import numpy as np import cv2 as cv class MPPalmDet: def __init__(self, modelPath, nmsThreshold=0.3, scoreThreshold=0.5, backendId=0, targetId=0): self.model_path = modelPath self.nms_threshold = nmsThreshold self.score_threshold = scoreThreshold self.backend_id = backendId self.target_id = targetId self.input_size = np.array([256, 256]) # wh self.model = cv.dnn.readNet(self.model_path) self.model.setPreferableBackend(self.backend_id) self.model.setPreferableTarget(self.target_id) self.anchors = self._load_anchors() @property def name(self): return self.__class__.__name__ def setBackend(self, backendId): self.backend_id = backendId self.model.setPreferableBackend(self.backend_id) def setTarget(self, targetId): self.target_id = targetId self.model.setPreferableTarget(self.target_id) def _preprocess(self, image): if image.shape[0] != self.input_size[0] or image.shape[1] != self.input_size[1]: image = cv.resize(image, dsize=self.input_size) image = cv.cvtColor(image, cv.COLOR_BGR2RGB) image = image.astype(np.float32) / 255.0 # norm image = (image - 0.5) * 2 # [0, 1] -> [-1, 1] return image[np.newaxis, :, :, :] # hwc -> nhwc def infer(self, image): h, w, _ = image.shape # Preprocess input_blob = self._preprocess(image) # Forward self.model.setInput(input_blob) output_blob = self.model.forward() # Postprocess score, palm_box, palm_landmarks = self._postprocess(output_blob, np.array([w, h])) return (score, palm_box, palm_landmarks) def _postprocess(self, output_blob, original_shape): score = output_blob[0, :, 0] box_delta = output_blob[0, :, 1:5] landmark_delta = output_blob[0, :, 5:] # get scores score = score.astype(np.float64) score = 1 / (1 + np.exp(-score)) # get boxes cxy_delta = box_delta[:, :2] / self.input_size wh_delta = box_delta[:, 2:] / self.input_size xy1 = (cxy_delta - wh_delta / 2 + self.anchors[:, :2]) * original_shape xy2 = (cxy_delta + wh_delta / 2 + self.anchors[:, :2]) * original_shape boxes = np.concatenate([xy1, xy2], axis=1) # NMS keep_idx = cv.dnn.NMSBoxes(boxes, score, self.score_threshold, self.nms_threshold, top_k=1) if len(keep_idx) == 0: return None, None, None selected_score = score[keep_idx][0] selected_box = boxes[keep_idx][0] # get landmarks selected_landmarks = landmark_delta[keep_idx].reshape(7, 2) selected_landmarks = (selected_landmarks / self.input_size + self.anchors[keep_idx]) * original_shape return (selected_score, selected_box, selected_landmarks) def _load_anchors(self): return np.array([[0.015625, 0.015625], [0.015625, 0.015625], [0.046875, 0.015625], [0.046875, 0.015625], [0.078125, 0.015625], [0.078125, 0.015625], [0.109375, 0.015625], [0.109375, 0.015625], [0.140625, 0.015625], [0.140625, 0.015625], [0.171875, 0.015625], [0.171875, 0.015625], [0.203125, 0.015625], [0.203125, 0.015625], [0.234375, 0.015625], [0.234375, 0.015625], [0.265625, 0.015625], [0.265625, 0.015625], [0.296875, 0.015625], [0.296875, 0.015625], [0.328125, 0.015625], [0.328125, 0.015625], [0.359375, 0.015625], [0.359375, 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