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rewrite rknn object detector and update rknn detection pipe to respon…
…d to model changes
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116 changes: 116 additions & 0 deletions
116
photon-core/src/main/java/org/photonvision/jni/RknnObjectDetector.java
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| @@ -0,0 +1,116 @@ | ||
| package org.photonvision.jni; | ||
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| import java.lang.ref.Cleaner; | ||
| import java.util.List; | ||
| import java.util.concurrent.atomic.AtomicBoolean; | ||
| import org.opencv.core.Mat; | ||
| import org.photonvision.common.configuration.NeuralNetworkModelManager; | ||
| import org.photonvision.common.logging.LogGroup; | ||
| import org.photonvision.common.logging.Logger; | ||
| import org.photonvision.rknn.RknnJNI; | ||
| import org.photonvision.vision.opencv.Releasable; | ||
| import org.photonvision.vision.pipe.impl.NeuralNetworkPipeResult; | ||
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| /** | ||
| * A class to represent an object detector using the Rknn library. | ||
| * | ||
| * <p>TODO: When we start supporting more platforms, we should consider moving most of this code | ||
| * into a common "ObjectDetector" class to define the common interface for all object detectors. | ||
| */ | ||
| public class RknnObjectDetector implements Releasable { | ||
| /** logger for the RknnObjectDetector */ | ||
| private static final Logger logger = new Logger(RknnDetectorJNI.class, LogGroup.General); | ||
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| /** Cleaner instance to release the detector when it is no longer needed */ | ||
| private final Cleaner cleaner = Cleaner.create(); | ||
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| /** Pointer to the native object */ | ||
| private final long objPointer; | ||
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| /** Model configuration */ | ||
| private final NeuralNetworkModelManager.Model model; | ||
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| /** | ||
| * Returns the model used by the detector. | ||
| */ | ||
| public NeuralNetworkModelManager.Model getModel() { | ||
| return model; | ||
| } | ||
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| /** Atomic boolean to ensure that the detector is only released _once_. */ | ||
| private AtomicBoolean released = new AtomicBoolean(false); | ||
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| /** | ||
| * Creates a new RknnObjectDetector from the given model. | ||
| * | ||
| * @param model The model to create the detector from. | ||
| */ | ||
| public RknnObjectDetector(NeuralNetworkModelManager.Model model) { | ||
| this.model = model; | ||
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| // Create the detector | ||
| objPointer = RknnJNI.create(model.getPath(), model.labels.size(), model.version.ordinal(), -1); | ||
| if (objPointer <= 0) { | ||
| throw new RuntimeException("Failed to create detector from path " + model.getPath()); | ||
| } | ||
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| logger.debug("Created detector for model " + model.modelFile.getName()); | ||
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| // Register the cleaner to release the detector when it goes out of scope | ||
| cleaner.register(this, this::release); | ||
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| // Set the detector to be released when the JVM exits | ||
| Runtime.getRuntime().addShutdownHook(new Thread(this::release)); | ||
| } | ||
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| /** | ||
| * Returns the classes that the detector can detect | ||
| * | ||
| * @return The classes | ||
| */ | ||
| public List<String> getClasses() { | ||
| return model.labels; | ||
| } | ||
|
|
||
| /** | ||
| * Detects objects in the given input image using the RknnDetector. | ||
| * | ||
| * @param in The input image to perform object detection on. | ||
| * @param nmsThresh The threshold value for non-maximum suppression. | ||
| * @param boxThresh The threshold value for bounding box detection. | ||
| * @return A list of NeuralNetworkPipeResult objects representing the detected objects. Returns an | ||
| * empty list if the detector is not initialized or if no objects are detected. | ||
| */ | ||
| public List<NeuralNetworkPipeResult> detect(Mat in, double nmsThresh, double boxThresh) { | ||
| if (objPointer <= 0) { | ||
| // Report error and make sure to include the model name | ||
| logger.error("Detector is not initialized! Model: " + model.modelFile.getName()); | ||
| return List.of(); | ||
| } | ||
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| var results = RknnJNI.detect(objPointer, in.getNativeObjAddr(), nmsThresh, boxThresh); | ||
| if (results == null) { | ||
| return List.of(); | ||
| } | ||
|
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| return List.of(results).stream() | ||
| .map(it -> new NeuralNetworkPipeResult(it.rect, it.class_id, it.conf)) | ||
| .toList(); | ||
| } | ||
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| /** Thread-safe method to release the detector. */ | ||
| @Override | ||
| public void release() { | ||
| if (released.compareAndSet(false, true)) { | ||
| if (objPointer <= 0) { | ||
| logger.error( | ||
| "Detector is not initialized, and so it can't be released! Model: " | ||
| + model.modelFile.getName()); | ||
| return; | ||
| } | ||
|
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| RknnJNI.destroy(objPointer); | ||
| logger.debug("Released detector for model " + model.modelFile.getName()); | ||
| } | ||
| } | ||
| } |
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