forked from terryky/tflite_gles_app
-
Notifications
You must be signed in to change notification settings - Fork 0
/
glue_mediapipe.cpp
206 lines (181 loc) · 7.42 KB
/
glue_mediapipe.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
/* ------------------------------------------------ *
* The MIT License (MIT)
* Copyright (c) 2020 terryky1220@gmail.com
* ------------------------------------------------ */
// Copyright 2019 The MediaPipe Authors.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "glue_mediapipe.h"
#include <cmath>
static float
CalculateScale(float min_scale, float max_scale, int stride_index, int num_strides)
{
if (num_strides == 1)
return (min_scale + max_scale) * 0.5f;
else
return min_scale + (max_scale - min_scale) * 1.0 * stride_index / (num_strides - 1.0f);
}
int
GenerateAnchors(std::vector<Anchor>* anchors, const SsdAnchorsCalculatorOptions& options)
{
int layer_id = 0;
while (layer_id < (int)options.strides.size()) {
std::vector<float> anchor_height;
std::vector<float> anchor_width;
std::vector<float> aspect_ratios;
std::vector<float> scales;
// For same strides, we merge the anchors in the same order.
int last_same_stride_layer = layer_id;
while (last_same_stride_layer < (int)options.strides.size() &&
options.strides[last_same_stride_layer] == options.strides[layer_id])
{
const float scale =
CalculateScale(options.min_scale, options.max_scale,
last_same_stride_layer, options.strides.size());
if (last_same_stride_layer == 0 && options.reduce_boxes_in_lowest_layer) {
// For first layer, it can be specified to use predefined anchors.
aspect_ratios.push_back(1.0);
aspect_ratios.push_back(2.0);
aspect_ratios.push_back(0.5);
scales.push_back(0.1);
scales.push_back(scale);
scales.push_back(scale);
} else {
for (int aspect_ratio_id = 0;
aspect_ratio_id < (int)options.aspect_ratios.size();
++aspect_ratio_id) {
aspect_ratios.push_back(options.aspect_ratios[aspect_ratio_id]);
scales.push_back(scale);
}
if (options.interpolated_scale_aspect_ratio > 0.0) {
const float scale_next =
last_same_stride_layer == (int)options.strides.size() - 1
? 1.0f
: CalculateScale(options.min_scale, options.max_scale,
last_same_stride_layer + 1,
options.strides.size());
scales.push_back(std::sqrt(scale * scale_next));
aspect_ratios.push_back(options.interpolated_scale_aspect_ratio);
}
}
last_same_stride_layer++;
}
for (int i = 0; i < (int)aspect_ratios.size(); ++i) {
const float ratio_sqrts = std::sqrt(aspect_ratios[i]);
anchor_height.push_back(scales[i] / ratio_sqrts);
anchor_width .push_back(scales[i] * ratio_sqrts);
}
int feature_map_height = 0;
int feature_map_width = 0;
if (options.feature_map_height.size()) {
feature_map_height = options.feature_map_height[layer_id];
feature_map_width = options.feature_map_width [layer_id];
} else {
const int stride = options.strides[layer_id];
feature_map_height = std::ceil(1.0f * options.input_size_height / stride);
feature_map_width = std::ceil(1.0f * options.input_size_width / stride);
}
for (int y = 0; y < feature_map_height; ++y) {
for (int x = 0; x < feature_map_width; ++x) {
for (int anchor_id = 0; anchor_id < (int)anchor_height.size(); ++anchor_id) {
// TODO: Support specifying anchor_offset_x, anchor_offset_y.
const float x_center = (x + options.anchor_offset_x) * 1.0f / feature_map_width;
const float y_center = (y + options.anchor_offset_y) * 1.0f / feature_map_height;
Anchor new_anchor;
new_anchor.x_center = x_center;
new_anchor.y_center = y_center;
if (options.fixed_anchor_size) {
new_anchor.w = 1.0f;
new_anchor.h = 1.0f;
} else {
new_anchor.w = anchor_width [anchor_id];
new_anchor.h = anchor_height[anchor_id];
}
anchors->push_back(new_anchor);
}
}
}
layer_id = last_same_stride_layer;
}
return 0;
}
/* -------------------------------------------------- *
* Apply NonMaxSuppression:
* https://github.com/tensorflow/tfjs/blob/master/tfjs-core/src/ops/image_ops.ts
* -------------------------------------------------- */
static float
calc_intersection_over_union (detect_region_t ®ion0, detect_region_t ®ion1)
{
float sx0 = region0.topleft.x;
float sy0 = region0.topleft.y;
float ex0 = region0.btmright.x;
float ey0 = region0.btmright.y;
float sx1 = region1.topleft.x;
float sy1 = region1.topleft.y;
float ex1 = region1.btmright.x;
float ey1 = region1.btmright.y;
float xmin0 = std::min (sx0, ex0);
float ymin0 = std::min (sy0, ey0);
float xmax0 = std::max (sx0, ex0);
float ymax0 = std::max (sy0, ey0);
float xmin1 = std::min (sx1, ex1);
float ymin1 = std::min (sy1, ey1);
float xmax1 = std::max (sx1, ex1);
float ymax1 = std::max (sy1, ey1);
float area0 = (ymax0 - ymin0) * (xmax0 - xmin0);
float area1 = (ymax1 - ymin1) * (xmax1 - xmin1);
if (area0 <= 0 || area1 <= 0)
return 0.0f;
float intersect_xmin = std::max (xmin0, xmin1);
float intersect_ymin = std::max (ymin0, ymin1);
float intersect_xmax = std::min (xmax0, xmax1);
float intersect_ymax = std::min (ymax0, ymax1);
float intersect_area = std::max (intersect_ymax - intersect_ymin, 0.0f) *
std::max (intersect_xmax - intersect_xmin, 0.0f);
return intersect_area / (area0 + area1 - intersect_area);
}
static bool
compare (detect_region_t &v1, detect_region_t &v2)
{
if (v1.score > v2.score)
return true;
else
return false;
}
int
non_max_suppression (std::list<detect_region_t> ®ion_list, std::list<detect_region_t> ®ion_nms_list, float iou_thresh)
{
region_list.sort (compare);
for (auto itr = region_list.begin(); itr != region_list.end(); itr ++)
{
detect_region_t region_candidate = *itr;
int ignore_candidate = false;
for (auto itr_nms = region_nms_list.rbegin(); itr_nms != region_nms_list.rend(); itr_nms ++)
{
detect_region_t region_nms = *itr_nms;
float iou = calc_intersection_over_union (region_candidate, region_nms);
if (iou >= iou_thresh)
{
ignore_candidate = true;
break;
}
}
if (!ignore_candidate)
{
region_nms_list.push_back(region_candidate);
if (region_nms_list.size() >= MAX_POSE_NUM)
break;
}
}
return 0;
}