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Author: hpc203

onnxruntime/imgs/bus.jpg

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+#define _CRT_SECURE_NO_WARNINGS
+#include <iostream>
+#include <fstream>
+#include <string>
+#include <math.h>
+#include <opencv2/imgproc.hpp>
+#include <opencv2/highgui.hpp>
+//#include <cuda_provider_factory.h>
+#include <onnxruntime_cxx_api.h>
+
+using namespace cv;
+using namespace std;
+using namespace Ort;
+
+typedef struct BoxInfo
+{
+	float x1;
+	float y1;
+	float x2;
+	float y2;
+	float score;
+	int label;
+} BoxInfo;
+
+class NanoDet_Plus
+{
+public:
+	NanoDet_Plus(string model_path, string classesFile, float nms_threshold, float objThreshold);
+	void detect(Mat& cv_image);
+private:
+	float score_threshold = 0.5;
+	float nms_threshold = 0.5;
+	vector<string> class_names;
+	int num_class;
+
+	Mat resize_image(Mat srcimg, int *newh, int *neww, int *top, int *left);
+	vector<float> input_image_;
+	void normalize_(Mat img);
+	void softmax_(const float* x, float* y, int length);
+	void generate_proposal(vector<BoxInfo>& generate_boxes, const float* preds);
+	void nms(vector<BoxInfo>& input_boxes);
+	const bool keep_ratio = false;
+	int inpWidth;
+	int inpHeight;
+	int reg_max;
+	const int num_stages = 4;
+	const int stride[4] = { 8,16,32,64 };
+	const float mean[3] = { 103.53, 116.28, 123.675 };
+	const float stds[3] = { 57.375, 57.12, 58.395 };
+
+	Env env = Env(ORT_LOGGING_LEVEL_ERROR, "nanodetplus");
+	Ort::Session *ort_session = nullptr;
+	SessionOptions sessionOptions = SessionOptions();
+	vector<char*> input_names;
+	vector<char*> output_names;
+	vector<vector<int64_t>> input_node_dims; // >=1 outputs
+	vector<vector<int64_t>> output_node_dims; // >=1 outputs
+};
+
+NanoDet_Plus::NanoDet_Plus(string model_path, string classesFile, float nms_threshold, float objThreshold)
+{
+	ifstream ifs(classesFile.c_str());
+	string line;
+	while (getline(ifs, line)) this->class_names.push_back(line);
+	this->num_class = class_names.size();
+	this->nms_threshold = nms_threshold;
+	this->score_threshold = objThreshold;
+
+	std::wstring widestr = std::wstring(model_path.begin(), model_path.end());
+	//OrtStatus* status = OrtSessionOptionsAppendExecutionProvider_CUDA(sessionOptions, 0);
+	sessionOptions.SetGraphOptimizationLevel(ORT_ENABLE_BASIC);
+	ort_session = new Session(env, widestr.c_str(), sessionOptions);
+	size_t numInputNodes = ort_session->GetInputCount();
+	size_t numOutputNodes = ort_session->GetOutputCount();
+	AllocatorWithDefaultOptions allocator;
+	for (int i = 0; i < numInputNodes; i++)
+	{
+		input_names.push_back(ort_session->GetInputName(i, allocator));
+		Ort::TypeInfo input_type_info = ort_session->GetInputTypeInfo(i);
+		auto input_tensor_info = input_type_info.GetTensorTypeAndShapeInfo();
+		auto input_dims = input_tensor_info.GetShape();
+		input_node_dims.push_back(input_dims);
+	}
+	for (int i = 0; i < numOutputNodes; i++)
+	{
+		output_names.push_back(ort_session->GetOutputName(i, allocator));
+		Ort::TypeInfo output_type_info = ort_session->GetOutputTypeInfo(i);
+		auto output_tensor_info = output_type_info.GetTensorTypeAndShapeInfo();
+		auto output_dims = output_tensor_info.GetShape();
+		output_node_dims.push_back(output_dims);
+		/*for (int j = 0; j < output_dims.size(); j++)
+		{
+			cout << output_dims[j] << ",";
+		}
+		cout << endl;*/
+	}
+	this->inpHeight = input_node_dims[0][2];
+	this->inpWidth = input_node_dims[0][3];
+	this->reg_max = (output_node_dims[0][output_node_dims[0].size() - 1] - this->num_class) / 4 - 1;
+}
+
+Mat NanoDet_Plus::resize_image(Mat srcimg, int *newh, int *neww, int *top, int *left)
+{
+	int srch = srcimg.rows, srcw = srcimg.cols;
+	*newh = this->inpHeight;
+	*neww = this->inpWidth;
+	Mat dstimg;
+	if (this->keep_ratio && srch != srcw) {
+		float hw_scale = (float)srch / srcw;
+		if (hw_scale > 1) {
+			*newh = this->inpHeight;
+			*neww = int(this->inpWidth / hw_scale);
+			resize(srcimg, dstimg, Size(*neww, *newh), INTER_AREA);
+			*left = int((this->inpWidth - *neww) * 0.5);
+			copyMakeBorder(dstimg, dstimg, 0, 0, *left, this->inpWidth - *neww - *left, BORDER_CONSTANT, 0);
+		}
+		else {
+			*newh = (int)this->inpHeight * hw_scale;
+			*neww = this->inpWidth;
+			resize(srcimg, dstimg, Size(*neww, *newh), INTER_AREA);
+			*top = (int)(this->inpHeight - *newh) * 0.5;
+			copyMakeBorder(dstimg, dstimg, *top, this->inpHeight - *newh - *top, 0, 0, BORDER_CONSTANT, 0);
+		}
+	}
+	else {
+		resize(srcimg, dstimg, Size(*neww, *newh), INTER_AREA);
+	}
+	return dstimg;
+}
+
+void NanoDet_Plus::normalize_(Mat img)
+{
+	//    img.convertTo(img, CV_32F);
+	int row = img.rows;
+	int col = img.cols;
+	this->input_image_.resize(row * col * img.channels());
+	for (int c = 0; c < 3; c++)
+	{
+		for (int i = 0; i < row; i++)
+		{
+			for (int j = 0; j < col; j++)
+			{
+				float pix = img.ptr<uchar>(i)[j * 3 + c];
+				//this->input_image_[c * row * col + i * col + j] = (pix / 255.0 - mean[c] / 255.0) / (stds[c] / 255.0);
+				this->input_image_[c * row * col + i * col + j] = (pix - mean[c]) / stds[c];
+			}
+		}
+	}
+}
+
+void NanoDet_Plus::softmax_(const float* x, float* y, int length)
+{
+	float sum = 0;
+	int i = 0;
+	for (i = 0; i < length; i++)
+	{
+		y[i] = exp(x[i]);
+		sum += y[i];
+	}
+	for (i = 0; i < length; i++)
+	{
+		y[i] /= sum;
+	}
+}
+
+void NanoDet_Plus::generate_proposal(vector<BoxInfo>& generate_boxes, const float* preds)
+{
+	const int reg_1max = reg_max + 1;
+	const int len = this->num_class + 4 * reg_1max;
+	for (int n = 0; n < this->num_stages; n++)
+	{
+		const int stride_ = this->stride[n];
+		const int num_grid_y = (int)ceil((float)this->inpHeight / stride_);
+		const int num_grid_x = (int)ceil((float)this->inpWidth / stride_);
+		////cout << "num_grid_x=" << num_grid_x << ",num_grid_y=" << num_grid_y << endl;
+		
+		for (int i = 0; i < num_grid_y; i++)
+		{
+			for (int j = 0; j < num_grid_x; j++)
+			{
+				int max_ind = 0;
+				float max_score = 0;
+				for (int k = 0; k < num_class; k++)
+				{
+					if (preds[k] > max_score)
+					{
+						max_score = preds[k];
+						max_ind = k;
+					}
+				}
+				if (max_score >= score_threshold)
+				{
+					const float* pbox = preds + this->num_class;
+					float dis_pred[4];
+					float* y = new float[reg_1max];
+					for (int k = 0; k < 4; k++)
+					{
+						softmax_(pbox + k * reg_1max, y, reg_1max);
+						float dis = 0.f;
+						for (int l = 0; l < reg_1max; l++)
+						{
+							dis += l * y[l];
+						}
+						dis_pred[k] = dis * stride_;
+					}
+					delete[] y;
+					/*float pb_cx = (j + 0.5f) * stride_ - 0.5;
+					float pb_cy = (i + 0.5f) * stride_ - 0.5;*/
+					float pb_cx = j * stride_ ;
+					float pb_cy = i * stride_;
+					float x0 = pb_cx - dis_pred[0];
+					float y0 = pb_cy - dis_pred[1];
+					float x1 = pb_cx + dis_pred[2];
+					float y1 = pb_cy + dis_pred[3];
+					generate_boxes.push_back(BoxInfo{ x0, y0, x1, y1, max_score, max_ind });
+				}
+				preds += len;
+			}
+		}
+	}
+	
+}
+
+void NanoDet_Plus::nms(vector<BoxInfo>& input_boxes)
+{
+	sort(input_boxes.begin(), input_boxes.end(), [](BoxInfo a, BoxInfo b) { return a.score > b.score; });
+	vector<float> 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);
+	}
+
+	vector<bool> isSuppressed(input_boxes.size(), false);
+	for (int i = 0; i < int(input_boxes.size()); ++i)
+	{
+		if (isSuppressed[i]) { continue; }
+		for (int j = i + 1; j < int(input_boxes.size()); ++j)
+		{
+			if (isSuppressed[j]) { continue; }
+			float xx1 = (max)(input_boxes[i].x1, input_boxes[j].x1);
+			float yy1 = (max)(input_boxes[i].y1, input_boxes[j].y1);
+			float xx2 = (min)(input_boxes[i].x2, input_boxes[j].x2);
+			float yy2 = (min)(input_boxes[i].y2, input_boxes[j].y2);
+
+			float w = (max)(float(0), xx2 - xx1 + 1);
+			float h = (max)(float(0), yy2 - yy1 + 1);
+			float inter = w * h;
+			float ovr = inter / (vArea[i] + vArea[j] - inter);
+
+			if (ovr >= this->nms_threshold)
+			{
+				isSuppressed[j] = true;
+			}
+		}
+	}
+	// return post_nms;
+	int idx_t = 0;
+	input_boxes.erase(remove_if(input_boxes.begin(), input_boxes.end(), [&idx_t, &isSuppressed](const BoxInfo& f) { return isSuppressed[idx_t++]; }), input_boxes.end());
+}
+
+void NanoDet_Plus::detect(Mat& srcimg)
+{
+	int newh = 0, neww = 0, top = 0, left = 0;
+	Mat cv_image = srcimg.clone();
+	Mat dst = this->resize_image(cv_image, &newh, &neww, &top, &left);
+	this->normalize_(dst);
+	array<int64_t, 4> input_shape_{ 1, 3, this->inpHeight, this->inpWidth };
+
+	auto allocator_info = MemoryInfo::CreateCpu(OrtDeviceAllocator, OrtMemTypeCPU);
+	Value input_tensor_ = Value::CreateTensor<float>(allocator_info, input_image_.data(), input_image_.size(), input_shape_.data(), input_shape_.size());
+
+	// ¿ªÊ¼ÍÆÀí
+	vector<Value> ort_outputs = ort_session->Run(RunOptions{ nullptr }, &input_names[0], &input_tensor_, 1, output_names.data(), output_names.size());   // ¿ªÊ¼ÍÆÀí
+	/////generate proposals
+	vector<BoxInfo> generate_boxes;
+	const float* preds = ort_outputs[0].GetTensorMutableData<float>();
+	generate_proposal(generate_boxes, preds);
+
+	//// Perform non maximum suppression to eliminate redundant overlapping boxes with
+	//// lower confidences
+	nms(generate_boxes);
+	float ratioh = (float)cv_image.rows / newh;
+	float ratiow = (float)cv_image.cols / neww;
+	for (size_t i = 0; i < generate_boxes.size(); ++i)
+	{
+		int xmin = (int)max((generate_boxes[i].x1 - left)*ratiow, 0.f);
+		int ymin = (int)max((generate_boxes[i].y1 - top)*ratioh, 0.f);
+		int xmax = (int)min((generate_boxes[i].x2 - left)*ratiow, (float)cv_image.cols);
+		int ymax = (int)min((generate_boxes[i].y2 - top)*ratioh, (float)cv_image.rows);
+		rectangle(srcimg, Point(xmin, ymin), Point(xmax, ymax), Scalar(0, 0, 255), 2);
+		string label = format("%.2f", generate_boxes[i].score);
+		label = this->class_names[generate_boxes[i].label] + ":" + label;
+		putText(srcimg, label, Point(xmin, ymin - 5), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(0, 255, 0), 1);
+	}
+}
+
+int main()
+{
+	NanoDet_Plus mynet("onnxmodel/nanodet-plus-m_320.onnx", "onnxmodel/coco.names", 0.5, 0.5);  /// choice = ["picodet_m_320_coco.onnx", "picodet_m_416_coco.onnx", "picodet_s_320_coco.onnx", "picodet_s_416_coco.onnx"]
+	string imgpath = "imgs/person.jpg";
+	Mat srcimg = imread(imgpath);
+	mynet.detect(srcimg);
+
+	static const string kWinName = "Deep learning object detection in ONNXRuntime";
+	namedWindow(kWinName, WINDOW_NORMAL);
+	imshow(kWinName, srcimg);
+	waitKey(0);
+	destroyAllWindows();
+}