95 lines
2.7 KiB
C++
95 lines
2.7 KiB
C++
/*
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// Copyright (C) 2021-2024 Intel Corporation
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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*/
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#pragma once
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#include <stddef.h>
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#include <memory>
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#include <vector>
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#include <opencv2/core.hpp>
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struct Peak {
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explicit Peak(const cv::Point2f& keypoint = cv::Point2f(-1, -1), const float score = 0.0f, const float tag = 0.0f)
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: keypoint(keypoint),
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score(score),
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tag(tag) {}
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cv::Point2f keypoint;
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float score;
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float tag;
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};
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class Pose {
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public:
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explicit Pose(size_t numJoints) : peaks(numJoints) {}
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void add(size_t index, Peak peak) {
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peaks[index] = peak;
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sum += peak.score;
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poseTag = poseTag * static_cast<float>(validPointsNum) + peak.tag;
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poseCenter = poseCenter * static_cast<float>(validPointsNum) + peak.keypoint;
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validPointsNum += 1;
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poseTag = poseTag / static_cast<float>(validPointsNum);
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poseCenter = poseCenter / static_cast<float>(validPointsNum);
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}
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float getPoseTag() const {
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return poseTag;
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}
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float getMeanScore() const {
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return sum / static_cast<float>(size());
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}
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Peak& getPeak(size_t index) {
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return peaks[index];
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}
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cv::Point2f& getPoseCenter() {
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return poseCenter;
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}
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size_t size() const {
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return peaks.size();
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}
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private:
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std::vector<Peak> peaks;
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cv::Point2f poseCenter = cv::Point2f(0.f, 0.f);
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int validPointsNum = 0;
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float poseTag = 0;
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float sum = 0;
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};
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void findPeaks(const std::vector<cv::Mat>& nmsHeatMaps,
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const std::vector<cv::Mat>& aembdsMaps,
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std::vector<std::vector<Peak>>& allPeaks,
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size_t jointId,
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size_t maxNumPeople,
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float detectionThreshold);
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std::vector<Pose> matchByTag(std::vector<std::vector<Peak>>& allPeaks,
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size_t maxNumPeople,
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size_t numJoints,
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float tagThreshold);
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void adjustAndRefine(std::vector<Pose>& allPoses,
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const std::vector<cv::Mat>& heatMaps,
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const std::vector<cv::Mat>& aembdsMaps,
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int poseId,
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float delta);
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