def det_postprocess(pixel_conv, bb, sz, szs):
res_stride_ = 4
det_threshold_ = 0.7
nms_threshold_ = 0.3
expand_scale_ = 0.0
pixel_conv_tiled = detect_util.GSTilingLayer_forward(pixel_conv, 8)
prob = detect_util.SoftmaxLayer_forward(pixel_conv_tiled)
bb = detect_util.GSTilingLayer_forward(bb, 8)
prob = prob[0, 1, ...]
bb = bb[0, ...]
gx_shape = bb.shape[2] * res_stride_
gy_shape = bb.shape[1] * res_stride_
gy = np.arange(0, gy_shape, res_stride_)
gx = np.arange(0, gx_shape, res_stride_)
[x, y] = np.meshgrid(gx, gy)
bb[0, :, :] = bb[0, :, :] + x
bb[0, :, :] = bb[0, :, :] * szs[1]
bb[1, :, :] = bb[1, :, :] + y
bb[1, :, :] = bb[1, :, :] * szs[0]
bb[2, :, :] = bb[2, :, :] + x
bb[2, :, :] = bb[2, :, :] * szs[1]
bb[3, :, :] = bb[3, :, :] + y
bb[3, :, :] = bb[3, :, :] * szs[0]
bb = np.reshape(bb, (4, -1)).T
prob = np.reshape(prob, (-1, 1))
bb = bb[prob.ravel() > det_threshold_, :]
prob = prob[prob.ravel() > det_threshold_, :]
rects = np.hstack((bb, prob))
keep = nms.nms(rects, nms_threshold_)
rects = rects[keep, :]
return rects
def detect(self, image):
# transpose HWC (0,1,2) to CHW (2,0,1)
transformed_image = np.transpose(image, (2, 0, 1))
transformed_image = (transformed_image -
self.input_mean_value_) * self.input_scale_
sz = (512, 320)
#sz=image.shape
# Call FPGA
output = self.xfdnn_graph_.forward(
[transformed_image.astype(np.float32)])
# Put CPU layers into postprocess
pixel_conv = output['pixel-conv']
pixel_conv_tiled = detect_util.GSTilingLayer_forward(pixel_conv, 8)
prob = detect_util.SoftmaxLayer_forward(pixel_conv_tiled)
prob = prob[0, 1, ...]
bb = output['bb-output']
bb = detect_util.GSTilingLayer_forward(bb, 8)
bb = bb[0, ...]
##import pdb; pdb.set_trace()
gy = np.arange(0, sz[0], self.res_stride_)
gx = np.arange(0, sz[1], self.res_stride_)
gy = gy[0:bb.shape[1]]
gx = gx[0:bb.shape[2]]
[x, y] = np.meshgrid(gx, gy)
#print bb.shape[1],len(gy),sz[0],sz[1]
bb[0, :, :] += x
bb[2, :, :] += x
bb[1, :, :] += y
bb[3, :, :] += y
bb = np.reshape(bb, (4, -1)).T
prob = np.reshape(prob, (-1, 1))
bb = bb[prob.ravel() > self.det_threshold_, :]
prob = prob[prob.ravel() > self.det_threshold_, :]
rects = np.hstack((bb, prob))
keep = self.nms(rects, self.nms_threshold_)
rects = rects[keep, :]
rects_expand = []
for rect in rects:
rect_expand = []
rect_w = rect[2] - rect[0]
rect_h = rect[3] - rect[1]
rect_expand.append(
int(max(0, rect[0] - rect_w * self.expand_scale_)))
rect_expand.append(
int(max(0, rect[1] - rect_h * self.expand_scale_)))
rect_expand.append(
int(min(sz[1], rect[2] + rect_w * self.expand_scale_)))
rect_expand.append(
int(min(sz[0], rect[3] + rect_h * self.expand_scale_)))
rects_expand.append(rect_expand)
return rects_expand
def det_postprocess(pixel_conv, bb, sz):
res_stride_ = 4
det_threshold_ = 0.7
nms_threshold_ = 0.3
expand_scale_ = 0.0
# sz=image.shape
# start_time = time.time()
# Put CPU layers into postprocess
pixel_conv_tiled = detect_util.GSTilingLayer_forward(pixel_conv, 8)
prob = detect_util.SoftmaxLayer_forward(pixel_conv_tiled)
prob = prob[0, 1, ...]
bb = detect_util.GSTilingLayer_forward(bb, 8)
bb = bb[0, ...]
# end_time = time.time()
# print('detect post-processing time: {0} seconds'.format(end_time - start_time))
if sz[0] % 32 == 0:
add_v = 0
else:
# Hardcoded for size 360x640 need to be changed
add_v = 24
gy = np.arange(0, sz[0] + add_v, res_stride_)
gx = np.arange(0, sz[1], res_stride_)
gy = gy[0:bb.shape[1]]
gx = gx[0:bb.shape[2]]
[x, y] = np.meshgrid(gx, gy)
bb[0, :, :] += x
bb[2, :, :] += x
bb[1, :, :] += y
bb[3, :, :] += y
bb = np.reshape(bb, (4, -1)).T
prob = np.reshape(prob, (-1, 1))
bb = bb[prob.ravel() > det_threshold_, :]
prob = prob[prob.ravel() > det_threshold_, :]
rects = np.hstack((bb, prob))
keep = nms.nms(rects, nms_threshold_)
rects = rects[keep, :]
rects_expand = []
for rect in rects:
rect_expand = []
rect_w = rect[2] - rect[0]
rect_h = rect[3] - rect[1]
rect_expand.append(int(max(0, rect[0] - rect_w * expand_scale_)))
rect_expand.append(int(max(0, rect[1] - rect_h * expand_scale_)))
rect_expand.append(int(min(sz[1], rect[2] + rect_w * expand_scale_)))
rect_expand.append(int(min(sz[0], rect[3] + rect_h * expand_scale_)))
rects_expand.append(rect_expand)
rect_expand.append(rect[4])
return rects_expand