552 lines
24 KiB
C++
552 lines
24 KiB
C++
/*
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* Copyright (c) 2019-2021, NVIDIA CORPORATION. All rights reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the "Software"),
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* to deal in the Software without restriction, including without limitation
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* the rights to use, copy, modify, merge, publish, distribute, sublicense,
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* and/or sell copies of the Software, and to permit persons to whom the
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* Software is furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
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* DEALINGS IN THE SOFTWARE.
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*
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* Edited by Marcos Luciano
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* https://www.github.com/marcoslucianops
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*/
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#include "yolo.h"
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#include "yoloPlugins.h"
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#include <stdlib.h>
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#ifdef OPENCV
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#include "calibrator.h"
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#endif
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Yolo::Yolo(const NetworkInfo& networkInfo)
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: m_InputBlobName(networkInfo.inputBlobName),
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m_NetworkType(networkInfo.networkType),
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m_ConfigFilePath(networkInfo.configFilePath),
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m_WtsFilePath(networkInfo.wtsFilePath),
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m_Int8CalibPath(networkInfo.int8CalibPath),
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m_DeviceType(networkInfo.deviceType),
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m_NumDetectedClasses(networkInfo.numDetectedClasses),
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m_ClusterMode(networkInfo.clusterMode),
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m_NetworkMode(networkInfo.networkMode),
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m_InputH(0),
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m_InputW(0),
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m_InputC(0),
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m_InputSize(0),
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m_NumClasses(0),
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m_LetterBox(0)
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{}
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Yolo::~Yolo()
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{
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destroyNetworkUtils();
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}
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nvinfer1::ICudaEngine *Yolo::createEngine (nvinfer1::IBuilder* builder, nvinfer1::IBuilderConfig* config)
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{
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assert (builder);
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m_ConfigBlocks = parseConfigFile(m_ConfigFilePath);
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parseConfigBlocks();
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nvinfer1::INetworkDefinition *network = builder->createNetworkV2(0);
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if (parseModel(*network) != NVDSINFER_SUCCESS) {
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delete network;
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return nullptr;
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}
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std::cout << "Building the TensorRT Engine" << std::endl;
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if (m_NumClasses != m_NumDetectedClasses) {
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std::cout << "\nNOTE: Number of classes mismatch, make sure to set num-detected-classes=" << m_NumClasses << " in config_infer file" << std::endl;
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}
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if (m_LetterBox == 1) {
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std::cout << "\nNOTE: letter_box is set in cfg file, make sure to set maintain-aspect-ratio=1 in config_infer file to get better accuracy" << std::endl;
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}
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if (m_ClusterMode != 2) {
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std::cout << "\nNOTE: Wrong cluster-mode is set, make sure to set cluster-mode=2 in config_infer file" << std::endl;
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}
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std::cout << "" << std::endl;
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if (m_NetworkMode == "INT8" && !fileExists(m_Int8CalibPath)) {
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assert(builder->platformHasFastInt8());
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#ifdef OPENCV
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std::string calib_image_list;
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int calib_batch_size;
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if (getenv("INT8_CALIB_IMG_PATH")) {
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calib_image_list = getenv("INT8_CALIB_IMG_PATH");
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}
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else {
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std::cerr << "INT8_CALIB_IMG_PATH not set" << std::endl;
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std::abort();
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}
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if (getenv("INT8_CALIB_BATCH_SIZE")) {
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calib_batch_size = std::stoi(getenv("INT8_CALIB_BATCH_SIZE"));
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}
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else {
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std::cerr << "INT8_CALIB_BATCH_SIZE not set" << std::endl;
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std::abort();
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}
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nvinfer1::Int8EntropyCalibrator2 *calibrator = new nvinfer1::Int8EntropyCalibrator2(calib_batch_size, m_InputC, m_InputH, m_InputW, m_LetterBox, calib_image_list, m_Int8CalibPath);
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config->setFlag(nvinfer1::BuilderFlag::kINT8);
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config->setInt8Calibrator(calibrator);
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#else
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std::cerr << "OpenCV is required to run INT8 calibrator" << std::endl;
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std::abort();
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#endif
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}
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nvinfer1::ICudaEngine *engine = builder->buildEngineWithConfig(*network, *config);
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if (engine) {
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std::cout << "Building complete\n" << std::endl;
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} else {
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std::cerr << "Building engine failed\n" << std::endl;
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}
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delete network;
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return engine;
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}
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NvDsInferStatus Yolo::parseModel(nvinfer1::INetworkDefinition& network) {
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destroyNetworkUtils();
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std::vector<float> weights = loadWeights(m_WtsFilePath, m_NetworkType);
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std::cout << "Building YOLO network\n" << std::endl;
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NvDsInferStatus status = buildYoloNetwork(weights, network);
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if (status == NVDSINFER_SUCCESS) {
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std::cout << "Building YOLO network complete" << std::endl;
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} else {
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std::cerr << "Building YOLO network failed" << std::endl;
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}
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return status;
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}
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NvDsInferStatus Yolo::buildYoloNetwork(
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std::vector<float>& weights, nvinfer1::INetworkDefinition& network) {
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int weightPtr = 0;
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int channels = m_InputC;
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std::string weightsType;
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if (m_WtsFilePath.find(".weights") != std::string::npos) {
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weightsType = "weights";
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}
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else {
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weightsType = "wts";
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}
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nvinfer1::ITensor* data =
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network.addInput(m_InputBlobName.c_str(), nvinfer1::DataType::kFLOAT,
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nvinfer1::Dims3{static_cast<int>(m_InputC),
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static_cast<int>(m_InputH), static_cast<int>(m_InputW)});
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assert(data != nullptr && data->getDimensions().nbDims > 0);
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nvinfer1::ITensor* previous = data;
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std::vector<nvinfer1::ITensor*> tensorOutputs;
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uint outputTensorCount = 0;
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for (uint i = 0; i < m_ConfigBlocks.size(); ++i) {
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assert(getNumChannels(previous) == channels);
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std::string layerIndex = "(" + std::to_string(tensorOutputs.size()) + ")";
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if (m_ConfigBlocks.at(i).at("type") == "net") {
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printLayerInfo("", "layer", " input", " output", "weightPtr");
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}
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else if (m_ConfigBlocks.at(i).at("type") == "convolutional") {
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float eps = 1.0e-5;
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if (m_NetworkType.find("yolov5") != std::string::npos) {
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eps = 1.0e-3;
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}
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else if (m_NetworkType.find("yolor") != std::string::npos) {
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eps = 1.0e-4;
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}
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std::string inputVol = dimsToString(previous->getDimensions());
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nvinfer1::ILayer* out = convolutionalLayer(i, m_ConfigBlocks.at(i), weights, m_TrtWeights, weightPtr, weightsType, channels, eps, previous, &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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channels = getNumChannels(previous);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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std::string layerType = "conv_" + m_ConfigBlocks.at(i).at("activation");
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printLayerInfo(layerIndex, layerType, inputVol, outputVol, std::to_string(weightPtr));
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}
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else if (m_ConfigBlocks.at(i).at("type") == "implicit_add" || m_ConfigBlocks.at(i).at("type") == "implicit_mul") {
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std::string type;
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if (m_ConfigBlocks.at(i).at("type") == "implicit_add") {
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type = "add";
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}
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else if (m_ConfigBlocks.at(i).at("type") == "implicit_mul") {
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type = "mul";
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}
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assert(m_ConfigBlocks.at(i).find("filters") != m_ConfigBlocks.at(i).end());
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int filters = std::stoi(m_ConfigBlocks.at(i).at("filters"));
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nvinfer1::ILayer* out = implicitLayer(filters, weights, m_TrtWeights, weightPtr, &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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channels = getNumChannels(previous);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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std::string layerType = "implicit_" + type;
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printLayerInfo(layerIndex, layerType, " -", outputVol, std::to_string(weightPtr));
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}
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else if (m_ConfigBlocks.at(i).at("type") == "shift_channels" || m_ConfigBlocks.at(i).at("type") == "control_channels") {
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std::string type;
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if (m_ConfigBlocks.at(i).at("type") == "shift_channels") {
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type = "shift";
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}
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else if (m_ConfigBlocks.at(i).at("type") == "control_channels") {
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type = "control";
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}
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assert(m_ConfigBlocks.at(i).find("from") != m_ConfigBlocks.at(i).end());
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int from = stoi(m_ConfigBlocks.at(i).at("from"));
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if (from > 0) {
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from = from - i + 1;
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}
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assert((i - 2 >= 0) && (i - 2 < tensorOutputs.size()));
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assert((i + from - 1 >= 0) && (i + from - 1 < tensorOutputs.size()));
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assert(i + from - 1 < i - 2);
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nvinfer1::ILayer* out = channelsLayer(type, previous, tensorOutputs[i + from - 1], &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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std::string layerType = type + "_channels" + ": " + std::to_string(i + from - 1);
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printLayerInfo(layerIndex, layerType, " -", outputVol, " -");
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}
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else if (m_ConfigBlocks.at(i).at("type") == "dropout") {
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// Skip dropout layer
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assert(m_ConfigBlocks.at(i).find("probability") != m_ConfigBlocks.at(i).end());
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/*float probability = std::stof(m_ConfigBlocks.at(i).at("probability"));
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nvinfer1::ILayer* out = dropoutLayer(probability, previous, &network);
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previous = out->getOutput(0);*/
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assert(previous != nullptr);
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tensorOutputs.push_back(previous);
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printLayerInfo(layerIndex, "dropout", " -", " -", " -");
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}
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else if (m_ConfigBlocks.at(i).at("type") == "shortcut") {
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assert(m_ConfigBlocks.at(i).find("activation") != m_ConfigBlocks.at(i).end());
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assert(m_ConfigBlocks.at(i).find("from") != m_ConfigBlocks.at(i).end());
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std::string activation = m_ConfigBlocks.at(i).at("activation");
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int from = stoi(m_ConfigBlocks.at(i).at("from"));
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if (from > 0) {
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from = from - i + 1;
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}
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assert((i - 2 >= 0) && (i - 2 < tensorOutputs.size()));
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assert((i + from - 1 >= 0) && (i + from - 1 < tensorOutputs.size()));
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assert(i + from - 1 < i - 2);
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std::string inputVol = dimsToString(previous->getDimensions());
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std::string shortcutVol = dimsToString(tensorOutputs[i + from - 1]->getDimensions());
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nvinfer1::ILayer* out = shortcutLayer(i, activation, inputVol, shortcutVol, previous, tensorOutputs[i + from - 1], &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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std::string layerType = "shortcut_" + m_ConfigBlocks.at(i).at("activation") + ": " + std::to_string(i + from - 1);
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printLayerInfo(layerIndex, layerType, " -", outputVol, " -");
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if (inputVol != shortcutVol) {
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std::cout << inputVol << " +" << shortcutVol << std::endl;
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}
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}
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else if (m_ConfigBlocks.at(i).at("type") == "route") {
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assert(m_ConfigBlocks.at(i).find("layers") != m_ConfigBlocks.at(i).end());
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nvinfer1::ILayer* out = routeLayer(i, m_ConfigBlocks.at(i), tensorOutputs, &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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channels = getNumChannels(previous);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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printLayerInfo(layerIndex, "route", " -", outputVol, std::to_string(weightPtr));
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}
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else if (m_ConfigBlocks.at(i).at("type") == "upsample") {
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std::string inputVol = dimsToString(previous->getDimensions());
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nvinfer1::ILayer* out = upsampleLayer(i - 1, m_ConfigBlocks[i], previous, &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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printLayerInfo(layerIndex, "upsample", inputVol, outputVol, " -");
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}
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else if (m_ConfigBlocks.at(i).at("type") == "maxpool") {
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std::string inputVol = dimsToString(previous->getDimensions());
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nvinfer1::ILayer* out = maxpoolLayer(i, m_ConfigBlocks.at(i), previous, &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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printLayerInfo(layerIndex, "maxpool", inputVol, outputVol, std::to_string(weightPtr));
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}
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else if (m_ConfigBlocks.at(i).at("type") == "reorg") {
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if (m_NetworkType.find("yolov5") != std::string::npos || m_NetworkType.find("yolor") != std::string::npos) {
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std::string inputVol = dimsToString(previous->getDimensions());
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nvinfer1::ILayer* out = reorgV5Layer(i, previous, &network);
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previous = out->getOutput(0);
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assert(previous != nullptr);
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channels = getNumChannels(previous);
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std::string outputVol = dimsToString(previous->getDimensions());
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tensorOutputs.push_back(previous);
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std::string layerType = "reorgV5";
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printLayerInfo(layerIndex, layerType, inputVol, outputVol, std::to_string(weightPtr));
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}
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else {
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std::string inputVol = dimsToString(previous->getDimensions());
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nvinfer1::IPluginV2* reorgPlugin = createReorgPlugin(2);
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assert(reorgPlugin != nullptr);
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nvinfer1::IPluginV2Layer* reorg =
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network.addPluginV2(&previous, 1, *reorgPlugin);
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assert(reorg != nullptr);
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std::string layerName = "reorg_" + std::to_string(i);
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reorg->setName(layerName.c_str());
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previous = reorg->getOutput(0);
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assert(previous != nullptr);
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std::string outputVol = dimsToString(previous->getDimensions());
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channels = getNumChannels(previous);
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tensorOutputs.push_back(reorg->getOutput(0));
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printLayerInfo(layerIndex, "reorg", inputVol, outputVol, std::to_string(weightPtr));
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}
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}
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else if (m_ConfigBlocks.at(i).at("type") == "yolo") {
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uint modelType = 1;
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uint newCoords = 0;
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float scaleXY = 1.0;
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if (m_NetworkType.find("yolor") != std::string::npos) {
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modelType = 2;
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}
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if (m_ConfigBlocks.at(i).find("new_coords") != m_ConfigBlocks.at(i).end()) {
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newCoords = std::stoi(m_ConfigBlocks.at(i).at("new_coords"));
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}
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if (m_ConfigBlocks.at(i).find("scale_x_y") != m_ConfigBlocks.at(i).end()) {
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scaleXY = std::stof(m_ConfigBlocks.at(i).at("scale_x_y"));
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}
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std::string layerName = "yolo_" + std::to_string(i);
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nvinfer1::Dims prevTensorDims = previous->getDimensions();
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TensorInfo& curYoloTensor = m_OutputTensors.at(outputTensorCount);
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m_NumClasses = curYoloTensor.numClasses;
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curYoloTensor.blobName = layerName;
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nvinfer1::IPluginV2* yoloPlugin
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= new YoloLayer(curYoloTensor.numBBoxes, curYoloTensor.numClasses, m_InputW, m_InputH,
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prevTensorDims.d[2], prevTensorDims.d[1], modelType, newCoords, scaleXY,
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curYoloTensor.anchors, curYoloTensor.mask);
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assert(yoloPlugin != nullptr);
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nvinfer1::IPluginV2Layer* yolo =
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network.addPluginV2(&previous, 1, *yoloPlugin);
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assert(yolo != nullptr);
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yolo->setName(layerName.c_str());
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std::string inputVol = dimsToString(previous->getDimensions());
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previous = yolo->getOutput(0);
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assert(previous != nullptr);
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previous->setName(layerName.c_str());
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std::string outputVol = dimsToString(previous->getDimensions());
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network.markOutput(*previous);
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channels = getNumChannels(previous);
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tensorOutputs.push_back(yolo->getOutput(0));
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printLayerInfo(layerIndex, "yolo", inputVol, outputVol, std::to_string(weightPtr));
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++outputTensorCount;
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}
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else if (m_ConfigBlocks.at(i).at("type") == "region") {
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std::vector<int> mask;
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std::string layerName = "region_" + std::to_string(i);
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nvinfer1::Dims prevTensorDims = previous->getDimensions();
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TensorInfo& curRegionTensor = m_OutputTensors.at(outputTensorCount);
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m_NumClasses = curRegionTensor.numClasses;
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curRegionTensor.blobName = layerName;
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nvinfer1::IPluginV2* regionPlugin
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= new YoloLayer(curRegionTensor.numBBoxes, curRegionTensor.numClasses, m_InputW, m_InputH,
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prevTensorDims.d[2], prevTensorDims.d[1], 0, 0, 1.0, curRegionTensor.anchors,
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mask);
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assert(regionPlugin != nullptr);
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nvinfer1::IPluginV2Layer* region =
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network.addPluginV2(&previous, 1, *regionPlugin);
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assert(region != nullptr);
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region->setName(layerName.c_str());
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std::string inputVol = dimsToString(previous->getDimensions());
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previous = region->getOutput(0);
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assert(previous != nullptr);
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previous->setName(layerName.c_str());
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std::string outputVol = dimsToString(previous->getDimensions());
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network.markOutput(*previous);
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channels = getNumChannels(previous);
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tensorOutputs.push_back(region->getOutput(0));
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printLayerInfo(layerIndex, "region", inputVol, outputVol, std::to_string(weightPtr));
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++outputTensorCount;
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}
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else
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{
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std::cout << "Unsupported layer type --> \""
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<< m_ConfigBlocks.at(i).at("type") << "\"" << std::endl;
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assert(0);
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}
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}
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if ((int)weights.size() != weightPtr)
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{
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std::cout << "Number of unused weights left: " << weights.size() - weightPtr << std::endl;
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assert(0);
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}
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std::cout << "Output YOLO blob names: " << std::endl;
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for (auto& tensor : m_OutputTensors) {
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std::cout << tensor.blobName << std::endl;
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}
|
|
|
|
int nbLayers = network.getNbLayers();
|
|
std::cout << "Total number of YOLO layers: " << nbLayers << std::endl;
|
|
|
|
return NVDSINFER_SUCCESS;
|
|
}
|
|
|
|
std::vector<std::map<std::string, std::string>>
|
|
Yolo::parseConfigFile (const std::string cfgFilePath)
|
|
{
|
|
assert(fileExists(cfgFilePath));
|
|
std::ifstream file(cfgFilePath);
|
|
assert(file.good());
|
|
std::string line;
|
|
std::vector<std::map<std::string, std::string>> blocks;
|
|
std::map<std::string, std::string> block;
|
|
|
|
while (getline(file, line))
|
|
{
|
|
if (line.size() == 0) continue;
|
|
if (line.front() == ' ') continue;
|
|
if (line.front() == '#') continue;
|
|
line = trim(line);
|
|
if (line.front() == '[')
|
|
{
|
|
if (block.size() > 0)
|
|
{
|
|
blocks.push_back(block);
|
|
block.clear();
|
|
}
|
|
std::string key = "type";
|
|
std::string value = trim(line.substr(1, line.size() - 2));
|
|
block.insert(std::pair<std::string, std::string>(key, value));
|
|
}
|
|
else
|
|
{
|
|
int cpos = line.find('=');
|
|
std::string key = trim(line.substr(0, cpos));
|
|
std::string value = trim(line.substr(cpos + 1));
|
|
block.insert(std::pair<std::string, std::string>(key, value));
|
|
}
|
|
}
|
|
blocks.push_back(block);
|
|
return blocks;
|
|
}
|
|
|
|
void Yolo::parseConfigBlocks()
|
|
{
|
|
for (auto block : m_ConfigBlocks) {
|
|
if (block.at("type") == "net")
|
|
{
|
|
assert((block.find("height") != block.end())
|
|
&& "Missing 'height' param in network cfg");
|
|
assert((block.find("width") != block.end()) && "Missing 'width' param in network cfg");
|
|
assert((block.find("channels") != block.end())
|
|
&& "Missing 'channels' param in network cfg");
|
|
|
|
m_InputH = std::stoul(block.at("height"));
|
|
m_InputW = std::stoul(block.at("width"));
|
|
m_InputC = std::stoul(block.at("channels"));
|
|
m_InputSize = m_InputC * m_InputH * m_InputW;
|
|
|
|
if (block.find("letter_box") != block.end()) {
|
|
m_LetterBox = std::stoul(block.at("letter_box"));
|
|
}
|
|
else {
|
|
m_LetterBox = 0;
|
|
}
|
|
}
|
|
else if ((block.at("type") == "region") || (block.at("type") == "yolo") || (block.at("type") == "detect"))
|
|
{
|
|
assert((block.find("num") != block.end())
|
|
&& std::string("Missing 'num' param in " + block.at("type") + " layer").c_str());
|
|
assert((block.find("classes") != block.end())
|
|
&& std::string("Missing 'classes' param in " + block.at("type") + " layer")
|
|
.c_str());
|
|
assert((block.find("anchors") != block.end())
|
|
&& std::string("Missing 'anchors' param in " + block.at("type") + " layer")
|
|
.c_str());
|
|
|
|
TensorInfo outputTensor;
|
|
std::string anchorString = block.at("anchors");
|
|
while (!anchorString.empty())
|
|
{
|
|
int npos = anchorString.find_first_of(',');
|
|
if (npos != -1)
|
|
{
|
|
float anchor = std::stof(trim(anchorString.substr(0, npos)));
|
|
outputTensor.anchors.push_back(anchor);
|
|
anchorString.erase(0, npos + 1);
|
|
}
|
|
else
|
|
{
|
|
float anchor = std::stof(trim(anchorString));
|
|
outputTensor.anchors.push_back(anchor);
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (block.find("mask") != block.end()) {
|
|
std::string maskString = block.at("mask");
|
|
while (!maskString.empty())
|
|
{
|
|
int npos = maskString.find_first_of(',');
|
|
if (npos != -1)
|
|
{
|
|
int mask = std::stoul(trim(maskString.substr(0, npos)));
|
|
outputTensor.mask.push_back(mask);
|
|
maskString.erase(0, npos + 1);
|
|
}
|
|
else
|
|
{
|
|
int mask = std::stoul(trim(maskString));
|
|
outputTensor.mask.push_back(mask);
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
outputTensor.numBBoxes = outputTensor.mask.size() > 0
|
|
? outputTensor.mask.size()
|
|
: std::stoul(trim(block.at("num")));
|
|
outputTensor.numClasses = std::stoul(block.at("classes"));
|
|
m_OutputTensors.push_back(outputTensor);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Yolo::destroyNetworkUtils() {
|
|
for (uint i = 0; i < m_TrtWeights.size(); ++i) {
|
|
if (m_TrtWeights[i].count > 0)
|
|
free(const_cast<void*>(m_TrtWeights[i].values));
|
|
}
|
|
m_TrtWeights.clear();
|
|
}
|