mirror of
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d/ht: improve anchor data for hand detector
This commit is contained in:
Simon Zeni
Moses Turner
parent
fd065cca6e
commit
c67587c066
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@ -50,7 +50,6 @@
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#include <iostream>
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#include <exception>
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#define ORT_CHECK(g_ort, expr) \
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do { \
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OrtStatus *onnx_status = (expr); \
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@ -62,376 +61,6 @@
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} \
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} while (0);
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static std::vector<std::vector<float>> anchor{
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{0.031250, 0.031250, 1.000000, 1.000000}, {0.031250, 0.031250, 1.000000, 1.000000},
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{0.093750, 0.031250, 1.000000, 1.000000}, {0.093750, 0.031250, 1.000000, 1.000000},
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{0.156250, 0.031250, 1.000000, 1.000000}, {0.156250, 0.031250, 1.000000, 1.000000},
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{0.218750, 0.031250, 1.000000, 1.000000}, {0.218750, 0.031250, 1.000000, 1.000000},
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{0.281250, 0.031250, 1.000000, 1.000000}, {0.281250, 0.031250, 1.000000, 1.000000},
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{0.343750, 0.031250, 1.000000, 1.000000}, {0.343750, 0.031250, 1.000000, 1.000000},
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{0.406250, 0.031250, 1.000000, 1.000000}, {0.406250, 0.031250, 1.000000, 1.000000},
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{0.468750, 0.031250, 1.000000, 1.000000}, {0.468750, 0.031250, 1.000000, 1.000000},
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{0.531250, 0.031250, 1.000000, 1.000000}, {0.531250, 0.031250, 1.000000, 1.000000},
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{0.593750, 0.031250, 1.000000, 1.000000}, {0.593750, 0.031250, 1.000000, 1.000000},
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{0.656250, 0.031250, 1.000000, 1.000000}, {0.656250, 0.031250, 1.000000, 1.000000},
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{0.718750, 0.031250, 1.000000, 1.000000}, {0.718750, 0.031250, 1.000000, 1.000000},
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{0.781250, 0.031250, 1.000000, 1.000000}, {0.781250, 0.031250, 1.000000, 1.000000},
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{0.843750, 0.031250, 1.000000, 1.000000}, {0.843750, 0.031250, 1.000000, 1.000000},
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{0.906250, 0.031250, 1.000000, 1.000000}, {0.906250, 0.031250, 1.000000, 1.000000},
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{0.968750, 0.031250, 1.000000, 1.000000}, {0.968750, 0.031250, 1.000000, 1.000000},
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{0.031250, 0.093750, 1.000000, 1.000000}, {0.031250, 0.093750, 1.000000, 1.000000},
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{0.093750, 0.093750, 1.000000, 1.000000}, {0.093750, 0.093750, 1.000000, 1.000000},
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{0.156250, 0.093750, 1.000000, 1.000000}, {0.156250, 0.093750, 1.000000, 1.000000},
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{0.218750, 0.093750, 1.000000, 1.000000}, {0.218750, 0.093750, 1.000000, 1.000000},
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{0.281250, 0.093750, 1.000000, 1.000000}, {0.281250, 0.093750, 1.000000, 1.000000},
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{0.343750, 0.093750, 1.000000, 1.000000}, {0.343750, 0.093750, 1.000000, 1.000000},
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{0.406250, 0.093750, 1.000000, 1.000000}, {0.406250, 0.093750, 1.000000, 1.000000},
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{0.468750, 0.093750, 1.000000, 1.000000}, {0.468750, 0.093750, 1.000000, 1.000000},
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{0.531250, 0.093750, 1.000000, 1.000000}, {0.531250, 0.093750, 1.000000, 1.000000},
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{0.593750, 0.093750, 1.000000, 1.000000}, {0.593750, 0.093750, 1.000000, 1.000000},
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{0.656250, 0.093750, 1.000000, 1.000000}, {0.656250, 0.093750, 1.000000, 1.000000},
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{0.718750, 0.093750, 1.000000, 1.000000}, {0.718750, 0.093750, 1.000000, 1.000000},
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{0.781250, 0.093750, 1.000000, 1.000000}, {0.781250, 0.093750, 1.000000, 1.000000},
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{0.843750, 0.093750, 1.000000, 1.000000}, {0.843750, 0.093750, 1.000000, 1.000000},
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{0.906250, 0.093750, 1.000000, 1.000000}, {0.906250, 0.093750, 1.000000, 1.000000},
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{0.968750, 0.093750, 1.000000, 1.000000}, {0.968750, 0.093750, 1.000000, 1.000000},
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{0.031250, 0.156250, 1.000000, 1.000000}, {0.031250, 0.156250, 1.000000, 1.000000},
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{0.093750, 0.156250, 1.000000, 1.000000}, {0.093750, 0.156250, 1.000000, 1.000000},
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{0.156250, 0.156250, 1.000000, 1.000000}, {0.156250, 0.156250, 1.000000, 1.000000},
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{0.218750, 0.156250, 1.000000, 1.000000}, {0.218750, 0.156250, 1.000000, 1.000000},
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{0.281250, 0.156250, 1.000000, 1.000000}, {0.281250, 0.156250, 1.000000, 1.000000},
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{0.343750, 0.156250, 1.000000, 1.000000}, {0.343750, 0.156250, 1.000000, 1.000000},
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{0.406250, 0.156250, 1.000000, 1.000000}, {0.406250, 0.156250, 1.000000, 1.000000},
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{0.468750, 0.156250, 1.000000, 1.000000}, {0.468750, 0.156250, 1.000000, 1.000000},
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{0.531250, 0.156250, 1.000000, 1.000000}, {0.531250, 0.156250, 1.000000, 1.000000},
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{0.593750, 0.156250, 1.000000, 1.000000}, {0.593750, 0.156250, 1.000000, 1.000000},
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{0.656250, 0.156250, 1.000000, 1.000000}, {0.656250, 0.156250, 1.000000, 1.000000},
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{0.718750, 0.156250, 1.000000, 1.000000}, {0.718750, 0.156250, 1.000000, 1.000000},
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{0.781250, 0.156250, 1.000000, 1.000000}, {0.781250, 0.156250, 1.000000, 1.000000},
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{0.843750, 0.156250, 1.000000, 1.000000}, {0.843750, 0.156250, 1.000000, 1.000000},
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{0.906250, 0.156250, 1.000000, 1.000000}, {0.906250, 0.156250, 1.000000, 1.000000},
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{0.968750, 0.156250, 1.000000, 1.000000}, {0.968750, 0.156250, 1.000000, 1.000000},
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{0.031250, 0.218750, 1.000000, 1.000000}, {0.031250, 0.218750, 1.000000, 1.000000},
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{0.093750, 0.218750, 1.000000, 1.000000}, {0.093750, 0.218750, 1.000000, 1.000000},
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{0.156250, 0.218750, 1.000000, 1.000000}, {0.156250, 0.218750, 1.000000, 1.000000},
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{0.218750, 0.218750, 1.000000, 1.000000}, {0.218750, 0.218750, 1.000000, 1.000000},
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{0.281250, 0.218750, 1.000000, 1.000000}, {0.281250, 0.218750, 1.000000, 1.000000},
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{0.343750, 0.218750, 1.000000, 1.000000}, {0.343750, 0.218750, 1.000000, 1.000000},
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{0.406250, 0.218750, 1.000000, 1.000000}, {0.406250, 0.218750, 1.000000, 1.000000},
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{0.468750, 0.218750, 1.000000, 1.000000}, {0.468750, 0.218750, 1.000000, 1.000000},
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{0.531250, 0.218750, 1.000000, 1.000000}, {0.531250, 0.218750, 1.000000, 1.000000},
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{0.593750, 0.218750, 1.000000, 1.000000}, {0.593750, 0.218750, 1.000000, 1.000000},
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{0.656250, 0.218750, 1.000000, 1.000000}, {0.656250, 0.218750, 1.000000, 1.000000},
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{0.718750, 0.218750, 1.000000, 1.000000}, {0.718750, 0.218750, 1.000000, 1.000000},
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{0.781250, 0.218750, 1.000000, 1.000000}, {0.781250, 0.218750, 1.000000, 1.000000},
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{0.843750, 0.218750, 1.000000, 1.000000}, {0.843750, 0.218750, 1.000000, 1.000000},
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{0.906250, 0.218750, 1.000000, 1.000000}, {0.906250, 0.218750, 1.000000, 1.000000},
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{0.968750, 0.218750, 1.000000, 1.000000}, {0.968750, 0.218750, 1.000000, 1.000000},
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{0.031250, 0.281250, 1.000000, 1.000000}, {0.031250, 0.281250, 1.000000, 1.000000},
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{0.093750, 0.281250, 1.000000, 1.000000}, {0.093750, 0.281250, 1.000000, 1.000000},
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{0.156250, 0.281250, 1.000000, 1.000000}, {0.156250, 0.281250, 1.000000, 1.000000},
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{0.218750, 0.281250, 1.000000, 1.000000}, {0.218750, 0.281250, 1.000000, 1.000000},
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{0.281250, 0.281250, 1.000000, 1.000000}, {0.281250, 0.281250, 1.000000, 1.000000},
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{0.343750, 0.281250, 1.000000, 1.000000}, {0.343750, 0.281250, 1.000000, 1.000000},
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{0.406250, 0.281250, 1.000000, 1.000000}, {0.406250, 0.281250, 1.000000, 1.000000},
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{0.468750, 0.281250, 1.000000, 1.000000}, {0.468750, 0.281250, 1.000000, 1.000000},
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{0.531250, 0.281250, 1.000000, 1.000000}, {0.531250, 0.281250, 1.000000, 1.000000},
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{0.593750, 0.281250, 1.000000, 1.000000}, {0.593750, 0.281250, 1.000000, 1.000000},
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{0.656250, 0.281250, 1.000000, 1.000000}, {0.656250, 0.281250, 1.000000, 1.000000},
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{0.718750, 0.281250, 1.000000, 1.000000}, {0.718750, 0.281250, 1.000000, 1.000000},
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{0.781250, 0.281250, 1.000000, 1.000000}, {0.781250, 0.281250, 1.000000, 1.000000},
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{0.843750, 0.281250, 1.000000, 1.000000}, {0.843750, 0.281250, 1.000000, 1.000000},
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{0.906250, 0.281250, 1.000000, 1.000000}, {0.906250, 0.281250, 1.000000, 1.000000},
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{0.968750, 0.281250, 1.000000, 1.000000}, {0.968750, 0.281250, 1.000000, 1.000000},
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{0.031250, 0.343750, 1.000000, 1.000000}, {0.031250, 0.343750, 1.000000, 1.000000},
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{0.093750, 0.343750, 1.000000, 1.000000}, {0.093750, 0.343750, 1.000000, 1.000000},
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{0.156250, 0.343750, 1.000000, 1.000000}, {0.156250, 0.343750, 1.000000, 1.000000},
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{0.218750, 0.343750, 1.000000, 1.000000}, {0.218750, 0.343750, 1.000000, 1.000000},
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{0.281250, 0.343750, 1.000000, 1.000000}, {0.281250, 0.343750, 1.000000, 1.000000},
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{0.343750, 0.343750, 1.000000, 1.000000}, {0.343750, 0.343750, 1.000000, 1.000000},
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{0.406250, 0.343750, 1.000000, 1.000000}, {0.406250, 0.343750, 1.000000, 1.000000},
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{0.468750, 0.343750, 1.000000, 1.000000}, {0.468750, 0.343750, 1.000000, 1.000000},
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{0.531250, 0.343750, 1.000000, 1.000000}, {0.531250, 0.343750, 1.000000, 1.000000},
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{0.593750, 0.343750, 1.000000, 1.000000}, {0.593750, 0.343750, 1.000000, 1.000000},
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{0.656250, 0.343750, 1.000000, 1.000000}, {0.656250, 0.343750, 1.000000, 1.000000},
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{0.718750, 0.343750, 1.000000, 1.000000}, {0.718750, 0.343750, 1.000000, 1.000000},
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{0.781250, 0.343750, 1.000000, 1.000000}, {0.781250, 0.343750, 1.000000, 1.000000},
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{0.843750, 0.343750, 1.000000, 1.000000}, {0.843750, 0.343750, 1.000000, 1.000000},
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{0.906250, 0.343750, 1.000000, 1.000000}, {0.906250, 0.343750, 1.000000, 1.000000},
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{0.968750, 0.343750, 1.000000, 1.000000}, {0.968750, 0.343750, 1.000000, 1.000000},
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{0.031250, 0.406250, 1.000000, 1.000000}, {0.031250, 0.406250, 1.000000, 1.000000},
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{0.093750, 0.406250, 1.000000, 1.000000}, {0.093750, 0.406250, 1.000000, 1.000000},
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{0.156250, 0.406250, 1.000000, 1.000000}, {0.156250, 0.406250, 1.000000, 1.000000},
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{0.218750, 0.406250, 1.000000, 1.000000}, {0.218750, 0.406250, 1.000000, 1.000000},
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{0.281250, 0.406250, 1.000000, 1.000000}, {0.281250, 0.406250, 1.000000, 1.000000},
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{0.343750, 0.406250, 1.000000, 1.000000}, {0.343750, 0.406250, 1.000000, 1.000000},
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{0.406250, 0.406250, 1.000000, 1.000000}, {0.406250, 0.406250, 1.000000, 1.000000},
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{0.468750, 0.406250, 1.000000, 1.000000}, {0.468750, 0.406250, 1.000000, 1.000000},
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{0.531250, 0.406250, 1.000000, 1.000000}, {0.531250, 0.406250, 1.000000, 1.000000},
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||||
{0.593750, 0.406250, 1.000000, 1.000000}, {0.593750, 0.406250, 1.000000, 1.000000},
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{0.656250, 0.406250, 1.000000, 1.000000}, {0.656250, 0.406250, 1.000000, 1.000000},
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{0.718750, 0.406250, 1.000000, 1.000000}, {0.718750, 0.406250, 1.000000, 1.000000},
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||||
{0.781250, 0.406250, 1.000000, 1.000000}, {0.781250, 0.406250, 1.000000, 1.000000},
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{0.843750, 0.406250, 1.000000, 1.000000}, {0.843750, 0.406250, 1.000000, 1.000000},
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{0.906250, 0.406250, 1.000000, 1.000000}, {0.906250, 0.406250, 1.000000, 1.000000},
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{0.968750, 0.406250, 1.000000, 1.000000}, {0.968750, 0.406250, 1.000000, 1.000000},
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{0.031250, 0.468750, 1.000000, 1.000000}, {0.031250, 0.468750, 1.000000, 1.000000},
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{0.093750, 0.468750, 1.000000, 1.000000}, {0.093750, 0.468750, 1.000000, 1.000000},
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{0.156250, 0.468750, 1.000000, 1.000000}, {0.156250, 0.468750, 1.000000, 1.000000},
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{0.218750, 0.468750, 1.000000, 1.000000}, {0.218750, 0.468750, 1.000000, 1.000000},
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{0.281250, 0.468750, 1.000000, 1.000000}, {0.281250, 0.468750, 1.000000, 1.000000},
|
||||
{0.343750, 0.468750, 1.000000, 1.000000}, {0.343750, 0.468750, 1.000000, 1.000000},
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{0.406250, 0.468750, 1.000000, 1.000000}, {0.406250, 0.468750, 1.000000, 1.000000},
|
||||
{0.468750, 0.468750, 1.000000, 1.000000}, {0.468750, 0.468750, 1.000000, 1.000000},
|
||||
{0.531250, 0.468750, 1.000000, 1.000000}, {0.531250, 0.468750, 1.000000, 1.000000},
|
||||
{0.593750, 0.468750, 1.000000, 1.000000}, {0.593750, 0.468750, 1.000000, 1.000000},
|
||||
{0.656250, 0.468750, 1.000000, 1.000000}, {0.656250, 0.468750, 1.000000, 1.000000},
|
||||
{0.718750, 0.468750, 1.000000, 1.000000}, {0.718750, 0.468750, 1.000000, 1.000000},
|
||||
{0.781250, 0.468750, 1.000000, 1.000000}, {0.781250, 0.468750, 1.000000, 1.000000},
|
||||
{0.843750, 0.468750, 1.000000, 1.000000}, {0.843750, 0.468750, 1.000000, 1.000000},
|
||||
{0.906250, 0.468750, 1.000000, 1.000000}, {0.906250, 0.468750, 1.000000, 1.000000},
|
||||
{0.968750, 0.468750, 1.000000, 1.000000}, {0.968750, 0.468750, 1.000000, 1.000000},
|
||||
{0.031250, 0.531250, 1.000000, 1.000000}, {0.031250, 0.531250, 1.000000, 1.000000},
|
||||
{0.093750, 0.531250, 1.000000, 1.000000}, {0.093750, 0.531250, 1.000000, 1.000000},
|
||||
{0.156250, 0.531250, 1.000000, 1.000000}, {0.156250, 0.531250, 1.000000, 1.000000},
|
||||
{0.218750, 0.531250, 1.000000, 1.000000}, {0.218750, 0.531250, 1.000000, 1.000000},
|
||||
{0.281250, 0.531250, 1.000000, 1.000000}, {0.281250, 0.531250, 1.000000, 1.000000},
|
||||
{0.343750, 0.531250, 1.000000, 1.000000}, {0.343750, 0.531250, 1.000000, 1.000000},
|
||||
{0.406250, 0.531250, 1.000000, 1.000000}, {0.406250, 0.531250, 1.000000, 1.000000},
|
||||
{0.468750, 0.531250, 1.000000, 1.000000}, {0.468750, 0.531250, 1.000000, 1.000000},
|
||||
{0.531250, 0.531250, 1.000000, 1.000000}, {0.531250, 0.531250, 1.000000, 1.000000},
|
||||
{0.593750, 0.531250, 1.000000, 1.000000}, {0.593750, 0.531250, 1.000000, 1.000000},
|
||||
{0.656250, 0.531250, 1.000000, 1.000000}, {0.656250, 0.531250, 1.000000, 1.000000},
|
||||
{0.718750, 0.531250, 1.000000, 1.000000}, {0.718750, 0.531250, 1.000000, 1.000000},
|
||||
{0.781250, 0.531250, 1.000000, 1.000000}, {0.781250, 0.531250, 1.000000, 1.000000},
|
||||
{0.843750, 0.531250, 1.000000, 1.000000}, {0.843750, 0.531250, 1.000000, 1.000000},
|
||||
{0.906250, 0.531250, 1.000000, 1.000000}, {0.906250, 0.531250, 1.000000, 1.000000},
|
||||
{0.968750, 0.531250, 1.000000, 1.000000}, {0.968750, 0.531250, 1.000000, 1.000000},
|
||||
{0.031250, 0.593750, 1.000000, 1.000000}, {0.031250, 0.593750, 1.000000, 1.000000},
|
||||
{0.093750, 0.593750, 1.000000, 1.000000}, {0.093750, 0.593750, 1.000000, 1.000000},
|
||||
{0.156250, 0.593750, 1.000000, 1.000000}, {0.156250, 0.593750, 1.000000, 1.000000},
|
||||
{0.218750, 0.593750, 1.000000, 1.000000}, {0.218750, 0.593750, 1.000000, 1.000000},
|
||||
{0.281250, 0.593750, 1.000000, 1.000000}, {0.281250, 0.593750, 1.000000, 1.000000},
|
||||
{0.343750, 0.593750, 1.000000, 1.000000}, {0.343750, 0.593750, 1.000000, 1.000000},
|
||||
{0.406250, 0.593750, 1.000000, 1.000000}, {0.406250, 0.593750, 1.000000, 1.000000},
|
||||
{0.468750, 0.593750, 1.000000, 1.000000}, {0.468750, 0.593750, 1.000000, 1.000000},
|
||||
{0.531250, 0.593750, 1.000000, 1.000000}, {0.531250, 0.593750, 1.000000, 1.000000},
|
||||
{0.593750, 0.593750, 1.000000, 1.000000}, {0.593750, 0.593750, 1.000000, 1.000000},
|
||||
{0.656250, 0.593750, 1.000000, 1.000000}, {0.656250, 0.593750, 1.000000, 1.000000},
|
||||
{0.718750, 0.593750, 1.000000, 1.000000}, {0.718750, 0.593750, 1.000000, 1.000000},
|
||||
{0.781250, 0.593750, 1.000000, 1.000000}, {0.781250, 0.593750, 1.000000, 1.000000},
|
||||
{0.843750, 0.593750, 1.000000, 1.000000}, {0.843750, 0.593750, 1.000000, 1.000000},
|
||||
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|
||||
{0.375000, 0.125000, 1.000000, 1.000000}, {0.375000, 0.125000, 1.000000, 1.000000},
|
||||
{0.625000, 0.125000, 1.000000, 1.000000}, {0.625000, 0.125000, 1.000000, 1.000000},
|
||||
{0.625000, 0.125000, 1.000000, 1.000000}, {0.625000, 0.125000, 1.000000, 1.000000},
|
||||
{0.625000, 0.125000, 1.000000, 1.000000}, {0.625000, 0.125000, 1.000000, 1.000000},
|
||||
{0.875000, 0.125000, 1.000000, 1.000000}, {0.875000, 0.125000, 1.000000, 1.000000},
|
||||
{0.875000, 0.125000, 1.000000, 1.000000}, {0.875000, 0.125000, 1.000000, 1.000000},
|
||||
{0.875000, 0.125000, 1.000000, 1.000000}, {0.875000, 0.125000, 1.000000, 1.000000},
|
||||
{0.125000, 0.375000, 1.000000, 1.000000}, {0.125000, 0.375000, 1.000000, 1.000000},
|
||||
{0.125000, 0.375000, 1.000000, 1.000000}, {0.125000, 0.375000, 1.000000, 1.000000},
|
||||
{0.125000, 0.375000, 1.000000, 1.000000}, {0.125000, 0.375000, 1.000000, 1.000000},
|
||||
{0.375000, 0.375000, 1.000000, 1.000000}, {0.375000, 0.375000, 1.000000, 1.000000},
|
||||
{0.375000, 0.375000, 1.000000, 1.000000}, {0.375000, 0.375000, 1.000000, 1.000000},
|
||||
{0.375000, 0.375000, 1.000000, 1.000000}, {0.375000, 0.375000, 1.000000, 1.000000},
|
||||
{0.625000, 0.375000, 1.000000, 1.000000}, {0.625000, 0.375000, 1.000000, 1.000000},
|
||||
{0.625000, 0.375000, 1.000000, 1.000000}, {0.625000, 0.375000, 1.000000, 1.000000},
|
||||
{0.625000, 0.375000, 1.000000, 1.000000}, {0.625000, 0.375000, 1.000000, 1.000000},
|
||||
{0.875000, 0.375000, 1.000000, 1.000000}, {0.875000, 0.375000, 1.000000, 1.000000},
|
||||
{0.875000, 0.375000, 1.000000, 1.000000}, {0.875000, 0.375000, 1.000000, 1.000000},
|
||||
{0.875000, 0.375000, 1.000000, 1.000000}, {0.875000, 0.375000, 1.000000, 1.000000},
|
||||
{0.125000, 0.625000, 1.000000, 1.000000}, {0.125000, 0.625000, 1.000000, 1.000000},
|
||||
{0.125000, 0.625000, 1.000000, 1.000000}, {0.125000, 0.625000, 1.000000, 1.000000},
|
||||
{0.125000, 0.625000, 1.000000, 1.000000}, {0.125000, 0.625000, 1.000000, 1.000000},
|
||||
{0.375000, 0.625000, 1.000000, 1.000000}, {0.375000, 0.625000, 1.000000, 1.000000},
|
||||
{0.375000, 0.625000, 1.000000, 1.000000}, {0.375000, 0.625000, 1.000000, 1.000000},
|
||||
{0.375000, 0.625000, 1.000000, 1.000000}, {0.375000, 0.625000, 1.000000, 1.000000},
|
||||
{0.625000, 0.625000, 1.000000, 1.000000}, {0.625000, 0.625000, 1.000000, 1.000000},
|
||||
{0.625000, 0.625000, 1.000000, 1.000000}, {0.625000, 0.625000, 1.000000, 1.000000},
|
||||
{0.625000, 0.625000, 1.000000, 1.000000}, {0.625000, 0.625000, 1.000000, 1.000000},
|
||||
{0.875000, 0.625000, 1.000000, 1.000000}, {0.875000, 0.625000, 1.000000, 1.000000},
|
||||
{0.875000, 0.625000, 1.000000, 1.000000}, {0.875000, 0.625000, 1.000000, 1.000000},
|
||||
{0.875000, 0.625000, 1.000000, 1.000000}, {0.875000, 0.625000, 1.000000, 1.000000},
|
||||
{0.125000, 0.875000, 1.000000, 1.000000}, {0.125000, 0.875000, 1.000000, 1.000000},
|
||||
{0.125000, 0.875000, 1.000000, 1.000000}, {0.125000, 0.875000, 1.000000, 1.000000},
|
||||
{0.125000, 0.875000, 1.000000, 1.000000}, {0.125000, 0.875000, 1.000000, 1.000000},
|
||||
{0.375000, 0.875000, 1.000000, 1.000000}, {0.375000, 0.875000, 1.000000, 1.000000},
|
||||
{0.375000, 0.875000, 1.000000, 1.000000}, {0.375000, 0.875000, 1.000000, 1.000000},
|
||||
{0.375000, 0.875000, 1.000000, 1.000000}, {0.375000, 0.875000, 1.000000, 1.000000},
|
||||
{0.625000, 0.875000, 1.000000, 1.000000}, {0.625000, 0.875000, 1.000000, 1.000000},
|
||||
{0.625000, 0.875000, 1.000000, 1.000000}, {0.625000, 0.875000, 1.000000, 1.000000},
|
||||
{0.625000, 0.875000, 1.000000, 1.000000}, {0.625000, 0.875000, 1.000000, 1.000000},
|
||||
{0.875000, 0.875000, 1.000000, 1.000000}, {0.875000, 0.875000, 1.000000, 1.000000},
|
||||
{0.875000, 0.875000, 1.000000, 1.000000}, {0.875000, 0.875000, 1.000000, 1.000000},
|
||||
{0.875000, 0.875000, 1.000000, 1.000000}, {0.875000, 0.875000, 1.000000, 1.000000}};
|
||||
|
||||
static Hand2D
|
||||
runKeypointEstimator(struct ht_view *htv, cv::Mat img)
|
||||
{
|
||||
|
|
@ -503,6 +132,246 @@ runKeypointEstimator(struct ht_view *htv, cv::Mat img)
|
|||
|
||||
#undef HEAVY_SCRIBBLE
|
||||
|
||||
/*
|
||||
* Anchors data taken from mediapipe's hands detection, used for single-shot
|
||||
* detector model.
|
||||
*
|
||||
* See:
|
||||
* https://google.github.io/mediapipe/solutions/hands.html#palm-detection-model
|
||||
* https://github.com/google/mediapipe/blob/v0.8.8/mediapipe/calculators/tflite/ssd_anchors_calculator.cc#L101
|
||||
* https://github.com/google/mediapipe/blob/v0.8.8/mediapipe/modules/palm_detection/palm_detection_cpu.pbtxt#L60
|
||||
*/
|
||||
struct anchor
|
||||
{
|
||||
float x, y;
|
||||
};
|
||||
|
||||
static const struct anchor anchors[896]{
|
||||
{0.031250, 0.031250}, {0.031250, 0.031250}, {0.093750, 0.031250}, {0.093750, 0.031250}, //
|
||||
{0.156250, 0.031250}, {0.156250, 0.031250}, {0.218750, 0.031250}, {0.218750, 0.031250}, //
|
||||
{0.281250, 0.031250}, {0.281250, 0.031250}, {0.343750, 0.031250}, {0.343750, 0.031250}, //
|
||||
{0.406250, 0.031250}, {0.406250, 0.031250}, {0.468750, 0.031250}, {0.468750, 0.031250}, //
|
||||
{0.531250, 0.031250}, {0.531250, 0.031250}, {0.593750, 0.031250}, {0.593750, 0.031250}, //
|
||||
{0.656250, 0.031250}, {0.656250, 0.031250}, {0.718750, 0.031250}, {0.718750, 0.031250}, //
|
||||
{0.781250, 0.031250}, {0.781250, 0.031250}, {0.843750, 0.031250}, {0.843750, 0.031250}, //
|
||||
{0.906250, 0.031250}, {0.906250, 0.031250}, {0.968750, 0.031250}, {0.968750, 0.031250}, //
|
||||
{0.031250, 0.093750}, {0.031250, 0.093750}, {0.093750, 0.093750}, {0.093750, 0.093750}, //
|
||||
{0.156250, 0.093750}, {0.156250, 0.093750}, {0.218750, 0.093750}, {0.218750, 0.093750}, //
|
||||
{0.281250, 0.093750}, {0.281250, 0.093750}, {0.343750, 0.093750}, {0.343750, 0.093750}, //
|
||||
{0.406250, 0.093750}, {0.406250, 0.093750}, {0.468750, 0.093750}, {0.468750, 0.093750}, //
|
||||
{0.531250, 0.093750}, {0.531250, 0.093750}, {0.593750, 0.093750}, {0.593750, 0.093750}, //
|
||||
{0.656250, 0.093750}, {0.656250, 0.093750}, {0.718750, 0.093750}, {0.718750, 0.093750}, //
|
||||
{0.781250, 0.093750}, {0.781250, 0.093750}, {0.843750, 0.093750}, {0.843750, 0.093750}, //
|
||||
{0.906250, 0.093750}, {0.906250, 0.093750}, {0.968750, 0.093750}, {0.968750, 0.093750}, //
|
||||
{0.031250, 0.156250}, {0.031250, 0.156250}, {0.093750, 0.156250}, {0.093750, 0.156250}, //
|
||||
{0.156250, 0.156250}, {0.156250, 0.156250}, {0.218750, 0.156250}, {0.218750, 0.156250}, //
|
||||
{0.281250, 0.156250}, {0.281250, 0.156250}, {0.343750, 0.156250}, {0.343750, 0.156250}, //
|
||||
{0.406250, 0.156250}, {0.406250, 0.156250}, {0.468750, 0.156250}, {0.468750, 0.156250}, //
|
||||
{0.531250, 0.156250}, {0.531250, 0.156250}, {0.593750, 0.156250}, {0.593750, 0.156250}, //
|
||||
{0.656250, 0.156250}, {0.656250, 0.156250}, {0.718750, 0.156250}, {0.718750, 0.156250}, //
|
||||
{0.781250, 0.156250}, {0.781250, 0.156250}, {0.843750, 0.156250}, {0.843750, 0.156250}, //
|
||||
{0.906250, 0.156250}, {0.906250, 0.156250}, {0.968750, 0.156250}, {0.968750, 0.156250}, //
|
||||
{0.031250, 0.218750}, {0.031250, 0.218750}, {0.093750, 0.218750}, {0.093750, 0.218750}, //
|
||||
{0.156250, 0.218750}, {0.156250, 0.218750}, {0.218750, 0.218750}, {0.218750, 0.218750}, //
|
||||
{0.281250, 0.218750}, {0.281250, 0.218750}, {0.343750, 0.218750}, {0.343750, 0.218750}, //
|
||||
{0.406250, 0.218750}, {0.406250, 0.218750}, {0.468750, 0.218750}, {0.468750, 0.218750}, //
|
||||
{0.531250, 0.218750}, {0.531250, 0.218750}, {0.593750, 0.218750}, {0.593750, 0.218750}, //
|
||||
{0.656250, 0.218750}, {0.656250, 0.218750}, {0.718750, 0.218750}, {0.718750, 0.218750}, //
|
||||
{0.781250, 0.218750}, {0.781250, 0.218750}, {0.843750, 0.218750}, {0.843750, 0.218750}, //
|
||||
{0.906250, 0.218750}, {0.906250, 0.218750}, {0.968750, 0.218750}, {0.968750, 0.218750}, //
|
||||
{0.031250, 0.281250}, {0.031250, 0.281250}, {0.093750, 0.281250}, {0.093750, 0.281250}, //
|
||||
{0.156250, 0.281250}, {0.156250, 0.281250}, {0.218750, 0.281250}, {0.218750, 0.281250}, //
|
||||
{0.281250, 0.281250}, {0.281250, 0.281250}, {0.343750, 0.281250}, {0.343750, 0.281250}, //
|
||||
{0.406250, 0.281250}, {0.406250, 0.281250}, {0.468750, 0.281250}, {0.468750, 0.281250}, //
|
||||
{0.531250, 0.281250}, {0.531250, 0.281250}, {0.593750, 0.281250}, {0.593750, 0.281250}, //
|
||||
{0.656250, 0.281250}, {0.656250, 0.281250}, {0.718750, 0.281250}, {0.718750, 0.281250}, //
|
||||
{0.781250, 0.281250}, {0.781250, 0.281250}, {0.843750, 0.281250}, {0.843750, 0.281250}, //
|
||||
{0.906250, 0.281250}, {0.906250, 0.281250}, {0.968750, 0.281250}, {0.968750, 0.281250}, //
|
||||
{0.031250, 0.343750}, {0.031250, 0.343750}, {0.093750, 0.343750}, {0.093750, 0.343750}, //
|
||||
{0.156250, 0.343750}, {0.156250, 0.343750}, {0.218750, 0.343750}, {0.218750, 0.343750}, //
|
||||
{0.281250, 0.343750}, {0.281250, 0.343750}, {0.343750, 0.343750}, {0.343750, 0.343750}, //
|
||||
{0.406250, 0.343750}, {0.406250, 0.343750}, {0.468750, 0.343750}, {0.468750, 0.343750}, //
|
||||
{0.531250, 0.343750}, {0.531250, 0.343750}, {0.593750, 0.343750}, {0.593750, 0.343750}, //
|
||||
{0.656250, 0.343750}, {0.656250, 0.343750}, {0.718750, 0.343750}, {0.718750, 0.343750}, //
|
||||
{0.781250, 0.343750}, {0.781250, 0.343750}, {0.843750, 0.343750}, {0.843750, 0.343750}, //
|
||||
{0.906250, 0.343750}, {0.906250, 0.343750}, {0.968750, 0.343750}, {0.968750, 0.343750}, //
|
||||
{0.031250, 0.406250}, {0.031250, 0.406250}, {0.093750, 0.406250}, {0.093750, 0.406250}, //
|
||||
{0.156250, 0.406250}, {0.156250, 0.406250}, {0.218750, 0.406250}, {0.218750, 0.406250}, //
|
||||
{0.281250, 0.406250}, {0.281250, 0.406250}, {0.343750, 0.406250}, {0.343750, 0.406250}, //
|
||||
{0.406250, 0.406250}, {0.406250, 0.406250}, {0.468750, 0.406250}, {0.468750, 0.406250}, //
|
||||
{0.531250, 0.406250}, {0.531250, 0.406250}, {0.593750, 0.406250}, {0.593750, 0.406250}, //
|
||||
{0.656250, 0.406250}, {0.656250, 0.406250}, {0.718750, 0.406250}, {0.718750, 0.406250}, //
|
||||
{0.781250, 0.406250}, {0.781250, 0.406250}, {0.843750, 0.406250}, {0.843750, 0.406250}, //
|
||||
{0.906250, 0.406250}, {0.906250, 0.406250}, {0.968750, 0.406250}, {0.968750, 0.406250}, //
|
||||
{0.031250, 0.468750}, {0.031250, 0.468750}, {0.093750, 0.468750}, {0.093750, 0.468750}, //
|
||||
{0.156250, 0.468750}, {0.156250, 0.468750}, {0.218750, 0.468750}, {0.218750, 0.468750}, //
|
||||
{0.281250, 0.468750}, {0.281250, 0.468750}, {0.343750, 0.468750}, {0.343750, 0.468750}, //
|
||||
{0.406250, 0.468750}, {0.406250, 0.468750}, {0.468750, 0.468750}, {0.468750, 0.468750}, //
|
||||
{0.531250, 0.468750}, {0.531250, 0.468750}, {0.593750, 0.468750}, {0.593750, 0.468750}, //
|
||||
{0.656250, 0.468750}, {0.656250, 0.468750}, {0.718750, 0.468750}, {0.718750, 0.468750}, //
|
||||
{0.781250, 0.468750}, {0.781250, 0.468750}, {0.843750, 0.468750}, {0.843750, 0.468750}, //
|
||||
{0.906250, 0.468750}, {0.906250, 0.468750}, {0.968750, 0.468750}, {0.968750, 0.468750}, //
|
||||
{0.031250, 0.531250}, {0.031250, 0.531250}, {0.093750, 0.531250}, {0.093750, 0.531250}, //
|
||||
{0.156250, 0.531250}, {0.156250, 0.531250}, {0.218750, 0.531250}, {0.218750, 0.531250}, //
|
||||
{0.281250, 0.531250}, {0.281250, 0.531250}, {0.343750, 0.531250}, {0.343750, 0.531250}, //
|
||||
{0.406250, 0.531250}, {0.406250, 0.531250}, {0.468750, 0.531250}, {0.468750, 0.531250}, //
|
||||
{0.531250, 0.531250}, {0.531250, 0.531250}, {0.593750, 0.531250}, {0.593750, 0.531250}, //
|
||||
{0.656250, 0.531250}, {0.656250, 0.531250}, {0.718750, 0.531250}, {0.718750, 0.531250}, //
|
||||
{0.781250, 0.531250}, {0.781250, 0.531250}, {0.843750, 0.531250}, {0.843750, 0.531250}, //
|
||||
{0.906250, 0.531250}, {0.906250, 0.531250}, {0.968750, 0.531250}, {0.968750, 0.531250}, //
|
||||
{0.031250, 0.593750}, {0.031250, 0.593750}, {0.093750, 0.593750}, {0.093750, 0.593750}, //
|
||||
{0.156250, 0.593750}, {0.156250, 0.593750}, {0.218750, 0.593750}, {0.218750, 0.593750}, //
|
||||
{0.281250, 0.593750}, {0.281250, 0.593750}, {0.343750, 0.593750}, {0.343750, 0.593750}, //
|
||||
{0.406250, 0.593750}, {0.406250, 0.593750}, {0.468750, 0.593750}, {0.468750, 0.593750}, //
|
||||
{0.531250, 0.593750}, {0.531250, 0.593750}, {0.593750, 0.593750}, {0.593750, 0.593750}, //
|
||||
{0.656250, 0.593750}, {0.656250, 0.593750}, {0.718750, 0.593750}, {0.718750, 0.593750}, //
|
||||
{0.781250, 0.593750}, {0.781250, 0.593750}, {0.843750, 0.593750}, {0.843750, 0.593750}, //
|
||||
{0.906250, 0.593750}, {0.906250, 0.593750}, {0.968750, 0.593750}, {0.968750, 0.593750}, //
|
||||
{0.031250, 0.656250}, {0.031250, 0.656250}, {0.093750, 0.656250}, {0.093750, 0.656250}, //
|
||||
{0.156250, 0.656250}, {0.156250, 0.656250}, {0.218750, 0.656250}, {0.218750, 0.656250}, //
|
||||
{0.281250, 0.656250}, {0.281250, 0.656250}, {0.343750, 0.656250}, {0.343750, 0.656250}, //
|
||||
{0.406250, 0.656250}, {0.406250, 0.656250}, {0.468750, 0.656250}, {0.468750, 0.656250}, //
|
||||
{0.531250, 0.656250}, {0.531250, 0.656250}, {0.593750, 0.656250}, {0.593750, 0.656250}, //
|
||||
{0.656250, 0.656250}, {0.656250, 0.656250}, {0.718750, 0.656250}, {0.718750, 0.656250}, //
|
||||
{0.781250, 0.656250}, {0.781250, 0.656250}, {0.843750, 0.656250}, {0.843750, 0.656250}, //
|
||||
{0.906250, 0.656250}, {0.906250, 0.656250}, {0.968750, 0.656250}, {0.968750, 0.656250}, //
|
||||
{0.031250, 0.718750}, {0.031250, 0.718750}, {0.093750, 0.718750}, {0.093750, 0.718750}, //
|
||||
{0.156250, 0.718750}, {0.156250, 0.718750}, {0.218750, 0.718750}, {0.218750, 0.718750}, //
|
||||
{0.281250, 0.718750}, {0.281250, 0.718750}, {0.343750, 0.718750}, {0.343750, 0.718750}, //
|
||||
{0.406250, 0.718750}, {0.406250, 0.718750}, {0.468750, 0.718750}, {0.468750, 0.718750}, //
|
||||
{0.531250, 0.718750}, {0.531250, 0.718750}, {0.593750, 0.718750}, {0.593750, 0.718750}, //
|
||||
{0.656250, 0.718750}, {0.656250, 0.718750}, {0.718750, 0.718750}, {0.718750, 0.718750}, //
|
||||
{0.781250, 0.718750}, {0.781250, 0.718750}, {0.843750, 0.718750}, {0.843750, 0.718750}, //
|
||||
{0.906250, 0.718750}, {0.906250, 0.718750}, {0.968750, 0.718750}, {0.968750, 0.718750}, //
|
||||
{0.031250, 0.781250}, {0.031250, 0.781250}, {0.093750, 0.781250}, {0.093750, 0.781250}, //
|
||||
{0.156250, 0.781250}, {0.156250, 0.781250}, {0.218750, 0.781250}, {0.218750, 0.781250}, //
|
||||
{0.281250, 0.781250}, {0.281250, 0.781250}, {0.343750, 0.781250}, {0.343750, 0.781250}, //
|
||||
{0.406250, 0.781250}, {0.406250, 0.781250}, {0.468750, 0.781250}, {0.468750, 0.781250}, //
|
||||
{0.531250, 0.781250}, {0.531250, 0.781250}, {0.593750, 0.781250}, {0.593750, 0.781250}, //
|
||||
{0.656250, 0.781250}, {0.656250, 0.781250}, {0.718750, 0.781250}, {0.718750, 0.781250}, //
|
||||
{0.781250, 0.781250}, {0.781250, 0.781250}, {0.843750, 0.781250}, {0.843750, 0.781250}, //
|
||||
{0.906250, 0.781250}, {0.906250, 0.781250}, {0.968750, 0.781250}, {0.968750, 0.781250}, //
|
||||
{0.031250, 0.843750}, {0.031250, 0.843750}, {0.093750, 0.843750}, {0.093750, 0.843750}, //
|
||||
{0.156250, 0.843750}, {0.156250, 0.843750}, {0.218750, 0.843750}, {0.218750, 0.843750}, //
|
||||
{0.281250, 0.843750}, {0.281250, 0.843750}, {0.343750, 0.843750}, {0.343750, 0.843750}, //
|
||||
{0.406250, 0.843750}, {0.406250, 0.843750}, {0.468750, 0.843750}, {0.468750, 0.843750}, //
|
||||
{0.531250, 0.843750}, {0.531250, 0.843750}, {0.593750, 0.843750}, {0.593750, 0.843750}, //
|
||||
{0.656250, 0.843750}, {0.656250, 0.843750}, {0.718750, 0.843750}, {0.718750, 0.843750}, //
|
||||
{0.781250, 0.843750}, {0.781250, 0.843750}, {0.843750, 0.843750}, {0.843750, 0.843750}, //
|
||||
{0.906250, 0.843750}, {0.906250, 0.843750}, {0.968750, 0.843750}, {0.968750, 0.843750}, //
|
||||
{0.031250, 0.906250}, {0.031250, 0.906250}, {0.093750, 0.906250}, {0.093750, 0.906250}, //
|
||||
{0.156250, 0.906250}, {0.156250, 0.906250}, {0.218750, 0.906250}, {0.218750, 0.906250}, //
|
||||
{0.281250, 0.906250}, {0.281250, 0.906250}, {0.343750, 0.906250}, {0.343750, 0.906250}, //
|
||||
{0.406250, 0.906250}, {0.406250, 0.906250}, {0.468750, 0.906250}, {0.468750, 0.906250}, //
|
||||
{0.531250, 0.906250}, {0.531250, 0.906250}, {0.593750, 0.906250}, {0.593750, 0.906250}, //
|
||||
{0.656250, 0.906250}, {0.656250, 0.906250}, {0.718750, 0.906250}, {0.718750, 0.906250}, //
|
||||
{0.781250, 0.906250}, {0.781250, 0.906250}, {0.843750, 0.906250}, {0.843750, 0.906250}, //
|
||||
{0.906250, 0.906250}, {0.906250, 0.906250}, {0.968750, 0.906250}, {0.968750, 0.906250}, //
|
||||
{0.031250, 0.968750}, {0.031250, 0.968750}, {0.093750, 0.968750}, {0.093750, 0.968750}, //
|
||||
{0.156250, 0.968750}, {0.156250, 0.968750}, {0.218750, 0.968750}, {0.218750, 0.968750}, //
|
||||
{0.281250, 0.968750}, {0.281250, 0.968750}, {0.343750, 0.968750}, {0.343750, 0.968750}, //
|
||||
{0.406250, 0.968750}, {0.406250, 0.968750}, {0.468750, 0.968750}, {0.468750, 0.968750}, //
|
||||
{0.531250, 0.968750}, {0.531250, 0.968750}, {0.593750, 0.968750}, {0.593750, 0.968750}, //
|
||||
{0.656250, 0.968750}, {0.656250, 0.968750}, {0.718750, 0.968750}, {0.718750, 0.968750}, //
|
||||
{0.781250, 0.968750}, {0.781250, 0.968750}, {0.843750, 0.968750}, {0.843750, 0.968750}, //
|
||||
{0.906250, 0.968750}, {0.906250, 0.968750}, {0.968750, 0.968750}, {0.968750, 0.968750}, //
|
||||
{0.062500, 0.062500}, {0.062500, 0.062500}, {0.062500, 0.062500}, {0.062500, 0.062500}, //
|
||||
{0.062500, 0.062500}, {0.062500, 0.062500}, {0.187500, 0.062500}, {0.187500, 0.062500}, //
|
||||
{0.187500, 0.062500}, {0.187500, 0.062500}, {0.187500, 0.062500}, {0.187500, 0.062500}, //
|
||||
{0.312500, 0.062500}, {0.312500, 0.062500}, {0.312500, 0.062500}, {0.312500, 0.062500}, //
|
||||
{0.312500, 0.062500}, {0.312500, 0.062500}, {0.437500, 0.062500}, {0.437500, 0.062500}, //
|
||||
{0.437500, 0.062500}, {0.437500, 0.062500}, {0.437500, 0.062500}, {0.437500, 0.062500}, //
|
||||
{0.562500, 0.062500}, {0.562500, 0.062500}, {0.562500, 0.062500}, {0.562500, 0.062500}, //
|
||||
{0.562500, 0.062500}, {0.562500, 0.062500}, {0.687500, 0.062500}, {0.687500, 0.062500}, //
|
||||
{0.687500, 0.062500}, {0.687500, 0.062500}, {0.687500, 0.062500}, {0.687500, 0.062500}, //
|
||||
{0.812500, 0.062500}, {0.812500, 0.062500}, {0.812500, 0.062500}, {0.812500, 0.062500}, //
|
||||
{0.812500, 0.062500}, {0.812500, 0.062500}, {0.937500, 0.062500}, {0.937500, 0.062500}, //
|
||||
{0.937500, 0.062500}, {0.937500, 0.062500}, {0.937500, 0.062500}, {0.937500, 0.062500}, //
|
||||
{0.062500, 0.187500}, {0.062500, 0.187500}, {0.062500, 0.187500}, {0.062500, 0.187500}, //
|
||||
{0.062500, 0.187500}, {0.062500, 0.187500}, {0.187500, 0.187500}, {0.187500, 0.187500}, //
|
||||
{0.187500, 0.187500}, {0.187500, 0.187500}, {0.187500, 0.187500}, {0.187500, 0.187500}, //
|
||||
{0.312500, 0.187500}, {0.312500, 0.187500}, {0.312500, 0.187500}, {0.312500, 0.187500}, //
|
||||
{0.312500, 0.187500}, {0.312500, 0.187500}, {0.437500, 0.187500}, {0.437500, 0.187500}, //
|
||||
{0.437500, 0.187500}, {0.437500, 0.187500}, {0.437500, 0.187500}, {0.437500, 0.187500}, //
|
||||
{0.562500, 0.187500}, {0.562500, 0.187500}, {0.562500, 0.187500}, {0.562500, 0.187500}, //
|
||||
{0.562500, 0.187500}, {0.562500, 0.187500}, {0.687500, 0.187500}, {0.687500, 0.187500}, //
|
||||
{0.687500, 0.187500}, {0.687500, 0.187500}, {0.687500, 0.187500}, {0.687500, 0.187500}, //
|
||||
{0.812500, 0.187500}, {0.812500, 0.187500}, {0.812500, 0.187500}, {0.812500, 0.187500}, //
|
||||
{0.812500, 0.187500}, {0.812500, 0.187500}, {0.937500, 0.187500}, {0.937500, 0.187500}, //
|
||||
{0.937500, 0.187500}, {0.937500, 0.187500}, {0.937500, 0.187500}, {0.937500, 0.187500}, //
|
||||
{0.062500, 0.312500}, {0.062500, 0.312500}, {0.062500, 0.312500}, {0.062500, 0.312500}, //
|
||||
{0.062500, 0.312500}, {0.062500, 0.312500}, {0.187500, 0.312500}, {0.187500, 0.312500}, //
|
||||
{0.187500, 0.312500}, {0.187500, 0.312500}, {0.187500, 0.312500}, {0.187500, 0.312500}, //
|
||||
{0.312500, 0.312500}, {0.312500, 0.312500}, {0.312500, 0.312500}, {0.312500, 0.312500}, //
|
||||
{0.312500, 0.312500}, {0.312500, 0.312500}, {0.437500, 0.312500}, {0.437500, 0.312500}, //
|
||||
{0.437500, 0.312500}, {0.437500, 0.312500}, {0.437500, 0.312500}, {0.437500, 0.312500}, //
|
||||
{0.562500, 0.312500}, {0.562500, 0.312500}, {0.562500, 0.312500}, {0.562500, 0.312500}, //
|
||||
{0.562500, 0.312500}, {0.562500, 0.312500}, {0.687500, 0.312500}, {0.687500, 0.312500}, //
|
||||
{0.687500, 0.312500}, {0.687500, 0.312500}, {0.687500, 0.312500}, {0.687500, 0.312500}, //
|
||||
{0.812500, 0.312500}, {0.812500, 0.312500}, {0.812500, 0.312500}, {0.812500, 0.312500}, //
|
||||
{0.812500, 0.312500}, {0.812500, 0.312500}, {0.937500, 0.312500}, {0.937500, 0.312500}, //
|
||||
{0.937500, 0.312500}, {0.937500, 0.312500}, {0.937500, 0.312500}, {0.937500, 0.312500}, //
|
||||
{0.062500, 0.437500}, {0.062500, 0.437500}, {0.062500, 0.437500}, {0.062500, 0.437500}, //
|
||||
{0.062500, 0.437500}, {0.062500, 0.437500}, {0.187500, 0.437500}, {0.187500, 0.437500}, //
|
||||
{0.187500, 0.437500}, {0.187500, 0.437500}, {0.187500, 0.437500}, {0.187500, 0.437500}, //
|
||||
{0.312500, 0.437500}, {0.312500, 0.437500}, {0.312500, 0.437500}, {0.312500, 0.437500}, //
|
||||
{0.312500, 0.437500}, {0.312500, 0.437500}, {0.437500, 0.437500}, {0.437500, 0.437500}, //
|
||||
{0.437500, 0.437500}, {0.437500, 0.437500}, {0.437500, 0.437500}, {0.437500, 0.437500}, //
|
||||
{0.562500, 0.437500}, {0.562500, 0.437500}, {0.562500, 0.437500}, {0.562500, 0.437500}, //
|
||||
{0.562500, 0.437500}, {0.562500, 0.437500}, {0.687500, 0.437500}, {0.687500, 0.437500}, //
|
||||
{0.687500, 0.437500}, {0.687500, 0.437500}, {0.687500, 0.437500}, {0.687500, 0.437500}, //
|
||||
{0.812500, 0.437500}, {0.812500, 0.437500}, {0.812500, 0.437500}, {0.812500, 0.437500}, //
|
||||
{0.812500, 0.437500}, {0.812500, 0.437500}, {0.937500, 0.437500}, {0.937500, 0.437500}, //
|
||||
{0.937500, 0.437500}, {0.937500, 0.437500}, {0.937500, 0.437500}, {0.937500, 0.437500}, //
|
||||
{0.062500, 0.562500}, {0.062500, 0.562500}, {0.062500, 0.562500}, {0.062500, 0.562500}, //
|
||||
{0.062500, 0.562500}, {0.062500, 0.562500}, {0.187500, 0.562500}, {0.187500, 0.562500}, //
|
||||
{0.187500, 0.562500}, {0.187500, 0.562500}, {0.187500, 0.562500}, {0.187500, 0.562500}, //
|
||||
{0.312500, 0.562500}, {0.312500, 0.562500}, {0.312500, 0.562500}, {0.312500, 0.562500}, //
|
||||
{0.312500, 0.562500}, {0.312500, 0.562500}, {0.437500, 0.562500}, {0.437500, 0.562500}, //
|
||||
{0.437500, 0.562500}, {0.437500, 0.562500}, {0.437500, 0.562500}, {0.437500, 0.562500}, //
|
||||
{0.562500, 0.562500}, {0.562500, 0.562500}, {0.562500, 0.562500}, {0.562500, 0.562500}, //
|
||||
{0.562500, 0.562500}, {0.562500, 0.562500}, {0.687500, 0.562500}, {0.687500, 0.562500}, //
|
||||
{0.687500, 0.562500}, {0.687500, 0.562500}, {0.687500, 0.562500}, {0.687500, 0.562500}, //
|
||||
{0.812500, 0.562500}, {0.812500, 0.562500}, {0.812500, 0.562500}, {0.812500, 0.562500}, //
|
||||
{0.812500, 0.562500}, {0.812500, 0.562500}, {0.937500, 0.562500}, {0.937500, 0.562500}, //
|
||||
{0.937500, 0.562500}, {0.937500, 0.562500}, {0.937500, 0.562500}, {0.937500, 0.562500}, //
|
||||
{0.062500, 0.687500}, {0.062500, 0.687500}, {0.062500, 0.687500}, {0.062500, 0.687500}, //
|
||||
{0.062500, 0.687500}, {0.062500, 0.687500}, {0.187500, 0.687500}, {0.187500, 0.687500}, //
|
||||
{0.187500, 0.687500}, {0.187500, 0.687500}, {0.187500, 0.687500}, {0.187500, 0.687500}, //
|
||||
{0.312500, 0.687500}, {0.312500, 0.687500}, {0.312500, 0.687500}, {0.312500, 0.687500}, //
|
||||
{0.312500, 0.687500}, {0.312500, 0.687500}, {0.437500, 0.687500}, {0.437500, 0.687500}, //
|
||||
{0.437500, 0.687500}, {0.437500, 0.687500}, {0.437500, 0.687500}, {0.437500, 0.687500}, //
|
||||
{0.562500, 0.687500}, {0.562500, 0.687500}, {0.562500, 0.687500}, {0.562500, 0.687500}, //
|
||||
{0.562500, 0.687500}, {0.562500, 0.687500}, {0.687500, 0.687500}, {0.687500, 0.687500}, //
|
||||
{0.687500, 0.687500}, {0.687500, 0.687500}, {0.687500, 0.687500}, {0.687500, 0.687500}, //
|
||||
{0.812500, 0.687500}, {0.812500, 0.687500}, {0.812500, 0.687500}, {0.812500, 0.687500}, //
|
||||
{0.812500, 0.687500}, {0.812500, 0.687500}, {0.937500, 0.687500}, {0.937500, 0.687500}, //
|
||||
{0.937500, 0.687500}, {0.937500, 0.687500}, {0.937500, 0.687500}, {0.937500, 0.687500}, //
|
||||
{0.062500, 0.812500}, {0.062500, 0.812500}, {0.062500, 0.812500}, {0.062500, 0.812500}, //
|
||||
{0.062500, 0.812500}, {0.062500, 0.812500}, {0.187500, 0.812500}, {0.187500, 0.812500}, //
|
||||
{0.187500, 0.812500}, {0.187500, 0.812500}, {0.187500, 0.812500}, {0.187500, 0.812500}, //
|
||||
{0.312500, 0.812500}, {0.312500, 0.812500}, {0.312500, 0.812500}, {0.312500, 0.812500}, //
|
||||
{0.312500, 0.812500}, {0.312500, 0.812500}, {0.437500, 0.812500}, {0.437500, 0.812500}, //
|
||||
{0.437500, 0.812500}, {0.437500, 0.812500}, {0.437500, 0.812500}, {0.437500, 0.812500}, //
|
||||
{0.562500, 0.812500}, {0.562500, 0.812500}, {0.562500, 0.812500}, {0.562500, 0.812500}, //
|
||||
{0.562500, 0.812500}, {0.562500, 0.812500}, {0.687500, 0.812500}, {0.687500, 0.812500}, //
|
||||
{0.687500, 0.812500}, {0.687500, 0.812500}, {0.687500, 0.812500}, {0.687500, 0.812500}, //
|
||||
{0.812500, 0.812500}, {0.812500, 0.812500}, {0.812500, 0.812500}, {0.812500, 0.812500}, //
|
||||
{0.812500, 0.812500}, {0.812500, 0.812500}, {0.937500, 0.812500}, {0.937500, 0.812500}, //
|
||||
{0.937500, 0.812500}, {0.937500, 0.812500}, {0.937500, 0.812500}, {0.937500, 0.812500}, //
|
||||
{0.062500, 0.937500}, {0.062500, 0.937500}, {0.062500, 0.937500}, {0.062500, 0.937500}, //
|
||||
{0.062500, 0.937500}, {0.062500, 0.937500}, {0.187500, 0.937500}, {0.187500, 0.937500}, //
|
||||
{0.187500, 0.937500}, {0.187500, 0.937500}, {0.187500, 0.937500}, {0.187500, 0.937500}, //
|
||||
{0.312500, 0.937500}, {0.312500, 0.937500}, {0.312500, 0.937500}, {0.312500, 0.937500}, //
|
||||
{0.312500, 0.937500}, {0.312500, 0.937500}, {0.437500, 0.937500}, {0.437500, 0.937500}, //
|
||||
{0.437500, 0.937500}, {0.437500, 0.937500}, {0.437500, 0.937500}, {0.437500, 0.937500}, //
|
||||
{0.562500, 0.937500}, {0.562500, 0.937500}, {0.562500, 0.937500}, {0.562500, 0.937500}, //
|
||||
{0.562500, 0.937500}, {0.562500, 0.937500}, {0.687500, 0.937500}, {0.687500, 0.937500}, //
|
||||
{0.687500, 0.937500}, {0.687500, 0.937500}, {0.687500, 0.937500}, {0.687500, 0.937500}, //
|
||||
{0.812500, 0.937500}, {0.812500, 0.937500}, {0.812500, 0.937500}, {0.812500, 0.937500}, //
|
||||
{0.812500, 0.937500}, {0.812500, 0.937500}, {0.937500, 0.937500}, {0.937500, 0.937500}, //
|
||||
{0.937500, 0.937500}, {0.937500, 0.937500}, {0.937500, 0.937500}, {0.937500, 0.937500}, //
|
||||
};
|
||||
|
||||
static std::vector<Palm7KP>
|
||||
runHandDetector(struct ht_view *htv, cv::Mat &raw_input)
|
||||
|
|
@ -580,86 +449,99 @@ runHandDetector(struct ht_view *htv, cv::Mat &raw_input)
|
|||
|
||||
std::vector<NMSPalm> detections;
|
||||
int count = 0;
|
||||
size_t i = 0;
|
||||
|
||||
std::vector<Palm7KP> output;
|
||||
std::vector<NMSPalm> nms_palms;
|
||||
|
||||
OrtTensorTypeAndShapeInfo *classificators_info;
|
||||
ORT_CHECK(g_ort, g_ort->GetTensorTypeAndShape(output_tensor[0], &classificators_info));
|
||||
|
||||
for (std::vector<std::vector<float>>::iterator it = anchor.begin(); it != anchor.end(); ++it, ++i) {
|
||||
std::vector<float>::iterator anchorData = it->begin();
|
||||
size_t classificators_size;
|
||||
ORT_CHECK(g_ort, g_ort->GetTensorShapeElementCount(classificators_info, &classificators_size));
|
||||
assert(classificators_size == 896);
|
||||
|
||||
float score0 = classificators[i];
|
||||
float score = 1.0 / (1.0 + exp(-score0));
|
||||
OrtTensorTypeAndShapeInfo *regressors_info;
|
||||
ORT_CHECK(g_ort, g_ort->GetTensorTypeAndShape(output_tensor[1], ®ressors_info));
|
||||
|
||||
size_t regressors_size;
|
||||
ORT_CHECK(g_ort, g_ort->GetTensorShapeElementCount(regressors_info, ®ressors_size));
|
||||
assert(regressors_size == 896 * 18);
|
||||
|
||||
g_ort->ReleaseTensorTypeAndShapeInfo(classificators_info);
|
||||
g_ort->ReleaseTensorTypeAndShapeInfo(regressors_info);
|
||||
|
||||
for (size_t i = 0; i < classificators_size; ++i) {
|
||||
const float score = 1.0 / (1.0 + exp(-classificators[i]));
|
||||
|
||||
// Let a lot of detections in - they'll be slowly rejected later
|
||||
if (score > htv->htd->dynamic_config.nms_threshold.val) {
|
||||
// Boundary box.
|
||||
NMSPalm det;
|
||||
if (score <= htv->htd->dynamic_config.nms_threshold.val) {
|
||||
continue;
|
||||
}
|
||||
|
||||
float anchx = *(anchorData + 0) * 128;
|
||||
float anchy = *(anchorData + 1) * 128;
|
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const struct anchor *anchor = &anchors[i];
|
||||
|
||||
float shiftx = regressors[i * 18];
|
||||
float shifty = regressors[i * 18 + 1];
|
||||
// Boundary box.
|
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NMSPalm det;
|
||||
|
||||
float w = regressors[i * 18 + 2];
|
||||
float h = regressors[i * 18 + 3];
|
||||
float anchx = anchor->x * 128;
|
||||
float anchy = anchor->y * 128;
|
||||
|
||||
float shiftx = regressors[i * 18];
|
||||
float shifty = regressors[i * 18 + 1];
|
||||
|
||||
float w = regressors[i * 18 + 2];
|
||||
float h = regressors[i * 18 + 3];
|
||||
|
||||
float cx = shiftx + anchx;
|
||||
float cy = shifty + anchy;
|
||||
|
||||
struct xrt_vec2 *kps = det.keypoints;
|
||||
|
||||
kps[0] = {rg[i * 18 + 4], rg[i * 18 + 5]};
|
||||
kps[1] = {rg[i * 18 + 6], rg[i * 18 + 7]};
|
||||
kps[2] = {rg[i * 18 + 8], rg[i * 18 + 9]};
|
||||
kps[3] = {rg[i * 18 + 10], rg[i * 18 + 11]};
|
||||
kps[4] = {rg[i * 18 + 12], rg[i * 18 + 13]};
|
||||
kps[5] = {rg[i * 18 + 14], rg[i * 18 + 15]};
|
||||
kps[6] = {rg[i * 18 + 16], rg[i * 18 + 17]};
|
||||
|
||||
|
||||
for (int i = 0; i < 7; i++) {
|
||||
struct xrt_vec2 *b = &kps[i];
|
||||
b->x += anchx;
|
||||
b->y += anchy;
|
||||
}
|
||||
|
||||
float cx = shiftx + anchx;
|
||||
float cy = shifty + anchy;
|
||||
det.bbox.w = w;
|
||||
det.bbox.h = h;
|
||||
det.bbox.cx = cx;
|
||||
det.bbox.cy = cy;
|
||||
det.confidence = score;
|
||||
detections.push_back(det);
|
||||
count++;
|
||||
|
||||
struct xrt_vec2 *kps = det.keypoints;
|
||||
if (htv->htd->debug_scribble && (htv->htd->dynamic_config.scribble_raw_detections)) {
|
||||
xrt_vec2 center = transformVecBy2x3(xrt_vec2{cx, cy}, back_from_blackbar);
|
||||
|
||||
kps[0] = {rg[i * 18 + 4], rg[i * 18 + 5]};
|
||||
kps[1] = {rg[i * 18 + 6], rg[i * 18 + 7]};
|
||||
kps[2] = {rg[i * 18 + 8], rg[i * 18 + 9]};
|
||||
kps[3] = {rg[i * 18 + 10], rg[i * 18 + 11]};
|
||||
kps[4] = {rg[i * 18 + 12], rg[i * 18 + 13]};
|
||||
kps[5] = {rg[i * 18 + 14], rg[i * 18 + 15]};
|
||||
kps[6] = {rg[i * 18 + 16], rg[i * 18 + 17]};
|
||||
float sz = det.bbox.w * scale_factor;
|
||||
|
||||
cv::rectangle(htv->debug_out_to_this,
|
||||
{(int)(center.x - (sz / 2)), (int)(center.y - (sz / 2)), (int)sz, (int)sz},
|
||||
hsv2rgb(0.0f, math_map_ranges(det.confidence, 0.0f, 1.0f, 1.5f, -0.1f),
|
||||
math_map_ranges(det.confidence, 0.0f, 1.0f, 0.2f, 1.4f)),
|
||||
1);
|
||||
|
||||
for (int i = 0; i < 7; i++) {
|
||||
struct xrt_vec2 *b = &kps[i];
|
||||
b->x += anchx;
|
||||
b->y += anchy;
|
||||
handDot(htv->debug_out_to_this, transformVecBy2x3(kps[i], back_from_blackbar),
|
||||
det.confidence * 7, ((float)i) * (360.0f / 7.0f), det.confidence, 1);
|
||||
}
|
||||
|
||||
det.bbox.w = w;
|
||||
det.bbox.h = h;
|
||||
det.bbox.cx = cx;
|
||||
det.bbox.cy = cy;
|
||||
det.confidence = score;
|
||||
detections.push_back(det);
|
||||
count++;
|
||||
|
||||
if (htv->htd->debug_scribble && (htv->htd->dynamic_config.scribble_raw_detections)) {
|
||||
xrt_vec2 center = transformVecBy2x3(xrt_vec2{cx, cy}, back_from_blackbar);
|
||||
|
||||
float sz = det.bbox.w * scale_factor;
|
||||
|
||||
cv::rectangle(
|
||||
htv->debug_out_to_this,
|
||||
{(int)(center.x - (sz / 2)), (int)(center.y - (sz / 2)), (int)sz, (int)sz},
|
||||
hsv2rgb(0.0f, math_map_ranges(det.confidence, 0.0f, 1.0f, 1.5f, -0.1f),
|
||||
math_map_ranges(det.confidence, 0.0f, 1.0f, 0.2f, 1.4f)),
|
||||
1);
|
||||
|
||||
for (int i = 0; i < 7; i++) {
|
||||
handDot(htv->debug_out_to_this, transformVecBy2x3(kps[i], back_from_blackbar),
|
||||
det.confidence * 7, ((float)i) * (360.0f / 7.0f), det.confidence, 1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
int square = fmax(w, h);
|
||||
|
||||
square = square / scale_factor;
|
||||
}
|
||||
|
||||
|
||||
|
||||
int square = fmax(w, h);
|
||||
|
||||
square = square / scale_factor;
|
||||
}
|
||||
|
||||
if (count == 0) {
|
||||
|
|
|
|||
Loading…
Reference in a new issue