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anchor_generator.cpp
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#include "anchor_generator.h"
#include <iostream>
using namespace std;
AnchorGenerator::AnchorGenerator() {
}
AnchorGenerator::~AnchorGenerator() {
}
// init different anchors
int AnchorGenerator::Init(int stride, const AnchorCfg& cfg, bool dense_anchor) {
CRect2f base_anchor(0, 0, cfg.BASE_SIZE-1, cfg.BASE_SIZE-1); //都是(0,0,15,15）)
std::vector<CRect2f> ratio_anchors;
// get ratio anchors
_ratio_enum(base_anchor, cfg.RATIOS, ratio_anchors);
_scale_enum(ratio_anchors, cfg.SCALES, preset_anchors);
anchor_stride = stride;
anchor_num = preset_anchors.size();
for (int i = 0; i < anchor_num; ++i) {
cout<<"anchor_num :";
//preset_anchors[i].print();
}
return anchor_num;
}
int AnchorGenerator::FilterAnchor(const caffe::Blob<float> *cls, const caffe::Blob<float> *reg, \
const caffe::Blob<float> *pts, std::vector<Anchor>& result,float confidence_threshold) {
assert(cls->shape(1) == anchor_num*2); //anchor_num=2
assert(reg->shape(1) == anchor_num*4);
int pts_length = 0;
if (pts) {
assert(pts->shape(1) % anchor_num == 0);
pts_length = pts->shape(1)/anchor_num/2; //pts_length=5 五个点
}
int w = cls->shape(3);
int h = cls->shape(2);
int step = h*w;
const float* clsData = cls->cpu_data();
const float* regData = reg->cpu_data();
const float* ptsDate = pts->cpu_data();
for (int i = 0; i < w; ++i) {
for (int j = 0; j < h; ++j)
{
int id = j*w+i;
for (int a = 0; a < anchor_num; ++a)
{
if(clsData[(anchor_num + a)*step + id] > confidence_threshold)
{
std::cout <<"clsData[(anchor_num + a)*step + id]: "<< clsData[(anchor_num + a)*step + id] << std::endl;
CRect2f box(i * anchor_stride + preset_anchors[a][0],
j * anchor_stride + preset_anchors[a][1],
i * anchor_stride + preset_anchors[a][2],
j * anchor_stride + preset_anchors[a][3]);
//printf("box::%f %f %f %f\n", box[0], box[1], box[2], box[3]);
CRect2f delta(regData[(a*4+0)*step+id],
regData[(a*4+1)*step+id],
regData[(a*4+2)*step+id],
regData[(a*4+3)*step+id]);
Anchor res;
res.anchor = cv::Rect2f(box[0], box[1], box[2], box[3]);
bbox_pred(box, delta, res.finalbox);
res.score = clsData[(anchor_num + a)*step+id];
res.center = cv::Point(i,j);
//printf("center %d %d\n", i, j);
if (pts) {
std::vector<cv::Point2f> pts_delta(pts_length);
for (int p = 0; p < pts_length; ++p) {
pts_delta[p].x = ptsDate[a*pts_length*2+p*2+id];
pts_delta[p].y = ptsDate[a*pts_length*2+p*2+1+id];
}
landmark_pred(box, pts_delta, res.pts);
}
result.push_back(res);
}
}
}
}
return 0;
}
int AnchorGenerator::FilterAnchor(const caffe::Blob<float> *cls, const caffe::Blob<float> *reg, \
const caffe::Blob<float> *pts, std::vector<Anchor>& result,float ratio_w,float ratio_h,float confidence_threshold) {
ratiow = ratio_w;
ratioh = ratio_h;
assert(cls->shape(1) == anchor_num*2); //anchor_num=2
assert(reg->shape(1) == anchor_num*4);
assert(pts->shape(1) == anchor_num*10);
int pts_length = 0;
if (pts) {
assert(pts->shape(1) % anchor_num == 0);
pts_length = pts->shape(1)/anchor_num/2;
//cout <<"pts_length:"<<pts_length<<endl; //pts_length=5
}
int w = cls->shape(3);
int h = cls->shape(2);
int step = h*w;
const float* clsData = cls->cpu_data();
const float* regData = reg->cpu_data();
const float* ptsDate = pts->cpu_data();
for (int i = 0; i < w; ++i) {
for (int j = 0; j < h; ++j)
{
int id = j*w+i;
for (int a = 0; a < anchor_num; ++a)
{
if(clsData[(anchor_num + a)*step + id] > confidence_threshold)
{
std::cout <<"score: "<< clsData[(anchor_num + a)*step + id] << std::endl;
CRect2f box(i * anchor_stride + preset_anchors[a][0],
j * anchor_stride + preset_anchors[a][1],
i * anchor_stride + preset_anchors[a][2],
j * anchor_stride + preset_anchors[a][3]);
CRect2f delta(regData[(a*4+0)*step+id],
regData[(a*4+1)*step+id],
regData[(a*4+2)*step+id],
regData[(a*4+3)*step+id]);
Anchor res;
res.anchor = cv::Rect2f(box[0], box[1], box[2], box[3]);
bbox_pred(box, delta, res.finalbox);
res.score = clsData[(anchor_num + a)*step+id];
res.center = cv::Point(i,j);
if (pts) {
std::vector<cv::Point2f> pts_delta(pts_length);
for (int p = 0; p < pts_length; ++p)
{
pts_delta[p].x = ptsDate[(a*10+p*2)*step+id];
pts_delta[p].y = ptsDate[(a*10+p*2+1)*step+id];
}
landmark_pred(box, pts_delta, res.pts);
}
result.push_back(res);
}
}
}
}
return 0;
}
void AnchorGenerator::_ratio_enum(const CRect2f& anchor, const std::vector<float>& ratios, std::vector<CRect2f>& ratio_anchors) {
float w = anchor[2] - anchor[0] + 1;
float h = anchor[3] - anchor[1] + 1;
float x_ctr = anchor[0] + 0.5 * (w - 1);
float y_ctr = anchor[1] + 0.5 * (h - 1);
ratio_anchors.clear();
float sz = w * h;
for (int s = 0; s < ratios.size(); ++s) {
float r = ratios[s];
float size_ratios = sz / r;
float ws = std::sqrt(size_ratios);
float hs = ws * r;
ratio_anchors.push_back(CRect2f(x_ctr - 0.5 * (ws - 1),
y_ctr - 0.5 * (hs - 1),
x_ctr + 0.5 * (ws - 1),
y_ctr + 0.5 * (hs - 1)));
}
}
void AnchorGenerator::_scale_enum(const std::vector<CRect2f>& ratio_anchor, const std::vector<float>& scales, std::vector<CRect2f>& scale_anchors) {
scale_anchors.clear();
for (int a = 0; a < ratio_anchor.size(); ++a) {
CRect2f anchor = ratio_anchor[a];
float w = anchor[2] - anchor[0] + 1;
float h = anchor[3] - anchor[1] + 1;
float x_ctr = anchor[0] + 0.5 * (w - 1);
float y_ctr = anchor[1] + 0.5 * (h - 1);
for (int s = 0; s < scales.size(); ++s) {
float ws = w * scales[s];
float hs = h * scales[s];
scale_anchors.push_back(CRect2f(x_ctr - 0.5 * (ws - 1),
y_ctr - 0.5 * (hs - 1),
x_ctr + 0.5 * (ws - 1),
y_ctr + 0.5 * (hs - 1)));
}
}
}
//得到最后的box 是左上角坐标与左下角坐标
void AnchorGenerator::bbox_pred(const CRect2f& anchor, const CRect2f& delta, cv::Rect2f& box) {
float w = anchor[2] - anchor[0] + 1;
float h = anchor[3] - anchor[1] + 1;
float x_ctr = anchor[0] + 0.5 * (w - 1);
float y_ctr = anchor[1] + 0.5 * (h - 1);
float dx = delta[0];
float dy = delta[1];
float dw = delta[2];
float dh = delta[3];
float pred_ctr_x = dx * w + x_ctr;
float pred_ctr_y = dy * h + y_ctr;
float pred_w = std::exp(dw) * w;
float pred_h = std::exp(dh) * h;
box = cv::Rect2f((pred_ctr_x - 0.5 * (pred_w - 1.0))*ratiow,
(pred_ctr_y - 0.5 * (pred_h - 1.0))*ratioh,
(pred_ctr_x + 0.5 * (pred_w - 1.0))*ratiow,
(pred_ctr_y + 0.5 * (pred_h - 1.0))*ratioh);
}
//得到在原图中的landmark
//delta是对于设定锚点的偏移量
void AnchorGenerator::landmark_pred(const CRect2f anchor, const std::vector<cv::Point2f>& delta, std::vector<cv::Point2f>& pts) {
float w = anchor[2] - anchor[0] + 1;
float h = anchor[3] - anchor[1] + 1;
float x_ctr = anchor[0] + 0.5 * (w - 1);
float y_ctr = anchor[1] + 0.5 * (h - 1);
pts.resize(delta.size());
for (int i = 0; i < delta.size(); ++i) {
pts[i].x = (delta[i].x*w + x_ctr)*ratiow;
pts[i].y = (delta[i].y*h + y_ctr)*ratioh;
}
}