mirror of https://github.com/pjreddie/darknet.git
358 lines
8.2 KiB
C
358 lines
8.2 KiB
C
#include "box.h"
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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int nms_comparator(const void *pa, const void *pb)
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{
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detection a = *(detection *)pa;
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detection b = *(detection *)pb;
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float diff = 0;
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if(b.sort_class >= 0){
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diff = a.prob[b.sort_class] - b.prob[b.sort_class];
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} else {
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diff = a.objectness - b.objectness;
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}
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if(diff < 0) return 1;
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else if(diff > 0) return -1;
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return 0;
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}
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void do_nms_obj(detection *dets, int total, int classes, float thresh)
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{
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int i, j, k;
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k = total-1;
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for(i = 0; i <= k; ++i){
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if(dets[i].objectness == 0){
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detection swap = dets[i];
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dets[i] = dets[k];
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dets[k] = swap;
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--k;
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--i;
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}
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}
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total = k+1;
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for(i = 0; i < total; ++i){
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dets[i].sort_class = -1;
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}
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qsort(dets, total, sizeof(detection), nms_comparator);
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for(i = 0; i < total; ++i){
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if(dets[i].objectness == 0) continue;
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box a = dets[i].bbox;
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for(j = i+1; j < total; ++j){
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if(dets[j].objectness == 0) continue;
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box b = dets[j].bbox;
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if (box_iou(a, b) > thresh){
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dets[j].objectness = 0;
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for(k = 0; k < classes; ++k){
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dets[j].prob[k] = 0;
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}
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}
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}
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}
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}
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void do_nms_sort(detection *dets, int total, int classes, float thresh)
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{
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int i, j, k;
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k = total-1;
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for(i = 0; i <= k; ++i){
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if(dets[i].objectness == 0){
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detection swap = dets[i];
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dets[i] = dets[k];
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dets[k] = swap;
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--k;
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--i;
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}
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}
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total = k+1;
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for(k = 0; k < classes; ++k){
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for(i = 0; i < total; ++i){
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dets[i].sort_class = k;
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}
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qsort(dets, total, sizeof(detection), nms_comparator);
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for(i = 0; i < total; ++i){
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if(dets[i].prob[k] == 0) continue;
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box a = dets[i].bbox;
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for(j = i+1; j < total; ++j){
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box b = dets[j].bbox;
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if (box_iou(a, b) > thresh){
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dets[j].prob[k] = 0;
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}
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}
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}
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}
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}
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box float_to_box(float *f, int stride)
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{
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box b = {0};
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b.x = f[0];
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b.y = f[1*stride];
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b.w = f[2*stride];
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b.h = f[3*stride];
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return b;
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}
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dbox derivative(box a, box b)
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{
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dbox d;
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d.dx = 0;
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d.dw = 0;
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float l1 = a.x - a.w/2;
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float l2 = b.x - b.w/2;
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if (l1 > l2){
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d.dx -= 1;
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d.dw += .5;
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}
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float r1 = a.x + a.w/2;
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float r2 = b.x + b.w/2;
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if(r1 < r2){
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d.dx += 1;
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d.dw += .5;
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}
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if (l1 > r2) {
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d.dx = -1;
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d.dw = 0;
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}
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if (r1 < l2){
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d.dx = 1;
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d.dw = 0;
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}
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d.dy = 0;
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d.dh = 0;
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float t1 = a.y - a.h/2;
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float t2 = b.y - b.h/2;
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if (t1 > t2){
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d.dy -= 1;
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d.dh += .5;
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}
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float b1 = a.y + a.h/2;
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float b2 = b.y + b.h/2;
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if(b1 < b2){
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d.dy += 1;
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d.dh += .5;
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}
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if (t1 > b2) {
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d.dy = -1;
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d.dh = 0;
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}
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if (b1 < t2){
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d.dy = 1;
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d.dh = 0;
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}
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return d;
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}
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float overlap(float x1, float w1, float x2, float w2)
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{
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float l1 = x1 - w1/2;
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float l2 = x2 - w2/2;
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float left = l1 > l2 ? l1 : l2;
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float r1 = x1 + w1/2;
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float r2 = x2 + w2/2;
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float right = r1 < r2 ? r1 : r2;
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return right - left;
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}
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float box_intersection(box a, box b)
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{
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float w = overlap(a.x, a.w, b.x, b.w);
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float h = overlap(a.y, a.h, b.y, b.h);
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if(w < 0 || h < 0) return 0;
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float area = w*h;
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return area;
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}
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float box_union(box a, box b)
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{
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float i = box_intersection(a, b);
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float u = a.w*a.h + b.w*b.h - i;
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return u;
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}
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float box_iou(box a, box b)
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{
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return box_intersection(a, b)/box_union(a, b);
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}
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float box_rmse(box a, box b)
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{
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return sqrt(pow(a.x-b.x, 2) +
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pow(a.y-b.y, 2) +
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pow(a.w-b.w, 2) +
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pow(a.h-b.h, 2));
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}
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dbox dintersect(box a, box b)
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{
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float w = overlap(a.x, a.w, b.x, b.w);
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float h = overlap(a.y, a.h, b.y, b.h);
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dbox dover = derivative(a, b);
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dbox di;
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di.dw = dover.dw*h;
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di.dx = dover.dx*h;
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di.dh = dover.dh*w;
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di.dy = dover.dy*w;
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return di;
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}
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dbox dunion(box a, box b)
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{
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dbox du;
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dbox di = dintersect(a, b);
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du.dw = a.h - di.dw;
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du.dh = a.w - di.dh;
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du.dx = -di.dx;
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du.dy = -di.dy;
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return du;
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}
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void test_dunion()
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{
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box a = {0, 0, 1, 1};
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box dxa= {0+.0001, 0, 1, 1};
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box dya= {0, 0+.0001, 1, 1};
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box dwa= {0, 0, 1+.0001, 1};
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box dha= {0, 0, 1, 1+.0001};
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box b = {.5, .5, .2, .2};
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dbox di = dunion(a,b);
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printf("Union: %f %f %f %f\n", di.dx, di.dy, di.dw, di.dh);
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float inter = box_union(a, b);
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float xinter = box_union(dxa, b);
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float yinter = box_union(dya, b);
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float winter = box_union(dwa, b);
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float hinter = box_union(dha, b);
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xinter = (xinter - inter)/(.0001);
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yinter = (yinter - inter)/(.0001);
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winter = (winter - inter)/(.0001);
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hinter = (hinter - inter)/(.0001);
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printf("Union Manual %f %f %f %f\n", xinter, yinter, winter, hinter);
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}
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void test_dintersect()
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{
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box a = {0, 0, 1, 1};
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box dxa= {0+.0001, 0, 1, 1};
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box dya= {0, 0+.0001, 1, 1};
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box dwa= {0, 0, 1+.0001, 1};
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box dha= {0, 0, 1, 1+.0001};
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box b = {.5, .5, .2, .2};
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dbox di = dintersect(a,b);
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printf("Inter: %f %f %f %f\n", di.dx, di.dy, di.dw, di.dh);
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float inter = box_intersection(a, b);
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float xinter = box_intersection(dxa, b);
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float yinter = box_intersection(dya, b);
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float winter = box_intersection(dwa, b);
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float hinter = box_intersection(dha, b);
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xinter = (xinter - inter)/(.0001);
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yinter = (yinter - inter)/(.0001);
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winter = (winter - inter)/(.0001);
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hinter = (hinter - inter)/(.0001);
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printf("Inter Manual %f %f %f %f\n", xinter, yinter, winter, hinter);
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}
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void test_box()
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{
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test_dintersect();
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test_dunion();
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box a = {0, 0, 1, 1};
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box dxa= {0+.00001, 0, 1, 1};
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box dya= {0, 0+.00001, 1, 1};
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box dwa= {0, 0, 1+.00001, 1};
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box dha= {0, 0, 1, 1+.00001};
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box b = {.5, 0, .2, .2};
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float iou = box_iou(a,b);
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iou = (1-iou)*(1-iou);
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printf("%f\n", iou);
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dbox d = diou(a, b);
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printf("%f %f %f %f\n", d.dx, d.dy, d.dw, d.dh);
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float xiou = box_iou(dxa, b);
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float yiou = box_iou(dya, b);
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float wiou = box_iou(dwa, b);
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float hiou = box_iou(dha, b);
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xiou = ((1-xiou)*(1-xiou) - iou)/(.00001);
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yiou = ((1-yiou)*(1-yiou) - iou)/(.00001);
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wiou = ((1-wiou)*(1-wiou) - iou)/(.00001);
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hiou = ((1-hiou)*(1-hiou) - iou)/(.00001);
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printf("manual %f %f %f %f\n", xiou, yiou, wiou, hiou);
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}
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dbox diou(box a, box b)
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{
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float u = box_union(a,b);
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float i = box_intersection(a,b);
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dbox di = dintersect(a,b);
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dbox du = dunion(a,b);
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dbox dd = {0,0,0,0};
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if(i <= 0 || 1) {
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dd.dx = b.x - a.x;
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dd.dy = b.y - a.y;
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dd.dw = b.w - a.w;
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dd.dh = b.h - a.h;
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return dd;
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}
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dd.dx = 2*pow((1-(i/u)),1)*(di.dx*u - du.dx*i)/(u*u);
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dd.dy = 2*pow((1-(i/u)),1)*(di.dy*u - du.dy*i)/(u*u);
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dd.dw = 2*pow((1-(i/u)),1)*(di.dw*u - du.dw*i)/(u*u);
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dd.dh = 2*pow((1-(i/u)),1)*(di.dh*u - du.dh*i)/(u*u);
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return dd;
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}
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void do_nms(box *boxes, float **probs, int total, int classes, float thresh)
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{
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int i, j, k;
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for(i = 0; i < total; ++i){
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int any = 0;
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for(k = 0; k < classes; ++k) any = any || (probs[i][k] > 0);
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if(!any) {
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continue;
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}
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for(j = i+1; j < total; ++j){
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if (box_iou(boxes[i], boxes[j]) > thresh){
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for(k = 0; k < classes; ++k){
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if (probs[i][k] < probs[j][k]) probs[i][k] = 0;
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else probs[j][k] = 0;
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}
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}
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}
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}
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}
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box encode_box(box b, box anchor)
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{
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box encode;
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encode.x = (b.x - anchor.x) / anchor.w;
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encode.y = (b.y - anchor.y) / anchor.h;
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encode.w = log2(b.w / anchor.w);
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encode.h = log2(b.h / anchor.h);
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return encode;
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}
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box decode_box(box b, box anchor)
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{
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box decode;
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decode.x = b.x * anchor.w + anchor.x;
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decode.y = b.y * anchor.h + anchor.y;
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decode.w = pow(2., b.w) * anchor.w;
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decode.h = pow(2., b.h) * anchor.h;
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return decode;
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}
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