109 lines
3.5 KiB
C++
109 lines
3.5 KiB
C++
#include "spatial_matcher.h"
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#include <algorithm>
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#include <cmath>
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namespace rk3588 {
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SpatialMatcher::SpatialMatcher(const SpatialConfig& config) : config_(config) {}
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SpatialMatchResult SpatialMatcher::Match(const Detection& anchor, const Detection& target,
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int img_w, int img_h) {
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SpatialMatchResult result;
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// 根据关系类型进行匹配
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switch (config_.relation) {
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case SpatialRelation::BELOW: {
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// 计算脚下区域
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result.foot_region = CalculateFootRegion(anchor.bbox, img_w, img_h);
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// 计算目标与脚下区域的IOU
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result.iou = CalculateIoU(result.foot_region, target.bbox);
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result.matched = (result.iou >= config_.iou_threshold);
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break;
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}
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case SpatialRelation::INSIDE: {
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result.iou = CalculateIoU(anchor.bbox, target.bbox);
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result.matched = (result.iou >= config_.iou_threshold);
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break;
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}
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case SpatialRelation::OVERLAP: {
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result.iou = CalculateIoU(anchor.bbox, target.bbox);
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result.matched = (result.iou > 0); // 只要有重叠就算匹配
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break;
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}
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case SpatialRelation::NEAR: {
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result.distance = CalculateDistance(anchor.bbox, target.bbox, img_w, img_h);
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result.matched = (result.distance <= config_.max_distance);
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break;
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}
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default:
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break;
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}
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return result;
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}
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Rect SpatialMatcher::CalculateFootRegion(const Rect& person_bbox, int img_w, int img_h) {
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// 脚下区域：人体框底部向下扩展 foot_ratio 倍高度
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float foot_height = person_bbox.h * config_.foot_ratio;
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Rect foot;
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foot.x = person_bbox.x - person_bbox.w * (config_.expand_ratio - 1.0f) * 0.5f;
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foot.y = person_bbox.y + person_bbox.h; // 从人体底部开始
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foot.w = person_bbox.w * config_.expand_ratio;
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foot.h = foot_height * config_.expand_ratio;
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// 确保在图像范围内
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foot.x = std::max(0.0f, foot.x);
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foot.y = std::max(0.0f, foot.y);
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foot.w = std::min(static_cast<float>(img_w) - foot.x, foot.w);
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foot.h = std::min(static_cast<float>(img_h) - foot.y, foot.h);
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return foot;
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}
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float SpatialMatcher::CalculateIoU(const Rect& a, const Rect& b) {
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// 计算交集
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float x1 = std::max(a.x, b.x);
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float y1 = std::max(a.y, b.y);
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float x2 = std::min(a.x + a.w, b.x + b.w);
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float y2 = std::min(a.y + a.h, b.y + b.h);
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if (x2 <= x1 || y2 <= y1) {
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return 0.0f;
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}
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float intersection = (x2 - x1) * (y2 - y1);
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float area_a = a.w * a.h;
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float area_b = b.w * b.h;
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float union_area = area_a + area_b - intersection;
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return union_area > 0 ? intersection / union_area : 0.0f;
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}
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float SpatialMatcher::CalculateDistance(const Rect& anchor, const Rect& target, int img_w, int img_h) {
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// 计算中心点距离（归一化）
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float cx1 = (anchor.x + anchor.w * 0.5f) / img_w;
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float cy1 = (anchor.y + anchor.h * 0.5f) / img_h;
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float cx2 = (target.x + target.w * 0.5f) / img_w;
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float cy2 = (target.y + target.h * 0.5f) / img_h;
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float dx = cx1 - cx2;
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float dy = cy1 - cy2;
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return std::sqrt(dx * dx + dy * dy);
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}
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bool SpatialMatcher::IsBelow(const Rect& anchor, const Rect& target, int img_w, int img_h) {
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(void)img_w;
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(void)img_h;
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// 简单判断：目标的顶部是否在锚点底部的下方
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return target.y >= (anchor.y + anchor.h * 0.8f);
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}
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} // namespace rk3588
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