60 lines
2.7 KiB
Python
60 lines
2.7 KiB
Python
"""Dual-hand confidence veto for target-box selection.
|
|
|
|
Background: the YOLO detector (WiLoR) occasionally assigns both left and right labels to the
|
|
same hand (highly overlapping boxes). In that case we arbitrate by confidence: if the
|
|
opposite-side box has higher confidence, the target box is unreliable and is vetoed (treated
|
|
as no detection). Non-overlapping left/right boxes (genuinely different hands in the frame) do
|
|
not affect the target box, so true two-hand frames are not wrongly suppressed.
|
|
|
|
Used by the box-selection logic in preprocessing/hamer_crop_and_skeleton.py and
|
|
utils/online_hamer.py. Once a frame is vetoed it has no detection (conf=0); at inference time
|
|
the cmask mechanism falls back to the no-information state automatically.
|
|
"""
|
|
import numpy as np
|
|
|
|
|
|
def iou(a, b):
|
|
"""a, b: xyxy of shape (4,). Returns the IoU."""
|
|
ix1, iy1 = max(a[0], b[0]), max(a[1], b[1])
|
|
ix2, iy2 = min(a[2], b[2]), min(a[3], b[3])
|
|
iw, ih = max(0.0, ix2 - ix1), max(0.0, iy2 - iy1)
|
|
inter = iw * ih
|
|
ua = (a[2] - a[0]) * (a[3] - a[1]) + (b[2] - b[0]) * (b[3] - b[1]) - inter
|
|
return inter / ua if ua > 0 else 0.0
|
|
|
|
|
|
def select_target_box_dual_conf(clses, confs, bboxes, target_cls, iou_thr=0.7):
|
|
"""Select the highest-confidence box of the target class; veto it if an opposite-side box wins.
|
|
|
|
Mechanism: among boxes of ``target_cls`` pick the highest-confidence "main" box, then find the
|
|
opposite-side box (cls = 1 - target_cls) with the largest IoU to it. If that IoU exceeds
|
|
``iou_thr`` and the opposite-side confidence is higher than the main box's, the main box is
|
|
vetoed (the location actually belongs to the opposite-side hand) and None is returned.
|
|
Otherwise the main box index is returned.
|
|
|
|
Args:
|
|
clses: (N,) YOLO box classes (WiLoR: 0=left, 1=right).
|
|
confs: (N,) YOLO box confidences.
|
|
bboxes: (N, 4) xyxy.
|
|
target_cls: target hand class (1=right, 0=left).
|
|
iou_thr: IoU threshold above which two boxes count as overlapping (same hand). Default 0.7.
|
|
Returns:
|
|
The main box index (int), or None (no target box / vetoed).
|
|
"""
|
|
target_mask = clses == target_cls
|
|
if not target_mask.any():
|
|
return None
|
|
sel = int(np.argmax(np.where(target_mask, confs, -1.0)))
|
|
other_mask = clses == (1 - target_cls)
|
|
if other_mask.any():
|
|
main_box = bboxes[sel]
|
|
best_iou, best_other_conf = 0.0, 0.0
|
|
for oi in np.where(other_mask)[0]:
|
|
v = iou(main_box, bboxes[oi])
|
|
if v > best_iou:
|
|
best_iou = v
|
|
best_other_conf = float(confs[oi])
|
|
if best_iou > iou_thr and best_other_conf > float(confs[sel]):
|
|
return None # vetoed by the opposite side
|
|
return sel
|