yolo3d目标检测识别，使用opencv技术基于深度学习

#include "data.h" #include "utils.h" #include "image.h" #include "cuda.h" #include <stdio.h> #include <stdlib.h> #include <string.h> pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER; list *get_paths(char *filename) { char *path; FILE *file = fopen(filename, "r"); if(!file) file_error(filename); list *lines = make_list(); while((path=fgetl(file))){ list_insert(lines, path); } fclose(file); return lines; } /* char **get_random_paths_indexes(char **paths, int n, int m, int *indexes) { char **random_paths = calloc(n, sizeof(char*)); int i; pthread_mutex_lock(&mutex); for(i = 0; i < n; ++i){ int index = rand()%m; indexes[i] = index; random_paths[i] = paths[index]; if(i == 0) printf("%s\n", paths[index]); } pthread_mutex_unlock(&mutex); return random_paths; } */ char **get_random_paths(char **paths, int n, int m) { char **random_paths = calloc(n, sizeof(char*)); int i; pthread_mutex_lock(&mutex); for(i = 0; i < n; ++i){ int index = rand()%m; random_paths[i] = paths[index]; //if(i == 0) printf("%s\n", paths[index]); } pthread_mutex_unlock(&mutex); return random_paths; } char **find_replace_paths(char **paths, int n, char *find, char *replace) { char **replace_paths = calloc(n, sizeof(char*)); int i; for(i = 0; i < n; ++i){ char replaced[4096]; find_replace(paths[i], find, replace, replaced); replace_paths[i] = copy_string(replaced); } return replace_paths; } matrix load_image_paths_gray(char **paths, int n, int w, int h) { int i; matrix X; X.rows = n; X.vals = calloc(X.rows, sizeof(float*)); X.cols = 0; for(i = 0; i < n; ++i){ image im = load_image(paths[i], w, h, 3); image gray = grayscale_image(im); free_image(im); im = gray; X.vals[i] = im.data; X.cols = im.h*im.w*im.c; } return X; } matrix load_image_paths(char **paths, int n, int w, int h) { int i; matrix X; X.rows = n; X.vals = calloc(X.rows, sizeof(float*)); X.cols = 0; for(i = 0; i < n; ++i){ image im = load_image_color(paths[i], w, h); X.vals[i] = im.data; X.cols = im.h*im.w*im.c; } return X; } matrix load_image_augment_paths(char **paths, int n, int min, int max, int size, float angle, float aspect, float hue, float saturation, float exposure, int center) { int i; matrix X; X.rows = n; X.vals = calloc(X.rows, sizeof(float*)); X.cols = 0; for(i = 0; i < n; ++i){ image im = load_image_color(paths[i], 0, 0); image crop; if(center){ crop = center_crop_image(im, size, size); } else { crop = random_augment_image(im, angle, aspect, min, max, size, size); } int flip = rand()%2; if (flip) flip_image(crop); random_distort_image(crop, hue, saturation, exposure); /* show_image(im, "orig"); show_image(crop, "crop"); cvWaitKey(0); */ //grayscale_image_3c(crop); free_image(im); X.vals[i] = crop.data; X.cols = crop.h*crop.w*crop.c; } return X; } box_label *read_boxes(char *filename, int *n) { FILE *file = fopen(filename, "r"); if(!file) file_error(filename); float x, y, h, w; int id; int count = 0; int size = 64; box_label *boxes = calloc(size, sizeof(box_label)); while(fscanf(file, "%d %f %f %f %f", &id, &x, &y, &w, &h) == 5){ if(count == size) { size = size * 2; boxes = realloc(boxes, size*sizeof(box_label)); } boxes[count].id = id; boxes[count].x = x; boxes[count].y = y; boxes[count].h = h; boxes[count].w = w; boxes[count].left = x - w/2; boxes[count].right = x + w/2; boxes[count].top = y - h/2; boxes[count].bottom = y + h/2; ++count; } fclose(file); *n = count; return boxes; } void randomize_boxes(box_label *b, int n) { int i; for(i = 0; i < n; ++i){ box_label swap = b[i]; int index = rand()%n; b[i] = b[index]; b[index] = swap; } } void correct_boxes(box_label *boxes, int n, float dx, float dy, float sx, float sy, int flip) { int i; for(i = 0; i < n; ++i){ if(boxes[i].x == 0 && boxes[i].y == 0) { boxes[i].x = 999999; boxes[i].y = 999999; boxes[i].w = 999999; boxes[i].h = 999999; continue; } boxes[i].left = boxes[i].left * sx - dx; boxes[i].right = boxes[i].right * sx - dx; boxes[i].top = boxes[i].top * sy - dy; boxes[i].bottom = boxes[i].bottom* sy - dy; if(flip){ float swap = boxes[i].left; boxes[i].left = 1. - boxes[i].right; boxes[i].right = 1. - swap; } boxes[i].left = constrain(0, 1, boxes[i].left); boxes[i].right = constrain(0, 1, boxes[i].right); boxes[i].top = constrain(0, 1, boxes[i].top); boxes[i].bottom = constrain(0, 1, boxes[i].bottom); boxes[i].x = (boxes[i].left+boxes[i].right)/2; boxes[i].y = (boxes[i].top+boxes[i].bottom)/2; boxes[i].w = (boxes[i].right - boxes[i].left); boxes[i].h = (boxes[i].bottom - boxes[i].top); boxes[i].w = constrain(0, 1, boxes[i].w); boxes[i].h = constrain(0, 1, boxes[i].h); } } void fill_truth_swag(char *path, float *truth, int classes, int flip, float dx, float dy, float sx, float sy) { char labelpath[4096]; find_replace(path, "images", "labels", labelpath); find_replace(labelpath, "JPEGImages", "labels", labelpath); find_replace(labelpath, ".jpg", ".txt", labelpath); find_replace(labelpath, ".JPG", ".txt", labelpath); find_replace(labelpath, ".JPEG", ".txt", labelpath); int count = 0; box_label *boxes = read_boxes(labelpath, &count); randomize_boxes(boxes, count); correct_boxes(boxes, count, dx, dy, sx, sy, flip); float x,y,w,h; int id; int i; for (i = 0; i < count && i < 90; ++i) { x = boxes[i].x; y = boxes[i].y; w = boxes[i].w; h = boxes[i].h; id = boxes[i].id; if (w < .0 || h < .0) continue; int index = (4+classes) * i; truth[index++] = x; truth[index++] = y; truth[index++] = w; truth[index++] = h; if (id < classes) truth[index+id] = 1; } free(boxes); } void fill_truth_region(char *path, float *truth, int classes, int num_boxes, int flip, float dx, float dy, float sx, float sy) { char labelpath[4096]; find_replace(path, "images", "labels", labelpath); find_replace(labelpath, "JPEGImages", "labels", labelpath); find_replace(labelpath, ".jpg", ".txt", labelpath); find_replace(labelpath, ".png", ".txt", labelpath); find_replace(labelpath, ".JPG", ".txt", labelpath); find_replace(labelpath, ".JPEG", ".txt", labelpath); int count = 0; box_label *boxes = read_boxes(labelpath, &count); randomize_boxes(boxes, count); correct_boxes(boxes, count, dx, dy, sx, sy, flip); float x,y,w,h; int id; int i; for (i = 0; i < count; ++i) { x = boxes[i].x; y = boxes[i].y; w = boxes[i].w; h = boxes[i].h; id = boxes[i].id; if (w < .005 || h < .005) continue; int col = (int)(x*num_boxes); int row = (int)(y*num_boxes); x = x*num_boxes - col; y = y*num_boxes - row; int index = (col+row*num_boxes)*(5+classes); if (truth[index]) continue; truth[index++] = 1; if (id < classes) truth[index+id] = 1; index += classes; truth[index++] = x; truth[index++] = y; truth[index++] = w; truth[index++] =