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/*
* Copyright(C) 2022. Huawei Technologies Co.,Ltd. All rights reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <stdio.h>
#include <string.h>
#include <sys/types.h>
#include <cstring>
#include <fcntl.h>
#include <sys/stat.h>
#include <algorithm>
#include <map>
//#include <opencv2/opencv.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/opencv.hpp"
#include "opencv2/imgproc/types_c.h"
#include "MxBase/MxBase.h"
#include "MxBase/MemoryHelper/MemoryHelper.h"
#include "MxBase/DeviceManager/DeviceManager.h"
#include "MxBase/Log/Log.h"
#include "PostProcess.h"
using namespace MxBase;
using namespace std;
const int MODEL_INPUT_WIDTH = 640;
const int MODEL_INPUT_HEIGHT = 640;
const int RGB_EXTEND = 3;
const int PAD_COLOR = 114;
const int OPENCV_8UC3 = 16;
const int YUV_DIVISION = 2;
const int R_CHANNEL = 2;
const int AVG_PARAM = 2;
const int ARG_NUM = 10;
const long MAX_FILE_SIZE = 1024 * 1024 * 1024; // 1g
const float YUV_Y_R = 0.299;
const float YUV_Y_G = 0.587;
const float YUV_Y_B = 0.114;
const float YUV_U_R = -0.169;
const float YUV_U_G = 0.331;
const float YUV_U_B = 0.500;
const float YUV_V_R = 0.500;
const float YUV_V_G = 0.419;
const float YUV_V_B = 0.081;
const int YUV_DATA_SIZE = 3;
const int YUV_OFFSET = 2;
const int YUV_OFFSET_S = 1;
const int YUV_OFFSET_UV = 128;
const int ALIGN_LEFT = 16;
void drawBoundingBox(cv::Mat& image, const std::string& className, int x0, int y0, int x1, int y1)
{
cv::Rect boundingBox(x0, y0, x1 - x0, y1 - y0);
cv::rectangle(image, boundingBox, cv::Scalar(0, 255, 0), 2);
cv::putText(image, className, cv::Point(x0, y0 - 10), cv::FONT_HERSHEY_SIMPLEX, 0.9, cv::Scalar(0, 255, 0), 2);
}
APP_ERROR CheckFileVaild(const std::string &filePath)
{
struct stat buf;
if (lstat(filePath.c_str(), &buf) != 0 || S_ISLNK(buf.st_mode)) {
LogError << "Input file is invalid and cannot be a link";
return APP_ERR_COMM_NO_EXIST;
}
char c[PATH_MAX + 1] = {0x00};
size_t count = filePath.copy(c, PATH_MAX + 1);
if (count != filePath.length()) {
LogError << "Failed to copy file path.";
return APP_ERR_COMM_FAILURE;
}
char path[PATH_MAX + 1] = {0x00};
if (realpath(c, path) == nullptr) {
LogError << "Failed to get the file.";
return APP_ERR_COMM_NO_EXIST;
}
FILE *fp = fopen(path, "rb");
if (fp == nullptr) {
LogError << "Failed to open file";
return APP_ERR_COMM_OPEN_FAIL;
}
fseek(fp, 0, SEEK_END);
long fileSize = ftell(fp);
fseek(fp, 0, SEEK_SET);
if (fileSize <= 0 || fileSize > MAX_FILE_SIZE) {
fclose(fp);
return APP_ERR_COMM_FAILURE;
}
fclose(fp);
return APP_ERR_OK;
}
std::vector<std::vector<ObjectInfo>> SDKPostProcess(std::string &yolov7ConfigPath, std::string &yolov7LabelPath,
std::vector<Tensor> &yolov7Outputs, std::vector<ResizedImageInfo> &imagePreProcessInfos)
{
std::map<std::string, std::string> postConfig;
postConfig.insert(pair<std::string, std::string>("postProcessConfigPath", yolov7ConfigPath));
postConfig.insert(pair<std::string, std::string>("labelPath", yolov7LabelPath));
Yolov7PostProcess yolov7PostProcess;
yolov7PostProcess.Init(postConfig);
std::vector<TensorBase> tensors;
for (size_t i = 0; i < yolov7Outputs.size(); i++) {
MemoryData memoryData(yolov7Outputs[i].GetData(), yolov7Outputs[i].GetByteSize());
TensorBase tensorBase(memoryData, true, yolov7Outputs[i].GetShape(), TENSOR_DTYPE_INT32);
tensors.push_back(tensorBase);
}
std::vector<std::vector<ObjectInfo>> objectInfos;
std::string imagePath = "1.jpg";
cv::Mat image = cv::imread(imagePath);
if (image.empty()) {
std::cout << "read image failed ! " << std::endl;
return objectInfos;
}
yolov7PostProcess.Process(tensors, objectInfos, imagePreProcessInfos);
for (size_t i = 0; i < objectInfos.size(); i++) {
std::cout << "objectInfos- item" << i;
for (size_t j = 0; j < objectInfos[i].size(); j++) {
std::cout << " objectInfo-" << j;
std::cout << " x0 is:" << objectInfos[i][j].x0;
std::cout << " y0 is:" << objectInfos[i][j].y0;
std::cout << " x1 is:" << objectInfos[i][j].x1;
std::cout << " y1 is:" << objectInfos[i][j].y1;
std::cout << " confidence is: " << objectInfos[i][j].confidence;
std::cout << " classId is: " << objectInfos[i][j].classId;
std::cout << " className is: " << objectInfos[i][j].className;
std::cout << std::endl;
drawBoundingBox(image, objectInfos[i][j].className,
objectInfos[i][j].x0, objectInfos[i][j].y0,
objectInfos[i][j].x1, objectInfos[i][j].y1);
}
}
cv::imwrite("22.jpg", image);
return objectInfos;
}
APP_ERROR PaddingProcess(ImageProcessor &imageProcessor, std::pair<int, int> resizeInfo, int deviceId,
Image &resizeImage, Image &pastedImg)
{
int resizedWidth = resizeInfo.first;
int resizedHeight = resizeInfo.second;
int leftOffset = (MODEL_INPUT_WIDTH - resizedWidth) / AVG_PARAM;
int topOffset = (MODEL_INPUT_HEIGHT - resizedHeight) / AVG_PARAM;
uint32_t dataSize = MODEL_INPUT_WIDTH * MODEL_INPUT_HEIGHT * RGB_EXTEND;
MxBase::Size imageSize(MODEL_INPUT_WIDTH, MODEL_INPUT_HEIGHT);
if (leftOffset > 0) {
MemoryData srcData(resizeImage.GetData().get(), resizeImage.GetDataSize(), MemoryData::MemoryType::MEMORY_DVPP,
deviceId);
MemoryData resHostData(nullptr, resizeImage.GetDataSize(), MemoryData::MemoryType::MEMORY_HOST, -1);
if (MemoryHelper::MxbsMallocAndCopy(resHostData, srcData) != APP_ERR_OK) {
LogError << "Failed to mallloc and copy dvpp memory.";
return APP_ERR_ACL_BAD_COPY;
}
cv::Mat resizedHost(resizeImage.GetSize().height, resizeImage.GetSize().width, OPENCV_8UC3,
resHostData.ptrData);
cv::Rect roi = cv::Rect(0, 0, resizedWidth, resizedHeight);
cv::Mat extendedImage;
cv::copyMakeBorder(resizedHost(roi), extendedImage, 0, 0, leftOffset,
MODEL_INPUT_WIDTH - leftOffset - resizedWidth, cv::BORDER_CONSTANT,
cv::Scalar(PAD_COLOR, PAD_COLOR, PAD_COLOR));
int maxFillRow = std::min(MODEL_INPUT_WIDTH, (int)resizeImage.GetSize().width + leftOffset);
for (int col = 0; col < MODEL_INPUT_WIDTH; col++) {
for (int row = resizedWidth + leftOffset; row < maxFillRow; row++) {
extendedImage.at<cv::Vec3b>(col, row)[0] = PAD_COLOR;
extendedImage.at<cv::Vec3b>(col, row)[1] = PAD_COLOR;
extendedImage.at<cv::Vec3b>(col, row)[R_CHANNEL] = PAD_COLOR;
}
}
uint8_t* pasteHostData = (uint8_t*)malloc(dataSize);
if (pasteHostData == nullptr) {
return APP_ERR_ACL_BAD_ALLOC;
}
for (size_t i = 0; i < dataSize; i++) {
pasteHostData[i] = extendedImage.data[i];
}
std::shared_ptr<uint8_t> dataPaste((uint8_t*)pasteHostData, free);
Image pastedImgTmp(dataPaste, dataSize, -1, imageSize, ImageFormat::BGR_888);
pastedImgTmp.ToDevice(0);
pastedImg = pastedImgTmp;
} else {
MemoryData imgData(dataSize, MemoryData::MemoryType::MEMORY_DVPP, deviceId);
if (MemoryHelper::Malloc(imgData) != APP_ERR_OK) {
return APP_ERR_ACL_BAD_ALLOC;
}
std::shared_ptr<uint8_t> pastedData((uint8_t*)imgData.ptrData, imgData.free);
if (MemoryHelper::Memset(imgData, PAD_COLOR, dataSize) != APP_ERR_OK) {
LogError << "Failed to memset dvpp memory.";
return APP_ERR_ACL_BAD_ALLOC;
}
Rect RectSrc(0, 0, resizedWidth, resizedHeight);
Rect RectDst(leftOffset, topOffset, leftOffset + resizedWidth, topOffset + resizedHeight);
std::pair<Rect, Rect> cropPasteRect = {RectSrc, RectDst};
Image pastedImgTmp(pastedData, dataSize, deviceId, imageSize, ImageFormat::BGR_888);
if (imageProcessor.CropAndPaste(resizeImage, cropPasteRect, pastedImgTmp) != APP_ERR_OK) {
LogError << "Failed to padding the image by dvpp";
return APP_ERR_COMM_FAILURE;
}
pastedImg = pastedImgTmp;
}
return APP_ERR_OK;
}
APP_ERROR SetImageBackground(MxBase::MemoryData& data)
{
auto dataPtr = data.ptrData;
float yuvY = YUV_Y_R * PAD_COLOR + YUV_Y_G * PAD_COLOR + YUV_Y_B * PAD_COLOR;
float yuvU = YUV_U_R * PAD_COLOR - YUV_U_G * PAD_COLOR + YUV_U_B * PAD_COLOR + YUV_OFFSET_UV;
float yuvV = YUV_V_R * PAD_COLOR - YUV_V_G * PAD_COLOR - YUV_V_B * PAD_COLOR + YUV_OFFSET_UV;
APP_ERROR ret = MxBase::MemoryHelper::MxbsMemset(data, (int)yuvY, data.size);
if (ret != APP_ERR_OK) {
LogError << "Failed to memset dvpp memory";
return ret;
}
int offsetSize = MODEL_INPUT_HEIGHT * MODEL_INPUT_WIDTH / YUV_OFFSET;
data.ptrData = (uint8_t *)data.ptrData + MODEL_INPUT_HEIGHT * MODEL_INPUT_WIDTH;
ret = MxBase::MemoryHelper::MxbsMemset(data, (int)yuvU, offsetSize);
if (ret != APP_ERR_OK) {
LogError << "Failed to memset dvpp memory";
data.ptrData = dataPtr;
return ret;
}
data.ptrData = (uint8_t *)data.ptrData + YUV_OFFSET_S;
for (int i = 0; i < offsetSize / YUV_OFFSET; i++) {
ret = MxBase::MemoryHelper::MxbsMemset(data, (int)yuvV, YUV_OFFSET_S);
if (ret != APP_ERR_OK) {
LogError << "Failed to memset dvpp memory";
data.ptrData = dataPtr;
return ret;
}
data.ptrData = (uint8_t *)data.ptrData + YUV_OFFSET;
}
data.ptrData = dataPtr;
return APP_ERR_OK;
}
APP_ERROR DvppPreprocessorYuv(ImageProcessor &imageProcessor, std::string &imagePath, vector<Tensor> &yolov7Inputs,
std::vector<ResizedImageInfo> &imagePreProcessInfos, int deviceId)
{
Image decodeImage;
APP_ERROR ret = imageProcessor.Decode(imagePath, decodeImage);
if (ret != APP_ERR_OK) {
LogError << "ImageProcessor decode failed.";
return ret;
}
Image resizeImage;
uint32_t originalWidth = decodeImage.GetOriginalSize().width;
uint32_t originalHeight = decodeImage.GetOriginalSize().height;
float scaleWidth = MODEL_INPUT_WIDTH * 1.0 / originalWidth;
float scaleHeight = MODEL_INPUT_HEIGHT * 1.0 / originalHeight;
float minScale = scaleWidth < scaleHeight ? scaleWidth : scaleHeight;
int resizedWidth = std::round(originalWidth * minScale);
int resizedHeight = std::round(originalHeight * minScale);
ret = imageProcessor.Resize(decodeImage, MxBase::Size(resizedWidth, resizedHeight), resizeImage,
Interpolation::BILINEAR_SIMILAR_OPENCV);
if (ret != APP_ERR_OK) {
LogError << "ImageProcessor resize failed.";
return ret;
}
uint32_t dataSize = MODEL_INPUT_WIDTH * MODEL_INPUT_HEIGHT * RGB_EXTEND / YUV_DIVISION;
MxBase::Size imageSize(MODEL_INPUT_WIDTH, MODEL_INPUT_HEIGHT);
MemoryData imgData(dataSize, MemoryData::MemoryType::MEMORY_DVPP, deviceId);
if (MemoryHelper::Malloc(imgData) != APP_ERR_OK) {
LogError << "Failed to malloc dvpp memory.";
return APP_ERR_ACL_BAD_ALLOC;
}
std::shared_ptr<uint8_t> pastedData((uint8_t*)imgData.ptrData, imgData.free);
if (SetImageBackground(imgData) != APP_ERR_OK) {
LogError << "Failed to memset dvpp memory.";
return APP_ERR_ACL_BAD_ALLOC;
}
int leftOffset = (MODEL_INPUT_WIDTH - resizedWidth) / AVG_PARAM;
int topOffset = (MODEL_INPUT_HEIGHT - resizedHeight) / AVG_PARAM;
topOffset = topOffset % AVG_PARAM == 0 ? topOffset : topOffset - 1;
leftOffset = leftOffset < ALIGN_LEFT ? 0 : leftOffset / ALIGN_LEFT * ALIGN_LEFT;
Rect RectSrc(0, 0, resizedWidth, resizedHeight);
Rect RectDst(leftOffset, topOffset, leftOffset + resizedWidth, topOffset + resizedHeight);
std::pair<Rect, Rect> cropPasteRect = {RectSrc, RectDst};
Image pastedImgTmp(pastedData, dataSize, deviceId, imageSize, ImageFormat::YUV_SP_420);
if (imageProcessor.CropAndPaste(resizeImage, cropPasteRect, pastedImgTmp) != APP_ERR_OK) {
LogError << "Failed to padding the image by dvpp";
return APP_ERR_COMM_FAILURE;
}
yolov7Inputs.push_back(pastedImgTmp.ConvertToTensor());
ResizedImageInfo imagePreProcessInfo(resizedWidth, resizedHeight, originalWidth, originalHeight,
RESIZER_MS_KEEP_ASPECT_RATIO, minScale);
imagePreProcessInfos.push_back(imagePreProcessInfo);
return APP_ERR_OK;
}
APP_ERROR OpenCVPreProcessor(std::string &imagePath, vector<Tensor> &yolov7Inputs,
std::vector<ResizedImageInfo> &imagePreProcessInfos, int deviceId)
{
auto image = cv::imread(imagePath);
size_t originalWidth = image.cols;
size_t originalHeight = image.rows;
float scaleWidth = MODEL_INPUT_WIDTH * 1.0 / originalWidth;
float scaleHeight = MODEL_INPUT_HEIGHT * 1.0 / originalHeight;
float minScale = scaleWidth < scaleHeight ? scaleWidth : scaleHeight;
int resizedWidth = std::round(originalWidth * minScale);
int resizedHeight = std::round(originalHeight * minScale);
cv::Mat resizedImg;
cv::resize(image, resizedImg, cv::Size(resizedWidth, resizedHeight));
int leftOffset = (MODEL_INPUT_WIDTH - resizedWidth) / AVG_PARAM;
int topOffset = (MODEL_INPUT_HEIGHT - resizedHeight) / AVG_PARAM;
uint32_t dataSize = MODEL_INPUT_HEIGHT * MODEL_INPUT_WIDTH * RGB_EXTEND;
MxBase::Size imageSize(MODEL_INPUT_WIDTH, MODEL_INPUT_HEIGHT);
cv::Mat extendedImage;
cv::copyMakeBorder(resizedImg, extendedImage, topOffset, MODEL_INPUT_HEIGHT - topOffset - resizedHeight, leftOffset,
MODEL_INPUT_WIDTH - leftOffset - resizedWidth, cv::BORDER_CONSTANT,
cv::Scalar(PAD_COLOR, PAD_COLOR, PAD_COLOR));
uint8_t *pasteHostData = (uint8_t *)malloc(dataSize);
if (pasteHostData == nullptr) {
return APP_ERR_ACL_BAD_ALLOC;
}
for (size_t i = 0; i < dataSize; i++) {
pasteHostData[i] = extendedImage.data[i];
}
std::shared_ptr<uint8_t> dataPaste((uint8_t *)pasteHostData, free);
Image pastedImage(dataPaste, dataSize, -1, imageSize, ImageFormat::BGR_888);
pastedImage.ToDevice(deviceId);
yolov7Inputs.push_back(pastedImage.ConvertToTensor());
ResizedImageInfo imagePreProcessInfo(resizedWidth, resizedHeight, originalWidth, originalHeight,
RESIZER_TF_KEEP_ASPECT_RATIO, minScale);
imagePreProcessInfos.push_back(imagePreProcessInfo);
return APP_ERR_OK;
}
APP_ERROR DvppPreprocessor(std::string &imagePath, vector<Tensor> &yolov7Inputs,
std::vector<ResizedImageInfo> &imagePreProcessInfos, int deviceId, bool isYuvInput)
{
ImageProcessor imageProcessor(deviceId);
if (isYuvInput) {
return DvppPreprocessorYuv(imageProcessor, imagePath, yolov7Inputs, imagePreProcessInfos, deviceId);
} else {
if (DeviceManager::IsAscend310P()) {
Image decodeImage;
APP_ERROR ret = imageProcessor.Decode(imagePath, decodeImage, ImageFormat::BGR_888);
if (ret != APP_ERR_OK) {
LogError << "ImageProcessor decode failed.";
return OpenCVPreProcessor(imagePath, yolov7Inputs, imagePreProcessInfos, deviceId);
}
Image resizeImage;
uint32_t originalWidth = decodeImage.GetOriginalSize().width;
uint32_t originalHeight = decodeImage.GetOriginalSize().height;
float scaleWidth = MODEL_INPUT_WIDTH * 1.0 / originalWidth;
float scaleHeight = MODEL_INPUT_HEIGHT * 1.0 / originalHeight;
float minScale = scaleWidth < scaleHeight ? scaleWidth : scaleHeight;
int resizedWidth = std::round(originalWidth * minScale);
int resizedHeight = std::round(originalHeight * minScale);
ret = imageProcessor.Resize(decodeImage, MxBase::Size(resizedWidth, resizedHeight), resizeImage,
Interpolation::BILINEAR_SIMILAR_OPENCV);
if (ret != APP_ERR_OK) {
LogError << "ImageProcessor resize failed.";
return ret;
}
Image pastedImage;
std::pair<int, int> resizedInfo(resizedWidth, resizedHeight);
ret = PaddingProcess(imageProcessor, resizedInfo, deviceId, resizeImage, pastedImage);
if (ret != APP_ERR_OK) {
LogError << "ImageProcessor padding failed.";
return ret;
}
yolov7Inputs.push_back(pastedImage.ConvertToTensor());
ResizedImageInfo imagePreProcessInfo(resizedWidth, resizedHeight, originalWidth, originalHeight,
RESIZER_TF_KEEP_ASPECT_RATIO, minScale);
imagePreProcessInfos.push_back(imagePreProcessInfo);
} else {
return OpenCVPreProcessor(imagePath, yolov7Inputs, imagePreProcessInfos, deviceId);
}
}
return APP_ERR_OK;
}
APP_ERROR E2eInfer(std::map<std::string, std::string> pathMap, int32_t deviceId, bool isYuvInput)
{
std::string imagePath = pathMap["imgPath"];
APP_ERROR ret = CheckFileVaild(imagePath);
if (ret != APP_ERR_OK) {
return ret;
}
vector<Tensor> yolov7Inputs;
std::vector<ResizedImageInfo> resizedImageInfos;
ret = DvppPreprocessor(imagePath, yolov7Inputs, resizedImageInfos, deviceId, isYuvInput);
if (ret != APP_ERR_OK) {
return ret;
}
string modelPath = pathMap["modelPath"];
ret = CheckFileVaild(modelPath);
if (ret != APP_ERR_OK) {
return ret;
}
Model yolov7(modelPath, deviceId);
vector<Tensor> yolov7Outputs = yolov7.Infer(yolov7Inputs);
if (yolov7Outputs.size() == 0) {
LogError << "YOLOv7 infer failed.";
return APP_ERR_COMM_FAILURE;
}
for (size_t i = 0; i < yolov7Outputs.size(); i++) {
yolov7Outputs[i].ToHost();
}
std::vector<Rect> cropConfigVec;
string yolov7ConfigPath = pathMap["modelConfigPath"];
string yolov7LabelPath = pathMap["modelLabelPath"];
ret = CheckFileVaild(yolov7ConfigPath);
if (ret != APP_ERR_OK) {
return ret;
}
ret = CheckFileVaild(yolov7LabelPath);
if (ret != APP_ERR_OK) {
return ret;
}
std::vector<std::vector<ObjectInfo>> objectInfos =
SDKPostProcess(yolov7ConfigPath, yolov7LabelPath, yolov7Outputs, resizedImageInfos);
return APP_ERR_OK;
}
void usage()
{
std::cout << "Usage: " << std::endl;
std::cout << "./sample -m model_path -c model_config_path -l model_label_path -i image_path [-y] " << std::endl;
}
int main(int argc, char *argv[])
{
MxInit();
if (argc > ARG_NUM || argc < ARG_NUM - 1) {
usage();
return 0;
}
int32_t deviceId = 0;
bool isYuvInput = 0;
std::map<std::string, std::string> pathMap;
int input;
const char* optString = "i:m:c:l:yh";
while ((input = getopt(argc, argv, optString)) != -1) {
switch (input) {
case 'm':
pathMap.insert({ "modelPath", optarg });
break;
case 'i':
pathMap.insert({ "imgPath", optarg });
break;
case 'c':
pathMap.insert({ "modelConfigPath", optarg });
break;
case 'l':
pathMap.insert({ "modelLabelPath", optarg });
break;
case 'y':
isYuvInput = true;
break;
case 'h':
usage();
return 0;
case '?':
usage();
return 0;
}
}
if (pathMap.count("modelPath") <= 0 || pathMap.count("imgPath") <= 0 || pathMap.count("modelConfigPath") <= 0 ||
pathMap.count("modelLabelPath") <= 0) {
LogError << "Invalid input params";
usage();
return 0;
}
APP_ERROR ret = E2eInfer(pathMap, deviceId, isYuvInput);
if (ret != APP_ERR_OK) {
LogError << "Failed to run E2eInfer";
}
return 0;
}
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