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// Tencent is pleased to support the open source community by making ncnn available.
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// Copyright (C) 2021 THL A29 Limited, a Tencent company. All rights reserved.
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// Licensed under the BSD 3-Clause License (the "License"); you may not use this file except
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// in compliance with the License. You may obtain a copy of the License at
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// https://opensource.org/licenses/BSD-3-Clause
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// Unless required by applicable law or agreed to in writing, software distributed
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// under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
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// CONDITIONS OF ANY KIND, either express or implied. See the License for the
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// specific language governing permissions and limitations under the License.
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#if defined(USE_NCNN_SIMPLEOCV)
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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cv::Rect_<float> rect;
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static inline float intersection_area(const FaceObject& a, const FaceObject& b)
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cv::Rect_<float> inter = a.rect & b.rect;
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static void qsort_descent_inplace(std::vector<FaceObject>& faceobjects, int left, int right)
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float p = faceobjects[(left + right) / 2].prob;
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while (faceobjects[i].prob > p)
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while (faceobjects[j].prob < p)
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std::swap(faceobjects[i], faceobjects[j]);
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#pragma omp parallel sections
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if (left < j) qsort_descent_inplace(faceobjects, left, j);
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if (i < right) qsort_descent_inplace(faceobjects, i, right);
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static void qsort_descent_inplace(std::vector<FaceObject>& faceobjects)
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if (faceobjects.empty())
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qsort_descent_inplace(faceobjects, 0, faceobjects.size() - 1);
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static void nms_sorted_bboxes(const std::vector<FaceObject>& faceobjects, std::vector<int>& picked, float nms_threshold)
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const int n = faceobjects.size();
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std::vector<float> areas(n);
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for (int i = 0; i < n; i++)
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areas[i] = faceobjects[i].rect.area();
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for (int i = 0; i < n; i++)
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const FaceObject& a = faceobjects[i];
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for (int j = 0; j < (int)picked.size(); j++)
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const FaceObject& b = faceobjects[picked[j]];
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// intersection over union
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float inter_area = intersection_area(a, b);
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float union_area = areas[i] + areas[picked[j]] - inter_area;
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// float IoU = inter_area / union_area
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if (inter_area / union_area > nms_threshold)
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// insightface/detection/scrfd/mmdet/core/anchor/anchor_generator.py gen_single_level_base_anchors()
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static ncnn::Mat generate_anchors(int base_size, const ncnn::Mat& ratios, const ncnn::Mat& scales)
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int num_ratio = ratios.w;
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int num_scale = scales.w;
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anchors.create(4, num_ratio * num_scale);
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for (int i = 0; i < num_ratio; i++)
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float ar = ratios[i];
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int r_w = round(base_size / sqrt(ar));
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int r_h = round(r_w * ar); //round(base_size * sqrt(ar));
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for (int j = 0; j < num_scale; j++)
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float scale = scales[j];
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float rs_w = r_w * scale;
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float rs_h = r_h * scale;
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float* anchor = anchors.row(i * num_scale + j);
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anchor[0] = cx - rs_w * 0.5f;
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anchor[1] = cy - rs_h * 0.5f;
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anchor[2] = cx + rs_w * 0.5f;
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anchor[3] = cy + rs_h * 0.5f;
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static void generate_proposals(const ncnn::Mat& anchors, int feat_stride, const ncnn::Mat& score_blob, const ncnn::Mat& bbox_blob, float prob_threshold, std::vector<FaceObject>& faceobjects)
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int w = score_blob.w;
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int h = score_blob.h;
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// generate face proposal from bbox deltas and shifted anchors
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const int num_anchors = anchors.h;
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for (int q = 0; q < num_anchors; q++)
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const float* anchor = anchors.row(q);
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const ncnn::Mat score = score_blob.channel(q);
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const ncnn::Mat bbox = bbox_blob.channel_range(q * 4, 4);
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float anchor_y = anchor[1];
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float anchor_w = anchor[2] - anchor[0];
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float anchor_h = anchor[3] - anchor[1];
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for (int i = 0; i < h; i++)
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float anchor_x = anchor[0];
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for (int j = 0; j < w; j++)
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int index = i * w + j;
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float prob = score[index];
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if (prob >= prob_threshold)
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// insightface/detection/scrfd/mmdet/models/dense_heads/scrfd_head.py _get_bboxes_single()
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float dx = bbox.channel(0)[index] * feat_stride;
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float dy = bbox.channel(1)[index] * feat_stride;
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float dw = bbox.channel(2)[index] * feat_stride;
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float dh = bbox.channel(3)[index] * feat_stride;
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// insightface/detection/scrfd/mmdet/core/bbox/transforms.py distance2bbox()
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float cx = anchor_x + anchor_w * 0.5f;
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float cy = anchor_y + anchor_h * 0.5f;
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obj.rect.width = x1 - x0 + 1;
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obj.rect.height = y1 - y0 + 1;
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faceobjects.push_back(obj);
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anchor_x += feat_stride;
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anchor_y += feat_stride;
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static int detect_scrfd(const cv::Mat& bgr, std::vector<FaceObject>& faceobjects)
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scrfd.opt.use_vulkan_compute = true;
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// Insight face does not provided a trained scrfd_crowdhuman model
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// but I have one for detecing cat face, you can have a try here:
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// https://drive.google.com/file/d/1JogkKa0f_09HkENbCnXy9hRYxm35wKTn
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if (scrfd.load_param("scrfd_crowdhuman.param"))
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if (scrfd.load_model("scrfd_crowdhuman.bin"))
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int width = bgr.cols;
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int height = bgr.rows;
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const int target_size = 640;
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const float prob_threshold = 0.3f;
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const float nms_threshold = 0.45f;
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// pad to multiple of 32
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scale = (float)target_size / w;
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scale = (float)target_size / h;
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ncnn::Mat in = ncnn::Mat::from_pixels_resize(bgr.data, ncnn::Mat::PIXEL_BGR2RGB, width, height, w, h);
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// pad to target_size rectangle
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int wpad = (w + 31) / 32 * 32 - w;
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int hpad = (h + 31) / 32 * 32 - h;
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ncnn::copy_make_border(in, in_pad, hpad / 2, hpad - hpad / 2, wpad / 2, wpad - wpad / 2, ncnn::BORDER_CONSTANT, 0.f);
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const float mean_vals[3] = {127.5f, 127.5f, 127.5f};
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const float norm_vals[3] = {1 / 128.f, 1 / 128.f, 1 / 128.f};
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in_pad.substract_mean_normalize(mean_vals, norm_vals);
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ncnn::Extractor ex = scrfd.create_extractor();
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ex.input("input.1", in_pad);
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std::vector<FaceObject> faceproposals;
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ncnn::Mat score_blob, bbox_blob;
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ex.extract("490", score_blob);
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ex.extract("493", bbox_blob);
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const int base_size = 8;
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const int feat_stride = 8;
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ncnn::Mat anchors = generate_anchors(base_size, ratios, scales);
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std::vector<FaceObject> faceobjects32;
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generate_proposals(anchors, feat_stride, score_blob, bbox_blob, prob_threshold, faceobjects32);
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faceproposals.insert(faceproposals.end(), faceobjects32.begin(), faceobjects32.end());
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ncnn::Mat score_blob, bbox_blob;
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ex.extract("510", score_blob);
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ex.extract("513", bbox_blob);
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const int base_size = 16;
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const int feat_stride = 16;
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ncnn::Mat anchors = generate_anchors(base_size, ratios, scales);
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std::vector<FaceObject> faceobjects16;
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generate_proposals(anchors, feat_stride, score_blob, bbox_blob, prob_threshold, faceobjects16);
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faceproposals.insert(faceproposals.end(), faceobjects16.begin(), faceobjects16.end());
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ncnn::Mat score_blob, bbox_blob;
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ex.extract("530", score_blob);
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ex.extract("533", bbox_blob);
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const int base_size = 32;
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const int feat_stride = 32;
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ncnn::Mat anchors = generate_anchors(base_size, ratios, scales);
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std::vector<FaceObject> faceobjects8;
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generate_proposals(anchors, feat_stride, score_blob, bbox_blob, prob_threshold, faceobjects8);
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faceproposals.insert(faceproposals.end(), faceobjects8.begin(), faceobjects8.end());
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ncnn::Mat score_blob, bbox_blob, kps_blob;
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ex.extract("550", score_blob);
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ex.extract("553", bbox_blob);
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const int base_size = 64;
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const int feat_stride = 64;
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ncnn::Mat anchors = generate_anchors(base_size, ratios, scales);
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std::vector<FaceObject> faceobjects8;
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generate_proposals(anchors, feat_stride, score_blob, bbox_blob, prob_threshold, faceobjects8);
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faceproposals.insert(faceproposals.end(), faceobjects8.begin(), faceobjects8.end());
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ncnn::Mat score_blob, bbox_blob, kps_blob;
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ex.extract("570", score_blob);
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ex.extract("573", bbox_blob);
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const int base_size = 128;
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const int feat_stride = 128;
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ncnn::Mat anchors = generate_anchors(base_size, ratios, scales);
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std::vector<FaceObject> faceobjects8;
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generate_proposals(anchors, feat_stride, score_blob, bbox_blob, prob_threshold, faceobjects8);
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faceproposals.insert(faceproposals.end(), faceobjects8.begin(), faceobjects8.end());
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// sort all proposals by score from highest to lowest
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qsort_descent_inplace(faceproposals);
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// apply nms with nms_threshold
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std::vector<int> picked;
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nms_sorted_bboxes(faceproposals, picked, nms_threshold);
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int face_count = picked.size();
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faceobjects.resize(face_count);
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for (int i = 0; i < face_count; i++)
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faceobjects[i] = faceproposals[picked[i]];
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// adjust offset to original unpadded
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float x0 = (faceobjects[i].rect.x - (wpad / 2)) / scale;
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float y0 = (faceobjects[i].rect.y - (hpad / 2)) / scale;
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float x1 = (faceobjects[i].rect.x + faceobjects[i].rect.width - (wpad / 2)) / scale;
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float y1 = (faceobjects[i].rect.y + faceobjects[i].rect.height - (hpad / 2)) / scale;
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x0 = std::max(std::min(x0, (float)width - 1), 0.f);
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y0 = std::max(std::min(y0, (float)height - 1), 0.f);
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x1 = std::max(std::min(x1, (float)width - 1), 0.f);
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y1 = std::max(std::min(y1, (float)height - 1), 0.f);
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faceobjects[i].rect.x = x0;
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faceobjects[i].rect.y = y0;
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faceobjects[i].rect.width = x1 - x0;
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faceobjects[i].rect.height = y1 - y0;
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static void draw_faceobjects(const cv::Mat& bgr, const std::vector<FaceObject>& faceobjects)
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cv::Mat image = bgr.clone();
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for (size_t i = 0; i < faceobjects.size(); i++)
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const FaceObject& obj = faceobjects[i];
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fprintf(stderr, "%.5f at %.2f %.2f %.2f x %.2f\n", obj.prob,
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obj.rect.x, obj.rect.y, obj.rect.width, obj.rect.height);
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cv::rectangle(image, obj.rect, cv::Scalar(0, 255, 0));
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sprintf(text, "%.1f%%", obj.prob * 100);
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cv::Size label_size = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
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int y = obj.rect.y - label_size.height - baseLine;
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if (x + label_size.width > image.cols)
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x = image.cols - label_size.width;
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cv::rectangle(image, cv::Rect(cv::Point(x, y), cv::Size(label_size.width, label_size.height + baseLine)),
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cv::Scalar(255, 255, 255), -1);
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cv::putText(image, text, cv::Point(x, y + label_size.height),
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cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 0));
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cv::imshow("image", image);
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int main(int argc, char** argv)
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fprintf(stderr, "Usage: %s [imagepath]\n", argv[0]);
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const char* imagepath = argv[1];
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cv::Mat m = cv::imread(imagepath, 1);
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fprintf(stderr, "cv::imread %s failed\n", imagepath);
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std::vector<FaceObject> faceobjects;
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detect_scrfd(m, faceobjects);
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draw_faceobjects(m, faceobjects);