associative_embedding_decoder.h

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