//javadoc: NMSBoxes(bboxes, scores, score_threshold, nms_threshold, indices)
public static void NMSBoxes(MatOfRect2d bboxes, MatOfFloat scores, float score_threshold, float nms_threshold, MatOfInt indices)
{
if (bboxes != null)
{
bboxes.ThrowIfDisposed();
}
if (scores != null)
{
scores.ThrowIfDisposed();
}
if (indices != null)
{
indices.ThrowIfDisposed();
}
#if ((UNITY_ANDROID || UNITY_IOS || UNITY_WEBGL) && !UNITY_EDITOR) || UNITY_5 || UNITY_5_3_OR_NEWER
Mat bboxes_mat = bboxes;
Mat scores_mat = scores;
Mat indices_mat = indices;
dnn_Dnn_NMSBoxes_15(bboxes_mat.nativeObj, scores_mat.nativeObj, score_threshold, nms_threshold, indices_mat.nativeObj);
return;
#else
return;
#endif
}
private void Init()
{
rgbMat = new Mat();
if (capture.isOpened())
{
Debug.Log("capture.isOpened() true");
}
else
{
Debug.Log("capture.isOpened() false");
}
Debug.Log("CAP_PROP_FORMAT: " + capture.get(Videoio.CAP_PROP_FORMAT));
Debug.Log("CV_CAP_PROP_PREVIEW_FORMAT: " + capture.get(Videoio.CV_CAP_PROP_PREVIEW_FORMAT));
Debug.Log("CAP_PROP_POS_MSEC: " + capture.get(Videoio.CAP_PROP_POS_MSEC));
Debug.Log("CAP_PROP_POS_FRAMES: " + capture.get(Videoio.CAP_PROP_POS_FRAMES));
Debug.Log("CAP_PROP_POS_AVI_RATIO: " + capture.get(Videoio.CAP_PROP_POS_AVI_RATIO));
Debug.Log("CAP_PROP_FRAME_COUNT: " + capture.get(Videoio.CAP_PROP_FRAME_COUNT));
Debug.Log("CAP_PROP_FPS: " + capture.get(Videoio.CAP_PROP_FPS));
Debug.Log("CAP_PROP_FRAME_WIDTH: " + capture.get(Videoio.CAP_PROP_FRAME_WIDTH));
Debug.Log("CAP_PROP_FRAME_HEIGHT: " + capture.get(Videoio.CAP_PROP_FRAME_HEIGHT));
capture.grab();
capture.retrieve(rgbMat, 0);
int frameWidth = rgbMat.cols();
int frameHeight = rgbMat.rows();
colors = new Color32[frameWidth * frameHeight];
texture = new Texture2D(frameWidth, frameHeight, TextureFormat.RGBA32, false);
gameObject.transform.localScale = new Vector3((float)frameWidth, (float)frameHeight, 1);
float widthScale = (float)Screen.width / (float)frameWidth;
float heightScale = (float)Screen.height / (float)frameHeight;
if (widthScale < heightScale)
{
Camera.main.orthographicSize = ((float)frameWidth * (float)Screen.height / (float)Screen.width) / 2;
}
else
{
Camera.main.orthographicSize = (float)frameHeight / 2;
}
capture.set(Videoio.CAP_PROP_POS_FRAMES, 0);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
trackers = new MultiTracker("KCF");
objects = new MatOfRect2d();
trackingColorList = new List <Scalar> ();
selectedPointList = new List <Point> ();
}
//
// C++: bool cv::MultiTracker::update(Mat image, vector_Rect2d& boundingBox)
//
/**
* Update the current tracking status.
* param image input image
* param boundingBox the tracking result, represent a list of ROIs of the tracked objects.
* return automatically generated
*/
public bool update(Mat image, MatOfRect2d boundingBox)
{
ThrowIfDisposed();
if (image != null)
{
image.ThrowIfDisposed();
}
if (boundingBox != null)
{
boundingBox.ThrowIfDisposed();
}
Mat boundingBox_mat = boundingBox;
return(tracking_MultiTracker_update_10(nativeObj, image.nativeObj, boundingBox_mat.nativeObj));
}
public void OnResetTrackerButton()
{
if (trackers != null)
{
trackers.Dispose();
trackers = null;
}
if (objects != null)
{
objects.Dispose();
objects = null;
}
trackers = new MultiTracker("KCF");
objects = new MatOfRect2d();
trackingColorList.Clear();
selectedPointList.Clear();
}
public override void OnWebCamTextureToMatHelperDisposed()
{
base.OnWebCamTextureToMatHelperDisposed();
if (pb != null)
{
pb.dispose();
pb = null;
}
if (boxes_m_c1 != null)
{
boxes_m_c1.Dispose();
}
if (boxes_m_c4 != null)
{
boxes_m_c4.Dispose();
}
if (confidences_m != null)
{
confidences_m.Dispose();
}
if (boxes != null)
{
boxes.Dispose();
}
if (confidences != null)
{
confidences.Dispose();
}
if (indices != null)
{
indices.Dispose();
}
boxes_m_c1 = null;
boxes_m_c4 = null;
confidences_m = null;
boxes = null;
confidences = null;
indices = null;
}
/// <summary>
/// Raises the video capture to mat helper initialized event.
/// </summary>
public void OnVideoCaptureToMatHelperInitialized()
{
Debug.Log("OnVideoCaptureToMatHelperInitialized");
Mat rgbMat = sourceToMatHelper.GetMat();
texture = new Texture2D(rgbMat.cols(), rgbMat.rows(), TextureFormat.RGB24, false);
Utils.fastMatToTexture2D(rgbMat, texture);
gameObject.GetComponent <Renderer>().material.mainTexture = texture;
gameObject.transform.localScale = new Vector3(rgbMat.cols(), rgbMat.rows(), 1);
Debug.Log("Screen.width " + Screen.width + " Screen.height " + Screen.height + " Screen.orientation " + Screen.orientation);
float width = rgbMat.width();
float height = rgbMat.height();
float widthScale = (float)Screen.width / width;
float heightScale = (float)Screen.height / height;
if (widthScale < heightScale)
{
Camera.main.orthographicSize = (width * (float)Screen.height / (float)Screen.width) / 2;
}
else
{
Camera.main.orthographicSize = height / 2;
}
trackers = MultiTracker.create();
objects = new MatOfRect2d();
trackingColorList = new List <Scalar>();
selectedPointList = new List <Point>();
}
/// <summary>
/// Postprocess the specified frame, outs and net.
/// </summary>
/// <param name="frame">Frame.</param>
/// <param name="outs">Outs.</param>
/// <param name="net">Net.</param>
/// <param name="backend">Backend.</param>
protected virtual void postprocess(Mat frame, List <Mat> outs, Net net, int backend = Dnn.DNN_BACKEND_OPENCV)
{
MatOfInt outLayers = net.getUnconnectedOutLayers();
string outLayerType = outBlobTypes[0];
List <int> classIdsList = new List <int>();
List <float> confidencesList = new List <float>();
List <Rect2d> boxesList = new List <Rect2d>();
if (net.getLayer(new DictValue(0)).outputNameToIndex("im_info") != -1)
{
// Faster-RCNN or R-FCN
// Network produces output blob with a shape 1x1xNx7 where N is a number of
// detections and an every detection is a vector of values
// [batchId, classId, confidence, left, top, right, bottom]
if (outs.Count == 1)
{
outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7);
//Debug.Log ("outs[i].ToString() " + outs [0].ToString ());
float[] data = new float[7];
for (int i = 0; i < outs[0].rows(); i++)
{
outs[0].get(i, 0, data);
float confidence = data[2];
if (confidence > confThreshold)
{
int class_id = (int)(data[1]);
float left = data[3] * frame.cols();
float top = data[4] * frame.rows();
float right = data[5] * frame.cols();
float bottom = data[6] * frame.rows();
float width = right - left + 1f;
float height = bottom - top + 1f;
classIdsList.Add((int)(class_id) - 1); // Skip 0th background class id.
confidencesList.Add((float)confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
}
}
else if (outLayerType == "DetectionOutput")
{
// Network produces output blob with a shape 1x1xNx7 where N is a number of
// detections and an every detection is a vector of values
// [batchId, classId, confidence, left, top, right, bottom]
if (outs.Count == 1)
{
outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7);
//Debug.Log ("outs[i].ToString() " + outs [0].ToString ());
float[] data = new float[7];
for (int i = 0; i < outs[0].rows(); i++)
{
outs[0].get(i, 0, data);
float confidence = data[2];
if (confidence > confThreshold)
{
int class_id = (int)(data[1]);
float left = data[3] * frame.cols();
float top = data[4] * frame.rows();
float right = data[5] * frame.cols();
float bottom = data[6] * frame.rows();
float width = right - left + 1f;
float height = bottom - top + 1f;
classIdsList.Add((int)(class_id) - 1); // Skip 0th background class id.
confidencesList.Add((float)confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
}
}
else if (outLayerType == "Region")
{
for (int i = 0; i < outs.Count; ++i)
{
// Network produces output blob with a shape NxC where N is a number of
// detected objects and C is a number of classes + 4 where the first 4
// numbers are [center_x, center_y, width, height]
//Debug.Log ("outs[i].ToString() "+outs[i].ToString());
float[] positionData = new float[5];
float[] confidenceData = new float[outs[i].cols() - 5];
for (int p = 0; p < outs[i].rows(); p++)
{
outs[i].get(p, 0, positionData);
outs[i].get(p, 5, confidenceData);
int maxIdx = confidenceData.Select((val, idx) => new { V = val, I = idx }).Aggregate((max, working) => (max.V > working.V) ? max : working).I;
float confidence = confidenceData[maxIdx];
if (confidence > confThreshold)
{
float centerX = positionData[0] * frame.cols();
float centerY = positionData[1] * frame.rows();
float width = positionData[2] * frame.cols();
float height = positionData[3] * frame.rows();
float left = centerX - width / 2;
float top = centerY - height / 2;
classIdsList.Add(maxIdx);
confidencesList.Add((float)confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
}
}
else
{
Debug.Log("Unknown output layer type: " + outLayerType);
}
// NMS is used inside Region layer only on DNN_BACKEND_OPENCV for another backends we need NMS in sample
// or NMS is required if number of outputs > 1
if (outLayers.total() > 1 || (outLayerType == "Region" && backend != Dnn.DNN_BACKEND_OPENCV))
{
Dictionary <int, List <int> > class2indices = new Dictionary <int, List <int> >();
for (int i = 0; i < classIdsList.Count; i++)
{
if (confidencesList[i] >= confThreshold)
{
if (!class2indices.ContainsKey(classIdsList[i]))
{
class2indices.Add(classIdsList[i], new List <int>());
}
class2indices[classIdsList[i]].Add(i);
}
}
List <Rect2d> nmsBoxesList = new List <Rect2d>();
List <float> nmsConfidencesList = new List <float>();
List <int> nmsClassIdsList = new List <int>();
foreach (int key in class2indices.Keys)
{
List <Rect2d> localBoxesList = new List <Rect2d>();
List <float> localConfidencesList = new List <float>();
List <int> classIndicesList = class2indices[key];
for (int i = 0; i < classIndicesList.Count; i++)
{
localBoxesList.Add(boxesList[classIndicesList[i]]);
localConfidencesList.Add(confidencesList[classIndicesList[i]]);
}
using (MatOfRect2d localBoxes = new MatOfRect2d(localBoxesList.ToArray()))
using (MatOfFloat localConfidences = new MatOfFloat(localConfidencesList.ToArray()))
using (MatOfInt nmsIndices = new MatOfInt())
{
Dnn.NMSBoxes(localBoxes, localConfidences, confThreshold, nmsThreshold, nmsIndices);
for (int i = 0; i < nmsIndices.total(); i++)
{
int idx = (int)nmsIndices.get(i, 0)[0];
nmsBoxesList.Add(localBoxesList[idx]);
nmsConfidencesList.Add(localConfidencesList[idx]);
nmsClassIdsList.Add(key);
}
}
}
boxesList = nmsBoxesList;
classIdsList = nmsClassIdsList;
confidencesList = nmsConfidencesList;
}
for (int idx = 0; idx < boxesList.Count; ++idx)
{
Rect2d box = boxesList[idx];
drawPred(classIdsList[idx], confidencesList[idx], box.x, box.y,
box.x + box.width, box.y + box.height, frame);
}
}
protected override void postprocess(Mat frame, List <Mat> outs, Net net, int backend = Dnn.DNN_BACKEND_OPENCV)
{
List <int> classIdsList = new List <int>();
List <float> confidencesList = new List <float>();
List <Rect2d> boxesList = new List <Rect2d>();
List <Point[]> pointsList = new List <Point[]>();
if (outs.Count == 2)
{
// reshape mat : outs[0]:[1, x, 4] to [x, 4], outs[1]:[1, x, 2] to [x, 2]
Mat boxes_m = outs[0].reshape(1, new int[] { outs[0].size(1), outs[0].size(2) });
Mat scores_m = outs[1].reshape(1, new int[] { outs[1].size(1), outs[1].size(2) });
//Debug.Log("boxes_m: " + boxes_m);
//Debug.Log("scores_m: " + scores_m);
//Debug.Log("priors: " + priors);
convertLocationsToBoxes(boxes_m, priors, 0.1f, 0.2f);
centerFormToCornerForm(boxes_m);
Mat boxes_0_4 = new Mat(boxes_m, new Range(0, boxes_m.rows()), new Range(0, 4));
float[] boxes_arr = new float[boxes_0_4.rows() * boxes_0_4.cols()];
MatUtils.copyFromMat(boxes_0_4, boxes_arr);
Mat scores_1_2 = new Mat(scores_m, new Range(0, scores_m.rows()), new Range(1, 2));
float[] confidences_arr = new float[scores_1_2.rows()];
MatUtils.copyFromMat(scores_1_2, confidences_arr);
for (int i = 0; i < boxes_m.rows(); i++)
{
float confidence = confidences_arr[i];
if (confidence > confThreshold)
{
int boxes_index = i * 4;
float left = boxes_arr[boxes_index] * frame.cols();
float top = boxes_arr[boxes_index + 1] * frame.rows();
float right = boxes_arr[boxes_index + 2] * frame.cols();
float bottom = boxes_arr[boxes_index + 3] * frame.rows();
float width = right - left + 1f;
float height = bottom - top + 1f;
classIdsList.Add(0);
confidencesList.Add(confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
if (boxes_m.cols() > 4 && boxes_m.cols() % 2 == 0)
{
Mat points = new Mat(boxes_m, new Range(0, boxes_m.rows()), new Range(4, boxes_m.cols()));
float[] points_arr = new float[points.rows() * points.cols()];
MatUtils.copyFromMat(points, points_arr);
for (int i = 0; i < boxes_m.rows(); i++)
{
float confidence = confidences_arr[i];
if (confidence > confThreshold)
{
int points_index = i * points.cols();
Point[] p_arr = new Point[points.cols() / 2];
for (int index = 0; index < points.cols() / 2; index++)
{
float x = points_arr[points_index + index * 2] * frame.cols();
float y = points_arr[points_index + index * 2 + 1] * frame.rows();
p_arr[index] = new Point(x, y);
}
pointsList.Add(p_arr);
}
}
}
}
MatOfRect2d boxes = new MatOfRect2d();
boxes.fromList(boxesList);
MatOfFloat confidences = new MatOfFloat();
confidences.fromList(confidencesList);
MatOfInt indices = new MatOfInt();
Dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, indices);
//Debug.Log("indices.dump () " + indices.dump());
//Debug.Log ("indices.ToString () "+indices.ToString());
for (int i = 0; i < indices.total(); ++i)
{
int idx = (int)indices.get(i, 0)[0];
Rect2d box = boxesList[idx];
drawPred(classIdsList[idx], confidencesList[idx], box.x, box.y,
box.x + box.width, box.y + box.height, frame);
if (pointsList.Count > 0)
{
drawPredPoints(pointsList[idx], frame);
}
}
indices.Dispose();
boxes.Dispose();
confidences.Dispose();
}
/// <summary>
/// Postprocess the specified frame, outs and net.
/// </summary>
/// <param name="frame">Frame.</param>
/// <param name="outs">Outs.</param>
/// <param name="net">Net.</param>
protected virtual void postprocess(Mat frame, List <Mat> outs, Net net)
{
string outLayerType = outBlobTypes[0];
List <int> classIdsList = new List <int>();
List <float> confidencesList = new List <float>();
List <Rect2d> boxesList = new List <Rect2d>();
if (net.getLayer(new DictValue(0)).outputNameToIndex("im_info") != -1)
{
// Faster-RCNN or R-FCN
// Network produces output blob with a shape 1x1xNx7 where N is a number of
// detections and an every detection is a vector of values
// [batchId, classId, confidence, left, top, right, bottom]
if (outs.Count == 1)
{
outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7);
//Debug.Log ("outs[i].ToString() " + outs [0].ToString ());
float[] data = new float[7];
for (int i = 0; i < outs[0].rows(); i++)
{
outs[0].get(i, 0, data);
float confidence = data[2];
if (confidence > confThreshold)
{
int class_id = (int)(data[1]);
float left = data[3] * frame.cols();
float top = data[4] * frame.rows();
float right = data[5] * frame.cols();
float bottom = data[6] * frame.rows();
float width = right - left + 1f;
float height = bottom - top + 1f;
classIdsList.Add((int)(class_id) - 0);
confidencesList.Add((float)confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
}
}
else if (outLayerType == "DetectionOutput")
{
// Network produces output blob with a shape 1x1xNx7 where N is a number of
// detections and an every detection is a vector of values
// [batchId, classId, confidence, left, top, right, bottom]
if (outs.Count == 1)
{
outs[0] = outs[0].reshape(1, (int)outs[0].total() / 7);
//Debug.Log ("outs[i].ToString() " + outs [0].ToString ());
float[] data = new float[7];
for (int i = 0; i < outs[0].rows(); i++)
{
outs[0].get(i, 0, data);
float confidence = data[2];
if (confidence > confThreshold)
{
int class_id = (int)(data[1]);
float left = data[3] * frame.cols();
float top = data[4] * frame.rows();
float right = data[5] * frame.cols();
float bottom = data[6] * frame.rows();
float width = right - left + 1f;
float height = bottom - top + 1f;
classIdsList.Add((int)(class_id) - 0);
confidencesList.Add((float)confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
}
}
else if (outLayerType == "Region")
{
for (int i = 0; i < outs.Count; ++i)
{
// Network produces output blob with a shape NxC where N is a number of
// detected objects and C is a number of classes + 4 where the first 4
// numbers are [center_x, center_y, width, height]
//Debug.Log ("outs[i].ToString() "+outs[i].ToString());
float[] positionData = new float[5];
float[] confidenceData = new float[outs[i].cols() - 5];
for (int p = 0; p < outs[i].rows(); p++)
{
outs[i].get(p, 0, positionData);
outs[i].get(p, 5, confidenceData);
int maxIdx = confidenceData.Select((val, idx) => new { V = val, I = idx }).Aggregate((max, working) => (max.V > working.V) ? max : working).I;
float confidence = confidenceData[maxIdx];
if (confidence > confThreshold)
{
float centerX = positionData[0] * frame.cols();
float centerY = positionData[1] * frame.rows();
float width = positionData[2] * frame.cols();
float height = positionData[3] * frame.rows();
float left = centerX - width / 2;
float top = centerY - height / 2;
classIdsList.Add(maxIdx);
confidencesList.Add((float)confidence);
boxesList.Add(new Rect2d(left, top, width, height));
}
}
}
}
else
{
Debug.Log("Unknown output layer type: " + outLayerType);
}
MatOfRect2d boxes = new MatOfRect2d();
boxes.fromList(boxesList);
MatOfFloat confidences = new MatOfFloat();
confidences.fromList(confidencesList);
MatOfInt indices = new MatOfInt();
Dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, indices);
//Debug.Log ("indices.dump () "+indices.dump ());
//Debug.Log ("indices.ToString () "+indices.ToString());
for (int i = 0; i < indices.total(); ++i)
{
int idx = (int)indices.get(i, 0)[0];
Rect2d box = boxesList[idx];
drawPred(classIdsList[idx], confidencesList[idx], box.x, box.y,
box.x + box.width, box.y + box.height, frame);
}
indices.Dispose();
boxes.Dispose();
confidences.Dispose();
}
protected override void postprocess(Mat frame, List <Mat> outs, Net net, int backend = Dnn.DNN_BACKEND_OPENCV)
{
// # Decode bboxes and landmarks
Mat dets = pb.decode(outs[0], outs[1], outs[2]);
// # Ignore low scores + NMS
int num = dets.rows();
if (boxes_m_c1 == null)
{
boxes_m_c1 = new Mat(num, 4, CvType.CV_64FC1);
}
if (boxes_m_c4 == null)
{
boxes_m_c4 = new Mat(num, 1, CvType.CV_64FC4);
}
if (confidences_m == null)
{
confidences_m = new Mat(num, 1, CvType.CV_32FC1);
}
if (boxes == null)
{
boxes = new MatOfRect2d(boxes_m_c4);
}
if (confidences == null)
{
confidences = new MatOfFloat(confidences_m);
}
if (indices == null)
{
indices = new MatOfInt();
}
Mat bboxes = dets.colRange(0, 4);
bboxes.convertTo(boxes_m_c1, CvType.CV_64FC1);
// x1,y1,x2,y2 => x,y,w,h
Mat boxes_m_0_2 = boxes_m_c1.colRange(0, 2);
Mat boxes_m_2_4 = boxes_m_c1.colRange(2, 4);
Core.subtract(boxes_m_2_4, boxes_m_0_2, boxes_m_2_4);
MatUtils.copyToMat(new IntPtr(boxes_m_c1.dataAddr()), boxes_m_c4);
Mat scores = dets.colRange(14, 15);
scores.copyTo(confidences_m);
Dnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, indices);
// # Draw boudning boxes and landmarks on the original image
for (int i = 0; i < indices.total(); ++i)
{
int idx = (int)indices.get(i, 0)[0];
float[] bbox_arr = new float[4];
bboxes.get(idx, 0, bbox_arr);
float[] confidence_arr = new float[1];
confidences.get(idx, 0, confidence_arr);
drawPred(0, confidence_arr[0], bbox_arr[0], bbox_arr[1], bbox_arr[2], bbox_arr[3], frame);
Mat landmarks = dets.colRange(4, 14);
float[] landmarks_arr = new float[10];
landmarks.get(idx, 0, landmarks_arr);
Point[] points = new Point[] { new Point(landmarks_arr[0], landmarks_arr[1]), new Point(landmarks_arr[2], landmarks_arr[3]),
new Point(landmarks_arr[4], landmarks_arr[5]), new Point(landmarks_arr[6], landmarks_arr[7]), new Point(landmarks_arr[8], landmarks_arr[9]) };
drawPredPoints(points, frame);
}
}
//
// C++: vector_Rect2d cv::MultiTracker::getObjects()
//
/**
* Returns a reference to a storage for the tracked objects, each object corresponds to one tracker algorithm
* return automatically generated
*/
public MatOfRect2d getObjects()
{
ThrowIfDisposed();
return(MatOfRect2d.fromNativeAddr(tracking_MultiTracker_getObjects_10(nativeObj)));
}
/// <summary>
/// Get result form all output
/// </summary>
/// <param name="output"></param>
/// <param name="image"></param>
/// <param name="threshold"></param>
/// <param name="nmsThreshold">threshold for nms</param>
/// <param name="nms">Enable Non-maximum suppression or not</param>
private static void GetResult(IEnumerable <Mat> output, Mat image, float threshold, float nmsThreshold, bool nms = true)
{
//for nms
List <int> classIds = new List <int>();
List <float> confidences = new List <float>();
List <float> probabilities = new List <float>();
List <Rect2d> boxes = new List <Rect2d>();
var w = image.width();
var h = image.height();
/*
* YOLO3 COCO trainval output
* 0 1 : center 2 3 : w/h
* 4 : confidence 5 ~ 84 : class probability
*/
const int prefix = 5; //skip 0~4
foreach (Mat prob in output)
{
for (int i = 0; i < prob.rows(); i++)
{
var confidence = (float)prob.get(i, 4)[0];
if (confidence > threshold)
{
//get classes probability
Core.MinMaxLocResult minAndMax = Core.minMaxLoc(prob.row(i).colRange(prefix, prob.cols()));
int classes = (int)minAndMax.maxLoc.x;
var probability = (float)prob.get(i, classes + prefix)[0];
if (probability > threshold) //more accuracy, you can cancel it
{
//get center and width/height
float centerX = (float)prob.get(i, 0)[0] * w;
float centerY = (float)prob.get(i, 1)[0] * h;
float width = (float)prob.get(i, 2)[0] * w;
float height = (float)prob.get(i, 3)[0] * h;
if (!nms)
{
// draw result (if don't use NMSBoxes)
Draw(image, classes, confidence, probability, centerX, centerY, width, height);
continue;
}
//put data to list for NMSBoxes
classIds.Add(classes);
confidences.Add(confidence);
probabilities.Add(probability);
boxes.Add(new Rect2d(centerX, centerY, width, height));
}
}
}
}
if (!nms)
{
return;
}
//using non-maximum suppression to reduce overlapping low confidence box
MatOfRect2d bboxes = new MatOfRect2d();
MatOfFloat scores = new MatOfFloat();
MatOfInt indices = new MatOfInt();
bboxes.fromList(boxes);
scores.fromList(probabilities);
Dnn.NMSBoxes(bboxes, scores, threshold, nmsThreshold, indices);
int[] indicesA = indices.toArray();
foreach (var i in indicesA)
{
var box = boxes[i];
Draw(image, classIds[i], confidences[i], probabilities[i], box.x, box.y, box.width, box.height);
}
}