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<div class="title">NMS.cpp</div> </div>
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<a href="_n_m_s_8cpp.xhtml">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// Copyright © 2020 Arm Ltd. All rights reserved.</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// SPDX-License-Identifier: MIT</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include "<a class="code" href="_n_m_s_8hpp.xhtml">NMS.hpp</a>"</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <cmath></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <algorithm></span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <cstddef></span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="preprocessor">#include <numeric></span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <ostream></span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> </div><div class="line"><a name="l00015"></a><span class="lineno"><a class="line" href="namespaceyolov3.xhtml"> 15</a></span> <span class="keyword">namespace </span><a class="code" href="namespaceyolov3.xhtml">yolov3</a> {</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">namespace </span>{<span class="comment"></span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">/** Number of elements needed to represent a box */</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> constexpr <span class="keywordtype">int</span> box_elements = 4;<span class="comment"></span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">/** Number of elements needed to represent a confidence factor */</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> constexpr <span class="keywordtype">int</span> confidence_elements = 1;</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"></span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">/** Calculate Intersection Over Union of two boxes</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> *</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * @param[in] box1 First box</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * @param[in] box2 Second box</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> *</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * @return The IoU of the two boxes</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> */</span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keywordtype">float</span> iou(<span class="keyword">const</span> <a class="code" href="structyolov3_1_1_box.xhtml">Box</a>& box1, <span class="keyword">const</span> <a class="code" href="structyolov3_1_1_box.xhtml">Box</a>& box2)</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> {</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> area1 = (box1.<a class="code" href="structyolov3_1_1_box.xhtml#a9c42f51718ed192ed1841a53d2b0e507">xmax</a> - box1.<a class="code" href="structyolov3_1_1_box.xhtml#a058f249a5e6d20724cb0784b40a183e8">xmin</a>) * (box1.<a class="code" href="structyolov3_1_1_box.xhtml#acee1a082369857c7ee64924a0d9bc706">ymax</a> - box1.<a class="code" href="structyolov3_1_1_box.xhtml#a5c6190dc7aa1bd7aafb9592a64f7046d">ymin</a>);</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> area2 = (box2.<a class="code" href="structyolov3_1_1_box.xhtml#a9c42f51718ed192ed1841a53d2b0e507">xmax</a> - box2.<a class="code" href="structyolov3_1_1_box.xhtml#a058f249a5e6d20724cb0784b40a183e8">xmin</a>) * (box2.<a class="code" href="structyolov3_1_1_box.xhtml#acee1a082369857c7ee64924a0d9bc706">ymax</a> - box2.<a class="code" href="structyolov3_1_1_box.xhtml#a5c6190dc7aa1bd7aafb9592a64f7046d">ymin</a>);</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <span class="keywordtype">float</span> overlap;</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="keywordflow">if</span> (area1 <= 0 || area2 <= 0)</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  {</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  overlap = 0.0f;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  }</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keyword">const</span> <span class="keyword">auto</span> y_min_intersection = std::max<float>(box1.<a class="code" href="structyolov3_1_1_box.xhtml#a5c6190dc7aa1bd7aafb9592a64f7046d">ymin</a>, box2.<a class="code" href="structyolov3_1_1_box.xhtml#a5c6190dc7aa1bd7aafb9592a64f7046d">ymin</a>);</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">const</span> <span class="keyword">auto</span> x_min_intersection = std::max<float>(box1.<a class="code" href="structyolov3_1_1_box.xhtml#a058f249a5e6d20724cb0784b40a183e8">xmin</a>, box2.<a class="code" href="structyolov3_1_1_box.xhtml#a058f249a5e6d20724cb0784b40a183e8">xmin</a>);</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">const</span> <span class="keyword">auto</span> y_max_intersection = std::min<float>(box1.<a class="code" href="structyolov3_1_1_box.xhtml#acee1a082369857c7ee64924a0d9bc706">ymax</a>, box2.<a class="code" href="structyolov3_1_1_box.xhtml#acee1a082369857c7ee64924a0d9bc706">ymax</a>);</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keyword">const</span> <span class="keyword">auto</span> x_max_intersection = std::min<float>(box1.<a class="code" href="structyolov3_1_1_box.xhtml#a9c42f51718ed192ed1841a53d2b0e507">xmax</a>, box2.<a class="code" href="structyolov3_1_1_box.xhtml#a9c42f51718ed192ed1841a53d2b0e507">xmax</a>);</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keyword">const</span> <span class="keyword">auto</span> area_intersection =</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  std::max<float>(y_max_intersection - y_min_intersection, 0.0f) *</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  std::max<float>(x_max_intersection - x_min_intersection, 0.0f);</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  overlap = area_intersection / (area1 + area2 - area_intersection);</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  }</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keywordflow">return</span> overlap;</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> }</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> std::vector<Detection> convert_to_detections(<span class="keyword">const</span> <a class="code" href="structyolov3_1_1_n_m_s_config.xhtml">NMSConfig</a>& config,</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  <span class="keyword">const</span> std::vector<float>& detected_boxes)</div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> {</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">const</span> <span class="keywordtype">size_t</span> element_step = <span class="keyword">static_cast<</span><span class="keywordtype">size_t</span><span class="keyword">></span>(</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  box_elements + confidence_elements + config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#ae82414d4f3be497637c3456351a19c03">num_classes</a>);</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  std::vector<Detection> detections;</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#a69e5cb89b98e22ca17e8a7d3d8aef10a">num_boxes</a>; ++i)</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  {</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>* cur_box = &detected_boxes[i * element_step];</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (cur_box[4] > config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#a4e90aada4569ce7e2b3e41649cfdc3f8">confidence_threshold</a>)</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  {</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <a class="code" href="structyolov3_1_1_detection.xhtml">Detection</a> det;</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  det.<a class="code" href="structyolov3_1_1_detection.xhtml#ab19e728e80bc2fc43d8e82c3602f8333">box</a> = {cur_box[0], cur_box[0] + cur_box[2], cur_box[1],</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  cur_box[1] + cur_box[3]};</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  det.<a class="code" href="structyolov3_1_1_detection.xhtml#a058b8558da894ebfbef73d1a9b57deaa">confidence</a> = cur_box[4];</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  det.<a class="code" href="structyolov3_1_1_detection.xhtml#a1ceea7e0cd778a72b2a6e1ffe886d407">classes</a>.resize(static_cast<size_t>(config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#ae82414d4f3be497637c3456351a19c03">num_classes</a>), 0);</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> c = 0; c < config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#ae82414d4f3be497637c3456351a19c03">num_classes</a>; ++c)</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  {</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">const</span> <span class="keywordtype">float</span> class_prob = det.<a class="code" href="structyolov3_1_1_detection.xhtml#a058b8558da894ebfbef73d1a9b57deaa">confidence</a> * cur_box[5 + c];</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordflow">if</span> (class_prob > config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#a4e90aada4569ce7e2b3e41649cfdc3f8">confidence_threshold</a>)</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  {</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  det.<a class="code" href="structyolov3_1_1_detection.xhtml#a1ceea7e0cd778a72b2a6e1ffe886d407">classes</a>[c] = class_prob;</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  }</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  }</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  detections.emplace_back(std::move(det));</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  }</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">return</span> detections;</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> }</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> } <span class="comment">// namespace</span></div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="namespaceyolov3.xhtml#a81be14d2d01feb34d4d9a84f52121ea6"> 84</a></span> <span class="keywordtype">bool</span> <a class="code" href="namespaceyolov3.xhtml#a81be14d2d01feb34d4d9a84f52121ea6">compare_detection</a>(<span class="keyword">const</span> <a class="code" href="structyolov3_1_1_detection.xhtml">yolov3::Detection</a>& detection,</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> std::vector<float>& expected)</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span> {</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">float</span> tolerance = 0.001f;</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">return</span> (std::fabs(detection.<a class="code" href="structyolov3_1_1_detection.xhtml#a1ceea7e0cd778a72b2a6e1ffe886d407">classes</a>[0] - expected[0]) < tolerance &&</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  std::fabs(detection.<a class="code" href="structyolov3_1_1_detection.xhtml#ab19e728e80bc2fc43d8e82c3602f8333">box</a>.<a class="code" href="structyolov3_1_1_box.xhtml#a058f249a5e6d20724cb0784b40a183e8">xmin</a> - expected[1]) < tolerance &&</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  std::fabs(detection.<a class="code" href="structyolov3_1_1_detection.xhtml#ab19e728e80bc2fc43d8e82c3602f8333">box</a>.<a class="code" href="structyolov3_1_1_box.xhtml#a5c6190dc7aa1bd7aafb9592a64f7046d">ymin</a> - expected[2]) < tolerance &&</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  std::fabs(detection.<a class="code" href="structyolov3_1_1_detection.xhtml#ab19e728e80bc2fc43d8e82c3602f8333">box</a>.<a class="code" href="structyolov3_1_1_box.xhtml#a9c42f51718ed192ed1841a53d2b0e507">xmax</a> - expected[3]) < tolerance &&</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  std::fabs(detection.<a class="code" href="structyolov3_1_1_detection.xhtml#ab19e728e80bc2fc43d8e82c3602f8333">box</a>.<a class="code" href="structyolov3_1_1_box.xhtml#acee1a082369857c7ee64924a0d9bc706">ymax</a> - expected[4]) < tolerance &&</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  std::fabs(detection.<a class="code" href="structyolov3_1_1_detection.xhtml#a058b8558da894ebfbef73d1a9b57deaa">confidence</a> - expected[5]) < tolerance );</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> }</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="namespaceyolov3.xhtml#a8151de4c14e5e853818753516cb87c26"> 96</a></span> <span class="keywordtype">void</span> <a class="code" href="namespaceyolov3.xhtml#a8151de4c14e5e853818753516cb87c26">print_detection</a>(std::ostream& os,</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keyword">const</span> std::vector<Detection>& detections)</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span> {</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>& detection : detections)</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  {</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> c = 0; c < detection.classes.size(); ++c)</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  {</div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordflow">if</span> (detection.classes[c] != 0.0f)</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  {</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  os << c << <span class="stringliteral">" "</span> << detection.classes[c] << <span class="stringliteral">" "</span> << detection.box.xmin</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  << <span class="stringliteral">" "</span> << detection.box.ymin << <span class="stringliteral">" "</span> << detection.box.xmax << <span class="stringliteral">" "</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  << detection.box.ymax << std::endl;</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  }</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  }</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  }</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> }</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div><div class="line"><a name="l00113"></a><span class="lineno"><a class="line" href="namespaceyolov3.xhtml#a7cf18c5c3391effbaf3234792876cd52"> 113</a></span> std::vector<Detection> <a class="code" href="namespaceyolov3.xhtml#a7cf18c5c3391effbaf3234792876cd52">nms</a>(<span class="keyword">const</span> <a class="code" href="structyolov3_1_1_n_m_s_config.xhtml">NMSConfig</a>& config,</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">const</span> std::vector<float>& detected_boxes) {</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="comment">// Get detections that comply with the expected confidence threshold</span></div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  std::vector<Detection> detections =</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  convert_to_detections(config, detected_boxes);</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_detections = <span class="keyword">static_cast<</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">></span>(detections.size());</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> c = 0; c < config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#ae82414d4f3be497637c3456351a19c03">num_classes</a>; ++c)</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  {</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="comment">// Sort classes</span></div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  std::sort(detections.begin(), detections.begin() + <span class="keyword">static_cast<</span>std::ptrdiff_t<span class="keyword">></span>(num_detections),</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  [c](<a class="code" href="structyolov3_1_1_detection.xhtml">Detection</a>& detection1, <a class="code" href="structyolov3_1_1_detection.xhtml">Detection</a>& detection2)</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  {</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">return</span> (detection1.<a class="code" href="structyolov3_1_1_detection.xhtml#a1ceea7e0cd778a72b2a6e1ffe886d407">classes</a>[c] - detection2.<a class="code" href="structyolov3_1_1_detection.xhtml#a1ceea7e0cd778a72b2a6e1ffe886d407">classes</a>[c]) > 0;</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  });</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="comment">// Clear detections with high IoU</span></div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> d = 0; d < num_detections; ++d)</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  {</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="comment">// Check if class is already cleared/invalidated</span></div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (detections[d].classes[c] == 0.f)</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  }</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="comment">// Filter out boxes on IoU threshold</span></div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keyword">const</span> <a class="code" href="structyolov3_1_1_box.xhtml">Box</a>& box1 = detections[d].box;</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> b = d + 1; b < num_detections; ++b)</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  {</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keyword">const</span> <a class="code" href="structyolov3_1_1_box.xhtml">Box</a>& box2 = detections[b].box;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">if</span> (iou(box1, box2) > config.<a class="code" href="structyolov3_1_1_n_m_s_config.xhtml#a8f299d6494fbe8a199fed9344d10d99b">iou_threshold</a>)</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  {</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  detections[b].classes[c] = 0.f;</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  }</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">return</span> detections;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> }</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> } <span class="comment">// namespace yolov3</span></div><div class="ttc" id="structyolov3_1_1_detection_xhtml_a058b8558da894ebfbef73d1a9b57deaa"><div class="ttname"><a href="structyolov3_1_1_detection.xhtml#a058b8558da894ebfbef73d1a9b57deaa">yolov3::Detection::confidence</a></div><div class="ttdeci">float confidence</div><div class="ttdoc">Confidence of detection. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00031">NMS.hpp:31</a></div></div>
<div class="ttc" id="structyolov3_1_1_box_xhtml_a5c6190dc7aa1bd7aafb9592a64f7046d"><div class="ttname"><a href="structyolov3_1_1_box.xhtml#a5c6190dc7aa1bd7aafb9592a64f7046d">yolov3::Box::ymin</a></div><div class="ttdeci">float ymin</div><div class="ttdoc">Y-pos position of the low left coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00024">NMS.hpp:24</a></div></div>
<div class="ttc" id="structyolov3_1_1_n_m_s_config_xhtml_a69e5cb89b98e22ca17e8a7d3d8aef10a"><div class="ttname"><a href="structyolov3_1_1_n_m_s_config.xhtml#a69e5cb89b98e22ca17e8a7d3d8aef10a">yolov3::NMSConfig::num_boxes</a></div><div class="ttdeci">unsigned int num_boxes</div><div class="ttdoc">Number of detected boxes. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00015">NMS.hpp:15</a></div></div>
<div class="ttc" id="namespaceyolov3_xhtml"><div class="ttname"><a href="namespaceyolov3.xhtml">yolov3</a></div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8cpp_source.xhtml#l00015">NMS.cpp:15</a></div></div>
<div class="ttc" id="structyolov3_1_1_box_xhtml_a058f249a5e6d20724cb0784b40a183e8"><div class="ttname"><a href="structyolov3_1_1_box.xhtml#a058f249a5e6d20724cb0784b40a183e8">yolov3::Box::xmin</a></div><div class="ttdeci">float xmin</div><div class="ttdoc">X-pos position of the low left coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00022">NMS.hpp:22</a></div></div>
<div class="ttc" id="structyolov3_1_1_box_xhtml_a9c42f51718ed192ed1841a53d2b0e507"><div class="ttname"><a href="structyolov3_1_1_box.xhtml#a9c42f51718ed192ed1841a53d2b0e507">yolov3::Box::xmax</a></div><div class="ttdeci">float xmax</div><div class="ttdoc">X-pos position of the top right coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00023">NMS.hpp:23</a></div></div>
<div class="ttc" id="namespaceyolov3_xhtml_a8151de4c14e5e853818753516cb87c26"><div class="ttname"><a href="namespaceyolov3.xhtml#a8151de4c14e5e853818753516cb87c26">yolov3::print_detection</a></div><div class="ttdeci">void print_detection(std::ostream &os, const std::vector< Detection > &detections)</div><div class="ttdoc">Print identified yolo detections. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8cpp_source.xhtml#l00096">NMS.cpp:96</a></div></div>
<div class="ttc" id="structyolov3_1_1_detection_xhtml"><div class="ttname"><a href="structyolov3_1_1_detection.xhtml">yolov3::Detection</a></div><div class="ttdoc">Detection structure. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00029">NMS.hpp:29</a></div></div>
<div class="ttc" id="structyolov3_1_1_detection_xhtml_a1ceea7e0cd778a72b2a6e1ffe886d407"><div class="ttname"><a href="structyolov3_1_1_detection.xhtml#a1ceea7e0cd778a72b2a6e1ffe886d407">yolov3::Detection::classes</a></div><div class="ttdeci">std::vector< float > classes</div><div class="ttdoc">Probability of classes. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00032">NMS.hpp:32</a></div></div>
<div class="ttc" id="structyolov3_1_1_detection_xhtml_ab19e728e80bc2fc43d8e82c3602f8333"><div class="ttname"><a href="structyolov3_1_1_detection.xhtml#ab19e728e80bc2fc43d8e82c3602f8333">yolov3::Detection::box</a></div><div class="ttdeci">Box box</div><div class="ttdoc">Detection box. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00030">NMS.hpp:30</a></div></div>
<div class="ttc" id="structyolov3_1_1_box_xhtml"><div class="ttname"><a href="structyolov3_1_1_box.xhtml">yolov3::Box</a></div><div class="ttdoc">Box representation structure. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00021">NMS.hpp:21</a></div></div>
<div class="ttc" id="structyolov3_1_1_box_xhtml_acee1a082369857c7ee64924a0d9bc706"><div class="ttname"><a href="structyolov3_1_1_box.xhtml#acee1a082369857c7ee64924a0d9bc706">yolov3::Box::ymax</a></div><div class="ttdeci">float ymax</div><div class="ttdoc">Y-pos position of the top right coordinate. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00025">NMS.hpp:25</a></div></div>
<div class="ttc" id="structyolov3_1_1_n_m_s_config_xhtml_a8f299d6494fbe8a199fed9344d10d99b"><div class="ttname"><a href="structyolov3_1_1_n_m_s_config.xhtml#a8f299d6494fbe8a199fed9344d10d99b">yolov3::NMSConfig::iou_threshold</a></div><div class="ttdeci">float iou_threshold</div><div class="ttdoc">Inclusion threshold for Intersection-Over-Union. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00017">NMS.hpp:17</a></div></div>
<div class="ttc" id="namespaceyolov3_xhtml_a7cf18c5c3391effbaf3234792876cd52"><div class="ttname"><a href="namespaceyolov3.xhtml#a7cf18c5c3391effbaf3234792876cd52">yolov3::nms</a></div><div class="ttdeci">std::vector< Detection > nms(const NMSConfig &config, const std::vector< float > &detected_boxes)</div><div class="ttdoc">Perform Non-Maxima Supression on a list of given detections. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8cpp_source.xhtml#l00113">NMS.cpp:113</a></div></div>
<div class="ttc" id="structyolov3_1_1_n_m_s_config_xhtml"><div class="ttname"><a href="structyolov3_1_1_n_m_s_config.xhtml">yolov3::NMSConfig</a></div><div class="ttdoc">Non Maxima Suprresion configuration meta-data. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00013">NMS.hpp:13</a></div></div>
<div class="ttc" id="structyolov3_1_1_n_m_s_config_xhtml_a4e90aada4569ce7e2b3e41649cfdc3f8"><div class="ttname"><a href="structyolov3_1_1_n_m_s_config.xhtml#a4e90aada4569ce7e2b3e41649cfdc3f8">yolov3::NMSConfig::confidence_threshold</a></div><div class="ttdeci">float confidence_threshold</div><div class="ttdoc">Inclusion confidence threshold for a box. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00016">NMS.hpp:16</a></div></div>
<div class="ttc" id="_n_m_s_8hpp_xhtml"><div class="ttname"><a href="_n_m_s_8hpp.xhtml">NMS.hpp</a></div></div>
<div class="ttc" id="namespaceyolov3_xhtml_a81be14d2d01feb34d4d9a84f52121ea6"><div class="ttname"><a href="namespaceyolov3.xhtml#a81be14d2d01feb34d4d9a84f52121ea6">yolov3::compare_detection</a></div><div class="ttdeci">bool compare_detection(const yolov3::Detection &detection, const std::vector< float > &expected)</div><div class="ttdoc">Compare a detection object with a vector of float values. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8cpp_source.xhtml#l00084">NMS.cpp:84</a></div></div>
<div class="ttc" id="structyolov3_1_1_n_m_s_config_xhtml_ae82414d4f3be497637c3456351a19c03"><div class="ttname"><a href="structyolov3_1_1_n_m_s_config.xhtml#ae82414d4f3be497637c3456351a19c03">yolov3::NMSConfig::num_classes</a></div><div class="ttdeci">unsigned int num_classes</div><div class="ttdoc">Number of classes in the detected boxes. </div><div class="ttdef"><b>Definition:</b> <a href="_n_m_s_8hpp_source.xhtml#l00014">NMS.hpp:14</a></div></div>
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