a/util: Add header for box intersection over union

src/xrt/auxiliary/util/u_box_iou.hpp

@@ -0,0 +1,68 @@
+// Copyright 2021-2022, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Code to deal with bounding boxes for camera-based hand-tracking.
+ * @author Moses Turner <moses@collabora.com>
+ * @author Marcus Edel <marcus.edel@collabora.com>
+ * @ingroup aux_util
+ */
+
+#pragma once
+
+#include <math.h>
+#include "xrt/xrt_defines.h"
+
+namespace xrt::auxiliary::util::box_iou {
+struct Box
+{
+	float cx;
+	float cy;
+	float w;
+	float h;
+
+	// No uninitialized memory!
+	Box() : cx(0.0f), cy(0.0f), w(0.0f), h(0.0f) {}
+	Box(float cx, float cy, float w, float h) : cx(cx), cy(cy), w(w), h(h) {}
+	Box(float cx, float cy, float size) : cx(cx), cy(cy), w(size), h(size) {}
+	Box(xrt_vec2 &center, float size) : cx(center.x), cy(center.y), w(size), h(size) {}
+};
+
+static float
+overlap(float x1, float w1, float x2, float w2)
+{
+	float l1 = x1 - w1 / 2;
+	float l2 = x2 - w2 / 2;
+	float left = l1 > l2 ? l1 : l2;
+
+	float r1 = x1 + w1 / 2;
+	float r2 = x2 + w2 / 2;
+	float right = r1 < r2 ? r1 : r2;
+
+	return right - left;
+}
+
+static float
+boxIntersection(const Box &a, const Box &b)
+{
+	float w = overlap(a.cx, a.w, b.cx, b.w);
+	float h = overlap(a.cy, a.h, b.cy, b.h);
+
+	if (w < 0 || h < 0)
+		return 0;
+
+	return w * h;
+}
+
+static float
+boxUnion(const Box &a, const Box &b)
+{
+	return a.w * a.h + b.w * b.h - boxIntersection(a, b);
+}
+
+static float
+boxIOU(const Box &a, const Box &b)
+{
+	return boxIntersection(a, b) / boxUnion(a, b);
+}
+} // namespace xrt::auxiliary::util::box_iou

src/xrt/tracking/hand/old_rgb/rgb_nms.hpp

@@ -1,4 +1,4 @@
-// Copyright 2021, Collabora, Ltd.
+// Copyright 2021-2022, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -11,14 +11,9 @@
 #include "rgb_sync.hpp"
 #include <math.h>
 
-struct Box
+#include "util/u_box_iou.hpp"
-{
-	float cx;
-	float cy;
-	float w;
-	float h;
-};
 
+using namespace xrt::auxiliary::util::box_iou;
 struct NMSPalm
 {
 	Box bbox;
@@ -27,43 +22,6 @@ struct NMSPalm
 };
 
 
-static float
-overlap(float x1, float w1, float x2, float w2)
-{
-	float l1 = x1 - w1 / 2;
-	float l2 = x2 - w2 / 2;
-	float left = l1 > l2 ? l1 : l2;
-
-	float r1 = x1 + w1 / 2;
-	float r2 = x2 + w2 / 2;
-	float right = r1 < r2 ? r1 : r2;
-
-	return right - left;
-}
-
-static float
-boxIntersection(const Box &a, const Box &b)
-{
-	float w = overlap(a.cx, a.w, b.cx, b.w);
-	float h = overlap(a.cy, a.h, b.cy, b.h);
-
-	if (w < 0 || h < 0)
-		return 0;
-
-	return w * h;
-}
-
-static float
-boxUnion(const Box &a, const Box &b)
-{
-	return a.w * a.h + b.w * b.h - boxIntersection(a, b);
-}
-
-static float
-boxIOU(const Box &a, const Box &b)
-{
-	return boxIntersection(a, b) / boxUnion(a, b);
-}
 
 static NMSPalm
 weightedAvgBoxes(const std::vector<NMSPalm> &detections)