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use ndarray::{Array, Axis, IxDyn};
#[derive(Clone, PartialEq, Default)]
pub struct YOLOResult {
// YOLO tasks results of an image
pub probs: Option<Embedding>,
pub bboxes: Option<Vec<Bbox>>,
pub keypoints: Option<Vec<Vec<Point2>>>,
pub masks: Option<Vec<Vec<u8>>>,
}
impl std::fmt::Debug for YOLOResult {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
f.debug_struct("YOLOResult")
.field(
"Probs(top5)",
&format_args!("{:?}", self.probs().map(|probs| probs.topk(5))),
)
.field("Bboxes", &self.bboxes)
.field("Keypoints", &self.keypoints)
.field(
"Masks",
&format_args!("{:?}", self.masks().map(|masks| masks.len())),
)
.finish()
}
}
impl YOLOResult {
pub fn new(
probs: Option<Embedding>,
bboxes: Option<Vec<Bbox>>,
keypoints: Option<Vec<Vec<Point2>>>,
masks: Option<Vec<Vec<u8>>>,
) -> Self {
Self {
probs,
bboxes,
keypoints,
masks,
}
}
pub fn probs(&self) -> Option<&Embedding> {
self.probs.as_ref()
}
pub fn keypoints(&self) -> Option<&Vec<Vec<Point2>>> {
self.keypoints.as_ref()
}
pub fn masks(&self) -> Option<&Vec<Vec<u8>>> {
self.masks.as_ref()
}
pub fn bboxes(&self) -> Option<&Vec<Bbox>> {
self.bboxes.as_ref()
}
pub fn bboxes_mut(&mut self) -> Option<&mut Vec<Bbox>> {
self.bboxes.as_mut()
}
}
#[derive(Debug, PartialEq, Clone, Default)]
pub struct Point2 {
// A point2d with x, y, conf
x: f32,
y: f32,
confidence: f32,
}
impl Point2 {
pub fn new_with_conf(x: f32, y: f32, confidence: f32) -> Self {
Self { x, y, confidence }
}
pub fn new(x: f32, y: f32) -> Self {
Self {
x,
y,
..Default::default()
}
}
pub fn x(&self) -> f32 {
self.x
}
pub fn y(&self) -> f32 {
self.y
}
pub fn confidence(&self) -> f32 {
self.confidence
}
}
#[derive(Debug, Clone, PartialEq, Default)]
pub struct Embedding {
// An float32 n-dims tensor
data: Array<f32, IxDyn>,
}
impl Embedding {
pub fn new(data: Array<f32, IxDyn>) -> Self {
Self { data }
}
pub fn data(&self) -> &Array<f32, IxDyn> {
&self.data
}
pub fn topk(&self, k: usize) -> Vec<(usize, f32)> {
let mut probs = self
.data
.iter()
.enumerate()
.map(|(a, b)| (a, *b))
.collect::<Vec<_>>();
probs.sort_by(|a, b| b.1.partial_cmp(&a.1).unwrap());
let mut topk = Vec::new();
for &(id, confidence) in probs.iter().take(k) {
topk.push((id, confidence));
}
topk
}
pub fn norm(&self) -> Array<f32, IxDyn> {
let std_ = self.data.mapv(|x| x * x).sum_axis(Axis(0)).mapv(f32::sqrt);
self.data.clone() / std_
}
pub fn top1(&self) -> (usize, f32) {
self.topk(1)[0]
}
}
#[derive(Debug, Clone, PartialEq, Default)]
pub struct Bbox {
// a bounding box around an object
xmin: f32,
ymin: f32,
width: f32,
height: f32,
id: usize,
confidence: f32,
}
impl Bbox {
pub fn new_from_xywh(xmin: f32, ymin: f32, width: f32, height: f32) -> Self {
Self {
xmin,
ymin,
width,
height,
..Default::default()
}
}
pub fn new(xmin: f32, ymin: f32, width: f32, height: f32, id: usize, confidence: f32) -> Self {
Self {
xmin,
ymin,
width,
height,
id,
confidence,
}
}
pub fn width(&self) -> f32 {
self.width
}
pub fn height(&self) -> f32 {
self.height
}
pub fn xmin(&self) -> f32 {
self.xmin
}
pub fn ymin(&self) -> f32 {
self.ymin
}
pub fn xmax(&self) -> f32 {
self.xmin + self.width
}
pub fn ymax(&self) -> f32 {
self.ymin + self.height
}
pub fn tl(&self) -> Point2 {
Point2::new(self.xmin, self.ymin)
}
pub fn br(&self) -> Point2 {
Point2::new(self.xmax(), self.ymax())
}
pub fn cxcy(&self) -> Point2 {
Point2::new(self.xmin + self.width / 2., self.ymin + self.height / 2.)
}
pub fn id(&self) -> usize {
self.id
}
pub fn confidence(&self) -> f32 {
self.confidence
}
pub fn area(&self) -> f32 {
self.width * self.height
}
pub fn intersection_area(&self, another: &Bbox) -> f32 {
let l = self.xmin.max(another.xmin);
let r = (self.xmin + self.width).min(another.xmin + another.width);
let t = self.ymin.max(another.ymin);
let b = (self.ymin + self.height).min(another.ymin + another.height);
(r - l + 1.).max(0.) * (b - t + 1.).max(0.)
}
pub fn union(&self, another: &Bbox) -> f32 {
self.area() + another.area() - self.intersection_area(another)
}
pub fn iou(&self, another: &Bbox) -> f32 {
self.intersection_area(another) / self.union(another)
}
}
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