39 const ITensorInfo *scores,
40 const ITensorInfo *output_indices,
41 unsigned int max_output_size,
42 const float score_threshold,
43 const float iou_threshold)
49 "The bboxes tensor must be a 2-D float tensor of shape [4, num_boxes].");
51 "The scores tensor must be a 1-D float tensor of shape [num_boxes].");
53 "The indices must be 1-D integer tensor of shape [M], where max_output_size <= M");
65 : _input_bboxes(nullptr),
66 _input_scores(nullptr),
67 _output_indices(nullptr),
69 _score_threshold(0.f),
78 unsigned int max_output_size,
79 const float score_threshold,
80 const float iou_threshold)
84 max_output_size, score_threshold, iou_threshold));
88 _input_bboxes = input_bboxes;
89 _input_scores = input_scores;
90 _output_indices = output_indices;
91 _score_threshold = score_threshold;
92 _iou_threshold = iou_threshold;
93 _max_output_size = max_output_size;
100 ICPPKernel::configure(win);
106 unsigned int max_output_size,
107 const float score_threshold,
108 const float iou_threshold)
111 validate_arguments(bboxes, scores, output_indices, max_output_size, score_threshold, iou_threshold));
123 std::vector<int> indices_above_thd;
124 std::vector<float> scores_above_thd;
125 for (
unsigned int i = 0; i < _num_boxes; ++i)
128 if (score_i >= _score_threshold)
130 scores_above_thd.emplace_back(score_i);
131 indices_above_thd.emplace_back(i);
136 const unsigned int num_above_thd = indices_above_thd.size();
137 std::vector<unsigned int> sorted_indices;
138 sorted_indices.resize(num_above_thd);
139 std::iota(sorted_indices.data(), sorted_indices.data() + num_above_thd, 0);
140 std::sort(std::begin(sorted_indices),
std::end(sorted_indices),
141 [&](
unsigned int first,
unsigned int second)
142 {
return scores_above_thd[first] > scores_above_thd[second]; });
145 const unsigned int num_output = std::min(_max_output_size, num_above_thd);
146 unsigned int output_idx = 0;
147 std::vector<bool> visited(num_above_thd,
false);
150 for (
unsigned int i = 0; i < num_above_thd; ++i)
153 if (output_idx >= num_output)
159 if (!visited[sorted_indices[i]])
162 indices_above_thd[sorted_indices[i]];
163 visited[sorted_indices[i]] =
true;
172 for (
unsigned int j = i + 1; j < num_above_thd; ++j)
174 if (!visited[sorted_indices[j]])
177 const unsigned int i_index = indices_above_thd[sorted_indices[i]];
178 const unsigned int j_index = indices_above_thd[sorted_indices[j]];
180 const auto box_i_xmin =
182 const auto box_i_ymin =
184 const auto box_i_xmax =
186 const auto box_i_ymax =
189 const auto box_j_xmin =
191 const auto box_j_ymin =
193 const auto box_j_xmax =
195 const auto box_j_ymax =
198 const float area_i = (box_i_xmax - box_i_xmin) * (box_i_ymax - box_i_ymin);
199 const float area_j = (box_j_xmax - box_j_xmin) * (box_j_ymax - box_j_ymin);
201 if (area_i <= 0 || area_j <= 0)
207 const auto y_min_intersection = std::max<float>(box_i_ymin, box_j_ymin);
208 const auto x_min_intersection = std::max<float>(box_i_xmin, box_j_xmin);
209 const auto y_max_intersection = std::min<float>(box_i_ymax, box_j_ymax);
210 const auto x_max_intersection = std::min<float>(box_i_xmax, box_j_xmax);
211 const auto area_intersection = std::max<float>(y_max_intersection - y_min_intersection, 0.0f) *
212 std::max<float>(x_max_intersection - x_min_intersection, 0.0f);
213 overlap = area_intersection / (area_i + area_j - area_intersection);
216 if (overlap > _iou_threshold)
218 visited[sorted_indices[j]] =
true;
225 for (; output_idx < _max_output_size; ++output_idx)