autopilot/ai_controller/src-onnx-runtime/yolov8Predictor.cpp

#include "yolov8Predictor.h"

YOLOPredictor::YOLOPredictor(const std::string &modelPath,
                             float confThreshold,
                             float iouThreshold,
                             float maskThreshold)
{
    this->confThreshold = confThreshold;
    this->iouThreshold = iouThreshold;
    this->maskThreshold = maskThreshold;
    env = Ort::Env(OrtLoggingLevel::ORT_LOGGING_LEVEL_WARNING, "YOLOV8");
    sessionOptions = Ort::SessionOptions();

    std::vector<std::string> availableProviders = Ort::GetAvailableProviders();
    std::cout << "Inference device: CPU" << std::endl;

    session = Ort::Session(env, modelPath.c_str(), sessionOptions);

    const size_t num_input_nodes = session.GetInputCount();   //==1
    const size_t num_output_nodes = session.GetOutputCount(); //==1,2
    if (num_output_nodes > 1)
    {
        this->hasMask = true;
        std::cout << "Instance Segmentation" << std::endl;
    }
    else
        std::cout << "Object Detection" << std::endl;

    Ort::AllocatorWithDefaultOptions allocator;
    for (int i = 0; i < (int)num_input_nodes; i++)
    {
        auto input_name = session.GetInputNameAllocated(i, allocator);
        this->inputNames.push_back(input_name.get());
        input_names_ptr.push_back(std::move(input_name));

        Ort::TypeInfo inputTypeInfo = session.GetInputTypeInfo(i);
        std::vector<int64_t> inputTensorShape = inputTypeInfo.GetTensorTypeAndShapeInfo().GetShape();
        this->inputShapes.push_back(inputTensorShape);
        this->isDynamicInputShape = true;
        // checking if width and height are dynamic
        if (inputTensorShape[2] == -1 && inputTensorShape[3] == -1)
        {
            std::cout << "Dynamic input shape" << std::endl;
            this->isDynamicInputShape = true;
        }
    }
    for (int i = 0; i < (int)num_output_nodes; i++)
    {
        auto output_name = session.GetOutputNameAllocated(i, allocator);
        this->outputNames.push_back(output_name.get());
        output_names_ptr.push_back(std::move(output_name));

        Ort::TypeInfo outputTypeInfo = session.GetOutputTypeInfo(i);
        std::vector<int64_t> outputTensorShape = outputTypeInfo.GetTensorTypeAndShapeInfo().GetShape();
        this->outputShapes.push_back(outputTensorShape);
        if (i == 0)
        {
            if (!this->hasMask)
                classNums = outputTensorShape[1] - 4;
            else
                classNums = outputTensorShape[1] - 4 - 32;
        }
    }
    // for (const char *x : this->inputNames)
    // {
    //     std::cout << x << std::endl;
    // }
    // for (const char *x : this->outputNames)
    // {
    //     std::cout << x << std::endl;
    // }
    // std::cout << classNums << std::endl;
}

void YOLOPredictor::getBestClassInfo(std::vector<float>::iterator it,
                                     float &bestConf,
                                     int &bestClassId,
                                     const int _classNums)
{
    // first 4 element are box
    bestClassId = 4;
    bestConf = 0;

    for (int i = 4; i < _classNums + 4; i++)
    {
        if (it[i] > bestConf)
        {
            bestConf = it[i];
            bestClassId = i - 4;
        }
    }
}
cv::Mat YOLOPredictor::getMask(const cv::Mat &maskProposals,
                               const cv::Mat &maskProtos)
{
    cv::Mat protos = maskProtos.reshape(0, {(int)this->outputShapes[1][1], (int)this->outputShapes[1][2] * (int)this->outputShapes[1][3]});

    cv::Mat matmul_res = (maskProposals * protos).t();
    cv::Mat masks = matmul_res.reshape(1, {(int)this->outputShapes[1][2], (int)this->outputShapes[1][3]});
    cv::Mat dest;

    // sigmoid
    cv::exp(-masks, dest);
    dest = 1.0 / (1.0 + dest);
    cv::resize(dest, dest, cv::Size((int)this->inputShapes[0][2], (int)this->inputShapes[0][3]), cv::INTER_LINEAR);
    return dest;
}

void YOLOPredictor::preprocessing(cv::Mat &image, float *&blob, std::vector<int64_t> &inputTensorShape)
{
    cv::Mat resizedImage, floatImage;
    cv::cvtColor(image, resizedImage, cv::COLOR_BGR2RGB);
    utils::letterbox(resizedImage, resizedImage, cv::Size((int)this->inputShapes[0][2], (int)this->inputShapes[0][3]),
                     cv::Scalar(114, 114, 114), this->isDynamicInputShape,
                     false, true, 32);

    inputTensorShape[2] = resizedImage.rows;
    inputTensorShape[3] = resizedImage.cols;

    resizedImage.convertTo(floatImage, CV_32FC3, 1 / 255.0);
    blob = new float[floatImage.cols * floatImage.rows * floatImage.channels()];
    cv::Size floatImageSize{floatImage.cols, floatImage.rows};

    // hwc -> chw
    std::vector<cv::Mat> chw(floatImage.channels());
    for (int i = 0; i < floatImage.channels(); ++i)
    {
        chw[i] = cv::Mat(floatImageSize, CV_32FC1, blob + i * floatImageSize.width * floatImageSize.height);
    }
    cv::split(floatImage, chw);
}

std::vector<Yolov8Result> YOLOPredictor::postprocessing(const cv::Size &resizedImageShape,
                                                        const cv::Size &originalImageShape,
                                                        std::vector<Ort::Value> &outputTensors)
{

    // for box
    std::vector<cv::Rect> boxes;
    std::vector<float> confs;
    std::vector<int> classIds;

    float *boxOutput = outputTensors[0].GetTensorMutableData<float>();
    //[1,4+n,8400]=>[1,8400,4+n] or [1,4+n+32,8400]=>[1,8400,4+n+32]
    cv::Mat output0 = cv::Mat(cv::Size((int)this->outputShapes[0][2], (int)this->outputShapes[0][1]), CV_32F, boxOutput).t();
    float *output0ptr = (float *)output0.data;
    int rows = (int)this->outputShapes[0][2];
    int cols = (int)this->outputShapes[0][1];
    // std::cout << rows << cols << std::endl;
    // if hasMask
    std::vector<std::vector<float>> picked_proposals;
    cv::Mat mask_protos;

    for (int i = 0; i < rows; i++)
    {
        std::vector<float> it(output0ptr + i * cols, output0ptr + (i + 1) * cols);
        float confidence;
        int classId;
        this->getBestClassInfo(it.begin(), confidence, classId, classNums);

        if (confidence > this->confThreshold)
        {
            if (this->hasMask)
            {
                std::vector<float> temp(it.begin() + 4 + classNums, it.end());
                picked_proposals.push_back(temp);
            }
            int centerX = (int)(it[0]);
            int centerY = (int)(it[1]);
            int width = (int)(it[2]);
            int height = (int)(it[3]);
            int left = centerX - width / 2;
            int top = centerY - height / 2;
            boxes.emplace_back(left, top, width, height);
            confs.emplace_back(confidence);
            classIds.emplace_back(classId);
        }
    }

    std::vector<int> indices;
    cv::dnn::NMSBoxes(boxes, confs, this->confThreshold, this->iouThreshold, indices);

    if (this->hasMask)
    {
        float *maskOutput = outputTensors[1].GetTensorMutableData<float>();
        std::vector<int> mask_protos_shape = {1, (int)this->outputShapes[1][1], (int)this->outputShapes[1][2], (int)this->outputShapes[1][3]};
        mask_protos = cv::Mat(mask_protos_shape, CV_32F, maskOutput);
    }

    std::vector<Yolov8Result> results;
    for (int idx : indices)
    {
        Yolov8Result res;
        res.box = cv::Rect(boxes[idx]);
        if (this->hasMask)
            res.boxMask = this->getMask(cv::Mat(picked_proposals[idx]).t(), mask_protos);
        else
            res.boxMask = cv::Mat::zeros((int)this->inputShapes[0][2], (int)this->inputShapes[0][3], CV_8U);

        utils::scaleCoords(res.box, res.boxMask, this->maskThreshold, resizedImageShape, originalImageShape);
        res.conf = confs[idx];
        res.classId = classIds[idx];
        results.emplace_back(res);
    }

    return results;
}

std::vector<Yolov8Result> YOLOPredictor::predict(cv::Mat &image)
{
    float *blob = nullptr;
    std::vector<int64_t> inputTensorShape{1, 3, -1, -1};
    this->preprocessing(image, blob, inputTensorShape);

    size_t inputTensorSize = utils::vectorProduct(inputTensorShape);

    std::vector<float> inputTensorValues(blob, blob + inputTensorSize);

    std::vector<Ort::Value> inputTensors;

    Ort::MemoryInfo memoryInfo = Ort::MemoryInfo::CreateCpu(
        OrtAllocatorType::OrtArenaAllocator, OrtMemType::OrtMemTypeDefault);

    inputTensors.push_back(Ort::Value::CreateTensor<float>(
        memoryInfo, inputTensorValues.data(), inputTensorSize,
        inputTensorShape.data(), inputTensorShape.size()));

    std::vector<Ort::Value> outputTensors = this->session.Run(Ort::RunOptions{nullptr},
                                                              this->inputNames.data(),
                                                              inputTensors.data(),
                                                              1,
                                                              this->outputNames.data(),
                                                              this->outputNames.size());

    cv::Size resizedShape = cv::Size((int)inputTensorShape[3], (int)inputTensorShape[2]);
    std::vector<Yolov8Result> result = this->postprocessing(resizedShape,
                                                            image.size(),
                                                            outputTensors);

    delete[] blob;

    return result;
}