提交计算iou代码

BaseTracker/Iou.cpp

@@ -298,4 +298,189 @@ double CuboidIoU(const std::vector<float> &truth_poses, const std::vector<float>
 //    double iou_3d = CuboidIoU_once(truth_poses, landmark_poses);
 //    cout<<"the iou of two cuboid is: "<<iou_3d<<endl;
 //    return;
-//}
\ No newline at end of file
+//}
+
+/*
+
+
+#include <iostream>
+#include <vector>
+#include <math.h>
+#include <string.h>
+#include <algorithm>
+#include <opencv2/opencv.hpp>
+#include "caffe/nms.h"
+using namespace std;
+using namespace cv;
+
+//cv::Point2f center;
+
+//c++ 多边形求交集
+//const int maxn = 300;
+const double eps = 1e-8;
+int dcmp(double x)
+{
+    if(x > eps) return 1;
+    return x < -eps ? -1 : 0;
+}
+struct MyPoint
+{
+    double x, y;
+};
+double cross(MyPoint a,MyPoint b,MyPoint c) ///叉积
+{
+    return (a.x-c.x)*(b.y-c.y)-(b.x-c.x)*(a.y-c.y);
+}
+MyPoint intersection(MyPoint a,MyPoint b,MyPoint c,MyPoint d)
+{
+    MyPoint p = a;
+    double t =((a.x-c.x)*(c.y-d.y)-(a.y-c.y)*(c.x-d.x))/((a.x-b.x)*(c.y-d.y)-(a.y-b.y)*(c.x-d.x));
+    p.x +=(b.x-a.x)*t;
+    p.y +=(b.y-a.y)*t;
+    return p;
+}
+//计算多边形面积
+double PolygonArea(MyPoint p[], int n)
+{
+    if(n < 3) return 0.0;
+    double s = p[0].y * (p[n - 1].x - p[1].x);
+    p[n] = p[0];
+    for(int i = 1; i < n; ++ i)
+        s += p[i].y * (p[i - 1].x - p[i + 1].x);
+    return fabs(s * 0.5);
+}
+double CPIA(MyPoint a[], MyPoint b[], int na, int nb)//ConvexPolygonIntersectArea
+{
+    MyPoint p[20], tmp[20];
+    int tn, sflag, eflag;
+    a[na] = a[0], b[nb] = b[0];
+    memcpy(p,b,sizeof(MyPoint)*(nb + 1));
+    for(int i = 0; i < na && nb > 2; i++)
+    {
+        sflag = dcmp(cross(a[i + 1], p[0],a[i]));
+        for(int j = tn = 0; j < nb; j++, sflag = eflag)
+        {
+            if(sflag>=0) tmp[tn++] = p[j];
+            eflag = dcmp(cross(a[i + 1], p[j + 1],a[i]));
+            if((sflag ^ eflag) == -2)
+                tmp[tn++] = intersection(a[i], a[i + 1], p[j], p[j + 1]); ///求交点
+        }
+        memcpy(p, tmp, sizeof(MyPoint) * tn);
+        nb = tn, p[nb] = p[0];
+    }
+    if(nb < 3) return 0.0;
+    return PolygonArea(p, nb);
+}
+double SPIA(MyPoint a[], MyPoint b[], int na, int nb)///SimplePolygonIntersectArea 调用此函数
+{
+    int i, j;
+    MyPoint t1[4], t2[4];
+    double res = 0, num1, num2;
+    a[na] = t1[0] = a[0], b[nb] = t2[0] = b[0];
+
+    for(i = 2; i < na; i++)
+    {
+        t1[1] = a[i-1], t1[2] = a[i];
+        num1 = dcmp(cross(t1[1], t1[2],t1[0]));
+        if(num1 < 0) swap(t1[1], t1[2]);
+
+        for(j = 2; j < nb; j++)
+        {
+
+            t2[1] = b[j - 1], t2[2] = b[j];
+            num2 = dcmp(cross(t2[1], t2[2],t2[0]));
+            if(num2 < 0) swap(t2[1], t2[2]);
+            res += CPIA(t1, t2, 3, 3) * num1 * num2;
+        }
+    }
+    return res;
+}
+//c++ 多边形求交集
+
+double IOU(const proposal_type & r1, const proposal_type & r2)
+{
+    double inter = intersection_area(r1,r2);
+
+    double o = inter / (calcularea(r1) + calcularea(r2) - inter);
+
+    return (o >= 0) ? o : 0;
+}
+
+double intersection_area(const proposal_type & r1, const proposal_type & r2){
+    MyPoint p1[10],p2[10];
+
+    p1[0].x=r1.x2;
+    p1[0].y=r1.y2;
+    p1[1].x=r1.x3;
+    p1[1].y=r1.y3;
+    p1[2].x=r1.x4;
+    p1[2].y=r1.y4;
+    p1[3].x=r1.x1;
+    p1[3].y=r1.y1;
+
+    p2[0].x=r2.x2;
+    p2[0].y=r2.y2;
+    p2[1].x=r2.x3;
+    p2[1].y=r2.y3;
+    p2[2].x=r2.x4;
+    p2[2].y=r2.y4;
+    p2[3].x=r2.x1;
+    p2[3].y=r2.y1;
+    double area = SPIA(p1, p2, 4, 4);
+    return area;
+}
+
+double calcularea(const proposal_type & r){
+    float d12=sqrt(pow(r.x2-r.x1,2)+pow(r.y2-r.y1,2));
+    float d14=sqrt(pow(r.x4-r.x1,2)+pow(r.y4-r.y1,2));
+    float d24=sqrt(pow(r.x2-r.x4,2)+pow(r.y2-r.y4,2));
+    float d32=sqrt(pow(r.x2-r.x3,2)+pow(r.y2-r.y3,2));
+    float d34=sqrt(pow(r.x3-r.x4,2)+pow(r.y3-r.y4,2));
+    float p1=(d12+d14+d24)/2;
+    float p2=(d24+d32+d34)/2;
+    float s1=sqrt(p1*(p1-d12)*(p1-d14)*(p1-d24));
+    float s2=sqrt(p2*(p2-d32)*(p2-d34)*(p2-d24));
+    return s1+s2;
+}
+
+bool cmpr(const proposal_type &a,const proposal_type &b){
+    return a.score > b.score;
+}
+
+void nms(vector<proposal_type>& proposals, const double nms_threshold)
+{
+
+    //按分数排序
+    sort(proposals.begin(),proposals.end(),cmpr);
+    //标志，false代表留下，true代表扔掉
+    vector<bool> del(proposals.size(), false);
+    for(size_t i = 0; i < proposals.size(); i++){
+        if(!del[i]){
+            // std::cout<<scores[i]<<std::endl;
+            for(size_t j = i+1; j < proposals.size()-1; j++){
+                if(!del[j] && IOU(proposals[i], proposals[j]) > nms_threshold){
+                    del[j] = true;//IOU大于阈值，扔掉
+                }
+            }
+        }
+    }
+/*for(int i=0;i<del.size();i++){
+cout<<del[i]<<" ";
+}*/
+vector<proposal_type> new_proposals;
+/*for(const auto i : index){
+    if(!del[i]) new_proposals.push_back(proposals[i]);
+}*/
+for (int i = 0; i < proposals.size(); i++) {
+    if (!del[i]) new_proposals.push_back(proposals[i]);
+}
+//cout<<new_proposals.size()<<endl;
+proposals.clear();
+vector<proposal_type>().swap(proposals);
+proposals = new_proposals;
+//    cout<<proposals.size()<<endl;
+    // scores.clear();
+    //vector<float>().swap(scores);
+}
+
+*/
\ No newline at end of file

BaseTracker/Track3D.cpp

@@ -4,6 +4,8 @@
 #include "Iou.h"
 #include "Component.h"
 #include "LogBase.h"
+#include <opencv2/opencv.hpp>
+
 
 Track3D::Track3D():BaseTrack(10, 7)
 {
@@ -61,16 +63,62 @@ Track3D::Track3D():BaseTrack(10, 7)
     kf_ = kf;
 }
 
+
+float calcIOU(cv::RotatedRect rect1, cv::RotatedRect rect2) {
+    float areaRect1 = rect1.size.width * rect1.size.height;
+    float areaRect2 = rect2.size.width * rect2.size.height;
+    vector<cv::Point2f> vertices;
+
+    int intersectionType = cv::rotatedRectangleIntersection(rect1, rect2, vertices);
+    if (vertices.size() == 0)
+        return 0.0;
+    else 
+    {
+        vector<cv::Point2f> order_pts;
+        // 找到交集（交集的区域），对轮廓的各个点进行排序
+
+        cv::convexHull(cv::Mat(vertices), order_pts, true);
+        double area = cv::contourArea(order_pts);
+        float inner = (float)(area / (areaRect1 + areaRect2 - area + 0.0001));
+        return inner;
+    }
+
+}
+
 double Track3D::CalculateIou(const std::vector<float>& data)
 {
     std::vector<float> states;
     GetStateData(states);
 
     SDK_LOG(SDK_INFO, "calculate size1 = %d, size2 = %d",states.size(),data.size());
-    std::vector<float> truth_poses{ states[0], states[1], states[2],0, 0, states[6], states[3]/2, states[4]/2, states[5]/2 };
-    std::vector<float> landmark_poses{ data[0], data[1], data[2],0, 0, data[6], data[3]/2, data[4]/2, data[5]/2 };
+    //std::vector<float> truth_poses{ states[0], states[1], states[2],0, 0, states[6], states[3]/2, states[4]/2, states[5]/2 };
+    //std::vector<float> landmark_poses{ data[0], data[1], data[2],0, 0, data[6], data[3]/2, data[4]/2, data[5]/2 };
+
+    cv::RotatedRect rect1 = cv::RotatedRect(cv::Point2f(states[0], states[1]), cv::Size2f(states[3], states[4]), states[6] / 3.1415926 * 180);
+    cv::RotatedRect rect2 = cv::RotatedRect(cv::Point2f(data[0], data[1]), cv::Size2f(data[3], data[4]), data[6] / 3.1415926 * 180);
+
     uint64_t begin = GetCurTime();
-    double iou_3d = CuboidIoU(truth_poses, landmark_poses);
+    //double iou_3d = CuboidIoU(truth_poses, landmark_poses);
+    double iou_2d = calcIOU(rect1,rect2);
+    SDK_LOG(SDK_INFO, " iou_2d = %f", iou_2d);
+    double iou_3d = 0;
+    if (iou_2d > 0) {
+        double tru_minz = states[2] - states[5];
+        double tru_maxz = states[2] + states[5];
+
+        double land_minz = data[2] - data[5];
+        double land_maxz = data[2] + data[5];
+        if (land_maxz <= tru_maxz && land_maxz >= tru_minz) {
+            double height_iou = (land_maxz - tru_minz) / (tru_maxz - land_minz);
+            iou_3d = iou_2d * height_iou;
+        }
+        else if (tru_maxz < land_maxz && tru_maxz > land_minz) {
+            double height_iou = (tru_maxz - land_minz) / (land_maxz - tru_minz);
+            iou_3d = iou_2d * height_iou;
+        }
+    }
     SDK_LOG(SDK_INFO, "CuboidIoU time = %llu", GetCurTime() - begin);
     return iou_3d;
 }
+
+