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fix: A lot of fixes relating to bounding-boxes

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This commit is contained in:
uttarayan21
2025-08-05 14:39:16 +05:30
parent 561fb2a924
commit 42ac210bba
4 changed files with 104 additions and 42 deletions
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96
bounding-box/src/lib.rs
View File

@@ -2,7 +2,7 @@ pub mod draw;
pub mod nms;
pub mod roi;
use nalgebra::{Point, Point2, Point3, SVector};
use nalgebra::{Point, Point2, Point3, SVector, SimdPartialOrd, SimdValue};
pub trait Num: num::Num + Copy + core::fmt::Debug + 'static {}
impl<T: num::Num + Copy + core::fmt::Debug + 'static> Num for T {}
@@ -85,10 +85,7 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
self.point += translation;
}
pub fn min_vertex(&self) -> Point<T, D>
where
T: core::ops::SubAssign,
{
pub fn min_vertex(&self) -> Point<T, D> {
self.point
}
@@ -140,16 +137,18 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
other_min >= self_min && other_max <= self_max
}
pub fn clamp(&self, other: &Self) -> Self
pub fn clamp(&self, other: &Self) -> Option<Self>
where
T: core::ops::AddAssign,
T: core::ops::SubAssign,
T: PartialOrd,
T: nalgebra::SimdPartialOrd,
T: nalgebra::SimdValue,
{
if self.contains_bbox(other) {
return *other;
if other.contains_bbox(self) {
return Some(*self);
}
todo!()
self.intersection(other)
}
pub fn union(&self, other: &Self) -> Self
@@ -157,18 +156,16 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
T: core::ops::AddAssign,
T: core::ops::SubAssign,
T: PartialOrd,
T: nalgebra::SimdValue,
T: nalgebra::SimdPartialOrd,
{
let self_min = self.min_vertex();
let self_max = self.max_vertex();
let other_min = other.min_vertex();
let other_max = other.max_vertex();
let max_of_min = (self_min.coords < other_min.coords)
.then_some(self_min.coords)
.unwrap_or(other_min.coords);
let min_of_max = (self_max.coords > other_max.coords)
.then_some(self_max.coords)
.unwrap_or(other_max.coords);
Self::from_min_max_vertices(Point::from(max_of_min), Point::from(min_of_max))
let min = self_min.inf(&other_min);
let max = self_max.sup(&other_max);
Self::from_min_max_vertices(min, max)
}
pub fn intersection(&self, other: &Self) -> Option<Self>
@@ -176,6 +173,8 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
T: core::ops::AddAssign,
T: core::ops::SubAssign,
T: PartialOrd,
T: nalgebra::SimdPartialOrd,
T: nalgebra::SimdValue,
{
let self_min = self.min_vertex();
let self_max = self.max_vertex();
@@ -186,12 +185,8 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
return None; // No intersection
}
let min = (self_min.coords > other_min.coords)
.then_some(self_min.coords)
.unwrap_or(other_min.coords);
let max = (self_max.coords < other_max.coords)
.then_some(self_max.coords)
.unwrap_or(other_max.coords);
let min = self_min.sup(&other_min);
let max = self_max.inf(&other_max);
Some(Self::from_min_max_vertices(
Point::from(min),
Point::from(max),
@@ -211,7 +206,7 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
}
}
pub fn cast<T2>(&self) -> Option<Aabb<T2, D>>
pub fn try_cast<T2>(&self) -> Option<Aabb<T2, D>>
where
// T: num::NumCast,
T2: Num + simba::scalar::SubsetOf<T>,
@@ -231,6 +226,26 @@ impl<T: Num, const D: usize> AxisAlignedBoundingBox<T, D> {
// size: self.size.as_(),
// })
// }
pub fn measure(&self) -> T
where
T: core::ops::MulAssign,
{
self.size.product()
}
pub fn iou(&self, other: &Self) -> Option<T>
where
T: core::ops::AddAssign,
T: core::ops::SubAssign,
T: PartialOrd,
T: nalgebra::SimdPartialOrd,
T: nalgebra::SimdValue,
T: core::ops::MulAssign,
{
let intersection = self.intersection(other)?;
let union = self.union(other);
Some(intersection.measure() / union.measure())
}
}
impl<T: Num> Aabb2<T> {
@@ -305,20 +320,9 @@ impl<T: Num> Aabb2<T> {
pub fn area(&self) -> T
where
T: core::ops::Mul<Output = T>,
T: core::ops::MulAssign,
{
self.size.x * self.size.y
}
pub fn iou(&self, other: &Self) -> Option<T>
where
T: core::ops::AddAssign,
T: core::ops::SubAssign,
T: PartialOrd,
{
let intersection = self.intersection(other)?;
let union = self.union(other);
Some(intersection.area() / union.area())
self.measure()
}
}
@@ -333,9 +337,9 @@ impl<T: Num> Aabb3<T> {
pub fn volume(&self) -> T
where
T: core::ops::Mul<Output = T>,
T: core::ops::MulAssign,
{
self.size.x * self.size.y * self.size.z
self.measure()
}
}
@@ -476,3 +480,19 @@ fn test_bounding_box_contains_point() {
}
}
}
#[test]
fn test_bounding_box_clamp_box_2d() {
let bbox1 = Aabb2::from_x1y1x2y2(1, 1, 4, 4);
let bbox2 = Aabb2::from_x1y1x2y2(2, 2, 3, 3);
let clamped = bbox2.clamp(&bbox1).unwrap();
assert_eq!(bbox2, clamped);
let clamped = bbox1.clamp(&bbox2).unwrap();
assert_eq!(bbox2, clamped);
let bbox1 = Aabb2::from_x1y1x2y2(4, 5, 7, 8);
let bbox2 = Aabb2::from_x1y1x2y2(5, 4, 8, 7);
let clamped = bbox1.clamp(&bbox2).unwrap();
let expected = Aabb2::from_x1y1x2y2(5, 5, 7, 7);
assert_eq!(clamped, expected)
}

9
bounding-box/src/nms.rs
View File

@@ -18,7 +18,14 @@ pub fn nms<T>(
nms_threshold: T,
) -> Vec<Aabb2<T>>
where
T: Num + num::Float + core::iter::Product<T> + core::ops::AddAssign + core::ops::SubAssign,
T: Num
+ num::Float
+ core::iter::Product<T>
+ core::ops::AddAssign
+ core::ops::SubAssign
+ core::ops::MulAssign
+ nalgebra::SimdValue
+ nalgebra::SimdPartialOrd,
{
use itertools::Itertools;
let bboxes: Vec<_> = boxes

35
src/facedet/retinaface.rs
View File

@@ -62,9 +62,18 @@ pub struct FaceDetectionModelOutput {
pub landmark: ndarray::Array3<f32>,
}
/// Represents the 5 facial landmarks detected by RetinaFace
pub struct FaceLandmarks {
pub left_eye: Point2<f32>,
pub right_eye: Point2<f32>,
pub nose: Point2<f32>,
pub left_mouth: Point2<f32>,
pub right_mouth: Point2<f32>,
}
pub struct FaceDetectionProcessedOutput {
pub bbox: Vec<Aabb2<f32>>,
pub confidence: Vec<f32>,
pub landmarks: Vec<FaceLandmarks>,
}
impl FaceDetectionModelOutput {
@@ -87,10 +96,12 @@ impl FaceDetectionModelOutput {
}
let mut boxes = Vec::new();
let mut scores = Vec::new();
let mut landmarks = Vec::new();
let var0 = config.variance[0];
let var1 = config.variance[1];
let bbox_data = self.bbox;
let conf_data = self.confidence;
let landmark_data = self.landmark;
let num_priors = bbox_data.shape()[1];
for idx in 0..num_priors {
let dx = bbox_data[[0, idx, 0]];
@@ -110,11 +121,35 @@ impl FaceDetectionModelOutput {
if score > config.threshold {
boxes.push(Aabb2::from_x1y1x2y2(x_min, y_min, x_max, y_max));
scores.push(score);
let left_eye_x = landmark_data[[0, idx, 0]] * anchor_w * var0 + anchor_cx;
let left_eye_y = landmark_data[[0, idx, 1]] * anchor_h * var0 + anchor_cy;
let right_eye_x = landmark_data[[0, idx, 2]] * anchor_w * var0 + anchor_cx;
let right_eye_y = landmark_data[[0, idx, 3]] * anchor_h * var0 + anchor_cy;
let nose_x = landmark_data[[0, idx, 4]] * anchor_w * var0 + anchor_cx;
let nose_y = landmark_data[[0, idx, 5]] * anchor_h * var0 + anchor_cy;
let left_mouth_x = landmark_data[[0, idx, 6]] * anchor_w * var0 + anchor_cx;
let left_mouth_y = landmark_data[[0, idx, 7]] * anchor_h * var0 + anchor_cy;
let right_mouth_x = landmark_data[[0, idx, 8]] * anchor_w * var0 + anchor_cx;
let right_mouth_y = landmark_data[[0, idx, 9]] * anchor_h * var0 + anchor_cy;
landmarks.push(FaceLandmarks {
left_eye: Point2::new(left_eye_x, left_eye_y),
right_eye: Point2::new(right_eye_x, right_eye_y),
nose: Point2::new(nose_x, nose_y),
left_mouth: Point2::new(left_mouth_x, left_mouth_y),
right_mouth: Point2::new(right_mouth_x, right_mouth_y),
});
}
}
Ok(FaceDetectionProcessedOutput {
bbox: boxes,
confidence: scores,
landmarks,
})
}
}

6
src/main.rs
View File

@@ -29,11 +29,11 @@ pub fn main() -> Result<()> {
.change_context(errors::Error)
.attach_printable("Failed to detect faces")?;
// output.print(20);
let aabbs = output
let faces = output
.postprocess(FaceDetectionConfig::default().with_threshold(detect.threshold))
.change_context(errors::Error)
.attach_printable("Failed to attach context")?;
for bbox in aabbs {
for bbox in faces.bbox {
tracing::info!("Detected face: {:?}", bbox);
use bounding_box::draw::*;
let bbox = bbox
@@ -41,7 +41,7 @@ pub fn main() -> Result<()> {
array.shape()[1] as f32,
array.shape()[0] as f32,
))
.cast()
.try_cast()
.ok_or(errors::Error)
.attach_printable("Failed to cast f32 to usize")?;
array.draw(bbox, color::palette::css::GREEN_YELLOW.to_rgba8(), 10);