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Add support for different RKNN YOLO models in the backend (#1205)

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james20902
2024-02-01 23:48:02 -05:00
committed by GitHub
parent 62112cd2fd
commit ea1b701ba7
6 changed files with 14 additions and 9 deletions
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8
photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java
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@@ -25,12 +25,14 @@ import java.nio.file.Paths;
import java.util.List;
import org.photonvision.common.logging.LogGroup;
import org.photonvision.common.logging.Logger;
import org.photonvision.rknn.RknnJNI;
public class NeuralNetworkModelManager {
private static NeuralNetworkModelManager INSTANCE;
private static final Logger logger = new Logger(NeuralNetworkModelManager.class, LogGroup.Config);
private final String MODEL_NAME = "note-640-640-yolov5s.rknn";
private final RknnJNI.ModelVersion modelVersion = RknnJNI.ModelVersion.YOLO_V5;
private File defaultModelFile;
private List<String> labels;
@@ -51,7 +53,7 @@ public class NeuralNetworkModelManager {
this.defaultModelFile = new File(modelsFolder, MODEL_NAME);
extractResource(modelResourcePath, defaultModelFile);
File labelsFile = new File(modelsFolder, "labels.txt");
File labelsFile = new File(modelsFolder, "labels_v5.txt");
var labelResourcePath = "/models/" + labelsFile.getName();
extractResource(labelResourcePath, labelsFile);
@@ -95,4 +97,8 @@ public class NeuralNetworkModelManager {
public List<String> getLabels() {
return labels;
}
public RknnJNI.ModelVersion getModelVersion() {
return modelVersion;
}
}

5
photon-core/src/main/java/org/photonvision/jni/RknnDetectorJNI.java
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@@ -65,12 +65,11 @@ public class RknnDetectorJNI extends PhotonJNICommon {
long objPointer = -1;
private List<String> labels;
private final Object lock = new Object();
private static final CopyOnWriteArrayList<Long> detectors = new CopyOnWriteArrayList<>();
public RknnObjectDetector(String modelPath, List<String> labels) {
public RknnObjectDetector(String modelPath, List<String> labels, RknnJNI.ModelVersion version) {
synchronized (lock) {
objPointer = RknnJNI.create(modelPath, labels.size());
objPointer = RknnJNI.create(modelPath, labels.size(), version.ordinal(), -1);
detectors.add(objPointer);
System.out.println(
"Created " + objPointer + "! Detectors: " + Arrays.toString(detectors.toArray()));

3
photon-core/src/main/java/org/photonvision/vision/pipe/impl/RknnDetectionPipe.java
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@@ -35,7 +35,8 @@ public class RknnDetectionPipe
this.detector =
new RknnObjectDetector(
NeuralNetworkModelManager.getInstance().getDefaultRknnModel().getAbsolutePath(),
NeuralNetworkModelManager.getInstance().getLabels());
NeuralNetworkModelManager.getInstance().getLabels(),
NeuralNetworkModelManager.getInstance().getModelVersion());
}
@Override