The open source OpenXR runtime
d/ht: improve anchor data for hand detector
authored by
Simon Zeni
and committed by
Moses Turner
c67587c0
fd065cca
+305
-423
+305
-423
src/xrt/drivers/ht/ht_models.hpp
+305
-423
src/xrt/drivers/ht/ht_models.hpp
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#include <iostream>
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#include <exception>
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#define ORT_CHECK(g_ort, expr) \
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do { \
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OrtStatus *onnx_status = (expr); \
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} \
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} while (0);
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static std::vector<std::vector<float>> anchor{
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{0.031250, 0.031250, 1.000000, 1.000000}, {0.031250, 0.031250, 1.000000, 1.000000},
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{0.093750, 0.031250, 1.000000, 1.000000}, {0.093750, 0.031250, 1.000000, 1.000000},
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{0.156250, 0.031250, 1.000000, 1.000000}, {0.156250, 0.031250, 1.000000, 1.000000},
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{0.218750, 0.031250, 1.000000, 1.000000}, {0.218750, 0.031250, 1.000000, 1.000000},
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{0.281250, 0.031250, 1.000000, 1.000000}, {0.281250, 0.031250, 1.000000, 1.000000},
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{0.343750, 0.031250, 1.000000, 1.000000}, {0.343750, 0.031250, 1.000000, 1.000000},
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{0.406250, 0.031250, 1.000000, 1.000000}, {0.406250, 0.031250, 1.000000, 1.000000},
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{0.468750, 0.031250, 1.000000, 1.000000}, {0.468750, 0.031250, 1.000000, 1.000000},
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{0.531250, 0.031250, 1.000000, 1.000000}, {0.531250, 0.031250, 1.000000, 1.000000},
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{0.593750, 0.031250, 1.000000, 1.000000}, {0.593750, 0.031250, 1.000000, 1.000000},
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{0.656250, 0.031250, 1.000000, 1.000000}, {0.656250, 0.031250, 1.000000, 1.000000},
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{0.718750, 0.031250, 1.000000, 1.000000}, {0.718750, 0.031250, 1.000000, 1.000000},
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{0.781250, 0.031250, 1.000000, 1.000000}, {0.781250, 0.031250, 1.000000, 1.000000},
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{0.843750, 0.031250, 1.000000, 1.000000}, {0.843750, 0.031250, 1.000000, 1.000000},
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{0.906250, 0.031250, 1.000000, 1.000000}, {0.906250, 0.031250, 1.000000, 1.000000},
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{0.968750, 0.031250, 1.000000, 1.000000}, {0.968750, 0.031250, 1.000000, 1.000000},
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{0.031250, 0.093750, 1.000000, 1.000000}, {0.031250, 0.093750, 1.000000, 1.000000},
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{0.093750, 0.093750, 1.000000, 1.000000}, {0.093750, 0.093750, 1.000000, 1.000000},
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{0.156250, 0.093750, 1.000000, 1.000000}, {0.156250, 0.093750, 1.000000, 1.000000},
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{0.218750, 0.093750, 1.000000, 1.000000}, {0.218750, 0.093750, 1.000000, 1.000000},
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{0.281250, 0.093750, 1.000000, 1.000000}, {0.281250, 0.093750, 1.000000, 1.000000},
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{0.343750, 0.093750, 1.000000, 1.000000}, {0.343750, 0.093750, 1.000000, 1.000000},
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{0.406250, 0.093750, 1.000000, 1.000000}, {0.406250, 0.093750, 1.000000, 1.000000},
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{0.468750, 0.093750, 1.000000, 1.000000}, {0.468750, 0.093750, 1.000000, 1.000000},
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{0.531250, 0.093750, 1.000000, 1.000000}, {0.531250, 0.093750, 1.000000, 1.000000},
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{0.593750, 0.093750, 1.000000, 1.000000}, {0.593750, 0.093750, 1.000000, 1.000000},
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{0.656250, 0.093750, 1.000000, 1.000000}, {0.656250, 0.093750, 1.000000, 1.000000},
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{0.718750, 0.093750, 1.000000, 1.000000}, {0.718750, 0.093750, 1.000000, 1.000000},
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{0.781250, 0.093750, 1.000000, 1.000000}, {0.781250, 0.093750, 1.000000, 1.000000},
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{0.843750, 0.093750, 1.000000, 1.000000}, {0.843750, 0.093750, 1.000000, 1.000000},
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{0.906250, 0.093750, 1.000000, 1.000000}, {0.906250, 0.093750, 1.000000, 1.000000},
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{0.968750, 0.093750, 1.000000, 1.000000}, {0.968750, 0.093750, 1.000000, 1.000000},
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{0.031250, 0.156250, 1.000000, 1.000000}, {0.031250, 0.156250, 1.000000, 1.000000},
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{0.093750, 0.156250, 1.000000, 1.000000}, {0.093750, 0.156250, 1.000000, 1.000000},
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{0.156250, 0.156250, 1.000000, 1.000000}, {0.156250, 0.156250, 1.000000, 1.000000},
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{0.218750, 0.156250, 1.000000, 1.000000}, {0.218750, 0.156250, 1.000000, 1.000000},
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{0.281250, 0.156250, 1.000000, 1.000000}, {0.281250, 0.156250, 1.000000, 1.000000},
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{0.343750, 0.156250, 1.000000, 1.000000}, {0.343750, 0.156250, 1.000000, 1.000000},
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{0.406250, 0.156250, 1.000000, 1.000000}, {0.406250, 0.156250, 1.000000, 1.000000},
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{0.468750, 0.156250, 1.000000, 1.000000}, {0.468750, 0.156250, 1.000000, 1.000000},
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{0.531250, 0.156250, 1.000000, 1.000000}, {0.531250, 0.156250, 1.000000, 1.000000},
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{0.593750, 0.156250, 1.000000, 1.000000}, {0.593750, 0.156250, 1.000000, 1.000000},
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{0.656250, 0.156250, 1.000000, 1.000000}, {0.656250, 0.156250, 1.000000, 1.000000},
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{0.718750, 0.156250, 1.000000, 1.000000}, {0.718750, 0.156250, 1.000000, 1.000000},
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{0.781250, 0.156250, 1.000000, 1.000000}, {0.781250, 0.156250, 1.000000, 1.000000},
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{0.843750, 0.156250, 1.000000, 1.000000}, {0.843750, 0.156250, 1.000000, 1.000000},
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{0.906250, 0.156250, 1.000000, 1.000000}, {0.906250, 0.156250, 1.000000, 1.000000},
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{0.968750, 0.156250, 1.000000, 1.000000}, {0.968750, 0.156250, 1.000000, 1.000000},
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{0.031250, 0.218750, 1.000000, 1.000000}, {0.031250, 0.218750, 1.000000, 1.000000},
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{0.093750, 0.218750, 1.000000, 1.000000}, {0.093750, 0.218750, 1.000000, 1.000000},
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{0.156250, 0.218750, 1.000000, 1.000000}, {0.156250, 0.218750, 1.000000, 1.000000},
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{0.218750, 0.218750, 1.000000, 1.000000}, {0.218750, 0.218750, 1.000000, 1.000000},
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{0.281250, 0.218750, 1.000000, 1.000000}, {0.281250, 0.218750, 1.000000, 1.000000},
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{0.343750, 0.218750, 1.000000, 1.000000}, {0.343750, 0.218750, 1.000000, 1.000000},
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{0.406250, 0.218750, 1.000000, 1.000000}, {0.406250, 0.218750, 1.000000, 1.000000},
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{0.468750, 0.218750, 1.000000, 1.000000}, {0.468750, 0.218750, 1.000000, 1.000000},
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{0.531250, 0.218750, 1.000000, 1.000000}, {0.531250, 0.218750, 1.000000, 1.000000},
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{0.593750, 0.218750, 1.000000, 1.000000}, {0.593750, 0.218750, 1.000000, 1.000000},
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{0.656250, 0.218750, 1.000000, 1.000000}, {0.656250, 0.218750, 1.000000, 1.000000},
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{0.718750, 0.218750, 1.000000, 1.000000}, {0.718750, 0.218750, 1.000000, 1.000000},
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{0.781250, 0.218750, 1.000000, 1.000000}, {0.781250, 0.218750, 1.000000, 1.000000},
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{0.843750, 0.218750, 1.000000, 1.000000}, {0.843750, 0.218750, 1.000000, 1.000000},
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{0.906250, 0.218750, 1.000000, 1.000000}, {0.906250, 0.218750, 1.000000, 1.000000},
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{0.968750, 0.218750, 1.000000, 1.000000}, {0.968750, 0.218750, 1.000000, 1.000000},
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{0.031250, 0.281250, 1.000000, 1.000000}, {0.031250, 0.281250, 1.000000, 1.000000},
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{0.093750, 0.281250, 1.000000, 1.000000}, {0.093750, 0.281250, 1.000000, 1.000000},
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{0.156250, 0.281250, 1.000000, 1.000000}, {0.156250, 0.281250, 1.000000, 1.000000},
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{0.218750, 0.281250, 1.000000, 1.000000}, {0.218750, 0.281250, 1.000000, 1.000000},
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{0.281250, 0.281250, 1.000000, 1.000000}, {0.281250, 0.281250, 1.000000, 1.000000},
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{0.343750, 0.281250, 1.000000, 1.000000}, {0.343750, 0.281250, 1.000000, 1.000000},
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{0.406250, 0.281250, 1.000000, 1.000000}, {0.406250, 0.281250, 1.000000, 1.000000},
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{0.468750, 0.281250, 1.000000, 1.000000}, {0.468750, 0.281250, 1.000000, 1.000000},
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{0.531250, 0.281250, 1.000000, 1.000000}, {0.531250, 0.281250, 1.000000, 1.000000},
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{0.593750, 0.281250, 1.000000, 1.000000}, {0.593750, 0.281250, 1.000000, 1.000000},
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{0.656250, 0.281250, 1.000000, 1.000000}, {0.656250, 0.281250, 1.000000, 1.000000},
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{0.718750, 0.281250, 1.000000, 1.000000}, {0.718750, 0.281250, 1.000000, 1.000000},
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{0.781250, 0.281250, 1.000000, 1.000000}, {0.781250, 0.281250, 1.000000, 1.000000},
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-
{0.843750, 0.281250, 1.000000, 1.000000}, {0.843750, 0.281250, 1.000000, 1.000000},
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{0.906250, 0.281250, 1.000000, 1.000000}, {0.906250, 0.281250, 1.000000, 1.000000},
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{0.968750, 0.281250, 1.000000, 1.000000}, {0.968750, 0.281250, 1.000000, 1.000000},
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{0.031250, 0.343750, 1.000000, 1.000000}, {0.031250, 0.343750, 1.000000, 1.000000},
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{0.093750, 0.343750, 1.000000, 1.000000}, {0.093750, 0.343750, 1.000000, 1.000000},
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{0.156250, 0.343750, 1.000000, 1.000000}, {0.156250, 0.343750, 1.000000, 1.000000},
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{0.218750, 0.343750, 1.000000, 1.000000}, {0.218750, 0.343750, 1.000000, 1.000000},
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{0.281250, 0.343750, 1.000000, 1.000000}, {0.281250, 0.343750, 1.000000, 1.000000},
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{0.343750, 0.343750, 1.000000, 1.000000}, {0.343750, 0.343750, 1.000000, 1.000000},
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{0.406250, 0.343750, 1.000000, 1.000000}, {0.406250, 0.343750, 1.000000, 1.000000},
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{0.468750, 0.343750, 1.000000, 1.000000}, {0.468750, 0.343750, 1.000000, 1.000000},
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{0.531250, 0.343750, 1.000000, 1.000000}, {0.531250, 0.343750, 1.000000, 1.000000},
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{0.593750, 0.343750, 1.000000, 1.000000}, {0.593750, 0.343750, 1.000000, 1.000000},
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{0.656250, 0.343750, 1.000000, 1.000000}, {0.656250, 0.343750, 1.000000, 1.000000},
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{0.718750, 0.343750, 1.000000, 1.000000}, {0.718750, 0.343750, 1.000000, 1.000000},
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{0.781250, 0.343750, 1.000000, 1.000000}, {0.781250, 0.343750, 1.000000, 1.000000},
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{0.843750, 0.343750, 1.000000, 1.000000}, {0.843750, 0.343750, 1.000000, 1.000000},
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{0.906250, 0.343750, 1.000000, 1.000000}, {0.906250, 0.343750, 1.000000, 1.000000},
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{0.968750, 0.343750, 1.000000, 1.000000}, {0.968750, 0.343750, 1.000000, 1.000000},
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{0.031250, 0.406250, 1.000000, 1.000000}, {0.031250, 0.406250, 1.000000, 1.000000},
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{0.093750, 0.406250, 1.000000, 1.000000}, {0.093750, 0.406250, 1.000000, 1.000000},
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{0.156250, 0.406250, 1.000000, 1.000000}, {0.156250, 0.406250, 1.000000, 1.000000},
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{0.218750, 0.406250, 1.000000, 1.000000}, {0.218750, 0.406250, 1.000000, 1.000000},
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{0.281250, 0.406250, 1.000000, 1.000000}, {0.281250, 0.406250, 1.000000, 1.000000},
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{0.343750, 0.406250, 1.000000, 1.000000}, {0.343750, 0.406250, 1.000000, 1.000000},
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{0.406250, 0.406250, 1.000000, 1.000000}, {0.406250, 0.406250, 1.000000, 1.000000},
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{0.468750, 0.406250, 1.000000, 1.000000}, {0.468750, 0.406250, 1.000000, 1.000000},
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{0.531250, 0.406250, 1.000000, 1.000000}, {0.531250, 0.406250, 1.000000, 1.000000},
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{0.593750, 0.406250, 1.000000, 1.000000}, {0.593750, 0.406250, 1.000000, 1.000000},
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{0.656250, 0.406250, 1.000000, 1.000000}, {0.656250, 0.406250, 1.000000, 1.000000},
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{0.718750, 0.406250, 1.000000, 1.000000}, {0.718750, 0.406250, 1.000000, 1.000000},
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{0.781250, 0.406250, 1.000000, 1.000000}, {0.781250, 0.406250, 1.000000, 1.000000},
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{0.843750, 0.406250, 1.000000, 1.000000}, {0.843750, 0.406250, 1.000000, 1.000000},
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{0.906250, 0.406250, 1.000000, 1.000000}, {0.906250, 0.406250, 1.000000, 1.000000},
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{0.968750, 0.406250, 1.000000, 1.000000}, {0.968750, 0.406250, 1.000000, 1.000000},
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{0.031250, 0.468750, 1.000000, 1.000000}, {0.031250, 0.468750, 1.000000, 1.000000},
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{0.093750, 0.468750, 1.000000, 1.000000}, {0.093750, 0.468750, 1.000000, 1.000000},
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{0.156250, 0.468750, 1.000000, 1.000000}, {0.156250, 0.468750, 1.000000, 1.000000},
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{0.218750, 0.468750, 1.000000, 1.000000}, {0.218750, 0.468750, 1.000000, 1.000000},
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{0.281250, 0.468750, 1.000000, 1.000000}, {0.281250, 0.468750, 1.000000, 1.000000},
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{0.343750, 0.468750, 1.000000, 1.000000}, {0.343750, 0.468750, 1.000000, 1.000000},
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{0.406250, 0.468750, 1.000000, 1.000000}, {0.406250, 0.468750, 1.000000, 1.000000},
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{0.468750, 0.468750, 1.000000, 1.000000}, {0.468750, 0.468750, 1.000000, 1.000000},
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{0.531250, 0.468750, 1.000000, 1.000000}, {0.531250, 0.468750, 1.000000, 1.000000},
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{0.593750, 0.468750, 1.000000, 1.000000}, {0.593750, 0.468750, 1.000000, 1.000000},
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{0.656250, 0.468750, 1.000000, 1.000000}, {0.656250, 0.468750, 1.000000, 1.000000},
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{0.718750, 0.468750, 1.000000, 1.000000}, {0.718750, 0.468750, 1.000000, 1.000000},
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-
{0.781250, 0.468750, 1.000000, 1.000000}, {0.781250, 0.468750, 1.000000, 1.000000},
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-
{0.843750, 0.468750, 1.000000, 1.000000}, {0.843750, 0.468750, 1.000000, 1.000000},
192
-
{0.906250, 0.468750, 1.000000, 1.000000}, {0.906250, 0.468750, 1.000000, 1.000000},
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-
{0.968750, 0.468750, 1.000000, 1.000000}, {0.968750, 0.468750, 1.000000, 1.000000},
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-
{0.031250, 0.531250, 1.000000, 1.000000}, {0.031250, 0.531250, 1.000000, 1.000000},
195
-
{0.093750, 0.531250, 1.000000, 1.000000}, {0.093750, 0.531250, 1.000000, 1.000000},
196
-
{0.156250, 0.531250, 1.000000, 1.000000}, {0.156250, 0.531250, 1.000000, 1.000000},
197
-
{0.218750, 0.531250, 1.000000, 1.000000}, {0.218750, 0.531250, 1.000000, 1.000000},
198
-
{0.281250, 0.531250, 1.000000, 1.000000}, {0.281250, 0.531250, 1.000000, 1.000000},
199
-
{0.343750, 0.531250, 1.000000, 1.000000}, {0.343750, 0.531250, 1.000000, 1.000000},
200
-
{0.406250, 0.531250, 1.000000, 1.000000}, {0.406250, 0.531250, 1.000000, 1.000000},
201
-
{0.468750, 0.531250, 1.000000, 1.000000}, {0.468750, 0.531250, 1.000000, 1.000000},
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{0.531250, 0.531250, 1.000000, 1.000000}, {0.531250, 0.531250, 1.000000, 1.000000},
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-
{0.593750, 0.531250, 1.000000, 1.000000}, {0.593750, 0.531250, 1.000000, 1.000000},
204
-
{0.656250, 0.531250, 1.000000, 1.000000}, {0.656250, 0.531250, 1.000000, 1.000000},
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-
{0.718750, 0.531250, 1.000000, 1.000000}, {0.718750, 0.531250, 1.000000, 1.000000},
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-
{0.781250, 0.531250, 1.000000, 1.000000}, {0.781250, 0.531250, 1.000000, 1.000000},
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-
{0.843750, 0.531250, 1.000000, 1.000000}, {0.843750, 0.531250, 1.000000, 1.000000},
208
-
{0.906250, 0.531250, 1.000000, 1.000000}, {0.906250, 0.531250, 1.000000, 1.000000},
209
-
{0.968750, 0.531250, 1.000000, 1.000000}, {0.968750, 0.531250, 1.000000, 1.000000},
210
-
{0.031250, 0.593750, 1.000000, 1.000000}, {0.031250, 0.593750, 1.000000, 1.000000},
211
-
{0.093750, 0.593750, 1.000000, 1.000000}, {0.093750, 0.593750, 1.000000, 1.000000},
212
-
{0.156250, 0.593750, 1.000000, 1.000000}, {0.156250, 0.593750, 1.000000, 1.000000},
213
-
{0.218750, 0.593750, 1.000000, 1.000000}, {0.218750, 0.593750, 1.000000, 1.000000},
214
-
{0.281250, 0.593750, 1.000000, 1.000000}, {0.281250, 0.593750, 1.000000, 1.000000},
215
-
{0.343750, 0.593750, 1.000000, 1.000000}, {0.343750, 0.593750, 1.000000, 1.000000},
216
-
{0.406250, 0.593750, 1.000000, 1.000000}, {0.406250, 0.593750, 1.000000, 1.000000},
217
-
{0.468750, 0.593750, 1.000000, 1.000000}, {0.468750, 0.593750, 1.000000, 1.000000},
218
-
{0.531250, 0.593750, 1.000000, 1.000000}, {0.531250, 0.593750, 1.000000, 1.000000},
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-
{0.593750, 0.593750, 1.000000, 1.000000}, {0.593750, 0.593750, 1.000000, 1.000000},
220
-
{0.656250, 0.593750, 1.000000, 1.000000}, {0.656250, 0.593750, 1.000000, 1.000000},
221
-
{0.718750, 0.593750, 1.000000, 1.000000}, {0.718750, 0.593750, 1.000000, 1.000000},
222
-
{0.781250, 0.593750, 1.000000, 1.000000}, {0.781250, 0.593750, 1.000000, 1.000000},
223
-
{0.843750, 0.593750, 1.000000, 1.000000}, {0.843750, 0.593750, 1.000000, 1.000000},
224
-
{0.906250, 0.593750, 1.000000, 1.000000}, {0.906250, 0.593750, 1.000000, 1.000000},
225
-
{0.968750, 0.593750, 1.000000, 1.000000}, {0.968750, 0.593750, 1.000000, 1.000000},
226
-
{0.031250, 0.656250, 1.000000, 1.000000}, {0.031250, 0.656250, 1.000000, 1.000000},
227
-
{0.093750, 0.656250, 1.000000, 1.000000}, {0.093750, 0.656250, 1.000000, 1.000000},
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{0.125000, 0.375000, 1.000000, 1.000000}, {0.125000, 0.375000, 1.000000, 1.000000},
399
-
{0.125000, 0.375000, 1.000000, 1.000000}, {0.125000, 0.375000, 1.000000, 1.000000},
400
-
{0.125000, 0.375000, 1.000000, 1.000000}, {0.125000, 0.375000, 1.000000, 1.000000},
401
-
{0.375000, 0.375000, 1.000000, 1.000000}, {0.375000, 0.375000, 1.000000, 1.000000},
402
-
{0.375000, 0.375000, 1.000000, 1.000000}, {0.375000, 0.375000, 1.000000, 1.000000},
403
-
{0.375000, 0.375000, 1.000000, 1.000000}, {0.375000, 0.375000, 1.000000, 1.000000},
404
-
{0.625000, 0.375000, 1.000000, 1.000000}, {0.625000, 0.375000, 1.000000, 1.000000},
405
-
{0.625000, 0.375000, 1.000000, 1.000000}, {0.625000, 0.375000, 1.000000, 1.000000},
406
-
{0.625000, 0.375000, 1.000000, 1.000000}, {0.625000, 0.375000, 1.000000, 1.000000},
407
-
{0.875000, 0.375000, 1.000000, 1.000000}, {0.875000, 0.375000, 1.000000, 1.000000},
408
-
{0.875000, 0.375000, 1.000000, 1.000000}, {0.875000, 0.375000, 1.000000, 1.000000},
409
-
{0.875000, 0.375000, 1.000000, 1.000000}, {0.875000, 0.375000, 1.000000, 1.000000},
410
-
{0.125000, 0.625000, 1.000000, 1.000000}, {0.125000, 0.625000, 1.000000, 1.000000},
411
-
{0.125000, 0.625000, 1.000000, 1.000000}, {0.125000, 0.625000, 1.000000, 1.000000},
412
-
{0.125000, 0.625000, 1.000000, 1.000000}, {0.125000, 0.625000, 1.000000, 1.000000},
413
-
{0.375000, 0.625000, 1.000000, 1.000000}, {0.375000, 0.625000, 1.000000, 1.000000},
414
-
{0.375000, 0.625000, 1.000000, 1.000000}, {0.375000, 0.625000, 1.000000, 1.000000},
415
-
{0.375000, 0.625000, 1.000000, 1.000000}, {0.375000, 0.625000, 1.000000, 1.000000},
416
-
{0.625000, 0.625000, 1.000000, 1.000000}, {0.625000, 0.625000, 1.000000, 1.000000},
417
-
{0.625000, 0.625000, 1.000000, 1.000000}, {0.625000, 0.625000, 1.000000, 1.000000},
418
-
{0.625000, 0.625000, 1.000000, 1.000000}, {0.625000, 0.625000, 1.000000, 1.000000},
419
-
{0.875000, 0.625000, 1.000000, 1.000000}, {0.875000, 0.625000, 1.000000, 1.000000},
420
-
{0.875000, 0.625000, 1.000000, 1.000000}, {0.875000, 0.625000, 1.000000, 1.000000},
421
-
{0.875000, 0.625000, 1.000000, 1.000000}, {0.875000, 0.625000, 1.000000, 1.000000},
422
-
{0.125000, 0.875000, 1.000000, 1.000000}, {0.125000, 0.875000, 1.000000, 1.000000},
423
-
{0.125000, 0.875000, 1.000000, 1.000000}, {0.125000, 0.875000, 1.000000, 1.000000},
424
-
{0.125000, 0.875000, 1.000000, 1.000000}, {0.125000, 0.875000, 1.000000, 1.000000},
425
-
{0.375000, 0.875000, 1.000000, 1.000000}, {0.375000, 0.875000, 1.000000, 1.000000},
426
-
{0.375000, 0.875000, 1.000000, 1.000000}, {0.375000, 0.875000, 1.000000, 1.000000},
427
-
{0.375000, 0.875000, 1.000000, 1.000000}, {0.375000, 0.875000, 1.000000, 1.000000},
428
-
{0.625000, 0.875000, 1.000000, 1.000000}, {0.625000, 0.875000, 1.000000, 1.000000},
429
-
{0.625000, 0.875000, 1.000000, 1.000000}, {0.625000, 0.875000, 1.000000, 1.000000},
430
-
{0.625000, 0.875000, 1.000000, 1.000000}, {0.625000, 0.875000, 1.000000, 1.000000},
431
-
{0.875000, 0.875000, 1.000000, 1.000000}, {0.875000, 0.875000, 1.000000, 1.000000},
432
-
{0.875000, 0.875000, 1.000000, 1.000000}, {0.875000, 0.875000, 1.000000, 1.000000},
433
-
{0.875000, 0.875000, 1.000000, 1.000000}, {0.875000, 0.875000, 1.000000, 1.000000}};
434
-
435
64
static Hand2D
436
65
runKeypointEstimator(struct ht_view *htv, cv::Mat img)
437
66
{
···
503
132
504
133
#undef HEAVY_SCRIBBLE
505
134
135
+
/*
136
+
* Anchors data taken from mediapipe's hands detection, used for single-shot
137
+
* detector model.
138
+
*
139
+
* See:
140
+
* https://google.github.io/mediapipe/solutions/hands.html#palm-detection-model
141
+
* https://github.com/google/mediapipe/blob/v0.8.8/mediapipe/calculators/tflite/ssd_anchors_calculator.cc#L101
142
+
* https://github.com/google/mediapipe/blob/v0.8.8/mediapipe/modules/palm_detection/palm_detection_cpu.pbtxt#L60
143
+
*/
144
+
struct anchor
145
+
{
146
+
float x, y;
147
+
};
148
+
149
+
static const struct anchor anchors[896]{
150
+
{0.031250, 0.031250}, {0.031250, 0.031250}, {0.093750, 0.031250}, {0.093750, 0.031250}, //
151
+
{0.156250, 0.031250}, {0.156250, 0.031250}, {0.218750, 0.031250}, {0.218750, 0.031250}, //
152
+
{0.281250, 0.031250}, {0.281250, 0.031250}, {0.343750, 0.031250}, {0.343750, 0.031250}, //
153
+
{0.406250, 0.031250}, {0.406250, 0.031250}, {0.468750, 0.031250}, {0.468750, 0.031250}, //
154
+
{0.531250, 0.031250}, {0.531250, 0.031250}, {0.593750, 0.031250}, {0.593750, 0.031250}, //
155
+
{0.656250, 0.031250}, {0.656250, 0.031250}, {0.718750, 0.031250}, {0.718750, 0.031250}, //
156
+
{0.781250, 0.031250}, {0.781250, 0.031250}, {0.843750, 0.031250}, {0.843750, 0.031250}, //
157
+
{0.906250, 0.031250}, {0.906250, 0.031250}, {0.968750, 0.031250}, {0.968750, 0.031250}, //
158
+
{0.031250, 0.093750}, {0.031250, 0.093750}, {0.093750, 0.093750}, {0.093750, 0.093750}, //
159
+
{0.156250, 0.093750}, {0.156250, 0.093750}, {0.218750, 0.093750}, {0.218750, 0.093750}, //
160
+
{0.281250, 0.093750}, {0.281250, 0.093750}, {0.343750, 0.093750}, {0.343750, 0.093750}, //
161
+
{0.406250, 0.093750}, {0.406250, 0.093750}, {0.468750, 0.093750}, {0.468750, 0.093750}, //
162
+
{0.531250, 0.093750}, {0.531250, 0.093750}, {0.593750, 0.093750}, {0.593750, 0.093750}, //
163
+
{0.656250, 0.093750}, {0.656250, 0.093750}, {0.718750, 0.093750}, {0.718750, 0.093750}, //
164
+
{0.781250, 0.093750}, {0.781250, 0.093750}, {0.843750, 0.093750}, {0.843750, 0.093750}, //
165
+
{0.906250, 0.093750}, {0.906250, 0.093750}, {0.968750, 0.093750}, {0.968750, 0.093750}, //
166
+
{0.031250, 0.156250}, {0.031250, 0.156250}, {0.093750, 0.156250}, {0.093750, 0.156250}, //
167
+
{0.156250, 0.156250}, {0.156250, 0.156250}, {0.218750, 0.156250}, {0.218750, 0.156250}, //
168
+
{0.281250, 0.156250}, {0.281250, 0.156250}, {0.343750, 0.156250}, {0.343750, 0.156250}, //
169
+
{0.406250, 0.156250}, {0.406250, 0.156250}, {0.468750, 0.156250}, {0.468750, 0.156250}, //
170
+
{0.531250, 0.156250}, {0.531250, 0.156250}, {0.593750, 0.156250}, {0.593750, 0.156250}, //
171
+
{0.656250, 0.156250}, {0.656250, 0.156250}, {0.718750, 0.156250}, {0.718750, 0.156250}, //
172
+
{0.781250, 0.156250}, {0.781250, 0.156250}, {0.843750, 0.156250}, {0.843750, 0.156250}, //
173
+
{0.906250, 0.156250}, {0.906250, 0.156250}, {0.968750, 0.156250}, {0.968750, 0.156250}, //
174
+
{0.031250, 0.218750}, {0.031250, 0.218750}, {0.093750, 0.218750}, {0.093750, 0.218750}, //
175
+
{0.156250, 0.218750}, {0.156250, 0.218750}, {0.218750, 0.218750}, {0.218750, 0.218750}, //
176
+
{0.281250, 0.218750}, {0.281250, 0.218750}, {0.343750, 0.218750}, {0.343750, 0.218750}, //
177
+
{0.406250, 0.218750}, {0.406250, 0.218750}, {0.468750, 0.218750}, {0.468750, 0.218750}, //
178
+
{0.531250, 0.218750}, {0.531250, 0.218750}, {0.593750, 0.218750}, {0.593750, 0.218750}, //
179
+
{0.656250, 0.218750}, {0.656250, 0.218750}, {0.718750, 0.218750}, {0.718750, 0.218750}, //
180
+
{0.781250, 0.218750}, {0.781250, 0.218750}, {0.843750, 0.218750}, {0.843750, 0.218750}, //
181
+
{0.906250, 0.218750}, {0.906250, 0.218750}, {0.968750, 0.218750}, {0.968750, 0.218750}, //
182
+
{0.031250, 0.281250}, {0.031250, 0.281250}, {0.093750, 0.281250}, {0.093750, 0.281250}, //
183
+
{0.156250, 0.281250}, {0.156250, 0.281250}, {0.218750, 0.281250}, {0.218750, 0.281250}, //
184
+
{0.281250, 0.281250}, {0.281250, 0.281250}, {0.343750, 0.281250}, {0.343750, 0.281250}, //
185
+
{0.406250, 0.281250}, {0.406250, 0.281250}, {0.468750, 0.281250}, {0.468750, 0.281250}, //
186
+
{0.531250, 0.281250}, {0.531250, 0.281250}, {0.593750, 0.281250}, {0.593750, 0.281250}, //
187
+
{0.656250, 0.281250}, {0.656250, 0.281250}, {0.718750, 0.281250}, {0.718750, 0.281250}, //
188
+
{0.781250, 0.281250}, {0.781250, 0.281250}, {0.843750, 0.281250}, {0.843750, 0.281250}, //
189
+
{0.906250, 0.281250}, {0.906250, 0.281250}, {0.968750, 0.281250}, {0.968750, 0.281250}, //
190
+
{0.031250, 0.343750}, {0.031250, 0.343750}, {0.093750, 0.343750}, {0.093750, 0.343750}, //
191
+
{0.156250, 0.343750}, {0.156250, 0.343750}, {0.218750, 0.343750}, {0.218750, 0.343750}, //
192
+
{0.281250, 0.343750}, {0.281250, 0.343750}, {0.343750, 0.343750}, {0.343750, 0.343750}, //
193
+
{0.406250, 0.343750}, {0.406250, 0.343750}, {0.468750, 0.343750}, {0.468750, 0.343750}, //
194
+
{0.531250, 0.343750}, {0.531250, 0.343750}, {0.593750, 0.343750}, {0.593750, 0.343750}, //
195
+
{0.656250, 0.343750}, {0.656250, 0.343750}, {0.718750, 0.343750}, {0.718750, 0.343750}, //
196
+
{0.781250, 0.343750}, {0.781250, 0.343750}, {0.843750, 0.343750}, {0.843750, 0.343750}, //
197
+
{0.906250, 0.343750}, {0.906250, 0.343750}, {0.968750, 0.343750}, {0.968750, 0.343750}, //
198
+
{0.031250, 0.406250}, {0.031250, 0.406250}, {0.093750, 0.406250}, {0.093750, 0.406250}, //
199
+
{0.156250, 0.406250}, {0.156250, 0.406250}, {0.218750, 0.406250}, {0.218750, 0.406250}, //
200
+
{0.281250, 0.406250}, {0.281250, 0.406250}, {0.343750, 0.406250}, {0.343750, 0.406250}, //
201
+
{0.406250, 0.406250}, {0.406250, 0.406250}, {0.468750, 0.406250}, {0.468750, 0.406250}, //
202
+
{0.531250, 0.406250}, {0.531250, 0.406250}, {0.593750, 0.406250}, {0.593750, 0.406250}, //
203
+
{0.656250, 0.406250}, {0.656250, 0.406250}, {0.718750, 0.406250}, {0.718750, 0.406250}, //
204
+
{0.781250, 0.406250}, {0.781250, 0.406250}, {0.843750, 0.406250}, {0.843750, 0.406250}, //
205
+
{0.906250, 0.406250}, {0.906250, 0.406250}, {0.968750, 0.406250}, {0.968750, 0.406250}, //
206
+
{0.031250, 0.468750}, {0.031250, 0.468750}, {0.093750, 0.468750}, {0.093750, 0.468750}, //
207
+
{0.156250, 0.468750}, {0.156250, 0.468750}, {0.218750, 0.468750}, {0.218750, 0.468750}, //
208
+
{0.281250, 0.468750}, {0.281250, 0.468750}, {0.343750, 0.468750}, {0.343750, 0.468750}, //
209
+
{0.406250, 0.468750}, {0.406250, 0.468750}, {0.468750, 0.468750}, {0.468750, 0.468750}, //
210
+
{0.531250, 0.468750}, {0.531250, 0.468750}, {0.593750, 0.468750}, {0.593750, 0.468750}, //
211
+
{0.656250, 0.468750}, {0.656250, 0.468750}, {0.718750, 0.468750}, {0.718750, 0.468750}, //
212
+
{0.781250, 0.468750}, {0.781250, 0.468750}, {0.843750, 0.468750}, {0.843750, 0.468750}, //
213
+
{0.906250, 0.468750}, {0.906250, 0.468750}, {0.968750, 0.468750}, {0.968750, 0.468750}, //
214
+
{0.031250, 0.531250}, {0.031250, 0.531250}, {0.093750, 0.531250}, {0.093750, 0.531250}, //
215
+
{0.156250, 0.531250}, {0.156250, 0.531250}, {0.218750, 0.531250}, {0.218750, 0.531250}, //
216
+
{0.281250, 0.531250}, {0.281250, 0.531250}, {0.343750, 0.531250}, {0.343750, 0.531250}, //
217
+
{0.406250, 0.531250}, {0.406250, 0.531250}, {0.468750, 0.531250}, {0.468750, 0.531250}, //
218
+
{0.531250, 0.531250}, {0.531250, 0.531250}, {0.593750, 0.531250}, {0.593750, 0.531250}, //
219
+
{0.656250, 0.531250}, {0.656250, 0.531250}, {0.718750, 0.531250}, {0.718750, 0.531250}, //
220
+
{0.781250, 0.531250}, {0.781250, 0.531250}, {0.843750, 0.531250}, {0.843750, 0.531250}, //
221
+
{0.906250, 0.531250}, {0.906250, 0.531250}, {0.968750, 0.531250}, {0.968750, 0.531250}, //
222
+
{0.031250, 0.593750}, {0.031250, 0.593750}, {0.093750, 0.593750}, {0.093750, 0.593750}, //
223
+
{0.156250, 0.593750}, {0.156250, 0.593750}, {0.218750, 0.593750}, {0.218750, 0.593750}, //
224
+
{0.281250, 0.593750}, {0.281250, 0.593750}, {0.343750, 0.593750}, {0.343750, 0.593750}, //
225
+
{0.406250, 0.593750}, {0.406250, 0.593750}, {0.468750, 0.593750}, {0.468750, 0.593750}, //
226
+
{0.531250, 0.593750}, {0.531250, 0.593750}, {0.593750, 0.593750}, {0.593750, 0.593750}, //
227
+
{0.656250, 0.593750}, {0.656250, 0.593750}, {0.718750, 0.593750}, {0.718750, 0.593750}, //
228
+
{0.781250, 0.593750}, {0.781250, 0.593750}, {0.843750, 0.593750}, {0.843750, 0.593750}, //
229
+
{0.906250, 0.593750}, {0.906250, 0.593750}, {0.968750, 0.593750}, {0.968750, 0.593750}, //
230
+
{0.031250, 0.656250}, {0.031250, 0.656250}, {0.093750, 0.656250}, {0.093750, 0.656250}, //
231
+
{0.156250, 0.656250}, {0.156250, 0.656250}, {0.218750, 0.656250}, {0.218750, 0.656250}, //
232
+
{0.281250, 0.656250}, {0.281250, 0.656250}, {0.343750, 0.656250}, {0.343750, 0.656250}, //
233
+
{0.406250, 0.656250}, {0.406250, 0.656250}, {0.468750, 0.656250}, {0.468750, 0.656250}, //
234
+
{0.531250, 0.656250}, {0.531250, 0.656250}, {0.593750, 0.656250}, {0.593750, 0.656250}, //
235
+
{0.656250, 0.656250}, {0.656250, 0.656250}, {0.718750, 0.656250}, {0.718750, 0.656250}, //
236
+
{0.781250, 0.656250}, {0.781250, 0.656250}, {0.843750, 0.656250}, {0.843750, 0.656250}, //
237
+
{0.906250, 0.656250}, {0.906250, 0.656250}, {0.968750, 0.656250}, {0.968750, 0.656250}, //
238
+
{0.031250, 0.718750}, {0.031250, 0.718750}, {0.093750, 0.718750}, {0.093750, 0.718750}, //
239
+
{0.156250, 0.718750}, {0.156250, 0.718750}, {0.218750, 0.718750}, {0.218750, 0.718750}, //
240
+
{0.281250, 0.718750}, {0.281250, 0.718750}, {0.343750, 0.718750}, {0.343750, 0.718750}, //
241
+
{0.406250, 0.718750}, {0.406250, 0.718750}, {0.468750, 0.718750}, {0.468750, 0.718750}, //
242
+
{0.531250, 0.718750}, {0.531250, 0.718750}, {0.593750, 0.718750}, {0.593750, 0.718750}, //
243
+
{0.656250, 0.718750}, {0.656250, 0.718750}, {0.718750, 0.718750}, {0.718750, 0.718750}, //
244
+
{0.781250, 0.718750}, {0.781250, 0.718750}, {0.843750, 0.718750}, {0.843750, 0.718750}, //
245
+
{0.906250, 0.718750}, {0.906250, 0.718750}, {0.968750, 0.718750}, {0.968750, 0.718750}, //
246
+
{0.031250, 0.781250}, {0.031250, 0.781250}, {0.093750, 0.781250}, {0.093750, 0.781250}, //
247
+
{0.156250, 0.781250}, {0.156250, 0.781250}, {0.218750, 0.781250}, {0.218750, 0.781250}, //
248
+
{0.281250, 0.781250}, {0.281250, 0.781250}, {0.343750, 0.781250}, {0.343750, 0.781250}, //
249
+
{0.406250, 0.781250}, {0.406250, 0.781250}, {0.468750, 0.781250}, {0.468750, 0.781250}, //
250
+
{0.531250, 0.781250}, {0.531250, 0.781250}, {0.593750, 0.781250}, {0.593750, 0.781250}, //
251
+
{0.656250, 0.781250}, {0.656250, 0.781250}, {0.718750, 0.781250}, {0.718750, 0.781250}, //
252
+
{0.781250, 0.781250}, {0.781250, 0.781250}, {0.843750, 0.781250}, {0.843750, 0.781250}, //
253
+
{0.906250, 0.781250}, {0.906250, 0.781250}, {0.968750, 0.781250}, {0.968750, 0.781250}, //
254
+
{0.031250, 0.843750}, {0.031250, 0.843750}, {0.093750, 0.843750}, {0.093750, 0.843750}, //
255
+
{0.156250, 0.843750}, {0.156250, 0.843750}, {0.218750, 0.843750}, {0.218750, 0.843750}, //
256
+
{0.281250, 0.843750}, {0.281250, 0.843750}, {0.343750, 0.843750}, {0.343750, 0.843750}, //
257
+
{0.406250, 0.843750}, {0.406250, 0.843750}, {0.468750, 0.843750}, {0.468750, 0.843750}, //
258
+
{0.531250, 0.843750}, {0.531250, 0.843750}, {0.593750, 0.843750}, {0.593750, 0.843750}, //
259
+
{0.656250, 0.843750}, {0.656250, 0.843750}, {0.718750, 0.843750}, {0.718750, 0.843750}, //
260
+
{0.781250, 0.843750}, {0.781250, 0.843750}, {0.843750, 0.843750}, {0.843750, 0.843750}, //
261
+
{0.906250, 0.843750}, {0.906250, 0.843750}, {0.968750, 0.843750}, {0.968750, 0.843750}, //
262
+
{0.031250, 0.906250}, {0.031250, 0.906250}, {0.093750, 0.906250}, {0.093750, 0.906250}, //
263
+
{0.156250, 0.906250}, {0.156250, 0.906250}, {0.218750, 0.906250}, {0.218750, 0.906250}, //
264
+
{0.281250, 0.906250}, {0.281250, 0.906250}, {0.343750, 0.906250}, {0.343750, 0.906250}, //
265
+
{0.406250, 0.906250}, {0.406250, 0.906250}, {0.468750, 0.906250}, {0.468750, 0.906250}, //
266
+
{0.531250, 0.906250}, {0.531250, 0.906250}, {0.593750, 0.906250}, {0.593750, 0.906250}, //
267
+
{0.656250, 0.906250}, {0.656250, 0.906250}, {0.718750, 0.906250}, {0.718750, 0.906250}, //
268
+
{0.781250, 0.906250}, {0.781250, 0.906250}, {0.843750, 0.906250}, {0.843750, 0.906250}, //
269
+
{0.906250, 0.906250}, {0.906250, 0.906250}, {0.968750, 0.906250}, {0.968750, 0.906250}, //
270
+
{0.031250, 0.968750}, {0.031250, 0.968750}, {0.093750, 0.968750}, {0.093750, 0.968750}, //
271
+
{0.156250, 0.968750}, {0.156250, 0.968750}, {0.218750, 0.968750}, {0.218750, 0.968750}, //
272
+
{0.281250, 0.968750}, {0.281250, 0.968750}, {0.343750, 0.968750}, {0.343750, 0.968750}, //
273
+
{0.406250, 0.968750}, {0.406250, 0.968750}, {0.468750, 0.968750}, {0.468750, 0.968750}, //
274
+
{0.531250, 0.968750}, {0.531250, 0.968750}, {0.593750, 0.968750}, {0.593750, 0.968750}, //
275
+
{0.656250, 0.968750}, {0.656250, 0.968750}, {0.718750, 0.968750}, {0.718750, 0.968750}, //
276
+
{0.781250, 0.968750}, {0.781250, 0.968750}, {0.843750, 0.968750}, {0.843750, 0.968750}, //
277
+
{0.906250, 0.968750}, {0.906250, 0.968750}, {0.968750, 0.968750}, {0.968750, 0.968750}, //
278
+
{0.062500, 0.062500}, {0.062500, 0.062500}, {0.062500, 0.062500}, {0.062500, 0.062500}, //
279
+
{0.062500, 0.062500}, {0.062500, 0.062500}, {0.187500, 0.062500}, {0.187500, 0.062500}, //
280
+
{0.187500, 0.062500}, {0.187500, 0.062500}, {0.187500, 0.062500}, {0.187500, 0.062500}, //
281
+
{0.312500, 0.062500}, {0.312500, 0.062500}, {0.312500, 0.062500}, {0.312500, 0.062500}, //
282
+
{0.312500, 0.062500}, {0.312500, 0.062500}, {0.437500, 0.062500}, {0.437500, 0.062500}, //
283
+
{0.437500, 0.062500}, {0.437500, 0.062500}, {0.437500, 0.062500}, {0.437500, 0.062500}, //
284
+
{0.562500, 0.062500}, {0.562500, 0.062500}, {0.562500, 0.062500}, {0.562500, 0.062500}, //
285
+
{0.562500, 0.062500}, {0.562500, 0.062500}, {0.687500, 0.062500}, {0.687500, 0.062500}, //
286
+
{0.687500, 0.062500}, {0.687500, 0.062500}, {0.687500, 0.062500}, {0.687500, 0.062500}, //
287
+
{0.812500, 0.062500}, {0.812500, 0.062500}, {0.812500, 0.062500}, {0.812500, 0.062500}, //
288
+
{0.812500, 0.062500}, {0.812500, 0.062500}, {0.937500, 0.062500}, {0.937500, 0.062500}, //
289
+
{0.937500, 0.062500}, {0.937500, 0.062500}, {0.937500, 0.062500}, {0.937500, 0.062500}, //
290
+
{0.062500, 0.187500}, {0.062500, 0.187500}, {0.062500, 0.187500}, {0.062500, 0.187500}, //
291
+
{0.062500, 0.187500}, {0.062500, 0.187500}, {0.187500, 0.187500}, {0.187500, 0.187500}, //
292
+
{0.187500, 0.187500}, {0.187500, 0.187500}, {0.187500, 0.187500}, {0.187500, 0.187500}, //
293
+
{0.312500, 0.187500}, {0.312500, 0.187500}, {0.312500, 0.187500}, {0.312500, 0.187500}, //
294
+
{0.312500, 0.187500}, {0.312500, 0.187500}, {0.437500, 0.187500}, {0.437500, 0.187500}, //
295
+
{0.437500, 0.187500}, {0.437500, 0.187500}, {0.437500, 0.187500}, {0.437500, 0.187500}, //
296
+
{0.562500, 0.187500}, {0.562500, 0.187500}, {0.562500, 0.187500}, {0.562500, 0.187500}, //
297
+
{0.562500, 0.187500}, {0.562500, 0.187500}, {0.687500, 0.187500}, {0.687500, 0.187500}, //
298
+
{0.687500, 0.187500}, {0.687500, 0.187500}, {0.687500, 0.187500}, {0.687500, 0.187500}, //
299
+
{0.812500, 0.187500}, {0.812500, 0.187500}, {0.812500, 0.187500}, {0.812500, 0.187500}, //
300
+
{0.812500, 0.187500}, {0.812500, 0.187500}, {0.937500, 0.187500}, {0.937500, 0.187500}, //
301
+
{0.937500, 0.187500}, {0.937500, 0.187500}, {0.937500, 0.187500}, {0.937500, 0.187500}, //
302
+
{0.062500, 0.312500}, {0.062500, 0.312500}, {0.062500, 0.312500}, {0.062500, 0.312500}, //
303
+
{0.062500, 0.312500}, {0.062500, 0.312500}, {0.187500, 0.312500}, {0.187500, 0.312500}, //
304
+
{0.187500, 0.312500}, {0.187500, 0.312500}, {0.187500, 0.312500}, {0.187500, 0.312500}, //
305
+
{0.312500, 0.312500}, {0.312500, 0.312500}, {0.312500, 0.312500}, {0.312500, 0.312500}, //
306
+
{0.312500, 0.312500}, {0.312500, 0.312500}, {0.437500, 0.312500}, {0.437500, 0.312500}, //
307
+
{0.437500, 0.312500}, {0.437500, 0.312500}, {0.437500, 0.312500}, {0.437500, 0.312500}, //
308
+
{0.562500, 0.312500}, {0.562500, 0.312500}, {0.562500, 0.312500}, {0.562500, 0.312500}, //
309
+
{0.562500, 0.312500}, {0.562500, 0.312500}, {0.687500, 0.312500}, {0.687500, 0.312500}, //
310
+
{0.687500, 0.312500}, {0.687500, 0.312500}, {0.687500, 0.312500}, {0.687500, 0.312500}, //
311
+
{0.812500, 0.312500}, {0.812500, 0.312500}, {0.812500, 0.312500}, {0.812500, 0.312500}, //
312
+
{0.812500, 0.312500}, {0.812500, 0.312500}, {0.937500, 0.312500}, {0.937500, 0.312500}, //
313
+
{0.937500, 0.312500}, {0.937500, 0.312500}, {0.937500, 0.312500}, {0.937500, 0.312500}, //
314
+
{0.062500, 0.437500}, {0.062500, 0.437500}, {0.062500, 0.437500}, {0.062500, 0.437500}, //
315
+
{0.062500, 0.437500}, {0.062500, 0.437500}, {0.187500, 0.437500}, {0.187500, 0.437500}, //
316
+
{0.187500, 0.437500}, {0.187500, 0.437500}, {0.187500, 0.437500}, {0.187500, 0.437500}, //
317
+
{0.312500, 0.437500}, {0.312500, 0.437500}, {0.312500, 0.437500}, {0.312500, 0.437500}, //
318
+
{0.312500, 0.437500}, {0.312500, 0.437500}, {0.437500, 0.437500}, {0.437500, 0.437500}, //
319
+
{0.437500, 0.437500}, {0.437500, 0.437500}, {0.437500, 0.437500}, {0.437500, 0.437500}, //
320
+
{0.562500, 0.437500}, {0.562500, 0.437500}, {0.562500, 0.437500}, {0.562500, 0.437500}, //
321
+
{0.562500, 0.437500}, {0.562500, 0.437500}, {0.687500, 0.437500}, {0.687500, 0.437500}, //
322
+
{0.687500, 0.437500}, {0.687500, 0.437500}, {0.687500, 0.437500}, {0.687500, 0.437500}, //
323
+
{0.812500, 0.437500}, {0.812500, 0.437500}, {0.812500, 0.437500}, {0.812500, 0.437500}, //
324
+
{0.812500, 0.437500}, {0.812500, 0.437500}, {0.937500, 0.437500}, {0.937500, 0.437500}, //
325
+
{0.937500, 0.437500}, {0.937500, 0.437500}, {0.937500, 0.437500}, {0.937500, 0.437500}, //
326
+
{0.062500, 0.562500}, {0.062500, 0.562500}, {0.062500, 0.562500}, {0.062500, 0.562500}, //
327
+
{0.062500, 0.562500}, {0.062500, 0.562500}, {0.187500, 0.562500}, {0.187500, 0.562500}, //
328
+
{0.187500, 0.562500}, {0.187500, 0.562500}, {0.187500, 0.562500}, {0.187500, 0.562500}, //
329
+
{0.312500, 0.562500}, {0.312500, 0.562500}, {0.312500, 0.562500}, {0.312500, 0.562500}, //
330
+
{0.312500, 0.562500}, {0.312500, 0.562500}, {0.437500, 0.562500}, {0.437500, 0.562500}, //
331
+
{0.437500, 0.562500}, {0.437500, 0.562500}, {0.437500, 0.562500}, {0.437500, 0.562500}, //
332
+
{0.562500, 0.562500}, {0.562500, 0.562500}, {0.562500, 0.562500}, {0.562500, 0.562500}, //
333
+
{0.562500, 0.562500}, {0.562500, 0.562500}, {0.687500, 0.562500}, {0.687500, 0.562500}, //
334
+
{0.687500, 0.562500}, {0.687500, 0.562500}, {0.687500, 0.562500}, {0.687500, 0.562500}, //
335
+
{0.812500, 0.562500}, {0.812500, 0.562500}, {0.812500, 0.562500}, {0.812500, 0.562500}, //
336
+
{0.812500, 0.562500}, {0.812500, 0.562500}, {0.937500, 0.562500}, {0.937500, 0.562500}, //
337
+
{0.937500, 0.562500}, {0.937500, 0.562500}, {0.937500, 0.562500}, {0.937500, 0.562500}, //
338
+
{0.062500, 0.687500}, {0.062500, 0.687500}, {0.062500, 0.687500}, {0.062500, 0.687500}, //
339
+
{0.062500, 0.687500}, {0.062500, 0.687500}, {0.187500, 0.687500}, {0.187500, 0.687500}, //
340
+
{0.187500, 0.687500}, {0.187500, 0.687500}, {0.187500, 0.687500}, {0.187500, 0.687500}, //
341
+
{0.312500, 0.687500}, {0.312500, 0.687500}, {0.312500, 0.687500}, {0.312500, 0.687500}, //
342
+
{0.312500, 0.687500}, {0.312500, 0.687500}, {0.437500, 0.687500}, {0.437500, 0.687500}, //
343
+
{0.437500, 0.687500}, {0.437500, 0.687500}, {0.437500, 0.687500}, {0.437500, 0.687500}, //
344
+
{0.562500, 0.687500}, {0.562500, 0.687500}, {0.562500, 0.687500}, {0.562500, 0.687500}, //
345
+
{0.562500, 0.687500}, {0.562500, 0.687500}, {0.687500, 0.687500}, {0.687500, 0.687500}, //
346
+
{0.687500, 0.687500}, {0.687500, 0.687500}, {0.687500, 0.687500}, {0.687500, 0.687500}, //
347
+
{0.812500, 0.687500}, {0.812500, 0.687500}, {0.812500, 0.687500}, {0.812500, 0.687500}, //
348
+
{0.812500, 0.687500}, {0.812500, 0.687500}, {0.937500, 0.687500}, {0.937500, 0.687500}, //
349
+
{0.937500, 0.687500}, {0.937500, 0.687500}, {0.937500, 0.687500}, {0.937500, 0.687500}, //
350
+
{0.062500, 0.812500}, {0.062500, 0.812500}, {0.062500, 0.812500}, {0.062500, 0.812500}, //
351
+
{0.062500, 0.812500}, {0.062500, 0.812500}, {0.187500, 0.812500}, {0.187500, 0.812500}, //
352
+
{0.187500, 0.812500}, {0.187500, 0.812500}, {0.187500, 0.812500}, {0.187500, 0.812500}, //
353
+
{0.312500, 0.812500}, {0.312500, 0.812500}, {0.312500, 0.812500}, {0.312500, 0.812500}, //
354
+
{0.312500, 0.812500}, {0.312500, 0.812500}, {0.437500, 0.812500}, {0.437500, 0.812500}, //
355
+
{0.437500, 0.812500}, {0.437500, 0.812500}, {0.437500, 0.812500}, {0.437500, 0.812500}, //
356
+
{0.562500, 0.812500}, {0.562500, 0.812500}, {0.562500, 0.812500}, {0.562500, 0.812500}, //
357
+
{0.562500, 0.812500}, {0.562500, 0.812500}, {0.687500, 0.812500}, {0.687500, 0.812500}, //
358
+
{0.687500, 0.812500}, {0.687500, 0.812500}, {0.687500, 0.812500}, {0.687500, 0.812500}, //
359
+
{0.812500, 0.812500}, {0.812500, 0.812500}, {0.812500, 0.812500}, {0.812500, 0.812500}, //
360
+
{0.812500, 0.812500}, {0.812500, 0.812500}, {0.937500, 0.812500}, {0.937500, 0.812500}, //
361
+
{0.937500, 0.812500}, {0.937500, 0.812500}, {0.937500, 0.812500}, {0.937500, 0.812500}, //
362
+
{0.062500, 0.937500}, {0.062500, 0.937500}, {0.062500, 0.937500}, {0.062500, 0.937500}, //
363
+
{0.062500, 0.937500}, {0.062500, 0.937500}, {0.187500, 0.937500}, {0.187500, 0.937500}, //
364
+
{0.187500, 0.937500}, {0.187500, 0.937500}, {0.187500, 0.937500}, {0.187500, 0.937500}, //
365
+
{0.312500, 0.937500}, {0.312500, 0.937500}, {0.312500, 0.937500}, {0.312500, 0.937500}, //
366
+
{0.312500, 0.937500}, {0.312500, 0.937500}, {0.437500, 0.937500}, {0.437500, 0.937500}, //
367
+
{0.437500, 0.937500}, {0.437500, 0.937500}, {0.437500, 0.937500}, {0.437500, 0.937500}, //
368
+
{0.562500, 0.937500}, {0.562500, 0.937500}, {0.562500, 0.937500}, {0.562500, 0.937500}, //
369
+
{0.562500, 0.937500}, {0.562500, 0.937500}, {0.687500, 0.937500}, {0.687500, 0.937500}, //
370
+
{0.687500, 0.937500}, {0.687500, 0.937500}, {0.687500, 0.937500}, {0.687500, 0.937500}, //
371
+
{0.812500, 0.937500}, {0.812500, 0.937500}, {0.812500, 0.937500}, {0.812500, 0.937500}, //
372
+
{0.812500, 0.937500}, {0.812500, 0.937500}, {0.937500, 0.937500}, {0.937500, 0.937500}, //
373
+
{0.937500, 0.937500}, {0.937500, 0.937500}, {0.937500, 0.937500}, {0.937500, 0.937500}, //
374
+
};
506
375
507
376
static std::vector<Palm7KP>
508
377
runHandDetector(struct ht_view *htv, cv::Mat &raw_input)
···
580
449
581
450
std::vector<NMSPalm> detections;
582
451
int count = 0;
583
-
size_t i = 0;
584
452
585
453
std::vector<Palm7KP> output;
586
454
std::vector<NMSPalm> nms_palms;
587
455
456
+
OrtTensorTypeAndShapeInfo *classificators_info;
457
+
ORT_CHECK(g_ort, g_ort->GetTensorTypeAndShape(output_tensor[0], &classificators_info));
588
458
589
-
for (std::vector<std::vector<float>>::iterator it = anchor.begin(); it != anchor.end(); ++it, ++i) {
590
-
std::vector<float>::iterator anchorData = it->begin();
459
+
size_t classificators_size;
460
+
ORT_CHECK(g_ort, g_ort->GetTensorShapeElementCount(classificators_info, &classificators_size));
461
+
assert(classificators_size == 896);
591
462
592
-
float score0 = classificators[i];
593
-
float score = 1.0 / (1.0 + exp(-score0));
463
+
OrtTensorTypeAndShapeInfo *regressors_info;
464
+
ORT_CHECK(g_ort, g_ort->GetTensorTypeAndShape(output_tensor[1], ®ressors_info));
465
+
466
+
size_t regressors_size;
467
+
ORT_CHECK(g_ort, g_ort->GetTensorShapeElementCount(regressors_info, ®ressors_size));
468
+
assert(regressors_size == 896 * 18);
469
+
470
+
g_ort->ReleaseTensorTypeAndShapeInfo(classificators_info);
471
+
g_ort->ReleaseTensorTypeAndShapeInfo(regressors_info);
472
+
473
+
for (size_t i = 0; i < classificators_size; ++i) {
474
+
const float score = 1.0 / (1.0 + exp(-classificators[i]));
594
475
595
476
// Let a lot of detections in - they'll be slowly rejected later
596
-
if (score > htv->htd->dynamic_config.nms_threshold.val) {
597
-
// Boundary box.
598
-
NMSPalm det;
477
+
if (score <= htv->htd->dynamic_config.nms_threshold.val) {
478
+
continue;
479
+
}
599
480
600
-
float anchx = *(anchorData + 0) * 128;
601
-
float anchy = *(anchorData + 1) * 128;
481
+
const struct anchor *anchor = &anchors[i];
602
482
603
-
float shiftx = regressors[i * 18];
604
-
float shifty = regressors[i * 18 + 1];
483
+
// Boundary box.
484
+
NMSPalm det;
605
485
606
-
float w = regressors[i * 18 + 2];
607
-
float h = regressors[i * 18 + 3];
486
+
float anchx = anchor->x * 128;
487
+
float anchy = anchor->y * 128;
608
488
489
+
float shiftx = regressors[i * 18];
490
+
float shifty = regressors[i * 18 + 1];
609
491
492
+
float w = regressors[i * 18 + 2];
493
+
float h = regressors[i * 18 + 3];
610
494
611
-
float cx = shiftx + anchx;
612
-
float cy = shifty + anchy;
495
+
float cx = shiftx + anchx;
496
+
float cy = shifty + anchy;
613
497
614
-
struct xrt_vec2 *kps = det.keypoints;
498
+
struct xrt_vec2 *kps = det.keypoints;
615
499
616
-
kps[0] = {rg[i * 18 + 4], rg[i * 18 + 5]};
617
-
kps[1] = {rg[i * 18 + 6], rg[i * 18 + 7]};
618
-
kps[2] = {rg[i * 18 + 8], rg[i * 18 + 9]};
619
-
kps[3] = {rg[i * 18 + 10], rg[i * 18 + 11]};
620
-
kps[4] = {rg[i * 18 + 12], rg[i * 18 + 13]};
621
-
kps[5] = {rg[i * 18 + 14], rg[i * 18 + 15]};
622
-
kps[6] = {rg[i * 18 + 16], rg[i * 18 + 17]};
500
+
kps[0] = {rg[i * 18 + 4], rg[i * 18 + 5]};
501
+
kps[1] = {rg[i * 18 + 6], rg[i * 18 + 7]};
502
+
kps[2] = {rg[i * 18 + 8], rg[i * 18 + 9]};
503
+
kps[3] = {rg[i * 18 + 10], rg[i * 18 + 11]};
504
+
kps[4] = {rg[i * 18 + 12], rg[i * 18 + 13]};
505
+
kps[5] = {rg[i * 18 + 14], rg[i * 18 + 15]};
506
+
kps[6] = {rg[i * 18 + 16], rg[i * 18 + 17]};
623
507
624
508
625
-
for (int i = 0; i < 7; i++) {
626
-
struct xrt_vec2 *b = &kps[i];
627
-
b->x += anchx;
628
-
b->y += anchy;
629
-
}
509
+
for (int i = 0; i < 7; i++) {
510
+
struct xrt_vec2 *b = &kps[i];
511
+
b->x += anchx;
512
+
b->y += anchy;
513
+
}
630
514
631
-
det.bbox.w = w;
632
-
det.bbox.h = h;
633
-
det.bbox.cx = cx;
634
-
det.bbox.cy = cy;
635
-
det.confidence = score;
636
-
detections.push_back(det);
637
-
count++;
515
+
det.bbox.w = w;
516
+
det.bbox.h = h;
517
+
det.bbox.cx = cx;
518
+
det.bbox.cy = cy;
519
+
det.confidence = score;
520
+
detections.push_back(det);
521
+
count++;
638
522
639
-
if (htv->htd->debug_scribble && (htv->htd->dynamic_config.scribble_raw_detections)) {
640
-
xrt_vec2 center = transformVecBy2x3(xrt_vec2{cx, cy}, back_from_blackbar);
523
+
if (htv->htd->debug_scribble && (htv->htd->dynamic_config.scribble_raw_detections)) {
524
+
xrt_vec2 center = transformVecBy2x3(xrt_vec2{cx, cy}, back_from_blackbar);
641
525
642
-
float sz = det.bbox.w * scale_factor;
526
+
float sz = det.bbox.w * scale_factor;
643
527
644
-
cv::rectangle(
645
-
htv->debug_out_to_this,
646
-
{(int)(center.x - (sz / 2)), (int)(center.y - (sz / 2)), (int)sz, (int)sz},
647
-
hsv2rgb(0.0f, math_map_ranges(det.confidence, 0.0f, 1.0f, 1.5f, -0.1f),
648
-
math_map_ranges(det.confidence, 0.0f, 1.0f, 0.2f, 1.4f)),
649
-
1);
528
+
cv::rectangle(htv->debug_out_to_this,
529
+
{(int)(center.x - (sz / 2)), (int)(center.y - (sz / 2)), (int)sz, (int)sz},
530
+
hsv2rgb(0.0f, math_map_ranges(det.confidence, 0.0f, 1.0f, 1.5f, -0.1f),
531
+
math_map_ranges(det.confidence, 0.0f, 1.0f, 0.2f, 1.4f)),
532
+
1);
650
533
651
-
for (int i = 0; i < 7; i++) {
652
-
handDot(htv->debug_out_to_this, transformVecBy2x3(kps[i], back_from_blackbar),
653
-
det.confidence * 7, ((float)i) * (360.0f / 7.0f), det.confidence, 1);
654
-
}
534
+
for (int i = 0; i < 7; i++) {
535
+
handDot(htv->debug_out_to_this, transformVecBy2x3(kps[i], back_from_blackbar),
536
+
det.confidence * 7, ((float)i) * (360.0f / 7.0f), det.confidence, 1);
655
537
}
538
+
}
656
539
657
540
658
541
659
-
int square = fmax(w, h);
542
+
int square = fmax(w, h);
660
543
661
-
square = square / scale_factor;
662
-
}
544
+
square = square / scale_factor;
663
545
}
664
546
665
547
if (count == 0) {