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Reimplement NMS using morphological operations #1192

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Jan 2, 2024
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Reimplement NMS using morphological operations #1192

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44 changes: 29 additions & 15 deletions corelib/src/camera/CameraDepthAI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -679,25 +679,39 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
auto heatmap = features->getLayerFp16("heatmap");
auto desc = features->getLayerFp16("desc");

cv::Mat prob(200, 320, CV_32FC1, heatmap.data());
cv::resize(prob, prob, targetSize_, 0, 0, cv::INTER_CUBIC);
std::vector<cv::Point> kpts;
cv::findNonZero(prob > threshold_, kpts);
std::vector<cv::KeyPoint> keypoints_no_nms, keypoints;
for(auto& kpt : kpts)
{
float response = prob.at<float>(kpt);
keypoints_no_nms.emplace_back(cv::KeyPoint(kpt, 8, -1, response));
}
cv::Mat scores(200, 320, CV_32FC1, heatmap.data());
cv::resize(scores, scores, targetSize_, 0, 0, cv::INTER_CUBIC);

if(nms_ && !keypoints_no_nms.empty())
if(nms_)
{
cv::Mat descEmpty;
util2d::NMS(keypoints_no_nms, descEmpty, keypoints, descEmpty, 0, nmsRadius_, targetSize_.width, targetSize_.height);
cv::Mat dilated_scores(targetSize_, CV_32FC1);
cv::dilate(scores, dilated_scores, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(nmsRadius_*2+1, nmsRadius_*2+1)));
cv::Mat max_mask = scores == dilated_scores;
cv::dilate(scores, dilated_scores, cv::Mat());
cv::Mat max_mask_r1 = scores == dilated_scores;
cv::Mat supp_mask(targetSize_, CV_8UC1);
for(size_t i=0; i<2; i++)
{
cv::dilate(max_mask, supp_mask, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(nmsRadius_*2+1, nmsRadius_*2+1)));
cv::Mat supp_scores = scores.clone();
supp_scores.setTo(0, supp_mask);
cv::dilate(supp_scores, dilated_scores, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(nmsRadius_*2+1, nmsRadius_*2+1)));
cv::Mat new_max_mask = cv::Mat::zeros(targetSize_, CV_8UC1);
cv::bitwise_not(supp_mask, supp_mask);
cv::bitwise_and(supp_scores == dilated_scores, supp_mask, new_max_mask, max_mask_r1);
cv::bitwise_or(max_mask, new_max_mask, max_mask);
}
cv::bitwise_not(max_mask, supp_mask);
scores.setTo(0, supp_mask);
}
else if(!keypoints_no_nms.empty())

std::vector<cv::Point> kpts;
cv::findNonZero(scores > threshold_, kpts);
std::vector<cv::KeyPoint> keypoints;
for(auto& kpt : kpts)
{
keypoints = keypoints_no_nms;
float response = scores.at<float>(kpt);
keypoints.emplace_back(cv::KeyPoint(kpt, 8, -1, response));
}

cv::Mat coarse_desc(25, 40, CV_32FC(256), desc.data());
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