检测框对应的五官点 + * @return None + */ + void pre_process(cv::Mat ori_img, float* sparse_points); + + /** + * @brief 视频流预处理（ai2d for video） + * @param sparse_points 原始人脸检测框对应的五官点 + * @return None + */ + void pre_process(float* sparse_points); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel后处理 + * @param result 后处理结果，包括类别和类别得分 + * @return None + */ + void post_process(FaceEmotionInfo& result); + + /** + * @brief 将处理好的轮廓画到原图 + * @param src_img 原图 + * @param bbox 识别人脸的检测框位置 + * @param result 人脸情感识别结果 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,Bbox& bbox,FaceEmotionInfo& result, bool pic_mode=true); + +private: + /** + * @brief svd + * @param a 原始矩阵 + * @param u 左奇异向量 + * @param s 对角阵 + * @param v 右奇异向量 + * @return None + */ + void svd22(const float a[4], float u[4], float s[2], float v[4]); + + /** + * @brief 使用Umeyama算法计算仿射变换矩阵 + * @param src 原图像点位置 + * @param dst 目标图像（224*224）点位置。 + */ + void image_umeyama_224(float* src, float* dst); + + /** + * @brief 获取affine变换矩阵 + * @param sparse_points 原图像人脸五官点位置 + */ + void get_affine_matrix(float* sparse_points); + + /** + * @brief softmax + * @param input 原始数据 + * @param output softmax之后的数据 + * @return None + */ + void softmax(vector& input,vector& output); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + float matrix_dst_[10]; // 人脸affine的变换矩阵 + vector label_list_; // 情感分类标签列表 +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/main.cc b/src/reference/ai_poc/face_emotion/main.cc new file mode 100644 index 000000000..4cca40ec2 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/main.cc @@ -0,0 +1,194 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" +#include "face_emotion.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测阈值\n" + << " nms_thres 人脸检测nms阈值\n" + << " kmodel_femo 人脸情感识别kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + FaceDetection face_det(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + FaceEmotion face_emo(argv[4], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + vector det_results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + det_results.clear(); + + face_det.pre_process(); + face_det.inference(); + // 旋转后图像 + face_det.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, det_results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (int i = 0; i < det_results.size(); ++i) + { + face_emo.pre_process(det_results[i].sparse_kps.points); + face_emo.inference(); + + FaceEmotionInfo emo_result; + face_emo.post_process(emo_result); + face_emo.draw_result(osd_frame,det_results[i].bbox,emo_result,false); + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[5], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[5]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection face_det(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[6])); + face_det.pre_process(ori_img); + face_det.inference(); + + vector det_results; + face_det.post_process({ori_w, ori_h}, det_results); + + FaceEmotion face_emo(argv[4], atoi(argv[6])); + + for (int i = 0; i < det_results.size(); ++i) + { + face_emo.pre_process(ori_img, det_results[i].sparse_kps.points); + face_emo.inference(); + + FaceEmotionInfo emo_result; + face_emo.post_process(emo_result); + face_emo.draw_result(ori_img,det_results[i].bbox,emo_result); + } + cv::imwrite("face_emotion_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/scoped_timing.hpp b/src/reference/ai_poc/face_emotion/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/utils.cc b/src/reference/ai_poc/face_emotion/utils.cc new file mode 100755 index 000000000..15332261d --- /dev/null +++ b/src/reference/ai_poc/face_emotion/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_emotion/utils.h b/src/reference/ai_poc/face_emotion/utils.h new file mode 100755 index 000000000..f2fe8b228 --- /dev/null +++ b/src/reference/ai_poc/face_emotion/utils.h @@ -0,0 +1,307 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_emotion/vi_vo.h b/src/reference/ai_poc/face_emotion/vi_vo.h new file mode 100644 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_emotion/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/CMakeLists.txt b/src/reference/ai_poc/face_gender/CMakeLists.txt new file mode 100644 index 000000000..ee50b6ecf --- /dev/null +++ b/src/reference/ai_poc/face_gender/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc face_gender.cc anchors_320.cc anchors_640.cc) +set(bin face_gender.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/README.md b/src/reference/ai_poc/face_gender/README.md new file mode 100644 index 000000000..450700486 --- /dev/null +++ b/src/reference/ai_poc/face_gender/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +人脸检测采用了retina-face网络结构，人脸性别分类backbone选取EfficientNetB3。使用该应用，可得到图像或视频中的每个人的性别。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_gender.elf +Options: + kmodel_det 人脸检测kmodel路径 + obj_thres 人脸检测阈值 + nms_thres 人脸检测nms阈值 + kmodel_fg 人脸性别kmodel路径 + input_mode 本地图片(图片路径)/ 摄像头(None) + debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_gender_image.sh） +./face_gender.elf face_detection_320.kmodel 0.6 0.2 face_gender.kmodel 1024x768.jpg 0 + + #视频流推理：（face_gender_isp.sh） +./face_gender.elf face_detection_320.kmodel 0.6 0.2 face_gender.kmodel None 0 +``` + + + diff --git a/src/reference/ai_poc/face_gender/ai_base.cc b/src/reference/ai_poc/face_gender/ai_base.cc new file mode 100644 index 000000000..931136ef4 --- /dev/null +++ b/src/reference/ai_poc/face_gender/ai_base.cc @@ -0,0 +1,183 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_gender/ai_base.h b/src/reference/ai_poc/face_gender/ai_base.h new file mode 100644 index 000000000..4ad882298 --- /dev/null +++ b/src/reference/ai_poc/face_gender/ai_base.h @@ -0,0 +1,118 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/anchors_320.cc b/src/reference/ai_poc/face_gender/anchors_320.cc new file mode 100644 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_gender/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 0.100000}, {0.512500, 0.062500, 0.050000, 0.050000}, {0.512500, 0.062500, 0.100000, 0.100000}, {0.537500, 0.062500, 0.050000, 0.050000}, {0.537500, 0.062500, 0.100000, 0.100000}, {0.562500, 0.062500, 0.050000, 0.050000}, {0.562500, 0.062500, 0.100000, 0.100000}, {0.587500, 0.062500, 0.050000, 0.050000}, {0.587500, 0.062500, 0.100000, 0.100000}, {0.612500, 0.062500, 0.050000, 0.050000}, {0.612500, 0.062500, 0.100000, 0.100000}, {0.637500, 0.062500, 0.050000, 0.050000}, {0.637500, 0.062500, 0.100000, 0.100000}, {0.662500, 0.062500, 0.050000, 0.050000}, {0.662500, 0.062500, 0.100000, 0.100000}, {0.687500, 0.062500, 0.050000, 0.050000}, {0.687500, 0.062500, 0.100000, 0.100000}, {0.712500, 0.062500, 0.050000, 0.050000}, {0.712500, 0.062500, 0.100000, 0.100000}, {0.737500, 0.062500, 0.050000, 0.050000}, {0.737500, 0.062500, 0.100000, 0.100000}, {0.762500, 0.062500, 0.050000, 0.050000}, {0.762500, 0.062500, 0.100000, 0.100000}, {0.787500, 0.062500, 0.050000, 0.050000}, {0.787500, 0.062500, 0.100000, 0.100000}, {0.812500, 0.062500, 0.050000, 0.050000}, {0.812500, 0.062500, 0.100000, 0.100000}, {0.837500, 0.062500, 0.050000, 0.050000}, {0.837500, 0.062500, 0.100000, 0.100000}, {0.862500, 0.062500, 0.050000, 0.050000}, {0.862500, 0.062500, 0.100000, 0.100000}, {0.887500, 0.062500, 0.050000, 0.050000}, {0.887500, 0.062500, 0.100000, 0.100000}, {0.912500, 0.062500, 0.050000, 0.050000}, {0.912500, 0.062500, 0.100000, 0.100000}, {0.937500, 0.062500, 0.050000, 0.050000}, {0.937500, 0.062500, 0.100000, 0.100000}, {0.962500, 0.062500, 0.050000, 0.050000}, {0.962500, 0.062500, 0.100000, 0.100000}, {0.987500, 0.062500, 0.050000, 0.050000}, {0.987500, 0.062500, 0.100000, 0.100000}, {0.012500, 0.087500, 0.050000, 0.050000}, {0.012500, 0.087500, 0.100000, 0.100000}, {0.037500, 0.087500, 0.050000, 0.050000}, {0.037500, 0.087500, 0.100000, 0.100000}, {0.062500, 0.087500, 0.050000, 0.050000}, {0.062500, 0.087500, 0.100000, 0.100000}, {0.087500, 0.087500, 0.050000, 0.050000}, {0.087500, 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1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/anchors_640.cc b/src/reference/ai_poc/face_gender/anchors_640.cc new file mode 100644 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_gender/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 0.050000}, {0.068750, 0.006250, 0.025000, 0.025000}, {0.068750, 0.006250, 0.050000, 0.050000}, {0.081250, 0.006250, 0.025000, 0.025000}, {0.081250, 0.006250, 0.050000, 0.050000}, {0.093750, 0.006250, 0.025000, 0.025000}, {0.093750, 0.006250, 0.050000, 0.050000}, {0.106250, 0.006250, 0.025000, 0.025000}, {0.106250, 0.006250, 0.050000, 0.050000}, {0.118750, 0.006250, 0.025000, 0.025000}, {0.118750, 0.006250, 0.050000, 0.050000}, {0.131250, 0.006250, 0.025000, 0.025000}, {0.131250, 0.006250, 0.050000, 0.050000}, {0.143750, 0.006250, 0.025000, 0.025000}, {0.143750, 0.006250, 0.050000, 0.050000}, {0.156250, 0.006250, 0.025000, 0.025000}, {0.156250, 0.006250, 0.050000, 0.050000}, {0.168750, 0.006250, 0.025000, 0.025000}, {0.168750, 0.006250, 0.050000, 0.050000}, {0.181250, 0.006250, 0.025000, 0.025000}, {0.181250, 0.006250, 0.050000, 0.050000}, {0.193750, 0.006250, 0.025000, 0.025000}, {0.193750, 0.006250, 0.050000, 0.050000}, {0.206250, 0.006250, 0.025000, 0.025000}, {0.206250, 0.006250, 0.050000, 0.050000}, {0.218750, 0.006250, 0.025000, 0.025000}, {0.218750, 0.006250, 0.050000, 0.050000}, {0.231250, 0.006250, 0.025000, 0.025000}, {0.231250, 0.006250, 0.050000, 0.050000}, {0.243750, 0.006250, 0.025000, 0.025000}, {0.243750, 0.006250, 0.050000, 0.050000}, {0.256250, 0.006250, 0.025000, 0.025000}, {0.256250, 0.006250, 0.050000, 0.050000}, {0.268750, 0.006250, 0.025000, 0.025000}, {0.268750, 0.006250, 0.050000, 0.050000}, {0.281250, 0.006250, 0.025000, 0.025000}, {0.281250, 0.006250, 0.050000, 0.050000}, {0.293750, 0.006250, 0.025000, 0.025000}, {0.293750, 0.006250, 0.050000, 0.050000}, {0.306250, 0.006250, 0.025000, 0.025000}, {0.306250, 0.006250, 0.050000, 0.050000}, {0.318750, 0.006250, 0.025000, 0.025000}, {0.318750, 0.006250, 0.050000, 0.050000}, {0.331250, 0.006250, 0.025000, 0.025000}, {0.331250, 0.006250, 0.050000, 0.050000}, {0.343750, 0.006250, 0.025000, 0.025000}, {0.343750, 0.006250, 0.050000, 0.050000}, {0.356250, 0.006250, 0.025000, 0.025000}, {0.356250, 0.006250, 0.050000, 0.050000}, {0.368750, 0.006250, 0.025000, 0.025000}, {0.368750, 0.006250, 0.050000, 0.050000}, {0.381250, 0.006250, 0.025000, 0.025000}, {0.381250, 0.006250, 0.050000, 0.050000}, {0.393750, 0.006250, 0.025000, 0.025000}, {0.393750, 0.006250, 0.050000, 0.050000}, {0.406250, 0.006250, 0.025000, 0.025000}, {0.406250, 0.006250, 0.050000, 0.050000}, {0.418750, 0.006250, 0.025000, 0.025000}, {0.418750, 0.006250, 0.050000, 0.050000}, {0.431250, 0.006250, 0.025000, 0.025000}, {0.431250, 0.006250, 0.050000, 0.050000}, {0.443750, 0.006250, 0.025000, 0.025000}, {0.443750, 0.006250, 0.050000, 0.050000}, {0.456250, 0.006250, 0.025000, 0.025000}, {0.456250, 0.006250, 0.050000, 0.050000}, {0.468750, 0.006250, 0.025000, 0.025000}, {0.468750, 0.006250, 0.050000, 0.050000}, {0.481250, 0.006250, 0.025000, 0.025000}, {0.481250, 0.006250, 0.050000, 0.050000}, {0.493750, 0.006250, 0.025000, 0.025000}, {0.493750, 0.006250, 0.050000, 0.050000}, {0.506250, 0.006250, 0.025000, 0.025000}, {0.506250, 0.006250, 0.050000, 0.050000}, {0.518750, 0.006250, 0.025000, 0.025000}, {0.518750, 0.006250, 0.050000, 0.050000}, {0.531250, 0.006250, 0.025000, 0.025000}, {0.531250, 0.006250, 0.050000, 0.050000}, {0.543750, 0.006250, 0.025000, 0.025000}, {0.543750, 0.006250, 0.050000, 0.050000}, {0.556250, 0.006250, 0.025000, 0.025000}, {0.556250, 0.006250, 0.050000, 0.050000}, {0.568750, 0.006250, 0.025000, 0.025000}, {0.568750, 0.006250, 0.050000, 0.050000}, {0.581250, 0.006250, 0.025000, 0.025000}, {0.581250, 0.006250, 0.050000, 0.050000}, {0.593750, 0.006250, 0.025000, 0.025000}, {0.593750, 0.006250, 0.050000, 0.050000}, {0.606250, 0.006250, 0.025000, 0.025000}, {0.606250, 0.006250, 0.050000, 0.050000}, {0.618750, 0.006250, 0.025000, 0.025000}, {0.618750, 0.006250, 0.050000, 0.050000}, {0.631250, 0.006250, 0.025000, 0.025000}, {0.631250, 0.006250, 0.050000, 0.050000}, {0.643750, 0.006250, 0.025000, 0.025000}, {0.643750, 0.006250, 0.050000, 0.050000}, {0.656250, 0.006250, 0.025000, 0.025000}, {0.656250, 0.006250, 0.050000, 0.050000}, {0.668750, 0.006250, 0.025000, 0.025000}, {0.668750, 0.006250, 0.050000, 0.050000}, {0.681250, 0.006250, 0.025000, 0.025000}, {0.681250, 0.006250, 0.050000, 0.050000}, {0.693750, 0.006250, 0.025000, 0.025000}, {0.693750, 0.006250, 0.050000, 0.050000}, {0.706250, 0.006250, 0.025000, 0.025000}, {0.706250, 0.006250, 0.050000, 0.050000}, {0.718750, 0.006250, 0.025000, 0.025000}, {0.718750, 0.006250, 0.050000, 0.050000}, {0.731250, 0.006250, 0.025000, 0.025000}, {0.731250, 0.006250, 0.050000, 0.050000}, {0.743750, 0.006250, 0.025000, 0.025000}, {0.743750, 0.006250, 0.050000, 0.050000}, {0.756250, 0.006250, 0.025000, 0.025000}, {0.756250, 0.006250, 0.050000, 0.050000}, {0.768750, 0.006250, 0.025000, 0.025000}, {0.768750, 0.006250, 0.050000, 0.050000}, {0.781250, 0.006250, 0.025000, 0.025000}, {0.781250, 0.006250, 0.050000, 0.050000}, {0.793750, 0.006250, 0.025000, 0.025000}, {0.793750, 0.006250, 0.050000, 0.050000}, {0.806250, 0.006250, 0.025000, 0.025000}, {0.806250, 0.006250, 0.050000, 0.050000}, {0.818750, 0.006250, 0.025000, 0.025000}, {0.818750, 0.006250, 0.050000, 0.050000}, {0.831250, 0.006250, 0.025000, 0.025000}, {0.831250, 0.006250, 0.050000, 0.050000}, {0.843750, 0.006250, 0.025000, 0.025000}, {0.843750, 0.006250, 0.050000, 0.050000}, {0.856250, 0.006250, 0.025000, 0.025000}, {0.856250, 0.006250, 0.050000, 0.050000}, {0.868750, 0.006250, 0.025000, 0.025000}, {0.868750, 0.006250, 0.050000, 0.050000}, {0.881250, 0.006250, 0.025000, 0.025000}, {0.881250, 0.006250, 0.050000, 0.050000}, {0.893750, 0.006250, 0.025000, 0.025000}, {0.893750, 0.006250, 0.050000, 0.050000}, {0.906250, 0.006250, 0.025000, 0.025000}, {0.906250, 0.006250, 0.050000, 0.050000}, {0.918750, 0.006250, 0.025000, 0.025000}, {0.918750, 0.006250, 0.050000, 0.050000}, {0.931250, 0.006250, 0.025000, 0.025000}, {0.931250, 0.006250, 0.050000, 0.050000}, {0.943750, 0.006250, 0.025000, 0.025000}, {0.943750, 0.006250, 0.050000, 0.050000}, {0.956250, 0.006250, 0.025000, 0.025000}, {0.956250, 0.006250, 0.050000, 0.050000}, {0.968750, 0.006250, 0.025000, 0.025000}, {0.968750, 0.006250, 0.050000, 0.050000}, {0.981250, 0.006250, 0.025000, 0.025000}, {0.981250, 0.006250, 0.050000, 0.050000}, {0.993750, 0.006250, 0.025000, 0.025000}, {0.993750, 0.006250, 0.050000, 0.050000}, {0.006250, 0.018750, 0.025000, 0.025000}, {0.006250, 0.018750, 0.050000, 0.050000}, {0.018750, 0.018750, 0.025000, 0.025000}, {0.018750, 0.018750, 0.050000, 0.050000}, {0.031250, 0.018750, 0.025000, 0.025000}, {0.031250, 0.018750, 0.050000, 0.050000}, {0.043750, 0.018750, 0.025000, 0.025000}, {0.043750, 0.018750, 0.050000, 0.050000}, {0.056250, 0.018750, 0.025000, 0.025000}, {0.056250, 0.018750, 0.050000, 0.050000}, {0.068750, 0.018750, 0.025000, 0.025000}, {0.068750, 0.018750, 0.050000, 0.050000}, {0.081250, 0.018750, 0.025000, 0.025000}, {0.081250, 0.018750, 0.050000, 0.050000}, {0.093750, 0.018750, 0.025000, 0.025000}, {0.093750, 0.018750, 0.050000, 0.050000}, {0.106250, 0.018750, 0.025000, 0.025000}, {0.106250, 0.018750, 0.050000, 0.050000}, {0.118750, 0.018750, 0.025000, 0.025000}, {0.118750, 0.018750, 0.050000, 0.050000}, {0.131250, 0.018750, 0.025000, 0.025000}, {0.131250, 0.018750, 0.050000, 0.050000}, {0.143750, 0.018750, 0.025000, 0.025000}, {0.143750, 0.018750, 0.050000, 0.050000}, {0.156250, 0.018750, 0.025000, 0.025000}, {0.156250, 0.018750, 0.050000, 0.050000}, {0.168750, 0.018750, 0.025000, 0.025000}, {0.168750, 0.018750, 0.050000, 0.050000}, {0.181250, 0.018750, 0.025000, 0.025000}, {0.181250, 0.018750, 0.050000, 0.050000}, {0.193750, 0.018750, 0.025000, 0.025000}, {0.193750, 0.018750, 0.050000, 0.050000}, {0.206250, 0.018750, 0.025000, 0.025000}, {0.206250, 0.018750, 0.050000, 0.050000}, {0.218750, 0.018750, 0.025000, 0.025000}, {0.218750, 0.018750, 0.050000, 0.050000}, {0.231250, 0.018750, 0.025000, 0.025000}, {0.231250, 0.018750, 0.050000, 0.050000}, {0.243750, 0.018750, 0.025000, 0.025000}, {0.243750, 0.018750, 0.050000, 0.050000}, {0.256250, 0.018750, 0.025000, 0.025000}, {0.256250, 0.018750, 0.050000, 0.050000}, {0.268750, 0.018750, 0.025000, 0.025000}, {0.268750, 0.018750, 0.050000, 0.050000}, {0.281250, 0.018750, 0.025000, 0.025000}, {0.281250, 0.018750, 0.050000, 0.050000}, {0.293750, 0.018750, 0.025000, 0.025000}, {0.293750, 0.018750, 0.050000, 0.050000}, {0.306250, 0.018750, 0.025000, 0.025000}, {0.306250, 0.018750, 0.050000, 0.050000}, {0.318750, 0.018750, 0.025000, 0.025000}, {0.318750, 0.018750, 0.050000, 0.050000}, {0.331250, 0.018750, 0.025000, 0.025000}, {0.331250, 0.018750, 0.050000, 0.050000}, {0.343750, 0.018750, 0.025000, 0.025000}, {0.343750, 0.018750, 0.050000, 0.050000}, {0.356250, 0.018750, 0.025000, 0.025000}, {0.356250, 0.018750, 0.050000, 0.050000}, {0.368750, 0.018750, 0.025000, 0.025000}, {0.368750, 0.018750, 0.050000, 0.050000}, {0.381250, 0.018750, 0.025000, 0.025000}, {0.381250, 0.018750, 0.050000, 0.050000}, {0.393750, 0.018750, 0.025000, 0.025000}, {0.393750, 0.018750, 0.050000, 0.050000}, {0.406250, 0.018750, 0.025000, 0.025000}, {0.406250, 0.018750, 0.050000, 0.050000}, {0.418750, 0.018750, 0.025000, 0.025000}, {0.418750, 0.018750, 0.050000, 0.050000}, {0.431250, 0.018750, 0.025000, 0.025000}, {0.431250, 0.018750, 0.050000, 0.050000}, {0.443750, 0.018750, 0.025000, 0.025000}, {0.443750, 0.018750, 0.050000, 0.050000}, {0.456250, 0.018750, 0.025000, 0.025000}, {0.456250, 0.018750, 0.050000, 0.050000}, {0.468750, 0.018750, 0.025000, 0.025000}, {0.468750, 0.018750, 0.050000, 0.050000}, {0.481250, 0.018750, 0.025000, 0.025000}, {0.481250, 0.018750, 0.050000, 0.050000}, {0.493750, 0.018750, 0.025000, 0.025000}, {0.493750, 0.018750, 0.050000, 0.050000}, {0.506250, 0.018750, 0.025000, 0.025000}, {0.506250, 0.018750, 0.050000, 0.050000}, {0.518750, 0.018750, 0.025000, 0.025000}, {0.518750, 0.018750, 0.050000, 0.050000}, {0.531250, 0.018750, 0.025000, 0.025000}, {0.531250, 0.018750, 0.050000, 0.050000}, {0.543750, 0.018750, 0.025000, 0.025000}, {0.543750, 0.018750, 0.050000, 0.050000}, {0.556250, 0.018750, 0.025000, 0.025000}, {0.556250, 0.018750, 0.050000, 0.050000}, {0.568750, 0.018750, 0.025000, 0.025000}, {0.568750, 0.018750, 0.050000, 0.050000}, {0.581250, 0.018750, 0.025000, 0.025000}, {0.581250, 0.018750, 0.050000, 0.050000}, {0.593750, 0.018750, 0.025000, 0.025000}, {0.593750, 0.018750, 0.050000, 0.050000}, {0.606250, 0.018750, 0.025000, 0.025000}, {0.606250, 0.018750, 0.050000, 0.050000}, {0.618750, 0.018750, 0.025000, 0.025000}, {0.618750, 0.018750, 0.050000, 0.050000}, {0.631250, 0.018750, 0.025000, 0.025000}, {0.631250, 0.018750, 0.050000, 0.050000}, {0.643750, 0.018750, 0.025000, 0.025000}, {0.643750, 0.018750, 0.050000, 0.050000}, {0.656250, 0.018750, 0.025000, 0.025000}, {0.656250, 0.018750, 0.050000, 0.050000}, {0.668750, 0.018750, 0.025000, 0.025000}, {0.668750, 0.018750, 0.050000, 0.050000}, {0.681250, 0.018750, 0.025000, 0.025000}, {0.681250, 0.018750, 0.050000, 0.050000}, {0.693750, 0.018750, 0.025000, 0.025000}, {0.693750, 0.018750, 0.050000, 0.050000}, {0.706250, 0.018750, 0.025000, 0.025000}, {0.706250, 0.018750, 0.050000, 0.050000}, {0.718750, 0.018750, 0.025000, 0.025000}, {0.718750, 0.018750, 0.050000, 0.050000}, {0.731250, 0.018750, 0.025000, 0.025000}, {0.731250, 0.018750, 0.050000, 0.050000}, {0.743750, 0.018750, 0.025000, 0.025000}, {0.743750, 0.018750, 0.050000, 0.050000}, {0.756250, 0.018750, 0.025000, 0.025000}, {0.756250, 0.018750, 0.050000, 0.050000}, {0.768750, 0.018750, 0.025000, 0.025000}, {0.768750, 0.018750, 0.050000, 0.050000}, {0.781250, 0.018750, 0.025000, 0.025000}, {0.781250, 0.018750, 0.050000, 0.050000}, {0.793750, 0.018750, 0.025000, 0.025000}, {0.793750, 0.018750, 0.050000, 0.050000}, {0.806250, 0.018750, 0.025000, 0.025000}, {0.806250, 0.018750, 0.050000, 0.050000}, {0.818750, 0.018750, 0.025000, 0.025000}, {0.818750, 0.018750, 0.050000, 0.050000}, {0.831250, 0.018750, 0.025000, 0.025000}, {0.831250, 0.018750, 0.050000, 0.050000}, {0.843750, 0.018750, 0.025000, 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0.875000, 0.400000, 0.400000}, {0.075000, 0.875000, 0.800000, 0.800000}, {0.125000, 0.875000, 0.400000, 0.400000}, {0.125000, 0.875000, 0.800000, 0.800000}, {0.175000, 0.875000, 0.400000, 0.400000}, {0.175000, 0.875000, 0.800000, 0.800000}, {0.225000, 0.875000, 0.400000, 0.400000}, {0.225000, 0.875000, 0.800000, 0.800000}, {0.275000, 0.875000, 0.400000, 0.400000}, {0.275000, 0.875000, 0.800000, 0.800000}, {0.325000, 0.875000, 0.400000, 0.400000}, {0.325000, 0.875000, 0.800000, 0.800000}, {0.375000, 0.875000, 0.400000, 0.400000}, {0.375000, 0.875000, 0.800000, 0.800000}, {0.425000, 0.875000, 0.400000, 0.400000}, {0.425000, 0.875000, 0.800000, 0.800000}, {0.475000, 0.875000, 0.400000, 0.400000}, {0.475000, 0.875000, 0.800000, 0.800000}, {0.525000, 0.875000, 0.400000, 0.400000}, {0.525000, 0.875000, 0.800000, 0.800000}, {0.575000, 0.875000, 0.400000, 0.400000}, {0.575000, 0.875000, 0.800000, 0.800000}, {0.625000, 0.875000, 0.400000, 0.400000}, {0.625000, 0.875000, 0.800000, 0.800000}, {0.675000, 0.875000, 0.400000, 0.400000}, {0.675000, 0.875000, 0.800000, 0.800000}, {0.725000, 0.875000, 0.400000, 0.400000}, {0.725000, 0.875000, 0.800000, 0.800000}, {0.775000, 0.875000, 0.400000, 0.400000}, {0.775000, 0.875000, 0.800000, 0.800000}, {0.825000, 0.875000, 0.400000, 0.400000}, {0.825000, 0.875000, 0.800000, 0.800000}, {0.875000, 0.875000, 0.400000, 0.400000}, {0.875000, 0.875000, 0.800000, 0.800000}, {0.925000, 0.875000, 0.400000, 0.400000}, {0.925000, 0.875000, 0.800000, 0.800000}, {0.975000, 0.875000, 0.400000, 0.400000}, {0.975000, 0.875000, 0.800000, 0.800000}, {0.025000, 0.925000, 0.400000, 0.400000}, {0.025000, 0.925000, 0.800000, 0.800000}, {0.075000, 0.925000, 0.400000, 0.400000}, {0.075000, 0.925000, 0.800000, 0.800000}, {0.125000, 0.925000, 0.400000, 0.400000}, {0.125000, 0.925000, 0.800000, 0.800000}, {0.175000, 0.925000, 0.400000, 0.400000}, {0.175000, 0.925000, 0.800000, 0.800000}, {0.225000, 0.925000, 0.400000, 0.400000}, {0.225000, 0.925000, 0.800000, 0.800000}, {0.275000, 0.925000, 0.400000, 0.400000}, {0.275000, 0.925000, 0.800000, 0.800000}, {0.325000, 0.925000, 0.400000, 0.400000}, {0.325000, 0.925000, 0.800000, 0.800000}, {0.375000, 0.925000, 0.400000, 0.400000}, {0.375000, 0.925000, 0.800000, 0.800000}, {0.425000, 0.925000, 0.400000, 0.400000}, {0.425000, 0.925000, 0.800000, 0.800000}, {0.475000, 0.925000, 0.400000, 0.400000}, {0.475000, 0.925000, 0.800000, 0.800000}, {0.525000, 0.925000, 0.400000, 0.400000}, {0.525000, 0.925000, 0.800000, 0.800000}, {0.575000, 0.925000, 0.400000, 0.400000}, {0.575000, 0.925000, 0.800000, 0.800000}, {0.625000, 0.925000, 0.400000, 0.400000}, {0.625000, 0.925000, 0.800000, 0.800000}, {0.675000, 0.925000, 0.400000, 0.400000}, {0.675000, 0.925000, 0.800000, 0.800000}, {0.725000, 0.925000, 0.400000, 0.400000}, {0.725000, 0.925000, 0.800000, 0.800000}, {0.775000, 0.925000, 0.400000, 0.400000}, {0.775000, 0.925000, 0.800000, 0.800000}, {0.825000, 0.925000, 0.400000, 0.400000}, {0.825000, 0.925000, 0.800000, 0.800000}, {0.875000, 0.925000, 0.400000, 0.400000}, {0.875000, 0.925000, 0.800000, 0.800000}, {0.925000, 0.925000, 0.400000, 0.400000}, {0.925000, 0.925000, 0.800000, 0.800000}, {0.975000, 0.925000, 0.400000, 0.400000}, {0.975000, 0.925000, 0.800000, 0.800000}, {0.025000, 0.975000, 0.400000, 0.400000}, {0.025000, 0.975000, 0.800000, 0.800000}, {0.075000, 0.975000, 0.400000, 0.400000}, {0.075000, 0.975000, 0.800000, 0.800000}, {0.125000, 0.975000, 0.400000, 0.400000}, {0.125000, 0.975000, 0.800000, 0.800000}, {0.175000, 0.975000, 0.400000, 0.400000}, {0.175000, 0.975000, 0.800000, 0.800000}, {0.225000, 0.975000, 0.400000, 0.400000}, {0.225000, 0.975000, 0.800000, 0.800000}, {0.275000, 0.975000, 0.400000, 0.400000}, {0.275000, 0.975000, 0.800000, 0.800000}, {0.325000, 0.975000, 0.400000, 0.400000}, {0.325000, 0.975000, 0.800000, 0.800000}, {0.375000, 0.975000, 0.400000, 0.400000}, {0.375000, 0.975000, 0.800000, 0.800000}, {0.425000, 0.975000, 0.400000, 0.400000}, {0.425000, 0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_gender/face_detection.cc b/src/reference/ai_poc/face_gender/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_gender/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_gender/face_detection.h b/src/reference/ai_poc/face_gender/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_gender/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/face_gender.cc b/src/reference/ai_poc/face_gender/face_gender.cc new file mode 100644 index 000000000..5058f1917 --- /dev/null +++ b/src/reference/ai_poc/face_gender/face_gender.cc @@ -0,0 +1,169 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_gender.h" +#include + +//文字属性 +int g_font_face= cv::FONT_HERSHEY_COMPLEX; //字体 +double g_font_scale=1.5; //缩放系数 +int g_line_type = 8; //线型 +int g_thickness = 3; //粗细 + +FaceGender::FaceGender(const char *kmodel_file, const int debug_mode) : AIBase(kmodel_file,"FaceGender",debug_mode) +{ + model_name_ = "FaceGender"; + margin_ = 0.4; + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceGender::FaceGender(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"FaceGender", debug_mode) +{ + model_name_ = "FaceGender"; + margin_ = 0.4; + + // input->isp（Fixed size） + vaddr_ = vaddr; + // paddr_ = paddr; + isp_shape_ = isp_shape; + + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceGender::~FaceGender() +{ +} + +// ai2d for image +void FaceGender::pre_process(cv::Mat ori_img,Bbox& rect) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + float x1 = rect.x, y1 = rect.y; + float x2 = rect.x + rect.w, y2 = rect.y + rect.h; + int xw1 = std::max(int(x1 - margin_ * rect.w), int(0)); + int yw1 = std::max(int(y1 - margin_ * rect.h), int(0)); + int xw2 = std::min(int(x2 + margin_ * rect.w), int(ori_w - 1)); + int yw2 = std::min(int(y2 + margin_ * rect.h), int(ori_h - 1)); + std::vector hwc_vec = std::vector(ori_img.reshape(1, 1)); + Bbox crop_info = {xw1,yw1,xw2-xw1,yw2-yw1}; + Utils::crop_resize_hwc({ori_img.channels(), ori_img.rows, ori_img.cols}, hwc_vec,crop_info, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // cv::Mat image=cv::Mat(input_shapes_[0][1],input_shapes_[0][2],CV_8UC3,output); + // cv::imwrite("FaceGender_input_image.png",image); +} + +// ai2d for video +void FaceGender::pre_process(Bbox& rect) +{ +#if 0 + ai2d_builder_->invoke().expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); +#endif + float x1 = rect.x, y1 = rect.y; + float x2 = rect.x + rect.w, y2 = rect.y + rect.h; + int xw1 = std::max(int(x1 - margin_ * rect.w), int(0)); + int yw1 = std::max(int(y1 - margin_ * rect.h), int(0)); + int xw2 = std::min(int(x2 + margin_ * rect.w), int(isp_shape_.width - 1)); + int yw2 = std::min(int(y2 + margin_ * rect.h), int(isp_shape_.height - 1)); + Bbox crop_info = {xw1,yw1,xw2-xw1,yw2-yw1}; + Utils::crop_resize_hwc(crop_info,ai2d_builder_,ai2d_in_tensor_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // cv::Mat image=cv::Mat(input_shapes_[0][1],input_shapes_[0][2],CV_8UC3,output); + // cv::imwrite("FaceGender_input_video.png",image); +} + +void FaceGender::inference() +{ + this->run(); + this->get_output(); +} + +void FaceGender::post_process(FaceGenderInfo& result) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + result.gender = (p_outputs_[0][0]>0.5) ? "F" : "M"; +} + +void FaceGender::draw_result(cv::Mat& src_img,Bbox& bbox,FaceGenderInfo& result, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + + char text[30]; + //sprintf(text, "%s:%d",result.gender.c_str(), int(result.age)); + sprintf(text, "%s",result.gender.c_str()); + + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(bbox.x, bbox.y , bbox.w, bbox.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {bbox.x,std::max(int(bbox.y-10),0)}, cv::FONT_HERSHEY_COMPLEX, 0.7, cv::Scalar(255, 0, 0), 1, 8, 0); + } + else + { + int x = src_w - (bbox.x + bbox.w)/ isp_shape_.width * src_w; + int y = src_h - (bbox.y + bbox.h) / isp_shape_.height * src_h; + int w = bbox.w / isp_shape_.width * src_w; + int h = bbox.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 2, 2, 0); + + int base_line; + cv::Size text_size = cv::getTextSize(result.gender, g_font_face, g_font_scale, g_thickness, &base_line); + cv::Mat text_img=cv::Mat::zeros(text_size.height+base_line+g_thickness,text_size.width,src_img.type()); + if(result.gender == "F") + cv::putText(text_img,text,cv::Point(0,text_img.size().height-g_thickness),g_font_face,g_font_scale,cv::Scalar(255,255, 0, 255),g_thickness,g_line_type); + else + cv::putText(text_img,text,cv::Point(0,text_img.size().height-g_thickness),g_font_face,g_font_scale,cv::Scalar(255,255, 255, 0),g_thickness,g_line_type); + cv::rotate(text_img,text_img,cv::ROTATE_180); + + int text_x = src_w - (bbox.x)/ isp_shape_.width * src_w - text_img.size().width; + text_x = std::max(0, std::min(text_x, int(src_w))); + int text_y = src_h - (bbox.y) / isp_shape_.height * src_h; + text_y = std::max(0, std::min(text_y, int(src_h))); + int text_w = std::min(text_img.size().width,src_w-text_x); + int text_h = std::min(text_img.size().height,src_h-text_y); + cv::Mat text_roi = src_img(cv::Rect(text_x,text_y,text_w,text_h)); + text_img.copyTo(text_roi,text_img); + } +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/face_gender.h b/src/reference/ai_poc/face_gender/face_gender.h new file mode 100644 index 000000000..3d76a8c34 --- /dev/null +++ b/src/reference/ai_poc/face_gender/face_gender.h @@ -0,0 +1,121 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_GENDER_H +#define _FACE_GENDER_H + +#include +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +/** + * @brief 人脸性别分类结果 + */ +typedef struct FaceGenderInfo +{ + float age; // 人脸年龄大小 + string gender; // 人脸性别 +} FaceGenderInfo; + +/** + * @brief 人脸性别分类 + */ +class FaceGender : public AIBase +{ +public: + /** + * @brief FaceGender构造函数，加载kmodel,并初始化kmodel输入、输出(for image) + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceGender(const char *kmodel_file, const int debug_mode = 1); + + /** + * @brief FaceGender构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值(for isp) + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceGender(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceGender析构函数 + * @return None + */ + ~FaceGender(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param bbox 原始图片中人脸框位置 + * @return None + */ + void pre_process(cv::Mat ori_img, Bbox& bbox); + + /** + * @brief 视频流预处理 + * @param bbox 原始图片中人脸框位置 + * @return None + */ + void pre_process(Bbox& bbox); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @return None + */ + void post_process(FaceGenderInfo& result); + + /** + * @brief 将处理好的分类结果画到原图 + * @param src_img 原图 + * @param bbox 人脸的检测框位置 + * @param result 人脸年龄推理结果 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + + void draw_result(cv::Mat& src_img,Bbox& bbox, FaceGenderInfo& result, bool pic_mode=true); + +private: + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + float margin_; +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/main.cc b/src/reference/ai_poc/face_gender/main.cc new file mode 100644 index 000000000..48c76c9d1 --- /dev/null +++ b/src/reference/ai_poc/face_gender/main.cc @@ -0,0 +1,189 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" +#include "face_gender.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测阈值\n" + << " nms_thres 人脸检测nms阈值\n" + << " kmodel_fg 人脸性别kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // set osd param + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + FaceGender fa(argv[4], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + vector det_results; + FaceGenderInfo fa_result; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + det_results.clear(); + fd.pre_process(); + fd.inference(); + // 旋转后图像 + fd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, det_results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (int i = 0; i < det_results.size(); ++i) + { + fa.pre_process(det_results[i].bbox); + fa.inference(); + fa.post_process(fa_result); + fa.draw_result(osd_frame,det_results[i].bbox,fa_result,false); + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[5], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[5]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[6])); + fd.pre_process(ori_img); + fd.inference(); + + vector det_results; + fd.post_process({ori_w, ori_h}, det_results); + FaceGender fa(argv[4], atoi(argv[6])); + FaceGenderInfo fa_result; + for (int i = 0; i < det_results.size(); ++i) + { + fa.pre_process(ori_img, det_results[i].bbox); + fa.inference(); + fa.post_process(fa_result); + fa.draw_result(ori_img,det_results[i].bbox,fa_result); + } + cv::imwrite("face_gender_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/scoped_timing.hpp b/src/reference/ai_poc/face_gender/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_gender/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/utils.cc b/src/reference/ai_poc/face_gender/utils.cc new file mode 100755 index 000000000..4ba5a5bcd --- /dev/null +++ b/src/reference/ai_poc/face_gender/utils.cc @@ -0,0 +1,443 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize_hwc(FrameCHWSize ori_shape, std::vector &hwc_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.height, ori_shape.width , ori_shape.channel}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), hwc_vec.data(), hwc_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::RGB_packed, ai2d_format::RGB_packed, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize_hwc(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::RGB_packed, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_gender/utils.h b/src/reference/ai_poc/face_gender/utils.h new file mode 100755 index 000000000..8c0a27658 --- /dev/null +++ b/src/reference/ai_poc/face_gender/utils.h @@ -0,0 +1,330 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数，对hwc数据进行crop & resize + * @param ori_shape 原始数据hwc + * @param hwc_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize_hwc(FrameCHWSize ori_shape, std::vector &hwc_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对hwc数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize_hwc(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_gender/vi_vo.h b/src/reference/ai_poc/face_gender/vi_vo.h new file mode 100644 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_gender/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/CMakeLists.txt b/src/reference/ai_poc/face_glasses/CMakeLists.txt new file mode 100644 index 000000000..9f6a200d2 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc face_glasses.cc anchors_320.cc anchors_640.cc) +set(bin face_glasses.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/README.md b/src/reference/ai_poc/face_glasses/README.md new file mode 100644 index 000000000..453149578 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +人脸检测采用了retina-face网络结构，人脸眼镜分类backbone选取SqueezeNet-1.1。使用该应用，可得到图像或视频中的每个人是否佩戴眼镜。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_glasses.elf +Options: + kmodel_det 人脸检测kmodel路径 + obj_thres 人脸检测阈值 + nms_thres 人脸检测nms阈值 + kmodel_fg 人脸眼镜kmodel路径 + input_mode 本地图片(图片路径)/ 摄像头(None) + debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_glasses_image.sh） +./face_glasses.elf face_detection_320.kmodel 0.4 0.2 face_glasses.kmodel 1024x768.jpg 2 + + #视频流推理：（face_glasses_isp.sh） +./face_glasses.elf face_detection_320.kmodel 0.4 0.2 face_glasses.kmodel None 0 +``` + + + diff --git a/src/reference/ai_poc/face_glasses/ai_base.cc b/src/reference/ai_poc/face_glasses/ai_base.cc new file mode 100644 index 000000000..931136ef4 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/ai_base.cc @@ -0,0 +1,183 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_glasses/ai_base.h b/src/reference/ai_poc/face_glasses/ai_base.h new file mode 100644 index 000000000..4ad882298 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/ai_base.h @@ -0,0 +1,118 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/anchors_320.cc b/src/reference/ai_poc/face_glasses/anchors_320.cc new file mode 100644 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 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1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/anchors_640.cc b/src/reference/ai_poc/face_glasses/anchors_640.cc new file mode 100644 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_glasses/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 0.050000}, {0.068750, 0.006250, 0.025000, 0.025000}, {0.068750, 0.006250, 0.050000, 0.050000}, {0.081250, 0.006250, 0.025000, 0.025000}, {0.081250, 0.006250, 0.050000, 0.050000}, {0.093750, 0.006250, 0.025000, 0.025000}, {0.093750, 0.006250, 0.050000, 0.050000}, {0.106250, 0.006250, 0.025000, 0.025000}, {0.106250, 0.006250, 0.050000, 0.050000}, {0.118750, 0.006250, 0.025000, 0.025000}, {0.118750, 0.006250, 0.050000, 0.050000}, {0.131250, 0.006250, 0.025000, 0.025000}, {0.131250, 0.006250, 0.050000, 0.050000}, {0.143750, 0.006250, 0.025000, 0.025000}, {0.143750, 0.006250, 0.050000, 0.050000}, {0.156250, 0.006250, 0.025000, 0.025000}, {0.156250, 0.006250, 0.050000, 0.050000}, {0.168750, 0.006250, 0.025000, 0.025000}, {0.168750, 0.006250, 0.050000, 0.050000}, {0.181250, 0.006250, 0.025000, 0.025000}, {0.181250, 0.006250, 0.050000, 0.050000}, {0.193750, 0.006250, 0.025000, 0.025000}, {0.193750, 0.006250, 0.050000, 0.050000}, {0.206250, 0.006250, 0.025000, 0.025000}, {0.206250, 0.006250, 0.050000, 0.050000}, {0.218750, 0.006250, 0.025000, 0.025000}, {0.218750, 0.006250, 0.050000, 0.050000}, {0.231250, 0.006250, 0.025000, 0.025000}, {0.231250, 0.006250, 0.050000, 0.050000}, {0.243750, 0.006250, 0.025000, 0.025000}, {0.243750, 0.006250, 0.050000, 0.050000}, {0.256250, 0.006250, 0.025000, 0.025000}, {0.256250, 0.006250, 0.050000, 0.050000}, {0.268750, 0.006250, 0.025000, 0.025000}, {0.268750, 0.006250, 0.050000, 0.050000}, {0.281250, 0.006250, 0.025000, 0.025000}, {0.281250, 0.006250, 0.050000, 0.050000}, {0.293750, 0.006250, 0.025000, 0.025000}, {0.293750, 0.006250, 0.050000, 0.050000}, {0.306250, 0.006250, 0.025000, 0.025000}, {0.306250, 0.006250, 0.050000, 0.050000}, {0.318750, 0.006250, 0.025000, 0.025000}, {0.318750, 0.006250, 0.050000, 0.050000}, {0.331250, 0.006250, 0.025000, 0.025000}, {0.331250, 0.006250, 0.050000, 0.050000}, {0.343750, 0.006250, 0.025000, 0.025000}, {0.343750, 0.006250, 0.050000, 0.050000}, {0.356250, 0.006250, 0.025000, 0.025000}, {0.356250, 0.006250, 0.050000, 0.050000}, {0.368750, 0.006250, 0.025000, 0.025000}, {0.368750, 0.006250, 0.050000, 0.050000}, {0.381250, 0.006250, 0.025000, 0.025000}, {0.381250, 0.006250, 0.050000, 0.050000}, {0.393750, 0.006250, 0.025000, 0.025000}, {0.393750, 0.006250, 0.050000, 0.050000}, {0.406250, 0.006250, 0.025000, 0.025000}, {0.406250, 0.006250, 0.050000, 0.050000}, {0.418750, 0.006250, 0.025000, 0.025000}, {0.418750, 0.006250, 0.050000, 0.050000}, {0.431250, 0.006250, 0.025000, 0.025000}, {0.431250, 0.006250, 0.050000, 0.050000}, {0.443750, 0.006250, 0.025000, 0.025000}, {0.443750, 0.006250, 0.050000, 0.050000}, {0.456250, 0.006250, 0.025000, 0.025000}, {0.456250, 0.006250, 0.050000, 0.050000}, {0.468750, 0.006250, 0.025000, 0.025000}, {0.468750, 0.006250, 0.050000, 0.050000}, {0.481250, 0.006250, 0.025000, 0.025000}, {0.481250, 0.006250, 0.050000, 0.050000}, {0.493750, 0.006250, 0.025000, 0.025000}, {0.493750, 0.006250, 0.050000, 0.050000}, {0.506250, 0.006250, 0.025000, 0.025000}, {0.506250, 0.006250, 0.050000, 0.050000}, {0.518750, 0.006250, 0.025000, 0.025000}, {0.518750, 0.006250, 0.050000, 0.050000}, {0.531250, 0.006250, 0.025000, 0.025000}, {0.531250, 0.006250, 0.050000, 0.050000}, {0.543750, 0.006250, 0.025000, 0.025000}, {0.543750, 0.006250, 0.050000, 0.050000}, {0.556250, 0.006250, 0.025000, 0.025000}, {0.556250, 0.006250, 0.050000, 0.050000}, {0.568750, 0.006250, 0.025000, 0.025000}, {0.568750, 0.006250, 0.050000, 0.050000}, {0.581250, 0.006250, 0.025000, 0.025000}, {0.581250, 0.006250, 0.050000, 0.050000}, {0.593750, 0.006250, 0.025000, 0.025000}, {0.593750, 0.006250, 0.050000, 0.050000}, {0.606250, 0.006250, 0.025000, 0.025000}, {0.606250, 0.006250, 0.050000, 0.050000}, {0.618750, 0.006250, 0.025000, 0.025000}, {0.618750, 0.006250, 0.050000, 0.050000}, {0.631250, 0.006250, 0.025000, 0.025000}, {0.631250, 0.006250, 0.050000, 0.050000}, {0.643750, 0.006250, 0.025000, 0.025000}, {0.643750, 0.006250, 0.050000, 0.050000}, {0.656250, 0.006250, 0.025000, 0.025000}, {0.656250, 0.006250, 0.050000, 0.050000}, {0.668750, 0.006250, 0.025000, 0.025000}, {0.668750, 0.006250, 0.050000, 0.050000}, {0.681250, 0.006250, 0.025000, 0.025000}, {0.681250, 0.006250, 0.050000, 0.050000}, {0.693750, 0.006250, 0.025000, 0.025000}, {0.693750, 0.006250, 0.050000, 0.050000}, {0.706250, 0.006250, 0.025000, 0.025000}, {0.706250, 0.006250, 0.050000, 0.050000}, {0.718750, 0.006250, 0.025000, 0.025000}, {0.718750, 0.006250, 0.050000, 0.050000}, {0.731250, 0.006250, 0.025000, 0.025000}, {0.731250, 0.006250, 0.050000, 0.050000}, {0.743750, 0.006250, 0.025000, 0.025000}, {0.743750, 0.006250, 0.050000, 0.050000}, {0.756250, 0.006250, 0.025000, 0.025000}, {0.756250, 0.006250, 0.050000, 0.050000}, {0.768750, 0.006250, 0.025000, 0.025000}, {0.768750, 0.006250, 0.050000, 0.050000}, {0.781250, 0.006250, 0.025000, 0.025000}, {0.781250, 0.006250, 0.050000, 0.050000}, {0.793750, 0.006250, 0.025000, 0.025000}, {0.793750, 0.006250, 0.050000, 0.050000}, {0.806250, 0.006250, 0.025000, 0.025000}, {0.806250, 0.006250, 0.050000, 0.050000}, {0.818750, 0.006250, 0.025000, 0.025000}, {0.818750, 0.006250, 0.050000, 0.050000}, {0.831250, 0.006250, 0.025000, 0.025000}, {0.831250, 0.006250, 0.050000, 0.050000}, {0.843750, 0.006250, 0.025000, 0.025000}, {0.843750, 0.006250, 0.050000, 0.050000}, {0.856250, 0.006250, 0.025000, 0.025000}, {0.856250, 0.006250, 0.050000, 0.050000}, {0.868750, 0.006250, 0.025000, 0.025000}, {0.868750, 0.006250, 0.050000, 0.050000}, {0.881250, 0.006250, 0.025000, 0.025000}, {0.881250, 0.006250, 0.050000, 0.050000}, {0.893750, 0.006250, 0.025000, 0.025000}, {0.893750, 0.006250, 0.050000, 0.050000}, {0.906250, 0.006250, 0.025000, 0.025000}, {0.906250, 0.006250, 0.050000, 0.050000}, {0.918750, 0.006250, 0.025000, 0.025000}, {0.918750, 0.006250, 0.050000, 0.050000}, {0.931250, 0.006250, 0.025000, 0.025000}, {0.931250, 0.006250, 0.050000, 0.050000}, {0.943750, 0.006250, 0.025000, 0.025000}, {0.943750, 0.006250, 0.050000, 0.050000}, {0.956250, 0.006250, 0.025000, 0.025000}, {0.956250, 0.006250, 0.050000, 0.050000}, {0.968750, 0.006250, 0.025000, 0.025000}, {0.968750, 0.006250, 0.050000, 0.050000}, {0.981250, 0.006250, 0.025000, 0.025000}, {0.981250, 0.006250, 0.050000, 0.050000}, {0.993750, 0.006250, 0.025000, 0.025000}, {0.993750, 0.006250, 0.050000, 0.050000}, {0.006250, 0.018750, 0.025000, 0.025000}, {0.006250, 0.018750, 0.050000, 0.050000}, {0.018750, 0.018750, 0.025000, 0.025000}, {0.018750, 0.018750, 0.050000, 0.050000}, {0.031250, 0.018750, 0.025000, 0.025000}, {0.031250, 0.018750, 0.050000, 0.050000}, {0.043750, 0.018750, 0.025000, 0.025000}, {0.043750, 0.018750, 0.050000, 0.050000}, {0.056250, 0.018750, 0.025000, 0.025000}, {0.056250, 0.018750, 0.050000, 0.050000}, {0.068750, 0.018750, 0.025000, 0.025000}, {0.068750, 0.018750, 0.050000, 0.050000}, {0.081250, 0.018750, 0.025000, 0.025000}, {0.081250, 0.018750, 0.050000, 0.050000}, {0.093750, 0.018750, 0.025000, 0.025000}, {0.093750, 0.018750, 0.050000, 0.050000}, {0.106250, 0.018750, 0.025000, 0.025000}, {0.106250, 0.018750, 0.050000, 0.050000}, {0.118750, 0.018750, 0.025000, 0.025000}, {0.118750, 0.018750, 0.050000, 0.050000}, {0.131250, 0.018750, 0.025000, 0.025000}, {0.131250, 0.018750, 0.050000, 0.050000}, {0.143750, 0.018750, 0.025000, 0.025000}, {0.143750, 0.018750, 0.050000, 0.050000}, {0.156250, 0.018750, 0.025000, 0.025000}, {0.156250, 0.018750, 0.050000, 0.050000}, {0.168750, 0.018750, 0.025000, 0.025000}, {0.168750, 0.018750, 0.050000, 0.050000}, {0.181250, 0.018750, 0.025000, 0.025000}, {0.181250, 0.018750, 0.050000, 0.050000}, {0.193750, 0.018750, 0.025000, 0.025000}, {0.193750, 0.018750, 0.050000, 0.050000}, {0.206250, 0.018750, 0.025000, 0.025000}, {0.206250, 0.018750, 0.050000, 0.050000}, {0.218750, 0.018750, 0.025000, 0.025000}, {0.218750, 0.018750, 0.050000, 0.050000}, {0.231250, 0.018750, 0.025000, 0.025000}, {0.231250, 0.018750, 0.050000, 0.050000}, {0.243750, 0.018750, 0.025000, 0.025000}, {0.243750, 0.018750, 0.050000, 0.050000}, {0.256250, 0.018750, 0.025000, 0.025000}, {0.256250, 0.018750, 0.050000, 0.050000}, {0.268750, 0.018750, 0.025000, 0.025000}, {0.268750, 0.018750, 0.050000, 0.050000}, {0.281250, 0.018750, 0.025000, 0.025000}, {0.281250, 0.018750, 0.050000, 0.050000}, {0.293750, 0.018750, 0.025000, 0.025000}, {0.293750, 0.018750, 0.050000, 0.050000}, {0.306250, 0.018750, 0.025000, 0.025000}, {0.306250, 0.018750, 0.050000, 0.050000}, {0.318750, 0.018750, 0.025000, 0.025000}, {0.318750, 0.018750, 0.050000, 0.050000}, {0.331250, 0.018750, 0.025000, 0.025000}, {0.331250, 0.018750, 0.050000, 0.050000}, {0.343750, 0.018750, 0.025000, 0.025000}, {0.343750, 0.018750, 0.050000, 0.050000}, {0.356250, 0.018750, 0.025000, 0.025000}, {0.356250, 0.018750, 0.050000, 0.050000}, {0.368750, 0.018750, 0.025000, 0.025000}, {0.368750, 0.018750, 0.050000, 0.050000}, {0.381250, 0.018750, 0.025000, 0.025000}, {0.381250, 0.018750, 0.050000, 0.050000}, {0.393750, 0.018750, 0.025000, 0.025000}, {0.393750, 0.018750, 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0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_glasses/face_detection.cc b/src/reference/ai_poc/face_glasses/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_glasses/face_detection.h b/src/reference/ai_poc/face_glasses/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/face_glasses.cc b/src/reference/ai_poc/face_glasses/face_glasses.cc new file mode 100644 index 000000000..51146b01e --- /dev/null +++ b/src/reference/ai_poc/face_glasses/face_glasses.cc @@ -0,0 +1,329 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_glasses.h" +#include + +//文字属性 +int g_font_face= cv::FONT_HERSHEY_COMPLEX; //字体 +double g_font_scale=1.5; //缩放系数 +int g_line_type = 8; //线型 +int g_thickness = 3; //粗细 + +FaceGlasses::FaceGlasses(const char *kmodel_file, const int debug_mode) : AIBase(kmodel_file,"FaceGlasses",debug_mode) +{ + model_name_ = "FaceGlasses"; + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceGlasses::FaceGlasses(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"FaceGlasses", debug_mode) +{ + model_name_ = "FaceGlasses"; + + // input->isp（Fixed size） + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceGlasses::~FaceGlasses() +{ +} + +// ai2d for image +void FaceGlasses::pre_process(cv::Mat ori_img, float* sparse_points) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + get_affine_matrix(sparse_points); + + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + + Utils::affine({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, matrix_dst_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceGlasses_input_gray.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +// ai2d for video +void FaceGlasses::pre_process(float* sparse_points) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); + get_affine_matrix(sparse_points); + +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + // run ai2d +#endif + Utils::affine(matrix_dst_, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceGlasses_input.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceGlasses::inference() +{ + this->run(); + this->get_output(); +} + +void FaceGlasses::post_process(FaceGlassesInfo& result) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + vector pred_vec(p_outputs_[0],p_outputs_[0] + output_shapes_[0][1]); + vector softmax_pred_vec; + softmax(pred_vec,softmax_pred_vec); + int max_index = argmax(softmax_pred_vec.data(),softmax_pred_vec.size()); + result.score = softmax_pred_vec[max_index]; + + if(max_index==0 && result.score>0.75) + { + result.score = softmax_pred_vec[0]; + result.label = "no glasses"; + } + else + { + result.score = 1-softmax_pred_vec[0]; + result.label = "wear glasses"; + } +} + +void FaceGlasses::draw_result(cv::Mat& src_img,Bbox& bbox,FaceGlassesInfo& result, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + + char text[30]; + //sprintf(text, "%s:%.2f",result.label.c_str(), result.score); + sprintf(text, "%s",result.label.c_str()); + + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(bbox.x, bbox.y , bbox.w, bbox.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {bbox.x,std::max(int(bbox.y-10),0)}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255, 0, 0), 1, 8, 0); + } + else + { + int x = src_w - (bbox.x + bbox.w)/ isp_shape_.width * src_w; + int y = src_h - (bbox.y + bbox.h) / isp_shape_.height * src_h; + int w = bbox.w / isp_shape_.width * src_w; + int h = bbox.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 2, 2, 0); + + int base_line; + cv::Size text_size = cv::getTextSize(result.label, g_font_face, g_font_scale, g_thickness, &base_line); + cv::Mat text_img=cv::Mat::zeros(text_size.height+base_line+g_thickness,text_size.width,src_img.type()); + if(result.label == "no glasses") + cv::putText(text_img,text,cv::Point(0,text_img.size().height-g_thickness),g_font_face,g_font_scale,cv::Scalar(255,255, 0, 255),g_thickness,g_line_type); + else + cv::putText(text_img,text,cv::Point(0,text_img.size().height-g_thickness),g_font_face,g_font_scale,cv::Scalar(255,255, 255, 0),g_thickness,g_line_type); + cv::rotate(text_img,text_img,cv::ROTATE_180); + + int text_x = src_w - (bbox.x)/ isp_shape_.width * src_w - text_img.size().width; + text_x = std::max(0, std::min(text_x, int(src_w))); + int text_y = src_h - (bbox.y) / isp_shape_.height * src_h; + text_y = std::max(0, std::min(text_y, int(src_h))); + int text_w = std::min(text_img.size().width,src_w-text_x); + int text_h = std::min(text_img.size().height,src_h-text_y); + cv::Mat text_roi = src_img(cv::Rect(text_x,text_y,text_w,text_h)); + text_img.copyTo(text_roi,text_img); + } +} + +void FaceGlasses::svd22(const float a[4], float u[4], float s[2], float v[4]) +{ + s[0] = (sqrtf(powf(a[0] - a[3], 2) + powf(a[1] + a[2], 2)) + sqrtf(powf(a[0] + a[3], 2) + powf(a[1] - a[2], 2))) / 2; + s[1] = fabsf(s[0] - sqrtf(powf(a[0] - a[3], 2) + powf(a[1] + a[2], 2))); + v[2] = (s[0] > s[1]) ? sinf((atan2f(2 * (a[0] * a[1] + a[2] * a[3]), a[0] * a[0] - a[1] * a[1] + a[2] * a[2] - a[3] * a[3])) / 2) : 0; + v[0] = sqrtf(1 - v[2] * v[2]); + v[1] = -v[2]; + v[3] = v[0]; + u[0] = (s[0] != 0) ? -(a[0] * v[0] + a[1] * v[2]) / s[0] : 1; + u[2] = (s[0] != 0) ? -(a[2] * v[0] + a[3] * v[2]) / s[0] : 0; + u[1] = (s[1] != 0) ? (a[0] * v[1] + a[1] * v[3]) / s[1] : -u[2]; + u[3] = (s[1] != 0) ? (a[2] * v[1] + a[3] * v[3]) / s[1] : u[0]; + v[0] = -v[0]; + v[2] = -v[2]; +} + +static float umeyama_args_224[] = +{ +#define PIC_SIZE 224 + 38.2946 * PIC_SIZE / 112, 51.6963 * PIC_SIZE / 112, + 73.5318 * PIC_SIZE / 112, 51.5014 * PIC_SIZE / 112, + 56.0252 * PIC_SIZE / 112, 71.7366 * PIC_SIZE / 112, + 41.5493 * PIC_SIZE / 112, 92.3655 * PIC_SIZE / 112, + 70.7299 * PIC_SIZE / 112, 92.2041 * PIC_SIZE / 112 +}; + +void FaceGlasses::image_umeyama_224(float* src, float* dst) +{ +#define SRC_NUM 5 +#define SRC_DIM 2 + int i, j, k; + float src_mean[SRC_DIM] = { 0.0 }; + float dst_mean[SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_NUM * 2; i += 2) + { + src_mean[0] += src[i]; + src_mean[1] += src[i + 1]; + dst_mean[0] += umeyama_args_224[i]; + dst_mean[1] += umeyama_args_224[i + 1]; + } + src_mean[0] /= SRC_NUM; + src_mean[1] /= SRC_NUM; + dst_mean[0] /= SRC_NUM; + dst_mean[1] /= SRC_NUM; + + float src_demean[SRC_NUM][2] = { 0.0 }; + float dst_demean[SRC_NUM][2] = { 0.0 }; + + for (i = 0; i < SRC_NUM; i++) + { + src_demean[i][0] = src[2 * i] - src_mean[0]; + src_demean[i][1] = src[2 * i + 1] - src_mean[1]; + dst_demean[i][0] = umeyama_args_224[2 * i] - dst_mean[0]; + dst_demean[i][1] = umeyama_args_224[2 * i + 1] - dst_mean[1]; + } + + float A[SRC_DIM][SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_DIM; i++) + { + for (k = 0; k < SRC_DIM; k++) + { + for (j = 0; j < SRC_NUM; j++) + { + A[i][k] += dst_demean[j][i] * src_demean[j][k]; + } + A[i][k] /= SRC_NUM; + } + } + + float(*T)[SRC_DIM + 1] = (float(*)[SRC_DIM + 1])dst; + T[0][0] = 1; + T[0][1] = 0; + T[0][2] = 0; + T[1][0] = 0; + T[1][1] = 1; + T[1][2] = 0; + T[2][0] = 0; + T[2][1] = 0; + T[2][2] = 1; + + float U[SRC_DIM][SRC_DIM] = { 0 }; + float S[SRC_DIM] = { 0 }; + float V[SRC_DIM][SRC_DIM] = { 0 }; + svd22(&A[0][0], &U[0][0], S, &V[0][0]); + + T[0][0] = U[0][0] * V[0][0] + U[0][1] * V[1][0]; + T[0][1] = U[0][0] * V[0][1] + U[0][1] * V[1][1]; + T[1][0] = U[1][0] * V[0][0] + U[1][1] * V[1][0]; + T[1][1] = U[1][0] * V[0][1] + U[1][1] * V[1][1]; + + float scale = 1.0; + float src_demean_mean[SRC_DIM] = { 0.0 }; + float src_demean_var[SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_NUM; i++) + { + src_demean_mean[0] += src_demean[i][0]; + src_demean_mean[1] += src_demean[i][1]; + } + src_demean_mean[0] /= SRC_NUM; + src_demean_mean[1] /= SRC_NUM; + + for (i = 0; i < SRC_NUM; i++) + { + src_demean_var[0] += (src_demean_mean[0] - src_demean[i][0]) * (src_demean_mean[0] - src_demean[i][0]); + src_demean_var[1] += (src_demean_mean[1] - src_demean[i][1]) * (src_demean_mean[1] - src_demean[i][1]); + } + src_demean_var[0] /= (SRC_NUM); + src_demean_var[1] /= (SRC_NUM); + scale = 1.0 / (src_demean_var[0] + src_demean_var[1]) * (S[0] + S[1]); + T[0][2] = dst_mean[0] - scale * (T[0][0] * src_mean[0] + T[0][1] * src_mean[1]); + T[1][2] = dst_mean[1] - scale * (T[1][0] * src_mean[0] + T[1][1] * src_mean[1]); + T[0][0] *= scale; + T[0][1] *= scale; + T[1][0] *= scale; + T[1][1] *= scale; + float(*TT)[3] = (float(*)[3])T; +} + +void FaceGlasses::get_affine_matrix(float* sparse_points) +{ + float matrix_src[5][2]; + for (uint32_t i = 0; i < 5; ++i) + { + matrix_src[i][0] = sparse_points[2 * i + 0]; + matrix_src[i][1] = sparse_points[2 * i + 1]; + } + image_umeyama_224(&matrix_src[0][0], &matrix_dst_[0]); +} + +int FaceGlasses::argmax(float* data, uint32_t len) +{ + float max_value = data[0]; + int max_index = 0; + for (uint32_t i = 1; i < len; i++) + { + if (max_value < data[i]) + { + max_value = data[i]; + max_index = i; + } + } + return max_index; +} + +void FaceGlasses::softmax(vector& input,vector& output) +{ + //e_x = np.exp(x - np.max(x)) + std::vector::iterator p_input_max = std::max_element(input.begin(), input.end()); + float input_max = *p_input_max; + float input_total = 0; + + for(auto x:input) + { + input_total+=exp( x- input_max); + } + + output.resize(input.size()); + for(int i=0;i +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +/** + * @brief 人脸眼镜分类结果 + */ +typedef struct FaceGlassesInfo +{ + string label; // 是否佩戴眼镜 + float score; // 得分 +} FaceGlassesInfo; + +/** + * @brief 人脸是否佩戴眼镜分类 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceGlasses : public AIBase +{ +public: + /** + * @brief FaceGlasses构造函数，加载kmodel,并初始化kmodel输入、输出(for image) + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceGlasses(const char *kmodel_file, const int debug_mode = 1); + + /** + * @brief FaceGlasses构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值(for isp) + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceGlasses(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceGlasses析构函数 + * @return None + */ + ~FaceGlasses(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param sparse_points 原始图片中人脸五官点位置 + * @return None + */ + void pre_process(cv::Mat ori_img, float* sparse_points); + + /** + * @brief 视频流预处理 + * @param sparse_points 原始图片中人脸五官点位置 + * @return None + */ + void pre_process(float* sparse_points); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @return None + */ + void post_process(FaceGlassesInfo& result); + + /** + * @brief 将处理好的分类结果画到原图 + * @param src_img 原图 + * @param bbox 人脸的检测框位置 + * @param result 人脸眼镜分类结果 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + + void draw_result(cv::Mat& src_img,Bbox& bbox, FaceGlassesInfo& result, bool pic_mode=true); + +private: + /** + * @brief svd + * @param a 原始矩阵 + * @param u 左奇异向量 + * @param s 对角阵 + * @param v 右奇异向量 + * @return None + */ + void svd22(const float a[4], float u[4], float s[2], float v[4]); + + /** + * @brief 使用Umeyama算法计算仿射变换矩阵 + * @param src 原图像点位置 + * @param dst 目标图像（224*224）点位置。 + */ + void image_umeyama_224(float* src, float* dst); + + /** + * @brief 获取affine变换矩阵 + * @param sparse_points 原图像人脸五官点位置 + */ + void get_affine_matrix(float* sparse_points); + + /** + * @brief 查找数组中最大元素的索引 + * @param data 指向数据的指针 + * @param len 数据长度 + * @return None + */ + int argmax(float* data, uint32_t len); + + /** + * @brief 计算数据softmax之后的值 + * @param input 原始数据 + * @param output 计算softmax之后的数据 + * @return None + */ + void softmax(vector& input,vector& output); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + float matrix_dst_[10]; // 人脸affine的变换矩阵 +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/main.cc b/src/reference/ai_poc/face_glasses/main.cc new file mode 100644 index 000000000..209c90cb9 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/main.cc @@ -0,0 +1,190 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" +#include "face_glasses.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测阈值\n" + << " nms_thres 人脸检测nms阈值\n" + << " kmodel_fg 人脸眼镜kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // set osd param + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + FaceGlasses fg(argv[4], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + vector det_results; + FaceGlassesInfo fg_result; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + det_results.clear(); + fd.pre_process(); + fd.inference(); + // 旋转后图像 + fd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, det_results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (int i = 0; i < det_results.size(); ++i) + { + fg.pre_process(det_results[i].sparse_kps.points); + fg.inference(); + fg.post_process(fg_result); + fg.draw_result(osd_frame,det_results[i].bbox,fg_result,false); + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[5], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[5]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[6])); + fd.pre_process(ori_img); + fd.inference(); + + vector det_results; + fd.post_process({ori_w, ori_h}, det_results); + + FaceGlasses fg(argv[4], atoi(argv[6])); + FaceGlassesInfo fg_result; + for (int i = 0; i < det_results.size(); ++i) + { + fg.pre_process(ori_img, det_results[i].sparse_kps.points); + fg.inference(); + fg.post_process(fg_result); + fg.draw_result(ori_img,det_results[i].bbox,fg_result); + } + cv::imwrite("face_glasses_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/scoped_timing.hpp b/src/reference/ai_poc/face_glasses/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/utils.cc b/src/reference/ai_poc/face_glasses/utils.cc new file mode 100755 index 000000000..15332261d --- /dev/null +++ b/src/reference/ai_poc/face_glasses/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_glasses/utils.h b/src/reference/ai_poc/face_glasses/utils.h new file mode 100755 index 000000000..f2fe8b228 --- /dev/null +++ b/src/reference/ai_poc/face_glasses/utils.h @@ -0,0 +1,307 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_glasses/vi_vo.h b/src/reference/ai_poc/face_glasses/vi_vo.h new file mode 100644 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_glasses/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/CMakeLists.txt b/src/reference/ai_poc/face_landmark/CMakeLists.txt new file mode 100644 index 000000000..1714ca9d8 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc face_dense_landmark.cc anchors_320.cc anchors_640.cc) +set(bin face_landmark.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/README.md b/src/reference/ai_poc/face_landmark/README.md new file mode 100644 index 000000000..c9bec2108 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +人脸检测采用了retina-face网络结构，人脸密集关键点检测backbone选取0.5-mobilenet。使用该应用，可得到图像或视频中的每个人根据106关键点绘制的五官轮廓。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_landmark.elf +Options: + kmodel_det 人脸检测kmodel路径 + obj_thres 人脸检测阈值 + nms_thres 人脸检测nms阈值 + kmodel_fkp 密集人脸关键点kmodel路径 + input_mode 本地图片(图片路径)/ 摄像头(None) + debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_landmark_image.sh） +./face_landmark.elf face_detection_320.kmodel 0.6 0.2 face_landmark.kmodel 1024x1331.jpg 2 + + #视频流推理：（face_landmark_isp.sh） +./face_landmark.elf face_detection_320.kmodel 0.6 0.2 face_landmark.kmodel None 0 +``` + + + diff --git a/src/reference/ai_poc/face_landmark/ai_base.cc b/src/reference/ai_poc/face_landmark/ai_base.cc new file mode 100644 index 000000000..203f3fcc3 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/ai_base.cc @@ -0,0 +1,189 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_landmark/ai_base.h b/src/reference/ai_poc/face_landmark/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/face_landmark/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/anchors_320.cc b/src/reference/ai_poc/face_landmark/anchors_320.cc new file mode 100644 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 0.100000}, {0.512500, 0.062500, 0.050000, 0.050000}, {0.512500, 0.062500, 0.100000, 0.100000}, {0.537500, 0.062500, 0.050000, 0.050000}, {0.537500, 0.062500, 0.100000, 0.100000}, {0.562500, 0.062500, 0.050000, 0.050000}, {0.562500, 0.062500, 0.100000, 0.100000}, {0.587500, 0.062500, 0.050000, 0.050000}, {0.587500, 0.062500, 0.100000, 0.100000}, {0.612500, 0.062500, 0.050000, 0.050000}, {0.612500, 0.062500, 0.100000, 0.100000}, {0.637500, 0.062500, 0.050000, 0.050000}, {0.637500, 0.062500, 0.100000, 0.100000}, {0.662500, 0.062500, 0.050000, 0.050000}, {0.662500, 0.062500, 0.100000, 0.100000}, {0.687500, 0.062500, 0.050000, 0.050000}, {0.687500, 0.062500, 0.100000, 0.100000}, {0.712500, 0.062500, 0.050000, 0.050000}, {0.712500, 0.062500, 0.100000, 0.100000}, {0.737500, 0.062500, 0.050000, 0.050000}, {0.737500, 0.062500, 0.100000, 0.100000}, {0.762500, 0.062500, 0.050000, 0.050000}, {0.762500, 0.062500, 0.100000, 0.100000}, {0.787500, 0.062500, 0.050000, 0.050000}, {0.787500, 0.062500, 0.100000, 0.100000}, {0.812500, 0.062500, 0.050000, 0.050000}, {0.812500, 0.062500, 0.100000, 0.100000}, {0.837500, 0.062500, 0.050000, 0.050000}, {0.837500, 0.062500, 0.100000, 0.100000}, {0.862500, 0.062500, 0.050000, 0.050000}, {0.862500, 0.062500, 0.100000, 0.100000}, {0.887500, 0.062500, 0.050000, 0.050000}, {0.887500, 0.062500, 0.100000, 0.100000}, {0.912500, 0.062500, 0.050000, 0.050000}, {0.912500, 0.062500, 0.100000, 0.100000}, {0.937500, 0.062500, 0.050000, 0.050000}, {0.937500, 0.062500, 0.100000, 0.100000}, {0.962500, 0.062500, 0.050000, 0.050000}, {0.962500, 0.062500, 0.100000, 0.100000}, {0.987500, 0.062500, 0.050000, 0.050000}, {0.987500, 0.062500, 0.100000, 0.100000}, {0.012500, 0.087500, 0.050000, 0.050000}, {0.012500, 0.087500, 0.100000, 0.100000}, {0.037500, 0.087500, 0.050000, 0.050000}, {0.037500, 0.087500, 0.100000, 0.100000}, {0.062500, 0.087500, 0.050000, 0.050000}, {0.062500, 0.087500, 0.100000, 0.100000}, {0.087500, 0.087500, 0.050000, 0.050000}, {0.087500, 0.087500, 0.100000, 0.100000}, {0.112500, 0.087500, 0.050000, 0.050000}, {0.112500, 0.087500, 0.100000, 0.100000}, {0.137500, 0.087500, 0.050000, 0.050000}, {0.137500, 0.087500, 0.100000, 0.100000}, {0.162500, 0.087500, 0.050000, 0.050000}, {0.162500, 0.087500, 0.100000, 0.100000}, {0.187500, 0.087500, 0.050000, 0.050000}, {0.187500, 0.087500, 0.100000, 0.100000}, {0.212500, 0.087500, 0.050000, 0.050000}, {0.212500, 0.087500, 0.100000, 0.100000}, {0.237500, 0.087500, 0.050000, 0.050000}, {0.237500, 0.087500, 0.100000, 0.100000}, {0.262500, 0.087500, 0.050000, 0.050000}, {0.262500, 0.087500, 0.100000, 0.100000}, {0.287500, 0.087500, 0.050000, 0.050000}, {0.287500, 0.087500, 0.100000, 0.100000}, {0.312500, 0.087500, 0.050000, 0.050000}, {0.312500, 0.087500, 0.100000, 0.100000}, {0.337500, 0.087500, 0.050000, 0.050000}, {0.337500, 0.087500, 0.100000, 0.100000}, {0.362500, 0.087500, 0.050000, 0.050000}, {0.362500, 0.087500, 0.100000, 0.100000}, {0.387500, 0.087500, 0.050000, 0.050000}, {0.387500, 0.087500, 0.100000, 0.100000}, {0.412500, 0.087500, 0.050000, 0.050000}, {0.412500, 0.087500, 0.100000, 0.100000}, {0.437500, 0.087500, 0.050000, 0.050000}, {0.437500, 0.087500, 0.100000, 0.100000}, {0.462500, 0.087500, 0.050000, 0.050000}, {0.462500, 0.087500, 0.100000, 0.100000}, {0.487500, 0.087500, 0.050000, 0.050000}, {0.487500, 0.087500, 0.100000, 0.100000}, {0.512500, 0.087500, 0.050000, 0.050000}, {0.512500, 0.087500, 0.100000, 0.100000}, {0.537500, 0.087500, 0.050000, 0.050000}, {0.537500, 0.087500, 0.100000, 0.100000}, {0.562500, 0.087500, 0.050000, 0.050000}, {0.562500, 0.087500, 0.100000, 0.100000}, {0.587500, 0.087500, 0.050000, 0.050000}, {0.587500, 0.087500, 0.100000, 0.100000}, {0.612500, 0.087500, 0.050000, 0.050000}, {0.612500, 0.087500, 0.100000, 0.100000}, {0.637500, 0.087500, 0.050000, 0.050000}, {0.637500, 0.087500, 0.100000, 0.100000}, {0.662500, 0.087500, 0.050000, 0.050000}, {0.662500, 0.087500, 0.100000, 0.100000}, {0.687500, 0.087500, 0.050000, 0.050000}, {0.687500, 0.087500, 0.100000, 0.100000}, {0.712500, 0.087500, 0.050000, 0.050000}, {0.712500, 0.087500, 0.100000, 0.100000}, {0.737500, 0.087500, 0.050000, 0.050000}, {0.737500, 0.087500, 0.100000, 0.100000}, {0.762500, 0.087500, 0.050000, 0.050000}, {0.762500, 0.087500, 0.100000, 0.100000}, {0.787500, 0.087500, 0.050000, 0.050000}, {0.787500, 0.087500, 0.100000, 0.100000}, {0.812500, 0.087500, 0.050000, 0.050000}, {0.812500, 0.087500, 0.100000, 0.100000}, {0.837500, 0.087500, 0.050000, 0.050000}, {0.837500, 0.087500, 0.100000, 0.100000}, {0.862500, 0.087500, 0.050000, 0.050000}, {0.862500, 0.087500, 0.100000, 0.100000}, {0.887500, 0.087500, 0.050000, 0.050000}, {0.887500, 0.087500, 0.100000, 0.100000}, {0.912500, 0.087500, 0.050000, 0.050000}, {0.912500, 0.087500, 0.100000, 0.100000}, {0.937500, 0.087500, 0.050000, 0.050000}, {0.937500, 0.087500, 0.100000, 0.100000}, {0.962500, 0.087500, 0.050000, 0.050000}, {0.962500, 0.087500, 0.100000, 0.100000}, {0.987500, 0.087500, 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1.600000, 1.600000}, {0.250000, 0.150000, 0.800000, 0.800000}, {0.250000, 0.150000, 1.600000, 1.600000}, {0.350000, 0.150000, 0.800000, 0.800000}, {0.350000, 0.150000, 1.600000, 1.600000}, {0.450000, 0.150000, 0.800000, 0.800000}, {0.450000, 0.150000, 1.600000, 1.600000}, {0.550000, 0.150000, 0.800000, 0.800000}, {0.550000, 0.150000, 1.600000, 1.600000}, {0.650000, 0.150000, 0.800000, 0.800000}, {0.650000, 0.150000, 1.600000, 1.600000}, {0.750000, 0.150000, 0.800000, 0.800000}, {0.750000, 0.150000, 1.600000, 1.600000}, {0.850000, 0.150000, 0.800000, 0.800000}, {0.850000, 0.150000, 1.600000, 1.600000}, {0.950000, 0.150000, 0.800000, 0.800000}, {0.950000, 0.150000, 1.600000, 1.600000}, {0.050000, 0.250000, 0.800000, 0.800000}, {0.050000, 0.250000, 1.600000, 1.600000}, {0.150000, 0.250000, 0.800000, 0.800000}, {0.150000, 0.250000, 1.600000, 1.600000}, {0.250000, 0.250000, 0.800000, 0.800000}, {0.250000, 0.250000, 1.600000, 1.600000}, {0.350000, 0.250000, 0.800000, 0.800000}, {0.350000, 0.250000, 1.600000, 1.600000}, {0.450000, 0.250000, 0.800000, 0.800000}, {0.450000, 0.250000, 1.600000, 1.600000}, {0.550000, 0.250000, 0.800000, 0.800000}, {0.550000, 0.250000, 1.600000, 1.600000}, {0.650000, 0.250000, 0.800000, 0.800000}, {0.650000, 0.250000, 1.600000, 1.600000}, {0.750000, 0.250000, 0.800000, 0.800000}, {0.750000, 0.250000, 1.600000, 1.600000}, {0.850000, 0.250000, 0.800000, 0.800000}, {0.850000, 0.250000, 1.600000, 1.600000}, {0.950000, 0.250000, 0.800000, 0.800000}, {0.950000, 0.250000, 1.600000, 1.600000}, {0.050000, 0.350000, 0.800000, 0.800000}, {0.050000, 0.350000, 1.600000, 1.600000}, {0.150000, 0.350000, 0.800000, 0.800000}, {0.150000, 0.350000, 1.600000, 1.600000}, {0.250000, 0.350000, 0.800000, 0.800000}, {0.250000, 0.350000, 1.600000, 1.600000}, {0.350000, 0.350000, 0.800000, 0.800000}, {0.350000, 0.350000, 1.600000, 1.600000}, {0.450000, 0.350000, 0.800000, 0.800000}, {0.450000, 0.350000, 1.600000, 1.600000}, {0.550000, 0.350000, 0.800000, 0.800000}, {0.550000, 0.350000, 1.600000, 1.600000}, {0.650000, 0.350000, 0.800000, 0.800000}, {0.650000, 0.350000, 1.600000, 1.600000}, {0.750000, 0.350000, 0.800000, 0.800000}, {0.750000, 0.350000, 1.600000, 1.600000}, {0.850000, 0.350000, 0.800000, 0.800000}, {0.850000, 0.350000, 1.600000, 1.600000}, {0.950000, 0.350000, 0.800000, 0.800000}, {0.950000, 0.350000, 1.600000, 1.600000}, {0.050000, 0.450000, 0.800000, 0.800000}, {0.050000, 0.450000, 1.600000, 1.600000}, {0.150000, 0.450000, 0.800000, 0.800000}, {0.150000, 0.450000, 1.600000, 1.600000}, {0.250000, 0.450000, 0.800000, 0.800000}, {0.250000, 0.450000, 1.600000, 1.600000}, {0.350000, 0.450000, 0.800000, 0.800000}, {0.350000, 0.450000, 1.600000, 1.600000}, {0.450000, 0.450000, 0.800000, 0.800000}, {0.450000, 0.450000, 1.600000, 1.600000}, {0.550000, 0.450000, 0.800000, 0.800000}, {0.550000, 0.450000, 1.600000, 1.600000}, {0.650000, 0.450000, 0.800000, 0.800000}, {0.650000, 0.450000, 1.600000, 1.600000}, {0.750000, 0.450000, 0.800000, 0.800000}, {0.750000, 0.450000, 1.600000, 1.600000}, {0.850000, 0.450000, 0.800000, 0.800000}, {0.850000, 0.450000, 1.600000, 1.600000}, {0.950000, 0.450000, 0.800000, 0.800000}, {0.950000, 0.450000, 1.600000, 1.600000}, {0.050000, 0.550000, 0.800000, 0.800000}, {0.050000, 0.550000, 1.600000, 1.600000}, {0.150000, 0.550000, 0.800000, 0.800000}, {0.150000, 0.550000, 1.600000, 1.600000}, {0.250000, 0.550000, 0.800000, 0.800000}, {0.250000, 0.550000, 1.600000, 1.600000}, {0.350000, 0.550000, 0.800000, 0.800000}, {0.350000, 0.550000, 1.600000, 1.600000}, {0.450000, 0.550000, 0.800000, 0.800000}, {0.450000, 0.550000, 1.600000, 1.600000}, {0.550000, 0.550000, 0.800000, 0.800000}, {0.550000, 0.550000, 1.600000, 1.600000}, {0.650000, 0.550000, 0.800000, 0.800000}, {0.650000, 0.550000, 1.600000, 1.600000}, {0.750000, 0.550000, 0.800000, 0.800000}, {0.750000, 0.550000, 1.600000, 1.600000}, {0.850000, 0.550000, 0.800000, 0.800000}, {0.850000, 0.550000, 1.600000, 1.600000}, {0.950000, 0.550000, 0.800000, 0.800000}, {0.950000, 0.550000, 1.600000, 1.600000}, {0.050000, 0.650000, 0.800000, 0.800000}, {0.050000, 0.650000, 1.600000, 1.600000}, {0.150000, 0.650000, 0.800000, 0.800000}, {0.150000, 0.650000, 1.600000, 1.600000}, {0.250000, 0.650000, 0.800000, 0.800000}, {0.250000, 0.650000, 1.600000, 1.600000}, {0.350000, 0.650000, 0.800000, 0.800000}, {0.350000, 0.650000, 1.600000, 1.600000}, {0.450000, 0.650000, 0.800000, 0.800000}, {0.450000, 0.650000, 1.600000, 1.600000}, {0.550000, 0.650000, 0.800000, 0.800000}, {0.550000, 0.650000, 1.600000, 1.600000}, {0.650000, 0.650000, 0.800000, 0.800000}, {0.650000, 0.650000, 1.600000, 1.600000}, {0.750000, 0.650000, 0.800000, 0.800000}, {0.750000, 0.650000, 1.600000, 1.600000}, {0.850000, 0.650000, 0.800000, 0.800000}, {0.850000, 0.650000, 1.600000, 1.600000}, {0.950000, 0.650000, 0.800000, 0.800000}, {0.950000, 0.650000, 1.600000, 1.600000}, {0.050000, 0.750000, 0.800000, 0.800000}, {0.050000, 0.750000, 1.600000, 1.600000}, {0.150000, 0.750000, 0.800000, 0.800000}, {0.150000, 0.750000, 1.600000, 1.600000}, {0.250000, 0.750000, 0.800000, 0.800000}, {0.250000, 0.750000, 1.600000, 1.600000}, {0.350000, 0.750000, 0.800000, 0.800000}, {0.350000, 0.750000, 1.600000, 1.600000}, {0.450000, 0.750000, 0.800000, 0.800000}, {0.450000, 0.750000, 1.600000, 1.600000}, {0.550000, 0.750000, 0.800000, 0.800000}, {0.550000, 0.750000, 1.600000, 1.600000}, {0.650000, 0.750000, 0.800000, 0.800000}, {0.650000, 0.750000, 1.600000, 1.600000}, {0.750000, 0.750000, 0.800000, 0.800000}, {0.750000, 0.750000, 1.600000, 1.600000}, {0.850000, 0.750000, 0.800000, 0.800000}, {0.850000, 0.750000, 1.600000, 1.600000}, {0.950000, 0.750000, 0.800000, 0.800000}, {0.950000, 0.750000, 1.600000, 1.600000}, {0.050000, 0.850000, 0.800000, 0.800000}, {0.050000, 0.850000, 1.600000, 1.600000}, {0.150000, 0.850000, 0.800000, 0.800000}, {0.150000, 0.850000, 1.600000, 1.600000}, {0.250000, 0.850000, 0.800000, 0.800000}, {0.250000, 0.850000, 1.600000, 1.600000}, {0.350000, 0.850000, 0.800000, 0.800000}, {0.350000, 0.850000, 1.600000, 1.600000}, {0.450000, 0.850000, 0.800000, 0.800000}, {0.450000, 0.850000, 1.600000, 1.600000}, {0.550000, 0.850000, 0.800000, 0.800000}, {0.550000, 0.850000, 1.600000, 1.600000}, {0.650000, 0.850000, 0.800000, 0.800000}, {0.650000, 0.850000, 1.600000, 1.600000}, {0.750000, 0.850000, 0.800000, 0.800000}, {0.750000, 0.850000, 1.600000, 1.600000}, {0.850000, 0.850000, 0.800000, 0.800000}, {0.850000, 0.850000, 1.600000, 1.600000}, {0.950000, 0.850000, 0.800000, 0.800000}, {0.950000, 0.850000, 1.600000, 1.600000}, {0.050000, 0.950000, 0.800000, 0.800000}, {0.050000, 0.950000, 1.600000, 1.600000}, {0.150000, 0.950000, 0.800000, 0.800000}, {0.150000, 0.950000, 1.600000, 1.600000}, {0.250000, 0.950000, 0.800000, 0.800000}, {0.250000, 0.950000, 1.600000, 1.600000}, {0.350000, 0.950000, 0.800000, 0.800000}, {0.350000, 0.950000, 1.600000, 1.600000}, {0.450000, 0.950000, 0.800000, 0.800000}, {0.450000, 0.950000, 1.600000, 1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/anchors_640.cc b/src/reference/ai_poc/face_landmark/anchors_640.cc new file mode 100644 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_landmark/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 0.050000}, {0.068750, 0.006250, 0.025000, 0.025000}, {0.068750, 0.006250, 0.050000, 0.050000}, {0.081250, 0.006250, 0.025000, 0.025000}, {0.081250, 0.006250, 0.050000, 0.050000}, {0.093750, 0.006250, 0.025000, 0.025000}, {0.093750, 0.006250, 0.050000, 0.050000}, {0.106250, 0.006250, 0.025000, 0.025000}, {0.106250, 0.006250, 0.050000, 0.050000}, {0.118750, 0.006250, 0.025000, 0.025000}, {0.118750, 0.006250, 0.050000, 0.050000}, {0.131250, 0.006250, 0.025000, 0.025000}, {0.131250, 0.006250, 0.050000, 0.050000}, {0.143750, 0.006250, 0.025000, 0.025000}, {0.143750, 0.006250, 0.050000, 0.050000}, {0.156250, 0.006250, 0.025000, 0.025000}, {0.156250, 0.006250, 0.050000, 0.050000}, {0.168750, 0.006250, 0.025000, 0.025000}, {0.168750, 0.006250, 0.050000, 0.050000}, {0.181250, 0.006250, 0.025000, 0.025000}, {0.181250, 0.006250, 0.050000, 0.050000}, {0.193750, 0.006250, 0.025000, 0.025000}, {0.193750, 0.006250, 0.050000, 0.050000}, {0.206250, 0.006250, 0.025000, 0.025000}, {0.206250, 0.006250, 0.050000, 0.050000}, {0.218750, 0.006250, 0.025000, 0.025000}, {0.218750, 0.006250, 0.050000, 0.050000}, {0.231250, 0.006250, 0.025000, 0.025000}, {0.231250, 0.006250, 0.050000, 0.050000}, {0.243750, 0.006250, 0.025000, 0.025000}, {0.243750, 0.006250, 0.050000, 0.050000}, {0.256250, 0.006250, 0.025000, 0.025000}, {0.256250, 0.006250, 0.050000, 0.050000}, {0.268750, 0.006250, 0.025000, 0.025000}, {0.268750, 0.006250, 0.050000, 0.050000}, {0.281250, 0.006250, 0.025000, 0.025000}, {0.281250, 0.006250, 0.050000, 0.050000}, {0.293750, 0.006250, 0.025000, 0.025000}, {0.293750, 0.006250, 0.050000, 0.050000}, {0.306250, 0.006250, 0.025000, 0.025000}, {0.306250, 0.006250, 0.050000, 0.050000}, {0.318750, 0.006250, 0.025000, 0.025000}, {0.318750, 0.006250, 0.050000, 0.050000}, {0.331250, 0.006250, 0.025000, 0.025000}, {0.331250, 0.006250, 0.050000, 0.050000}, {0.343750, 0.006250, 0.025000, 0.025000}, {0.343750, 0.006250, 0.050000, 0.050000}, {0.356250, 0.006250, 0.025000, 0.025000}, {0.356250, 0.006250, 0.050000, 0.050000}, {0.368750, 0.006250, 0.025000, 0.025000}, {0.368750, 0.006250, 0.050000, 0.050000}, {0.381250, 0.006250, 0.025000, 0.025000}, {0.381250, 0.006250, 0.050000, 0.050000}, {0.393750, 0.006250, 0.025000, 0.025000}, {0.393750, 0.006250, 0.050000, 0.050000}, {0.406250, 0.006250, 0.025000, 0.025000}, {0.406250, 0.006250, 0.050000, 0.050000}, {0.418750, 0.006250, 0.025000, 0.025000}, {0.418750, 0.006250, 0.050000, 0.050000}, {0.431250, 0.006250, 0.025000, 0.025000}, {0.431250, 0.006250, 0.050000, 0.050000}, {0.443750, 0.006250, 0.025000, 0.025000}, {0.443750, 0.006250, 0.050000, 0.050000}, {0.456250, 0.006250, 0.025000, 0.025000}, {0.456250, 0.006250, 0.050000, 0.050000}, {0.468750, 0.006250, 0.025000, 0.025000}, {0.468750, 0.006250, 0.050000, 0.050000}, {0.481250, 0.006250, 0.025000, 0.025000}, {0.481250, 0.006250, 0.050000, 0.050000}, {0.493750, 0.006250, 0.025000, 0.025000}, {0.493750, 0.006250, 0.050000, 0.050000}, {0.506250, 0.006250, 0.025000, 0.025000}, 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0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_landmark/face_dense_landmark.cc b/src/reference/ai_poc/face_landmark/face_dense_landmark.cc new file mode 100644 index 000000000..e157075ff --- /dev/null +++ b/src/reference/ai_poc/face_landmark/face_dense_landmark.cc @@ -0,0 +1,232 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_dense_landmark.h" +#include + +std::vector> dict_kp_seq = { + {43, 44, 45, 47, 46, 50, 51, 49, 48}, // left_eyebrow + {97, 98, 99, 100, 101, 105, 104, 103, 102}, // right_eyebrow + {35, 36, 33, 37, 39, 42, 40, 41}, // left_eye + {89, 90, 87, 91, 93, 96, 94, 95}, // right_eye + {34, 88}, // pupil + {72, 73, 74, 86}, // bridge_nose + {77, 78, 79, 80, 85, 84, 83}, // wing_nose + {52, 55, 56, 53, 59, 58, 61, 68, 67, 71, 63, 64}, // out_lip + {65, 54, 60, 57, 69, 70, 62, 66}, // in_lip + {1, 9, 10, 11, 12, 13, 14, 15, 16, 2, 3, 4, 5, 6, 7, 8, 0, 24, 23, 22, 21, 20, 19, 18, 32, 31, 30, 29, 28, 27, 26, 25, 17}}; // basin + +cv::Scalar color_list_for_kp[] = { + cv::Scalar(0, 255, 0), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 0, 255), + cv::Scalar(0, 170, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 255, 0), + cv::Scalar(50, 220, 255), + cv::Scalar(255, 30, 30)}; + +cv::Scalar color_list_for_osd_kp[] = { + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 255, 0, 0), + cv::Scalar(255, 255, 170, 0), + cv::Scalar(255, 255, 255, 0), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 220, 50), + cv::Scalar(255, 30, 30, 255)}; + +FaceDenseLandmark::FaceDenseLandmark(const char *kmodel_file, const int debug_mode) : AIBase(kmodel_file,"FaceDenseLandmark",debug_mode) +{ + model_name_ = "FaceDenseLandmark"; + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceDenseLandmark::FaceDenseLandmark(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"FaceDenseLandmark", debug_mode) +{ + model_name_ = "FaceDenseLandmark"; + // input->isp（Fixed size） + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceDenseLandmark::~FaceDenseLandmark() +{ +} + +// ai2d for image +void FaceDenseLandmark::pre_process(cv::Mat ori_img, Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + get_affine_matrix(bbox); + + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + + float *matrix_dst_ptr = matrix_dst_.ptr(); + Utils::affine({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, matrix_dst_ptr, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDenseLandmark_input_color.png", {input_shapes_[0][3],input_shapes_[0][2]},output); + // Utils::dump_gray_image("FaceDenseLandmark_input_gray.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +// ai2d for video +void FaceDenseLandmark::pre_process(Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); + get_affine_matrix(bbox); + float *matrix_dst_ptr = matrix_dst_.ptr(); +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); +#endif + Utils::affine(matrix_dst_ptr, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceDenseLandmark_input.png",{input_shapes_[0][3],input_shapes_[0][2]},output); + +} + +void FaceDenseLandmark::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDenseLandmark::post_process() +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + float *pred = p_outputs_[0]; + + int half_net_len = input_shapes_[0][2] / 2; // input_shapes_[0][2]==input_shapes_[0][3] + for (int i = 0; i < output_shapes_[0][1]; ++i) + pred[i] += (pred[i] + 1) * half_net_len; + // IM = cv2.invertAffineTransform(self.M) + cv::Mat matrix_dst_inv; + cv::invertAffineTransform(matrix_dst_, matrix_dst_inv); + float *ptr = matrix_dst_inv.ptr(); + int half_out_len = output_shapes_[0][1] / 2; // 212 + for (int kp_id = 0; kp_id < half_out_len; ++kp_id) + { + float old_x = pred[kp_id * 2]; + float old_y = pred[kp_id * 2 + 1]; + pred[kp_id * 2] = old_x * ptr[0] + old_y * ptr[1] + 1 * ptr[2]; + pred[kp_id * 2 + 1] = old_x * ptr[3] + old_y * ptr[4] + ptr[5]; + } +} + +void FaceDenseLandmark::draw_contour(cv::Mat src_img, bool pic_mode) +{ + ScopedTiming st(model_name_ + " draw_contour", debug_mode_); + // 定义多边形的顶点坐标 + // std::vector> polygons = { + // {{100, 100}, {200, 100}, {200, 200}, {100, 200}}, // 多边形1 + // {{300, 100}, {400, 100}, {400, 200}}, // 多边形2 + // }; + float *pred = p_outputs_[0]; + int src_width = src_img.cols, src_height = src_img.rows; + for (int sub_part_index = 0; sub_part_index < dict_kp_seq.size(); ++sub_part_index) + { + auto &sub_part = dict_kp_seq[sub_part_index]; + std::vector> face_sub_part_point_set_outline; + std::vector face_sub_part_point_set; + for (int kp_index = 0; kp_index < sub_part.size(); ++kp_index) + { + int real_kp_index = sub_part[kp_index]; + float x, y; + if (pic_mode) + { + x = pred[real_kp_index * 2]; + y = pred[real_kp_index * 2 + 1]; + } + else + { + x = src_width - pred[real_kp_index * 2]/isp_shape_.width*src_width; + y = src_height - pred[real_kp_index * 2 + 1] / isp_shape_.height*src_height; + } + face_sub_part_point_set.push_back({int(x), int(y)}); + } + face_sub_part_point_set_outline.push_back(face_sub_part_point_set); + if (sub_part_index == 9 || sub_part_index == 6) + { + if (pic_mode) + cv::polylines(src_img, face_sub_part_point_set_outline, false, color_list_for_kp[sub_part_index], 3); + else + cv::polylines(src_img, face_sub_part_point_set_outline, false, color_list_for_osd_kp[sub_part_index], 3); + } + else if (sub_part_index == 4) + { + for (const auto &kp : face_sub_part_point_set) + { + if (pic_mode) + cv::circle(src_img, kp, 2, color_list_for_kp[sub_part_index], 3); + else + cv::circle(src_img, kp, 2, color_list_for_osd_kp[sub_part_index], 3); + } + } + else + { + if (pic_mode) + cv::drawContours(src_img, face_sub_part_point_set_outline, -1, color_list_for_kp[sub_part_index], 3); + else + cv::drawContours(src_img, face_sub_part_point_set_outline, -1, color_list_for_osd_kp[sub_part_index], 3); + } + } +} + +void FaceDenseLandmark::get_affine_matrix(Bbox &bbox) +{ + int w = bbox.w; + int h = bbox.h; + float scale_ratio = float(input_shapes_[0][2]) / (std::max(w, h) * 1.5); // input_shapes_[0][2]==input_shapes_[0][3] + float cx = (bbox.x + w / 2) * scale_ratio; + float cy = (bbox.y + h / 2) * scale_ratio; + int half_net_len = input_shapes_[0][2] / 2; // input_shapes_[0][2]==input_shapes_[0][3] + // # [scale,0,96-333.42172012893894],[0,scale,96-141.95230854588053],[0,0,1] + matrix_dst_ = cv::Mat::zeros(2, 3, CV_32FC1); + matrix_dst_.at(0, 0) = scale_ratio; + matrix_dst_.at(0, 1) = 0; + matrix_dst_.at(0, 2) = half_net_len - cx; + matrix_dst_.at(1, 0) = 0; + matrix_dst_.at(1, 1) = scale_ratio; + matrix_dst_.at(1, 2) = half_net_len - cy; +} diff --git a/src/reference/ai_poc/face_landmark/face_dense_landmark.h b/src/reference/ai_poc/face_landmark/face_dense_landmark.h new file mode 100644 index 000000000..5c446102c --- /dev/null +++ b/src/reference/ai_poc/face_landmark/face_dense_landmark.h @@ -0,0 +1,118 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DENSE_LANDMARK_H +#define _FACE_DENSE_LANDMARK_H + +#include +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +/** + * @brief 人脸密集关键点检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDenseLandmark : public AIBase +{ +public: + /** + * @brief FaceDenseLandmark构造函数，加载kmodel,并初始化kmodel输入、输出(for image) + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDenseLandmark(const char *kmodel_file, const int debug_mode = 1); + + /** + * @brief FaceDenseLandmark构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值(for isp) + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDenseLandmark(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDenseLandmark析构函数 + * @return None + */ + ~FaceDenseLandmark(); + + /** + * @brief 图片预处理（ai2d for image） + * @param ori_img 原始图片 + * @param bbox 原始人脸检测框位置 + * @return None + */ + void pre_process(cv::Mat ori_img, Bbox &bbox); + + /** + * @brief 视频流预处理（ai2d for video） + * @param ori 原始视频流帧数据（或许定义为uint8_t*更加合适） + * @return None + */ + void pre_process(Bbox &bbox); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @return None + */ + void post_process(); + + /** + * @brief 将处理好的轮廓画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_contour(cv::Mat src_img, bool pic_mode = true); + +private: + // img prepocess + /** + * @brief 获取旋转矩阵 + * @param bbox 根据检测框获取affine变换矩阵 + * @return None + */ + void get_affine_matrix(Bbox &bbox); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + cv::Mat matrix_dst_; // affine的变换矩阵 +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/face_detection.cc b/src/reference/ai_poc/face_landmark/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_landmark/face_detection.h b/src/reference/ai_poc/face_landmark/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/main.cc b/src/reference/ai_poc/face_landmark/main.cc new file mode 100644 index 000000000..91a80327e --- /dev/null +++ b/src/reference/ai_poc/face_landmark/main.cc @@ -0,0 +1,190 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" +#include "face_dense_landmark.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测阈值\n" + << " nms_thres 人脸检测nms阈值\n" + << " kmodel_fkp 密集人脸关键点kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + // + FaceDetection fd(argv[1], atof(argv[2]), atof(argv[3]), {SENSOR_CHANNEL,SENSOR_HEIGHT,SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + FaceDenseLandmark fkp(argv[4], {SENSOR_CHANNEL,SENSOR_HEIGHT,SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + vector results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + fd.pre_process(); + fd.inference(); + fd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, results); + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + // fd.draw_result(osd_frame,results,false); + for (int i = 0; i < results.size(); ++i) + { + fkp.pre_process(results[i].bbox); + fkp.inference(); + fkp.post_process(); + fkp.draw_contour(osd_frame,false); + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[5], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[5]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection fd(argv[1], atof(argv[2]), atof(argv[3]), atoi(argv[6])); + fd.pre_process(ori_img); + fd.inference(); + + vector results; + fd.post_process({ori_w, ori_h}, results); + + FaceDenseLandmark fkp(argv[4], atoi(argv[6])); + for (int i = 0; i < results.size(); ++i) + { + fkp.pre_process(ori_img, results[i].bbox); + fkp.inference(); + fkp.post_process(); + fkp.draw_contour(ori_img); + } + cv::imwrite("face_landmark_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/scoped_timing.hpp b/src/reference/ai_poc/face_landmark/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/utils.cc b/src/reference/ai_poc/face_landmark/utils.cc new file mode 100755 index 000000000..15332261d --- /dev/null +++ b/src/reference/ai_poc/face_landmark/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_landmark/utils.h b/src/reference/ai_poc/face_landmark/utils.h new file mode 100755 index 000000000..f2fe8b228 --- /dev/null +++ b/src/reference/ai_poc/face_landmark/utils.h @@ -0,0 +1,307 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_landmark/vi_vo.h b/src/reference/ai_poc/face_landmark/vi_vo.h new file mode 100644 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_landmark/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/CMakeLists.txt b/src/reference/ai_poc/face_mask/CMakeLists.txt new file mode 100644 index 000000000..e192d081a --- /dev/null +++ b/src/reference/ai_poc/face_mask/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc face_mask.cc anchors_320.cc anchors_640.cc) +set(bin face_mask.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/README.md b/src/reference/ai_poc/face_mask/README.md new file mode 100644 index 000000000..1942b2bb4 --- /dev/null +++ b/src/reference/ai_poc/face_mask/README.md @@ -0,0 +1,28 @@ +# 1.简介 + +人脸检测采用了retina-face网络结构，人脸口罩分类backbone选取mobilenet-v2。使用该应用，可得到图像或视频中的每个人是否佩戴口罩。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_mask.elf +Options: + kmodel_det 人脸检测kmodel路径 + obj_thres 人脸检测阈值 + nms_thres 人脸检测nms阈值 + kmodel_fm 人脸口罩kmodel路径 + mask_thres 人脸口罩阈值 + input_mode 本地图片(图片路径)/ 摄像头(None) + debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_mask_image.sh） +./face_mask.elf face_detection_320.kmodel 0.4 0.2 face_mask.kmodel 0.5 1024x768.jpg 2 + + #视频流推理：（face_mask_isp.sh） +./face_mask.elf face_detection_320.kmodel 0.4 0.2 face_mask.kmodel 0.5 None 0 +``` + + + diff --git a/src/reference/ai_poc/face_mask/ai_base.cc b/src/reference/ai_poc/face_mask/ai_base.cc new file mode 100644 index 000000000..931136ef4 --- /dev/null +++ b/src/reference/ai_poc/face_mask/ai_base.cc @@ -0,0 +1,183 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_mask/ai_base.h b/src/reference/ai_poc/face_mask/ai_base.h new file mode 100644 index 000000000..4ad882298 --- /dev/null +++ b/src/reference/ai_poc/face_mask/ai_base.h @@ -0,0 +1,118 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/anchors_320.cc b/src/reference/ai_poc/face_mask/anchors_320.cc new file mode 100644 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_mask/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 0.100000}, {0.512500, 0.062500, 0.050000, 0.050000}, {0.512500, 0.062500, 0.100000, 0.100000}, {0.537500, 0.062500, 0.050000, 0.050000}, {0.537500, 0.062500, 0.100000, 0.100000}, {0.562500, 0.062500, 0.050000, 0.050000}, {0.562500, 0.062500, 0.100000, 0.100000}, {0.587500, 0.062500, 0.050000, 0.050000}, {0.587500, 0.062500, 0.100000, 0.100000}, {0.612500, 0.062500, 0.050000, 0.050000}, {0.612500, 0.062500, 0.100000, 0.100000}, {0.637500, 0.062500, 0.050000, 0.050000}, {0.637500, 0.062500, 0.100000, 0.100000}, {0.662500, 0.062500, 0.050000, 0.050000}, {0.662500, 0.062500, 0.100000, 0.100000}, {0.687500, 0.062500, 0.050000, 0.050000}, {0.687500, 0.062500, 0.100000, 0.100000}, {0.712500, 0.062500, 0.050000, 0.050000}, {0.712500, 0.062500, 0.100000, 0.100000}, {0.737500, 0.062500, 0.050000, 0.050000}, {0.737500, 0.062500, 0.100000, 0.100000}, {0.762500, 0.062500, 0.050000, 0.050000}, {0.762500, 0.062500, 0.100000, 0.100000}, {0.787500, 0.062500, 0.050000, 0.050000}, {0.787500, 0.062500, 0.100000, 0.100000}, {0.812500, 0.062500, 0.050000, 0.050000}, {0.812500, 0.062500, 0.100000, 0.100000}, {0.837500, 0.062500, 0.050000, 0.050000}, {0.837500, 0.062500, 0.100000, 0.100000}, {0.862500, 0.062500, 0.050000, 0.050000}, {0.862500, 0.062500, 0.100000, 0.100000}, {0.887500, 0.062500, 0.050000, 0.050000}, {0.887500, 0.062500, 0.100000, 0.100000}, {0.912500, 0.062500, 0.050000, 0.050000}, {0.912500, 0.062500, 0.100000, 0.100000}, {0.937500, 0.062500, 0.050000, 0.050000}, {0.937500, 0.062500, 0.100000, 0.100000}, {0.962500, 0.062500, 0.050000, 0.050000}, {0.962500, 0.062500, 0.100000, 0.100000}, {0.987500, 0.062500, 0.050000, 0.050000}, {0.987500, 0.062500, 0.100000, 0.100000}, {0.012500, 0.087500, 0.050000, 0.050000}, {0.012500, 0.087500, 0.100000, 0.100000}, {0.037500, 0.087500, 0.050000, 0.050000}, {0.037500, 0.087500, 0.100000, 0.100000}, {0.062500, 0.087500, 0.050000, 0.050000}, {0.062500, 0.087500, 0.100000, 0.100000}, {0.087500, 0.087500, 0.050000, 0.050000}, {0.087500, 0.087500, 0.100000, 0.100000}, {0.112500, 0.087500, 0.050000, 0.050000}, {0.112500, 0.087500, 0.100000, 0.100000}, {0.137500, 0.087500, 0.050000, 0.050000}, {0.137500, 0.087500, 0.100000, 0.100000}, {0.162500, 0.087500, 0.050000, 0.050000}, {0.162500, 0.087500, 0.100000, 0.100000}, {0.187500, 0.087500, 0.050000, 0.050000}, {0.187500, 0.087500, 0.100000, 0.100000}, {0.212500, 0.087500, 0.050000, 0.050000}, {0.212500, 0.087500, 0.100000, 0.100000}, {0.237500, 0.087500, 0.050000, 0.050000}, {0.237500, 0.087500, 0.100000, 0.100000}, {0.262500, 0.087500, 0.050000, 0.050000}, {0.262500, 0.087500, 0.100000, 0.100000}, {0.287500, 0.087500, 0.050000, 0.050000}, {0.287500, 0.087500, 0.100000, 0.100000}, {0.312500, 0.087500, 0.050000, 0.050000}, {0.312500, 0.087500, 0.100000, 0.100000}, {0.337500, 0.087500, 0.050000, 0.050000}, {0.337500, 0.087500, 0.100000, 0.100000}, {0.362500, 0.087500, 0.050000, 0.050000}, {0.362500, 0.087500, 0.100000, 0.100000}, {0.387500, 0.087500, 0.050000, 0.050000}, {0.387500, 0.087500, 0.100000, 0.100000}, {0.412500, 0.087500, 0.050000, 0.050000}, {0.412500, 0.087500, 0.100000, 0.100000}, {0.437500, 0.087500, 0.050000, 0.050000}, {0.437500, 0.087500, 0.100000, 0.100000}, {0.462500, 0.087500, 0.050000, 0.050000}, {0.462500, 0.087500, 0.100000, 0.100000}, {0.487500, 0.087500, 0.050000, 0.050000}, {0.487500, 0.087500, 0.100000, 0.100000}, {0.512500, 0.087500, 0.050000, 0.050000}, {0.512500, 0.087500, 0.100000, 0.100000}, {0.537500, 0.087500, 0.050000, 0.050000}, {0.537500, 0.087500, 0.100000, 0.100000}, {0.562500, 0.087500, 0.050000, 0.050000}, {0.562500, 0.087500, 0.100000, 0.100000}, {0.587500, 0.087500, 0.050000, 0.050000}, {0.587500, 0.087500, 0.100000, 0.100000}, {0.612500, 0.087500, 0.050000, 0.050000}, {0.612500, 0.087500, 0.100000, 0.100000}, {0.637500, 0.087500, 0.050000, 0.050000}, {0.637500, 0.087500, 0.100000, 0.100000}, {0.662500, 0.087500, 0.050000, 0.050000}, {0.662500, 0.087500, 0.100000, 0.100000}, {0.687500, 0.087500, 0.050000, 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{0.425000, 0.975000, 0.200000, 0.200000}, {0.425000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.200000, 0.200000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.200000, 0.200000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.200000, 0.200000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.200000, 0.200000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.200000, 0.200000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.200000, 0.200000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.200000, 0.200000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.200000, 0.200000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.200000, 0.200000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.200000, 0.200000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.200000, 0.200000}, {0.975000, 0.975000, 0.400000, 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{0.350000, 0.850000, 0.800000, 0.800000}, {0.350000, 0.850000, 1.600000, 1.600000}, {0.450000, 0.850000, 0.800000, 0.800000}, {0.450000, 0.850000, 1.600000, 1.600000}, {0.550000, 0.850000, 0.800000, 0.800000}, {0.550000, 0.850000, 1.600000, 1.600000}, {0.650000, 0.850000, 0.800000, 0.800000}, {0.650000, 0.850000, 1.600000, 1.600000}, {0.750000, 0.850000, 0.800000, 0.800000}, {0.750000, 0.850000, 1.600000, 1.600000}, {0.850000, 0.850000, 0.800000, 0.800000}, {0.850000, 0.850000, 1.600000, 1.600000}, {0.950000, 0.850000, 0.800000, 0.800000}, {0.950000, 0.850000, 1.600000, 1.600000}, {0.050000, 0.950000, 0.800000, 0.800000}, {0.050000, 0.950000, 1.600000, 1.600000}, {0.150000, 0.950000, 0.800000, 0.800000}, {0.150000, 0.950000, 1.600000, 1.600000}, {0.250000, 0.950000, 0.800000, 0.800000}, {0.250000, 0.950000, 1.600000, 1.600000}, {0.350000, 0.950000, 0.800000, 0.800000}, {0.350000, 0.950000, 1.600000, 1.600000}, {0.450000, 0.950000, 0.800000, 0.800000}, {0.450000, 0.950000, 1.600000, 1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/anchors_640.cc b/src/reference/ai_poc/face_mask/anchors_640.cc new file mode 100644 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_mask/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 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0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_mask/face_detection.cc b/src/reference/ai_poc/face_mask/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_mask/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_mask/face_detection.h b/src/reference/ai_poc/face_mask/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_mask/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/face_mask.cc b/src/reference/ai_poc/face_mask/face_mask.cc new file mode 100644 index 000000000..3f00340fd --- /dev/null +++ b/src/reference/ai_poc/face_mask/face_mask.cc @@ -0,0 +1,318 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_mask.h" +#include + +//文字属性 +int g_font_face= cv::FONT_HERSHEY_COMPLEX; //字体 +double g_font_scale=1.5; //缩放系数 +int g_line_type = 8; //线型 +int g_thickness = 3; //粗细 + +FaceMask::FaceMask(const char *kmodel_file, float mask_thresh, const int debug_mode) : AIBase(kmodel_file,"FaceMask",debug_mode) +{ + model_name_ = "FaceMask"; + mask_thresh_ = mask_thresh; + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceMask::FaceMask(const char *kmodel_file,float mask_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"FaceMask", debug_mode) +{ + model_name_ = "FaceMask"; + mask_thresh_ = mask_thresh; + + // input->isp（Fixed size） + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +FaceMask::~FaceMask() +{ +} + +// ai2d for image +void FaceMask::pre_process(cv::Mat ori_img, float* sparse_points) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + get_affine_matrix(sparse_points); + + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + + Utils::affine({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, matrix_dst_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceMask_input_gray.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +// ai2d for video +void FaceMask::pre_process(float* sparse_points) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); + get_affine_matrix(sparse_points); + +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + // run ai2d +#endif + Utils::affine(matrix_dst_, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FaceMask_input.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceMask::inference() +{ + this->run(); + this->get_output(); +} + +void FaceMask::post_process(FaceMaskInfo& result) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + vector pred_vec(p_outputs_[0],p_outputs_[0] + output_shapes_[0][1]); + + vector softmax_pred_vec; + softmax(pred_vec,softmax_pred_vec); + result.score = softmax_pred_vec[1]; + + if(result.score < mask_thresh_) + { + result.label = "no mask"; + } + else + { + result.label = "mask"; + } +} + +void FaceMask::draw_result(cv::Mat& src_img,Bbox& bbox,FaceMaskInfo& result, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + + char text[30]; + sprintf(text, "%s:%.2f",result.label.c_str(), result.score); + // sprintf(text, "%s",result.name.c_str()); + + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(bbox.x, bbox.y , bbox.w, bbox.h), cv::Scalar(255, 255, 255), 2, 2, 0); + if(result.score s[1]) ? sinf((atan2f(2 * (a[0] * a[1] + a[2] * a[3]), a[0] * a[0] - a[1] * a[1] + a[2] * a[2] - a[3] * a[3])) / 2) : 0; + v[0] = sqrtf(1 - v[2] * v[2]); + v[1] = -v[2]; + v[3] = v[0]; + u[0] = (s[0] != 0) ? -(a[0] * v[0] + a[1] * v[2]) / s[0] : 1; + u[2] = (s[0] != 0) ? -(a[2] * v[0] + a[3] * v[2]) / s[0] : 0; + u[1] = (s[1] != 0) ? (a[0] * v[1] + a[1] * v[3]) / s[1] : -u[2]; + u[3] = (s[1] != 0) ? (a[2] * v[1] + a[3] * v[3]) / s[1] : u[0]; + v[0] = -v[0]; + v[2] = -v[2]; +} + +static float umeyama_args_128[] = +{ +#define PIC_SIZE 128 + 38.2946 * PIC_SIZE / 112, 51.6963 * PIC_SIZE / 112, + 73.5318 * PIC_SIZE / 112, 51.5014 * PIC_SIZE / 112, + 56.0252 * PIC_SIZE / 112, 71.7366 * PIC_SIZE / 112, + 41.5493 * PIC_SIZE / 112, 92.3655 * PIC_SIZE / 112, + 70.7299 * PIC_SIZE / 112, 92.2041 * PIC_SIZE / 112 +}; + +void FaceMask::image_umeyama_128(float* src, float* dst) +{ +#define SRC_NUM 5 +#define SRC_DIM 2 + int i, j, k; + float src_mean[SRC_DIM] = { 0.0 }; + float dst_mean[SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_NUM * 2; i += 2) + { + src_mean[0] += src[i]; + src_mean[1] += src[i + 1]; + dst_mean[0] += umeyama_args_128[i]; + dst_mean[1] += umeyama_args_128[i + 1]; + } + src_mean[0] /= SRC_NUM; + src_mean[1] /= SRC_NUM; + dst_mean[0] /= SRC_NUM; + dst_mean[1] /= SRC_NUM; + + float src_demean[SRC_NUM][2] = { 0.0 }; + float dst_demean[SRC_NUM][2] = { 0.0 }; + + for (i = 0; i < SRC_NUM; i++) + { + src_demean[i][0] = src[2 * i] - src_mean[0]; + src_demean[i][1] = src[2 * i + 1] - src_mean[1]; + dst_demean[i][0] = umeyama_args_128[2 * i] - dst_mean[0]; + dst_demean[i][1] = umeyama_args_128[2 * i + 1] - dst_mean[1]; + } + + float A[SRC_DIM][SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_DIM; i++) + { + for (k = 0; k < SRC_DIM; k++) + { + for (j = 0; j < SRC_NUM; j++) + { + A[i][k] += dst_demean[j][i] * src_demean[j][k]; + } + A[i][k] /= SRC_NUM; + } + } + + float(*T)[SRC_DIM + 1] = (float(*)[SRC_DIM + 1])dst; + T[0][0] = 1; + T[0][1] = 0; + T[0][2] = 0; + T[1][0] = 0; + T[1][1] = 1; + T[1][2] = 0; + T[2][0] = 0; + T[2][1] = 0; + T[2][2] = 1; + + float U[SRC_DIM][SRC_DIM] = { 0 }; + float S[SRC_DIM] = { 0 }; + float V[SRC_DIM][SRC_DIM] = { 0 }; + svd22(&A[0][0], &U[0][0], S, &V[0][0]); + + T[0][0] = U[0][0] * V[0][0] + U[0][1] * V[1][0]; + T[0][1] = U[0][0] * V[0][1] + U[0][1] * V[1][1]; + T[1][0] = U[1][0] * V[0][0] + U[1][1] * V[1][0]; + T[1][1] = U[1][0] * V[0][1] + U[1][1] * V[1][1]; + + float scale = 1.0; + float src_demean_mean[SRC_DIM] = { 0.0 }; + float src_demean_var[SRC_DIM] = { 0.0 }; + for (i = 0; i < SRC_NUM; i++) + { + src_demean_mean[0] += src_demean[i][0]; + src_demean_mean[1] += src_demean[i][1]; + } + src_demean_mean[0] /= SRC_NUM; + src_demean_mean[1] /= SRC_NUM; + + for (i = 0; i < SRC_NUM; i++) + { + src_demean_var[0] += (src_demean_mean[0] - src_demean[i][0]) * (src_demean_mean[0] - src_demean[i][0]); + src_demean_var[1] += (src_demean_mean[1] - src_demean[i][1]) * (src_demean_mean[1] - src_demean[i][1]); + } + src_demean_var[0] /= (SRC_NUM); + src_demean_var[1] /= (SRC_NUM); + scale = 1.0 / (src_demean_var[0] + src_demean_var[1]) * (S[0] + S[1]); + T[0][2] = dst_mean[0] - scale * (T[0][0] * src_mean[0] + T[0][1] * src_mean[1]); + T[1][2] = dst_mean[1] - scale * (T[1][0] * src_mean[0] + T[1][1] * src_mean[1]); + T[0][0] *= scale; + T[0][1] *= scale; + T[1][0] *= scale; + T[1][1] *= scale; + float(*TT)[3] = (float(*)[3])T; +} + +void FaceMask::get_affine_matrix(float* sparse_points) +{ + float matrix_src[5][2]; + for (uint32_t i = 0; i < 5; ++i) + { + matrix_src[i][0] = sparse_points[2 * i + 0]; + matrix_src[i][1] = sparse_points[2 * i + 1]; + } + image_umeyama_128(&matrix_src[0][0], &matrix_dst_[0]); +} + +void FaceMask::softmax(vector& input,vector& output) +{ + //e_x = np.exp(x - np.max(x)) + std::vector::iterator p_input_max = std::max_element(input.begin(), input.end()); + float input_max = *p_input_max; + float input_total = 0; + + for(auto x:input) + { + input_total+=exp( x- input_max); + } + + output.resize(input.size()); + for(int i=0;i +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +/** + * @brief 人脸是否佩戴口罩结果 + */ +typedef struct FaceMaskInfo +{ + string label; // 是否佩戴口罩 + float score; // 类别得分 +} FaceMaskInfo; + +/** + * @brief 人脸是否佩戴口罩 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceMask : public AIBase +{ +public: + /** + * @brief FaceMask构造函数，加载kmodel,并初始化kmodel输入、输出(for image) + * @param kmodel_file kmodel文件路径 + * @param mask_thresh FaceMask阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceMask(const char *kmodel_file,float mask_thresh, const int debug_mode = 1); + + /** + * @brief FaceMask构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值(for isp) + * @param kmodel_file kmodel文件路径 + * @param mask_thresh FaceMask阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceMask(const char *kmodel_file,float mask_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceMask析构函数 + * @return None + */ + ~FaceMask(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param sparse_points 原始图片中人脸五官点位置 + * @return None + */ + void pre_process(cv::Mat ori_img, float* sparse_points); + + /** + * @brief 视频流预处理 + * @param sparse_points 原始图片中人脸五官点位置 + * @return None + */ + void pre_process(float* sparse_points); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @return None + */ + void post_process(FaceMaskInfo& result); + + /** + * @brief 将处理好的分类结果画到原图 + * @param src_img 原图 + * @param bbox 人脸的检测框位置 + * @param result 人脸佩戴口罩分类结果 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + + void draw_result(cv::Mat& src_img,Bbox& bbox, FaceMaskInfo& result, bool pic_mode=true); + +private: + /** + * @brief svd + * @param a 原始矩阵 + * @param u 左奇异向量 + * @param s 对角阵 + * @param v 右奇异向量 + * @return None + */ + void svd22(const float a[4], float u[4], float s[2], float v[4]); + + /** + * @brief 使用Umeyama算法计算仿射变换矩阵 + * @param src 原图像点位置 + * @param dst 目标图像（128*128）点位置。 + */ + void image_umeyama_128(float* src, float* dst); + + /** + * @brief 获取affine变换矩阵 + * @param sparse_points 原图像人脸五官点位置 + */ + void get_affine_matrix(float* sparse_points); + + /** + * @brief 计算数据softmax之后的值 + * @param input 原始数据 + * @param output 计算softmax之后的数据 + * @return None + */ + void softmax(vector& input,vector& output); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + float matrix_dst_[10]; // 人脸affine的变换矩阵 + float mask_thresh_; // 人脸佩戴口罩阈值 +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/main.cc b/src/reference/ai_poc/face_mask/main.cc new file mode 100644 index 000000000..86eb8bbf9 --- /dev/null +++ b/src/reference/ai_poc/face_mask/main.cc @@ -0,0 +1,191 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" +#include "face_mask.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测阈值\n" + << " nms_thres 人脸检测nms阈值\n" + << " kmodel_fm 人脸口罩kmodel路径\n" + << " mask_thres 人脸口罩阈值\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // set osd param + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[7])); + FaceMask fm(argv[4], atof(argv[5]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[7])); + + vector det_results; + FaceMaskInfo fm_result; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + { + ScopedTiming st("read capture", atoi(argv[7])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[7])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + det_results.clear(); + fd.pre_process(); + fd.inference(); + // 旋转后图像 + fd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, det_results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (int i = 0; i < det_results.size(); ++i) + { + fm.pre_process(det_results[i].sparse_kps.points); + fm.inference(); + fm.post_process(fm_result); + fm.draw_result(osd_frame,det_results[i].bbox,fm_result,false); + } + + { + ScopedTiming st("osd copy", atoi(argv[7])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 8) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[6], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[6]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[7])); + fd.pre_process(ori_img); + fd.inference(); + + vector det_results; + fd.post_process({ori_w, ori_h}, det_results); + + FaceMask fm(argv[4],atof(argv[5]), atoi(argv[7])); + FaceMaskInfo fm_result; + for (int i = 0; i < det_results.size(); ++i) + { + fm.pre_process(ori_img, det_results[i].sparse_kps.points); + fm.inference(); + fm.post_process(fm_result); + fm.draw_result(ori_img,det_results[i].bbox,fm_result); + } + cv::imwrite("face_mask_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/scoped_timing.hpp b/src/reference/ai_poc/face_mask/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_mask/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/utils.cc b/src/reference/ai_poc/face_mask/utils.cc new file mode 100755 index 000000000..15332261d --- /dev/null +++ b/src/reference/ai_poc/face_mask/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_mask/utils.h b/src/reference/ai_poc/face_mask/utils.h new file mode 100755 index 000000000..f2fe8b228 --- /dev/null +++ b/src/reference/ai_poc/face_mask/utils.h @@ -0,0 +1,307 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_mask/vi_vo.h b/src/reference/ai_poc/face_mask/vi_vo.h new file mode 100644 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_mask/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/CMakeLists.txt b/src/reference/ai_poc/face_pose/CMakeLists.txt new file mode 100755 index 000000000..5cfd1adcc --- /dev/null +++ b/src/reference/ai_poc/face_pose/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc face_detection.cc face_pose.cc anchors_320.cc anchors_640.cc) +set(bin face_pose.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/README.md b/src/reference/ai_poc/face_pose/README.md new file mode 100644 index 000000000..0fbf5945e --- /dev/null +++ b/src/reference/ai_poc/face_pose/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +人脸姿态估计，可得到图像或视频中的每个人脸的roll/yaw/pitch。roll代表了人头歪的程度；yaw代表了人头左右旋转的程度；pitch代表了人头低头抬头的程度。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./face_pose.elf +Options: + kmodel_det 人脸检测kmodel路径 + obj_thres 人脸检测阈值 + nms_thres 人脸检测nms阈值 + kmodel_fp 人脸姿态估计kmodel路径 + input_mode 本地图片(图片路径)/ 摄像头(None) + debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（face_landmark_image.sh） +./face_pose.elf face_detection_320.kmodel 0.6 0.2 face_pose.kmodel 1024x768.jpg 2 + + #视频流推理：（face_landmark_isp.sh） +./face_pose.elf face_detection_320.kmodel 0.6 0.2 face_pose.kmodel None 0 +``` + + + diff --git a/src/reference/ai_poc/face_pose/ai_base.cc b/src/reference/ai_poc/face_pose/ai_base.cc new file mode 100755 index 000000000..203f3fcc3 --- /dev/null +++ b/src/reference/ai_poc/face_pose/ai_base.cc @@ -0,0 +1,189 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/face_pose/ai_base.h b/src/reference/ai_poc/face_pose/ai_base.h new file mode 100755 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/face_pose/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/anchors_320.cc b/src/reference/ai_poc/face_pose/anchors_320.cc new file mode 100755 index 000000000..046fdbd71 --- /dev/null +++ b/src/reference/ai_poc/face_pose/anchors_320.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors320[4200][4] = {{0.012500, 0.012500, 0.050000, 0.050000}, {0.012500, 0.012500, 0.100000, 0.100000}, {0.037500, 0.012500, 0.050000, 0.050000}, {0.037500, 0.012500, 0.100000, 0.100000}, {0.062500, 0.012500, 0.050000, 0.050000}, {0.062500, 0.012500, 0.100000, 0.100000}, {0.087500, 0.012500, 0.050000, 0.050000}, {0.087500, 0.012500, 0.100000, 0.100000}, {0.112500, 0.012500, 0.050000, 0.050000}, {0.112500, 0.012500, 0.100000, 0.100000}, {0.137500, 0.012500, 0.050000, 0.050000}, {0.137500, 0.012500, 0.100000, 0.100000}, {0.162500, 0.012500, 0.050000, 0.050000}, {0.162500, 0.012500, 0.100000, 0.100000}, {0.187500, 0.012500, 0.050000, 0.050000}, {0.187500, 0.012500, 0.100000, 0.100000}, {0.212500, 0.012500, 0.050000, 0.050000}, {0.212500, 0.012500, 0.100000, 0.100000}, {0.237500, 0.012500, 0.050000, 0.050000}, {0.237500, 0.012500, 0.100000, 0.100000}, {0.262500, 0.012500, 0.050000, 0.050000}, {0.262500, 0.012500, 0.100000, 0.100000}, {0.287500, 0.012500, 0.050000, 0.050000}, {0.287500, 0.012500, 0.100000, 0.100000}, {0.312500, 0.012500, 0.050000, 0.050000}, {0.312500, 0.012500, 0.100000, 0.100000}, {0.337500, 0.012500, 0.050000, 0.050000}, {0.337500, 0.012500, 0.100000, 0.100000}, {0.362500, 0.012500, 0.050000, 0.050000}, {0.362500, 0.012500, 0.100000, 0.100000}, {0.387500, 0.012500, 0.050000, 0.050000}, {0.387500, 0.012500, 0.100000, 0.100000}, {0.412500, 0.012500, 0.050000, 0.050000}, {0.412500, 0.012500, 0.100000, 0.100000}, {0.437500, 0.012500, 0.050000, 0.050000}, {0.437500, 0.012500, 0.100000, 0.100000}, {0.462500, 0.012500, 0.050000, 0.050000}, {0.462500, 0.012500, 0.100000, 0.100000}, {0.487500, 0.012500, 0.050000, 0.050000}, {0.487500, 0.012500, 0.100000, 0.100000}, {0.512500, 0.012500, 0.050000, 0.050000}, {0.512500, 0.012500, 0.100000, 0.100000}, {0.537500, 0.012500, 0.050000, 0.050000}, {0.537500, 0.012500, 0.100000, 0.100000}, {0.562500, 0.012500, 0.050000, 0.050000}, {0.562500, 0.012500, 0.100000, 0.100000}, {0.587500, 0.012500, 0.050000, 0.050000}, {0.587500, 0.012500, 0.100000, 0.100000}, {0.612500, 0.012500, 0.050000, 0.050000}, {0.612500, 0.012500, 0.100000, 0.100000}, {0.637500, 0.012500, 0.050000, 0.050000}, {0.637500, 0.012500, 0.100000, 0.100000}, {0.662500, 0.012500, 0.050000, 0.050000}, {0.662500, 0.012500, 0.100000, 0.100000}, {0.687500, 0.012500, 0.050000, 0.050000}, {0.687500, 0.012500, 0.100000, 0.100000}, {0.712500, 0.012500, 0.050000, 0.050000}, {0.712500, 0.012500, 0.100000, 0.100000}, {0.737500, 0.012500, 0.050000, 0.050000}, {0.737500, 0.012500, 0.100000, 0.100000}, {0.762500, 0.012500, 0.050000, 0.050000}, {0.762500, 0.012500, 0.100000, 0.100000}, {0.787500, 0.012500, 0.050000, 0.050000}, {0.787500, 0.012500, 0.100000, 0.100000}, {0.812500, 0.012500, 0.050000, 0.050000}, {0.812500, 0.012500, 0.100000, 0.100000}, {0.837500, 0.012500, 0.050000, 0.050000}, {0.837500, 0.012500, 0.100000, 0.100000}, {0.862500, 0.012500, 0.050000, 0.050000}, {0.862500, 0.012500, 0.100000, 0.100000}, {0.887500, 0.012500, 0.050000, 0.050000}, {0.887500, 0.012500, 0.100000, 0.100000}, {0.912500, 0.012500, 0.050000, 0.050000}, {0.912500, 0.012500, 0.100000, 0.100000}, {0.937500, 0.012500, 0.050000, 0.050000}, {0.937500, 0.012500, 0.100000, 0.100000}, {0.962500, 0.012500, 0.050000, 0.050000}, {0.962500, 0.012500, 0.100000, 0.100000}, {0.987500, 0.012500, 0.050000, 0.050000}, {0.987500, 0.012500, 0.100000, 0.100000}, {0.012500, 0.037500, 0.050000, 0.050000}, {0.012500, 0.037500, 0.100000, 0.100000}, {0.037500, 0.037500, 0.050000, 0.050000}, {0.037500, 0.037500, 0.100000, 0.100000}, {0.062500, 0.037500, 0.050000, 0.050000}, {0.062500, 0.037500, 0.100000, 0.100000}, {0.087500, 0.037500, 0.050000, 0.050000}, {0.087500, 0.037500, 0.100000, 0.100000}, {0.112500, 0.037500, 0.050000, 0.050000}, {0.112500, 0.037500, 0.100000, 0.100000}, {0.137500, 0.037500, 0.050000, 0.050000}, {0.137500, 0.037500, 0.100000, 0.100000}, {0.162500, 0.037500, 0.050000, 0.050000}, {0.162500, 0.037500, 0.100000, 0.100000}, {0.187500, 0.037500, 0.050000, 0.050000}, {0.187500, 0.037500, 0.100000, 0.100000}, {0.212500, 0.037500, 0.050000, 0.050000}, {0.212500, 0.037500, 0.100000, 0.100000}, {0.237500, 0.037500, 0.050000, 0.050000}, {0.237500, 0.037500, 0.100000, 0.100000}, {0.262500, 0.037500, 0.050000, 0.050000}, {0.262500, 0.037500, 0.100000, 0.100000}, {0.287500, 0.037500, 0.050000, 0.050000}, {0.287500, 0.037500, 0.100000, 0.100000}, {0.312500, 0.037500, 0.050000, 0.050000}, {0.312500, 0.037500, 0.100000, 0.100000}, {0.337500, 0.037500, 0.050000, 0.050000}, {0.337500, 0.037500, 0.100000, 0.100000}, {0.362500, 0.037500, 0.050000, 0.050000}, {0.362500, 0.037500, 0.100000, 0.100000}, {0.387500, 0.037500, 0.050000, 0.050000}, {0.387500, 0.037500, 0.100000, 0.100000}, {0.412500, 0.037500, 0.050000, 0.050000}, {0.412500, 0.037500, 0.100000, 0.100000}, {0.437500, 0.037500, 0.050000, 0.050000}, {0.437500, 0.037500, 0.100000, 0.100000}, {0.462500, 0.037500, 0.050000, 0.050000}, {0.462500, 0.037500, 0.100000, 0.100000}, {0.487500, 0.037500, 0.050000, 0.050000}, {0.487500, 0.037500, 0.100000, 0.100000}, {0.512500, 0.037500, 0.050000, 0.050000}, {0.512500, 0.037500, 0.100000, 0.100000}, {0.537500, 0.037500, 0.050000, 0.050000}, {0.537500, 0.037500, 0.100000, 0.100000}, {0.562500, 0.037500, 0.050000, 0.050000}, {0.562500, 0.037500, 0.100000, 0.100000}, {0.587500, 0.037500, 0.050000, 0.050000}, {0.587500, 0.037500, 0.100000, 0.100000}, {0.612500, 0.037500, 0.050000, 0.050000}, {0.612500, 0.037500, 0.100000, 0.100000}, {0.637500, 0.037500, 0.050000, 0.050000}, {0.637500, 0.037500, 0.100000, 0.100000}, {0.662500, 0.037500, 0.050000, 0.050000}, {0.662500, 0.037500, 0.100000, 0.100000}, {0.687500, 0.037500, 0.050000, 0.050000}, {0.687500, 0.037500, 0.100000, 0.100000}, {0.712500, 0.037500, 0.050000, 0.050000}, {0.712500, 0.037500, 0.100000, 0.100000}, {0.737500, 0.037500, 0.050000, 0.050000}, {0.737500, 0.037500, 0.100000, 0.100000}, {0.762500, 0.037500, 0.050000, 0.050000}, {0.762500, 0.037500, 0.100000, 0.100000}, {0.787500, 0.037500, 0.050000, 0.050000}, {0.787500, 0.037500, 0.100000, 0.100000}, {0.812500, 0.037500, 0.050000, 0.050000}, {0.812500, 0.037500, 0.100000, 0.100000}, {0.837500, 0.037500, 0.050000, 0.050000}, {0.837500, 0.037500, 0.100000, 0.100000}, {0.862500, 0.037500, 0.050000, 0.050000}, {0.862500, 0.037500, 0.100000, 0.100000}, {0.887500, 0.037500, 0.050000, 0.050000}, {0.887500, 0.037500, 0.100000, 0.100000}, {0.912500, 0.037500, 0.050000, 0.050000}, {0.912500, 0.037500, 0.100000, 0.100000}, {0.937500, 0.037500, 0.050000, 0.050000}, {0.937500, 0.037500, 0.100000, 0.100000}, {0.962500, 0.037500, 0.050000, 0.050000}, {0.962500, 0.037500, 0.100000, 0.100000}, {0.987500, 0.037500, 0.050000, 0.050000}, {0.987500, 0.037500, 0.100000, 0.100000}, {0.012500, 0.062500, 0.050000, 0.050000}, {0.012500, 0.062500, 0.100000, 0.100000}, {0.037500, 0.062500, 0.050000, 0.050000}, {0.037500, 0.062500, 0.100000, 0.100000}, {0.062500, 0.062500, 0.050000, 0.050000}, {0.062500, 0.062500, 0.100000, 0.100000}, {0.087500, 0.062500, 0.050000, 0.050000}, {0.087500, 0.062500, 0.100000, 0.100000}, {0.112500, 0.062500, 0.050000, 0.050000}, {0.112500, 0.062500, 0.100000, 0.100000}, {0.137500, 0.062500, 0.050000, 0.050000}, {0.137500, 0.062500, 0.100000, 0.100000}, {0.162500, 0.062500, 0.050000, 0.050000}, {0.162500, 0.062500, 0.100000, 0.100000}, {0.187500, 0.062500, 0.050000, 0.050000}, {0.187500, 0.062500, 0.100000, 0.100000}, {0.212500, 0.062500, 0.050000, 0.050000}, {0.212500, 0.062500, 0.100000, 0.100000}, {0.237500, 0.062500, 0.050000, 0.050000}, {0.237500, 0.062500, 0.100000, 0.100000}, {0.262500, 0.062500, 0.050000, 0.050000}, {0.262500, 0.062500, 0.100000, 0.100000}, {0.287500, 0.062500, 0.050000, 0.050000}, {0.287500, 0.062500, 0.100000, 0.100000}, {0.312500, 0.062500, 0.050000, 0.050000}, {0.312500, 0.062500, 0.100000, 0.100000}, {0.337500, 0.062500, 0.050000, 0.050000}, {0.337500, 0.062500, 0.100000, 0.100000}, {0.362500, 0.062500, 0.050000, 0.050000}, {0.362500, 0.062500, 0.100000, 0.100000}, {0.387500, 0.062500, 0.050000, 0.050000}, {0.387500, 0.062500, 0.100000, 0.100000}, {0.412500, 0.062500, 0.050000, 0.050000}, {0.412500, 0.062500, 0.100000, 0.100000}, {0.437500, 0.062500, 0.050000, 0.050000}, {0.437500, 0.062500, 0.100000, 0.100000}, {0.462500, 0.062500, 0.050000, 0.050000}, {0.462500, 0.062500, 0.100000, 0.100000}, {0.487500, 0.062500, 0.050000, 0.050000}, {0.487500, 0.062500, 0.100000, 0.100000}, {0.512500, 0.062500, 0.050000, 0.050000}, {0.512500, 0.062500, 0.100000, 0.100000}, {0.537500, 0.062500, 0.050000, 0.050000}, {0.537500, 0.062500, 0.100000, 0.100000}, {0.562500, 0.062500, 0.050000, 0.050000}, {0.562500, 0.062500, 0.100000, 0.100000}, {0.587500, 0.062500, 0.050000, 0.050000}, {0.587500, 0.062500, 0.100000, 0.100000}, {0.612500, 0.062500, 0.050000, 0.050000}, {0.612500, 0.062500, 0.100000, 0.100000}, {0.637500, 0.062500, 0.050000, 0.050000}, {0.637500, 0.062500, 0.100000, 0.100000}, {0.662500, 0.062500, 0.050000, 0.050000}, {0.662500, 0.062500, 0.100000, 0.100000}, {0.687500, 0.062500, 0.050000, 0.050000}, {0.687500, 0.062500, 0.100000, 0.100000}, {0.712500, 0.062500, 0.050000, 0.050000}, {0.712500, 0.062500, 0.100000, 0.100000}, {0.737500, 0.062500, 0.050000, 0.050000}, {0.737500, 0.062500, 0.100000, 0.100000}, {0.762500, 0.062500, 0.050000, 0.050000}, {0.762500, 0.062500, 0.100000, 0.100000}, {0.787500, 0.062500, 0.050000, 0.050000}, {0.787500, 0.062500, 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1.600000}, {0.550000, 0.950000, 0.800000, 0.800000}, {0.550000, 0.950000, 1.600000, 1.600000}, {0.650000, 0.950000, 0.800000, 0.800000}, {0.650000, 0.950000, 1.600000, 1.600000}, {0.750000, 0.950000, 0.800000, 0.800000}, {0.750000, 0.950000, 1.600000, 1.600000}, {0.850000, 0.950000, 0.800000, 0.800000}, {0.850000, 0.950000, 1.600000, 1.600000}, {0.950000, 0.950000, 0.800000, 0.800000}, {0.950000, 0.950000, 1.600000, 1.600000}}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/anchors_640.cc b/src/reference/ai_poc/face_pose/anchors_640.cc new file mode 100755 index 000000000..07e0de7cd --- /dev/null +++ b/src/reference/ai_poc/face_pose/anchors_640.cc @@ -0,0 +1,25 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +float kAnchors640[16800][4] = {{0.006250, 0.006250, 0.025000, 0.025000}, {0.006250, 0.006250, 0.050000, 0.050000}, {0.018750, 0.006250, 0.025000, 0.025000}, {0.018750, 0.006250, 0.050000, 0.050000}, {0.031250, 0.006250, 0.025000, 0.025000}, {0.031250, 0.006250, 0.050000, 0.050000}, {0.043750, 0.006250, 0.025000, 0.025000}, {0.043750, 0.006250, 0.050000, 0.050000}, {0.056250, 0.006250, 0.025000, 0.025000}, {0.056250, 0.006250, 0.050000, 0.050000}, {0.068750, 0.006250, 0.025000, 0.025000}, {0.068750, 0.006250, 0.050000, 0.050000}, {0.081250, 0.006250, 0.025000, 0.025000}, {0.081250, 0.006250, 0.050000, 0.050000}, {0.093750, 0.006250, 0.025000, 0.025000}, {0.093750, 0.006250, 0.050000, 0.050000}, {0.106250, 0.006250, 0.025000, 0.025000}, {0.106250, 0.006250, 0.050000, 0.050000}, {0.118750, 0.006250, 0.025000, 0.025000}, {0.118750, 0.006250, 0.050000, 0.050000}, {0.131250, 0.006250, 0.025000, 0.025000}, {0.131250, 0.006250, 0.050000, 0.050000}, {0.143750, 0.006250, 0.025000, 0.025000}, {0.143750, 0.006250, 0.050000, 0.050000}, {0.156250, 0.006250, 0.025000, 0.025000}, {0.156250, 0.006250, 0.050000, 0.050000}, {0.168750, 0.006250, 0.025000, 0.025000}, {0.168750, 0.006250, 0.050000, 0.050000}, {0.181250, 0.006250, 0.025000, 0.025000}, {0.181250, 0.006250, 0.050000, 0.050000}, {0.193750, 0.006250, 0.025000, 0.025000}, {0.193750, 0.006250, 0.050000, 0.050000}, {0.206250, 0.006250, 0.025000, 0.025000}, {0.206250, 0.006250, 0.050000, 0.050000}, {0.218750, 0.006250, 0.025000, 0.025000}, {0.218750, 0.006250, 0.050000, 0.050000}, {0.231250, 0.006250, 0.025000, 0.025000}, {0.231250, 0.006250, 0.050000, 0.050000}, {0.243750, 0.006250, 0.025000, 0.025000}, {0.243750, 0.006250, 0.050000, 0.050000}, {0.256250, 0.006250, 0.025000, 0.025000}, {0.256250, 0.006250, 0.050000, 0.050000}, {0.268750, 0.006250, 0.025000, 0.025000}, {0.268750, 0.006250, 0.050000, 0.050000}, {0.281250, 0.006250, 0.025000, 0.025000}, {0.281250, 0.006250, 0.050000, 0.050000}, {0.293750, 0.006250, 0.025000, 0.025000}, {0.293750, 0.006250, 0.050000, 0.050000}, {0.306250, 0.006250, 0.025000, 0.025000}, {0.306250, 0.006250, 0.050000, 0.050000}, {0.318750, 0.006250, 0.025000, 0.025000}, {0.318750, 0.006250, 0.050000, 0.050000}, {0.331250, 0.006250, 0.025000, 0.025000}, {0.331250, 0.006250, 0.050000, 0.050000}, {0.343750, 0.006250, 0.025000, 0.025000}, {0.343750, 0.006250, 0.050000, 0.050000}, {0.356250, 0.006250, 0.025000, 0.025000}, {0.356250, 0.006250, 0.050000, 0.050000}, {0.368750, 0.006250, 0.025000, 0.025000}, {0.368750, 0.006250, 0.050000, 0.050000}, {0.381250, 0.006250, 0.025000, 0.025000}, {0.381250, 0.006250, 0.050000, 0.050000}, {0.393750, 0.006250, 0.025000, 0.025000}, {0.393750, 0.006250, 0.050000, 0.050000}, {0.406250, 0.006250, 0.025000, 0.025000}, {0.406250, 0.006250, 0.050000, 0.050000}, {0.418750, 0.006250, 0.025000, 0.025000}, {0.418750, 0.006250, 0.050000, 0.050000}, {0.431250, 0.006250, 0.025000, 0.025000}, {0.431250, 0.006250, 0.050000, 0.050000}, {0.443750, 0.006250, 0.025000, 0.025000}, {0.443750, 0.006250, 0.050000, 0.050000}, {0.456250, 0.006250, 0.025000, 0.025000}, {0.456250, 0.006250, 0.050000, 0.050000}, {0.468750, 0.006250, 0.025000, 0.025000}, {0.468750, 0.006250, 0.050000, 0.050000}, {0.481250, 0.006250, 0.025000, 0.025000}, {0.481250, 0.006250, 0.050000, 0.050000}, {0.493750, 0.006250, 0.025000, 0.025000}, {0.493750, 0.006250, 0.050000, 0.050000}, {0.506250, 0.006250, 0.025000, 0.025000}, {0.506250, 0.006250, 0.050000, 0.050000}, {0.518750, 0.006250, 0.025000, 0.025000}, {0.518750, 0.006250, 0.050000, 0.050000}, {0.531250, 0.006250, 0.025000, 0.025000}, {0.531250, 0.006250, 0.050000, 0.050000}, {0.543750, 0.006250, 0.025000, 0.025000}, {0.543750, 0.006250, 0.050000, 0.050000}, {0.556250, 0.006250, 0.025000, 0.025000}, {0.556250, 0.006250, 0.050000, 0.050000}, {0.568750, 0.006250, 0.025000, 0.025000}, {0.568750, 0.006250, 0.050000, 0.050000}, {0.581250, 0.006250, 0.025000, 0.025000}, {0.581250, 0.006250, 0.050000, 0.050000}, {0.593750, 0.006250, 0.025000, 0.025000}, {0.593750, 0.006250, 0.050000, 0.050000}, {0.606250, 0.006250, 0.025000, 0.025000}, {0.606250, 0.006250, 0.050000, 0.050000}, {0.618750, 0.006250, 0.025000, 0.025000}, {0.618750, 0.006250, 0.050000, 0.050000}, {0.631250, 0.006250, 0.025000, 0.025000}, {0.631250, 0.006250, 0.050000, 0.050000}, {0.643750, 0.006250, 0.025000, 0.025000}, {0.643750, 0.006250, 0.050000, 0.050000}, {0.656250, 0.006250, 0.025000, 0.025000}, {0.656250, 0.006250, 0.050000, 0.050000}, {0.668750, 0.006250, 0.025000, 0.025000}, {0.668750, 0.006250, 0.050000, 0.050000}, {0.681250, 0.006250, 0.025000, 0.025000}, {0.681250, 0.006250, 0.050000, 0.050000}, {0.693750, 0.006250, 0.025000, 0.025000}, {0.693750, 0.006250, 0.050000, 0.050000}, {0.706250, 0.006250, 0.025000, 0.025000}, {0.706250, 0.006250, 0.050000, 0.050000}, {0.718750, 0.006250, 0.025000, 0.025000}, {0.718750, 0.006250, 0.050000, 0.050000}, {0.731250, 0.006250, 0.025000, 0.025000}, {0.731250, 0.006250, 0.050000, 0.050000}, {0.743750, 0.006250, 0.025000, 0.025000}, {0.743750, 0.006250, 0.050000, 0.050000}, {0.756250, 0.006250, 0.025000, 0.025000}, {0.756250, 0.006250, 0.050000, 0.050000}, {0.768750, 0.006250, 0.025000, 0.025000}, {0.768750, 0.006250, 0.050000, 0.050000}, {0.781250, 0.006250, 0.025000, 0.025000}, {0.781250, 0.006250, 0.050000, 0.050000}, {0.793750, 0.006250, 0.025000, 0.025000}, {0.793750, 0.006250, 0.050000, 0.050000}, {0.806250, 0.006250, 0.025000, 0.025000}, {0.806250, 0.006250, 0.050000, 0.050000}, {0.818750, 0.006250, 0.025000, 0.025000}, {0.818750, 0.006250, 0.050000, 0.050000}, {0.831250, 0.006250, 0.025000, 0.025000}, {0.831250, 0.006250, 0.050000, 0.050000}, {0.843750, 0.006250, 0.025000, 0.025000}, {0.843750, 0.006250, 0.050000, 0.050000}, {0.856250, 0.006250, 0.025000, 0.025000}, {0.856250, 0.006250, 0.050000, 0.050000}, {0.868750, 0.006250, 0.025000, 0.025000}, {0.868750, 0.006250, 0.050000, 0.050000}, {0.881250, 0.006250, 0.025000, 0.025000}, {0.881250, 0.006250, 0.050000, 0.050000}, {0.893750, 0.006250, 0.025000, 0.025000}, {0.893750, 0.006250, 0.050000, 0.050000}, {0.906250, 0.006250, 0.025000, 0.025000}, {0.906250, 0.006250, 0.050000, 0.050000}, {0.918750, 0.006250, 0.025000, 0.025000}, {0.918750, 0.006250, 0.050000, 0.050000}, {0.931250, 0.006250, 0.025000, 0.025000}, {0.931250, 0.006250, 0.050000, 0.050000}, {0.943750, 0.006250, 0.025000, 0.025000}, {0.943750, 0.006250, 0.050000, 0.050000}, {0.956250, 0.006250, 0.025000, 0.025000}, {0.956250, 0.006250, 0.050000, 0.050000}, {0.968750, 0.006250, 0.025000, 0.025000}, {0.968750, 0.006250, 0.050000, 0.050000}, {0.981250, 0.006250, 0.025000, 0.025000}, {0.981250, 0.006250, 0.050000, 0.050000}, {0.993750, 0.006250, 0.025000, 0.025000}, {0.993750, 0.006250, 0.050000, 0.050000}, {0.006250, 0.018750, 0.025000, 0.025000}, {0.006250, 0.018750, 0.050000, 0.050000}, {0.018750, 0.018750, 0.025000, 0.025000}, {0.018750, 0.018750, 0.050000, 0.050000}, {0.031250, 0.018750, 0.025000, 0.025000}, {0.031250, 0.018750, 0.050000, 0.050000}, {0.043750, 0.018750, 0.025000, 0.025000}, {0.043750, 0.018750, 0.050000, 0.050000}, {0.056250, 0.018750, 0.025000, 0.025000}, {0.056250, 0.018750, 0.050000, 0.050000}, {0.068750, 0.018750, 0.025000, 0.025000}, {0.068750, 0.018750, 0.050000, 0.050000}, {0.081250, 0.018750, 0.025000, 0.025000}, {0.081250, 0.018750, 0.050000, 0.050000}, {0.093750, 0.018750, 0.025000, 0.025000}, {0.093750, 0.018750, 0.050000, 0.050000}, {0.106250, 0.018750, 0.025000, 0.025000}, {0.106250, 0.018750, 0.050000, 0.050000}, {0.118750, 0.018750, 0.025000, 0.025000}, {0.118750, 0.018750, 0.050000, 0.050000}, {0.131250, 0.018750, 0.025000, 0.025000}, {0.131250, 0.018750, 0.050000, 0.050000}, {0.143750, 0.018750, 0.025000, 0.025000}, {0.143750, 0.018750, 0.050000, 0.050000}, {0.156250, 0.018750, 0.025000, 0.025000}, {0.156250, 0.018750, 0.050000, 0.050000}, {0.168750, 0.018750, 0.025000, 0.025000}, {0.168750, 0.018750, 0.050000, 0.050000}, {0.181250, 0.018750, 0.025000, 0.025000}, {0.181250, 0.018750, 0.050000, 0.050000}, {0.193750, 0.018750, 0.025000, 0.025000}, {0.193750, 0.018750, 0.050000, 0.050000}, {0.206250, 0.018750, 0.025000, 0.025000}, {0.206250, 0.018750, 0.050000, 0.050000}, {0.218750, 0.018750, 0.025000, 0.025000}, {0.218750, 0.018750, 0.050000, 0.050000}, {0.231250, 0.018750, 0.025000, 0.025000}, {0.231250, 0.018750, 0.050000, 0.050000}, {0.243750, 0.018750, 0.025000, 0.025000}, {0.243750, 0.018750, 0.050000, 0.050000}, {0.256250, 0.018750, 0.025000, 0.025000}, {0.256250, 0.018750, 0.050000, 0.050000}, {0.268750, 0.018750, 0.025000, 0.025000}, {0.268750, 0.018750, 0.050000, 0.050000}, {0.281250, 0.018750, 0.025000, 0.025000}, {0.281250, 0.018750, 0.050000, 0.050000}, {0.293750, 0.018750, 0.025000, 0.025000}, {0.293750, 0.018750, 0.050000, 0.050000}, {0.306250, 0.018750, 0.025000, 0.025000}, {0.306250, 0.018750, 0.050000, 0.050000}, {0.318750, 0.018750, 0.025000, 0.025000}, {0.318750, 0.018750, 0.050000, 0.050000}, {0.331250, 0.018750, 0.025000, 0.025000}, {0.331250, 0.018750, 0.050000, 0.050000}, {0.343750, 0.018750, 0.025000, 0.025000}, {0.343750, 0.018750, 0.050000, 0.050000}, {0.356250, 0.018750, 0.025000, 0.025000}, {0.356250, 0.018750, 0.050000, 0.050000}, {0.368750, 0.018750, 0.025000, 0.025000}, {0.368750, 0.018750, 0.050000, 0.050000}, {0.381250, 0.018750, 0.025000, 0.025000}, {0.381250, 0.018750, 0.050000, 0.050000}, {0.393750, 0.018750, 0.025000, 0.025000}, {0.393750, 0.018750, 0.050000, 0.050000}, {0.406250, 0.018750, 0.025000, 0.025000}, {0.406250, 0.018750, 0.050000, 0.050000}, {0.418750, 0.018750, 0.025000, 0.025000}, {0.418750, 0.018750, 0.050000, 0.050000}, {0.431250, 0.018750, 0.025000, 0.025000}, {0.431250, 0.018750, 0.050000, 0.050000}, {0.443750, 0.018750, 0.025000, 0.025000}, {0.443750, 0.018750, 0.050000, 0.050000}, {0.456250, 0.018750, 0.025000, 0.025000}, {0.456250, 0.018750, 0.050000, 0.050000}, {0.468750, 0.018750, 0.025000, 0.025000}, {0.468750, 0.018750, 0.050000, 0.050000}, {0.481250, 0.018750, 0.025000, 0.025000}, {0.481250, 0.018750, 0.050000, 0.050000}, {0.493750, 0.018750, 0.025000, 0.025000}, {0.493750, 0.018750, 0.050000, 0.050000}, {0.506250, 0.018750, 0.025000, 0.025000}, {0.506250, 0.018750, 0.050000, 0.050000}, {0.518750, 0.018750, 0.025000, 0.025000}, {0.518750, 0.018750, 0.050000, 0.050000}, {0.531250, 0.018750, 0.025000, 0.025000}, {0.531250, 0.018750, 0.050000, 0.050000}, {0.543750, 0.018750, 0.025000, 0.025000}, {0.543750, 0.018750, 0.050000, 0.050000}, {0.556250, 0.018750, 0.025000, 0.025000}, {0.556250, 0.018750, 0.050000, 0.050000}, {0.568750, 0.018750, 0.025000, 0.025000}, {0.568750, 0.018750, 0.050000, 0.050000}, {0.581250, 0.018750, 0.025000, 0.025000}, {0.581250, 0.018750, 0.050000, 0.050000}, {0.593750, 0.018750, 0.025000, 0.025000}, {0.593750, 0.018750, 0.050000, 0.050000}, {0.606250, 0.018750, 0.025000, 0.025000}, {0.606250, 0.018750, 0.050000, 0.050000}, {0.618750, 0.018750, 0.025000, 0.025000}, {0.618750, 0.018750, 0.050000, 0.050000}, {0.631250, 0.018750, 0.025000, 0.025000}, {0.631250, 0.018750, 0.050000, 0.050000}, {0.643750, 0.018750, 0.025000, 0.025000}, {0.643750, 0.018750, 0.050000, 0.050000}, {0.656250, 0.018750, 0.025000, 0.025000}, {0.656250, 0.018750, 0.050000, 0.050000}, {0.668750, 0.018750, 0.025000, 0.025000}, {0.668750, 0.018750, 0.050000, 0.050000}, {0.681250, 0.018750, 0.025000, 0.025000}, {0.681250, 0.018750, 0.050000, 0.050000}, {0.693750, 0.018750, 0.025000, 0.025000}, 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0.975000, 0.800000, 0.800000}, {0.475000, 0.975000, 0.400000, 0.400000}, {0.475000, 0.975000, 0.800000, 0.800000}, {0.525000, 0.975000, 0.400000, 0.400000}, {0.525000, 0.975000, 0.800000, 0.800000}, {0.575000, 0.975000, 0.400000, 0.400000}, {0.575000, 0.975000, 0.800000, 0.800000}, {0.625000, 0.975000, 0.400000, 0.400000}, {0.625000, 0.975000, 0.800000, 0.800000}, {0.675000, 0.975000, 0.400000, 0.400000}, {0.675000, 0.975000, 0.800000, 0.800000}, {0.725000, 0.975000, 0.400000, 0.400000}, {0.725000, 0.975000, 0.800000, 0.800000}, {0.775000, 0.975000, 0.400000, 0.400000}, {0.775000, 0.975000, 0.800000, 0.800000}, {0.825000, 0.975000, 0.400000, 0.400000}, {0.825000, 0.975000, 0.800000, 0.800000}, {0.875000, 0.975000, 0.400000, 0.400000}, {0.875000, 0.975000, 0.800000, 0.800000}, {0.925000, 0.975000, 0.400000, 0.400000}, {0.925000, 0.975000, 0.800000, 0.800000}, {0.975000, 0.975000, 0.400000, 0.400000}, {0.975000, 0.975000, 0.800000, 0.800000}}; diff --git a/src/reference/ai_poc/face_pose/face_detection.cc b/src/reference/ai_poc/face_pose/face_detection.cc new file mode 100755 index 000000000..e98c74da2 --- /dev/null +++ b/src/reference/ai_poc/face_pose/face_detection.cc @@ -0,0 +1,414 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_detection.h" + +extern float kAnchors320[4200][4]; +extern float kAnchors640[16800][4]; +static float (*g_anchors)[4]; + +cv::Scalar color_list_for_det[] = { + cv::Scalar(0, 0, 255), + cv::Scalar(0, 255, 255), + cv::Scalar(255, 0, 255), + cv::Scalar(0, 255, 0), + cv::Scalar(255, 0, 0) +}; + +cv::Scalar color_list_for_osd_det[] = { + cv::Scalar(255, 0, 0, 255), + cv::Scalar(255, 0, 255, 255), + cv::Scalar(255, 255, 0, 255), + cv::Scalar(255, 0, 255, 0), + cv::Scalar(255, 255, 0, 0) +}; + +int nms_comparator(const void *pa, const void *pb) +{ + NMSRoiObj a = *(NMSRoiObj *)pa; + NMSRoiObj b = *(NMSRoiObj *)pb; + float diff = a.confidence - b.confidence; + + if (diff < 0) + return 1; + else if (diff > 0) + return -1; + return 0; +} + +// for image +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +FaceDetection::FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : obj_thresh_(obj_thresh), AIBase(kmodel_file,"FaceDetection", debug_mode) +{ + model_name_ = "FaceDetection"; + nms_thresh_ = nms_thresh; + int net_len = input_shapes_[0][2]; // input_shapes_[0][2]==input_shapes_[0][3] + min_size_ = (net_len == 320 ? 200 : 800); + g_anchors = (net_len == 320 ? kAnchors320 : kAnchors640); + objs_num_ = min_size_ * (1 + 4 + 16); + vaddr_ = vaddr; + + so_ = new NMSRoiObj[objs_num_]; + boxes_ = new float[objs_num_ * LOC_SIZE]; + landmarks_ = new float[objs_num_ * LAND_SIZE]; + + // ai2d_in_tensor to isp + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + + ai2d_out_tensor_ = get_input_tensor(0); + + // fixed padding resize param + Utils::padding_resize_one_side(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// opencv for image +void FaceDetection::pre_process(cv::Mat ori_img, std::vector &dst) +{ + ScopedTiming st(model_name_ + " pre_process", debug_mode_); + cv::Mat padding_resize_img = Utils::padding_resize(ori_img, {input_shapes_[0][3], input_shapes_[0][2]}); + Utils::hwc_to_chw(padding_resize_img, dst); +} + +// ai2d for image +void FaceDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_one_side({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(104, 117, 123)); +} + +// ai2d for video +void FaceDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_color_image("FaceDetection_input_padding.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FaceDetection::inference() +{ + this->run(); + this->get_output(); +} + +void FaceDetection::post_process(FrameSize frame_size, vector &results) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int obj_cnt = 0; + deal_conf(p_outputs_[3], so_, 16 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[4], so_, 4 * min_size_ / 2, obj_cnt); + deal_conf(p_outputs_[5], so_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_loc(p_outputs_[0], boxes_, 16 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[1], boxes_, 4 * min_size_ / 2, obj_cnt); + deal_loc(p_outputs_[2], boxes_, 1 * min_size_ / 2, obj_cnt); + obj_cnt = 0; + deal_landms(p_outputs_[6], landmarks_, 16 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[7], landmarks_, 4 * min_size_ / 2, obj_cnt); + deal_landms(p_outputs_[8], landmarks_, 1 * min_size_ / 2, obj_cnt); + qsort(so_, objs_num_, sizeof(NMSRoiObj), nms_comparator); + + get_final_box(frame_size, results); +} + +void FaceDetection::draw_result(cv::Mat& src_img,vector& results, bool pic_mode) +{ + int src_w = src_img.cols; + int src_h = src_img.rows; + int max_src_size = std::max(src_w,src_h); + for (int i = 0; i < results.size(); ++i) + { + auto& l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + if(pic_mode) + { + int32_t x0 = l.points[2 * ll + 0]; + int32_t y0 = l.points[2 * ll + 1]; + cv::circle(src_img, cv::Point(x0, y0), 2, color_list_for_det[ll], 4); + } + else + { + int32_t x0 = src_w - l.points[2 * ll]/isp_shape_.width*src_w; + int32_t y0 = src_h - l.points[2 * ll+1]/isp_shape_.height*src_h; + cv::circle(src_img, cv::Point(x0, y0), 4, color_list_for_osd_det[ll], 8); + } + } + + auto& b = results[i].bbox; + char text[10]; + sprintf(text, "%.2f", results[i].score); + if(pic_mode) + { + cv::rectangle(src_img, cv::Rect(b.x, b.y , b.w, b.h), cv::Scalar(255, 255, 255), 2, 2, 0); + cv::putText(src_img, text , {b.x,b.y}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + else + { + int x = src_w - (b.x + b.w)/ isp_shape_.width * src_w; + int y = src_h - (b.y + b.h) / isp_shape_.height * src_h; + int w = b.w / isp_shape_.width * src_w; + int h = b.h / isp_shape_.height * src_h; + cv::rectangle(src_img, cv::Rect(x, y , w, h), cv::Scalar(255,255, 255, 255), 6, 2, 0); + // cv::putText(src_img, text , {x--10, y-10}, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(255,0, 255, 255), 1, 8, 0); + } + } +} + +void FaceDetection::get_final_box(FrameSize &frame_size, vector &results) +{ + int iou_cal_times = 0; + int i, j, obj_index; + for (i = 0; i < objs_num_; ++i) + { + obj_index = so_[i].index; + if (so_[i].confidence < obj_thresh_) + continue; + FaceDetectionInfo obj; + obj.bbox = get_box(boxes_, obj_index); + obj.sparse_kps = get_landmark(landmarks_, obj_index); + + for (j = i + 1; j < objs_num_; ++j) + { + obj_index = so_[j].index; + if (so_[j].confidence < obj_thresh_) + continue; + Bbox b = get_box(boxes_, obj_index); + iou_cal_times += 1; + if (box_iou(obj.bbox, b) >= nms_thresh_) // thres + so_[j].confidence = 0; + } + obj.score = so_[i].confidence; + results.push_back(obj); + } + + // for src img + int max_src_size = std::max(frame_size.width, frame_size.height); + for (int i = 0; i < results.size(); ++i) + { + auto &l = results[i].sparse_kps; + for (uint32_t ll = 0; ll < 5; ll++) + { + l.points[2 * ll + 0] = l.points[2 * ll + 0] * max_src_size; + l.points[2 * ll + 1] = l.points[2 * ll + 1] * max_src_size; + } + + auto &b = results[i].bbox; + float x1 = (b.x + b.w) * max_src_size; + float x0 = (b.x) * max_src_size; + float y0 = (b.y) * max_src_size; + float y1 = (b.y + b.h) * max_src_size; + x1 = std::max(float(0), std::min(x1, float(frame_size.width))); + x0 = std::max(float(0), std::min(x0, float(frame_size.width))); + y0 = std::max(float(0), std::min(y0, float(frame_size.height))); + y1 = std::max(float(0), std::min(y1, float(frame_size.height))); + b.x = x0; + b.y = y0; + b.w = x1 - x0; + b.h = y1 - y0; + } +} + +void FaceDetection::local_softmax(float *x, float *dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + +void FaceDetection::deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt) +{ + float confidence[CONF_SIZE] = {0.0}; + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < CONF_SIZE; cc++) + { + confidence[cc] = conf[(hh * CONF_SIZE + cc) * size + ww]; + } + local_softmax(confidence, confidence, 2); + so_[obj_cnt].index = obj_cnt; + so_[obj_cnt].confidence = confidence[1]; + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_loc(float *loc, float *boxes, int size, int &obj_cnt) +{ + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LOC_SIZE; cc++) + { + boxes_[obj_cnt * LOC_SIZE + cc] = loc[(hh * LOC_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +void FaceDetection::deal_landms(float *landms, float *landmarks, int size, int &obj_cnt) +{ + // chw->hwc + for (uint32_t ww = 0; ww < size; ww++) + { + for (uint32_t hh = 0; hh < 2; hh++) + { + for (uint32_t cc = 0; cc < LAND_SIZE; cc++) + { + landmarks_[obj_cnt * LAND_SIZE + cc] = landms[(hh * LAND_SIZE + cc) * size + ww]; + } + obj_cnt += 1; + } + } +} + +Bbox FaceDetection::get_box(float *boxes, int obj_index) +{ + float cx, cy, w, h; + cx = boxes_[obj_index * LOC_SIZE + 0]; + cy = boxes_[obj_index * LOC_SIZE + 1]; + w = boxes_[obj_index * LOC_SIZE + 2]; + h = boxes_[obj_index * LOC_SIZE + 3]; + cx = g_anchors[obj_index][0] + cx * 0.1 * g_anchors[obj_index][2]; + cy = g_anchors[obj_index][1] + cy * 0.1 * g_anchors[obj_index][3]; + w = g_anchors[obj_index][2] * expf(w * 0.2); + h = g_anchors[obj_index][3] * expf(h * 0.2); + Bbox box; + box.x = cx - w / 2; + box.y = cy - w / 2; + box.w = w; + box.h = h; + return box; +} + +SparseLandmarks FaceDetection::get_landmark(float *landmarks, int obj_index) +{ + SparseLandmarks landmark; + for (uint32_t ll = 0; ll < 5; ll++) + { + landmark.points[2 * ll + 0] = g_anchors[obj_index][0] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 0] * 0.1 * g_anchors[obj_index][2]; + landmark.points[2 * ll + 1] = g_anchors[obj_index][1] + landmarks_[obj_index * LAND_SIZE + 2 * ll + 1] * 0.1 * g_anchors[obj_index][3]; + } + return landmark; +} + +float FaceDetection::overlap(float x1, float w1, float x2, float w2) +{ + float l1 = x1 - w1 / 2; + float l2 = x2 - w2 / 2; + float left = l1 > l2 ? l1 : l2; + float r1 = x1 + w1 / 2; + float r2 = x2 + w2 / 2; + float right = r1 < r2 ? r1 : r2; + return right - left; +} + +float FaceDetection::box_intersection(Bbox a, Bbox b) +{ + float w = overlap(a.x, a.w, b.x, b.w); + float h = overlap(a.y, a.h, b.y, b.h); + + if (w < 0 || h < 0) + return 0; + return w * h; +} + +float FaceDetection::box_union(Bbox a, Bbox b) +{ + float i = box_intersection(a, b); + float u = a.w * a.h + b.w * b.h - i; + + return u; +} + +float FaceDetection::box_iou(Bbox a, Bbox b) +{ + return box_intersection(a, b) / box_union(a, b); +} + +FaceDetection::~FaceDetection() +{ + delete[] so_; + delete[] boxes_; + delete[] landmarks_; +} diff --git a/src/reference/ai_poc/face_pose/face_detection.h b/src/reference/ai_poc/face_pose/face_detection.h new file mode 100755 index 000000000..4e4331600 --- /dev/null +++ b/src/reference/ai_poc/face_pose/face_detection.h @@ -0,0 +1,253 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_DETECTION_H +#define _FACE_DETECTION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +#define LOC_SIZE 4 +#define CONF_SIZE 2 +#define LAND_SIZE 10 +#define PI 3.1415926 + +/** + * @brief 用于NMS排序的roi对象 + */ +typedef struct NMSRoiObj +{ + int index; // roi对象所在原列表的索引 + float confidence; // roi对象的置信度 +} NMSRoiObj; + +/** + * @brief 预测人脸roi信息 + */ +typedef struct FaceDetectionInfo +{ + Bbox bbox; // 人脸检测框 + SparseLandmarks sparse_kps; // 人脸五官关键点 + float score; // 人脸检测框置信度 +} FaceDetectionInfo; + +/** + * @brief 人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FaceDetection : public AIBase +{ +public: + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode = 1); + + /** + * @brief FaceDetection构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 人脸检测阈值，用于过滤roi + * @param nms_thresh 人脸检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FaceDetection(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FaceDetection析构函数 + * @return None + */ + ~FaceDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param dst 处理后NCHW的图像数据 + * @return None + */ + void pre_process(cv::Mat ori_img, std::vector &dst); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &results); + + /** + * @brief 将检测结果画到原图 + * @param src_img 原图 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_result(cv::Mat& src_img,vector& results, bool pic_mode = true); + +private: + /** + * @brief softmax操作 + * @param x 需要处理数据指针 + * @param dx 处理数据后的指针 + * @param len 需要处理数据长度 + * @return None + */ + void local_softmax(float *x, float *dx, uint32_t len); + + /** + * @brief roi置信度后处理 + * @param conf 指向模型推理得到的首个roi置信度的指针 + * @param so 指向经过softmax之后首个roi置信度的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_conf会被调用多次 + * @return None + */ + void deal_conf(float *conf, NMSRoiObj *so, int size, int &obj_cnt); + + /** + * @brief roi位置（location）后处理 + * @param loc 模型推理后，指向首个roi位置的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi位置的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_loc会被调用多次 + * @return None + */ + void deal_loc(float *loc, float *boxes, int size, int &obj_cnt); + + /** + * @brief roi五官关键点后处理 + * @param landms 模型推理后，指向首个roi对应的五官关键点的指针 + * @param boxes 经过NCHW-NHWC之后，指向首个roi对应的五官关键点的指针 + * @param size 需要处理roi个数 + * @param obj_cnt 已经处理的roi个数，deal_landms会被调用多次 + * @return None + */ + void deal_landms(float *landms, float *landmarks, int size, int &obj_cnt); + + /** + * @brief 根据索引值得到单个roi检测框 + * @param boxes 指向首个roi的检测框的指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + Bbox get_box(float *boxes, int obj_index); + + /** + * @brief 根据索引值得到单个roi对应的五官关键点 + * @param landmarks 指向首个roi对应的五官关键点指针 + * @param obj_index 需要获取的roi索引 + * @return None + */ + SparseLandmarks get_landmark(float *landmarks, int obj_index); + + /** + * @brief 获取2个检测框重叠区域的左上角或右下角 + * @param x1 第1个检测框的中心点x或y坐标 + * @param w1 第1个检测框的宽（w）或高（h） + * @param x2 第2个检测框的中心点x或y坐标 + * @param w2 第2个检测框的宽（w）或高（h） + * @return 2个检测框重叠区域的宽或高 + */ + float overlap(float x1, float w1, float x2, float w2); + + /** + * @brief 获取2个检测框重叠区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠区域的面积 + */ + float box_intersection(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框联合区域的面积 + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框重叠联合区域的面积 + */ + float box_union(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param a 第1个检测框 + * @param b 第2个检测框 + * @return 2个检测框的iou + */ + float box_iou(Bbox a, Bbox b); + + /** + * @brief 获取2个检测框的iou + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的{检测框、五官点和得分}集合 + * @return None + */ + void get_final_box(FrameSize &frame_size, vector &results); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + int min_size_; + float obj_thresh_; // 人脸检测阈值 + float nms_thresh_; // nms阈值 + int objs_num_; // roi个数 + + NMSRoiObj *so_; // 指向经过softmax之后首个roi置信度的指针 + float *boxes_; // 指向首个roi检测框的指针 + float *landmarks_; // 指向首个roi对应五官关键点的指针 +}; + +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/face_pose.cc b/src/reference/ai_poc/face_pose/face_pose.cc new file mode 100755 index 000000000..8e860d5bf --- /dev/null +++ b/src/reference/ai_poc/face_pose/face_pose.cc @@ -0,0 +1,242 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "face_pose.h" +#include + +#define PI (3.1415926) + +FacePose::FacePose(const char *kmodel_file, const int debug_mode) : AIBase(kmodel_file,"FacePose",debug_mode) +{ + model_name_ = "FacePose"; + ai2d_out_tensor_ = get_input_tensor(0); +} + +FacePose::FacePose(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"FacePose", debug_mode) +{ + model_name_ = "FacePose"; + + // input->isp（Fixed size） + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +FacePose::~FacePose() +{ +} + +// ai2d for image +void FacePose::pre_process(cv::Mat ori_img, Bbox& bbox) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + get_affine_matrix(bbox); + + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + Utils::affine({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, affine_matrix_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FacePose_input_gray.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +// ai2d for video +void FacePose::pre_process(Bbox& bbox) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); + get_affine_matrix(bbox); + +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + // run ai2d +#endif + Utils::affine(affine_matrix_, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); + + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + // Utils::dump_gray_image("FacePose_input.png",{input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void FacePose::inference() +{ + this->run(); + this->get_output(); +} + +void FacePose::post_process(FacePoseInfo& result) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + get_euler(p_outputs_[0], result); +} + +void FacePose::draw_result(cv::Mat& src_img,Bbox& bbox,FacePoseInfo& result, bool pic_mode) +{ + int src_width = src_img.cols; + int src_height = src_img.rows; + + float height = bbox.h; + float width = bbox.w; + float center_x = bbox.x + bbox.w / 2.0 ; + float center_y = bbox.y + bbox.h / 2.0 ; + float projections[8][3] = { 0.0 }; + float radius = 0.5 * (height > width ? height : width); + build_projection_matrix(radius, &projections[0][0]); + + std::vector first_points; + std::vector second_points; + for (uint32_t pp = 0; pp < 8; pp++) + { + cv::Point point; + float sum_x = 0.0, sum_y = 0.0; + int x, y; + for (uint32_t cc = 0; cc < 3; cc++) + { + sum_x += projections[pp][cc] * R[cc][0]; + sum_y += projections[pp][cc] * (-R[cc][1]); + } + if(pic_mode) + { + x = static_cast(sum_x + center_x); + y = static_cast(sum_y + center_y); + } + else + { + x = src_width - (sum_x + center_x)/isp_shape_.width*src_width; + y = src_height - (sum_y + center_y)/isp_shape_.height*src_height; + } + //check + point.x = std::max(0, std::min(x, src_width)); + point.y = std::max(0, std::min(y, src_height)); + if(pp<4) + first_points.push_back(point); + else + second_points.push_back(point); + } + + if(pic_mode) + { + cv::polylines(src_img, first_points, true, cv::Scalar(0, 0, 255), 2, 8, 0); + cv::polylines(src_img, second_points, true, cv::Scalar(0, 0, 255), 2, 8, 0); + for (uint32_t ll = 0; ll < 4; ll++) + { + cv::line(src_img, first_points[ll], second_points[ll], cv::Scalar(0, 0, 255), 5, 8, 0); + } + char text[50]={0}; + sprintf(text, "roll:%.2f,yaw:%.2f,pitch:%.2f.",result.roll,result.yaw,result.pitch); + int x = bbox.x; + int y = bbox.y; + cv::putText(src_img, text, {std::max(int(x-10),0), std::max(int(y-10),0)}, cv::FONT_HERSHEY_COMPLEX, 0.8, cv::Scalar(255, 0, 0), 2, 4, 0); + } + else + { + cv::polylines(src_img, first_points, true, cv::Scalar(255, 0, 0, 255), 5, 8, 0); + cv::polylines(src_img, second_points, true, cv::Scalar(255, 0, 0, 255), 5, 8, 0); + for (uint32_t ll = 0; ll < 4; ll++) + { + cv::line(src_img, first_points[ll], second_points[ll], cv::Scalar(255, 0, 0, 255), 5, 8, 0); + } + // char text[50]; + // sprintf(text, "roll:%.2f,yaw:%.2f,pitch:%.2f",result.roll,result.yaw,result.pitch); + // int x = src_width - (bbox.y + bbox.h)/ isp_shape_.height * src_width; + // int y = bbox.x / isp_shape_.width * src_height; + // cv::putText(src_img, text, {std::max(int(x-10),0), std::max(int(y-10),0)}, cv::FONT_HERSHEY_COMPLEX, 1.2, cv::Scalar(255, 0, 0, 255), 2, 4, 0); + } +} + +void FacePose::get_affine_matrix(Bbox& bbox) +{ + float factor = 2.7; + float edge_size = input_shapes_[0][2]; + float trans_distance = edge_size / 2.0; + float height = bbox.h; + float width = bbox.w; + float center_x = bbox.x + bbox.w / 2.0 ; + float center_y = bbox.y + bbox.h / 2.0 ; + float maximum_edge = factor * (height > width ? height : width); + float scale = edge_size * 2.0 / maximum_edge; + float cx = trans_distance - scale * center_x; + float cy = trans_distance - scale * center_y; + affine_matrix_[0] = scale; + affine_matrix_[1] = 0; + affine_matrix_[2] = cx; + affine_matrix_[3] = 0; + affine_matrix_[4] = scale; + affine_matrix_[5] = cy; +} + +void FacePose::rotation_matrix_to_euler_angles(float (*R)[3], FacePoseInfo& eular) +{ + float sy = sqrtf(powf(R[0][0], 2) + powf(R[1][0], 2)); + if (sy < 1e-6) + { + eular.pitch = atan2f(-R[1][2], R[1][1]) * 180 / PI; + eular.yaw = atan2f(-R[2][0], sy) * 180 / PI; + eular.roll = 0; + } + else + { + eular.pitch = atan2f(R[2][1], R[2][2]) * 180 / PI; + eular.yaw = atan2f(-R[2][0], sy) * 180 / PI; + eular.roll = atan2f(R[1][0], R[0][0]) * 180 / PI; + } +} + +void FacePose::build_projection_matrix(float rear_size, float *projections) +{ + float rear_depth = 0; + float factor = sqrtf(2.0); + float front_size = factor * rear_size; + float front_depth = factor * rear_size; + float temp[8][3] = { {-rear_size, -rear_size, rear_depth}, + {-rear_size, rear_size, rear_depth}, + {rear_size, rear_size, rear_depth}, + {rear_size, -rear_size, rear_depth}, + {-front_size, -front_size, front_depth}, + {-front_size, front_size, front_depth}, + {front_size, front_size, front_depth}, + {front_size, -front_size, front_depth}, + }; + memcpy(projections, temp, 8 * 3 * sizeof(float)); +} + +void FacePose::get_euler(float *data, FacePoseInfo& eular) +{ + for(uint32_t hh = 0; hh < 3; hh++) + { + memcpy(&R[hh][0], data + hh * 4, 3 * sizeof(float)); + } + rotation_matrix_to_euler_angles(R, eular); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/face_pose.h b/src/reference/ai_poc/face_pose/face_pose.h new file mode 100755 index 000000000..5ffc5b807 --- /dev/null +++ b/src/reference/ai_poc/face_pose/face_pose.h @@ -0,0 +1,156 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _FACE_MASK_H +#define _FACE_MASK_H + +#include +#include "utils.h" +#include "ai_base.h" + +using std::vector; + +/** + * @brief 人脸姿态估计结果 + */ +typedef struct FacePoseInfo +{ + float roll; //eular[2],滚转角,转头 + float yaw; //eular[1],偏航角,摇头 + float pitch; //eular[0],俯仰角,抬头 +} FacePoseInfo; + +/** + * @brief 基于Retinaface的人脸检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class FacePose : public AIBase +{ +public: + /** + * @brief FacePose构造函数，加载kmodel,并初始化kmodel输入、输出(for image) + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FacePose(const char *kmodel_file, const int debug_mode = 1); + + /** + * @brief FacePose构造函数，加载kmodel,并初始化kmodel输入、输出和人脸检测阈值(for isp) + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + FacePose(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief FacePose析构函数 + * @return None + */ + ~FacePose(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param bbox 原始图片中人脸检测框位置 + * @return None + */ + void pre_process(cv::Mat ori_img, Bbox& bbox); + + /** + * @brief 视频流预处理 + * @param bbox 原始图片中人脸检测框位置 + * @return None + */ + void pre_process(Bbox& bbox); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param result 人脸姿态估计结果 + * @return None + */ + void post_process(FacePoseInfo& result); + + /** + * @brief 将处理好的分类结果画到原图 + * @param src_img 原图 + * @param bbox 人脸的检测框位置 + * @param result 人脸姿态估计结果 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + + void draw_result(cv::Mat& src_img,Bbox& bbox, FacePoseInfo& result, bool pic_mode=true); + +private: + /** + * @brief 获取affine矩阵 + * @param bbox 根据检测框获取affine变换矩阵 + * @return None + */ + void get_affine_matrix(Bbox& bbox); + + /** + * @brief 根据旋转矩阵获得欧拉角 + * @param R 旋转矩阵 + * @param eular 欧拉角 + * @return None + */ + void rotation_matrix_to_euler_angles(float (*R)[3], FacePoseInfo& eular); + + /** + * @brief 构建投影矩阵函数 + * @param rear_size 控制投影矩阵大小的参数 + * @param projections 存储投影矩阵的数组指针 + * @return None + */ + void build_projection_matrix(float rear_size, float *projections); + + /** + * @brief 根据模型推理数据计算欧欧拉角 + * @param data 模型推理得到的数据 + * @param eular 欧拉角 + * @return None + */ + void get_euler(float *data, FacePoseInfo& eular); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + float affine_matrix_[6] = {0.0}; // 人脸affine的变换矩阵 + float R[3][3] = {0.0}; // 旋转矩阵（与欧拉角对应） +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/main.cc b/src/reference/ai_poc/face_pose/main.cc new file mode 100755 index 000000000..d7b100045 --- /dev/null +++ b/src/reference/ai_poc/face_pose/main.cc @@ -0,0 +1,202 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "face_detection.h" +#include "face_pose.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 人脸检测kmodel路径\n" + << " obj_thres 人脸检测阈值\n" + << " nms_thres 人脸检测nms阈值\n" + << " kmodel_fp 人脸姿态估计kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + FaceDetection fd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + FacePose fp(argv[4], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + vector det_results; + FacePoseInfo pose_result; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + det_results.clear(); + + fd.pre_process(); + fd.inference(); + // 旋转后图像 + fd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, det_results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (int i = 0; i < det_results.size(); ++i) + { + fp.pre_process(det_results[i].bbox); + fp.inference(); + fp.post_process(pose_result); + { + ScopedTiming st("osd draw", atoi(argv[6])); + fp.draw_result(osd_frame,det_results[i].bbox,pose_result,false); + } + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[5], "None") == 0) + { + // video + // if (getchar() != 'q') + // { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + // } + } + else + { + cv::Mat ori_img = cv::imread(argv[5]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + FaceDetection fd(argv[1], atof(argv[2]), atof(argv[3]), atoi(argv[6])); + fd.pre_process(ori_img); + fd.inference(); + + vector det_results; + fd.post_process({ori_w, ori_h}, det_results); + + FacePose fp(argv[4], atoi(argv[6])); + FacePoseInfo pose_result; + + for (int i = 0; i < det_results.size(); ++i) + { + fp.pre_process(ori_img,det_results[i].bbox); + fp.inference(); + fp.post_process(pose_result); + { + fp.draw_result(ori_img,det_results[i].bbox,pose_result); + } + } + cv::imwrite("face_pose_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/scoped_timing.hpp b/src/reference/ai_poc/face_pose/scoped_timing.hpp new file mode 100755 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/face_pose/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/utils.cc b/src/reference/ai_poc/face_pose/utils.cc new file mode 100755 index 000000000..15332261d --- /dev/null +++ b/src/reference/ai_poc/face_pose/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} \ No newline at end of file diff --git a/src/reference/ai_poc/face_pose/utils.h b/src/reference/ai_poc/face_pose/utils.h new file mode 100755 index 000000000..f2fe8b228 --- /dev/null +++ b/src/reference/ai_poc/face_pose/utils.h @@ -0,0 +1,307 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/face_pose/vi_vo.h b/src/reference/ai_poc/face_pose/vi_vo.h new file mode 100755 index 000000000..37bf7f41a --- /dev/null +++ b/src/reference/ai_poc/face_pose/vi_vo.h @@ -0,0 +1,659 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_HEIGHT (1920) //(1080) +#define ISP_CHN0_WIDTH (1088) //(1920) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_height (1920) +#define osd_width (1080) + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/falldown_detect/CMakeLists.txt b/src/reference/ai_poc/falldown_detect/CMakeLists.txt new file mode 100644 index 000000000..75923d935 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc falldown_detect.cc ) +set(bin falldown_detect.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/falldown_detect/README.md b/src/reference/ai_poc/falldown_detect/README.md new file mode 100644 index 000000000..5ef1079d3 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/README.md @@ -0,0 +1,21 @@ +# 1.简介 + +摔倒检测采用了yolov5网络结构。使用该应用，可检测到图像或视频中摔倒的人。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./falldown_detect.elf +For example: + [for img] ./falldown_detect.elf yolov5n-falldown.kmodel 0.5 0.45 falldown_elder.jpg 0 + [for isp] ./falldown_detect.elf yolov5n-falldown.kmodel 0.3 0.45 None 0 +Options: + 1> kmodel 摔倒检测kmodel文件路径 + 2> fdd_thresh 摔倒检测阈值 + 3> nms_thresh NMS阈值 + 4> input_mode 本地图片(图片路径)/ 摄像头(None) + 5> debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 +``` + diff --git a/src/reference/ai_poc/falldown_detect/ai_base.cc b/src/reference/ai_poc/falldown_detect/ai_base.cc new file mode 100644 index 000000000..ad3c804d0 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/ai_base.cc @@ -0,0 +1,187 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/falldown_detect/ai_base.h b/src/reference/ai_poc/falldown_detect/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/falldown_detect/falldown_detect.cc b/src/reference/ai_poc/falldown_detect/falldown_detect.cc new file mode 100644 index 000000000..4d84d1a53 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/falldown_detect.cc @@ -0,0 +1,140 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.f + */ + +#include "falldown_detect.h" +#include "utils.h" + + +// for image +falldownDetect::falldownDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode): obj_thresh_(obj_thresh),nms_thresh_(nms_thresh), AIBase(kmodel_file,"falldownDetect", debug_mode) +{ + + model_name_ = "falldownDetect"; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +falldownDetect::falldownDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode): obj_thresh_(obj_thresh),nms_thresh_(nms_thresh), AIBase(kmodel_file,"falldownDetect", debug_mode) +{ + model_name_ = "falldownDetect"; + + vaddr_ = vaddr; + + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape_.channel, isp_shape_.height, isp_shape_.width}; + int isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + #if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); + #else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); + #endif + + // ai2d_out_tensor + ai2d_out_tensor_ = get_input_tensor(0); + // fixed padding resize param + Utils::padding_resize(isp_shape_, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +falldownDetect::~falldownDetect() +{ + +} + +// ai2d for image +void falldownDetect::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +// ai2d for video +void falldownDetect::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); + #if 0 + ai2d_builder_->invoke().expect("error occurred in ai2d running"); + #else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); + // run ai2d + #endif + +} + +void falldownDetect::inference() +{ + this->run(); + this->get_output(); +} + +void falldownDetect::post_process(FrameSize frame_size,std::vector &result) +{ + + int net_len = input_shapes_[0][2]; + // first output + { + + float *output_0 = p_outputs_[0]; + + int first_len = net_len / 8; + int first_size = first_len * first_len; + + auto boxes0 = Utils::decode_infer(output_0, net_len, 8, classes_num_, frame_size, anchors_0_, obj_thresh_); + result.insert(result.begin(), boxes0.begin(), boxes0.end()); + } + + // second output + { + + float *output_1 = p_outputs_[1]; + + int second_len = net_len / 16; + int second_size = second_len * second_len; + + auto boxes1 = Utils::decode_infer(output_1, net_len, 16, classes_num_, frame_size, anchors_1_, obj_thresh_); + result.insert(result.begin(), boxes1.begin(), boxes1.end()); + } + + // third output + { + float *output_2 = p_outputs_[2]; + + int third_len = net_len / 32; + int third_size = third_len * third_len; + + auto boxes2 = Utils::decode_infer(output_2, net_len, 32, classes_num_, frame_size, anchors_2_, obj_thresh_); + result.insert(result.begin(), boxes2.begin(), boxes2.end()); + } + + Utils::nms(result, nms_thresh_); +} + diff --git a/src/reference/ai_poc/falldown_detect/falldown_detect.h b/src/reference/ai_poc/falldown_detect/falldown_detect.h new file mode 100644 index 000000000..5b3c5c4e1 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/falldown_detect.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _FALLDOWN_DETECT +#define _FALLDOWN_DETECT + +#include +#include +#include "utils.h" +#include "ai_base.h" + + +/** + * @brief 摔倒检测任务 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class falldownDetect: public AIBase +{ + public: + + /** + * for image + * @brief falldownDetect 构造函数，加载kmodel,并初始化kmodel输入、输出、类阈值和NMS阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 检测框阈值 + * @param nms_thresh NMS阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + falldownDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode); + + /** + * for video + * @brief falldownDetect 构造函数，加载kmodel,并初始化kmodel输入、输出、类阈值和NMS阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 检测框阈值 + * @param nms_thresh NMS阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + falldownDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + /** + * @brief falldownDetect 析构函数 + * @return None + */ + ~falldownDetect(); + + /** + * @brief 图片预处理（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for video） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief postprocess 函数，对输出解码后的结果，进行NMS处理 + * @param frame_size 帧大小 + * @param result 所有候选检测框 + * @return None + */ + void post_process(FrameSize frame_size,std::vector &result); + + std::vector labels { "Fall","NoFall" }; // 类别标签 + + private: + float obj_thresh_; // 检测框阈值 + float nms_thresh_; // NMS阈值 + + int anchors_num_ = 3; // 锚框个数 + int classes_num_ = 2; // 类别数 + int channels_ = anchors_num_ * (5 + classes_num_); // 通道数 + float anchors_0_[3][2] = { { 10, 13 }, { 16, 30 }, { 33, 23 } }; // 第一组锚框 + float anchors_1_[3][2] = { { 30, 61 }, { 62, 45 }, { 59, 119 } }; // 第二组锚框 + float anchors_2_[3][2] = { { 116, 90 }, { 156, 198 }, { 373, 326 } }; // 第三组锚框 + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + +}; +#endif diff --git a/src/reference/ai_poc/falldown_detect/main.cc b/src/reference/ai_poc/falldown_detect/main.cc new file mode 100644 index 000000000..bf6eb07c4 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/main.cc @@ -0,0 +1,237 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "falldown_detect.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "For example: " << endl + << " [for img] ./falldown_detect.elf yolov5n-falldown.kmodel 0.5 0.45 falldown_elder.jpg 0" << endl + << " [for isp] ./falldown_detect.elf yolov5n-falldown.kmodel 0.3 0.45 None 0" << endl + << "Options:" << endl + << " 1> kmodel 摔倒检测kmodel文件路径 \n" + << " 2> fdd_thresh 摔倒检测阈值\n" + << " 3> nms_thresh NMS阈值\n" + << " 4> input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " 5> debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + + memset(&vf_info, 0, sizeof(vf_info)); + + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + falldownDetect fdd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[5])); + + vector results; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[5])); + // VICAP_CHN_ID_1 out rgb888p + memset(&dump_info, 0 , sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + + { + ScopedTiming st("isp copy", atoi(argv[5])); + // 从vivcap中读取一帧图像到dump_info + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + + fdd.pre_process(); + fdd.inference(); + fdd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::Mat osd_frame_vertical; + cv::Mat osd_frame_horizontal; + + std::string text; + cv::Point origin; + std::vector scalars= { + cv::Scalar(255,0, 0, 255), // "Fall" + cv::Scalar(255,0, 255, 0), // "NoFall" + cv::Scalar(255,255,0, 0), + cv::Scalar(255,255,0, 255) + }; + + for (auto r : results) + { + ScopedTiming st("draw boxes", atoi(argv[5])); + text = fdd.labels[r.label] + ":" + std::to_string(round(r.score * 100) / 100).substr(0,4); + std::cout << "text = " << text << std::endl; + + int x1 = r.x1 / SENSOR_WIDTH * osd_width; + int y1 = r.y1 / SENSOR_HEIGHT * osd_height; + + origin.x = x1; + origin.y = y1-20; + + int w = (r.x2-r.x1) / SENSOR_WIDTH * osd_width; + int h = (r.y2-r.y1) / SENSOR_HEIGHT * osd_height; + cv::rectangle(osd_frame, cv::Rect( x1,y1,w,h ), scalars[r.label], 6, 2, 0); // ARGB + cv::putText(osd_frame, text, origin, cv::FONT_HERSHEY_COMPLEX, 2, scalars[r.label+2], 1, 8, 0); + + cv::flip(osd_frame, osd_frame_vertical, 0); + cv::flip(osd_frame_vertical, osd_frame_horizontal, 1); + osd_frame = osd_frame_horizontal; + } + + { + ScopedTiming st("osd copy", atoi(argv[5])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + //显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id+3, &vf_info); //K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 6) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[4], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[4]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + falldownDetect fdd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[5])); + + fdd.pre_process(ori_img); + fdd.inference(); + + vector results; + fdd.post_process({ori_w, ori_h}, results); + + cv::Point origin; + std::vector scalars= { + cv::Scalar(0, 0, 255), // "Fall" + cv::Scalar(0, 255, 0), // "NoFall" + cv::Scalar(255,0, 0), + cv::Scalar(255,0, 255) + }; + + for (auto r : results) + { + ScopedTiming st("draw boxes", atoi(argv[5])); + std::string text = fdd.labels[r.label] + ":" + std::to_string(round(r.score * 100) / 100).substr(0,4); + std::cout << "text = " << text << std::endl; + cv::rectangle(ori_img, cv::Rect(r.x1, r.y1, r.x2 - r.x1 + 1, r.y2 - r.y1 + 1),scalars[r.label] , 6, 2, 0); + + origin.x = r.x1; + origin.y = r.y1 - 20; + + cv::putText(ori_img, text, origin, cv::FONT_HERSHEY_COMPLEX, 0.5, scalars[r.label+2], 1, 8, 0); + } + + cv::imwrite("fdd_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/falldown_detect/scoped_timing.hpp b/src/reference/ai_poc/falldown_detect/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/falldown_detect/utils.cc b/src/reference/ai_poc/falldown_detect/utils.cc new file mode 100644 index 000000000..f88a7458f --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/utils.cc @@ -0,0 +1,498 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +static float sigmoid(float x) +{ + return 1.0f / (1.0f + expf(-x)); +} + +void Utils::nms(std::vector &input_boxes, float NMS_THRESH) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= NMS_THRESH) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +// for NHWC +std::vector Utils::decode_infer(float *data, int net_size, int stride, int num_classes, FrameSize frame_size, float anchors[][2], float threshold) +{ + float ratiow = (float)net_size / frame_size.width; + float ratioh = (float)net_size / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = net_size / stride; + int one_rsize = num_classes + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < num_classes; cls++) + { + // float score = sigmoid(cls_ptr[cls]) * sigmoid(record[4]); + float score = cls_ptr[cls] * record[4]; + if (score > threshold) + { + // cx = (sigmoid(record[0]) * 2.f - 0.5f + (float)shift_x) * (float)stride; + // cy = (sigmoid(record[1]) * 2.f - 0.5f + (float)shift_y) * (float)stride; + // w = pow(sigmoid(record[2]) * 2.f, 2) * anchors[i][0]; + // h = pow(sigmoid(record[3]) * 2.f, 2) * anchors[i][1]; + + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((net_size - frame_size.width * gain) / 2); + cy -= ((net_size - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(frame_size.width, int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(frame_size.height, int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(frame_size.width, int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(frame_size.height, int(cy + h / 2.f))); + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} \ No newline at end of file diff --git a/src/reference/ai_poc/falldown_detect/utils.h b/src/reference/ai_poc/falldown_detect/utils.h new file mode 100644 index 000000000..7cc0a9156 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/utils.h @@ -0,0 +1,340 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 行人检测框信息 + */ +typedef struct BoxInfo +{ + float x1; // 行人检测框左上顶点x坐标 + float y1; // 行人检测框左上顶点y坐标 + float x2; // 行人检测框右下顶点x坐标 + float y2; // 行人检测框右下顶点y坐标 + float score; // 行人检测框的得分 + int label; // 行人检测框的标签 +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(114, 114, 114),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(114, 114, 114)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(114, 114, 114),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 非极大值抑制 + * @input_boxes 所有候选框 + * @NMS_THRESH NMS阈值 + * @return None + **/ + static void nms(std::vector &input_boxes, float NMS_THRESH); + + /** + * @brief 解码 + * @data kmodel 推理结果 + * @net_size kmodel 输入尺寸大小 + * @stride 步长 + * @num_classes 类别数 + * @frame_size 分辨率 + * @anchors 锚框 + * @threshold 检测框阈值 + **/ + static std::vector decode_infer(float *data, int net_size, int stride, int num_classes, FrameSize frame_size, float anchors[][2], float threshold); +}; + +#endif diff --git a/src/reference/ai_poc/falldown_detect/vi_vo.h b/src/reference/ai_poc/falldown_detect/vi_vo.h new file mode 100644 index 000000000..6eeb6a168 --- /dev/null +++ b/src/reference/ai_poc/falldown_detect/vi_vo.h @@ -0,0 +1,687 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 + +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/object_detect_yolov8n/CMakeLists.txt b/src/reference/ai_poc/object_detect_yolov8n/CMakeLists.txt new file mode 100644 index 000000000..7d75fc596 --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc ob_det.cc) +set(bin ob_det.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) \ No newline at end of file diff --git a/src/reference/ai_poc/object_detect_yolov8n/README.md b/src/reference/ai_poc/object_detect_yolov8n/README.md new file mode 100644 index 000000000..79a3b76d2 --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/README.md @@ -0,0 +1,29 @@ +# 1.简介 + +多目标检测采用了yolov8网络结构。使用该应用，可得到图像或视频中的每个目标的检测框。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +"Usage: " << ob_det.elf << " " + +各参数释义如下： +kmodel_det 多目标检测 kmodel路径 +score_thres 多目标检测 分数阈值 +nms_thres 多目标检测 非极大值抑制阈值 +input_mode 本地图片(图片路径)/ 摄像头(None) +debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（ob_det_image_320.sh）（ob_det_image_640.sh） +./ob_det.elf yolov8n_320.kmodel 0.15 0.2 bus.jpg 0 +./ob_det.elf yolov8n_640.kmodel 0.15 0.2 bus.jpg 0 + + #视频流推理：（ob_detect_isp_320.sh）（ob_detect_isp_640.sh） +./ob_det.elf yolov8n_320.kmodel 0.15 0.2 None 0 +./ob_det.elf yolov8n_640.kmodel 0.15 0.2 None 0 +``` + + + diff --git a/src/reference/ai_poc/object_detect_yolov8n/ai_base.cc b/src/reference/ai_poc/object_detect_yolov8n/ai_base.cc new file mode 100644 index 000000000..ad3c804d0 --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/ai_base.cc @@ -0,0 +1,187 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/object_detect_yolov8n/ai_base.h b/src/reference/ai_poc/object_detect_yolov8n/ai_base.h new file mode 100644 index 000000000..79218e51d --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/ai_base.h @@ -0,0 +1,123 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + + + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel + interpreter kmodel_interp_; +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/object_detect_yolov8n/main.cc b/src/reference/ai_poc/object_detect_yolov8n/main.cc new file mode 100644 index 000000000..62438a487 --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/main.cc @@ -0,0 +1,194 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + + +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "ob_det.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 多目标检测 kmodel路径\n" + << " score_thres 多目标检测 分数阈值\n" + << " nms_thres 多目标检测 非极大值抑制阈值\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + + memset(&vf_info, 0, sizeof(vf_info)); + + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + OBDet obDet(argv[1], atof(argv[2]), atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[5])); + + std::vector results; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[5])); + // VICAP_CHN_ID_1 out rgb888p + memset(&dump_info, 0 , sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + + { + ScopedTiming st("isp copy", atoi(argv[5])); + // 从vivcap中读取一帧图像到dump_info + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + obDet.pre_process(); + obDet.inference(); + + obDet.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::Mat osd_frame_tmp; + + { + ScopedTiming st("osd draw", atoi(argv[5])); + // cv::putText(osd_frame, "This !!!", {50, 600}, 4, 4, cv::Scalar(255, 255, 255, 255), 4, 8, 0); + // cv::rectangle(osd_frame, cv::Rect(osd_width-(200 + 200), osd_height-(700 + 700) , 200, 700), cv::Scalar(255,255, 255, 255), 2, 2, 0); + Utils::draw_detections(osd_frame, results, {osd_width, osd_height}, {SENSOR_WIDTH, SENSOR_HEIGHT}); + cv::flip(osd_frame, osd_frame_tmp, 0); + cv::flip(osd_frame_tmp, osd_frame, 1); + } + + { + ScopedTiming st("osd copy", atoi(argv[5])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + //显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id+3, &vf_info); //K_VO_OSD0 + printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 6) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[4], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[4]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + OBDet obDet(argv[1], atof(argv[2]), atof(argv[3]), atoi(argv[5])); + + + obDet.pre_process(ori_img); + + obDet.inference(); + + std::vector results; + obDet.post_process({ori_w, ori_h}, results); + + Utils::draw_detections(ori_img, results); + cv::imwrite("box_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/object_detect_yolov8n/ob_det.cc b/src/reference/ai_poc/object_detect_yolov8n/ob_det.cc new file mode 100644 index 000000000..ee781558d --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/ob_det.cc @@ -0,0 +1,251 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include "ob_det.h" + +OBDet::OBDet(const char *kmodel_file, float score_thres, float nms_thres, const int debug_mode) +:score_thres(score_thres), nms_thres(nms_thres), AIBase(kmodel_file,"OBDet", debug_mode) +{ + model_name_ = "OBDet"; + ai2d_out_tensor_ = this -> get_input_tensor(0); + + int count_0 = (input_shapes_[0][3]/8) * (input_shapes_[0][2]/8); + int count_1 = (input_shapes_[0][3]/16) * (input_shapes_[0][2]/16); + int count_2 = (input_shapes_[0][3]/32) * (input_shapes_[0][2]/32); + rows_det = count_0 + count_1 + count_2; + + dimensions_det = classes.size() + 4; + + output_det = new float[rows_det * dimensions_det]; +} + +OBDet::OBDet(const char *kmodel_file, float score_thres, float nms_thres, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr,const int debug_mode) +:score_thres(score_thres), nms_thres(nms_thres), AIBase(kmodel_file,"OBDet", debug_mode) +{ + model_name_ = "OBDet"; + + int count_0 = (input_shapes_[0][3]/8) * (input_shapes_[0][2]/8); + int count_1 = (input_shapes_[0][3]/16) * (input_shapes_[0][2]/16); + int count_2 = (input_shapes_[0][3]/32) * (input_shapes_[0][2]/32); + rows_det = count_0 + count_1 + count_2; + + dimensions_det = classes.size() + 4; + + output_det = new float[rows_det * dimensions_det]; + + vaddr_ = vaddr; + + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + // int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; + + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); + + ai2d_out_tensor_ = this -> get_input_tensor(0); + + Utils::resize(ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); +} + +OBDet::~OBDet() +{ + delete[] output_det; +} + +void OBDet::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + Utils::resize({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, ai2d_out_tensor_); + + auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); + Utils::dump_color_image("input_color.png", {input_shapes_[0][3],input_shapes_[0][2]},output); +} + +void OBDet::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_, ai2d_out_tensor_).expect("error occurred in ai2d running"); +} + +void OBDet::inference() +{ + this->run(); + this->get_output(); +} + +void OBDet::post_process(FrameSize frame_size, vector &detections) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + float *ori_data = p_outputs_[0]; + + float x_factor = float(frame_size.width) / input_shapes_[0][3]; + float y_factor = float(frame_size.height) / input_shapes_[0][2]; + + // std::cout << "x_factor " << x_factor << endl; + // std::cout << "y_factor " << y_factor << endl; + + float *data = output_det; + // ncw -> nwc + for(int r = 0; r < rows_det; r++) + { + for(int c = 0; c < dimensions_det; c++) + { + data[r*dimensions_det + c] = ori_data[c*rows_det + r]; + } + } + + + std::vector class_ids; + std::vector confidences; + std::vector boxes; + + for (int i = 0; i < rows_det; ++i) + { + float *classes_scores = data+4; + + cv::Mat scores(1, classes.size(), CV_32FC1, classes_scores); + cv::Point class_id; + double maxClassScore; + + minMaxLoc(scores, 0, &maxClassScore, 0, &class_id); + + if (maxClassScore > score_thres) + { + confidences.push_back(maxClassScore); + class_ids.push_back(class_id.x); + + float x = data[0]; + float y = data[1]; + float w = data[2]; + float h = data[3]; + + int left = int((x - 0.5 * w) * x_factor); + int top = int((y - 0.5 * h) * y_factor); + + int width = int(w * x_factor); + int height = int(h * y_factor); + + boxes.push_back(cv::Rect(left, top, width, height)); + } + + data += dimensions_det; + } + + std::vector nms_result; + nms_boxes(boxes, confidences, score_thres, nms_thres, nms_result); + // cv::dnn::NMSBoxes(boxes, confidences, score_thres, nms_thres, nms_result); + + for (unsigned long i = 0; i < nms_result.size(); ++i) + { + int idx = nms_result[i]; + + Detection result; + result.class_id = class_ids[idx]; + result.confidence = confidences[idx]; + + std::random_device rd; + std::mt19937 gen(rd()); + std::uniform_int_distribution dis(100, 255); + result.color = cv::Scalar(dis(gen), + dis(gen), + dis(gen)); + + result.className = classes[result.class_id]; + result.box = boxes[idx]; + + detections.push_back(result); + } + + delete[] data; +} + + +void OBDet::nms_boxes(vector &boxes, vector &confidences, float confThreshold, float nmsThreshold, vector &indices) +{ + BBOX bbox; + vector bboxes; + int i, j; + for (i = 0; i < boxes.size(); i++) + { + bbox.box = boxes[i]; + bbox.confidence = confidences[i]; + bbox.index = i; + bboxes.push_back(bbox); + } + + sort(bboxes.begin(), bboxes.end(), [](BBOX a, BBOX b) { return a.confidence < b.confidence; }); + + int updated_size = bboxes.size(); + for (i = 0; i < updated_size; i++) + { + if (bboxes[i].confidence < confThreshold) + continue; + indices.push_back(bboxes[i].index); + + for (j = i + 1; j < updated_size;) + { + float iou = get_iou_value(bboxes[i].box, bboxes[j].box); + + if (iou > nmsThreshold) + { + bboxes.erase(bboxes.begin() + j); + updated_size = bboxes.size(); + } + else + { + j++; + } + } + } +} + + + +float OBDet::get_iou_value(Rect rect1, Rect rect2) +{ + int xx1, yy1, xx2, yy2; + + xx1 = max(rect1.x, rect2.x); + yy1 = max(rect1.y, rect2.y); + xx2 = min(rect1.x + rect1.width - 1, rect2.x + rect2.width - 1); + yy2 = min(rect1.y + rect1.height - 1, rect2.y + rect2.height - 1); + + int insection_width, insection_height; + insection_width = max(0, xx2 - xx1 + 1); + insection_height = max(0, yy2 - yy1 + 1); + + float insection_area, union_area, iou; + insection_area = float(insection_width) * insection_height; + union_area = float(rect1.width*rect1.height + rect2.width*rect2.height - insection_area); + iou = insection_area / union_area; + + return iou; +} diff --git a/src/reference/ai_poc/object_detect_yolov8n/ob_det.h b/src/reference/ai_poc/object_detect_yolov8n/ob_det.h new file mode 100644 index 000000000..50e94782b --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/ob_det.h @@ -0,0 +1,142 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _OB_DET_H +#define _OB_DET_H + +#include "utils.h" +#include "ai_base.h" + + +/** + * @brief 多目标检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class OBDet : public AIBase +{ + public: + + /** + * @brief OBDet构造函数，加载kmodel,并初始化kmodel输入、输出和多目标检测阈值 + * @param kmodel_file kmodel文件路径 + * @param score_thres 多目标检测score_thres + * @param nms_thres 多目标检测nms阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + OBDet(const char *kmodel_file, float score_thres, float nms_thres, const int debug_mode = 1); + + /** + * @brief OBDet构造函数，加载kmodel,并初始化kmodel输入、输出和多目标检测阈值 + * @param kmodel_file kmodel文件路径 + * @param score_thres 多目标检测score_thres + * @param nms_thres 多目标检测nms阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + OBDet(const char *kmodel_file, float score_thres, float nms_thres, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr,const int debug_mode); + + /** + * @brief OBDet析构函数 + * @return None + */ + ~OBDet(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param results 后处理之后的基于原始图像的检测结果集合 + * @return None + */ + void post_process(FrameSize frame_size, vector &detections); + + private: + + /** + * @brief nms 非极大值抑制 + * @param boxes 模型初始预测的检测框 + * @param confidences 模型初始预测检测框对应的置信度 + * @param confThreshold 置信度阈值 + * @param nmsThreshold 非极大值抑制阈值 + * @param indices 非极大值抑制后的检测框索引 + * @return None + */ + void nms_boxes(vector &boxes, vector &confidences, float confThreshold, float nmsThreshold, vector &indices); + + /** + * @brief 计算 iou + * @param rect1 检测框1 + * @param rect2 检测框2 + * @return float iou值 + */ + float get_iou_value(Rect rect1, Rect rect2); + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + // 多目标检测类别名字 + std::vector classes{"person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"}; + + // 多目标检测 分数阈值 + float score_thres; + + // 多目标检测 nms阈值 + float nms_thres; + + // 检测条目的总数 + int rows_det; + + // 检测单个条目的维度 + int dimensions_det; + + // kmodel的输出初步处理结果 + float *output_det; +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/object_detect_yolov8n/scoped_timing.hpp b/src/reference/ai_poc/object_detect_yolov8n/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/object_detect_yolov8n/utils.cc b/src/reference/ai_poc/object_detect_yolov8n/utils.cc new file mode 100644 index 000000000..9850605df --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/utils.cc @@ -0,0 +1,461 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; + +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); + +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::draw_detections(cv::Mat& frame, vector& results) +{ + for (int i = 0; i < results.size(); ++i) + { + Detection detection = results[i]; + + cv::Rect box = detection.box; + cv::Scalar color = color_three[detection.class_id]; + + // Detection box + cv::rectangle(frame, box, color, 2); + + // Detection box text + std::string classString = detection.className + ' ' + std::to_string(detection.confidence).substr(0, 4); + cv::Size textSize = cv::getTextSize(classString, cv::FONT_HERSHEY_DUPLEX, 1, 2, 0); + cv::Rect textBox(box.x, box.y - 40, textSize.width + 10, textSize.height + 20); + + cv::rectangle(frame, textBox, color, cv::FILLED); + cv::putText(frame, classString, cv::Point(box.x + 5, box.y - 10), cv::FONT_HERSHEY_DUPLEX, 1, cv::Scalar(0,0,0), 2, 0); + } +} + + +void Utils::draw_detections(cv::Mat& frame, vector& results, FrameSize osd_frame_size, FrameSize sensor_frame_size) +{ + for (int i = 0; i < results.size(); ++i) + { + Detection detection = results[i]; + + float rect_x = (float(detection.box.x)/sensor_frame_size.width)*osd_frame_size.width; + float rect_y = (float(detection.box.y)/sensor_frame_size.height)*osd_frame_size.height; + float rect_w = float(detection.box.width) / sensor_frame_size.width * osd_frame_size.width; + float rect_h = float(detection.box.height) / sensor_frame_size.height * osd_frame_size.height; + + cv::Rect box = cv::Rect(rect_x, rect_y, rect_w, rect_h); + cv::Scalar color = color_four[detection.class_id]; + + // Detection box + cv::rectangle(frame, box, color, 2); + + // Detection box text + std::string classString = detection.className + ' ' + std::to_string(detection.confidence).substr(0, 4); + cv::Size textSize = cv::getTextSize(classString, cv::FONT_HERSHEY_DUPLEX, 1, 2, 0); + cv::Rect textBox(box.x, box.y - 40, textSize.width + 10, textSize.height + 20); + + cv::rectangle(frame, textBox, color, cv::FILLED); + cv::putText(frame, classString, cv::Point(box.x + 5, box.y - 10), cv::FONT_HERSHEY_DUPLEX, 1, cv::Scalar(255,0,0,0), 2, 0); + } +} + +void Utils::chw_rgb2bgr(const FrameSize &frame_size, unsigned char *data, std::vector &chw_bgr_vec) +{ + chw_bgr_vec.insert(chw_bgr_vec.end(), data+2*frame_size.height*frame_size.width, data+3*frame_size.height*frame_size.width); + chw_bgr_vec.insert(chw_bgr_vec.end(), data+frame_size.height*frame_size.width, data+2*frame_size.height*frame_size.width); + chw_bgr_vec.insert(chw_bgr_vec.end(), data, data+frame_size.height*frame_size.width); +} \ No newline at end of file diff --git a/src/reference/ai_poc/object_detect_yolov8n/utils.h b/src/reference/ai_poc/object_detect_yolov8n/utils.h new file mode 100644 index 000000000..c48de2709 --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/utils.h @@ -0,0 +1,449 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + + +using namespace std; +using namespace cv; +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +// 颜色盘 三通道 +const std::vector color_three = {cv::Scalar(220, 20, 60), cv::Scalar(119, 11, 32), cv::Scalar(0, 0, 142), cv::Scalar(0, 0, 230), + cv::Scalar(106, 0, 228), cv::Scalar(0, 60, 100), cv::Scalar(0, 80, 100), cv::Scalar(0, 0, 70), + cv::Scalar(0, 0, 192), cv::Scalar(250, 170, 30), cv::Scalar(100, 170, 30), cv::Scalar(220, 220, 0), + cv::Scalar(175, 116, 175), cv::Scalar(250, 0, 30), cv::Scalar(165, 42, 42), cv::Scalar(255, 77, 255), + cv::Scalar(0, 226, 252), cv::Scalar(182, 182, 255), cv::Scalar(0, 82, 0), cv::Scalar(120, 166, 157), + cv::Scalar(110, 76, 0), cv::Scalar(174, 57, 255), cv::Scalar(199, 100, 0), cv::Scalar(72, 0, 118), + cv::Scalar(255, 179, 240), cv::Scalar(0, 125, 92), cv::Scalar(209, 0, 151), cv::Scalar(188, 208, 182), + cv::Scalar(0, 220, 176), cv::Scalar(255, 99, 164), cv::Scalar(92, 0, 73), cv::Scalar(133, 129, 255), + cv::Scalar(78, 180, 255), cv::Scalar(0, 228, 0), cv::Scalar(174, 255, 243), cv::Scalar(45, 89, 255), + cv::Scalar(134, 134, 103), cv::Scalar(145, 148, 174), cv::Scalar(255, 208, 186), + cv::Scalar(197, 226, 255), cv::Scalar(171, 134, 1), cv::Scalar(109, 63, 54), cv::Scalar(207, 138, 255), + cv::Scalar(151, 0, 95), cv::Scalar(9, 80, 61), cv::Scalar(84, 105, 51), cv::Scalar(74, 65, 105), + cv::Scalar(166, 196, 102), cv::Scalar(208, 195, 210), cv::Scalar(255, 109, 65), cv::Scalar(0, 143, 149), + cv::Scalar(179, 0, 194), cv::Scalar(209, 99, 106), cv::Scalar(5, 121, 0), cv::Scalar(227, 255, 205), + cv::Scalar(147, 186, 208), cv::Scalar(153, 69, 1), cv::Scalar(3, 95, 161), cv::Scalar(163, 255, 0), + cv::Scalar(119, 0, 170), cv::Scalar(0, 182, 199), cv::Scalar(0, 165, 120), cv::Scalar(183, 130, 88), + cv::Scalar(95, 32, 0), cv::Scalar(130, 114, 135), cv::Scalar(110, 129, 133), cv::Scalar(166, 74, 118), + cv::Scalar(219, 142, 185), cv::Scalar(79, 210, 114), cv::Scalar(178, 90, 62), cv::Scalar(65, 70, 15), + cv::Scalar(127, 167, 115), cv::Scalar(59, 105, 106), cv::Scalar(142, 108, 45), cv::Scalar(196, 172, 0), + cv::Scalar(95, 54, 80), cv::Scalar(128, 76, 255), cv::Scalar(201, 57, 1), cv::Scalar(246, 0, 122), + cv::Scalar(191, 162, 208)}; + +// 颜色盘 四通道 +const std::vector color_four = {cv::Scalar(255, 220, 20, 60), cv::Scalar(255, 119, 11, 32), cv::Scalar(255, 0, 0, 142), cv::Scalar(255, 0, 0, 230), + cv::Scalar(255, 106, 0, 228), cv::Scalar(255, 0, 60, 100), cv::Scalar(255, 0, 80, 100), cv::Scalar(255, 0, 0, 70), + cv::Scalar(255, 0, 0, 192), cv::Scalar(255, 250, 170, 30), cv::Scalar(255, 100, 170, 30), cv::Scalar(255, 220, 220, 0), + cv::Scalar(255, 175, 116, 175), cv::Scalar(255, 250, 0, 30), cv::Scalar(255, 165, 42, 42), cv::Scalar(255, 255, 77, 255), + cv::Scalar(255, 0, 226, 252), cv::Scalar(255, 182, 182, 255), cv::Scalar(255, 0, 82, 0), cv::Scalar(255, 120, 166, 157), + cv::Scalar(255, 110, 76, 0), cv::Scalar(255, 174, 57, 255), cv::Scalar(255, 199, 100, 0), cv::Scalar(255, 72, 0, 118), + cv::Scalar(255, 255, 179, 240), cv::Scalar(255, 0, 125, 92), cv::Scalar(255, 209, 0, 151), cv::Scalar(255, 188, 208, 182), + cv::Scalar(255, 0, 220, 176), cv::Scalar(255, 255, 99, 164), cv::Scalar(255, 92, 0, 73), cv::Scalar(255, 133, 129, 255), + cv::Scalar(255, 78, 180, 255), cv::Scalar(255, 0, 228, 0), cv::Scalar(255, 174, 255, 243), cv::Scalar(255, 45, 89, 255), + cv::Scalar(255, 134, 134, 103), cv::Scalar(255, 145, 148, 174), cv::Scalar(255, 255, 208, 186), + cv::Scalar(255, 197, 226, 255), cv::Scalar(255, 171, 134, 1), cv::Scalar(255, 109, 63, 54), cv::Scalar(255, 207, 138, 255), + cv::Scalar(255, 151, 0, 95), cv::Scalar(255, 9, 80, 61), cv::Scalar(255, 84, 105, 51), cv::Scalar(255, 74, 65, 105), + cv::Scalar(255, 166, 196, 102), cv::Scalar(255, 208, 195, 210), cv::Scalar(255, 255, 109, 65), cv::Scalar(255, 0, 143, 149), + cv::Scalar(255, 179, 0, 194), cv::Scalar(255, 209, 99, 106), cv::Scalar(255, 5, 121, 0), cv::Scalar(255, 227, 255, 205), + cv::Scalar(255, 147, 186, 208), cv::Scalar(255, 153, 69, 1), cv::Scalar(255, 3, 95, 161), cv::Scalar(255, 163, 255, 0), + cv::Scalar(255, 119, 0, 170), cv::Scalar(255, 0, 182, 199), cv::Scalar(255, 0, 165, 120), cv::Scalar(255, 183, 130, 88), + cv::Scalar(255, 95, 32, 0), cv::Scalar(255, 130, 114, 135), cv::Scalar(255, 110, 129, 133), cv::Scalar(255, 166, 74, 118), + cv::Scalar(255, 219, 142, 185), cv::Scalar(255, 79, 210, 114), cv::Scalar(255, 178, 90, 62), cv::Scalar(255, 65, 70, 15), + cv::Scalar(255, 127, 167, 115), cv::Scalar(255, 59, 105, 106), cv::Scalar(255, 142, 108, 45), cv::Scalar(255, 196, 172, 0), + cv::Scalar(255, 95, 54, 80), cv::Scalar(255, 128, 76, 255), cv::Scalar(255, 201, 57, 1), cv::Scalar(255, 246, 0, 122), + cv::Scalar(255, 191, 162, 208)}; + + +/** + * @brief 多目标检测集合 + */ +struct Detection +{ + int class_id{0}; + std::string className{}; + float confidence{0.0}; + cv::Scalar color{}; + cv::Rect box{}; +}; + +/** + * @brief 多目标检测后处理后集合 + */ +typedef struct { + Rect box; + float confidence; + int index; +}BBOX; + +/** + * @brief 检测框点集合 + */ +typedef struct BoxPoint +{ + Point2f vertices[4]; +} BoxPoint; + + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +typedef struct BoxInfo +{ + float x1; + float y1; + float x2; + float y2; + float score; + int label; +} BoxInfo; + + +struct CenterPrior +{ + int x; + int y; + int stride; +}; + +/** + * @brief 检测框 + */ +typedef struct Bbox +{ + float x; // 检测框的左顶点x坐标 + float y; // 检测框的左顶点x坐标 + float w; + float h; +} Bbox; + + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 将多目标检测结果画在图像中 + * @param frame 原始图像 + * @param detections 检测框集合 + * @return None + */ + static void draw_detections(cv::Mat& frame, vector& detections); + + /** + * @brief 将多目标检测结果画在屏幕的osd中 + * @param frame 原始图像 + * @param detections 检测框集合 + * @param osd_frame_size osd的宽高 + * @param sensor_frame_size sensor的宽高 + * @return None + */ + static void draw_detections(cv::Mat& frame, vector& detections, FrameSize osd_frame_size, FrameSize sensor_frame_size); + + /** + * @brief 将视频流的图像从rgb转换为bgr格式 + * @param frame_size 原始图像宽高 + * @param data 输入图像数据指针 + * @param chw_bgr_vec bgr格式的图像数据 + * @return None + */ + static void chw_rgb2bgr(const FrameSize &frame_size, unsigned char *data, std::vector &chw_bgr_vec); +}; + +#endif diff --git a/src/reference/ai_poc/object_detect_yolov8n/vi_vo.h b/src/reference/ai_poc/object_detect_yolov8n/vi_vo.h new file mode 100644 index 000000000..4d3ddce8b --- /dev/null +++ b/src/reference/ai_poc/object_detect_yolov8n/vi_vo.h @@ -0,0 +1,684 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/person_detect/CMakeLists.txt b/src/reference/ai_poc/person_detect/CMakeLists.txt new file mode 100644 index 000000000..3493f4bf0 --- /dev/null +++ b/src/reference/ai_poc/person_detect/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc person_detect.cc ) +set(bin person_detect.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/person_detect/README.md b/src/reference/ai_poc/person_detect/README.md new file mode 100644 index 000000000..6213d6ea4 --- /dev/null +++ b/src/reference/ai_poc/person_detect/README.md @@ -0,0 +1,20 @@ +# 1.简介 + +行人检测采用了yolov5网络结构。使用该应用，可检测到图像或视频中的每个行人。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` + Usage: ./person_detect.elf +For example: + [for img] ./person_detect.elf yolov5n.kmodel 0.5 0.45 bus.jpg 0 + [for isp] ./person_detect.elf yolov5n.kmodel 0.5 0.45 None 0 +Options: + 1> kmodel 行人检测kmodel文件路径 + 2> pd_thresh 行人检测阈值 + 3> nms_thresh NMS阈值 + 4> input_mode 本地图片(图片路径)/ 摄像头(None) + 5> debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 +``` diff --git a/src/reference/ai_poc/person_detect/ai_base.cc b/src/reference/ai_poc/person_detect/ai_base.cc new file mode 100644 index 000000000..ad3c804d0 --- /dev/null +++ b/src/reference/ai_poc/person_detect/ai_base.cc @@ -0,0 +1,187 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/person_detect/ai_base.h b/src/reference/ai_poc/person_detect/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/person_detect/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/person_detect/main.cc b/src/reference/ai_poc/person_detect/main.cc new file mode 100644 index 000000000..fbb0bb709 --- /dev/null +++ b/src/reference/ai_poc/person_detect/main.cc @@ -0,0 +1,215 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "person_detect.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "For example: " << endl + << " [for img] ./person_detect.elf yolov5n.kmodel 0.5 0.45 bus.jpg 0" << endl + << " [for isp] ./person_detect.elf yolov5n.kmodel 0.5 0.45 None 0" << endl + << "Options:" << endl + << " 1> kmodel 行人检测kmodel文件路径 \n" + << " 2> pd_thresh 行人检测阈值\n" + << " 3> nms_thresh NMS阈值\n" + << " 4> input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " 5> debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + + memset(&vf_info, 0, sizeof(vf_info)); + + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + personDetect pd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[5])); + + vector results; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[5])); + // VICAP_CHN_ID_1 out rgb888p + memset(&dump_info, 0 , sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + + { + ScopedTiming st("isp copy", atoi(argv[5])); + // 从vivcap中读取一帧图像到dump_info + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + pd.pre_process(); + pd.inference(); + pd.post_process({SENSOR_WIDTH, SENSOR_HEIGHT}, results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + + std::string text; + cv::Point origin; + + for (auto r : results) + { + ScopedTiming st("draw boxes", atoi(argv[5])); + text = pd.labels[r.label] + ":" + std::to_string(round(r.score * 100) / 100).substr(0,4); + + int x1 = osd_width - r.x2 / SENSOR_WIDTH * osd_width; + int y1 = osd_height - r.y2 / SENSOR_HEIGHT * osd_height; + + int w = (r.x2-r.x1) / SENSOR_WIDTH * osd_width; + int h = (r.y2-r.y1) / SENSOR_HEIGHT * osd_height; + + cv::rectangle(osd_frame, cv::Rect( x1,y1,w,h ), cv::Scalar(255, 255,0, 0), 6, 2, 0); // ARGB + + } + + { + ScopedTiming st("osd copy", atoi(argv[5])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + //显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id+3, &vf_info); //K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 6) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[4], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[4]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + personDetect pd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[5])); + + pd.pre_process(ori_img); + pd.inference(); + + vector results; + pd.post_process({ori_w, ori_h}, results); + + cv::Point origin; + for (auto r : results) + { + ScopedTiming st("draw boxes", atoi(argv[5])); + std::string text = pd.labels[r.label] + ":" + std::to_string(round(r.score * 100) / 100).substr(0,4); + // std::cout << "text = " << text << std::endl; + cv::rectangle(ori_img, cv::Rect(r.x1, r.y1, r.x2 - r.x1 + 1, r.y2 - r.y1 + 1), cv::Scalar(0, 0, 255), 6, 2, 0); + + origin.x = r.x1; + origin.y = r.y1 - 20; + + cv::putText(ori_img, text, origin, cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 255, 255), 1, 8, 0); + } + + cv::imwrite("pd_result.jpg", ori_img); + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/person_detect/person_detect.cc b/src/reference/ai_poc/person_detect/person_detect.cc new file mode 100644 index 000000000..57ca049c8 --- /dev/null +++ b/src/reference/ai_poc/person_detect/person_detect.cc @@ -0,0 +1,145 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.f + */ + +#include "person_detect.h" +#include "utils.h" + + +// for image +personDetect::personDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode) +: obj_thresh_(obj_thresh),nms_thresh_(nms_thresh), AIBase(kmodel_file,"personDetect", debug_mode) +{ + + model_name_ = "personDetect"; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +personDetect::personDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: obj_thresh_(obj_thresh),nms_thresh_(nms_thresh), AIBase(kmodel_file,"personDetect", debug_mode) +{ + model_name_ = "personDetect"; + + vaddr_ = vaddr; + + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape_.channel, isp_shape_.height, isp_shape_.width}; + int isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + #if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); + #else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); + #endif + + // ai2d_out_tensor + ai2d_out_tensor_ = get_input_tensor(0); + // fixed padding resize param + Utils::padding_resize(isp_shape_, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +personDetect::~personDetect() +{ + +} + +// ai2d for image +void personDetect::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +// ai2d for video +void personDetect::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); + #if 0 + ai2d_builder_->invoke().expect("error occurred in ai2d running"); + #else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + //ai2d_builder_->invoke().expect("error occurred in ai2d running"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); + + // run ai2d + #endif + // auto vaddr_out_buf = ai2d_out_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + // unsigned char *output = reinterpret_cast(vaddr_out_buf.data()); +} + +void personDetect::inference() +{ + this->run(); + this->get_output(); +} + +void personDetect::post_process(FrameSize frame_size,std::vector &result) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + int net_len = input_shapes_[0][2]; + // first output + { + + float *output_0 = p_outputs_[0]; + + int first_len = net_len / 8; + int first_size = first_len * first_len; + + auto boxes0 = Utils::decode_infer(output_0, net_len, 8, classes_num_, frame_size, anchors_0_, obj_thresh_); + result.insert(result.begin(), boxes0.begin(), boxes0.end()); + } + + // second output + { + + float *output_1 = p_outputs_[1]; + + int second_len = net_len / 16; + int second_size = second_len * second_len; + + auto boxes1 = Utils::decode_infer(output_1, net_len, 16, classes_num_, frame_size, anchors_1_, obj_thresh_); + result.insert(result.begin(), boxes1.begin(), boxes1.end()); + } + + // third output + { + float *output_2 = p_outputs_[2]; + + int third_len = net_len / 32; + int third_size = third_len * third_len; + + auto boxes2 = Utils::decode_infer(output_2, net_len, 32, classes_num_, frame_size, anchors_2_, obj_thresh_); + result.insert(result.begin(), boxes2.begin(), boxes2.end()); + } + + Utils::nms(result, nms_thresh_); +} + diff --git a/src/reference/ai_poc/person_detect/person_detect.h b/src/reference/ai_poc/person_detect/person_detect.h new file mode 100644 index 000000000..62b584a6a --- /dev/null +++ b/src/reference/ai_poc/person_detect/person_detect.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _PERSON_DETECT +#define _PERSON_DETECT + +#include +#include +#include "utils.h" +#include "ai_base.h" + + +/** + * @brief 基于 personDetect 的行人检测任务 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class personDetect: public AIBase +{ + public: + + /** + * for image + * @brief personDetect 构造函数，加载kmodel,并初始化kmodel输入、输出、类阈值和NMS阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 检测框阈值 + * @param nms_thresh NMS阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + personDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode); + + /** + * for video + * @brief personDetect 构造函数，加载kmodel,并初始化kmodel输入、输出、类阈值和NMS阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 检测框阈值 + * @param nms_thresh NMS阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + personDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + /** + * @brief personDetect 析构函数 + * @return None + */ + ~personDetect(); + + /** + * @brief 图片预处理（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for video） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief postprocess 函数，对输出解码后的结果，进行NMS处理 + * @param frame_size 帧大小 + * @param result 所有候选检测框 + * @return None + */ + void post_process(FrameSize frame_size,std::vector &result); + + std::vector labels { "person" }; // 类别标签 + + private: + float obj_thresh_; // 检测框阈值 + float nms_thresh_; // NMS阈值 + + int anchors_num_ = 3; // 锚框个数 + int classes_num_ = 1; // 类别数 + int channels_ = anchors_num_ * (5 + classes_num_); // 通道数 + float anchors_0_[3][2] = { { 10, 13 }, { 16, 30 }, { 33, 23 } }; // 第一组锚框 + float anchors_1_[3][2] = { { 30, 61 }, { 62, 45 }, { 59, 119 } }; // 第二组锚框 + float anchors_2_[3][2] = { { 116, 90 }, { 156, 198 }, { 373, 326 } }; // 第三组锚框 + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + +}; +#endif diff --git a/src/reference/ai_poc/person_detect/scoped_timing.hpp b/src/reference/ai_poc/person_detect/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/person_detect/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/person_detect/utils.cc b/src/reference/ai_poc/person_detect/utils.cc new file mode 100644 index 000000000..f88a7458f --- /dev/null +++ b/src/reference/ai_poc/person_detect/utils.cc @@ -0,0 +1,498 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +static float sigmoid(float x) +{ + return 1.0f / (1.0f + expf(-x)); +} + +void Utils::nms(std::vector &input_boxes, float NMS_THRESH) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= NMS_THRESH) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +// for NHWC +std::vector Utils::decode_infer(float *data, int net_size, int stride, int num_classes, FrameSize frame_size, float anchors[][2], float threshold) +{ + float ratiow = (float)net_size / frame_size.width; + float ratioh = (float)net_size / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = net_size / stride; + int one_rsize = num_classes + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < num_classes; cls++) + { + // float score = sigmoid(cls_ptr[cls]) * sigmoid(record[4]); + float score = cls_ptr[cls] * record[4]; + if (score > threshold) + { + // cx = (sigmoid(record[0]) * 2.f - 0.5f + (float)shift_x) * (float)stride; + // cy = (sigmoid(record[1]) * 2.f - 0.5f + (float)shift_y) * (float)stride; + // w = pow(sigmoid(record[2]) * 2.f, 2) * anchors[i][0]; + // h = pow(sigmoid(record[3]) * 2.f, 2) * anchors[i][1]; + + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((net_size - frame_size.width * gain) / 2); + cy -= ((net_size - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(frame_size.width, int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(frame_size.height, int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(frame_size.width, int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(frame_size.height, int(cy + h / 2.f))); + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} \ No newline at end of file diff --git a/src/reference/ai_poc/person_detect/utils.h b/src/reference/ai_poc/person_detect/utils.h new file mode 100644 index 000000000..7cc0a9156 --- /dev/null +++ b/src/reference/ai_poc/person_detect/utils.h @@ -0,0 +1,340 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 行人检测框信息 + */ +typedef struct BoxInfo +{ + float x1; // 行人检测框左上顶点x坐标 + float y1; // 行人检测框左上顶点y坐标 + float x2; // 行人检测框右下顶点x坐标 + float y2; // 行人检测框右下顶点y坐标 + float score; // 行人检测框的得分 + int label; // 行人检测框的标签 +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(114, 114, 114),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(114, 114, 114)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(114, 114, 114),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 非极大值抑制 + * @input_boxes 所有候选框 + * @NMS_THRESH NMS阈值 + * @return None + **/ + static void nms(std::vector &input_boxes, float NMS_THRESH); + + /** + * @brief 解码 + * @data kmodel 推理结果 + * @net_size kmodel 输入尺寸大小 + * @stride 步长 + * @num_classes 类别数 + * @frame_size 分辨率 + * @anchors 锚框 + * @threshold 检测框阈值 + **/ + static std::vector decode_infer(float *data, int net_size, int stride, int num_classes, FrameSize frame_size, float anchors[][2], float threshold); +}; + +#endif diff --git a/src/reference/ai_poc/person_detect/vi_vo.h b/src/reference/ai_poc/person_detect/vi_vo.h new file mode 100644 index 000000000..6eeb6a168 --- /dev/null +++ b/src/reference/ai_poc/person_detect/vi_vo.h @@ -0,0 +1,687 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 + +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/pose_detect/CMakeLists.txt b/src/reference/ai_poc/pose_detect/CMakeLists.txt new file mode 100644 index 000000000..41eb8a13a --- /dev/null +++ b/src/reference/ai_poc/pose_detect/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc pose_detect.cc ) +set(bin pose_detect.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/pose_detect/README.md b/src/reference/ai_poc/pose_detect/README.md new file mode 100644 index 000000000..58abcdabc --- /dev/null +++ b/src/reference/ai_poc/pose_detect/README.md @@ -0,0 +1,21 @@ +# 1.简介 + +人体关键点检测采用了yolov8网络结构。使用该应用，可检测到图像或视频中的每个人的人体关键点。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +Usage: ./pose_detect.elf +For example: + [for img] ./pose_detect.elf yolov8n-pose.kmodel 0.2 0.45 bus.jpg 0 + [for isp] ./pose_detect.elf yolov8n-pose.kmodel 0.2 0.45 None 0 +Options: + 1> kmodel pose检测kmodel文件路径 + 2> obj_thresh pose检测阈值 + 3> nms_thresh NMS阈值 + 4> input_mode 本地图片(图片路径)/ 摄像头(None) + 5> debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 +``` + diff --git a/src/reference/ai_poc/pose_detect/ai_base.cc b/src/reference/ai_poc/pose_detect/ai_base.cc new file mode 100644 index 000000000..564c3b98d --- /dev/null +++ b/src/reference/ai_poc/pose_detect/ai_base.cc @@ -0,0 +1,189 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h"; + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/pose_detect/ai_base.h b/src/reference/ai_poc/pose_detect/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/pose_detect/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/pose_detect/main.cc b/src/reference/ai_poc/pose_detect/main.cc new file mode 100644 index 000000000..01ebb9283 --- /dev/null +++ b/src/reference/ai_poc/pose_detect/main.cc @@ -0,0 +1,211 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include "utils.h" +#include "vi_vo.h" +#include "pose_detect.h" + +using std::cerr; +using std::cout; +using std::endl; + +std::atomic isp_stop(false); + + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "For example: " << endl + << " [for img] ./pose_detect.elf yolov8n-pose.kmodel 0.2 0.45 bus.jpg 0" << endl + << " [for isp] ./pose_detect.elf yolov8n-pose.kmodel 0.2 0.45 None 0" << endl + << "Options:" << endl + << " 1> kmodel pose检测kmodel文件路径 \n" + << " 2> obj_thresh pose检测阈值\n" + << " 3> nms_thresh NMS阈值\n" + << " 4> input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " 5> debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + + +void video_proc(char *argv[]) +{ + vivcap_start(); + + k_video_frame_info vf_info; + void *pic_vaddr = NULL; //osd + + memset(&vf_info, 0, sizeof(vf_info)); + + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + poseDetect pd(argv[1], atof(argv[2]),atof(argv[3]), {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[5])); + + cv::Vec4d params = pd.params; + + std::vector result; + + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + + { + ScopedTiming st("read capture", atoi(argv[5])); + // VICAP_CHN_ID_1 out rgb888p + memset(&dump_info, 0 , sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + + { + ScopedTiming st("isp copy", atoi(argv[5])); + // 从vivcap中读取一帧图像到dump_info + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + } + + // results.clear(); + result.clear(); + + pd.pre_process(); + pd.inference(); + bool find_ = pd.post_process(result,params); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + + if(find_) + { + Utils::DrawPred_video(osd_frame,{SENSOR_WIDTH,SENSOR_HEIGHT}, result, SKELETON, KPS_COLORS, LIMB_COLORS); + } + else + { + cout << "not find!\n"; + } + + { + ScopedTiming st("osd copy", atoi(argv[5])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + //显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id+3, &vf_info); //K_VO_OSD0 + // printf("kd_mpi_vo_chn_insert_frame success \n"); + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 6) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[4], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat ori_img = cv::imread(argv[4]); + int ori_w = ori_img.cols; + int ori_h = ori_img.rows; + + poseDetect pd(argv[1], atof(argv[2]),atof(argv[3]), atoi(argv[5])); + + pd.pre_process(ori_img); + pd.inference(); + + std::vector result; + cv::Vec4d params = pd.params; + bool find_ = pd.post_process(result,params); + + if(find_) + { + Utils::DrawPred(ori_img, result, SKELETON, KPS_COLORS, LIMB_COLORS); + } + else + { + cout << "not find!\n"; + } + + string label = " "; + putText(ori_img, label, cv::Point(30,30), cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(0,0,255), 2, 8); + + cv::imwrite("pose_result.jpg", ori_img); + + } + return 0; +} \ No newline at end of file diff --git a/src/reference/ai_poc/pose_detect/pose_detect.cc b/src/reference/ai_poc/pose_detect/pose_detect.cc new file mode 100644 index 000000000..807b41d8d --- /dev/null +++ b/src/reference/ai_poc/pose_detect/pose_detect.cc @@ -0,0 +1,220 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.f + */ + +#include "pose_detect.h" +#include "utils.h" + + +// for image +poseDetect::poseDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode): obj_thresh_(obj_thresh),nms_thresh_(nms_thresh), AIBase(kmodel_file,"poseDetect", debug_mode) +{ + model_name_ = "poseDetect"; + + ai2d_out_tensor_ = get_input_tensor(0); +} + +// for video +poseDetect::poseDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode): obj_thresh_(obj_thresh),nms_thresh_(nms_thresh), AIBase(kmodel_file,"poseDetect", debug_mode) +{ + model_name_ = "poseDetect"; + + vaddr_ = vaddr; + + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape_.channel, isp_shape_.height, isp_shape_.width}; + int isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + #if 0 + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, isp_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); + #else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); + #endif + + // ai2d_out_tensor + ai2d_out_tensor_ = get_input_tensor(0); + // fixed padding resize param + Utils::padding_resize_params(params,isp_shape_, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +poseDetect::~poseDetect() +{ + +} + +// ai2d for image +void poseDetect::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::padding_resize_params(params,{ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); + +} + +// ai2d for video +void poseDetect::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process video", debug_mode_); + #if 0 + ai2d_builder_->invoke().expect("error occurred in ai2d running"); + #else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); + // run ai2d + #endif +} + +void poseDetect::inference() +{ + this->run(); + this->get_output(); +} + +bool poseDetect::BatchDetect( float* all_data, std::vector>& output,cv::Vec4d params) +{ + + _outputTensorShape = { output_shapes_[0][0], output_shapes_[0][1], output_shapes_[0][2] }; + _anchorLength = output_shapes_[0][1]; + + // [1, 56 ,8400] -> [1, 8400, 56] + cv::Mat output0 = cv::Mat(cv::Size((int)_outputTensorShape[2], (int)_outputTensorShape[1]), CV_32F, all_data).t(); + + float* pdata = (float*)output0.data; // [classid,x,y,w,h,x,y,...21个点] + int rows = output0.rows; // 预测框的数量 8400 + // 一张图片的预测框 + + vector confidences; + vector boxes; + vector labels; + vector> kpss; + + for (int r=0; r obj_thresh_){ + float x = (pdata[0] - params[2]) / params[0]; //x + float y = (pdata[1] - params[3]) / params[1]; //y + float w = pdata[2] / params[0]; //w + float h = pdata[3] / params[1]; //h + + // int left = MAX(int(x - 0.5 *w +0.5), 0); + // int top = MAX(int(y - 0.5*h + 0.5), 0); + float left = MAX(int(x - 0.5 *w +0.5), 0); + float top = MAX(int(y - 0.5*h + 0.5), 0); + + std::vector kps; + for (int k=0; k< 17; k++){ + + float kps_x = (*(kps_ptr + 3 * k) - params[2]) / params[0]; + float kps_y = (*(kps_ptr + 3 * k + 1) - params[3]) / params[1]; + float kps_s = *(kps_ptr + 3 * k + 2); + + kps.push_back(kps_x); + kps.push_back(kps_y); + kps.push_back(kps_s); + } + + confidences.push_back(score); + labels.push_back(0); + kpss.push_back(kps); + // boxes.push_back(Rect(left, top, int(w + 0.5), int(h + 0.5))); + boxes.push_back(Rect(left, top, float(w + 0.5), float(h + 0.5))); + } + pdata += _anchorLength; //下一个预测框 + } + + // 对一张图的预测框执行NMS处理 + vector nms_result; + + std::vector boxinfo_results; + BoxInfo res; + float x1,y1,x2,y2,score_; + int label,idx; + for(int i=0;i temp_output; + for (size_t i=0; i &output,cv::Vec4d params){ + vector> temp_output; + + bool flag = BatchDetect(all_data, temp_output,params); + output = temp_output[0]; + return true; +} + + +bool poseDetect::post_process( std::vector &output,cv::Vec4d params) +{ + + foutput_0 = p_outputs_[0]; + bool find_ = Detect(foutput_0,output,params); + + return find_; + +} + diff --git a/src/reference/ai_poc/pose_detect/pose_detect.h b/src/reference/ai_poc/pose_detect/pose_detect.h new file mode 100644 index 000000000..d0277bf06 --- /dev/null +++ b/src/reference/ai_poc/pose_detect/pose_detect.h @@ -0,0 +1,139 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef _POSE_DETECT +#define _POSE_DETECT + +#include +#include +#include "utils.h" +#include "ai_base.h" + + +/** + * @brief 人体关键点检测任务 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class poseDetect: public AIBase +{ + public: + + /** + * for image + * @brief poseDetect 构造函数，加载kmodel,并初始化kmodel输入、输出、类阈值和NMS阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 检测框阈值 + * @param nms_thresh NMS阈值 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + poseDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, const int debug_mode); + /** + * for video + * @brief poseDetect 构造函数，加载kmodel,并初始化kmodel输入、输出、类阈值和NMS阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 检测框阈值 + * @param nms_thresh NMS阈值 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + poseDetect(const char *kmodel_file, float obj_thresh,float nms_thresh, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + /** + * @brief poseDetect 析构函数 + * @return None + */ + ~poseDetect(); + + /** + * @brief 图片预处理（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for video） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + + /** + * @brief Detect函数 + * @param all_data 模型输出 + * @param output 检测输出结果 + * @param params 长宽伸缩比以及x、y方向padding长度 + * @return true/false 是否检测得到 + */ + bool Detect(float* all_data, std::vector &output,cv::Vec4d params); + + /** + * @brief BatchDetect函数 + * @param all_data 模型输出 + * @param output 检测输出结果 + * @param params 长宽伸缩比以及x、y方向padding长度 + * @return true/false 是否检测得到 + */ + bool BatchDetect(float* all_data, std::vector>& output,cv::Vec4d params); + + /** + * @brief postprocess 函数，对输出解码后的结果，进行NMS处理 + * @param output 检测输出结果 + * @param params 长宽伸缩比以及x、y方向padding长度 + * @return None + */ + bool post_process( std::vector &output,cv::Vec4d params); + + std::vector labels { "person" }; // 类别标签 + + cv::Vec4d params; // 长宽伸缩比以及x、y方向padding长度 + + private: + float obj_thresh_; // 检测框阈值 + float nms_thresh_; // NMS阈值 + + int _anchorLength;// pose一个框的信息56个数 + + std::vector _outputTensorShape; // 输出Tensor Shape + + float *foutput_0; // 输出 + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + +}; +#endif diff --git a/src/reference/ai_poc/pose_detect/scoped_timing.hpp b/src/reference/ai_poc/pose_detect/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/pose_detect/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/pose_detect/utils.cc b/src/reference/ai_poc/pose_detect/utils.cc new file mode 100644 index 000000000..a22b794e9 --- /dev/null +++ b/src/reference/ai_poc/pose_detect/utils.cc @@ -0,0 +1,826 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include "utils.h" + + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1,1,CV_32FC1); + +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_params(cv::Vec4d& params,FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + params[0] = ratio; + params[1] = ratio; + + params[2] = left; + params[3] = top; + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + + +void Utils::padding_resize_params(cv::Vec4d& params,FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + // int top = (int)(roundf(dh - 0.1)); + // int bottom = (int)(roundf(dh + 0.1)); + // int left = (int)(roundf(dw - 0.1)); + // int right = (int)(roundf(dw - 0.1)); + + int top = (int)(roundf(dh )); + int bottom = (int)(roundf(dh )); + int left = (int)(roundf(dw )); + // int right = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw )); + + params[0] = ratio; + params[1] = ratio; + + params[2] = left; + params[3] = top; + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +static float sigmoid(float x) +{ + return 1.0f / (1.0f + expf(-x)); +} + +void Utils::nms(std::vector &input_boxes, float NMS_THRESH) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= NMS_THRESH) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +// for NHWC +std::vector Utils::decode_infer(float *data, int net_size, int stride, int num_classes, FrameSize frame_size, float anchors[][2], float threshold) +{ + float ratiow = (float)net_size / frame_size.width; + float ratioh = (float)net_size / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = net_size / stride; + int one_rsize = num_classes + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < num_classes; cls++) + { + // float score = sigmoid(cls_ptr[cls]) * sigmoid(record[4]); + float score = cls_ptr[cls] * record[4]; + if (score > threshold) + { + // cx = (sigmoid(record[0]) * 2.f - 0.5f + (float)shift_x) * (float)stride; + // cy = (sigmoid(record[1]) * 2.f - 0.5f + (float)shift_y) * (float)stride; + // w = pow(sigmoid(record[2]) * 2.f, 2) * anchors[i][0]; + // h = pow(sigmoid(record[3]) * 2.f, 2) * anchors[i][1]; + + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((net_size - frame_size.width * gain) / 2); + cy -= ((net_size - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(frame_size.width, int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(frame_size.height, int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(frame_size.width, int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(frame_size.height, int(cy + h / 2.f))); + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} + +void Utils::nms_pose(std::vector &input_boxes, float NMS_THRESH,vector &nms_result) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= NMS_THRESH) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + if(j== int(input_boxes.size())) + nms_result.push_back(input_boxes[i].idx); + } + } + } +} + +void Utils::DrawPred(cv::Mat& img, std::vector& results, + const std::vector> &SKELLTON, + const std::vector> &KPS_COLORS, + const std::vector> &LIMB_COLORS) +{ + const int num_point =17; + for (auto &result:results){ + int left,top,width, height; + left = result.box.x; + top = result.box.y; + width = result.box.width; + height = result.box.height; + + std::string label = "person: " + std::to_string(result.confidence).substr(0, 4); + int baseLine; + cv::Size labelSize = cv::getTextSize(label, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine); + top = std::max(top, labelSize.height) -10 ; + putText(img, label, cv::Point(left, top), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0,0,255), 2); + + // 连线 + auto &kps = result.kps; + for (int k=0; k0.5f ,>0.0f显示效果比较好 + // 关键点绘制 + if (k 0.0f){ + cv::Scalar kps_color = cv::Scalar(KPS_COLORS[k][0],KPS_COLORS[k][1],KPS_COLORS[k][2]); + cv::circle(img, {kps_x, kps_y}, 5, kps_color, -1); + } + } + + auto &ske = SKELLTON[k]; + int pos1_x = std::round(kps[(ske[0] -1) * 3]); + int pos1_y = std::round(kps[(ske[0] -1) * 3 + 1]); + + int pos2_x = std::round(kps[(ske[1] -1) * 3]); + int pos2_y = std::round(kps[(ske[1] -1) * 3 + 1]); + + float pos1_s = kps[(ske[0] -1) * 3 + 2]; + float pos2_s = kps[(ske[1] -1) * 3 + 2]; + + if (pos1_s > 0.0f && pos2_s >0.0f){// 不要设置为>0.5f ,>0.0f显示效果比较好 + cv::Scalar limb_color = cv::Scalar(LIMB_COLORS[k][0], LIMB_COLORS[k][1], LIMB_COLORS[k][3]); + cv::line(img, {pos1_x, pos1_y}, {pos2_x, pos2_y}, limb_color); + } + + // 跌倒检测 + float pt5_x = kps[5*3]; + float pt5_y = kps[5*3 + 1]; + float pt6_x = kps[6*3]; + float pt6_y = kps[6*3+1]; + float center_up_x = (pt5_x + pt6_x) /2.0f ; + float center_up_y = (pt5_y + pt6_y) / 2.0f; + cv::Point center_up = cv::Point((int)center_up_x, (int)center_up_y); + + float pt11_x = kps[11*3]; + float pt11_y = kps[11*3 + 1]; + float pt12_x = kps[12*3]; + float pt12_y = kps[12*3 + 1]; + float center_down_x = (pt11_x + pt12_x) / 2.0f; + float center_down_y = (pt11_y + pt12_y) / 2.0f; + cv::Point center_down = cv::Point((int)center_down_x, (int)center_down_y); + + + float right_angle_point_x = center_down_x; + float righ_angle_point_y = center_up_y; + cv::Point right_angl_point = cv::Point((int)right_angle_point_x, (int)righ_angle_point_y); + + + float a = abs(right_angle_point_x - center_up_x); + float b = abs(center_down_y - righ_angle_point_y); + + float tan_value = a / b; + float Pi = acos(-1); + float angle = atan(tan_value) * 180.0f/ Pi; + //string angel_label = "angle: " + to_string(angle); + std::string angel_label = ""; + putText(img, angel_label, cv::Point(left, top-40), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0,0,255), 2); + + if (angle > 60.0f || center_down_y <= center_up_y || (double)width/ height > 5.0f/3.0f) // 宽高比小于0.6为站立，大于5/3为跌倒 + { + std::string fall_down_label = "person fall down!!!!"; + putText(img, fall_down_label , cv::Point(left, top-20), cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0,0,255), 2); + + printf("angel:%f width/height:%f\n",angle, (double)width/ height ); + } + + + } + } +} + +void Utils::DrawPred_video(cv::Mat& img,FrameSize frame_size, std::vector& results, + const std::vector> &SKELLTON, + const std::vector> &KPS_COLORS, + const std::vector> &LIMB_COLORS) +{ + int osd_width= img.cols; + int osd_height = img.rows; + + int SENSOR_HEIGHT = frame_size.height; + int SENSOR_WIDTH = frame_size.width; + + const int num_point =17; + for (auto &result:results){ + int left,top,width, height; + left = result.box.x; + top = result.box.y; + width = result.box.width; + height = result.box.height; + + std::string label = "person: " + std::to_string(result.confidence).substr(0, 4); + int baseLine; + cv::Size labelSize = cv::getTextSize(label, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine); + top = std::max(top, labelSize.height) -10 ; + + // 连线 + auto &kps = result.kps; + for (int k=0; k0.5f ,>0.0f显示效果比较好 + // 关键点绘制 + if (k 0.0f){ + cv::Scalar kps_color = cv::Scalar(255,KPS_COLORS[k][0],KPS_COLORS[k][1],KPS_COLORS[k][2]); + cv::circle(img, {kps_x1, kps_y1}, 5, kps_color, -3); + } + } + + auto &ske = SKELLTON[k]; + int pos1_x = std::round(kps[(ske[0] -1) * 3]); + int pos1_y = std::round(kps[(ske[0] -1) * 3 + 1]); + + int pos1_x_ = osd_width - (float)pos1_x / SENSOR_WIDTH * osd_width; + int pos1_y_ = osd_height - (float)pos1_y / SENSOR_HEIGHT * osd_height; + + int pos2_x = std::round(kps[(ske[1] -1) * 3]); + int pos2_y = std::round(kps[(ske[1] -1) * 3 + 1]); + + int pos2_x_ = osd_width - (float)pos2_x / SENSOR_WIDTH * osd_width; + int pos2_y_ = osd_height - (float)pos2_y / SENSOR_HEIGHT * osd_height; + + float pos1_s = kps[(ske[0] -1) * 3 + 2]; + float pos2_s = kps[(ske[1] -1) * 3 + 2]; + + if (pos1_s > 0.0f && pos2_s >0.0f){// 不要设置为>0.5f ,>0.0f显示效果比较好 + cv::Scalar limb_color = cv::Scalar(255,LIMB_COLORS[k][0], LIMB_COLORS[k][1], LIMB_COLORS[k][3]); + cv::line(img, {pos1_x_, pos1_y_}, {pos2_x_, pos2_y_}, limb_color,3); + } + + // 跌倒检测 + float pt5_x = kps[5*3]; + float pt5_y = kps[5*3 + 1]; + float pt6_x = kps[6*3]; + float pt6_y = kps[6*3+1]; + float center_up_x = (pt5_x + pt6_x) /2.0f ; + float center_up_y = (pt5_y + pt6_y) / 2.0f; + cv::Point center_up = cv::Point((int)center_up_x, (int)center_up_y); + + float pt11_x = kps[11*3]; + float pt11_y = kps[11*3 + 1]; + float pt12_x = kps[12*3]; + float pt12_y = kps[12*3 + 1]; + float center_down_x = (pt11_x + pt12_x) / 2.0f; + float center_down_y = (pt11_y + pt12_y) / 2.0f; + cv::Point center_down = cv::Point((int)center_down_x, (int)center_down_y); + + + float right_angle_point_x = center_down_x; + float righ_angle_point_y = center_up_y; + cv::Point right_angl_point = cv::Point((int)right_angle_point_x, (int)righ_angle_point_y); + + + float a = abs(right_angle_point_x - center_up_x); + float b = abs(center_down_y - righ_angle_point_y); + + float tan_value = a / b; + float Pi = acos(-1); + float angle = atan(tan_value) * 180.0f/ Pi; + std::string angel_label = ""; + + if (angle > 60.0f || center_down_y <= center_up_y || (double)width/ height > 5.0f/3.0f) // 宽高比小于0.6为站立，大于5/3为跌倒 + { + std::string fall_down_label = "person fall down!!!!"; + } + + + } + } +} + diff --git a/src/reference/ai_poc/pose_detect/utils.h b/src/reference/ai_poc/pose_detect/utils.h new file mode 100644 index 000000000..7a2cd2458 --- /dev/null +++ b/src/reference/ai_poc/pose_detect/utils.h @@ -0,0 +1,494 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using namespace cv; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 行人检测框信息 + */ +typedef struct BoxInfo +{ + float x1; // 行人检测框左上顶点x坐标 + float y1; // 行人检测框左上顶点y坐标 + float x2; // 行人检测框右下顶点x坐标 + float y2; // 行人检测框右下顶点y坐标 + float score; // 行人检测框的得分 + int label; // 行人检测框的标签 + + int idx; // 行人检测框的序号 + +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct Framesize +{ + int width; // 帧宽 + int height; // 帧高 +} Framesize; + + +/** + * @brief Pose输出结果信息 + */ +struct OutputPose { + cv::Rect_ box; // 行人检测框 box + int label =0; // 检测框标签，默认为行人（0） + float confidence =0.0; // 置信度 + std::vector kps; // 关键点向量 +}; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(114, 114, 114),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(114, 114, 114)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(114, 114, 114),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + // padding resize + /** + * @brief padding_resize_params函数（上下左右padding），对chw数据进行padding & resize + * @param params 长宽缩放比例以及左右（上下）位移 + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize_params(cv::Vec4d& params,FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + + /** + * @brief padding_resize_params函数（上下左右padding），对chw数据进行padding & resize + * @param params 长宽缩放比例以及左右（上下）位移 + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_params(cv::Vec4d& params,FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 非极大值抑制 + * @param input_boxes 所有候选框 + * @param NMS_THRESH NMS阈值 + * @return None + **/ + static void nms(std::vector &input_boxes, float NMS_THRESH); + + /** + * @brief 解码 + * @param data kmodel 推理结果 + * @param net_size kmodel 输入尺寸大小 + * @param stride 步长 + * @param num_classes 类别数 + * @param frame_size 分辨率 + * @param anchors 锚框 + * @param threshold 检测框阈值 + **/ + static std::vector decode_infer(float *data, int net_size, int stride, int num_classes, FrameSize frame_size, float anchors[][2], float threshold); + + /** + * @brief 对所有Pose结果（含boxes）进行NMS处理 + * @param input_boxes 所有boxes + * @param NMS_THRESH NMS阈值 + * @param nms_result NMS处理之后的结果 + * @return None + */ + static void nms_pose(std::vector &input_boxes, float NMS_THRESH,std::vector &nms_result); + + /** + * @brief 绘制关键点 + * @param img 原图 + * @param results 关键点结果 + * @param SKELETON 骨骼信息，常量 + * @param KPS_COLORS 关键点颜色信息，常量 + * @param LIMB_COLORS 肢体颜色信息，常量 + * @return None + */ + static void DrawPred(cv::Mat& img, std::vector& results, + const std::vector> &SKELLTON, + const std::vector> &KPS_COLORS, + const std::vector> &LIMB_COLORS); + + /** + * @brief 绘制关键点 + * @param img 原图 + * @param frame_size 分辨率 + * @param results 关键点结果 + * @param SKELETON 骨骼信息，常量 + * @param KPS_COLORS 关键点颜色信息，常量 + * @param LIMB_COLORS 肢体颜色信息，常量 + * @return None + */ + static void DrawPred_video(cv::Mat& img,FrameSize frame_size, std::vector& results, + const std::vector> &SKELLTON, + const std::vector> &KPS_COLORS, + const std::vector> &LIMB_COLORS); + + +}; + +const std::vector> KPS_COLORS = // 关键点颜色 + {{0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {51, 153, 255}, + {51, 153, 255}, + {51, 153, 255}, + {51, 153, 255}, + {51, 153, 255}, + {51, 153, 255}}; + +const std::vector> SKELETON = {{16, 14}, // 骨骼信息 + {14, 12}, + {17, 15}, + {15, 13}, + {12, 13}, + {6, 12}, + {7, 13}, + {6, 7}, + {6, 8}, + {7, 9}, + {8, 10}, + {9, 11}, + {2, 3}, + {1, 2}, + {1, 3}, + {2, 4}, + {3, 5}, + {4, 6}, + {5, 7}}; + +const std::vector> LIMB_COLORS = {{51, 153, 255}, // 肢体信息 + {51, 153, 255}, + {51, 153, 255}, + {51, 153, 255}, + {255, 51, 255}, + {255, 51, 255}, + {255, 51, 255}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {255, 128, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}, + {0, 255, 0}}; + + + +#endif diff --git a/src/reference/ai_poc/pose_detect/vi_vo.h b/src/reference/ai_poc/pose_detect/vi_vo.h new file mode 100644 index 000000000..6eeb6a168 --- /dev/null +++ b/src/reference/ai_poc/pose_detect/vi_vo.h @@ -0,0 +1,687 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 + +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/shell/face_detect_image.sh b/src/reference/ai_poc/shell/face_detect_image.sh new file mode 100755 index 000000000..c41413dbf --- /dev/null +++ b/src/reference/ai_poc/shell/face_detect_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_detection.elf face_detection_320.kmodel 0.6 0.2 1024x624.jpg 1 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_detect_isp.sh b/src/reference/ai_poc/shell/face_detect_isp.sh new file mode 100755 index 000000000..5ec24fed6 --- /dev/null +++ b/src/reference/ai_poc/shell/face_detect_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_detection.elf face_detection_320.kmodel 0.6 0.2 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_emotion_image.sh b/src/reference/ai_poc/shell/face_emotion_image.sh new file mode 100755 index 000000000..8f21aaf0f --- /dev/null +++ b/src/reference/ai_poc/shell/face_emotion_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_emotion.elf face_detection_320.kmodel 0.6 0.2 face_emotion.kmodel 1024x768.jpg 2 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_emotion_isp.sh b/src/reference/ai_poc/shell/face_emotion_isp.sh new file mode 100755 index 000000000..9ddf21817 --- /dev/null +++ b/src/reference/ai_poc/shell/face_emotion_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_emotion.elf face_detection_320.kmodel 0.6 0.2 face_emotion.kmodel None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_gender_image.sh b/src/reference/ai_poc/shell/face_gender_image.sh new file mode 100755 index 000000000..93a721423 --- /dev/null +++ b/src/reference/ai_poc/shell/face_gender_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_gender.elf face_detection_320.kmodel 0.6 0.2 face_gender.kmodel 1024x768.jpg 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_gender_isp.sh b/src/reference/ai_poc/shell/face_gender_isp.sh new file mode 100755 index 000000000..42655feb0 --- /dev/null +++ b/src/reference/ai_poc/shell/face_gender_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_gender.elf face_detection_320.kmodel 0.6 0.2 face_gender.kmodel None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_glasses_image.sh b/src/reference/ai_poc/shell/face_glasses_image.sh new file mode 100755 index 000000000..4713a6209 --- /dev/null +++ b/src/reference/ai_poc/shell/face_glasses_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_glasses.elf face_detection_320.kmodel 0.4 0.2 face_glasses.kmodel 1024x768.jpg 2 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_glasses_isp.sh b/src/reference/ai_poc/shell/face_glasses_isp.sh new file mode 100755 index 000000000..3dcef06b5 --- /dev/null +++ b/src/reference/ai_poc/shell/face_glasses_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_glasses.elf face_detection_320.kmodel 0.4 0.2 face_glasses.kmodel None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_landmark_image.sh b/src/reference/ai_poc/shell/face_landmark_image.sh new file mode 100755 index 000000000..a08997c0b --- /dev/null +++ b/src/reference/ai_poc/shell/face_landmark_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_landmark.elf face_detection_320.kmodel 0.6 0.2 face_landmark.kmodel 1024x1331.jpg 2 diff --git a/src/reference/ai_poc/shell/face_landmark_isp.sh b/src/reference/ai_poc/shell/face_landmark_isp.sh new file mode 100755 index 000000000..824d90a8a --- /dev/null +++ b/src/reference/ai_poc/shell/face_landmark_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_landmark.elf face_detection_320.kmodel 0.6 0.2 face_landmark.kmodel None 0 diff --git a/src/reference/ai_poc/shell/face_mask_image.sh b/src/reference/ai_poc/shell/face_mask_image.sh new file mode 100755 index 000000000..47a70144b --- /dev/null +++ b/src/reference/ai_poc/shell/face_mask_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_mask.elf face_detection_320.kmodel 0.4 0.2 face_mask.kmodel 0.5 1024x768.jpg 2 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_mask_isp.sh b/src/reference/ai_poc/shell/face_mask_isp.sh new file mode 100755 index 000000000..be61e937d --- /dev/null +++ b/src/reference/ai_poc/shell/face_mask_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_mask.elf face_detection_320.kmodel 0.4 0.2 face_mask.kmodel 0.5 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/face_pose_image.sh b/src/reference/ai_poc/shell/face_pose_image.sh new file mode 100755 index 000000000..89f0df651 --- /dev/null +++ b/src/reference/ai_poc/shell/face_pose_image.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_pose.elf face_detection_320.kmodel 0.6 0.2 face_pose.kmodel 1024x768.jpg 2 diff --git a/src/reference/ai_poc/shell/face_pose_isp.sh b/src/reference/ai_poc/shell/face_pose_isp.sh new file mode 100755 index 000000000..a296326e4 --- /dev/null +++ b/src/reference/ai_poc/shell/face_pose_isp.sh @@ -0,0 +1,2 @@ +#!/bin/bash +./face_pose.elf face_detection_320.kmodel 0.6 0.2 face_pose.kmodel None 0 diff --git a/src/reference/ai_poc/shell/falldown_detect_image.sh b/src/reference/ai_poc/shell/falldown_detect_image.sh new file mode 100644 index 000000000..8eb9bedc0 --- /dev/null +++ b/src/reference/ai_poc/shell/falldown_detect_image.sh @@ -0,0 +1,2 @@ + +./falldown_detect.elf yolov5n-falldown.kmodel 0.5 0.45 falldown_elder.jpg 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/falldown_detect_isp.sh b/src/reference/ai_poc/shell/falldown_detect_isp.sh new file mode 100644 index 000000000..17fc64ee4 --- /dev/null +++ b/src/reference/ai_poc/shell/falldown_detect_isp.sh @@ -0,0 +1,2 @@ + +./falldown_detect.elf yolov5n-falldown.kmodel 0.3 0.45 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/handdet_cpp_image.sh b/src/reference/ai_poc/shell/handdet_cpp_image.sh new file mode 100644 index 000000000..261fbb7de --- /dev/null +++ b/src/reference/ai_poc/shell/handdet_cpp_image.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +set -x +./sq_hand_det.elf hand_det.kmodel input_hd.jpg 0.15 0.4 0 + + diff --git a/src/reference/ai_poc/shell/handdet_cpp_isp.sh b/src/reference/ai_poc/shell/handdet_cpp_isp.sh new file mode 100644 index 000000000..c29481cd4 --- /dev/null +++ b/src/reference/ai_poc/shell/handdet_cpp_isp.sh @@ -0,0 +1,4 @@ +#!/bin/sh + +set -x +./sq_hand_det.elf hand_det.kmodel None 0.15 0.4 0 diff --git a/src/reference/ai_poc/shell/handkpclass_cpp_image.sh b/src/reference/ai_poc/shell/handkpclass_cpp_image.sh new file mode 100644 index 000000000..86eac7625 --- /dev/null +++ b/src/reference/ai_poc/shell/handkpclass_cpp_image.sh @@ -0,0 +1,4 @@ +#!/bin/sh + +set -x +./sq_handkp_class.elf hand_det.kmodel input_hd.jpg 0.15 0.4 handkp_det.kmodel 0 diff --git a/src/reference/ai_poc/shell/handkpclass_cpp_isp.sh b/src/reference/ai_poc/shell/handkpclass_cpp_isp.sh new file mode 100644 index 000000000..4290ae12e --- /dev/null +++ b/src/reference/ai_poc/shell/handkpclass_cpp_isp.sh @@ -0,0 +1,4 @@ +#!/bin/sh + +set -x +./sq_handkp_class.elf hand_det.kmodel None 0.15 0.4 handkp_det.kmodel 0 diff --git a/src/reference/ai_poc/shell/handkpdet_cpp_image.sh b/src/reference/ai_poc/shell/handkpdet_cpp_image.sh new file mode 100644 index 000000000..853754957 --- /dev/null +++ b/src/reference/ai_poc/shell/handkpdet_cpp_image.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +set -x +./sq_handkp_det.elf hand_det.kmodel input_hd.jpg 0.15 0.4 handkp_det.kmodel 0 + + diff --git a/src/reference/ai_poc/shell/handkpdet_cpp_isp.sh b/src/reference/ai_poc/shell/handkpdet_cpp_isp.sh new file mode 100644 index 000000000..5159d66a3 --- /dev/null +++ b/src/reference/ai_poc/shell/handkpdet_cpp_isp.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +set -x +./sq_handkp_det.elf hand_det.kmodel None 0.15 0.4 handkp_det.kmodel 0 + + diff --git a/src/reference/ai_poc/shell/handreco_cpp_image.sh b/src/reference/ai_poc/shell/handreco_cpp_image.sh new file mode 100644 index 000000000..84abc4045 --- /dev/null +++ b/src/reference/ai_poc/shell/handreco_cpp_image.sh @@ -0,0 +1,4 @@ +#!/bin/sh + +set -x +./sq_handreco.elf hand_det.kmodel input_hd.jpg 0.15 0.4 hand_reco.kmodel 0 diff --git a/src/reference/ai_poc/shell/handreco_cpp_isp.sh b/src/reference/ai_poc/shell/handreco_cpp_isp.sh new file mode 100644 index 000000000..4015e0a28 --- /dev/null +++ b/src/reference/ai_poc/shell/handreco_cpp_isp.sh @@ -0,0 +1,4 @@ +#!/bin/sh + +set -x +./sq_handreco.elf hand_det.kmodel None 0.15 0.4 hand_reco.kmodel 0 diff --git a/src/reference/ai_poc/shell/ob_detect_image_320.sh b/src/reference/ai_poc/shell/ob_detect_image_320.sh new file mode 100644 index 000000000..10a542118 --- /dev/null +++ b/src/reference/ai_poc/shell/ob_detect_image_320.sh @@ -0,0 +1 @@ +./ob_det.elf yolov8n_320.kmodel 0.25 0.6 bus.jpg 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/ob_detect_image_640.sh b/src/reference/ai_poc/shell/ob_detect_image_640.sh new file mode 100644 index 000000000..8d19a2534 --- /dev/null +++ b/src/reference/ai_poc/shell/ob_detect_image_640.sh @@ -0,0 +1 @@ +./ob_det.elf yolov8n_640.kmodel 0.25 0.6 bus.jpg 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/ob_detect_isp_320.sh b/src/reference/ai_poc/shell/ob_detect_isp_320.sh new file mode 100644 index 000000000..56778fc4b --- /dev/null +++ b/src/reference/ai_poc/shell/ob_detect_isp_320.sh @@ -0,0 +1 @@ +./ob_det.elf yolov8n_320.kmodel 0.25 0.6 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/ob_detect_isp_640.sh b/src/reference/ai_poc/shell/ob_detect_isp_640.sh new file mode 100644 index 000000000..0d34058ea --- /dev/null +++ b/src/reference/ai_poc/shell/ob_detect_isp_640.sh @@ -0,0 +1 @@ +./ob_det.elf yolov8n_640.kmodel 0.25 0.6 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/person_detect_image.sh b/src/reference/ai_poc/shell/person_detect_image.sh new file mode 100644 index 000000000..6ccf98713 --- /dev/null +++ b/src/reference/ai_poc/shell/person_detect_image.sh @@ -0,0 +1,2 @@ + +./person_detect.elf yolov5n.kmodel 0.5 0.45 bus.jpg 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/person_detect_isp.sh b/src/reference/ai_poc/shell/person_detect_isp.sh new file mode 100644 index 000000000..4cf31eae5 --- /dev/null +++ b/src/reference/ai_poc/shell/person_detect_isp.sh @@ -0,0 +1,2 @@ + +./person_detect.elf yolov5n.kmodel 0.5 0.45 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/pose_detect_image.sh b/src/reference/ai_poc/shell/pose_detect_image.sh new file mode 100644 index 000000000..2dbcde4e1 --- /dev/null +++ b/src/reference/ai_poc/shell/pose_detect_image.sh @@ -0,0 +1,2 @@ + +./pose_detect.elf yolov8n-pose.kmodel 0.02 0.45 bus.jpg 0 \ No newline at end of file diff --git a/src/reference/ai_poc/shell/pose_detect_isp.sh b/src/reference/ai_poc/shell/pose_detect_isp.sh new file mode 100644 index 000000000..29386f951 --- /dev/null +++ b/src/reference/ai_poc/shell/pose_detect_isp.sh @@ -0,0 +1,2 @@ + +./pose_detect.elf yolov8n-pose.kmodel 0.02 0.45 None 0 \ No newline at end of file diff --git a/src/reference/ai_poc/sq_hand_det/CMakeLists.txt b/src/reference/ai_poc/sq_hand_det/CMakeLists.txt new file mode 100644 index 000000000..44026933a --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src ai_base.cc main.cc utils.cc hand_detection.cc) +set(bin sq_hand_det.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/sq_hand_det/README.md b/src/reference/ai_poc/sq_hand_det/README.md new file mode 100644 index 000000000..3dcde5d95 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/README.md @@ -0,0 +1,27 @@ +# 1.简介 + +手掌检测采用了yolov5网络结构，backbone选取了1.0-mobilenetV2。使用该应用，可得到图像或视频中的每个手掌的检测框。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +"Usage: " << sq_hand_det.elf << " " + +各参数释义如下： +kmodel_det 手掌检测 kmodel路径 +input_mode 本地图片(图片路径)/ 摄像头(None) +obj_thresh 手掌检测阈值 +nms_thresh 手掌检测非极大值抑制阈值 +debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（handdet_cpp_image.sh） +./sq_hand_det.elf hand_det.kmodel input_hd.jpg 0.15 0.4 0 + + #视频流推理：（handdet_cpp_isp.sh） +./sq_hand_det.elf hand_det.kmodel None 0.15 0.4 0 +``` + + + diff --git a/src/reference/ai_poc/sq_hand_det/ai_base.cc b/src/reference/ai_poc/sq_hand_det/ai_base.cc new file mode 100644 index 000000000..e9d87b397 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/ai_base.cc @@ -0,0 +1,186 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/sq_hand_det/ai_base.h b/src/reference/ai_poc/sq_hand_det/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/sq_hand_det/hand_detection.cc b/src/reference/ai_poc/sq_hand_det/hand_detection.cc new file mode 100644 index 000000000..ab412ba28 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/hand_detection.cc @@ -0,0 +1,187 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_detection.h" +#include + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode) +:obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size),AIBase(kmodel_file, "HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + int net_len = input_shapes_[0][2]; + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size), AIBase(kmodel_file,"HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); + Utils::padding_resize(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + + +HandDetection::~HandDetection() +{ +} + +// ai2d for image +void HandDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector rgb_chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, rgb_chw_vec); + Utils::padding_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, rgb_chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +// ai2d for video +void HandDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif +} + +void HandDetection::inference() +{ + this->run(); + this->get_output(); +} + +void HandDetection::post_process(std::vector &result) +{ + auto boxes0 = decode_infer(p_outputs_[0], 8, frame_size_, anchors_0); + result.insert(result.begin(), boxes0.begin(), boxes0.end()); + auto boxes1 = decode_infer(p_outputs_[1], 16, frame_size_, anchors_1); + result.insert(result.begin(), boxes1.begin(), boxes1.end()); + auto boxes2 = decode_infer(p_outputs_[2], 32, frame_size_, anchors_2); + result.insert(result.begin(), boxes2.begin(), boxes2.end()); + nms(result); +} + +void HandDetection::nms(std::vector &input_boxes) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= nms_thresh_) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +std::vector HandDetection::decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]) +{ + float ratiow = (float)input_shapes_[0][3] / frame_size.width; + float ratioh = (float)input_shapes_[0][2] / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = input_shapes_[0][2] / stride; + int one_rsize = classes_num_ + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < classes_num_; cls++) + { + float score = cls_ptr[cls] * record[4]; + if (score > obj_thresh_) + { + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((input_shapes_[0][3] - frame_size.width * gain) / 2); + cy -= ((input_shapes_[0][2] - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + if (box.x1==box.x2) + continue; + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} diff --git a/src/reference/ai_poc/sq_hand_det/hand_detection.h b/src/reference/ai_poc/sq_hand_det/hand_detection.h new file mode 100644 index 000000000..b779a9632 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/hand_detection.h @@ -0,0 +1,157 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_DETECTION_H +#define _HAND_DETECTION_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +//#include +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::detail; +using namespace std; + +/** + * @brief 手掌检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandDetection:public AIBase +{ +public: + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for image + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode); + + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出和手掌检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for_video + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief HandDetection析构函数 + * @return None + */ + ~HandDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param results 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void post_process(std::vector &result); + + std::vector labels_ = {"hand"}; //模型输出类别名称 + + +private: + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + float obj_thresh_; // 手掌检测阈值 + float nms_thresh_; // 手掌检测框nms阈值 + FrameSize frame_size_; // 输入图片尺寸 + int classes_num_; // 模型输出类别数 + + float anchors_0[3][2] = { { 26,27 }, { 53,52 }, { 75,71 } }; + float anchors_1[3][2] = { { 80,99 }, { 106,82 }, { 99,134 } }; + float anchors_2[3][2] = { { 140,113 }, { 161,172 }, { 245,276 } }; + + /** + * @brief 获取2个检测框的iou + * @param input_boxes 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void nms(std::vector &input_boxes); + + /** + * @brief 获取2个检测框的iou + * @param data 指向模型推理得到的首个roi置信度的指针 + * @param stride 模型推理得到的feature相比模型输入的下采样倍数 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param anchors 模型推理得到的feature对应的anchor + * @return 每个feature对应的结果映射回原始图像的{检测框坐标点、得分和标签}集合 + */ + std::vector decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]); +}; +#endif diff --git a/src/reference/ai_poc/sq_hand_det/main.cc b/src/reference/ai_poc/sq_hand_det/main.cc new file mode 100644 index 000000000..cbc2a0255 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/main.cc @@ -0,0 +1,202 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include + +#include "utils.h" +#include "vi_vo.h" +#include "hand_detection.h" + + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 手掌检测kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " obj_thresh 手掌检测阈值\n" + << " nms_thresh 手掌检测非极大值抑制阈值\n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; // osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), {SENSOR_WIDTH, SENSOR_HEIGHT}, {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[5])); + + std::vector results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[5])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[5])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); // 这里以后可以去掉，不用copy + kd_mpi_sys_munmap(vbvaddr, size); + + } + + results.clear(); + + hd.pre_process(); + hd.inference(); + // 旋转后图像 + hd.post_process(results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (auto r: results) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + std::cout << "text = " << text << std::endl; + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + + int rect_x = osd_width - r.x2/ SENSOR_WIDTH * osd_width; + int rect_y = osd_height - r.y2/ SENSOR_HEIGHT * osd_height; + int rect_w = (float)w / SENSOR_WIDTH * osd_width; + int rect_h = (float)h / SENSOR_HEIGHT * osd_height; + cv::rectangle(osd_frame, cv::Rect(rect_x, rect_y , rect_w, rect_h), cv::Scalar( 255,255, 255, 255), 2, 2, 0); + } + + { + ScopedTiming st("osd copy", atoi(argv[5])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 6) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[2], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat img = cv::imread(argv[2]); + cv::Mat img_draw = img.clone(); + + int origin_w = img.cols; + int origin_h = img.rows; + FrameSize handimg_size = {origin_w, origin_h}; + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), handimg_size, atoi(argv[5])); + hd.pre_process(img); + + hd.inference(); + + std::vector result_hd; + hd.post_process(result_hd); + + for (auto r : result_hd) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + std::cout << "text = " << text << std::endl; + + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + cv::rectangle(img_draw, cv::Rect(static_cast(r.x1), static_cast(r.y1) , w, h), cv::Scalar(255, 255, 255), 2, 2, 0); + } + + cv::imwrite("handdet_result.jpg", img_draw); + } + return 0; +} diff --git a/src/reference/ai_poc/sq_hand_det/scoped_timing.hpp b/src/reference/ai_poc/sq_hand_det/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/sq_hand_det/utils.cc b/src/reference/ai_poc/sq_hand_det/utils.cc new file mode 100644 index 000000000..5254d5769 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} diff --git a/src/reference/ai_poc/sq_hand_det/utils.h b/src/reference/ai_poc/sq_hand_det/utils.h new file mode 100644 index 000000000..1a4c32d18 --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/utils.h @@ -0,0 +1,320 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 手掌检测框 + */ +typedef struct BoxInfo +{ + float x1; // 手掌检测框的左上顶点x坐标 + float y1; // 手掌检测框的左上顶点y坐标 + float x2; // 手掌检测框的右下顶点x坐标 + float y2; // 手掌检测框的右下顶点y坐标 + float score; // 手掌检测框的得分 + int label; // 手掌检测框的类别 +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/sq_hand_det/vi_vo.h b/src/reference/ai_poc/sq_hand_det/vi_vo.h new file mode 100644 index 000000000..4d3ddce8b --- /dev/null +++ b/src/reference/ai_poc/sq_hand_det/vi_vo.h @@ -0,0 +1,684 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/sq_handkp_class/CMakeLists.txt b/src/reference/ai_poc/sq_handkp_class/CMakeLists.txt new file mode 100644 index 000000000..252040fad --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src main.cc utils.cc ai_base.cc hand_detection.cc hand_keypoint.cc) +set(bin sq_handkp_class.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/sq_handkp_class/README.md b/src/reference/ai_poc/sq_handkp_class/README.md new file mode 100644 index 000000000..2063788f3 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/README.md @@ -0,0 +1,29 @@ +# 1.简介 + +手掌检测采用了yolov5网络结构，backbone选取了1.0-mobilenetV2，手掌关键点检测采用了resnet50网络结构。使用该应用，可得到图像或视频中的每个手掌的21个骨骼关键点位置,并根据关键点的位置二维约束获得静态手势。其中静态手势包含以下类别： +![img.png](img.png) + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +"Usage: " << sq_handkp_class.elf << " " + +各参数释义如下： +kmodel_det 手掌检测 kmodel路径 +input_mode 本地图片(图片路径)/ 摄像头(None) +obj_thresh 手掌检测阈值 +nms_thresh 手掌检测非极大值抑制阈值 +kmodel_kp 手掌关键点检测 kmodel路径 +debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（handkpclass_cpp_image.sh） +./sq_handkp_class.elf hand_det.kmodel input_hd.jpg 0.15 0.4 handkp_det.kmodel 0 + + #视频流推理：（handkpclass_cpp_isp.sh） +./sq_handkp_class.elf hand_det.kmodel None 0.15 0.4 handkp_det.kmodel 0 +``` + + + diff --git a/src/reference/ai_poc/sq_handkp_class/ai_base.cc b/src/reference/ai_poc/sq_handkp_class/ai_base.cc new file mode 100644 index 000000000..ad3c804d0 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/ai_base.cc @@ -0,0 +1,187 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/sq_handkp_class/ai_base.h b/src/reference/ai_poc/sq_handkp_class/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/sq_handkp_class/hand_detection.cc b/src/reference/ai_poc/sq_handkp_class/hand_detection.cc new file mode 100644 index 000000000..25766a75c --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/hand_detection.cc @@ -0,0 +1,190 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_detection.h" +#include + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode) +:obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size),AIBase(kmodel_file, "HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + int net_len = input_shapes_[0][2]; + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size), AIBase(kmodel_file,"HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); + Utils::padding_resize(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + + +HandDetection::~HandDetection() +{ +} + +// ai2d for image +void HandDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector rgb_chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, rgb_chw_vec); + Utils::padding_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, rgb_chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +// ai2d for video +void HandDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_,ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif +} + +void HandDetection::inference() +{ + this->run(); + this->get_output(); +} + +void HandDetection::post_process(std::vector &result) +{ + auto boxes0 = decode_infer(p_outputs_[0], 8, frame_size_, anchors_0); + result.insert(result.begin(), boxes0.begin(), boxes0.end()); + auto boxes1 = decode_infer(p_outputs_[1], 16, frame_size_, anchors_1); + result.insert(result.begin(), boxes1.begin(), boxes1.end()); + auto boxes2 = decode_infer(p_outputs_[2], 32, frame_size_, anchors_2); + result.insert(result.begin(), boxes2.begin(), boxes2.end()); + nms(result); +} + +void HandDetection::nms(std::vector &input_boxes) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= nms_thresh_) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +std::vector HandDetection::decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]) +{ +//std::cout << "decode_infer!\n"; + float ratiow = (float)input_shapes_[0][3] / frame_size.width; + float ratioh = (float)input_shapes_[0][2] / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = input_shapes_[0][2] / stride; + int one_rsize = classes_num_ + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < classes_num_; cls++) + { + // float score = sigmoid(cls_ptr[cls]) * sigmoid(record[4]); + float score = cls_ptr[cls] * record[4]; + if (score > obj_thresh_) + { + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((input_shapes_[0][3] - frame_size.width * gain) / 2); + cy -= ((input_shapes_[0][2] - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + + if (box.x1==box.x2) + continue; + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} diff --git a/src/reference/ai_poc/sq_handkp_class/hand_detection.h b/src/reference/ai_poc/sq_handkp_class/hand_detection.h new file mode 100644 index 000000000..b779a9632 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/hand_detection.h @@ -0,0 +1,157 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_DETECTION_H +#define _HAND_DETECTION_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +//#include +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::detail; +using namespace std; + +/** + * @brief 手掌检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandDetection:public AIBase +{ +public: + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for image + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode); + + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出和手掌检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for_video + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief HandDetection析构函数 + * @return None + */ + ~HandDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param results 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void post_process(std::vector &result); + + std::vector labels_ = {"hand"}; //模型输出类别名称 + + +private: + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + float obj_thresh_; // 手掌检测阈值 + float nms_thresh_; // 手掌检测框nms阈值 + FrameSize frame_size_; // 输入图片尺寸 + int classes_num_; // 模型输出类别数 + + float anchors_0[3][2] = { { 26,27 }, { 53,52 }, { 75,71 } }; + float anchors_1[3][2] = { { 80,99 }, { 106,82 }, { 99,134 } }; + float anchors_2[3][2] = { { 140,113 }, { 161,172 }, { 245,276 } }; + + /** + * @brief 获取2个检测框的iou + * @param input_boxes 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void nms(std::vector &input_boxes); + + /** + * @brief 获取2个检测框的iou + * @param data 指向模型推理得到的首个roi置信度的指针 + * @param stride 模型推理得到的feature相比模型输入的下采样倍数 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param anchors 模型推理得到的feature对应的anchor + * @return 每个feature对应的结果映射回原始图像的{检测框坐标点、得分和标签}集合 + */ + std::vector decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]); +}; +#endif diff --git a/src/reference/ai_poc/sq_handkp_class/hand_keypoint.cc b/src/reference/ai_poc/sq_handkp_class/hand_keypoint.cc new file mode 100644 index 000000000..8771dd952 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/hand_keypoint.cc @@ -0,0 +1,264 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_keypoint.h" + +HandKeypoint::HandKeypoint(const char *kmodel_file, const int debug_mode) +:AIBase(kmodel_file, "HandKeypoint", debug_mode) +{ + model_name_ = "HandKeypoint"; + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandKeypoint::HandKeypoint(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: AIBase(kmodel_file,"HandKeypoint", debug_mode) +{ + model_name_ = "HandKeypoint"; + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandKeypoint::~HandKeypoint() +{ +} + +void HandKeypoint::pre_process(cv::Mat ori_img, Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::crop_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, bbox, ai2d_out_tensor_); +} + +// for video +void HandKeypoint::pre_process(Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); +#endif + Utils::crop_resize(bbox, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); +} + +void HandKeypoint::inference() +{ + this->run(); + this->get_output(); +} + +void HandKeypoint::post_process(Bbox &bbox) +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + float *pred = p_outputs_[0]; + // 绘制关键点像素坐标 + int64_t output_tensor_size = output_shapes_[0][1];// 关键点输出 （x,y）*21= 42 + results.clear(); + + for (unsigned i = 0; i < output_tensor_size / 2; i++) + { + float x_kp; + float y_kp; + x_kp = pred[i * 2] * bbox.w + bbox.x; + y_kp = pred[i * 2 + 1] * bbox.h + bbox.y; + + // results[i * 2] = static_cast(x_kp); + // results[i * 2 + 1] = static_cast(y_kp); + results.push_back(static_cast(x_kp)); + results.push_back(static_cast(y_kp)); + + } +} + +void HandKeypoint::draw_keypoints(cv::Mat &img, std::string text, Bbox &bbox, bool pic_mode) +{ + ScopedTiming st(model_name_ + " draw_keypoints", debug_mode_); + // 绘制关键点像素坐标 + if(pic_mode) + { + for (unsigned i = 0; i < results.size() / 2; i++) + { + cv::circle(img, cv::Point(results[i * 2], results[i * 2 + 1]), 2, cv::Scalar(255, 155, 0), 3); + } + + for (unsigned k = 0; k < 5; k++) + { + int i = k*8; + unsigned char R = 255, G = 0, B = 0; + + switch(k) + { + case 0:R = 255; G = 0; B = 0;break; + case 1:R = 255; G = 0; B = 255;break; + case 2:R = 255; G = 255; B = 0;break; + case 3:R = 0; G = 255; B = 0;break; + case 4:R = 0; G = 0; B = 255;break; + default: std::cout << "error" << std::endl; + } + + cv::line(img, cv::Point(results[0], results[1]), cv::Point(results[i + 2], results[i + 3]), cv::Scalar(B,G,R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 2], results[i + 3]), cv::Point(results[i + 4], results[i + 5]), cv::Scalar(B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 4], results[i + 5]), cv::Point(results[i + 6], results[i + 7]), cv::Scalar(B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 6], results[i + 7]), cv::Point(results[i + 8], results[i + 9]), cv::Scalar(B, G, R), 2, cv::LINE_AA); + } + } + else + { + int osd_width = img.cols; + int osd_height = img.rows; + int SENSOR_HEIGHT = isp_shape_.height; + int SENSOR_WIDTH = isp_shape_.width; + int64_t output_tensor_size = output_shapes_[0][1];// 关键点输出 （x,y）*21= 42 + std::vectorresults_vd(output_tensor_size); + for (unsigned i = 0; i < output_tensor_size / 2; i++) + { + results_vd[i * 2] = static_cast(results[i*2]) / SENSOR_WIDTH * osd_width; + results_vd[i * 2 + 1] = static_cast(results[i*2+1]) / SENSOR_HEIGHT * osd_height; + cv::circle(img, cv::Point(results_vd[i * 2], results_vd[i * 2 + 1]), 4, cv::Scalar(255, 255, 155, 0), 4); + } + + for (unsigned k = 0; k < 5; k++) + { + int i = k*8; + unsigned char R = 255, G = 0, B = 0; + + switch(k) + { + case 0:R = 255; G = 0; B = 0;break; + case 1:R = 255; G = 0; B = 255;break; + case 2:R = 255; G = 255; B = 0;break; + case 3:R = 0; G = 255; B = 0;break; + case 4:R = 0; G = 0; B = 255;break; + default: std::cout << "error" << std::endl; + } + + cv::line(img, cv::Point(results_vd[0], results_vd[1]), cv::Point(results_vd[i + 2], results_vd[i + 3]), cv::Scalar(255, B,G,R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results_vd[i + 2], results_vd[i + 3]), cv::Point(results_vd[i + 4], results_vd[i + 5]), cv::Scalar(255, B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results_vd[i + 4], results_vd[i + 5]), cv::Point(results_vd[i + 6], results_vd[i + 7]), cv::Scalar(255, B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results_vd[i + 6], results_vd[i + 7]), cv::Point(results_vd[i + 8], results_vd[i + 9]), cv::Scalar(255, B, G, R), 2, cv::LINE_AA); + } + } + +} + +double HandKeypoint::vector_2d_angle(std::vector v1, std::vector v2) +{ + double v1_x = v1[0]; + double v1_y = v1[1]; + double v2_x = v2[0]; + double v2_y = v2[1]; + double v1_norm = std::sqrt(v1_x * v1_x + v1_y * v1_y); + double v2_norm = std::sqrt(v2_x * v2_x + v2_y * v2_y); + double dot_product = v1_x * v2_x + v1_y * v2_y; + double cos_angle = dot_product / (v1_norm * v2_norm); + double angle = std::acos(cos_angle) * 180 / M_PI; + if (angle > 180.0) + { + return 65535.0; + } + return angle; +} + +std::vector HandKeypoint::hand_angle() +{ + double angle_; + std::vector angle_list; + //---------------------------- thumb 大拇指角度 + angle_ = vector_2d_angle( + {(results[0] - results[4]), (results[1] - results[5])}, + {(results[6] - results[8]), (results[7] - results[9])} + ); + angle_list.push_back(angle_); + //---------------------------- index 食指角度 + angle_ = vector_2d_angle( + {(results[0] - results[12]), (results[1] - results[13])}, + {(results[14] - results[16]), (results[15] - results[17])} + ); + angle_list.push_back(angle_); + //---------------------------- middle 中指角度 + angle_ = vector_2d_angle( + {(results[0] - results[20]), (results[1] - results[21])}, + {(results[22] - results[24]), (results[23] - results[25])} + ); + angle_list.push_back(angle_); + //---------------------------- ring 无名指角度 + angle_ = vector_2d_angle( + {(results[1] - results[28]), (results[1] - results[29])}, + {(results[30] - results[32]), (results[31] - results[33])} + ); + angle_list.push_back(angle_); + //---------------------------- pink 小拇指角度 + angle_ = vector_2d_angle( + {(results[0] - results[36]), (results[1] - results[37])}, + {(results[38] - results[40]), (results[39] - results[41])} + ); + angle_list.push_back(angle_); + return angle_list; +} + +std::string HandKeypoint::h_gesture(std::vector angle_list) +{ + int thr_angle = 65; + int thr_angle_thumb = 53; + int thr_angle_s = 49; + std::string gesture_str="other"; + + bool present = std::find(angle_list.begin(),angle_list.end(),65535) != angle_list.end(); + if (present) + { + std::cout<<"gesture_str:"<thr_angle_thumb && angle_list[1]>thr_angle && angle_list[2]>thr_angle && (angle_list[3]>thr_angle) && (angle_list[4]>thr_angle)) + {gesture_str = "fist";} + else if ((angle_list[0]thr_angle) && (angle_list[3]>thr_angle) && (angle_list[4]>thr_angle)) + {gesture_str = "gun";} + else if ((angle_list[0]thr_angle) && (angle_list[3]>thr_angle) && (angle_list[4]5) && (angle_list[1]thr_angle) && (angle_list[3]>thr_angle) && (angle_list[4]>thr_angle)) + {gesture_str = "one";} + else if ((angle_list[0]thr_angle) && (angle_list[2]>thr_angle) && (angle_list[3]>thr_angle) && (angle_list[4]thr_angle_thumb) && (angle_list[1]thr_angle)) + {gesture_str = "three";} + else if ((angle_list[0]thr_angle) && (angle_list[2]>thr_angle) && (angle_list[3]>thr_angle) && (angle_list[4]>thr_angle)) + {gesture_str = "thumbUp";} + else if ((angle_list[0]>thr_angle_thumb) && (angle_list[1]thr_angle) && (angle_list[4]>thr_angle)) + {gesture_str = "yeah";} + } + return gesture_str; +} diff --git a/src/reference/ai_poc/sq_handkp_class/hand_keypoint.h b/src/reference/ai_poc/sq_handkp_class/hand_keypoint.h new file mode 100644 index 000000000..160e6ebd4 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/hand_keypoint.h @@ -0,0 +1,154 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_KEYPOINT_H +#define _HAND_KEYPOINT_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "utils.h" +#include "ai_base.h" + + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::detail; +using namespace std; + +/** + * @brief 手部关键点检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandKeypoint: public AIBase +{ +public: + /** + * @brief HandKeypoint构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + HandKeypoint(const char *kmodel_file,const int debug_mode=0); + + /** + * @brief HandKeypoint构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + // for video + HandKeypoint(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief HandKeypoint析构函数 + * @return None + */ + ~HandKeypoint(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param bbox 原始手掌检测框位置 + * @return None + */ + void pre_process(cv::Mat ori_img, Bbox &bbox); + + /** + * @brief 视频流预处理（ai2d for isp） + * @param bbox 原始手掌检测框位置 + * @return None + */ + void pre_process(Bbox &bbox); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief 将kmodel推理结果映射回原图上 + * @param bbox 原始手掌检测框位置 + * @return None + */ + void post_process(Bbox &bbox); + + /** + * @brief 将手部关键点画到原图 + * @param img 原图 + * @param text 显示的文本信息 + * @param bbox 手部关键点输入框在原图的显示 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_keypoints(cv::Mat &img, std::string text, Bbox &bbox, bool pic_mode); + + + std::vector results; + + /** + * @brief 求两个向量之间的夹角 + * @param v1 向量1 + * @param v2 向量2 + * @return 夹角 + */ + double vector_2d_angle(std::vector v1, std::vector v2); + + /** + * @brief 返回5个手指的角度 + * @return 5个手指的角度 + */ + std::vector hand_angle(); + + /** + * @brief 根据手指角度判断手势类别 + * @param angle_list 5个手指的角度 + * @return 手势类别 + */ + std::string h_gesture(std::vector angle_list); + +private: + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 +}; +#endif diff --git a/src/reference/ai_poc/sq_handkp_class/img.png b/src/reference/ai_poc/sq_handkp_class/img.png new file mode 100644 index 0000000000000000000000000000000000000000..c8a7d3946957ae0bb61d0543526b2b7f3429a1ba GIT binary patch literal 184436 zcmb5VWmH^Svjy5T?(QBWSa1vOuE83&;O-8MI|O$K4#66CXq=$I0|XCl0fO7(obS8$ z-S_kT=`niu-aW>yHEY(KRcl47smP+Eke~nn0CagdsZRg^EENC%V~qrSyFwL#LBmHO3FX0=v>wd;<`(5QTv}vWrznSCYqFz z&*D-`YEORC#?%a#`#xwU=?HRF<>f6nA-;Y{{-nTIn)>g@Y}(PrHebnqzWj6LuZ;qX z_W%1cJ~KS%fA0OHpi_-!^4|yF?lr9c1WxH7@&hn324n)*1!w^yK~7CYNqdFL4Aj58pIR?41B>yq2AjzWDv zB@Zu;N3D)GBA;8RhH*kjdCB!9&Ly&l zezIL_l0-LH_G^)KgvH%N_s6tFBgBH<>lciFF23tdyf63Poa5>vHojZ*4?Y;iKmED8 zbOmYe0o5Fu}9P~5<>N_1p?p?P%^1FfU?A7<{WW-A>0&SqX6<>;SkPn zSiD)HG4F{-P1t{)diHK$j&bqtQ{F+}V1Ue^T{|7Bk_*FUP*M8vYH$t z&P-Fl!n=Q84m%W0j2GYqhB5c)c7#$cA%gl$01!NOD9aaaZ`fqFb}|MMG`P2z*jcdr zIfYKc%8eg34ZL?JQ>NN^1KO-ClEJ5XrtN8CS`1?jHFmkwcd*nGI*ZS!UCXB3np@`ugWxpP z>iMi;9Jl2lRR4hk?&Ir>pZ`S#>-7-0?gLJK%BB*n5H^ZxI8~I`C?WE_8H}+j)0ccC zymE=dA!|07K$jh#Tp$%ZOVSwI!`qs*wg!k%h!mVF!zYVsSHX?KVyRMXBA&pnyP-)o zkPU_8xn%bfkrWd{$e-ltwP)aG;aQ}m;irh?@MzIL!9~L4CyK{VBr-=Bv*gGvBjS9 zode{F0+RGBRhu*Bn(1zOgYN+|>O-Fpfh@bXe&*!;W~XVJ)1X;!coYM?QH@#U4uAfC zSq-bL1TZzy2;FBy0T96dj7EhEd7?R0YwT?8=TaxkbSO`ctgIo9YmKNXtzMFrJ?;?U zo1C5wMWhdxFl}A!`}q2$KlhVD^xOJRFEtF_ZPu`94|H8i_w!E^XUHH??R4$T`ey8y z395cLSCB&y`BYKricd@0Za|&E^!Z(>R7EPv0%!1V`&;*`-NUNNx#f$UtfZ818+a!j z8tk!>*;d97w#(Xqs8x#F(kcBy&4Sx_=9T*K9Wv)H`=nEVWALp?Ik`Bn@9Xrw7e^cB z3@X+FaUnkZ@Am}jWwJDda;fr2kZrh6x4vuO3bVCS@gtFfkyB5Zzo3B1(;hapC2%lg<3t9#7w-o;%_gU&9G#rTKQ~~q{crBW ziVPB(ZX22uYTAe_5~e(gy;6iK(C8e4`~1>S{Hc~khXhKc-V;{b35GO(A2>`%nTZ%U zo1Gla4S&czt>;~y>e6EZKUOsp_6~L8bXa3O)hv*#`E2|PlBr?@Y4v*F(gQWY-c@uv z2*AAEtb2ysH}MIeg%oPrt~1t3ZXdNTGbt+wQ56{Pi;%d{@Kx?}FRqE_4x#F!QX(9{ z>RdZ=7pQGs^#c-TAejuc#oVK+Mqk`B)PMhoqs<8uOS?INLVF?;4vS42o`NSYrT+qr z`~w?D6-tXtQNsF>mZaDv1bLP=)Hhy{E20*~E}*0P8)AouPR~sU z;?5qW=@oynQ?v8XLq{t6!B|RP3St&XI_bgcvCmLiV2n_tB`5Cc=&agp-T!uWn!q!v z>Ls2_<;}9^MJ{Qe=hB(?Dp$po`wx%^VUBA6+fshT16g>0?KWXn9CUs2T(vun#s5Aty9zX^=;>jcvAdM-qew@3Lw+Z9DtBjAPg?En`3%A~}8VaSK%EOUL7l;=&*}q;x&y|n! z7D<)%19oC=`~b)CfJHT?+(6mey6`n&l3exA?pg^llX};^pDc1llPC<>O@L(wNfWLZ}9@(8SdMRuV`! zmu-wy$Xs^FIr*OYncy7w%y12&DVXhOOf3qnUJYM_J>a~wDYuyx9l`Bm;`*2$|^s7$C*EY^JT)k=rmW4~NiJloU^_e#_j&M6@pSpYGtttm0nZUG( zf1v`9M=F$LlK<${V?VXOmvX(1wYWIA(>9+|(7jlma{)@)(BsvNbV$tLNq=QwoMe9XPY^ zB}lpIXU6}k{>#y_alouWcY+{vsIal)+OkUP{TzAEJlid?G50Y&6MpydQ-?8TjAPCI zlR3|REMem7OP7f82ZGFNJuWa4)SSRNbjY>=jD8{Cb^K+0hg7FY6ae{Z7W!PBY(5!F zy)efyc@(2ayI5BzU!Z#C!Q;@XuNp8Wj0!qy4NjOjAd(XW9S>_UL90?$t%+4L1TS2n3 zJry{gYQKRfAN^P#)t#sJ$nHFA^{N}UX3!rE5|%o584Q+|B4uF&mb;|Ngs|Ws!9SC2 zzpo{!G5fzMh!v@D-cSFhe8@KFxJ`IEC{^sYi(il3pF=KX z-ZJ?9qE^y3(aB)uMGR_Iq$N+V747*F?f%WUp4(h-ZRTWxF@3lMRr2XDA+JZ^rJpN# zxGu2gTM0vO+@m$rtXRWr&`J4lS_7EkMq6D1BslSx4r7PYh;pBfP?C&4NFlH_%{A~- zu@{nTu>_7(nI@+B=wLFD4Vbc30_^xIWChV3;2*M$(VK54PvO_!*Zhoq4}e%#Mm=rP zOC&@2g@}ejOICw*|CTI6mz7Oh^9DKi_q8=IOhv^1H~#|iBdd8wdC>uIKf8rm?KqI;H5(PghtDOg3%#*ZG=LyV;QvERo0^4hiBgc$ zT0`vE=%GXXoHk)EdT*Pnn?4ur<&rTkw~j-i37n{CDL6xrdd&PArJ0{(i+t9Q zKRNXoEL1 z(07ZYOsX*jEY-dvkh-Jm4#yxqtVE`#lUW(Jdwok00QFl~HLb}RBY^nje-Igvk-T?K zEprYrg{5`i&f+7;8&~}k?_zsS+^0_)-r1x#dRM~`{&nX24x^Y3Ee_?{2y@nQ_N=i% z0T5Ks{sH4XfCaI7qCxkBw@TMM-QJGxp+@n;UKZ1&b5Hg2jLpJyXLzf&TTia?W5M^x z*G8_DEzZMVkd<-A`pyXqKK7`QJ&19fD9oFhdd3D1vGX=dUD$#;KUQw!agcX$Qq&yZ z5~dw%6cL6B4qR8AN{?Kn%=2L0cGABgh!NUxp+L2S`;SHfLnL6Jmt>B1ojDWnLwgS_ ziaOCw4Qc)yqi;myr6ZS;J{UT4c5+dK97fAQvY8~qL|MJWXGzRVnQb>~AFsrl=pijHA z=(Tl|=oLi#G3MS?x}2}$B$UFIK%vrfhN{`1;g$osW&PH$U(x-uWeZ!_;#itIv?PeCa3zK|L76 zN}mM&hnE?kDBii-83Er))pu^VcBZNwZ%aMhRN5aj8~FVnx{iO_EUl}N6Z{!O>_q;* zad~57C|>SocG0p;=Ev-7^ze>v?&cb`P9+@t3*l_49ejlB@gb5)OWh?e3^<{T-^M)f@vlMknU0zn9pwGteI^dRHncq z*`9pUlyYQz6VnR|<|%kS)m*%7X#Q9*cjn1oWQ;NlI00jK6sZrDU)H~9#N3oKc=`

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b/src/reference/ai_poc/sq_handkp_class/main.cc new file mode 100644 index 000000000..d648952cd --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/main.cc @@ -0,0 +1,271 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include + +#include "utils.h" +#include "vi_vo.h" +#include "hand_detection.h" +#include "hand_keypoint.h" + + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 手掌检测kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " obj_thresh 手掌检测阈值\n" + << " nms_thresh 手掌检测非极大值抑制阈值\n" + << " kmodel_kp 手势关键点检测kmodel路径\n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; // osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), {SENSOR_WIDTH, SENSOR_HEIGHT}, {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + HandKeypoint hk(argv[5], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + std::vector results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + hd.pre_process(); + hd.inference(); + hd.post_process(results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::Mat osd_frame_out(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::Mat osd_frame_vertical; + cv::Mat osd_frame_horizontal; + for (auto r: results) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + std::cout << "text = " << text << std::endl; + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + + int rect_x = r.x1/ SENSOR_WIDTH * osd_width; + int rect_y = r.y1/ SENSOR_HEIGHT * osd_height; + int rect_w = (float)w / SENSOR_WIDTH * osd_width; + int rect_h = (float)h / SENSOR_HEIGHT * osd_height; + cv::rectangle(osd_frame, cv::Rect(rect_x, rect_y , rect_w, rect_h), cv::Scalar( 255,255, 255, 255), 2, 2, 0); + + int length = std::max(w,h)/2; + int cx = (r.x1+r.x2)/2; + int cy = (r.y1+r.y2)/2; + int ratio_num = 1.26*length; + + int x1_1 = std::max(0,cx-ratio_num); + int y1_1 = std::max(0,cy-ratio_num); + int x2_1 = std::min(SENSOR_WIDTH-1, cx+ratio_num); + int y2_1 = std::min(SENSOR_HEIGHT-1, cy+ratio_num); + int w_1 = x2_1 - x1_1 + 1; + int h_1 = y2_1 - y1_1 + 1; + + struct Bbox bbox = {x:x1_1,y:y1_1,w:w_1,h:h_1}; + hk.pre_process(bbox); + + hk.inference(); + + hk.post_process(bbox); + + { + ScopedTiming st("osd draw keypoints", atoi(argv[6])); + hk.draw_keypoints(osd_frame, text, bbox, false); + } + + std::vector angle_list = hk.hand_angle(); + std::string gesture = hk.h_gesture(angle_list); + + std::string text1 = "Gesture: " + gesture; + cv::putText(osd_frame, text1, cv::Point(rect_x,rect_y),cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(255, 255, 195, 0), 2); + cv::putText(osd_frame, text1, cv::Point(rect_x,rect_y),cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(255, 0, 150, 255), 2); + } + { + ScopedTiming st("osd draw", atoi(argv[6])); + cv::flip(osd_frame, osd_frame_vertical, 0); + cv::flip(osd_frame_vertical, osd_frame_horizontal, 1); + osd_frame_out = osd_frame_horizontal; + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame_out.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[2], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat img = cv::imread(argv[2]); + cv::Mat img_draw = img.clone(); + + int origin_w = img.cols; + int origin_h = img.rows; + FrameSize handimg_size = {origin_w, origin_h}; + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), handimg_size, atoi(argv[6])); + + HandKeypoint hk(argv[5], atoi(argv[6])); + + hd.pre_process(img); + + hd.inference(); + + std::vector result_hd; + hd.post_process(result_hd); + + for (auto r : result_hd) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + std::cout << "text = " << text << std::endl; + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + cv::rectangle(img_draw, cv::Rect(static_cast(r.x1), static_cast(r.y1) , w, h), cv::Scalar(255, 255, 255), 2, 2, 0); + + int length = std::max(w,h)/2; + int cx = (r.x1+r.x2)/2; + int cy = (r.y1+r.y2)/2; + int ratio_num = 1.26*length; + + int x1_1 = std::max(0,cx-ratio_num); + int y1_1 = std::max(0,cy-ratio_num); + int x2_1 = std::min(origin_w-1, cx+ratio_num); + int y2_1 = std::min(origin_h-1, cy+ratio_num); + int w_1 = x2_1 - x1_1+1; + int h_1 = y2_1 - y1_1+1; + + struct Bbox bbox = {x:x1_1,y:y1_1,w:w_1,h:h_1}; + hk.pre_process(img, bbox); + hk.inference(); + hk.post_process(bbox); + hk.draw_keypoints(img_draw,text, bbox, true); + + std::vector angle_list = hk.hand_angle(); + std::string gesture = hk.h_gesture(angle_list); + + std::string text1 = "Gesture: " + gesture; + cv::putText(img_draw, text1, cv::Point(r.x1,r.y1),cv::FONT_HERSHEY_COMPLEX, 0.45, cv::Scalar(255, 195, 0), 1); + cv::putText(img_draw, text1, cv::Point(r.x1,r.y1),cv::FONT_HERSHEY_COMPLEX, 0.45, cv::Scalar(0, 150, 255), 1); + } + + cv::imwrite("handkpclass_result.jpg", img_draw); + } + return 0; +} diff --git a/src/reference/ai_poc/sq_handkp_class/scoped_timing.hpp b/src/reference/ai_poc/sq_handkp_class/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/sq_handkp_class/utils.cc b/src/reference/ai_poc/sq_handkp_class/utils.cc new file mode 100644 index 000000000..5a8d84d2b --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} diff --git a/src/reference/ai_poc/sq_handkp_class/utils.h b/src/reference/ai_poc/sq_handkp_class/utils.h new file mode 100644 index 000000000..1a4c32d18 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/utils.h @@ -0,0 +1,320 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 手掌检测框 + */ +typedef struct BoxInfo +{ + float x1; // 手掌检测框的左上顶点x坐标 + float y1; // 手掌检测框的左上顶点y坐标 + float x2; // 手掌检测框的右下顶点x坐标 + float y2; // 手掌检测框的右下顶点y坐标 + float score; // 手掌检测框的得分 + int label; // 手掌检测框的类别 +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/sq_handkp_class/vi_vo.h b/src/reference/ai_poc/sq_handkp_class/vi_vo.h new file mode 100644 index 000000000..4d3ddce8b --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_class/vi_vo.h @@ -0,0 +1,684 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/sq_handkp_det/CMakeLists.txt b/src/reference/ai_poc/sq_handkp_det/CMakeLists.txt new file mode 100644 index 000000000..fbb5f099b --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/CMakeLists.txt @@ -0,0 +1,19 @@ +set(src ai_base.cc main.cc utils.cc hand_keypoint.cc hand_detection.cc) +set(bin sq_handkp_det.elf) + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/sq_handkp_det/README.md b/src/reference/ai_poc/sq_handkp_det/README.md new file mode 100644 index 000000000..db83e975b --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/README.md @@ -0,0 +1,28 @@ +# 1.简介 + +手掌检测采用了yolov5网络结构，backbone选取了1.0-mobilenetV2，手掌关键点检测采用了resnet50网络结构。使用该应用，可得到图像或视频中的每个手掌的21个骨骼关键点位置。 + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +"Usage: " << sq_handkp_det.elf << " " + +各参数释义如下： +kmodel_det 手掌检测 kmodel路径 +input_mode 本地图片(图片路径)/ 摄像头(None) +obj_thresh 手掌检测阈值 +nms_thresh 手掌检测非极大值抑制阈值 +kmodel_kp 手掌关键点检测 kmodel路径 +debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（handkpdet_cpp_image.sh） +./sq_handkp_det.elf hand_det.kmodel input_hd.jpg 0.15 0.4 handkp_det.kmodel 0 + + #视频流推理：（handkpdet_cpp_isp.sh） +./sq_handkp_det.elf hand_det.kmodel None 0.15 0.4 handkp_det.kmodel 0 +``` + + + diff --git a/src/reference/ai_poc/sq_handkp_det/ai_base.cc b/src/reference/ai_poc/sq_handkp_det/ai_base.cc new file mode 100644 index 000000000..e9d87b397 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/ai_base.cc @@ -0,0 +1,186 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/sq_handkp_det/ai_base.h b/src/reference/ai_poc/sq_handkp_det/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/sq_handkp_det/hand_detection.cc b/src/reference/ai_poc/sq_handkp_det/hand_detection.cc new file mode 100644 index 000000000..a1e67aff3 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/hand_detection.cc @@ -0,0 +1,192 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_detection.h" +#include + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode) +:obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size),AIBase(kmodel_file, "HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + int net_len = input_shapes_[0][2]; + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size), AIBase(kmodel_file,"HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); + Utils::padding_resize(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + + +HandDetection::~HandDetection() +{ +} + +// ai2d for image +void HandDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector rgb_chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, rgb_chw_vec); + Utils::padding_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, rgb_chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +// ai2d for video +void HandDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_, ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_, ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif + +} + +void HandDetection::inference() +{ + this->run(); + this->get_output(); +} + +void HandDetection::post_process(std::vector &result) +{ + auto boxes0 = decode_infer(p_outputs_[0], 8, frame_size_, anchors_0); + result.insert(result.begin(), boxes0.begin(), boxes0.end()); + auto boxes1 = decode_infer(p_outputs_[1], 16, frame_size_, anchors_1); + result.insert(result.begin(), boxes1.begin(), boxes1.end()); + auto boxes2 = decode_infer(p_outputs_[2], 32, frame_size_, anchors_2); + result.insert(result.begin(), boxes2.begin(), boxes2.end()); + nms(result); +} + +void HandDetection::nms(std::vector &input_boxes) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= nms_thresh_) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +std::vector HandDetection::decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]) +{ + float ratiow = (float)input_shapes_[0][3] / frame_size.width; + float ratioh = (float)input_shapes_[0][2] / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = input_shapes_[0][2] / stride; + int one_rsize = classes_num_ + 5; + float cx, cy, w, h; + + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + + + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < classes_num_; cls++) + { + float score = cls_ptr[cls] * record[4]; + if (score > obj_thresh_) + { + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((input_shapes_[0][3] - frame_size.width * gain) / 2); + cy -= ((input_shapes_[0][2] - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + + if (box.x1==box.x2) + continue; + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} diff --git a/src/reference/ai_poc/sq_handkp_det/hand_detection.h b/src/reference/ai_poc/sq_handkp_det/hand_detection.h new file mode 100644 index 000000000..62d4f12a6 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/hand_detection.h @@ -0,0 +1,156 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_DETECTION_H +#define _HAND_DETECTION_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::detail; +using namespace std; + +/** + * @brief 手掌检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandDetection:public AIBase +{ +public: + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for image + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode); + + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出和手掌检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for_video + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief HandDetection析构函数 + * @return None + */ + ~HandDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param results 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void post_process(std::vector &result); + + std::vector labels_ = {"hand"}; //模型输出类别名称 + + +private: + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + float obj_thresh_; // 手掌检测阈值 + float nms_thresh_; // 手掌检测框nms阈值 + FrameSize frame_size_; // 输入图片尺寸 + int classes_num_; // 模型输出类别数 + + float anchors_0[3][2] = { { 26,27 }, { 53,52 }, { 75,71 } }; + float anchors_1[3][2] = { { 80,99 }, { 106,82 }, { 99,134 } }; + float anchors_2[3][2] = { { 140,113 }, { 161,172 }, { 245,276 } }; + + /** + * @brief 获取2个检测框的iou + * @param input_boxes 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void nms(std::vector &input_boxes); + + /** + * @brief 获取2个检测框的iou + * @param data 指向模型推理得到的首个roi置信度的指针 + * @param stride 模型推理得到的feature相比模型输入的下采样倍数 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param anchors 模型推理得到的feature对应的anchor + * @return 每个feature对应的结果映射回原始图像的{检测框坐标点、得分和标签}集合 + */ + std::vector decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]); +}; +#endif diff --git a/src/reference/ai_poc/sq_handkp_det/hand_keypoint.cc b/src/reference/ai_poc/sq_handkp_det/hand_keypoint.cc new file mode 100644 index 000000000..af16e5f05 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/hand_keypoint.cc @@ -0,0 +1,175 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_keypoint.h" + +HandKeypoint::HandKeypoint(const char *kmodel_file, const int debug_mode) +:AIBase(kmodel_file, "HandKeypoint", debug_mode) +{ + model_name_ = "HandKeypoint"; + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandKeypoint::HandKeypoint(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: AIBase(kmodel_file,"HandKeypoint", debug_mode) +{ + model_name_ = "HandKeypoint"; + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandKeypoint::~HandKeypoint() +{ +} + +void HandKeypoint::pre_process(cv::Mat ori_img, Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector chw_vec; + Utils::hwc_to_chw(ori_img, chw_vec); + Utils::crop_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, bbox, ai2d_out_tensor_); +} + +// for video +void HandKeypoint::pre_process(Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); +#endif + Utils::crop_resize(bbox, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); +} + +void HandKeypoint::inference() +{ + this->run(); + this->get_output(); +} + +void HandKeypoint::draw_keypoints(cv::Mat &img, std::string text, Bbox &bbox, bool pic_mode) +{ + ScopedTiming st(model_name_ + " draw_keypoints", debug_mode_); + int src_width = img.cols, src_height = img.rows; + float *pred = p_outputs_[0]; + // 绘制关键点像素坐标 + int64_t output_tensor_size = output_shapes_[0][1];// 关键点输出 （x,y）*21= 42 + std::vectorresults(output_tensor_size); + if(pic_mode) + { + for (unsigned i = 0; i < output_tensor_size / 2; i++) + { + float x_kp; + float y_kp; + x_kp = pred[i * 2] * bbox.w + bbox.x; + y_kp = pred[i * 2 + 1] * bbox.h + bbox.y; + + results[i * 2] = static_cast(x_kp); + results[i * 2 + 1] = static_cast(y_kp); + cv::circle(img, cv::Point(results[i * 2], results[i * 2 + 1]), 2, cv::Scalar(255, 155, 0), 3); + + } + + for (unsigned k = 0; k < 5; k++) + { + int i = k*8; + unsigned char R = 255, G = 0, B = 0; + + switch(k) + { + case 0:R = 255; G = 0; B = 0;break; + case 1:R = 255; G = 0; B = 255;break; + case 2:R = 255; G = 255; B = 0;break; + case 3:R = 0; G = 255; B = 0;break; + case 4:R = 0; G = 0; B = 255;break; + default: std::cout << "error" << std::endl; + } + + cv::line(img, cv::Point(results[0], results[1]), cv::Point(results[i + 2], results[i + 3]), cv::Scalar(B,G,R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 2], results[i + 3]), cv::Point(results[i + 4], results[i + 5]), cv::Scalar(B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 4], results[i + 5]), cv::Point(results[i + 6], results[i + 7]), cv::Scalar(B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 6], results[i + 7]), cv::Point(results[i + 8], results[i + 9]), cv::Scalar(B, G, R), 2, cv::LINE_AA); + } + } + else + { + int osd_width = img.cols; + int osd_height = img.rows; + int SENSOR_HEIGHT = isp_shape_.height; + int SENSOR_WIDTH = isp_shape_.width; + for (unsigned i = 0; i < output_tensor_size / 2; i++) + { + float x_kp; + float y_kp; + x_kp = pred[i * 2] * bbox.w + bbox.x; + y_kp = pred[i * 2 + 1] * bbox.h + bbox.y; + + results[i * 2] = osd_width - x_kp / SENSOR_WIDTH * osd_width; + results[i * 2 + 1] = osd_height - y_kp / SENSOR_HEIGHT * osd_height; + cv::circle(img, cv::Point(results[i * 2], results[i * 2 + 1]), 2, cv::Scalar(255, 255, 155, 0), 3); + + } + + for (unsigned k = 0; k < 5; k++) + { + int i = k*8; + unsigned char R = 255, G = 0, B = 0; + + switch(k) + { + case 0:R = 255; G = 0; B = 0;break; + case 1:R = 255; G = 0; B = 255;break; + case 2:R = 255; G = 255; B = 0;break; + case 3:R = 0; G = 255; B = 0;break; + case 4:R = 0; G = 0; B = 255;break; + default: std::cout << "error" << std::endl; + } + + cv::line(img, cv::Point(results[0], results[1]), cv::Point(results[i + 2], results[i + 3]), cv::Scalar(255, B,G,R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 2], results[i + 3]), cv::Point(results[i + 4], results[i + 5]), cv::Scalar(255, B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 4], results[i + 5]), cv::Point(results[i + 6], results[i + 7]), cv::Scalar(255, B, G, R), 2, cv::LINE_AA); + cv::line(img, cv::Point(results[i + 6], results[i + 7]), cv::Point(results[i + 8], results[i + 9]), cv::Scalar(255, B, G, R), 2, cv::LINE_AA); + } + } + +} + +vector HandKeypoint::get_out() +{ + return p_outputs_; +} + + diff --git a/src/reference/ai_poc/sq_handkp_det/hand_keypoint.h b/src/reference/ai_poc/sq_handkp_det/hand_keypoint.h new file mode 100644 index 000000000..d606736b0 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/hand_keypoint.h @@ -0,0 +1,126 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_KEYPOINT_H +#define _HAND_KEYPOINT_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +#include "utils.h" +#include "ai_base.h" + + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::detail; +using namespace std; + +/** + * @brief 手部关键点检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandKeypoint: public AIBase +{ +public: + /** + * @brief HandKeypoint构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + HandKeypoint(const char *kmodel_file,const int debug_mode=0); + + /** + * @brief HandKeypoint构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + // for video + HandKeypoint(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief HandKeypoint析构函数 + * @return None + */ + ~HandKeypoint(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @param bbox 原始手掌检测框位置 + * @return None + */ + void pre_process(cv::Mat ori_img, Bbox &bbox); + + /** + * @brief 视频流预处理（ai2d for isp） + * @param bbox 原始手掌检测框位置 + * @return None + */ + void pre_process(Bbox &bbox); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief 将手部关键点画到原图 + * @param img 原图 + * @param text 显示的文本信息 + * @param bbox 手部关键点输入框在原图的显示 + * @param pic_mode ture(原图片)，false(osd) + * @return None + */ + void draw_keypoints(cv::Mat &img, std::string text, Bbox &bbox, bool pic_mode); + + vector get_out(); + +private: + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + +}; +#endif diff --git a/src/reference/ai_poc/sq_handkp_det/main.cc b/src/reference/ai_poc/sq_handkp_det/main.cc new file mode 100644 index 000000000..8017e9e9e --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/main.cc @@ -0,0 +1,247 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include + +#include "utils.h" +#include "vi_vo.h" +#include "hand_detection.h" +#include "hand_keypoint.h" + + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 手掌检测kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " obj_thresh 手掌检测阈值\n" + << " nms_thresh 手掌检测非极大值抑制阈值\n" + << " kmodel_kp 手势关键点检测kmodel路径\n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; // osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), {SENSOR_WIDTH, SENSOR_HEIGHT}, {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + HandKeypoint hk(argv[5], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + std::vector results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + hd.pre_process(); + hd.inference(); + hd.post_process(results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + for (auto r: results) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + + int rect_x = osd_width - r.x2/ SENSOR_WIDTH * osd_width; + int rect_y = osd_height - r.y2/ SENSOR_HEIGHT * osd_height; + int rect_w = (float)w / SENSOR_WIDTH * osd_width; + int rect_h = (float)h / SENSOR_HEIGHT * osd_height; + cv::rectangle(osd_frame, cv::Rect(rect_x, rect_y , rect_w, rect_h), cv::Scalar( 255,255, 255, 255), 2, 2, 0); + + int length = std::max(w,h)/2; + int cx = (r.x1+r.x2)/2; + int cy = (r.y1+r.y2)/2; + int ratio_num = 1.26*length; + + int x1_1 = std::max(0,cx-ratio_num); + int y1_1 = std::max(0,cy-ratio_num); + int x2_1 = std::min(SENSOR_WIDTH-1, cx+ratio_num); + int y2_1 = std::min(SENSOR_HEIGHT-1, cy+ratio_num); + int w_1 = x2_1 - x1_1 + 1; + int h_1 = y2_1 - y1_1 + 1; + + struct Bbox bbox = {x:x1_1,y:y1_1,w:w_1,h:h_1}; + hk.pre_process(bbox); + + hk.inference(); + + { + ScopedTiming st("osd draw", atoi(argv[6])); + hk.draw_keypoints(osd_frame, text, bbox, false); + } + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[2], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat img = cv::imread(argv[2]); + cv::Mat img_draw = img.clone(); + + int origin_w = img.cols; + int origin_h = img.rows; + FrameSize handimg_size = {origin_w, origin_h}; + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), handimg_size, atoi(argv[6])); + + HandKeypoint hk(argv[5], atoi(argv[6])); + + hd.pre_process(img); + + hd.inference(); + + std::vector result_hd; + hd.post_process(result_hd); + + for (auto r : result_hd) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + std::cout << "text = " << text << std::endl; + + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + cv::rectangle(img_draw, cv::Rect(static_cast(r.x1), static_cast(r.y1) , w, h), cv::Scalar(255, 255, 255), 2, 2, 0); + + int length = std::max(w,h)/2; + int cx = (r.x1+r.x2)/2; + int cy = (r.y1+r.y2)/2; + int ratio_num = 1.26*length; + + int x1_1 = std::max(0,cx-ratio_num); + int y1_1 = std::max(0,cy-ratio_num); + int x2_1 = std::min(origin_w-1, cx+ratio_num); + int y2_1 = std::min(origin_h-1, cy+ratio_num); + int w_1 = x2_1 - x1_1+1; + int h_1 = y2_1 - y1_1+1; + + struct Bbox bbox = {x:x1_1,y:y1_1,w:w_1,h:h_1}; + hk.pre_process(img, bbox); + + hk.inference(); + + hk.draw_keypoints(img_draw,text, bbox, true); + } + + cv::imwrite("handkp_result.jpg", img_draw); + } + return 0; +} diff --git a/src/reference/ai_poc/sq_handkp_det/scoped_timing.hpp b/src/reference/ai_poc/sq_handkp_det/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/sq_handkp_det/utils.cc b/src/reference/ai_poc/sq_handkp_det/utils.cc new file mode 100644 index 000000000..5254d5769 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} diff --git a/src/reference/ai_poc/sq_handkp_det/utils.h b/src/reference/ai_poc/sq_handkp_det/utils.h new file mode 100644 index 000000000..1a4c32d18 --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/utils.h @@ -0,0 +1,320 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 手掌检测框 + */ +typedef struct BoxInfo +{ + float x1; // 手掌检测框的左上顶点x坐标 + float y1; // 手掌检测框的左上顶点y坐标 + float x2; // 手掌检测框的右下顶点x坐标 + float y2; // 手掌检测框的右下顶点y坐标 + float score; // 手掌检测框的得分 + int label; // 手掌检测框的类别 +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/sq_handkp_det/vi_vo.h b/src/reference/ai_poc/sq_handkp_det/vi_vo.h new file mode 100644 index 000000000..4d3ddce8b --- /dev/null +++ b/src/reference/ai_poc/sq_handkp_det/vi_vo.h @@ -0,0 +1,684 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} + diff --git a/src/reference/ai_poc/sq_handreco/CMakeLists.txt b/src/reference/ai_poc/sq_handreco/CMakeLists.txt new file mode 100644 index 000000000..3cc70fb9e --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/CMakeLists.txt @@ -0,0 +1,20 @@ +set(src main.cc utils.cc ai_base.cc hand_detection.cc hand_recognition.cc) +set(bin sq_handreco.elf) + + +include_directories(${PROJECT_SOURCE_DIR}) +include_directories(${nncase_sdk_root}/riscv64/rvvlib/include) +include_directories(${k230_sdk}/src/big/mpp/userapps/api/) +include_directories(${k230_sdk}/src/big/mpp/include) +include_directories(${k230_sdk}/src/big/mpp/include/comm) +include_directories(${k230_sdk}/src/big/mpp/userapps/sample/sample_vo) +link_directories(${nncase_sdk_root}/riscv64/rvvlib/) + +add_executable(${bin} ${src}) +target_link_libraries(${bin} nncase.rt_modules.k230 Nncase.Runtime.Native functional_k230 sys) +target_link_libraries(${bin} rvv vicap vb cam_device cam_engine + hal oslayer ebase fpga isp_drv binder auto_ctrol common cam_caldb isi 3a ahdr buffer_management avs cameric_drv + aflt adci aca aee awdr3 cameric_reg_drv t_database_c t_shell_c t_mxml_c t_json_c t_common_c vo sensor) + +target_link_libraries(${bin} opencv_imgproc opencv_imgcodecs opencv_core zlib libjpeg-turbo libopenjp2 libpng libtiff libwebp csi_cv) +install(TARGETS ${bin} DESTINATION bin) diff --git a/src/reference/ai_poc/sq_handreco/README.md b/src/reference/ai_poc/sq_handreco/README.md new file mode 100644 index 000000000..3b48dab6f --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/README.md @@ -0,0 +1,29 @@ +# 1.简介 + +手掌检测采用了yolov5网络结构，backbone选取了1.0-mobilenetV2，手势识别backbone选取了1.0-mobilenetV2。使用该应用，可得到图像或视频中的每个手势的类别。可识别的类别如下以及其他手势： +![img.png](img.png) + +# 2.应用使用说明 + +## 2.1 使用帮助 + +``` +"Usage: " << sq_handreco.elf << " " + +各参数释义如下： +kmodel_det 手掌检测 kmodel路径 +input_mode 本地图片(图片路径)/ 摄像头(None) +obj_thresh 手掌检测阈值 +nms_thresh 手掌检测非极大值抑制阈值 +kmodel_reco 手势识别 kmodel路径 +debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试 + + #单图推理示例：（handreco_cpp_image.sh） +./sq_handreco.elf hand_det.kmodel input_hd.jpg 0.15 0.4 hand_reco.kmodel 0 + + #视频流推理：（handreco_cpp_isp.sh） +./sq_handreco.elf hand_det.kmodel None 0.15 0.4 hand_reco.kmodel 0 +``` + + + diff --git a/src/reference/ai_poc/sq_handreco/ai_base.cc b/src/reference/ai_poc/sq_handreco/ai_base.cc new file mode 100644 index 000000000..ad3c804d0 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/ai_base.cc @@ -0,0 +1,187 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "ai_base.h" + +#include +#include + +#include "utils.h" + +using std::cout; +using std::endl; +using namespace nncase; +using namespace nncase::runtime::detail; + +AIBase::AIBase(const char *kmodel_file,const string model_name, const int debug_mode) : debug_mode_(debug_mode),model_name_(model_name) +{ + if (debug_mode > 1) + cout << "kmodel_file:" << kmodel_file << endl; + kmodel_vec_ = Utils::read_binary_file(kmodel_file); + kmodel_interp_.load_model({(const gsl::byte *)kmodel_vec_.data(), kmodel_vec_.size()}).expect("cannot load kmodel."); + set_input_init(); + set_output_init(); +} + +AIBase::~AIBase() +{ +} + +void AIBase::set_input_init() +{ + ScopedTiming st(model_name_ + " set_input init", debug_mode_); + int input_total_size = 0; + each_input_size_by_byte_.push_back(0); // 先补0,为之后做准备 + for (int i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + vector in_shape = {shape[0], shape[1], shape[2], shape[3]}; + input_shapes_.push_back(in_shape); + int dsize = shape[0] * shape[1] * shape[2] * shape[3]; + if (debug_mode_ > 1) + cout << "input shape:" << shape[0] << " " << shape[1] << " " << shape[2] << " " << shape[3] << endl; + // DEFINE_TYPECODE(uint8, u8, 0x06) + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x06) + { + input_total_size += dsize; + each_input_size_by_byte_.push_back(input_total_size); + } + else if (desc.datatype == 0x0B) + { + input_total_size += (dsize * 4); + each_input_size_by_byte_.push_back(input_total_size); + } + else + assert(("kmodel input data type supports only uint8, float32", 0)); + } + each_input_size_by_byte_.push_back(input_total_size); // 最后一个保存总大小 +} + +void AIBase::set_input(const unsigned char *buf, size_t size) +{ + if (*each_input_size_by_byte_.rbegin() != size) + cout << "set_input:the actual input size{" + std::to_string(size) + "} is different from the model's required input size{" + std::to_string(*each_input_size_by_byte_.rbegin()) + "}" << endl; + assert((*each_input_size_by_byte_.rbegin() == size)); + + ScopedTiming st(model_name_ + " set_input", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.inputs_size(); ++i) + { + auto desc = kmodel_interp_.input_desc(i); + auto shape = kmodel_interp_.input_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create input tensor"); + auto mapped_buf = std::move(hrt::map(tensor, map_access_::map_write).unwrap()); // mapped_buf实际是有缓存数据的 + memcpy(reinterpret_cast(mapped_buf.buffer().data()), buf, each_input_size_by_byte_[i + 1] - each_input_size_by_byte_[i]); + auto ret = mapped_buf.unmap(); + ret = hrt::sync(tensor, sync_op_t::sync_write_back, true); + if (!ret.is_ok()) + { + std::cerr << "hrt::sync failed" << std::endl; + std::abort(); + } + kmodel_interp_.input_tensor(i, tensor).expect("cannot set input tensor"); + } +} + +runtime_tensor AIBase::get_input_tensor(size_t idx) +{ + return kmodel_interp_.input_tensor(idx).expect("cannot get input tensor"); +} + +void AIBase::set_input_tensor(size_t idx, runtime_tensor &tensor) +{ + ScopedTiming st(model_name_ + " set_input_tensor", debug_mode_); + kmodel_interp_.input_tensor(idx, tensor).expect("cannot set input tensor"); +} + +void AIBase::set_output_init() +{ + ScopedTiming st(model_name_ + " set_output_init", debug_mode_); + each_output_size_by_byte_.clear(); + int output_total_size = 0; + each_output_size_by_byte_.push_back(0); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + vector out_shape; + int dsize = 1; + for (int j = 0; j < shape.size(); ++j) + { + out_shape.push_back(shape[j]); + dsize *= shape[j]; + if (debug_mode_ > 1) + cout << shape[j] << ","; + } + if (debug_mode_ > 1) + cout << endl; + output_shapes_.push_back(out_shape); + // DEFINE_TYPECODE(float32, f32, 0x0B) + if (desc.datatype == 0x0B) + { + output_total_size += (dsize * 4); + each_output_size_by_byte_.push_back(output_total_size); + } + else + assert(("kmodel output data type supports only float32", 0)); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::set_output() +{ + ScopedTiming st(model_name_ + " set_output", debug_mode_); + for (size_t i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto desc = kmodel_interp_.output_desc(i); + auto shape = kmodel_interp_.output_shape(i); + auto tensor = host_runtime_tensor::create(desc.datatype, shape, hrt::pool_shared).expect("cannot create output tensor"); + kmodel_interp_.output_tensor(i, tensor).expect("cannot set output tensor"); + } +} + +void AIBase::run() +{ + ScopedTiming st(model_name_ + " run", debug_mode_); + kmodel_interp_.run().expect("error occurred in running model"); +} + +void AIBase::get_output() +{ + ScopedTiming st(model_name_ + " get_output", debug_mode_); + p_outputs_.clear(); + for (int i = 0; i < kmodel_interp_.outputs_size(); i++) + { + auto out = kmodel_interp_.output_tensor(i).expect("cannot get output tensor"); + // auto mapped_buf = std::move(hrt::map(out, map_access_::map_read).unwrap()); + // float *p_out = reinterpret_cast(mapped_buf.buffer().data()); + auto buf = out.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_read).unwrap().buffer(); + float *p_out = reinterpret_cast(buf.data()); + p_outputs_.push_back(p_out); + } +} diff --git a/src/reference/ai_poc/sq_handreco/ai_base.h b/src/reference/ai_poc/sq_handreco/ai_base.h new file mode 100644 index 000000000..9fd4470cc --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/ai_base.h @@ -0,0 +1,120 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// ai_base.h +#ifndef AI_BASE_H +#define AI_BASE_H + +#include +#include +#include + +#include +#include "scoped_timing.hpp" + +using std::string; +using std::vector; +using namespace nncase::runtime; + +/** + * @brief AI基类，封装nncase相关操作 + * 主要封装了nncase的加载、设置输入、运行、获取输出操作，后续开发demo只需要关注模型的前处理、后处理即可 + */ +class AIBase +{ +public: + /** + * @brief AI基类构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + AIBase(const char *kmodel_file,const string model_name, const int debug_mode = 1); + + /** + * @brief AI基类析构函数 + * @return None + */ + ~AIBase(); + + /** + * @brief 设置kmodel输入 + * @param buf 输入数据指针 + * @param size 输入数据大小 + * @return None + */ + void set_input(const unsigned char *buf, size_t size); + + /** + * @brief 根据索引获取kmodel输入tensor + * @param idx 输入数据指针 + * @return None + */ + runtime_tensor get_input_tensor(size_t idx); + + void set_input_tensor(size_t idx, runtime_tensor &tensor); + + /** + * @brief 初始化kmodel输出 + * @return None + */ + void set_output(); + + /** + * @brief 推理kmodel + * @return None + */ + void run(); + + /** + * @brief 获取kmodel输出，结果保存在对应的类属性中 + * @return None + */ + void get_output(); + +protected: + string model_name_; // 模型名字 + int debug_mode_; // 调试模型，0（不打印），1（打印时间），2（打印所有） + vector p_outputs_; // kmodel输出对应的指针列表 + vector> input_shapes_; //{{N,C,H,W},{N,C,H,W}...} + vector> output_shapes_; //{{N,C,H,W},{N,C,H,W}...}} 或 {{N,C},{N,C}...}}等 + vector each_input_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} + vector each_output_size_by_byte_; //{0,layer1_length,layer1_length+layer2_length,...} +private: + /** + * @brief 首次初始化kmodel输入，并获取输入shape + * @return None + */ + void set_input_init(); + + /** + * @brief 首次初始化kmodel输出，并获取输出shape + * @return None + */ + void set_output_init(); + + interpreter kmodel_interp_; // kmodel解释器，从kmodel文件构建，负责模型的加载、输入输出设置和推理 + vector kmodel_vec_; // 通过读取kmodel文件得到整个kmodel数据，用于传给kmodel解释器加载kmodel +}; +#endif \ No newline at end of file diff --git a/src/reference/ai_poc/sq_handreco/hand_detection.cc b/src/reference/ai_poc/sq_handreco/hand_detection.cc new file mode 100644 index 000000000..8d6d4d674 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/hand_detection.cc @@ -0,0 +1,189 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_detection.h" +#include + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode) +:obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size),AIBase(kmodel_file, "HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + int net_len = input_shapes_[0][2]; + ai2d_out_tensor_ = get_input_tensor(0); +} + +HandDetection::HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) +: obj_thresh_(obj_thresh), nms_thresh_(nms_thresh),frame_size_(frame_size), AIBase(kmodel_file,"HandDetection", debug_mode) +{ + model_name_ = "HandDetection"; + classes_num_ = 1; + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; + int isp_size = isp_shape.channel * isp_shape.height * isp_shape.width; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + ai2d_out_tensor_ = get_input_tensor(0); + Utils::padding_resize(isp_shape, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + + +HandDetection::~HandDetection() +{ +} + +// ai2d for image +void HandDetection::pre_process(cv::Mat ori_img) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + std::vector rgb_chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, rgb_chw_vec); + Utils::padding_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, rgb_chw_vec, {input_shapes_[0][3], input_shapes_[0][2]}, ai2d_out_tensor_, cv::Scalar(114, 114, 114)); +} + +// ai2d for video +void HandDetection::pre_process() +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 0 + ai2d_builder_->invoke(ai2d_in_tensor_, ai2d_out_tensor_).expect("error occurred in ai2d running"); +#else + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); + ai2d_builder_->invoke(ai2d_in_tensor_, ai2d_out_tensor_).expect("error occurred in ai2d running"); +#endif +} + +void HandDetection::inference() +{ + this->run(); + this->get_output(); +} + +void HandDetection::post_process(std::vector &result) +{ + auto boxes0 = decode_infer(p_outputs_[0], 8, frame_size_, anchors_0); + result.insert(result.begin(), boxes0.begin(), boxes0.end()); + auto boxes1 = decode_infer(p_outputs_[1], 16, frame_size_, anchors_1); + result.insert(result.begin(), boxes1.begin(), boxes1.end()); + auto boxes2 = decode_infer(p_outputs_[2], 32, frame_size_, anchors_2); + result.insert(result.begin(), boxes2.begin(), boxes2.end()); + nms(result); +} + +void HandDetection::nms(std::vector &input_boxes) +{ + std::sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; }); + std::vector vArea(input_boxes.size()); + for (int i = 0; i < int(input_boxes.size()); ++i) + { + vArea[i] = (input_boxes.at(i).x2 - input_boxes.at(i).x1 + 1) + * (input_boxes.at(i).y2 - input_boxes.at(i).y1 + 1); + } + for (int i = 0; i < int(input_boxes.size()); ++i) + { + for (int j = i + 1; j < int(input_boxes.size());) + { + float xx1 = std::max(input_boxes[i].x1, input_boxes[j].x1); + float yy1 = std::max(input_boxes[i].y1, input_boxes[j].y1); + float xx2 = std::min(input_boxes[i].x2, input_boxes[j].x2); + float yy2 = std::min(input_boxes[i].y2, input_boxes[j].y2); + float w = std::max(float(0), xx2 - xx1 + 1); + float h = std::max(float(0), yy2 - yy1 + 1); + float inter = w * h; + float ovr = inter / (vArea[i] + vArea[j] - inter); + if (ovr >= nms_thresh_) + { + input_boxes.erase(input_boxes.begin() + j); + vArea.erase(vArea.begin() + j); + } + else + { + j++; + } + } + } +} + +std::vector HandDetection::decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]) +{ +//std::cout << "decode_infer!\n"; + float ratiow = (float)input_shapes_[0][3] / frame_size.width; + float ratioh = (float)input_shapes_[0][2] / frame_size.height; + float gain = ratiow < ratioh ? ratiow : ratioh; + std::vector result; + int grid_size = input_shapes_[0][2] / stride; + int one_rsize = classes_num_ + 5; + float cx, cy, w, h; + for (int shift_y = 0; shift_y < grid_size; shift_y++) + { + for (int shift_x = 0; shift_x < grid_size; shift_x++) + { + int loc = shift_x + shift_y * grid_size; + for (int i = 0; i < 3; i++) + { + float *record = data + (loc * 3 + i) * one_rsize; + float *cls_ptr = record + 5; + for (int cls = 0; cls < classes_num_; cls++) + { + // float score = sigmoid(cls_ptr[cls]) * sigmoid(record[4]); + float score = cls_ptr[cls] * record[4]; + if (score > obj_thresh_) + { + cx = (record[0] * 2.f - 0.5f + (float)shift_x) * (float)stride; + cy = (record[1] * 2.f - 0.5f + (float)shift_y) * (float)stride; + w = pow(record[2] * 2.f, 2) * anchors[i][0]; + h = pow(record[3] * 2.f, 2) * anchors[i][1]; + + cx -= ((input_shapes_[0][3] - frame_size.width * gain) / 2); + cy -= ((input_shapes_[0][2] - frame_size.height * gain) / 2); + cx /= gain; + cy /= gain; + w /= gain; + h /= gain; + BoxInfo box; + box.x1 = std::max(0, std::min(int(frame_size.width), int(cx - w / 2.f))); + box.y1 = std::max(0, std::min(int(frame_size.height), int(cy - h / 2.f))); + box.x2 = std::max(0, std::min(int(frame_size.width), int(cx + w / 2.f))); + box.y2 = std::max(0, std::min(int(frame_size.height), int(cy + h / 2.f))); + if (box.x1==box.x2) + continue; + box.score = score; + box.label = cls; + result.push_back(box); + } + } + } + } + } + return result; +} diff --git a/src/reference/ai_poc/sq_handreco/hand_detection.h b/src/reference/ai_poc/sq_handreco/hand_detection.h new file mode 100644 index 000000000..b779a9632 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/hand_detection.h @@ -0,0 +1,157 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_DETECTION_H +#define _HAND_DETECTION_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +//#include +#include +#include + +#include "utils.h" +#include "ai_base.h" + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::detail; +using namespace std; + +/** + * @brief 手掌检测 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandDetection:public AIBase +{ +public: + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for image + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size,const int debug_mode); + + /** + * @brief HandDetection构造函数，加载kmodel,并初始化kmodel输入、输出和手掌检测阈值 + * @param kmodel_file kmodel文件路径 + * @param obj_thresh 手掌检测阈值，用于过滤roi + * @param nms_thresh 手掌检测框阈值，用于过滤重复roi + * @param frame_size 手掌检测输入图片尺寸 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + + // for_video + HandDetection(const char *kmodel_file, float obj_thresh, float nms_thresh, FrameSize frame_size, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode); + + /** + * @brief HandDetection析构函数 + * @return None + */ + ~HandDetection(); + + /** + * @brief 图片预处理 + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @param results 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void post_process(std::vector &result); + + std::vector labels_ = {"hand"}; //模型输出类别名称 + + +private: + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + + float obj_thresh_; // 手掌检测阈值 + float nms_thresh_; // 手掌检测框nms阈值 + FrameSize frame_size_; // 输入图片尺寸 + int classes_num_; // 模型输出类别数 + + float anchors_0[3][2] = { { 26,27 }, { 53,52 }, { 75,71 } }; + float anchors_1[3][2] = { { 80,99 }, { 106,82 }, { 99,134 } }; + float anchors_2[3][2] = { { 140,113 }, { 161,172 }, { 245,276 } }; + + /** + * @brief 获取2个检测框的iou + * @param input_boxes 后处理之后的基于原始图像的{检测框坐标点、得分和标签}集合 + * @return None + */ + void nms(std::vector &input_boxes); + + /** + * @brief 获取2个检测框的iou + * @param data 指向模型推理得到的首个roi置信度的指针 + * @param stride 模型推理得到的feature相比模型输入的下采样倍数 + * @param frame_size 原始图像/帧宽高，用于将结果放到原始图像大小 + * @param anchors 模型推理得到的feature对应的anchor + * @return 每个feature对应的结果映射回原始图像的{检测框坐标点、得分和标签}集合 + */ + std::vector decode_infer(float *data, int stride, FrameSize frame_size, float anchors[][2]); +}; +#endif diff --git a/src/reference/ai_poc/sq_handreco/hand_recognition.cc b/src/reference/ai_poc/sq_handreco/hand_recognition.cc new file mode 100644 index 000000000..779b0121d --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/hand_recognition.cc @@ -0,0 +1,124 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include "hand_recognition.h" +#include "utils.h" + +HandRecognition::HandRecognition(const char *kmodel_file, const int debug_mode) : AIBase(kmodel_file,"HandRecognition",debug_mode) +{ + model_name_ = "HandRecognition"; + ai2d_out_tensor_ = get_input_tensor(0); +} + + +HandRecognition::HandRecognition(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode) : AIBase(kmodel_file,"HandRecognition", debug_mode) +{ + model_name_ = "HandRecognition"; + // input->isp（Fixed size） + vaddr_ = vaddr; + isp_shape_ = isp_shape; + dims_t in_shape{1, isp_shape.channel, isp_shape.height, isp_shape.width}; +#if 0 + int in_size = isp_shape.channel * isp_shape.height * isp_shape.width; + ai2d_in_tensor_ = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, { (gsl::byte *)vaddr, in_size }, + true, hrt::pool_shared).expect("cannot create input tensor"); +#else + ai2d_in_tensor_ = hrt::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("create ai2d input tensor failed"); +#endif + // ouput（Fixed size） + dims_t out_shape{1, input_shapes_[0][1], input_shapes_[0][2], input_shapes_[0][3]}; + ai2d_out_tensor_ = get_input_tensor(0); +} +HandRecognition::~HandRecognition() +{ +} + +void HandRecognition::pre_process(cv::Mat ori_img, Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process image", debug_mode_); + + std::vector chw_vec; + Utils::bgr2rgb_and_hwc2chw(ori_img, chw_vec); + Utils::crop_resize({ori_img.channels(), ori_img.rows, ori_img.cols}, chw_vec, bbox, ai2d_out_tensor_); +} + +void HandRecognition::pre_process(Bbox &bbox) +{ + ScopedTiming st(model_name_ + " pre_process_video", debug_mode_); +#if 1 + size_t isp_size = isp_shape_.channel * isp_shape_.height * isp_shape_.width; + auto buf = ai2d_in_tensor_.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(buf.data()), (void *)vaddr_, isp_size); + hrt::sync(ai2d_in_tensor_, sync_op_t::sync_write_back, true).expect("sync write_back failed"); +#endif + Utils::crop_resize(bbox, ai2d_builder_, ai2d_in_tensor_, ai2d_out_tensor_); +} + +void HandRecognition::inference() +{ + this->run(); + this->get_output(); +} + + +std::string HandRecognition::post_process() +{ + ScopedTiming st(model_name_ + " post_process", debug_mode_); + float *output = p_outputs_[0]; + float pred[4] = {0}; + softmax(output, pred, output_shapes_[0][1] ); + auto it = std::max_element(pred, pred + output_shapes_[0][1]); + size_t idx = it - pred; + std::string text = labels[idx] + ":" + std::to_string(round(*it * 100) / 100.0); + + return text; +} + +void HandRecognition::softmax(float* x, float* dx, uint32_t len) +{ + float max_value = x[0]; + for (uint32_t i = 0; i < len; i++) + { + if (max_value < x[i]) + { + max_value = x[i]; + } + } + for (uint32_t i = 0; i < len; i++) + { + x[i] -= max_value; + x[i] = expf(x[i]); + } + float sum_value = 0.0f; + for (uint32_t i = 0; i < len; i++) + { + sum_value += x[i]; + } + for (uint32_t i = 0; i < len; i++) + { + dx[i] = x[i] / sum_value; + } +} + + diff --git a/src/reference/ai_poc/sq_handreco/hand_recognition.h b/src/reference/ai_poc/sq_handreco/hand_recognition.h new file mode 100644 index 000000000..27b8d0ff5 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/hand_recognition.h @@ -0,0 +1,107 @@ +/* Copyright (c) 2022, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#ifndef _HAND_RECOGNITION_H +#define _HAND_RECOGNITION_H + +#include +#include + +#include "utils.h" +#include "ai_base.h" + +/** + * @brief 手势识别 + * 主要封装了对于每一帧图片，从预处理、运行到后处理给出结果的过程 + */ +class HandRecognition : public AIBase +{ +public: + /** + * @brief HandRecognition构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + HandRecognition(const char *kmodel_file, const int debug_mode = 1); + + /** + * @brief HandRecognition构造函数，加载kmodel,并初始化kmodel输入、输出 + * @param kmodel_file kmodel文件路径 + * @param isp_shape isp输入大小（chw） + * @param vaddr isp对应虚拟地址 + * @param paddr isp对应物理地址 + * @param debug_mode 0（不调试）、 1（只显示时间）、2（显示所有打印信息） + * @return None + */ + HandRecognition(const char *kmodel_file, FrameCHWSize isp_shape, uintptr_t vaddr, uintptr_t paddr, const int debug_mode = 1); + + /** + * @brief HandRecognition析构函数 + * @return None + */ + ~HandRecognition(); + + /** + * @brief 图片预处理，（ai2d for image） + * @param ori_img 原始图片 + * @return None + */ + void pre_process(cv::Mat ori_img, Bbox &bbox); + + /** + * @brief 视频流预处理（ai2d for isp） + * @return None + */ + void pre_process(Bbox &bbox); + + /** + * @brief kmodel推理 + * @return None + */ + void inference(); + + /** + * @brief kmodel推理结果后处理 + * @return 识别结果 + */ + string post_process(); + + void softmax(float* x, float* dx, uint32_t len); + + std::vector labels + { + "gun","other","yeah","five" + }; + +private: + + std::unique_ptr ai2d_builder_; // ai2d构建器 + runtime_tensor ai2d_in_tensor_; // ai2d输入tensor + runtime_tensor ai2d_out_tensor_; // ai2d输出tensor + uintptr_t vaddr_; // isp的虚拟地址 + FrameCHWSize isp_shape_; // isp对应的地址大小 + +}; +#endif diff --git a/src/reference/ai_poc/sq_handreco/img.png b/src/reference/ai_poc/sq_handreco/img.png new file mode 100644 index 0000000000000000000000000000000000000000..5ce31d5e22b221549e95632dda691f80f5755bb9 GIT binary patch literal 55348 zcmZU)Wl$Vjv^I`E_GPql?8C-)q1b27W;I4za2AALv+%34f!^b)2-uM3a z{!DdE@2XwBdabn|SskYMO%e^62pI|r3Qbx{Oc@Fadhq?a6%pqB7X-%o1_k8{B`qcl za@9Tlh2Wt*n6&px&wPDv(Uk7gmESOi-_XNqG2Tj}(O9;Ti7^5Di?9(T9X8KihQl~d z{uFek1Nzs!bJf)k!q|EACE_9#nXgC4RvfLiF6$~cM=HhNG9Sr)h#=7*7c5Oln&SKa*OW;)7XRFzi~#vV{#&Pv1fhLjkMv9G|G#KvJ|99YokuB*c^|0j z-xU<4YhYJ8q4#1diWJdl*PkBt(S7rg2o&Ya9KB5toJ${0jtI=f2iQq>2f_cu*Zym^ z&Sx7i0`A%RtbJj!6{s7`A_G4Eg-ir}LxLr(L?CO3DzAttUW+pnM=d+)7}$fDmMa~d 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Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include +#include + +#include "utils.h" +#include "vi_vo.h" +#include "hand_detection.h" +#include "hand_recognition.h" + + +std::atomic isp_stop(false); + +void print_usage(const char *name) +{ + cout << "Usage: " << name << " " << endl + << "Options:" << endl + << " kmodel_det 手掌检测kmodel路径\n" + << " input_mode 本地图片(图片路径)/ 摄像头(None) \n" + << " obj_thresh 手掌检测阈值\n" + << " nms_thresh 手掌检测非极大值抑制阈值\n" + << " kmodel_reco 手势识别kmodel路径\n" + << " debug_mode 是否需要调试，0、1、2分别表示不调试、简单调试、详细调试\n" + << "\n" + << endl; +} + +void video_proc(char *argv[]) +{ + vivcap_start(); + // 设置osd参数 + k_video_frame_info vf_info; + void *pic_vaddr = NULL; // osd + memset(&vf_info, 0, sizeof(vf_info)); + vf_info.v_frame.width = osd_width; + vf_info.v_frame.height = osd_height; + vf_info.v_frame.stride[0] = osd_width; + vf_info.v_frame.pixel_format = PIXEL_FORMAT_ARGB_8888; + block = vo_insert_frame(&vf_info, &pic_vaddr); + + // alloc memory,get isp memory + size_t paddr = 0; + void *vaddr = nullptr; + size_t size = SENSOR_CHANNEL * SENSOR_HEIGHT * SENSOR_WIDTH; + int ret = kd_mpi_sys_mmz_alloc_cached(&paddr, &vaddr, "allocate", "anonymous", size); + if (ret) + { + std::cerr << "physical_memory_block::allocate failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), {SENSOR_WIDTH, SENSOR_HEIGHT}, {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + HandRecognition hr(argv[5], {SENSOR_CHANNEL, SENSOR_HEIGHT, SENSOR_WIDTH}, reinterpret_cast(vaddr), reinterpret_cast(paddr), atoi(argv[6])); + + std::vector results; + while (!isp_stop) + { + ScopedTiming st("total time", 1); + + { + ScopedTiming st("read capture", atoi(argv[6])); + // 从vivcap中读取一帧图像到dump_info + memset(&dump_info, 0, sizeof(k_video_frame_info)); + ret = kd_mpi_vicap_dump_frame(vicap_dev, VICAP_CHN_ID_1, VICAP_DUMP_YUV, &dump_info, 1000); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_frame failed.\n"); + continue; + } + } + + { + ScopedTiming st("isp copy", atoi(argv[6])); + auto vbvaddr = kd_mpi_sys_mmap_cached(dump_info.v_frame.phys_addr[0], size); + memcpy(vaddr, (void *)vbvaddr, SENSOR_HEIGHT * SENSOR_WIDTH * 3); + kd_mpi_sys_munmap(vbvaddr, size); + } + + results.clear(); + + hd.pre_process(); + hd.inference(); + hd.post_process(results); + + cv::Mat osd_frame(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::Mat osd_frame_put(osd_height, osd_width, CV_8UC4, cv::Scalar(0, 0, 0, 0)); + cv::Mat osd_frame_vertical; + cv::Mat osd_frame_horizontal; + for (auto r: results) + { + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + + int rect_x = (float)r.x1/ SENSOR_WIDTH * osd_width; + int rect_y = (float)r.y1/ SENSOR_HEIGHT * osd_height; + int rect_w = (float)w / SENSOR_WIDTH * osd_width; + int rect_h = (float)h / SENSOR_HEIGHT * osd_height; + cv::rectangle(osd_frame, cv::Rect(rect_x, rect_y , rect_w, rect_h), cv::Scalar( 255,255, 255, 255), 2, 2, 0); + + int length = std::max(w,h)/2; + int cx = (r.x1+r.x2)/2; + int cy = (r.y1+r.y2)/2; + int ratio_num = 1.1*length; + + int x1_1 = std::max(0,cx-ratio_num); + int y1_1 = std::max(0,cy-ratio_num); + int x2_1 = std::min(SENSOR_WIDTH-1, cx+ratio_num); + int y2_1 = std::min(SENSOR_HEIGHT-1, cy+ratio_num); + int w_1 = x2_1 - x1_1 + 1; + int h_1 = y2_1 - y1_1 + 1; + + struct Bbox bbox = {x:x1_1,y:y1_1,w:w_1,h:h_1}; + hr.pre_process(bbox); + + hr.inference(); + + std::string text1 = hr.post_process(); + cv::putText(osd_frame, text1, cv::Point(rect_x,rect_y-20),cv::FONT_HERSHEY_COMPLEX, 1, cv::Scalar(255, 255, 195, 0), 2); + + } + { + ScopedTiming st("osd draw", atoi(argv[6])); + + cv::flip(osd_frame, osd_frame_vertical, 0); + cv::flip(osd_frame_vertical, osd_frame_horizontal, 1); + osd_frame_put = osd_frame_horizontal; + } + + { + ScopedTiming st("osd copy", atoi(argv[6])); + memcpy(pic_vaddr, osd_frame_put.data, osd_width * osd_height * 4); + // 显示通道插入帧 + kd_mpi_vo_chn_insert_frame(osd_id + 3, &vf_info); // K_VO_OSD0 + + ret = kd_mpi_vicap_dump_release(vicap_dev, VICAP_CHN_ID_1, &dump_info); + if (ret) + { + printf("sample_vicap...kd_mpi_vicap_dump_release failed.\n"); + } + } + } + + vo_osd_release_block(); + vivcap_stop(); + + // free memory + ret = kd_mpi_sys_mmz_free(paddr, vaddr); + if (ret) + { + std::cerr << "free failed: ret = " << ret << ", errno = " << strerror(errno) << std::endl; + std::abort(); + } +} + + +int main(int argc, char *argv[]) +{ + std::cout << "case " << argv[0] << " built at " << __DATE__ << " " << __TIME__ << std::endl; + if (argc != 7) + { + print_usage(argv[0]); + return -1; + } + + if (strcmp(argv[2], "None") == 0) + { + std::thread thread_isp(video_proc, argv); + while (getchar() != 'q') + { + usleep(10000); + } + + isp_stop = true; + thread_isp.join(); + } + else + { + cv::Mat img = cv::imread(argv[2]); + cv::Mat img_draw = img.clone(); + + int origin_w = img.cols; + int origin_h = img.rows; + FrameSize handimg_size = {origin_w, origin_h}; + + HandDetection hd(argv[1], atof(argv[3]), atof(argv[4]), handimg_size, atoi(argv[6])); + + HandRecognition hr(argv[5], atoi(argv[6])); + + hd.pre_process(img); + + hd.inference(); + + std::vector result_hd; + hd.post_process(result_hd); + + for (auto r : result_hd) + { + std::string text = hd.labels_[r.label] + ":" + std::to_string(round(r.score * 100) / 100.0); + std::cout << "text = " << text << std::endl; + + + int w = r.x2 - r.x1 + 1; + int h = r.y2 - r.y1 + 1; + cv::rectangle(img_draw, cv::Rect(static_cast(r.x1), static_cast(r.y1) , w, h), cv::Scalar(255, 255, 255), 2, 2, 0); + + int length = std::max(w,h)/2; + int cx = (r.x1+r.x2)/2; + int cy = (r.y1+r.y2)/2; + int ratio_num = 1.26*length; + + int x1_1 = std::max(0,cx-ratio_num); + int y1_1 = std::max(0,cy-ratio_num); + int x2_1 = std::min(origin_w-1, cx+ratio_num); + int y2_1 = std::min(origin_h-1, cy+ratio_num); + int w_1 = x2_1 - x1_1+1; + int h_1 = y2_1 - y1_1+1; + + struct Bbox bbox = {x:x1_1,y:y1_1,w:w_1,h:h_1}; + hr.pre_process(img, bbox); + + hr.inference(); + + std::string text1 = hr.post_process(); + + cv::putText(img_draw, text1, cv::Point(r.x1,r.y1), cv::FONT_HERSHEY_COMPLEX, 0.5, cv::Scalar(0, 0, 255), 1, 8, 0); + } + + cv::imwrite("handreco_result.jpg", img_draw); + } + return 0; +} diff --git a/src/reference/ai_poc/sq_handreco/scoped_timing.hpp b/src/reference/ai_poc/sq_handreco/scoped_timing.hpp new file mode 100644 index 000000000..874ff1b17 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/scoped_timing.hpp @@ -0,0 +1,70 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +#include +#include +#include + +/** + * @brief 计时类 + * 统计在该类实例生命周期内的耗时 + */ +class ScopedTiming +{ +public: + /** + * @brief ScopedTiming构造函数,初始化计时对象名称并开始计时 + * @param info 计时对象名称 + * @param enable_profile 是否开始计时 + * @return None + */ + ScopedTiming(std::string info = "ScopedTiming", int enable_profile = 1) + : m_info(info), enable_profile(enable_profile) + { + if (enable_profile) + { + m_start = std::chrono::steady_clock::now(); + } + } + + /** + * @brief ScopedTiming析构,结束计时，并打印耗时 + * @return None + */ + ~ScopedTiming() + { + if (enable_profile) + { + m_stop = std::chrono::steady_clock::now(); + double elapsed_ms = std::chrono::duration(m_stop - m_start).count(); + std::cout << m_info << " took " << elapsed_ms << " ms" << std::endl; + } + } + +private: + int enable_profile; // 是否统计时间 + std::string m_info; // 计时对象名称 + std::chrono::steady_clock::time_point m_start; // 计时开始时间 + std::chrono::steady_clock::time_point m_stop; // 计时结束时间 +}; \ No newline at end of file diff --git a/src/reference/ai_poc/sq_handreco/utils.cc b/src/reference/ai_poc/sq_handreco/utils.cc new file mode 100644 index 000000000..5254d5769 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/utils.cc @@ -0,0 +1,402 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.cpp +#include +#include "utils.h" + +using std::ofstream; +using std::vector; +auto cache = cv::Mat::zeros(1, 1, CV_32FC1); +void Utils::dump_binary_file(const char *file_name, char *data, const size_t size) +{ + // eg:Utils::dump_binary_file(out_name.c_str(),reinterpret_cast(p_outputs_[i]),each_output_size_by_byte_[i+1]-each_output_size_by_byte_[i]); + std::ofstream outf; + outf.open(file_name, std::ofstream::binary); + outf.write(data, size); + outf.close(); +} + +void Utils::dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat gray_image = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::imwrite(file_name, gray_image); +} + +void Utils::dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data) +{ + cv::Mat image_r = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data); + cv::Mat image_g = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+frame_size.height*frame_size.width); + cv::Mat image_b = cv::Mat(frame_size.height, frame_size.width, CV_8UC1, data+2*frame_size.height*frame_size.width); + + std::vector color_vec(3); + color_vec.clear(); + color_vec.push_back(image_b); + color_vec.push_back(image_g); + color_vec.push_back(image_r); + + cv::Mat color_img; + cv::merge(color_vec, color_img); + cv::imwrite(file_name, color_img); +} + +cv::Mat Utils::padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding) +{ + // width:dst_width + int ori_w = img.cols; + int ori_h = img.rows; + float ratiow = (float)frame_size.width / ori_w; + float ratioh = (float)frame_size.height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(frame_size.width - new_w) / 2; + float dh = (float)(frame_size.height - new_h) / 2; + int top = (int)(roundf(0 - 0.1)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0 - 0.1)); + int right = (int)(roundf(dw * 2 - 0.1)); + cv::Mat cropped_img; + { + if ((new_w != frame_size.width) || (new_h != frame_size.height)) + { + cv::resize(img, cropped_img, cv::Size(new_w, new_h), cv::INTER_AREA); + } + } + { + // 104, 117, 123,BGR + cv::copyMakeBorder(cropped_img, cropped_img, top, bottom, left, right, cv::BORDER_CONSTANT, padding); + } + return cropped_img; +} + +cv::Mat Utils::resize(const cv::Mat img, const FrameSize &frame_size) +{ + cv::Mat cropped_img; + cv::resize(img, cropped_img, cv::Size(frame_size.width, frame_size.height), cv::INTER_LINEAR); + return cropped_img; +} + +cv::Mat Utils::bgr_to_rgb(cv::Mat ori_img) +{ + cv::Mat rgb_img; + cv::cvtColor(ori_img, rgb_img, cv::COLOR_BGR2RGB); + return rgb_img; +} + +void Utils::hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for rgb format + std::vector rgbChannels(3); + cv::split(ori_img, rgbChannels); + for (auto i = 0; i < rgbChannels.size(); i++) + { + std::vector data = std::vector(rgbChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec) +{ + // for bgr format + std::vector bgrChannels(3); + cv::split(ori_img, bgrChannels); + for (auto i = 2; i > -1; i--) + { + std::vector data = std::vector(bgrChannels[i].reshape(1, 1)); + chw_vec.insert(chw_vec.end(), data.begin(), data.end()); + } +} + +void Utils::resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + // ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, typecode_t::dt_uint8, typecode_t::dt_uint8}; + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param { false, 30, 20, 400, 600 }; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor) +{ + // build ai2d_in_tensor + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + runtime_tensor ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{true, crop_info.x, crop_info.y, crop_info.w, crop_info.h}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {0, 0}}, ai2d_pad_mode::constant, {114, 114, 114}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // create input + dims_t in_shape{1, ori_shape.channel, ori_h, ori_w}; + auto ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), chw_vec.data(), chw_vec.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(dh - 0.1)); + int bottom = (int)(roundf(dh + 0.1)); + int left = (int)(roundf(dw - 0.1)); + int right = (int)(roundf(dw - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding) +{ + int ori_w = ori_shape.width; + int ori_h = ori_shape.height; + int width = resize_shape.width; + int height = resize_shape.height; + float ratiow = (float)width / ori_w; + float ratioh = (float)height / ori_h; + float ratio = ratiow < ratioh ? ratiow : ratioh; + int new_w = (int)(ratio * ori_w); + int new_h = (int)(ratio * ori_h); + float dw = (float)(width - new_w) / 2; + float dh = (float)(height - new_h) / 2; + int top = (int)(roundf(0)); + int bottom = (int)(roundf(dh * 2 + 0.1)); + int left = (int)(roundf(0)); + int right = (int)(roundf(dw * 2 - 0.1)); + + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{true, {{0, 0}, {0, 0}, {top, bottom}, {left, right}}, ai2d_pad_mode::constant, {padding[0], padding[1], padding[2]}}; + ai2d_resize_param_t resize_param{true, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{false, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {0.5, 0.1, 0.0, 0.1, 0.5, 0.0}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +void Utils::affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor) +{ + runtime_tensor ai2d_in_tensor; + // init ai2d in/out + dims_t in_shape{1, ori_shape.channel, ori_shape.height, ori_shape.width}; + ai2d_in_tensor = host_runtime_tensor::create(typecode_t::dt_uint8, in_shape, hrt::pool_shared).expect("cannot create input tensor"); + + // ai2d input + auto input_buf = ai2d_in_tensor.impl()->to_host().unwrap()->buffer().as_host().unwrap().map(map_access_::map_write).unwrap().buffer(); + memcpy(reinterpret_cast(input_buf.data()), ori_data.data(), ori_data.size()); + hrt::sync(ai2d_in_tensor, sync_op_t::sync_write_back, true).expect("write back input failed"); + + // run ai2d + + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t out_shape = ai2d_out_tensor.shape(); + ai2d_builder builder { in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param }; + builder.build_schedule(); + builder.invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} + +// for video(只算一次即可) +void Utils::affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor) +{ + // run ai2d + ai2d_datatype_t ai2d_dtype{ai2d_format::NCHW_FMT, ai2d_format::NCHW_FMT, ai2d_in_tensor.datatype(), ai2d_out_tensor.datatype()}; + ai2d_crop_param_t crop_param{false, 0, 0, 0, 0}; + ai2d_shift_param_t shift_param{false, 0}; + ai2d_pad_param_t pad_param{false, {{0, 0}, {0, 0}, {0, 0}, {10, 0}}, ai2d_pad_mode::constant, {255, 10, 5}}; + ai2d_resize_param_t resize_param{false, ai2d_interp_method::tf_bilinear, ai2d_interp_mode::half_pixel}; + ai2d_affine_param_t affine_param{true, ai2d_interp_method::cv2_bilinear, 0, 0, 127, 1, {affine_matrix[0], affine_matrix[1], affine_matrix[2], affine_matrix[3], affine_matrix[4], affine_matrix[5]}}; + + dims_t in_shape = ai2d_in_tensor.shape(); + dims_t out_shape = ai2d_out_tensor.shape(); + builder.reset(new ai2d_builder(in_shape, out_shape, ai2d_dtype, crop_param, shift_param, pad_param, resize_param, affine_param)); + builder->build_schedule(); + builder->invoke(ai2d_in_tensor,ai2d_out_tensor).expect("error occurred in ai2d running"); +} diff --git a/src/reference/ai_poc/sq_handreco/utils.h b/src/reference/ai_poc/sq_handreco/utils.h new file mode 100644 index 000000000..1a4c32d18 --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/utils.h @@ -0,0 +1,320 @@ +/* Copyright (c) 2023, Canaan Bright Sight Co., Ltd + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, + * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +// utils.h +#ifndef UTILS_H +#define UTILS_H + +#include +#include +#include +#include +#include +#include +#include + +using namespace nncase; +using namespace nncase::runtime; +using namespace nncase::runtime::k230; +using namespace nncase::F::k230; + +using cv::Mat; +using std::cout; +using std::endl; +using std::ifstream; +using std::vector; + +/** + * @brief 手掌检测框 + */ +typedef struct BoxInfo +{ + float x1; // 手掌检测框的左上顶点x坐标 + float y1; // 手掌检测框的左上顶点y坐标 + float x2; // 手掌检测框的右下顶点x坐标 + float y2; // 手掌检测框的右下顶点y坐标 + float score; // 手掌检测框的得分 + int label; // 手掌检测框的类别 +} BoxInfo; + +/** + * @brief 人脸检测框 + */ +typedef struct Bbox +{ + float x; // 人脸检测框的左顶点x坐标 + float y; // 人脸检测框的左顶点x坐标 + float w; + float h; +} Bbox; + +/** + * @brief 人脸五官点 + */ +typedef struct SparseLandmarks +{ + float points[10]; // 人脸五官点,依次是图片的左眼（x,y）、右眼（x,y）,鼻子（x,y）,左嘴角（x,y）,右嘴角 +} SparseLandmarks; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameSize +{ + size_t width; // 宽 + size_t height; // 高 +} FrameSize; + +/** + * @brief 单张/帧图片大小 + */ +typedef struct FrameCHWSize +{ + size_t channel; // 通道 + size_t height; // 高 + size_t width; // 宽 +} FrameCHWSize; + +/** + * @brief AI Demo工具类 + * 封装了AI Demo常用的函数，包括二进制文件读取、文件保存、图片预处理等操作 + */ +class Utils +{ +public: + /** + * @brief 读取2进制文件 + * @param file_name 文件路径 + * @return 文件对应类型的数据 + */ + template + static vector read_binary_file(const char *file_name) + { + ifstream ifs(file_name, std::ios::binary); + ifs.seekg(0, ifs.end); + size_t len = ifs.tellg(); + vector vec(len / sizeof(T), 0); + ifs.seekg(0, ifs.beg); + ifs.read(reinterpret_cast(vec.data()), len); + ifs.close(); + return vec; + } + + /** + * @brief 打印数据 + * @param data 需打印数据对应指针 + * @param size 需打印数据大小 + * @return None + */ + template + static void dump(const T *data, size_t size) + { + for (size_t i = 0; i < size; i++) + { + cout << data[i] << " "; + } + cout << endl; + } + + // 静态成员函数不依赖于类的实例，可以直接通过类名调用 + /** + * @brief 将数据以2进制方式保存为文件 + * @param file_name 保存文件路径+文件名 + * @param data 需要保存的数据 + * @param size 需要保存的长度 + * @return None + */ + static void dump_binary_file(const char *file_name, char *data, const size_t size); + + /** + * @brief 将数据保存为灰度图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_gray_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + /** + * @brief 将数据保存为彩色图片 + * @param file_name 保存图片路径+文件名 + * @param frame_size 保存图片的宽、高 + * @param data 需要保存的数据 + * @return None + */ + static void dump_color_image(const char *file_name, const FrameSize &frame_size, unsigned char *data); + + + /*************************for img process********************/ + /** + * @brief 对图片进行先padding后resize的处理 + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat padding_resize(const cv::Mat img, const FrameSize &frame_size, const cv::Scalar &padding = cv::Scalar(104, 117, 123)); + + /** + * @brief 对图片resize + * @param ori_img 原始图片 + * @param frame_size 需要resize图像的宽高 + * @param padding 需要padding的像素，默认是cv::Scalar(104, 117, 123),BGR + * @return 处理后图像 + */ + static cv::Mat resize(const cv::Mat ori_img, const FrameSize &frame_size); + + /** + * @brief 将图片从bgr转为rgb + * @param ori_img 原始图片 + * @return 处理后图像 + */ + static cv::Mat bgr_to_rgb(cv::Mat ori_img); + + /** + * @brief 将RGB或RGB图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void hwc_to_chw(cv::Mat &ori_img, std::vector &chw_vec); // for rgb data + + /** + * @brief 将BGR图片从hwc转为chw + * @param ori_img 原始图片 + * @param chw_vec 转为chw后的数据 + * @return None + */ + static void bgr2rgb_and_hwc2chw(cv::Mat &ori_img, std::vector &chw_vec); + + /*************************for ai2d ori_img process********************/ + // resize + /** + * @brief resize函数，对chw数据进行resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(FrameCHWSize ori_shape, std::vector &chw_vec, runtime_tensor &ai2d_out_tensor); + + /** + * @brief resize函数 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void resize(std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // crop resize + /** + * @brief resize函数，对chw数据进行crop & resize + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(FrameCHWSize ori_shape, std::vector &chw_vec, Bbox &crop_info, runtime_tensor &ai2d_out_tensor); + + /** + * @brief crop_resize函数，对chw数据进行crop & resize + * @param crop_info 需要crop的位置，x,y,w,h + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void crop_resize(Bbox &crop_info, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); + + // padding resize + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param chw_vec 原始数据 + * @param resize_shape resize之后的大小 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, std::vector &chw_vec, FrameSize resize_shape, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（上下左右padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, cv::Scalar padding); + + /** + * @brief padding_resize函数（右或下padding），对chw数据进行padding & resize + * @param ori_shape 原始数据chw + * @param resize_shape resize之后的大小 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @param padding 填充值，用于resize时的等比例变换 + * @return None + */ + static void padding_resize_one_side(FrameCHWSize ori_shape, FrameSize resize_shape, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor, const cv::Scalar padding); + + // affine + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for imgae) + * @param ori_shape 原始数据chw大小 + * @param ori_data 原始数据 + * @param affine_matrix 仿射变换矩阵 + * @param ai2d_out_tensor 仿射变换后的数据 + * @return None + */ + static void affine(FrameCHWSize ori_shape, std::vector &ori_data, float *affine_matrix, runtime_tensor &ai2d_out_tensor); + + /** + * @brief 仿射变换函数，对chw数据进行仿射变换(for video) + * @param affine_matrix 仿射变换矩阵 + * @param builder ai2d构建器，用于运行ai2d + * @param ai2d_in_tensor ai2d输入 + * @param ai2d_out_tensor ai2d输出 + * @return None + */ + static void affine(float *affine_matrix, std::unique_ptr &builder, runtime_tensor &ai2d_in_tensor, runtime_tensor &ai2d_out_tensor); +}; + +#endif diff --git a/src/reference/ai_poc/sq_handreco/vi_vo.h b/src/reference/ai_poc/sq_handreco/vi_vo.h new file mode 100644 index 000000000..4d3ddce8b --- /dev/null +++ b/src/reference/ai_poc/sq_handreco/vi_vo.h @@ -0,0 +1,684 @@ +#include +#include +#include +#include +#include + +#include "mpi_sys_api.h" + +/* vicap */ +#include +#include +#include +#include +#include + +#include "k_module.h" +#include "k_type.h" +#include "k_vb_comm.h" +#include "k_video_comm.h" +#include "k_sys_comm.h" +#include "mpi_vb_api.h" +#include "mpi_vicap_api.h" +#include "mpi_isp_api.h" +#include "mpi_sys_api.h" +#include "k_vo_comm.h" +#include "mpi_vo_api.h" + +#include "vo_test_case.h" + +extern k_s32 kd_display_set_backlight(void); +extern k_s32 kd_display_reset(void); +// extern k_vo_display_resolution hx8399[20]; + +#define SENSOR_CHANNEL (3) // isp通道数 +#define SENSOR_HEIGHT (1280) // isp高度，ai输入，竖屏 +#define SENSOR_WIDTH (720) // isp宽度，ai输入，竖屏 + +#define ISP_CHN0_WIDTH (1088)//(1920) +#define ISP_CHN0_HEIGHT (1920)//(1080) + +#define vicap_install_osd (1) +#define osd_id K_VO_OSD3 +#define osd_width (1080) +#define osd_height (1920) + + +k_vb_config config; +k_vicap_dev vicap_dev; +k_vicap_chn vicap_chn; +k_vicap_dev_attr dev_attr; +k_vicap_chn_attr chn_attr; +k_vicap_sensor_info sensor_info; +k_vicap_sensor_type sensor_type; +k_mpp_chn vicap_mpp_chn; +k_mpp_chn vo_mpp_chn; + +k_video_frame_info dump_info; + +k_vo_draw_frame vo_frame = (k_vo_draw_frame) { + 1, + 16, + 16, + 128, + 128, + 1 +}; + +static k_vb_blk_handle block; +k_u32 g_pool_id; +// osd 我加的------------------------------------- + + +k_vo_display_resolution hx8399[20] = +{ + //{74250, 445500, 1340, 1080, 20, 20, 220, 1938, 1920, 5, 8, 10}, // display evblp3 + {37125, 222750, 1240, 1080, 20, 20, 120, 1988, 1920, 5, 8, 55}, +}; + +int vo_creat_layer_test(k_vo_layer chn_id, layer_info *info) +{ + k_vo_video_layer_attr attr; + + // check layer + if ((chn_id >= K_MAX_VO_LAYER_NUM) || ((info->func & K_VO_SCALER_ENABLE) && (chn_id != K_VO_LAYER0)) + || ((info->func != 0) && (chn_id == K_VO_LAYER2))) + { + printf("input layer num failed \n"); + return -1 ; + } + + // check scaler + + // set offset + attr.display_rect = info->offset; + // set act + attr.img_size = info->act_size; + // sget size + info->size = info->act_size.height * info->act_size.width * 3 / 2; + //set pixel format + attr.pixel_format = info->format; + if (info->format != PIXEL_FORMAT_YVU_PLANAR_420) + { + printf("input pix format failed \n"); + return -1; + } + // set stride + attr.stride = (info->act_size.width / 8 - 1) + ((info->act_size.height - 1) << 16); + // set function + attr.func = info->func; + // set scaler attr + attr.scaler_attr = info->attr; + + // set video layer atrr + kd_mpi_vo_set_video_layer_attr(chn_id, &attr); + + // enable layer + kd_mpi_vo_enable_video_layer(chn_id); + + return 0; +} + +static void hx8399_v2_init(k_u8 test_mode_en) +{ + k_u8 param1[] = {0xB9, 0xFF, 0x83, 0x99}; + k_u8 param21[] = {0xD2, 0xAA}; + k_u8 param2[] = {0xB1, 0x02, 0x04, 0x71, 0x91, 0x01, 0x32, 0x33, 0x11, 0x11, 0xab, 0x4d, 0x56, 0x73, 0x02, 0x02}; + k_u8 param3[] = {0xB2, 0x00, 0x80, 0x80, 0xae, 0x05, 0x07, 0x5a, 0x11, 0x00, 0x00, 0x10, 0x1e, 0x70, 0x03, 0xd4}; + k_u8 param4[] = {0xB4, 0x00, 0xFF, 0x02, 0xC0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x21, 0x03, 0x01, 0x00, 0x0f, 0xb8, 0x8b, 0x02, 0xc0, 0x02, 0xc0, 0x00, 0x00, 0x08, 0x00, 0x04, 0x06, 0x00, 0x32, 0x04, 0x0a, 0x08, 0x01, 0x00, 0x0f, 0xb8, 0x01}; + k_u8 param5[] = {0xD3, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x00, 0x00, 0x10, 0x04, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x05, 0x05, 0x07, 0x00, 0x00, 0x00, 0x05, 0x40}; + k_u8 param6[] = {0xD5, 0x18, 0x18, 0x19, 0x19, 0x18, 0x18, 0x21, 0x20, 0x01, 0x00, 0x07, 0x06, 0x05, 0x04, 0x03, 0x02, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x18, 0x18, 0x18, 0x18}; + k_u8 param7[] = {0xD6, 0x18, 0x18, 0x19, 0x19, 0x40, 0x40, 0x20, 0x21, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x00, 0x01, 0x40, 0x40, 0x40, 0x40, 0x40, 0x40, 0x2f, 0x2f, 0x30, 0x30, 0x31, 0x31, 0x40, 0x40, 0x40, 0x40}; + k_u8 param8[] = {0xD8, 0xa2, 0xaa, 0x02, 0xa0, 0xa2, 0xa8, 0x02, 0xa0, 0xb0, 0x00, 0x00, 0x00, 0xb0, 0x00, 0x00, 0x00}; + k_u8 param9[] = {0xBD, 0x01}; + k_u8 param10[] = {0xD8, 0xB0, 0x00, 0x00, 0x00, 0xB0, 0x00, 0x00, 0x00, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param11[] = {0xBD, 0x02}; + k_u8 param12[] = {0xD8, 0xE2, 0xAA, 0x03, 0xF0, 0xE2, 0xAA, 0x03, 0xF0}; + k_u8 param13[] = {0xBD, 0x00}; + k_u8 param14[] = {0xB6, 0x8D, 0x8D}; + k_u8 param15[] = {0xCC, 0x09}; + k_u8 param16[] = {0xC6, 0xFF, 0xF9}; + k_u8 param22[] = {0xE0, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77, 0x00, 0x12, 0x1f, 0x1a, 0x40, 0x4a, 0x59, 0x55, 0x5e, 0x67, 0x6f, 0x75, 0x7a, 0x82, 0x8b, 0x90, 0x95, 0x9f, 0xa3, 0xad, 0xa2, 0xb2, 0xB6, 0x5e, 0x5a, 0x65, 0x77}; + k_u8 param23[] = {0x11}; + k_u8 param24[] = {0x29}; + + k_u8 pag20[50] = {0xB2, 0x0b, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77, 0x77}; // ��ɫ + + + kd_mpi_dsi_send_cmd(param1, sizeof(param1)); + kd_mpi_dsi_send_cmd(param21, sizeof(param21)); + kd_mpi_dsi_send_cmd(param2, sizeof(param2)); + kd_mpi_dsi_send_cmd(param3, sizeof(param3)); + kd_mpi_dsi_send_cmd(param4, sizeof(param4)); + kd_mpi_dsi_send_cmd(param5, sizeof(param5)); + kd_mpi_dsi_send_cmd(param6, sizeof(param6)); + kd_mpi_dsi_send_cmd(param7, sizeof(param7)); + kd_mpi_dsi_send_cmd(param8, sizeof(param8)); + kd_mpi_dsi_send_cmd(param9, sizeof(param9)); + + if (test_mode_en == 1) + { + kd_mpi_dsi_send_cmd(pag20, 10); // test mode + } + + kd_mpi_dsi_send_cmd(param10, sizeof(param10)); + kd_mpi_dsi_send_cmd(param11, sizeof(param11)); + kd_mpi_dsi_send_cmd(param12, sizeof(param12)); + kd_mpi_dsi_send_cmd(param13, sizeof(param13)); + kd_mpi_dsi_send_cmd(param14, sizeof(param14)); + kd_mpi_dsi_send_cmd(param15, sizeof(param15)); + kd_mpi_dsi_send_cmd(param16, sizeof(param16)); + kd_mpi_dsi_send_cmd(param22, sizeof(param22)); + kd_mpi_dsi_send_cmd(param23, 1); + usleep(300000); + kd_mpi_dsi_send_cmd(param24, 1); + usleep(100000); +} + +// 我加的----------------------------------- +k_vb_blk_handle vo_insert_frame(k_video_frame_info *vf_info, void **pic_vaddr) +{ + k_u64 phys_addr = 0; + k_u32 *virt_addr; + k_vb_blk_handle handle; + k_s32 size; + + if (vf_info == NULL) + return K_FALSE; + + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_8888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_8888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 4; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_565 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_565) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_4444 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_4444) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_RGB_888 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_BGR_888) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_ARGB_1555 || vf_info->v_frame.pixel_format == PIXEL_FORMAT_ABGR_1555) + size = vf_info->v_frame.height * vf_info->v_frame.width * 2; + else if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + size = vf_info->v_frame.height * vf_info->v_frame.width * 3 / 2; + + size = size + 4096; // 强制4K ，后边得删了 + + printf("vb block size is %x \n", size); + + handle = kd_mpi_vb_get_block(g_pool_id, size, NULL); + if (handle == VB_INVALID_HANDLE) + { + printf("%s get vb block error\n", __func__); + return K_FAILED; + } + + phys_addr = kd_mpi_vb_handle_to_phyaddr(handle); + if (phys_addr == 0) + { + printf("%s get phys addr error\n", __func__); + return K_FAILED; + } + + virt_addr = (k_u32 *)kd_mpi_sys_mmap(phys_addr, size); + // virt_addr = (k_u32 *)kd_mpi_sys_mmap_cached(phys_addr, size); + + if (virt_addr == NULL) + { + printf("%s mmap error\n", __func__); + return K_FAILED; + } + + vf_info->mod_id = K_ID_VO; + vf_info->pool_id = g_pool_id; + vf_info->v_frame.phys_addr[0] = phys_addr; + if (vf_info->v_frame.pixel_format == PIXEL_FORMAT_YVU_PLANAR_420) + vf_info->v_frame.phys_addr[1] = phys_addr + (vf_info->v_frame.height * vf_info->v_frame.stride[0]); + *pic_vaddr = virt_addr; + + printf("phys_addr is %lx g_pool_id is %d \n", phys_addr, g_pool_id); + + return handle; +} + +k_u32 vo_creat_osd_test(k_vo_osd osd, osd_info *info) +{ + k_vo_video_osd_attr attr; + + // set attr + attr.global_alptha = info->global_alptha; + + if (info->format == PIXEL_FORMAT_ABGR_8888 || info->format == PIXEL_FORMAT_ARGB_8888) + { + info->size = info->act_size.width * info->act_size.height * 4; + info->stride = info->act_size.width * 4 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_565 || info->format == PIXEL_FORMAT_BGR_565) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if (info->format == PIXEL_FORMAT_RGB_888 || info->format == PIXEL_FORMAT_BGR_888) + { + info->size = info->act_size.width * info->act_size.height * 3; + info->stride = info->act_size.width * 3 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_4444 || info->format == PIXEL_FORMAT_ABGR_4444) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else if(info->format == PIXEL_FORMAT_ARGB_1555 || info->format == PIXEL_FORMAT_ABGR_1555) + { + info->size = info->act_size.width * info->act_size.height * 2; + info->stride = info->act_size.width * 2 / 8; + } + else + { + printf("set osd pixel format failed \n"); + } + + attr.stride = info->stride; + attr.pixel_format = info->format; + attr.display_rect = info->offset; + attr.img_size = info->act_size; + kd_mpi_vo_set_video_osd_attr(osd, &attr); + + kd_mpi_vo_osd_enable(osd); + + return 0; +} + +void sample_vicap_install_osd(void) +{ + osd_info osd; + + osd.act_size.width = osd_width ; + osd.act_size.height = osd_height; + osd.offset.x = 0; + osd.offset.y = 0; + osd.global_alptha = 0xff; + // osd.global_alptha = 0x32; + osd.format = PIXEL_FORMAT_ARGB_8888;//PIXEL_FORMAT_ARGB_4444; //PIXEL_FORMAT_ARGB_1555;//PIXEL_FORMAT_ARGB_8888; + + vo_creat_osd_test(osd_id, &osd); +} + +void vo_osd_release_block(void) +{ + if(vicap_install_osd == 1) + { + kd_mpi_vo_osd_disable(osd_id); + kd_mpi_vb_release_block(block); + } + +} +// -------------------------------------------------------------------------------- + + +void dwc_dsi_init(void) +{ + + k_vo_display_resolution *resolution = NULL; + int resolution_index = 0; + resolution = &hx8399[resolution_index]; + k_vo_dsi_attr attr; + + k_vo_mipi_phy_attr phy_attr; + int enable = 1; + int screen_test_mode = 0; + + memset(&attr, 0, sizeof(k_vo_dsi_attr)); + + // config phy + phy_attr.phy_lan_num = K_DSI_4LAN; + phy_attr.m = 295; + phy_attr.n = 15; + phy_attr.voc = 0x17; + phy_attr.hs_freq = 0x96; + kd_mpi_set_mipi_phy_attr(&phy_attr); + + + attr.lan_num = K_DSI_4LAN; + attr.cmd_mode = K_VO_LP_MODE; + attr.lp_div = 8; + memcpy(&attr.resolution, resolution, sizeof(k_vo_display_resolution)); + // set dsi timing + kd_mpi_dsi_set_attr(&attr); + + // config scann + hx8399_v2_init(screen_test_mode); + + // enable dsi + kd_mpi_dsi_enable(enable); +} + +static k_s32 vo_layer_vdss_bind_vo_config(void) +{ + k_vo_display_resolution *resolution = NULL; + k_s32 resolution_index = 0; + resolution = &hx8399[resolution_index]; + + k_vo_pub_attr attr; + layer_info info; + + k_vo_layer chn_id = K_VO_LAYER1; + + memset(&attr, 0, sizeof(attr)); + memset(&info, 0, sizeof(info)); + + attr.bg_color = 0x808000; + attr.intf_sync = K_VO_OUT_1080P30; + attr.intf_type = K_VO_INTF_MIPI; + attr.sync_info = resolution; + + // vo init + kd_mpi_vo_init(); + // set vo timing + kd_mpi_vo_set_dev_param(&attr); + // printf("%s>w %d, h %d\n", __func__, w, h); + // config lyaer + info.act_size.width = ISP_CHN0_WIDTH;//ISP_CHN0_HEIGHT;//1080;//640;//1080; + info.act_size.height = ISP_CHN0_HEIGHT;//ISP_CHN0_WIDTH;//1920;//480;//1920; + info.format = PIXEL_FORMAT_YVU_PLANAR_420; + info.func = K_ROTATION_180;////K_ROTATION_90; + info.global_alptha = 0xff; + info.offset.x = 0;//(1080-w)/2, + info.offset.y = 0;//(1920-h)/2; + // info.attr.out_size.width = 1080;//640; + // info.attr.out_size.height = 1920;//480; + vo_creat_layer_test(chn_id, &info); + + if(vicap_install_osd == 1) + sample_vicap_install_osd(); + + // enable vo + kd_mpi_vo_enable(); + + //exit ; + return 0; +} + +static void sample_vicap_bind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_bind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +static void sample_vicap_unbind_vo(k_mpp_chn vicap_mpp_chn, k_mpp_chn vo_mpp_chn) +{ + k_s32 ret; + + ret = kd_mpi_sys_unbind(&vicap_mpp_chn, &vo_mpp_chn); + if (ret) { + printf("kd_mpi_sys_unbind failed:0x%x\n", ret); + } + + return; +} + +int vivcap_start() +{ + k_s32 ret = 0; + + + // ------------------------------------------ + k_u32 pool_id; + k_vb_pool_config pool_config; + // ------------------------------------------ + + printf("sample_vicap ...\n"); + + // sensor_type = OV_OV9286_MIPI_1280X720_30FPS_10BIT_LINEAR_IR; + // vicap_dev = VICAP_DEV_ID_1; + + sensor_type = IMX335_MIPI_2LANE_RAW12_2592X1944_30FPS_LINEAR; + vicap_dev = VICAP_DEV_ID_0; + + memset(&config, 0, sizeof(config)); + config.max_pool_cnt = 64; + //VB for YUV420SP output + config.comm_pool[0].blk_cnt = 5; + config.comm_pool[0].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[0].blk_size = VICAP_ALIGN_UP((ISP_CHN0_WIDTH * ISP_CHN0_HEIGHT * 3 / 2), VICAP_ALIGN_1K); + + //VB for RGB888 output + config.comm_pool[1].blk_cnt = 5; + config.comm_pool[1].mode = VB_REMAP_MODE_NOCACHE; + config.comm_pool[1].blk_size = VICAP_ALIGN_UP((SENSOR_HEIGHT * SENSOR_WIDTH * 3 ), VICAP_ALIGN_1K); + + ret = kd_mpi_vb_set_config(&config); + if (ret) { + printf("vb_set_config failed ret:%d\n", ret); + return ret; + } + + k_vb_supplement_config supplement_config; + memset(&supplement_config, 0, sizeof(supplement_config)); + supplement_config.supplement_config |= VB_SUPPLEMENT_JPEG_MASK; + + ret = kd_mpi_vb_set_supplement_config(&supplement_config); + if (ret) { + printf("vb_set_supplement_config failed ret:%d\n", ret); + return ret; + } + + ret = kd_mpi_vb_init(); + if (ret) { + printf("vb_init failed ret:%d\n", ret); + return ret; + } + printf("sample_vicap ...kd_mpi_vicap_get_sensor_info\n"); + + //vo init + // set hardware reset; + kd_display_set_backlight(); + // rst display subsystem + kd_display_reset(); + + dwc_dsi_init(); + vo_layer_vdss_bind_vo_config(); + + // --------------------------------------------------------------------------------------- + if(vicap_install_osd == 1) + { + memset(&pool_config, 0, sizeof(pool_config)); + pool_config.blk_size = VICAP_ALIGN_UP((osd_width * osd_height * 4 * 2), VICAP_ALIGN_1K); + pool_config.blk_cnt = 4; + pool_config.mode = VB_REMAP_MODE_NOCACHE; + pool_id = kd_mpi_vb_create_pool(&pool_config); // osd0 - 3 argb 320 x 240 + g_pool_id = pool_id; + + printf("--------aa--------------g_pool_id is %d pool_id is %d \n",g_pool_id, pool_id); + } + // ---------------------------------------------------------------------------------------- + + + memset(&sensor_info, 0, sizeof(k_vicap_sensor_info)); + ret = kd_mpi_vicap_get_sensor_info(sensor_type, &sensor_info); + if (ret) { + printf("sample_vicap, the sensor type not supported!\n"); + return ret; + } + + memset(&dev_attr, 0, sizeof(k_vicap_dev_attr)); + dev_attr.acq_win.h_start = 0; + dev_attr.acq_win.v_start = 0; + dev_attr.acq_win.width = 2592;//SENSOR_HEIGHT; + dev_attr.acq_win.height = 1944;//SENSOR_WIDTH; + dev_attr.mode = VICAP_WORK_ONLINE_MODE; + + dev_attr.pipe_ctrl.data = 0xFFFFFFFF; + dev_attr.pipe_ctrl.bits.af_enable = 0; + dev_attr.pipe_ctrl.bits.ahdr_enable = 0; + + + dev_attr.cpature_frame = 0; + memcpy(&dev_attr.sensor_info, &sensor_info, sizeof(k_vicap_sensor_info)); + + ret = kd_mpi_vicap_set_dev_attr(vicap_dev, dev_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_dev_attr failed.\n"); + return ret; + } + + memset(&chn_attr, 0, sizeof(k_vicap_chn_attr)); + + //set chn0 output yuv420sp + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = ISP_CHN0_WIDTH; + chn_attr.out_win.height = ISP_CHN0_HEIGHT; + + // chn_attr.crop_win = dev_attr.acq_win; + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_YVU_PLANAR_420; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[0].blk_size; + vicap_chn = VICAP_CHN_ID_0; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, vicap_chn, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + //bind vicap chn 0 to vo + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_bind_vo(vicap_mpp_chn, vo_mpp_chn); + printf("sample_vicap ...dwc_dsi_init\n"); + + //set chn1 output rgb888p + // chn_attr.out_win = dev_attr.acq_win; + // chn_attr.crop_win = chn_attr.out_win; + chn_attr.out_win.h_start = 0; + chn_attr.out_win.v_start = 0; + chn_attr.out_win.width = SENSOR_WIDTH ; + chn_attr.out_win.height = SENSOR_HEIGHT; + // chn_attr.crop_win = dev_attr.acq_win; + + chn_attr.crop_win.h_start = 768; + chn_attr.crop_win.v_start = 16; + chn_attr.crop_win.width = ISP_CHN0_WIDTH; + chn_attr.crop_win.height = ISP_CHN0_HEIGHT; + + chn_attr.scale_win = chn_attr.out_win; + chn_attr.crop_enable = K_FALSE; + chn_attr.scale_enable = K_FALSE; + // chn_attr.dw_enable = K_FALSE; + chn_attr.chn_enable = K_TRUE; + chn_attr.pix_format = PIXEL_FORMAT_BGR_888_PLANAR; + chn_attr.buffer_num = VICAP_MAX_FRAME_COUNT;//at least 3 buffers for isp + chn_attr.buffer_size = config.comm_pool[1].blk_size; + + printf("sample_vicap ...kd_mpi_vicap_set_chn_attr, buffer_size[%d]\n", chn_attr.buffer_size); + ret = kd_mpi_vicap_set_chn_attr(vicap_dev, VICAP_CHN_ID_1, chn_attr); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_set_chn_attr failed.\n"); + return ret; + } + + // dwc_dsi_init(); + // vo_layer_vdss_bind_vo_config(); + + printf("sample_vicap ...kd_mpi_vicap_init\n"); + ret = kd_mpi_vicap_init(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + printf("sample_vicap ...kd_mpi_vicap_start_stream\n"); + ret = kd_mpi_vicap_start_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + // goto err_exit; + } + + return ret; +} + +int vivcap_stop() +{ + printf("sample_vicap ...kd_mpi_vicap_stop_stream\n"); + int ret = kd_mpi_vicap_stop_stream(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_init failed.\n"); + return ret; + } + + ret = kd_mpi_vicap_deinit(vicap_dev); + if (ret) { + printf("sample_vicap, kd_mpi_vicap_deinit failed.\n"); + return ret; + } + + kd_mpi_vo_disable_video_layer(K_VO_LAYER1); + + vicap_mpp_chn.mod_id = K_ID_VI; + vicap_mpp_chn.dev_id = vicap_dev; + vicap_mpp_chn.chn_id = vicap_chn; + + vo_mpp_chn.mod_id = K_ID_VO; + vo_mpp_chn.dev_id = K_VO_DISPLAY_DEV_ID; + vo_mpp_chn.chn_id = K_VO_DISPLAY_CHN_ID1; + + sample_vicap_unbind_vo(vicap_mpp_chn, vo_mpp_chn); + + /*Allow one frame time for the VO to release the VB block*/ + k_u32 display_ms = 1000 / 33; + usleep(1000 * display_ms); + + ret = kd_mpi_vb_exit(); + if (ret) { + printf("sample_vicap, kd_mpi_vb_exit failed.\n"); + return ret; + } + + return 0; +} + +void yuv_rotate_90(char *des, char *src,int width,int height) +{ + int n = 0; + int hw = width>>1; + int hh = height>>1; + int size = width * height; + int hsize = size>>2; + + int pos = 0; + + for(int i = width-1;i >= 0;i--) + { + pos = 0; + for(int j= 0;j < height;j++) + { + des[n++]= src[pos+i]; + pos += width; + } + } + +} +