470 lines
20 KiB
C++
470 lines
20 KiB
C++
/*
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* Copyright (c) 2019-2020, 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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* 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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void orderParams(std::vector<std::vector<int>> *maskVector) {
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std::vector<std::vector<int>> maskinput = *maskVector;
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std::vector<int> maskPartial;
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for (uint i = 0; i < maskinput.size(); i++) {
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for (uint j = i + 1; j < maskinput.size(); j++) {
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if (maskinput[i][0] <= maskinput[j][0]) {
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maskPartial = maskinput[i];
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maskinput[i] = maskinput[j];
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maskinput[j] = maskPartial;
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}
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}
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}
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*maskVector = maskinput;
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}
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Yolo::Yolo(const NetworkInfo& networkInfo)
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: m_NetworkType(networkInfo.networkType), // YOLO type
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m_ConfigFilePath(networkInfo.configFilePath), // YOLO cfg
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m_WtsFilePath(networkInfo.wtsFilePath), // YOLO weights
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m_DeviceType(networkInfo.deviceType), // kDLA, kGPU
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m_InputBlobName(networkInfo.inputBlobName), // data
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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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{}
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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)
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{
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assert (builder);
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std::vector<float> weights = loadWeights(m_WtsFilePath, m_NetworkType);
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std::vector<nvinfer1::Weights> trtWeights;
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nvinfer1::INetworkDefinition *network = builder->createNetwork();
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if (parseModel(*network) != NVDSINFER_SUCCESS) {
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network->destroy();
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return nullptr;
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}
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// Build the engine
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std::cout << "Building the TensorRT Engine" << std::endl;
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nvinfer1::ICudaEngine * engine = builder->buildCudaEngine(*network);
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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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// destroy
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network->destroy();
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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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m_ConfigBlocks = parseConfigFile(m_ConfigFilePath);
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parseConfigBlocks();
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orderParams(&m_OutputMasks);
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std::vector<float> weights = loadWeights(m_WtsFilePath, m_NetworkType);
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// build yolo network
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std::cout << "Building YOLO network" << 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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nvinfer1::ITensor* data =
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network.addInput(m_InputBlobName.c_str(), nvinfer1::DataType::kFLOAT,
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nvinfer1::DimsCHW{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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// build the network using the network API
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for (uint i = 0; i < m_ConfigBlocks.size(); ++i) {
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// check if num. of channels is correct
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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", " outup", "weightPtr");
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}
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else if (m_ConfigBlocks.at(i).at("type") == "convolutional") {
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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, channels, 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") == "dropout") {
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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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//Skip dropout layer
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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], weights, m_TrtWeights, channels, 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") == "yolo") {
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nvinfer1::Dims prevTensorDims = previous->getDimensions();
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//assert(prevTensorDims.d[1] == prevTensorDims.d[2]);
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TensorInfo& curYoloTensor = m_OutputTensors.at(outputTensorCount);
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curYoloTensor.gridSizeY = prevTensorDims.d[1];
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curYoloTensor.gridSizeX = prevTensorDims.d[2];
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curYoloTensor.stride = m_InputH / curYoloTensor.gridSizeY;
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m_OutputTensors.at(outputTensorCount).volume = curYoloTensor.gridSizeY
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* curYoloTensor.gridSizeX
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* (curYoloTensor.numBBoxes * (5 + curYoloTensor.numClasses));
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std::string layerName = "yolo_" + std::to_string(i);
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curYoloTensor.blobName = layerName;
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int new_coords = 0;
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float scale_x_y = 1;
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float beta_nms = 0.45;
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if (m_ConfigBlocks.at(i).find("new_coords") != m_ConfigBlocks.at(i).end()) {
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new_coords = 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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scale_x_y = std::stof(m_ConfigBlocks.at(i).at("scale_x_y"));
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}
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if (m_ConfigBlocks.at(i).find("beta_nms") != m_ConfigBlocks.at(i).end()) {
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beta_nms = std::stof(m_ConfigBlocks.at(i).at("beta_nms"));
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}
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nvinfer1::IPluginV2* yoloPlugin
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= new YoloLayer(m_OutputTensors.at(outputTensorCount).numBBoxes,
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m_OutputTensors.at(outputTensorCount).numClasses,
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m_OutputTensors.at(outputTensorCount).gridSizeX,
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m_OutputTensors.at(outputTensorCount).gridSizeY,
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1, new_coords, scale_x_y, beta_nms,
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curYoloTensor.anchors,
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m_OutputMasks);
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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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//YOLOv2 support
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else if (m_ConfigBlocks.at(i).at("type") == "region") {
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nvinfer1::Dims prevTensorDims = previous->getDimensions();
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//assert(prevTensorDims.d[1] == prevTensorDims.d[2]);
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TensorInfo& curRegionTensor = m_OutputTensors.at(outputTensorCount);
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curRegionTensor.gridSizeY = prevTensorDims.d[1];
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curRegionTensor.gridSizeX = prevTensorDims.d[2];
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curRegionTensor.stride = m_InputH / curRegionTensor.gridSizeY;
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m_OutputTensors.at(outputTensorCount).volume = curRegionTensor.gridSizeY
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* curRegionTensor.gridSizeX
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* (curRegionTensor.numBBoxes * (5 + curRegionTensor.numClasses));
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std::string layerName = "region_" + std::to_string(i);
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curRegionTensor.blobName = layerName;
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std::vector<std::vector<int>> mask;
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nvinfer1::IPluginV2* regionPlugin
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= new YoloLayer(curRegionTensor.numBBoxes,
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curRegionTensor.numClasses,
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curRegionTensor.gridSizeX,
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curRegionTensor.gridSizeY,
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0, 0, 1.0, 0,
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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 if (m_ConfigBlocks.at(i).at("type") == "reorg") {
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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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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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}
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int nbLayers = network.getNbLayers();
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std::cout << "Total number of YOLO layers: " << nbLayers << std::endl;
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return NVDSINFER_SUCCESS;
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}
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std::vector<std::map<std::string, std::string>>
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Yolo::parseConfigFile (const std::string cfgFilePath)
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{
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assert(fileExists(cfgFilePath));
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std::ifstream file(cfgFilePath);
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assert(file.good());
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std::string line;
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std::vector<std::map<std::string, std::string>> blocks;
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std::map<std::string, std::string> block;
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while (getline(file, line))
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{
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if (line.size() == 0) continue;
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if (line.front() == '#') continue;
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line = trim(line);
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if (line.front() == '[')
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{
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if (block.size() > 0)
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{
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blocks.push_back(block);
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block.clear();
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}
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std::string key = "type";
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std::string value = trim(line.substr(1, line.size() - 2));
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block.insert(std::pair<std::string, std::string>(key, value));
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}
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else
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{
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int cpos = line.find('=');
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std::string key = trim(line.substr(0, cpos));
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std::string value = trim(line.substr(cpos + 1));
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block.insert(std::pair<std::string, std::string>(key, value));
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}
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}
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blocks.push_back(block);
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return blocks;
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}
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void Yolo::parseConfigBlocks()
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{
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for (auto block : m_ConfigBlocks) {
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if (block.at("type") == "net")
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{
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assert((block.find("height") != block.end())
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&& "Missing 'height' param in network cfg");
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assert((block.find("width") != block.end()) && "Missing 'width' param in network cfg");
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assert((block.find("channels") != block.end())
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&& "Missing 'channels' param in network cfg");
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m_InputH = std::stoul(block.at("height"));
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m_InputW = std::stoul(block.at("width"));
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m_InputC = std::stoul(block.at("channels"));
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//assert(m_InputW == m_InputH);
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m_InputSize = m_InputC * m_InputH * m_InputW;
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}
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else if ((block.at("type") == "region") || (block.at("type") == "yolo"))
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{
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assert((block.find("num") != block.end())
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&& std::string("Missing 'num' param in " + block.at("type") + " layer").c_str());
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assert((block.find("classes") != block.end())
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&& std::string("Missing 'classes' param in " + block.at("type") + " layer")
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.c_str());
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assert((block.find("anchors") != block.end())
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&& std::string("Missing 'anchors' param in " + block.at("type") + " layer")
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.c_str());
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TensorInfo outputTensor;
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std::string anchorString = block.at("anchors");
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while (!anchorString.empty())
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{
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int npos = anchorString.find_first_of(',');
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if (npos != -1)
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{
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float anchor = std::stof(trim(anchorString.substr(0, npos)));
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outputTensor.anchors.push_back(anchor);
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anchorString.erase(0, npos + 1);
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}
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else
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{
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float anchor = std::stof(trim(anchorString));
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outputTensor.anchors.push_back(anchor);
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break;
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}
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}
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if (block.find("mask") != block.end()) {
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std::string maskString = block.at("mask");
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std::vector<int> pMASKS;
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while (!maskString.empty())
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{
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int npos = maskString.find_first_of(',');
|
|
if (npos != -1)
|
|
{
|
|
int mask = std::stoul(trim(maskString.substr(0, npos)));
|
|
pMASKS.push_back(mask);
|
|
outputTensor.masks.push_back(mask);
|
|
maskString.erase(0, npos + 1);
|
|
}
|
|
else
|
|
{
|
|
int mask = std::stoul(trim(maskString));
|
|
pMASKS.push_back(mask);
|
|
outputTensor.masks.push_back(mask);
|
|
break;
|
|
}
|
|
}
|
|
m_OutputMasks.push_back(pMASKS);
|
|
}
|
|
|
|
outputTensor.numBBoxes = outputTensor.masks.size() > 0
|
|
? outputTensor.masks.size()
|
|
: std::stoul(trim(block.at("num")));
|
|
outputTensor.numClasses = std::stoul(block.at("classes"));
|
|
m_OutputTensors.push_back(outputTensor);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Yolo::destroyNetworkUtils() {
|
|
// deallocate the weights
|
|
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();
|
|
}
|