// Copyright (c) 2021 by Rockchip Electronics 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.
/*-------------------------------------------
Includes
-------------------------------------------*/
#include <dlfcn.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#define _BASETSD_H
#include "rga/RgaUtils.h"
#include "rga/im2d.h"
//#include "opencv2/core/core.hpp"
//#include "opencv2/imgcodecs.hpp"
//#include "opencv2/imgproc.hpp"
#include "postprocess.h"
#include "rga/rga.h"
#include "rknn/rknn_api.h"
#define PERF_WITH_POST 1
/*-------------------------------------------
Functions
-------------------------------------------*/
static void dump_tensor_attr(rknn_tensor_attr* attr)
{
printf(" index=%d, name=%s, n_dims=%d, dims=[%d, %d, %d, %d], n_elems=%d, size=%d, fmt=%s, type=%s, qnt_type=%s, "
"zp=%d, scale=%f\n",
attr->index, attr->name, attr->n_dims, attr->dims[0], attr->dims[1], attr->dims[2], attr->dims[3],
attr->n_elems, attr->size, get_format_string(attr->fmt), get_type_string(attr->type),
get_qnt_type_string(attr->qnt_type), attr->zp, attr->scale);
}
double __get_us(struct timeval t) { return (t.tv_sec * 1000000 + t.tv_usec); }
static unsigned char* load_data(FILE* fp, size_t ofst, size_t sz)
{
unsigned char* data;
int ret;
data = NULL;
if (NULL == fp) {
return NULL;
}
ret = fseek(fp, ofst, SEEK_SET);
if (ret != 0) {
printf("blob seek failure.\n");
return NULL;
}
data = (unsigned char*)malloc(sz);
if (data == NULL) {
printf("buffer malloc failure.\n");
return NULL;
}
ret = fread(data, 1, sz, fp);
return data;
}
static unsigned char* load_model(const char* filename, int* model_size)
{
FILE* fp;
unsigned char* data;
fp = fopen(filename, "rb");
if (NULL == fp) {
printf("Open file %s failed.\n", filename);
return NULL;
}
fseek(fp, 0, SEEK_END);
int size = ftell(fp);
data = load_data(fp, 0, size);
fclose(fp);
*model_size = size;
return data;
}
/*
static int saveFloat(const char* file_name, float* output, int element_size)
{
FILE* fp;
fp = fopen(file_name, "w");
for (int i = 0; i < element_size; i++) {
fprintf(fp, "%.6f\n", output[i]);
}
fclose(fp);
return 0;
}
*/
/*-------------------------------------------
Main Functions
-------------------------------------------*/
static rknn_context ctx;
static unsigned char* model_data;
static std::vector<cv::Scalar> colors;
int yolov5_init(const char *model_path, const char *label_path)
{
int ret;
// 加载模型其初始化rknn
printf("Loading model...\n");
const char *model_name = model_path;
const char *label_name = label_path;
int model_data_size = 0;
model_data = load_model(model_name, &model_data_size);
ret = rknn_init(&ctx, model_data, model_data_size, 0, NULL);
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
rknn_sdk_version version;
ret = rknn_query(ctx, RKNN_QUERY_SDK_VERSION, &version, sizeof(rknn_sdk_version));
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
printf("sdk version: %s driver version: %s\n", version.api_version, version.drv_version);
// 加载label文件
ret = loadLabelName(label_name);
if (ret < 0) {
printf("loadLabelName error ret=%d\n", ret);
return -1;
}
// 随机生成80种颜色
for(int i = 0; i < OBJ_CLASS_NUM; i++){
colors.push_back(cv::Scalar(rand()&250, rand()&250, rand()&250, rand()&250));
}
rknn_input_output_num io_num;
ret = rknn_query(ctx, RKNN_QUERY_IN_OUT_NUM, &io_num, sizeof(io_num));
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
printf("model input num: %d, output num: %d\n", io_num.n_input, io_num.n_output);
rknn_tensor_attr input_attrs[io_num.n_input];
memset(input_attrs, 0, sizeof(input_attrs));
for (uint32_t i = 0; i < io_num.n_input; i++) {
input_attrs[i].index = i;
ret = rknn_query(ctx, RKNN_QUERY_INPUT_ATTR, &(input_attrs[i]), sizeof(rknn_tensor_attr));
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
dump_tensor_attr(&(input_attrs[i]));
}
rknn_tensor_attr output_attrs[io_num.n_output];
memset(output_attrs, 0, sizeof(output_attrs));
for (uint32_t i = 0; i < io_num.n_output; i++) {
output_attrs[i].index = i;
ret = rknn_query(ctx, RKNN_QUERY_OUTPUT_ATTR, &(output_attrs[i]), sizeof(rknn_tensor_attr));
dump_tensor_attr(&(output_attrs[i]));
}
return 0;
}
int yolov5_detect(cv::Mat &src, cv::Mat &res)
{
// int status = 0;
// size_t actual_size = 0;
int img_width = 0;
int img_height = 0;
// int img_channel = 0;
const float nms_threshold = NMS_THRESH;
const float box_conf_threshold = BOX_THRESH;
struct timeval start_time, stop_time;
int ret;
// init rga context
rga_buffer_t srct;
rga_buffer_t dst;
im_rect src_rect;
im_rect dst_rect;
memset(&src_rect, 0, sizeof(src_rect));
memset(&dst_rect, 0, sizeof(dst_rect));
memset(&srct, 0, sizeof(srct));
memset(&dst, 0, sizeof(dst));
cv::Mat orig_img = src;
if (!orig_img.data) {
printf("cv::imread fail!\n");
return -1;
}
cv::Mat img;
cv::cvtColor(orig_img, img, cv::COLOR_BGR2RGB);
img_width = img.cols;
img_height = img.rows;
// printf("img width = %d, img height = %d\n", img_width, img_height);
/* Create the neural network */
/*
static int init_model = -1;
if(init_model == -1){
printf("Loading mode...\n");
const char *model_name = "./install/rknn_yolov5_demo_Linux/model/RK356X/yolov5s-640-640.rknn";
int model_data_size = 0;
unsigned char* model_data = load_model(model_name, &model_data_size);
ret = rknn_init(&ctx, model_data, model_data_size, 0, NULL);
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
rknn_sdk_version version;
ret = rknn_query(ctx, RKNN_QUERY_SDK_VERSION, &version, sizeof(rknn_sdk_version));
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
printf("sdk version: %s driver version: %s\n", version.api_version, version.drv_version);
init_model ++;
}
*/
rknn_input_output_num io_num;
ret = rknn_query(ctx, RKNN_QUERY_IN_OUT_NUM, &io_num, sizeof(io_num));
if (ret < 0) {
printf("rknn_init error ret=%d\n", ret);
return -1;
}
// printf("model input num: %d, output num: %d\n", io_num.n_input, io_num.n_output);
rknn_tensor_attr input_attrs[io_num.n_input];
memset(input_attrs, 0, sizeof(input_attrs));
for (uint32_t i = 0; i < io_num.n_input; i++) {
input_attrs[i].index = i;
ret = rknn_query(ctx, RKNN_QUER
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