import numpy as np
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import cv2
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from rknn.api import RKNN
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import math
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import PIL.Image as Image
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import PIL.ImageDraw as ImageDraw
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import PIL.ImageFont as ImageFont
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import re
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np.set_printoptions(threshold=np.inf)
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CLASSES = ('__background__', 'person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat',
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'traffic light', 'fire hydrant', '???', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse',
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'sheep', 'cow', 'elephant', 'bear', 'zebra', 'giraffe', '???', 'backpack', 'umbrella', '???', '???',
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'handbag', 'tie', 'suitcase', 'frisbee', 'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat',
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'baseball glove', 'skateboard', 'surfboard', 'tennis racket', 'bottle', '???', 'wine glass', 'cup', 'fork',
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'knife', 'spoon', 'bowl', 'banana', 'apple', 'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza',
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'donut', 'cake', 'chair', 'couch', 'potted plant', 'bed', '???', 'dining table', '???', '???', 'toilet',
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'???', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone', 'microwave', 'oven', 'toaster', 'sink',
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'refrigerator', '???', 'book', 'clock', 'vase', 'scissors', 'teddy bear', 'hair drier', 'toothbrush')
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NUM_CLS = 91
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CONF_THRESH = 0.5
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NMS_THRESH = 0.45
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TOP_BOXES = 100
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max_boxes_to_draw = 100
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Y_SCALE = 10.0
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X_SCALE = 10.0
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H_SCALE = 5.0
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W_SCALE = 5.0
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prior_file = './box_priors.txt'
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box_priors_ = []
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fp = open(prior_file, 'r')
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ls = fp.readlines()
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for s in ls:
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aList = re.findall('([-+]?\d+(\.\d*)?|\.\d+)([eE][-+]?\d+)?', s)
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for ss in aList:
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aNum = float((ss[0] + ss[2]))
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box_priors_.append(aNum)
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fp.close()
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def softmax(x):
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return np.exp(x) / np.sum(np.exp(x), axis=0)
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def IntersectBBox(box1, box2):
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if box1[0] > box2[2] or box1[2] < box2[0] or box1[1] > box2[3] or box1[3] < box2[1]:
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return 0
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else:
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area1 = (box1[2] - box1[0]) * (box1[3] - box1[1])
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area2 = (box2[2] - box2[0]) * (box2[3] - box2[1])
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xx1 = max(box1[0], box2[0])
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yy1 = max(box1[1], box2[1])
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xx2 = min(box1[2], box2[2])
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yy2 = min(box1[3], box2[3])
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w = max(0, xx2 - xx1)
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h = max(0, yy2 - yy1)
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ovr = w * h / (area1 + area2 - w * h + 0.000001)
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return ovr
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def ssd_post_process(conf_data, loc_data, imgpath, output_dir='.'):
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prior_num = int(len(loc_data) / 4) # num prior boxes
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prior_bboxes = np.array(box_priors_)
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prior_bboxes = prior_bboxes.reshape(4, prior_num)
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conf_data = conf_data.reshape(-1, NUM_CLS)
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for i in range(prior_num):
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conf_data[i] = softmax(conf_data[i])
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idx_class_conf = []
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bboxes = []
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# conf
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for prior_idx in range(0, prior_num):
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conf_data[prior_idx][0] = 0
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max_val = np.max(conf_data[prior_idx])
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max_idx = np.argmax(conf_data[prior_idx])
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if max_val > CONF_THRESH:
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idx_class_conf.append([prior_idx, max_idx, max_val])
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idx_class_conf_sorted = sorted(idx_class_conf, key=lambda x: x[2], reverse=True)
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idx_class_conf = idx_class_conf_sorted[:min(TOP_BOXES, len(idx_class_conf_sorted))]
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# boxes
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for i in range(0, prior_num):
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bbox_center_x = loc_data[4 * i + 1] / X_SCALE * prior_bboxes[3][i] + prior_bboxes[1][i]
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bbox_center_y = loc_data[4 * i + 0] / Y_SCALE * prior_bboxes[2][i] + prior_bboxes[0][i]
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bbox_w = math.exp(loc_data[4 * i + 3] / W_SCALE) * prior_bboxes[3][i]
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bbox_h = math.exp(loc_data[4 * i + 2] / H_SCALE) * prior_bboxes[2][i]
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tmp = []
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tmp.append(max(min(bbox_center_x - bbox_w / 2., 1), 0))
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tmp.append(max(min(bbox_center_y - bbox_h / 2., 1), 0))
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tmp.append(max(min(bbox_center_x + bbox_w / 2., 1), 0))
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tmp.append(max(min(bbox_center_y + bbox_h / 2., 1), 0))
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bboxes.append(tmp)
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# nms
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cur_class_num = 0
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idx_class_conf_ = []
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for i in range(0, len(idx_class_conf)):
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keep = True
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k = 0
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while k < cur_class_num:
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if keep:
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ovr = IntersectBBox(bboxes[idx_class_conf[i][0]], bboxes[idx_class_conf_[k][0]])
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if idx_class_conf_[k][1] == idx_class_conf[i][1] and ovr > NMS_THRESH:
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keep = False
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break
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k += 1
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else:
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break
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if keep:
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idx_class_conf_.append(idx_class_conf[i])
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cur_class_num += 1
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idx_class_conf_ = idx_class_conf_[:min(len(idx_class_conf_), max_boxes_to_draw)]
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box_class_score = []
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for i in range(0, len(idx_class_conf_)):
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bboxes[idx_class_conf_[i][0]].append(idx_class_conf_[i][1])
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bboxes[idx_class_conf_[i][0]].append(idx_class_conf_[i][2])
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box_class_score.append(bboxes[idx_class_conf_[i][0]])
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img = cv2.imread(imgpath)
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img_pil = Image.fromarray(img)
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draw = ImageDraw.Draw(img_pil)
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font = ImageFont.load_default()
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name = imgpath.split("/")[-1][:-4]
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for i in range(0, len(box_class_score)):
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x1 = box_class_score[i][0] * img.shape[1]
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y1 = box_class_score[i][1] * img.shape[0]
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x2 = box_class_score[i][2] * img.shape[1]
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y2 = box_class_score[i][3] * img.shape[0]
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# draw rect
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color = (0, int(box_class_score[i][4] / 20.0 * 255), 255)
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draw.line([(x1, y1), (x1, y2), (x2, y2),
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(x2, y1), (x1, y1)], width=2, fill=color)
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display_str = CLASSES[box_class_score[i][4]] + ":" + str('%.2f' % box_class_score[i][5])
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display_str_height = np.ceil((1 + 2 * 0.05) * font.getsize(display_str)[1]) + 1
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if y1 > display_str_height:
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text_bottom = y1
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else:
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text_bottom = y1 + display_str_height
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text_width, text_height = font.getsize(display_str)
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margin = np.ceil(0.05 * text_height)
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draw.rectangle([(x1, text_bottom - text_height - 2 * margin), (x1 + text_width, text_bottom)], fill=color)
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draw.text((x1 + margin, text_bottom - text_height - margin), display_str, fill='black', font=font)
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print('write output image: {}{}_quant.jpg'.format(output_dir, name))
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np.copyto(img, np.array(img_pil))
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cv2.imwrite("{}{}_quant.jpg".format(output_dir, name), img)
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print('write output image finished.')
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