143 lines
3.4 KiB
Python
143 lines
3.4 KiB
Python
import cv2
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import numpy as np
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from rknnlite.api import RKNNLite
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# ======================
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# 配置
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# ======================
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IMAGE_PATH = "3.png"
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MODEL_PATH = "segr.rknn"
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OUT_OVERLAY = "result_overlay.jpg"
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DEBUG_INPUT = "debug_input_roi.png"
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DEBUG_PROTO = "debug_proto_mask.png"
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DEBUG_INST_PROTO = "debug_inst_proto.png"
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IMG_SIZE = 640
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OBJ_THRESH = 0.25
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MASK_THRESH = 0.5
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STRIDES = [8, 16, 32]
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ROIS = [
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(670, 623, 465, 178),
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]
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# ======================
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# 工具函数
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# ======================
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def sigmoid(x):
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return 1 / (1 + np.exp(-x))
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def resize_to_640(img):
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"""seg 专用：禁止 letterbox，直接 resize"""
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return cv2.resize(img, (IMG_SIZE, IMG_SIZE), interpolation=cv2.INTER_LINEAR)
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def dfl_decode(dfl):
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bins = np.arange(16)
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dfl = sigmoid(dfl)
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dfl /= np.sum(dfl, axis=1, keepdims=True)
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return np.sum(dfl * bins, axis=1)
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def largest_cc(mask):
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num, labels = cv2.connectedComponents(mask.astype(np.uint8))
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if num <= 1:
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return mask
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areas = [(labels == i).sum() for i in range(1, num)]
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return (labels == (np.argmax(areas) + 1)).astype(np.uint8)
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# ======================
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# 单 ROI 推理（完整语义 mask）
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# ======================
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def infer_single_roi(rknn, roi):
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h0, w0 = roi.shape[:2]
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# ---------- 1️⃣ 正确的 seg 输入 ----------
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inp_img = resize_to_640(roi)
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cv2.imwrite(DEBUG_INPUT, inp_img)
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inp = inp_img[..., ::-1][None, ...]
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outputs = rknn.inference([inp])
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# ---------- 2️⃣ proto ----------
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proto = outputs[12][0] # (32,160,160)
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best_score = -1
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best_coef = None
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out_i = 0
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for stride in STRIDES:
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reg = outputs[out_i][0]
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cls = outputs[out_i + 1][0, 0]
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obj = outputs[out_i + 2][0, 0]
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coef = outputs[out_i + 3][0]
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out_i += 4
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score_map = sigmoid(cls) * sigmoid(obj)
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y, x = np.unravel_index(np.argmax(score_map), score_map.shape)
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score = score_map[y, x]
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if score < OBJ_THRESH or score <= best_score:
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continue
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best_score = score
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best_coef = coef[:, y, x]
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if best_coef is None:
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return None
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# ---------- 3️⃣ proto_mask（完整） ----------
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proto_mask = sigmoid(np.tensordot(best_coef, proto, axes=1)) # (160,160)
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pm = (proto_mask - proto_mask.min()) / (proto_mask.max() - proto_mask.min() + 1e-6)
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cv2.imwrite(DEBUG_PROTO, (pm * 255).astype(np.uint8))
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# ---------- 4️⃣ 二值化 + 最大连通域（不裁！） ----------
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inst_proto = (proto_mask > MASK_THRESH).astype(np.uint8)
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inst_proto = largest_cc(inst_proto)
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cv2.imwrite(DEBUG_INST_PROTO, inst_proto * 255)
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# ---------- 5️⃣ proto → ROI ----------
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inst_roi = cv2.resize(
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inst_proto, (w0, h0), interpolation=cv2.INTER_NEAREST
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)
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return inst_roi * 255
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# ======================
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# 主程序
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# ======================
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def main():
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img = cv2.imread(IMAGE_PATH)
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overlay = img.copy()
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rknn = RKNNLite()
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rknn.load_rknn(MODEL_PATH)
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rknn.init_runtime()
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for (x, y, w, h) in ROIS:
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roi = img[y:y + h, x:x + w]
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mask = infer_single_roi(rknn, roi)
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if mask is None:
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continue
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color = np.zeros_like(roi)
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color[mask == 255] = (0, 255, 0)
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overlay[y:y + h, x:x + w] = cv2.addWeighted(
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roi, 0.7, color, 0.3, 0
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)
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rknn.release()
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cv2.imwrite(OUT_OVERLAY, overlay)
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print("✅ 完成:", OUT_OVERLAY)
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if __name__ == "__main__":
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main() |