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| from typing import List, Tuple, Union | |
| import numpy as np | |
| from config import ModelType | |
| from numpy import ndarray | |
| def softmax(x: ndarray, axis: int = -1) -> ndarray: | |
| e_x = np.exp(x - np.max(x, axis=axis, keepdims=True)) | |
| y = e_x / e_x.sum(axis=axis, keepdims=True) | |
| return y | |
| def sigmoid(x: ndarray) -> ndarray: | |
| return 1. / (1. + np.exp(-x)) | |
| class Decoder: | |
| def __init__(self, model_type: ModelType, model_only: bool = False): | |
| self.model_type = model_type | |
| self.model_only = model_only | |
| self.boxes_pro = [] | |
| self.scores_pro = [] | |
| self.labels_pro = [] | |
| self.is_logging = False | |
| def __call__(self, | |
| feats: Union[List, Tuple], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs) -> Tuple: | |
| if not self.is_logging: | |
| print('Only support decode in batch==1') | |
| self.is_logging = True | |
| self.boxes_pro.clear() | |
| self.scores_pro.clear() | |
| self.labels_pro.clear() | |
| if self.model_only: | |
| # transpose channel to last dim for easy decoding | |
| feats = [ | |
| np.ascontiguousarray(feat[0].transpose(1, 2, 0)) | |
| for feat in feats | |
| ] | |
| else: | |
| # ax620a horizonX3 transpose channel to last dim by default | |
| feats = [np.ascontiguousarray(feat) for feat in feats] | |
| if self.model_type == ModelType.YOLOV5: | |
| self.__yolov5_decode(feats, conf_thres, num_labels, **kwargs) | |
| elif self.model_type == ModelType.YOLOX: | |
| self.__yolox_decode(feats, conf_thres, num_labels, **kwargs) | |
| elif self.model_type in (ModelType.PPYOLOE, ModelType.PPYOLOEP): | |
| self.__ppyoloe_decode(feats, conf_thres, num_labels, **kwargs) | |
| elif self.model_type == ModelType.YOLOV6: | |
| self.__yolov6_decode(feats, conf_thres, num_labels, **kwargs) | |
| elif self.model_type == ModelType.YOLOV7: | |
| self.__yolov7_decode(feats, conf_thres, num_labels, **kwargs) | |
| elif self.model_type == ModelType.RTMDET: | |
| self.__rtmdet_decode(feats, conf_thres, num_labels, **kwargs) | |
| elif self.model_type == ModelType.YOLOV8: | |
| self.__yolov8_decode(feats, conf_thres, num_labels, **kwargs) | |
| else: | |
| raise NotImplementedError | |
| return self.boxes_pro, self.scores_pro, self.labels_pro | |
| def __yolov5_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| anchors: Union[List, Tuple] = kwargs.get( | |
| 'anchors', | |
| [[(10, 13), (16, 30), | |
| (33, 23)], [(30, 61), (62, 45), | |
| (59, 119)], [(116, 90), (156, 198), (373, 326)]]) | |
| for i, feat in enumerate(feats): | |
| stride = 8 << i | |
| feat_h, feat_w, _ = feat.shape | |
| anchor = anchors[i] | |
| feat = sigmoid(feat) | |
| feat = feat.reshape((feat_h, feat_w, len(anchor), -1)) | |
| box_feat, conf_feat, score_feat = np.split(feat, [4, 5], -1) | |
| hIdx, wIdx, aIdx, _ = np.where(conf_feat > conf_thres) | |
| num_proposal = hIdx.size | |
| if not num_proposal: | |
| continue | |
| score_feat = score_feat[hIdx, wIdx, aIdx] * conf_feat[hIdx, wIdx, | |
| aIdx] | |
| boxes = box_feat[hIdx, wIdx, aIdx] | |
| labels = score_feat.argmax(-1) | |
| scores = score_feat.max(-1) | |
| indices = np.where(scores > conf_thres)[0] | |
| if len(indices) == 0: | |
| continue | |
| for idx in indices: | |
| a_w, a_h = anchor[aIdx[idx]] | |
| x, y, w, h = boxes[idx] | |
| x = (x * 2.0 - 0.5 + wIdx[idx]) * stride | |
| y = (y * 2.0 - 0.5 + hIdx[idx]) * stride | |
| w = (w * 2.0)**2 * a_w | |
| h = (h * 2.0)**2 * a_h | |
| x0 = x - w / 2 | |
| y0 = y - h / 2 | |
| self.scores_pro.append(float(scores[idx])) | |
| self.boxes_pro.append( | |
| np.array([x0, y0, w, h], dtype=np.float32)) | |
| self.labels_pro.append(int(labels[idx])) | |
| def __yolox_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| for i, feat in enumerate(feats): | |
| stride = 8 << i | |
| score_feat, box_feat, conf_feat = np.split( | |
| feat, [num_labels, num_labels + 4], -1) | |
| conf_feat = sigmoid(conf_feat) | |
| hIdx, wIdx, _ = np.where(conf_feat > conf_thres) | |
| num_proposal = hIdx.size | |
| if not num_proposal: | |
| continue | |
| score_feat = sigmoid(score_feat[hIdx, wIdx]) * conf_feat[hIdx, | |
| wIdx] | |
| boxes = box_feat[hIdx, wIdx] | |
| labels = score_feat.argmax(-1) | |
| scores = score_feat.max(-1) | |
| indices = np.where(scores > conf_thres)[0] | |
| if len(indices) == 0: | |
| continue | |
| for idx in indices: | |
| score = scores[idx] | |
| label = labels[idx] | |
| x, y, w, h = boxes[idx] | |
| x = (x + wIdx[idx]) * stride | |
| y = (y + hIdx[idx]) * stride | |
| w = np.exp(w) * stride | |
| h = np.exp(h) * stride | |
| x0 = x - w / 2 | |
| y0 = y - h / 2 | |
| self.scores_pro.append(float(score)) | |
| self.boxes_pro.append( | |
| np.array([x0, y0, w, h], dtype=np.float32)) | |
| self.labels_pro.append(int(label)) | |
| def __ppyoloe_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| reg_max: int = kwargs.get('reg_max', 17) | |
| dfl = np.arange(0, reg_max, dtype=np.float32) | |
| for i, feat in enumerate(feats): | |
| stride = 8 << i | |
| score_feat, box_feat = np.split(feat, [ | |
| num_labels, | |
| ], -1) | |
| score_feat = sigmoid(score_feat) | |
| _argmax = score_feat.argmax(-1) | |
| _max = score_feat.max(-1) | |
| indices = np.where(_max > conf_thres) | |
| hIdx, wIdx = indices | |
| num_proposal = hIdx.size | |
| if not num_proposal: | |
| continue | |
| scores = _max[hIdx, wIdx] | |
| boxes = box_feat[hIdx, wIdx].reshape(num_proposal, 4, reg_max) | |
| boxes = softmax(boxes, -1) @ dfl | |
| labels = _argmax[hIdx, wIdx] | |
| for k in range(num_proposal): | |
| score = scores[k] | |
| label = labels[k] | |
| x0, y0, x1, y1 = boxes[k] | |
| x0 = (wIdx[k] + 0.5 - x0) * stride | |
| y0 = (hIdx[k] + 0.5 - y0) * stride | |
| x1 = (wIdx[k] + 0.5 + x1) * stride | |
| y1 = (hIdx[k] + 0.5 + y1) * stride | |
| w = x1 - x0 | |
| h = y1 - y0 | |
| self.scores_pro.append(float(score)) | |
| self.boxes_pro.append( | |
| np.array([x0, y0, w, h], dtype=np.float32)) | |
| self.labels_pro.append(int(label)) | |
| def __yolov6_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| for i, feat in enumerate(feats): | |
| stride = 8 << i | |
| score_feat, box_feat = np.split(feat, [ | |
| num_labels, | |
| ], -1) | |
| score_feat = sigmoid(score_feat) | |
| _argmax = score_feat.argmax(-1) | |
| _max = score_feat.max(-1) | |
| indices = np.where(_max > conf_thres) | |
| hIdx, wIdx = indices | |
| num_proposal = hIdx.size | |
| if not num_proposal: | |
| continue | |
| scores = _max[hIdx, wIdx] | |
| boxes = box_feat[hIdx, wIdx] | |
| labels = _argmax[hIdx, wIdx] | |
| for k in range(num_proposal): | |
| score = scores[k] | |
| label = labels[k] | |
| x0, y0, x1, y1 = boxes[k] | |
| x0 = (wIdx[k] + 0.5 - x0) * stride | |
| y0 = (hIdx[k] + 0.5 - y0) * stride | |
| x1 = (wIdx[k] + 0.5 + x1) * stride | |
| y1 = (hIdx[k] + 0.5 + y1) * stride | |
| w = x1 - x0 | |
| h = y1 - y0 | |
| self.scores_pro.append(float(score)) | |
| self.boxes_pro.append( | |
| np.array([x0, y0, w, h], dtype=np.float32)) | |
| self.labels_pro.append(int(label)) | |
| def __yolov7_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| anchors: Union[List, Tuple] = kwargs.get( | |
| 'anchors', | |
| [[(12, 16), (19, 36), | |
| (40, 28)], [(36, 75), (76, 55), | |
| (72, 146)], [(142, 110), (192, 243), (459, 401)]]) | |
| self.__yolov5_decode(feats, conf_thres, num_labels, anchors=anchors) | |
| def __rtmdet_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| for i, feat in enumerate(feats): | |
| stride = 8 << i | |
| score_feat, box_feat = np.split(feat, [ | |
| num_labels, | |
| ], -1) | |
| score_feat = sigmoid(score_feat) | |
| _argmax = score_feat.argmax(-1) | |
| _max = score_feat.max(-1) | |
| indices = np.where(_max > conf_thres) | |
| hIdx, wIdx = indices | |
| num_proposal = hIdx.size | |
| if not num_proposal: | |
| continue | |
| scores = _max[hIdx, wIdx] | |
| boxes = box_feat[hIdx, wIdx] | |
| labels = _argmax[hIdx, wIdx] | |
| for k in range(num_proposal): | |
| score = scores[k] | |
| label = labels[k] | |
| x0, y0, x1, y1 = boxes[k] | |
| x0 = (wIdx[k] - x0) * stride | |
| y0 = (hIdx[k] - y0) * stride | |
| x1 = (wIdx[k] + x1) * stride | |
| y1 = (hIdx[k] + y1) * stride | |
| w = x1 - x0 | |
| h = y1 - y0 | |
| self.scores_pro.append(float(score)) | |
| self.boxes_pro.append( | |
| np.array([x0, y0, w, h], dtype=np.float32)) | |
| self.labels_pro.append(int(label)) | |
| def __yolov8_decode(self, | |
| feats: List[ndarray], | |
| conf_thres: float, | |
| num_labels: int = 80, | |
| **kwargs): | |
| reg_max: int = kwargs.get('reg_max', 16) | |
| self.__ppyoloe_decode(feats, conf_thres, num_labels, reg_max=reg_max) | |