Changeset 458 for azure_iot_hub_riscv/trunk/app_iothub_client/kendryte/region_layer.c

Timestamp:

Sep 14, 2020, 6:36:03 PM (4 years ago)

Author:

coas-nagasima

Message:

SPIとSerial、KPUの動作を改善

File:

• azure_iot_hub_riscv/trunk/app_iothub_client/kendryte/region_layer.c (modified) (2 diffs)

azure_iot_hub_riscv/trunk/app_iothub_client/kendryte/region_layer.c

@@ -6 +6 @@
 typedef struct
 {
-    float x;
-    float y;
-    float w;
-    float h;
+        float x;
+        float y;
+        float w;
+        float h;
 } box_t;
 
 typedef struct
 {
-    int index;
-    int class;
-    float **probs;
+        int index;
+        int class;
+        float **probs;
 } sortable_box_t;
 
@@ -22 +22 @@
 int region_layer_init(region_layer_t *rl, int width, int height, int channels, int origin_width, int origin_height)
 {
-    int flag = 0;
-
-    rl->coords = 4;
-    rl->image_width = 320;
-    rl->image_height = 240;
-
-    rl->classes = channels / 5 - 5;
-    rl->net_width = origin_width;
-    rl->net_height = origin_height;
-    rl->layer_width = width;
-    rl->layer_height = height;
-    rl->boxes_number = (rl->layer_width * rl->layer_height * rl->anchor_number); 
-    rl->output_number = (rl->boxes_number * (rl->classes + rl->coords + 1));
-
-    rl->output = malloc(rl->output_number * sizeof(float));
-    if (rl->output == NULL)
-    {
-        flag = -1;
-        goto malloc_error;
-    }
-    rl->boxes = malloc(rl->boxes_number * sizeof(box_t));
-    if (rl->boxes == NULL)
-    {
-        flag = -2;
-        goto malloc_error;
-    }
-    rl->probs_buf = malloc(rl->boxes_number * (rl->classes + 1) * sizeof(float));
-    if (rl->probs_buf == NULL)
-    {
-        flag = -3;
-        goto malloc_error;
-    }
-    rl->probs = malloc(rl->boxes_number * sizeof(float *));
-    if (rl->probs == NULL)
-    {
-        flag = -4;
-        goto malloc_error;
-    }
-    for (uint32_t i = 0; i < rl->boxes_number; i++)
-        rl->probs[i] = &(rl->probs_buf[i * (rl->classes + 1)]);
-    return 0;
+        int flag = 0;
+
+        rl->coords = 4;
+        rl->image_width = 320;
+        rl->image_height = 240;
+
+        rl->classes = channels / 5 - 5;
+        rl->net_width = origin_width;
+        rl->net_height = origin_height;
+        rl->layer_width = width;
+        rl->layer_height = height;
+        rl->boxes_number = (rl->layer_width * rl->layer_height * rl->anchor_number); 
+        rl->output_number = (rl->boxes_number * (rl->classes + rl->coords + 1));
+
+        rl->output = malloc(rl->output_number * sizeof(float));
+        if (rl->output == NULL)
+        {
+                flag = -1;
+                goto malloc_error;
+        }
+        rl->boxes = malloc(rl->boxes_number * sizeof(box_t));
+        if (rl->boxes == NULL)
+        {
+                flag = -2;
+                goto malloc_error;
+        }
+        rl->probs_buf = malloc(rl->boxes_number * (rl->classes + 1) * sizeof(float));
+        if (rl->probs_buf == NULL)
+        {
+                flag = -3;
+                goto malloc_error;
+        }
+        rl->probs = malloc(rl->boxes_number * sizeof(float *));
+        if (rl->probs == NULL)
+        {
+                flag = -4;
+                goto malloc_error;
+        }
+        for (uint32_t i = 0; i < rl->boxes_number; i++)
+                rl->probs[i] = &(rl->probs_buf[i * (rl->classes + 1)]);
+        return 0;
 malloc_error:
-    free(rl->output);
-    free(rl->boxes);
-    free(rl->probs_buf);
-    free(rl->probs);
-    return flag;
+        free(rl->output);
+        free(rl->boxes);
+        free(rl->probs_buf);
+        free(rl->probs);
+        return flag;
 }
 
 void region_layer_deinit(region_layer_t *rl)
 {
-    free(rl->output);
-    free(rl->boxes);
-    free(rl->probs_buf);
-    free(rl->probs);
+        free(rl->output);
+        free(rl->boxes);
+        free(rl->probs_buf);
+        free(rl->probs);
 }
 
 static inline float sigmoid(float x)
 {
-    return 1.f / (1.f + expf(-x));
+        return 1.f / (1.f + expf(-x));
 }
 
 static void activate_array(region_layer_t *rl, int index, int n)
 {
-    float *output = &rl->output[index];
-    float *input = &rl->input[index];
-
-    for (int i = 0; i < n; ++i)
-        output[i] = sigmoid(input[i]);
+        float *output = &rl->output[index];
+        float *input = &rl->input[index];
+
+        for (int i = 0; i < n; ++i)
+                output[i] = sigmoid(input[i]);
 }
 
 static int entry_index(region_layer_t *rl, int location, int entry)
 {
-    int wh = rl->layer_width * rl->layer_height;
-    int n   = location / wh;
-    int loc = location % wh;
-
-    return n * wh * (rl->coords + rl->classes + 1) + entry * wh + loc;
+        int wh = rl->layer_width * rl->layer_height;
+        int n   = location / wh;
+        int loc = location % wh;
+
+        return n * wh * (rl->coords + rl->classes + 1) + entry * wh + loc;
 }
 
 static void softmax(region_layer_t *rl, float *input, int n, int stride, float *output)
 {
-    int i;
-    float diff;
-    float e;
-    float sum = 0;
-    float largest_i = input[0];
-
-    for (i = 0; i < n; ++i)
-    {
-        if (input[i * stride] > largest_i)
-            largest_i = input[i * stride];
-    }
-
-    for (i = 0; i < n; ++i) {
-        diff = input[i * stride] - largest_i;
-        e = expf(diff);
-        sum += e;
-        output[i * stride] = e;
-    }
-    for (i = 0; i < n; ++i)
-        output[i * stride] /= sum;
+        int i;
+        float diff;
+        float e;
+        float sum = 0;
+        float largest_i = input[0];
+
+        for (i = 0; i < n; ++i)
+        {
+                if (input[i * stride] > largest_i)
+                        largest_i = input[i * stride];
+        }
+
+        for (i = 0; i < n; ++i) {
+                diff = input[i * stride] - largest_i;
+                e = expf(diff);
+                sum += e;
+                output[i * stride] = e;
+        }
+        for (i = 0; i < n; ++i)
+                output[i * stride] /= sum;
 }
 
 static void softmax_cpu(region_layer_t *rl, float *input, int n, int batch, int batch_offset, int groups, int stride, float *output)
 {
-    int g, b;
-
-    for (b = 0; b < batch; ++b) {
-        for (g = 0; g < groups; ++g)
-            softmax(rl, input + b * batch_offset + g, n, stride, output + b * batch_offset + g);
-    }
+        int g, b;
+
+        for (b = 0; b < batch; ++b) {
+                for (g = 0; g < groups; ++g)
+                        softmax(rl, input + b * batch_offset + g, n, stride, output + b * batch_offset + g);
+        }
 }
 
 static void forward_region_layer(region_layer_t *rl)
 {
-    int index;
-
-    for (index = 0; index < rl->output_number; index++)
-        rl->output[index] = rl->input[index];
-
-    for (int n = 0; n < rl->anchor_number; ++n)
-    {
-        index = entry_index(rl, n * rl->layer_width * rl->layer_height, 0);
-        activate_array(rl, index, 2 * rl->layer_width * rl->layer_height);
-        index = entry_index(rl, n * rl->layer_width * rl->layer_height, 4);
-        activate_array(rl, index, rl->layer_width * rl->layer_height);
-    }
-
-    index = entry_index(rl, 0, rl->coords + 1);
-    softmax_cpu(rl, rl->input + index, rl->classes, rl->anchor_number,
-            rl->output_number / rl->anchor_number, rl->layer_width * rl->layer_height,
-            rl->layer_width * rl->layer_height, rl->output + index);
+        int index;
+
+        for (index = 0; index < rl->output_number; index++)
+                rl->output[index] = rl->input[index];
+
+        for (int n = 0; n < rl->anchor_number; ++n)
+        {
+                index = entry_index(rl, n * rl->layer_width * rl->layer_height, 0);
+                activate_array(rl, index, 2 * rl->layer_width * rl->layer_height);
+                index = entry_index(rl, n * rl->layer_width * rl->layer_height, 4);
+                activate_array(rl, index, rl->layer_width * rl->layer_height);
+        }
+
+        index = entry_index(rl, 0, rl->coords + 1);
+        softmax_cpu(rl, rl->input + index, rl->classes, rl->anchor_number,
+                        rl->output_number / rl->anchor_number, rl->layer_width * rl->layer_height,
+                        rl->layer_width * rl->layer_height, rl->output + index);
 }
 
 static void correct_region_boxes(region_layer_t *rl, box_t *boxes)
 {
-    uint32_t net_width = rl->net_width;
-    uint32_t net_height = rl->net_height;
-    uint32_t image_width = rl->image_width;
-    uint32_t image_height = rl->image_height;
-    uint32_t boxes_number = rl->boxes_number;
-    int new_w = 0;
-    int new_h = 0;
-
-    if (((float)net_width / image_width) <
-        ((float)net_height / image_height)) {
-        new_w = net_width;
-        new_h = (image_height * net_width) / image_width;
-    } else {
-        new_h = net_height;
-        new_w = (image_width * net_height) / image_height;
-    }
-    for (int i = 0; i < boxes_number; ++i) {
-        box_t b = boxes[i];
-
-        b.x = (b.x - (net_width - new_w) / 2. / net_width) /
-              ((float)new_w / net_width);
-        b.y = (b.y - (net_height - new_h) / 2. / net_height) /
-              ((float)new_h / net_height);
-        b.w *= (float)net_width / new_w;
-        b.h *= (float)net_height / new_h;
-        boxes[i] = b;
-    }
+        uint32_t net_width = rl->net_width;
+        uint32_t net_height = rl->net_height;
+        uint32_t image_width = rl->image_width;
+        uint32_t image_height = rl->image_height;
+        uint32_t boxes_number = rl->boxes_number;
+        int new_w = 0;
+        int new_h = 0;
+
+        if (((float)net_width / image_width) <
+                ((float)net_height / image_height)) {
+                new_w = net_width;
+                new_h = (image_height * net_width) / image_width;
+        } else {
+                new_h = net_height;
+                new_w = (image_width * net_height) / image_height;
+        }
+        for (int i = 0; i < boxes_number; ++i) {
+                box_t b = boxes[i];
+
+                b.x = (b.x - (net_width - new_w) / 2. / net_width) /
+                          ((float)new_w / net_width);
+                b.y = (b.y - (net_height - new_h) / 2. / net_height) /
+                          ((float)new_h / net_height);
+                b.w *= (float)net_width / new_w;
+                b.h *= (float)net_height / new_h;
+                boxes[i] = b;
+        }
 }
 
 static box_t get_region_box(float *x, float *biases, int n, int index, int i, int j, int w, int h, int stride)
 {
-    volatile box_t b;
-
-    b.x = (i + x[index + 0 * stride]) / w;
-    b.y = (j + x[index + 1 * stride]) / h;
-    b.w = expf(x[index + 2 * stride]) * biases[2 * n] / w;
-    b.h = expf(x[index + 3 * stride]) * biases[2 * n + 1] / h;
-    return b;
+        volatile box_t b;
+
+        b.x = (i + x[index + 0 * stride]) / w;
+        b.y = (j + x[index + 1 * stride]) / h;
+        b.w = expf(x[index + 2 * stride]) * biases[2 * n] / w;
+        b.h = expf(x[index + 3 * stride]) * biases[2 * n + 1] / h;
+        return b;
 }
 
 static void get_region_boxes(region_layer_t *rl, float *predictions, float **probs, box_t *boxes)
 {
-    uint32_t layer_width = rl->layer_width;
-    uint32_t layer_height = rl->layer_height;
-    uint32_t anchor_number = rl->anchor_number;
-    uint32_t classes = rl->classes;
-    uint32_t coords = rl->coords;
-    float threshold = rl->threshold;
-
-    for (int i = 0; i < layer_width * layer_height; ++i)
-    {
-        int row = i / layer_width;
-        int col = i % layer_width;
-
-        for (int n = 0; n < anchor_number; ++n)
-        {
-            int index = n * layer_width * layer_height + i;
-
-            for (int j = 0; j < classes; ++j)
-                probs[index][j] = 0;
-            int obj_index = entry_index(rl, n * layer_width * layer_height + i, coords);
-            int box_index = entry_index(rl, n * layer_width * layer_height + i, 0);
-            float scale  = predictions[obj_index];
-
-            boxes[index] = get_region_box(predictions, rl->anchor, n, box_index, col, row,
-                layer_width, layer_height, layer_width * layer_height);
-
-            float max = 0;
-
-            for (int j = 0; j < classes; ++j)
-            {
-                int class_index = entry_index(rl, n * layer_width * layer_height + i, coords + 1 + j);
-                float prob = scale * predictions[class_index];
-
-                probs[index][j] = (prob > threshold) ? prob : 0;
-                if (prob > max)
-                    max = prob;
-            }
-            probs[index][classes] = max;
-        }
-    }
-    correct_region_boxes(rl, boxes);
+        uint32_t layer_width = rl->layer_width;
+        uint32_t layer_height = rl->layer_height;
+        uint32_t anchor_number = rl->anchor_number;
+        uint32_t classes = rl->classes;
+        uint32_t coords = rl->coords;
+        float threshold = rl->threshold;
+
+        for (int i = 0; i < layer_width * layer_height; ++i)
+        {
+                int row = i / layer_width;
+                int col = i % layer_width;
+
+                for (int n = 0; n < anchor_number; ++n)
+                {
+                        int index = n * layer_width * layer_height + i;
+
+                        for (int j = 0; j < classes; ++j)
+                                probs[index][j] = 0;
+                        int obj_index = entry_index(rl, n * layer_width * layer_height + i, coords);
+                        int box_index = entry_index(rl, n * layer_width * layer_height + i, 0);
+                        float scale  = predictions[obj_index];
+
+                        boxes[index] = get_region_box(predictions, rl->anchor, n, box_index, col, row,
+                                layer_width, layer_height, layer_width * layer_height);
+
+                        float max = 0;
+
+                        for (int j = 0; j < classes; ++j)
+                        {
+                                int class_index = entry_index(rl, n * layer_width * layer_height + i, coords + 1 + j);
+                                float prob = scale * predictions[class_index];
+
+                                probs[index][j] = (prob > threshold) ? prob : 0;
+                                if (prob > max)
+                                        max = prob;
+                        }
+                        probs[index][classes] = max;
+                }
+        }
+        correct_region_boxes(rl, boxes);
 }
 
 static int nms_comparator(void *pa, void *pb)
 {
-    sortable_box_t a = *(sortable_box_t *)pa;
-    sortable_box_t b = *(sortable_box_t *)pb;
-    float diff = a.probs[a.index][b.class] - b.probs[b.index][b.class];
-
-    if (diff < 0)
-        return 1;
-    else if (diff > 0)
-        return -1;
-    return 0;
+        sortable_box_t a = *(sortable_box_t *)pa;
+        sortable_box_t b = *(sortable_box_t *)pb;
+        float diff = a.probs[a.index][b.class] - b.probs[b.index][b.class];
+
+        if (diff < 0)
+                return 1;
+        else if (diff > 0)
+                return -1;
+        return 0;
 }
 
 static float overlap(float x1, float w1, float x2, float w2)
 {
-    float l1 = x1 - w1/2;
-    float l2 = x2 - w2/2;
-    float left = l1 > l2 ? l1 : l2;
-    float r1 = x1 + w1/2;
-    float r2 = x2 + w2/2;
-    float right = r1 < r2 ? r1 : r2;
-
-    return right - left;
+        float l1 = x1 - w1/2;
+        float l2 = x2 - w2/2;
+        float left = l1 > l2 ? l1 : l2;
+        float r1 = x1 + w1/2;
+        float r2 = x2 + w2/2;
+        float right = r1 < r2 ? r1 : r2;
+
+        return right - left;
 }
 
 static float box_intersection(box_t a, box_t b)
 {
-    float w = overlap(a.x, a.w, b.x, b.w);
-    float h = overlap(a.y, a.h, b.y, b.h);
-
-    if (w < 0 || h < 0)
-        return 0;
-    return w * h;
+        float w = overlap(a.x, a.w, b.x, b.w);
+        float h = overlap(a.y, a.h, b.y, b.h);
+
+        if (w < 0 || h < 0)
+                return 0;
+        return w * h;
 }
 
 static float box_union(box_t a, box_t b)
 {
-    float i = box_intersection(a, b);
-    float u = a.w * a.h + b.w * b.h - i;
-
-    return u;
+        float i = box_intersection(a, b);
+        float u = a.w * a.h + b.w * b.h - i;
+
+        return u;
 }
 
 static float box_iou(box_t a, box_t b)
 {
-    return box_intersection(a, b) / box_union(a, b);
+        return box_intersection(a, b) / box_union(a, b);
 }
 
 static void do_nms_sort(region_layer_t *rl, box_t *boxes, float **probs)
 {
-    uint32_t boxes_number = rl->boxes_number;
-    uint32_t classes = rl->classes;
-    float nms_value = rl->nms_value;
-    int i, j, k;
-    sortable_box_t s[boxes_number];
-
-    for (i = 0; i < boxes_number; ++i)
-    {
-        s[i].index = i;
-        s[i].class = 0;
-        s[i].probs = probs;
-    }
-
-    for (k = 0; k < classes; ++k)
-    {
-        for (i = 0; i < boxes_number; ++i)
-            s[i].class = k;
-        qsort(s, boxes_number, sizeof(sortable_box_t), nms_comparator);
-        for (i = 0; i < boxes_number; ++i)
-        {
-            if (probs[s[i].index][k] == 0)
-                continue;
-            box_t a = boxes[s[i].index];
-
-            for (j = i + 1; j < boxes_number; ++j)
-            {
-                box_t b = boxes[s[j].index];
-
-                if (box_iou(a, b) > nms_value)
-                    probs[s[j].index][k] = 0;
-            }
-        }
-    }
+        uint32_t boxes_number = rl->boxes_number;
+        uint32_t classes = rl->classes;
+        float nms_value = rl->nms_value;
+        int i, j, k;
+        sortable_box_t s[boxes_number];
+
+        for (i = 0; i < boxes_number; ++i)
+        {
+                s[i].index = i;
+                s[i].class = 0;
+                s[i].probs = probs;
+        }
+
+        for (k = 0; k < classes; ++k)
+        {
+                for (i = 0; i < boxes_number; ++i)
+                        s[i].class = k;
+                qsort(s, boxes_number, sizeof(sortable_box_t), nms_comparator);
+                for (i = 0; i < boxes_number; ++i)
+                {
+                        if (probs[s[i].index][k] == 0)
+                                continue;
+                        box_t a = boxes[s[i].index];
+
+                        for (j = i + 1; j < boxes_number; ++j)
+                        {
+                                box_t b = boxes[s[j].index];
+
+                                if (box_iou(a, b) > nms_value)
+                                        probs[s[j].index][k] = 0;
+                        }
+                }
+        }
 }
 
 static int max_index(float *a, int n)
 {
-    int i, max_i = 0;
-    float max = a[0];
-
-    for (i = 1; i < n; ++i)
-    {
-        if (a[i] > max)
-        {
-            max   = a[i];
-            max_i = i;
-        }
-    }
-    return max_i;
+        int i, max_i = 0;
+        float max = a[0];
+
+        for (i = 1; i < n; ++i)
+        {
+                if (a[i] > max)
+                {
+                        max   = a[i];
+                        max_i = i;
+                }
+        }
+        return max_i;
 }
 
 static void region_layer_output(region_layer_t *rl, obj_info_t *obj_info)
 {
-    uint32_t obj_number = 0;
-    uint32_t image_width = rl->image_width;
-    uint32_t image_height = rl->image_height;
-    uint32_t boxes_number = rl->boxes_number;
-    float threshold = rl->threshold;
-    box_t *boxes = (box_t *)rl->boxes;
-    
-    for (int i = 0; i < rl->boxes_number; ++i)
-    {
-        int class  = max_index(rl->probs[i], rl->classes);
-        float prob = rl->probs[i][class];
-
-        if (prob > threshold)
-        {
-            box_t *b = boxes + i;
-            obj_info->obj[obj_number].x1 = b->x * image_width - (b->w * image_width / 2);
-            obj_info->obj[obj_number].y1 = b->y * image_height - (b->h * image_height / 2);
-            obj_info->obj[obj_number].x2 = b->x * image_width + (b->w * image_width / 2);
-            obj_info->obj[obj_number].y2 = b->y * image_height + (b->h * image_height / 2);
-            obj_info->obj[obj_number].class_id = class;
-            obj_info->obj[obj_number].prob = prob;
-            obj_number++;
-        }
-    }
-    obj_info->obj_number = obj_number;
+        uint32_t obj_number = 0;
+        uint32_t image_width = rl->image_width;
+        uint32_t image_height = rl->image_height;
+        uint32_t boxes_number = rl->boxes_number;
+        float threshold = rl->threshold;
+        box_t *boxes = (box_t *)rl->boxes;
+        
+        for (int i = 0; i < rl->boxes_number; ++i)
+        {
+                int class  = max_index(rl->probs[i], rl->classes);
+                float prob = rl->probs[i][class];
+
+                if (prob > threshold)
+                {
+                        box_t *b = boxes + i;
+                        obj_info->obj[obj_number].x1 = b->x * image_width - (b->w * image_width / 2);
+                        obj_info->obj[obj_number].y1 = b->y * image_height - (b->h * image_height / 2);
+                        obj_info->obj[obj_number].x2 = b->x * image_width + (b->w * image_width / 2);
+                        obj_info->obj[obj_number].y2 = b->y * image_height + (b->h * image_height / 2);
+                        obj_info->obj[obj_number].class_id = class;
+                        obj_info->obj[obj_number].prob = prob;
+                        obj_number++;
+                }
+        }
+        obj_info->obj_number = obj_number;
 }
 
 void region_layer_run(region_layer_t *rl, obj_info_t *obj_info)
 {
-    forward_region_layer(rl);
-    get_region_boxes(rl, rl->output, rl->probs, rl->boxes);
-    do_nms_sort(rl, rl->boxes, rl->probs);
-    // region_layer_output(rl, obj_info);
+        forward_region_layer(rl);
+        get_region_boxes(rl, rl->output, rl->probs, rl->boxes);
+        do_nms_sort(rl, rl->boxes, rl->probs);
+        // region_layer_output(rl, obj_info);
 }
 
 void region_layer_draw_boxes(region_layer_t *rl, callback_draw_box callback)
 {
-    uint32_t image_width = rl->image_width;
-    uint32_t image_height = rl->image_height;
-    float threshold = rl->threshold;
-    box_t *boxes = (box_t *)rl->boxes;
-
-    for (int i = 0; i < rl->boxes_number; ++i)
-    {
-        int class  = max_index(rl->probs[i], rl->classes);
-        float prob = rl->probs[i][class];
-
-        if (prob > threshold)
-        {
-            box_t *b = boxes + i;
-            uint32_t x1 = b->x * image_width - (b->w * image_width / 2);
-            uint32_t y1 = b->y * image_height - (b->h * image_height / 2);
-            uint32_t x2 = b->x * image_width + (b->w * image_width / 2);
-            uint32_t y2 = b->y * image_height + (b->h * image_height / 2);
-            callback(x1, y1, x2, y2, class, prob);
-        }
-    }
-}
+        uint32_t image_width = rl->image_width;
+        uint32_t image_height = rl->image_height;
+        float threshold = rl->threshold;
+        box_t *boxes = (box_t *)rl->boxes;
+
+        for (int i = 0; i < rl->boxes_number; ++i)
+        {
+                int class  = max_index(rl->probs[i], rl->classes);
+                float prob = rl->probs[i][class];
+
+                if (prob > threshold)
+                {
+                        box_t *b = boxes + i;
+                        uint32_t x1 = b->x * image_width - (b->w * image_width / 2);
+                        uint32_t y1 = b->y * image_height - (b->h * image_height / 2);
+                        uint32_t x2 = b->x * image_width + (b->w * image_width / 2);
+                        uint32_t y2 = b->y * image_height + (b->h * image_height / 2);
+                        callback(x1, y1, x2, y2, class, prob);
+                }
+        }
+}