diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt index a7739be27..bf3017dbe 100644 --- a/examples/CMakeLists.txt +++ b/examples/CMakeLists.txt @@ -69,6 +69,7 @@ if(NCNN_PIXEL) ncnn_add_example(yolov4) ncnn_add_example(rvm) ncnn_add_example(p2pnet) + ncnn_add_example(yolov8) endif() else() message(WARNING "OpenCV not found and NCNN_SIMPLEOCV disabled, examples won't be built") diff --git a/examples/yolov8.cpp b/examples/yolov8.cpp new file mode 100644 index 000000000..5b3926582 --- /dev/null +++ b/examples/yolov8.cpp @@ -0,0 +1,410 @@ +// Tencent is pleased to support the open source community by making ncnn available. +// +// Copyright (C) 2024 THL A29 Limited, a Tencent company. All rights reserved. +// +// Copyright (C) 2024 whyb(https://github.com/whyb). All rights reserved. +// +// Licensed under the BSD 3-Clause License (the "License"); you may not use this file except +// in compliance with the License. You may obtain a copy of the License at +// +// https://opensource.org/licenses/BSD-3-Clause +// +// 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. + +// ReadMe +// Convert yolov8 model to ncnn model workflow: +// +// step 1: +// If you don't want to train the model yourself. You should go to the ultralytics website download the pretrained model file. +// original pretrained model from https://docs.ultralytics.com/models/yolov8/#supported-tasks-and-modes +// +// step 2: +// run this command. +// conda create --name yolov8 python=3.11 +// conda activate yolov8 +// pip install ultralytics onnx numpy protobuf +// +// step 3: +// save source code file(export_model_to_ncnn.py): +// from ultralytics import YOLO +// detection_models = [ +// ["./Detection-pt/yolov8n.pt", "./Detection-pt/"], +// ["./Detection-pt/yolov8s.pt", "./Detection-pt/"], +// ["./Detection-pt/yolov8m.pt", "./Detection-pt/"], +// ["./Detection-pt/yolov8l.pt", "./Detection-pt/"], +// ["./Detection-pt/yolov8x.pt", "./Detection-pt/"] +// ] +// for model_dict in detection_models: +// model = YOLO(model_dict[0]) # load an official pretrained weight model +// model.export(format="ncnn", dynamic=True, save_dir=model_dict[1], simplify=True) +// +// step 4: +// run command: python export_model_to_ncnn.py + +#include +#include +#include +#include "layer.h" +#include "net.h" + +#include +#include +#include +#include +#include + +#define MAX_STRIDE 32 + +struct Object +{ + cv::Rect_ rect; + int label; + float prob; +}; + +static inline float intersection_area(const Object& a, const Object& b) +{ + cv::Rect_ inter = a.rect & b.rect; + return inter.area(); +} + +static void qsort_descent_inplace(std::vector& objects, int left, int right) +{ + int i = left; + int j = right; + float p = objects[(left + right) / 2].prob; + + while (i <= j) + { + while (objects[i].prob > p) + i++; + + while (objects[j].prob < p) + j--; + + if (i <= j) + { + // swap + std::swap(objects[i], objects[j]); + + i++; + j--; + } + } + + #pragma omp parallel sections + { + #pragma omp section + { + if (left < j) qsort_descent_inplace(objects, left, j); + } + #pragma omp section + { + if (i < right) qsort_descent_inplace(objects, i, right); + } + } +} + +static void qsort_descent_inplace(std::vector& objects) +{ + if (objects.empty()) + return; + + qsort_descent_inplace(objects, 0, objects.size() - 1); +} + +static void nms_sorted_bboxes(const std::vector& faceobjects, std::vector& picked, float nms_threshold, bool agnostic = false) +{ + picked.clear(); + + const int n = faceobjects.size(); + + std::vector areas(n); + for (int i = 0; i < n; i++) + { + areas[i] = faceobjects[i].rect.area(); + } + + for (int i = 0; i < n; i++) + { + const Object& a = faceobjects[i]; + + int keep = 1; + for (int j = 0; j < (int)picked.size(); j++) + { + const Object& b = faceobjects[picked[j]]; + + if (!agnostic && a.label != b.label) + continue; + + // intersection over union + float inter_area = intersection_area(a, b); + float union_area = areas[i] + areas[picked[j]] - inter_area; + // float IoU = inter_area / union_area + if (inter_area / union_area > nms_threshold) + keep = 0; + } + + if (keep) + picked.push_back(i); + } +} + +static inline float sigmoid(float x) +{ + return static_cast(1.f / (1.f + exp(-x))); +} + +static inline float clampf(float d, float min, float max) +{ + const float t = d < min ? min : d; + return t > max ? max : t; +} + +static void parse_yolov8_detections( + float* inputs, float confidence_threshold, + int num_channels, int num_anchors, int num_labels, + int infer_img_width, int infer_img_height, + std::vector& objects) +{ + std::vector detections; + cv::Mat output = cv::Mat((int)num_channels, (int)num_anchors, CV_32F, inputs).t(); + + for (int i = 0; i < num_anchors; i++) + { + auto row_ptr = output.row(i).ptr(); + auto bboxes_ptr = row_ptr; + auto scores_ptr = row_ptr + 4; + auto max_s_ptr = std::max_element(scores_ptr, scores_ptr + num_labels); + float score = *max_s_ptr; + if (score > confidence_threshold) + { + float x = *bboxes_ptr++; + float y = *bboxes_ptr++; + float w = *bboxes_ptr++; + float h = *bboxes_ptr; + + float x0 = clampf((x - 0.5f * w), 0.f, (float)infer_img_width); + float y0 = clampf((y - 0.5f * h), 0.f, (float)infer_img_height); + float x1 = clampf((x + 0.5f * w), 0.f, (float)infer_img_width); + float y1 = clampf((y + 0.5f * h), 0.f, (float)infer_img_height); + + cv::Rect_ bbox; + bbox.x = x0; + bbox.y = y0; + bbox.width = x1 - x0; + bbox.height = y1 - y0; + Object object; + object.label = max_s_ptr - scores_ptr; + object.prob = score; + object.rect = bbox; + detections.emplace_back(object); + } + } + objects = detections; +} + +static int detect_yolov8(const cv::Mat& bgr, std::vector& objects) +{ + ncnn::Net yolov8; + + yolov8.opt.use_vulkan_compute = true; // if you want detect in hardware, then enable it + + yolov8.load_param("yolov8n.param"); + yolov8.load_model("yolov8n.bin"); + + const int target_size = 640; + const float prob_threshold = 0.25f; + const float nms_threshold = 0.45f; + + int img_w = bgr.cols; + int img_h = bgr.rows; + + // letterbox pad to multiple of MAX_STRIDE + int w = img_w; + int h = img_h; + float scale = 1.f; + if (w > h) + { + scale = (float)target_size / w; + w = target_size; + h = h * scale; + } + else + { + scale = (float)target_size / h; + h = target_size; + w = w * scale; + } + + ncnn::Mat in = ncnn::Mat::from_pixels_resize(bgr.data, ncnn::Mat::PIXEL_BGR2RGB, img_w, img_h, w, h); + + int wpad = (target_size + MAX_STRIDE - 1) / MAX_STRIDE * MAX_STRIDE - w; + int hpad = (target_size + MAX_STRIDE - 1) / MAX_STRIDE * MAX_STRIDE - h; + ncnn::Mat in_pad; + ncnn::copy_make_border(in, in_pad, hpad / 2, hpad - hpad / 2, wpad / 2, wpad - wpad / 2, ncnn::BORDER_CONSTANT, 114.f); + + const float norm_vals[3] = {1 / 255.f, 1 / 255.f, 1 / 255.f}; + in_pad.substract_mean_normalize(0, norm_vals); + + ncnn::Extractor ex = yolov8.create_extractor(); + + ex.input("in0", in_pad); + + std::vector proposals; + + // stride 32 + { + ncnn::Mat out; + ex.extract("out0", out); + + std::vector objects32; + const int num_labels = 80; // COCO has detect 80 object labels. + parse_yolov8_detections( + (float*)out.data, prob_threshold, + out.h, out.w, num_labels, + in_pad.w, in_pad.h, + objects32); + proposals.insert(proposals.end(), objects32.begin(), objects32.end()); + } + + // sort all proposals by score from highest to lowest + qsort_descent_inplace(proposals); + + // apply nms with nms_threshold + std::vector picked; + nms_sorted_bboxes(proposals, picked, nms_threshold); + + int count = picked.size(); + + objects.resize(count); + for (int i = 0; i < count; i++) + { + objects[i] = proposals[picked[i]]; + + // adjust offset to original unpadded + float x0 = (objects[i].rect.x - (wpad / 2)) / scale; + float y0 = (objects[i].rect.y - (hpad / 2)) / scale; + float x1 = (objects[i].rect.x + objects[i].rect.width - (wpad / 2)) / scale; + float y1 = (objects[i].rect.y + objects[i].rect.height - (hpad / 2)) / scale; + + // clip + x0 = std::max(std::min(x0, (float)(img_w - 1)), 0.f); + y0 = std::max(std::min(y0, (float)(img_h - 1)), 0.f); + x1 = std::max(std::min(x1, (float)(img_w - 1)), 0.f); + y1 = std::max(std::min(y1, (float)(img_h - 1)), 0.f); + + objects[i].rect.x = x0; + objects[i].rect.y = y0; + objects[i].rect.width = x1 - x0; + objects[i].rect.height = y1 - y0; + } + + return 0; +} + +static void draw_objects(const cv::Mat& bgr, const std::vector& objects) +{ + static const char* class_names[] = { + "person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat", "traffic light", + "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat", "dog", "horse", "sheep", "cow", + "elephant", "bear", "zebra", "giraffe", "backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", + "skis", "snowboard", "sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard", + "tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple", + "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair", "couch", + "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse", "remote", "keyboard", "cell phone", + "microwave", "oven", "toaster", "sink", "refrigerator", "book", "clock", "vase", "scissors", "teddy bear", + "hair drier", "toothbrush" + }; + + static const unsigned char colors[19][3] = { + {54, 67, 244}, + {99, 30, 233}, + {176, 39, 156}, + {183, 58, 103}, + {181, 81, 63}, + {243, 150, 33}, + {244, 169, 3}, + {212, 188, 0}, + {136, 150, 0}, + {80, 175, 76}, + {74, 195, 139}, + {57, 220, 205}, + {59, 235, 255}, + {7, 193, 255}, + {0, 152, 255}, + {34, 87, 255}, + {72, 85, 121}, + {158, 158, 158}, + {139, 125, 96} + }; + + int color_index = 0; + + cv::Mat image = bgr.clone(); + + for (size_t i = 0; i < objects.size(); i++) + { + const Object& obj = objects[i]; + + const unsigned char* color = colors[color_index % 19]; + color_index++; + + cv::Scalar cc(color[0], color[1], color[2]); + + fprintf(stderr, "%d = %.5f at %.2f %.2f %.2f x %.2f\n", obj.label, obj.prob, + obj.rect.x, obj.rect.y, obj.rect.width, obj.rect.height); + + cv::rectangle(image, obj.rect, cc, 2); + + char text[256]; + sprintf(text, "%s %.1f%%", class_names[obj.label], obj.prob * 100); + + int baseLine = 0; + cv::Size label_size = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine); + + int x = obj.rect.x; + int y = obj.rect.y - label_size.height - baseLine; + if (y < 0) + y = 0; + if (x + label_size.width > image.cols) + x = image.cols - label_size.width; + + cv::rectangle(image, cv::Rect(cv::Point(x, y), cv::Size(label_size.width, label_size.height + baseLine)), + cc, -1); + + cv::putText(image, text, cv::Point(x, y + label_size.height), + cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(255, 255, 255)); + } + + cv::imshow("image", image); + cv::waitKey(0); +} + +int main(int argc, char** argv) +{ + if (argc != 2) + { + fprintf(stderr, "Usage: %s [imagepath]\n", argv[0]); + return -1; + } + + const char* imagepath = argv[1]; + + cv::Mat m = cv::imread(imagepath, 1); + if (m.empty()) + { + fprintf(stderr, "cv::imread %s failed\n", imagepath); + return -1; + } + + std::vector objects; + detect_yolov8(m, objects); + + draw_objects(m, objects); + + return 0; +}