fix: apply NMS again after nmspostprocess to ensure external paramete…

…rs are effective

sscma/core/model/ma_model_yolov5.cpp

@@ -1,7 +1,7 @@
 #include <algorithm>
 #include <forward_list>
-#include <vector> 
 #include <utility>
+#include <vector>
 
 #include "../utils/ma_nms.h"
 
@@ -24,7 +24,7 @@ YoloV5::YoloV5(Engine* p_engine_) : Detector(p_engine_, "yolov5", MA_MODEL_TYPE_
 YoloV5::~YoloV5() {}
 
 static bool generalValid(Engine* engine) {
-    const auto inputs_count = engine->getInputSize();
+    const auto inputs_count  = engine->getInputSize();
     const auto outputs_count = engine->getOutputSize();
 
     if (inputs_count != 1 || outputs_count != 1) {
@@ -37,8 +37,7 @@ static bool generalValid(Engine* engine) {
     if (input_shape.size != 4)
         return false;
 
-    int n = input_shape.dims[0], h = input_shape.dims[1], w = input_shape.dims[2],
-        c        = input_shape.dims[3];
+    int n = input_shape.dims[0], h = input_shape.dims[1], w = input_shape.dims[2], c = input_shape.dims[3];
     bool is_nhwc = c == 3 || c == 1;
 
     if (!is_nhwc)
@@ -55,8 +54,7 @@ static bool generalValid(Engine* engine) {
     if (output_shape.size != 3 && output_shape.size != 4)
         return false;
 
-    if (output_shape.dims[0] != 1 || output_shape.dims[1] != ibox_len || output_shape.dims[2] < 6 ||
-        output_shape.dims[2] > 85)
+    if (output_shape.dims[0] != 1 || output_shape.dims[1] != ibox_len || output_shape.dims[2] < 6 || output_shape.dims[2] > 85)
         return false;
 
     return true;
@@ -67,7 +65,7 @@ static bool nmsValid(Engine* engine) {
     if (engine->getInputSize() != 1 || engine->getOutputSize() != 1)
         return false;
 
-    auto input = engine->getInput(0);
+    auto input  = engine->getInput(0);
     auto output = engine->getOutput(0);
 
     if (input.shape.size != 4 || output.shape.size != 4)
@@ -86,7 +84,7 @@ static bool nmsValid(Engine* engine) {
     auto mb = output.shape.dims[2];
     auto f  = output.shape.dims[3];
 
-    if (b != 1 || cs <= 0 || mb <= 1 || f != 0) 
+    if (b != 1 || cs <= 0 || mb <= 1 || f != 0)
         return false;
 
     return true;
@@ -146,12 +144,7 @@ ma_err_t YoloV5::generalPostProcess() {
                 h /= img_.height;
             }
 
-            ma_bbox_t box{.x      = MA_CLIP(x, 0, 1.0f),
-                          .y      = MA_CLIP(y, 0, 1.0f),
-                          .w      = MA_CLIP(w, 0, 1.0f),
-                          .h      = MA_CLIP(h, 0, 1.0f),
-                          .score  = score,
-                          .target = target};
+            ma_bbox_t box{.x = MA_CLIP(x, 0, 1.0f), .y = MA_CLIP(y, 0, 1.0f), .w = MA_CLIP(w, 0, 1.0f), .h = MA_CLIP(h, 0, 1.0f), .score = score, .target = target};
 
             results_.emplace_front(box);
         }
@@ -187,12 +180,7 @@ ma_err_t YoloV5::generalPostProcess() {
                 h /= img_.height;
             }
 
-            ma_bbox_t box{.x      = MA_CLIP(x, 0, 1.0f),
-                          .y      = MA_CLIP(y, 0, 1.0f),
-                          .w      = MA_CLIP(w, 0, 1.0f),
-                          .h      = MA_CLIP(h, 0, 1.0f),
-                          .score  = score,
-                          .target = target};
+            ma_bbox_t box{.x = MA_CLIP(x, 0, 1.0f), .y = MA_CLIP(y, 0, 1.0f), .w = MA_CLIP(w, 0, 1.0f), .h = MA_CLIP(h, 0, 1.0f), .score = score, .target = target};
 
             results_.emplace_front(box);
         }
@@ -254,7 +242,7 @@ ma_err_t YoloV5::nmsPostProcess() {
                     ptr += sizeof(P);
 
                     ma_bbox_t res;
-                    
+
                     auto x_min = static_cast<float>(bbox.x_min - zp) * scale;
                     auto y_min = static_cast<float>(bbox.y_min - zp) * scale;
                     auto x_max = static_cast<float>(bbox.x_max - zp) * scale;
@@ -264,7 +252,7 @@ ma_err_t YoloV5::nmsPostProcess() {
                     res.x      = x_min + res.w * 0.5;
                     res.y      = y_min + res.h * 0.5;
                     res.score  = static_cast<float>(bbox.score - zp) * scale;
-                    
+
                     res.target = static_cast<int>(i);
 
                     res.x = MA_CLIP(res.x, 0, 1.0f);
@@ -276,7 +264,7 @@ ma_err_t YoloV5::nmsPostProcess() {
                 }
             }
         } break;
-            
+
         case MA_TENSOR_TYPE_NMS_BBOX_F32: {
             using T = float32_t;
             using P = hailo_bbox_float32_t;
@@ -297,13 +285,13 @@ ma_err_t YoloV5::nmsPostProcess() {
                     ptr += sizeof(P);
 
                     ma_bbox_t res;
-                    
+
                     res.w     = bbox.x_max - bbox.x_min;
                     res.h     = bbox.y_max - bbox.y_min;
                     res.x     = bbox.x_min + res.w * 0.5;
                     res.y     = bbox.y_min + res.h * 0.5;
                     res.score = bbox.score;
-                    
+
                     res.target = static_cast<int>(i);
 
                     res.x = MA_CLIP(res.x, 0, 1.0f);
@@ -315,11 +303,15 @@ ma_err_t YoloV5::nmsPostProcess() {
                 }
             }
         } break;
-           
+
         default:
             return MA_ENOTSUP;
     }
 
+    ma::utils::nms(results_, threshold_nms_, threshold_score_, false, false);
+
+    results_.sort([](const ma_bbox_t& a, const ma_bbox_t& b) { return a.x < b.x; });
+
     return MA_OK;
 #else
     return MA_FAILED;
@@ -342,7 +334,7 @@ ma_err_t YoloV5::postprocess() {
                     threshold_score_ = thr;
                 }
                 thr = threshold_nms_;
-                rc   = (*ph)(3, &thr, sizeof(float));
+                rc  = (*ph)(3, &thr, sizeof(float));
                 if (rc == MA_OK) {
                     threshold_nms_ = thr;
                 }
@@ -355,6 +347,7 @@ ma_err_t YoloV5::postprocess() {
             return generalPostProcess();
     }
 
+
     return MA_ENOTSUP;
 }
 }  // namespace ma::model