c++ iou学习笔记
以下内容转自：
图像处理之IOU, NMS原理及C++实现 - 灰信网（软件开发博客聚合）
1. IOU
交并比（Intersection-over-Union，IoU），目标检测中使用的一个概念，是产生的候选框（candidate bound）与原标记框（ground truth bound）的交叠率，即它们的交集与并集的比值。最理想情况是完全重叠，即比值为1。
计算公式：
C++代码：
opencv：
float bbOverlap(const cv::Rect_<float>& box1,const cv::Rect_<float>& box2)
{
if (box1.x > box2.x+box2.width) { return 0.0; }
if (box1.y > box2.y+box2.height) { return 0.0; }
if (box1.x+box1.width < box2.x) { return 0.0; }
if (box1.y+box1.height < box2.y) { return 0.0; }
float colInt = min(box1.x+box1.width,box2.x+box2.width) - max(box1.x, box2.x);
float rowInt = min(box1.y+box1.height,box2.y+box2.height) - max(box1.y,box2.y);
float intersection = colInt * rowInt;
float area1 = box1.width*box1.height;
float area2 = box2.width*box2.height;
return intersection / (area1 + area2 - intersection);
}自定义结构：
struct bbox
{
int m_left;
int m_top;
int m_width;
int m_height;
bbox() {}
bbox(int left, int top, int width, int height)
{
m_left = left;
m_top = top;
m_width = width;
m_height = height;
}
};
float IOU_compute(const bbox b1, const bbox b2)
{
w = max(min((b1.m_left + b1.m_width), (b2.m_left + b2.m_width)) - max(b1.m_left, b2.m_left), 0);
h = max(min((b1.m_top + b1.m_height), (b2.m_top + b2.m_height)) - max(b1.m_top, b2.m_top), 0);
return w*h / (b1.m_width*b1.m_height + b2.m_width*b2.m_height - w*h);
}3维目标检测iou：
一、三维目标表示
世界坐标系下的三维目标有9个自由度，分别为三个自由度的平移量（中心点坐标）{x,y,z}，三自由度的旋转{roll, pitch, yaw}，三自由度的尺寸{length,width,height}。通常假设物体都是水平放置，所以roll = 0,pitch = 0;因此一个立方体可以表示为{x,y,z,0,0,yaw,len,wid,hei}。其中len、wid、hei分别是立方体长宽高的一半。
原文链接：https://blog.csdn.net/qq_27399933/article/details/110876763
bool bInBox(const vector<cv::Point2f> &vpBoxA, const cv::Point2f &p)
{
std::vector<cv::Point2f> corners = vpBoxA;
for(int i = 0; i<vpBoxA.size(); i++) //01230123
corners.push_back(vpBoxA[i]);
std::vector< std::vector<double> > linesA;
for(int i = 0; i<vpBoxA.size(); i++)
{
cv::Point2f p1 = corners[i];
cv::Point2f p2 = corners[i+1];
cv::Point2f p3 = corners[i+2];
double a;
if(p1.x - p2.x == 0)
a = -(p1.y - p2.y)/0.0001;
else
a = -(p1.y - p2.y)/(p1.x - p2.x);
double b = 1;
double c = -a * p2.x - p2.y;
double d = a*p3.x + b*p3.y + c;
std::vector<double> line{a,b,c,d};
linesA.push_back(line);
}
for(int i=0; i<linesA.size(); i++)
{
vector<double > l = linesA[i];
double y = l[0] * p.x + l[1] * p.y +l[2];
if(y * l[3] < 0)
return false;
}
return true;
}
double InterSection_2D(const vector<cv::Point2f> &vpBoxA, const vector<cv::Point2f> &vpBoxB)
{
double min_x, max_x, min_y, max_y;
min_x = vpBoxA[0].x;
max_x = vpBoxA[0].x;
min_y = vpBoxA[0].y;
max_y = vpBoxA[0].y;
for(int i=1; i<vpBoxA.size(); i++)
{
cv::Point2f p = vpBoxA[i];
if(p.x > max_x)
max_x = p.x;
if(p.x < min_x)
min_x = p.x;
if(p.y > max_y)
max_y = p.y;
if(p.y < min_y)
min_y = p.y;
}
for(int i=0; i<vpBoxB.size(); i++)
{
cv::Point2f p = vpBoxB[i];
if(p.x > max_x)
max_x = p.x;
if(p.x < min_x)
min_x = p.x;
if(p.y > max_y)
max_y = p.y;
if(p.y < min_y)
min_y = p.y;
}
//将两个BBox的定点坐标最小值设置为0, 以防止有负数的产生
vector<cv::Point2f> vpBoxAA = vpBoxA;
vector<cv::Point2f> vpBoxBB = vpBoxB;
//if(min_x < 0 && min_y < 0)
for(int i=0; i<vpBoxA.size(); i++)
{
vpBoxAA[i].x = vpBoxAA[i].x - min_x;
vpBoxAA[i].y = vpBoxAA[i].y - min_y;
vpBoxBB[i].x = vpBoxBB[i].x - min_x;
vpBoxBB[i].y = vpBoxBB[i].y - min_y;
}
int imax_x = (int)((max_x - min_x) * 10000);
int imax_y = (int)((max_y - min_y) * 10000);
double points_inA = 0, points_inB = 0, points_inAB = 0;
srand((int)time(0));
for(int i = 0; i<100000; i++)
{
int xx = rand()%(imax_x)+1; //生成[1, imax_x]之间的整数
int yy = rand()%(imax_y)+1; //生成[1, imax_y]之间的整数
cv::Point2f p((float)xx / 10000.0, (float)yy / 10000.0);
if( bInBox(vpBoxAA, p) )
++points_inA;
if( bInBox(vpBoxBB, p) )
++points_inB;
if( bInBox(vpBoxAA, p) && bInBox(vpBoxBB, p) )
++points_inAB;
}
double iou = points_inAB / (points_inA + points_inB - points_inAB);
//cout<<"points_inA : "<<points_inA<<", points_inB: "<<points_inB<<" ,points_inAB: "<<points_inAB<<endl;
return iou;
}
double CuboidIoU(const Eigen::MatrixXd &truth_poses, const Eigen::MatrixXd &landmark_poses)
{
std::vector<cv::Point2f> vground_points;
std::vector<cv::Point2f> vlandmark_points;
if(1) //通过坐标旋转求取groundtruth立方体中 2D-Boundbox四个顶点的坐标
{
double cen_x = truth_poses(0,0);
double cen_y = truth_poses(0,1);
double len = truth_poses(0,6);
double wid = truth_poses(0,7);
double yaw = truth_poses(0,5);
double x, y, xx, yy;
x = cen_x - len;
y = cen_y - wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p0(xx, yy);
x = cen_x - len;
y = cen_y + wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p1(xx, yy);
x = cen_x + len;
y = cen_y + wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p2(xx, yy);
x = cen_x + len;
y = cen_y - wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p3(xx, yy);
vground_points = {p0, p1, p2, p3};
}
if(1)//通过坐标旋转求取landmark中 2D-Boundbox四个顶点的坐标
{
double cen_x = landmark_poses(0,0);
double cen_y = landmark_poses(0,1);
double len = landmark_poses(0,6);
double wid = landmark_poses(0,7);
double yaw = landmark_poses(0,5);
double x, y, xx, yy;
x = cen_x - len;
y = cen_y - wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p0(xx, yy);
x = cen_x - len;
y = cen_y + wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p1(xx, yy);
x = cen_x + len;
y = cen_y + wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p2(xx, yy);
x = cen_x + len;
y = cen_y - wid;
xx = (x - cen_x)*cos(yaw) - (y - cen_y)*sin(yaw) + cen_x;
yy = (x - cen_x)*sin(yaw) + (y - cen_y)*cos(yaw) + cen_y;
cv::Point2f p3(xx, yy);
vlandmark_points = {p0, p1, p2, p3};
}
double iou_2d = InterSection_2D(vlandmark_points, vground_points);
double iou_3d = 0;
if (iou_2d > 0) {
double tru_minz = truth_poses(0, 2) - truth_poses(0, 8);
double tru_maxz = truth_poses(0, 2) + truth_poses(0, 8);
double land_minz = landmark_poses(0, 2) - landmark_poses(0, 8);
double land_maxz = landmark_poses(0, 2) + landmark_poses(0, 8);
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;
}
}
return iou_3d;
}
void main(int argc, char **argv)
{
Eigen::MatrixXd truth_poses(1,9);
truth_poses<<-0.4875, -0.798913, -1.125, 0, 0, -1.27409, 0.240477, 0.235315, 0.375;
Eigen::MatrixXd landmark_poses(1,9);
landmark_poses<<-0.506616, -0.796303, -1.20499, 0, 0, -0.345443, 0.22, 0.22, 0.4 ;
double iou_3d = CuboidIoU_once(truth_poses, landmark_poses);
cout<<"the iou of two cuboid is: "<<iou_3d<<endl;
return;
}版权说明 : 本文为转载文章, 版权归原作者所有 版权申明
原文链接 : https://blog.csdn.net/jacke121/article/details/123213125
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