std::tuple Processor::getDetections()

in models/01_YoloV5/01_Pytorch/processing_cpp/src/processor.cc [93:113]

• 15 lines of code
• 1 McCabe index (conditional complexity)

std::tuple<vecf,vecf,vecf> Processor::getDetections(const vecf& predictions, float iou_threshold ) {
    // organize the outputs into bboxes, scores and class ids (cids)
    // the last dim has: 5 + 80
    // bboxes=0-3
    vecf bboxes = xywh2xyxy(xt::strided_view(predictions, {xt::ellipsis(), xt::range(0,4)}));    
    // view=5-
    auto view = xt::view(predictions, xt::all(), xt::range(5, xt::placeholders::_));
    vecf scores = xt::amax( view, {1} );
    vecf cids = xt::argmax( view, -1);    
    std::tuple<vecf,vecf,vecf> detections(bboxes, scores, cids);
    // invoke Non maximum suppression
    nms(detections, iou_threshold);
    vecf& selectedBboxes = xt::get<0>(detections);
    // normalize all bboxes
    xt::view(selectedBboxes, xt::all(), 0) /= width; // x1
    xt::view(selectedBboxes, xt::all(), 1) /= height; // y1
    xt::view(selectedBboxes, xt::all(), 2) /= width; // x2
    xt::view(selectedBboxes, xt::all(), 3) /= height; // y2
    selectedBboxes = xt::clip(selectedBboxes, 0.0, 1.0);
    return detections;
}