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using System;
using System.Globalization;
using Unity.Mathematics;
using Unity.Sentis;
using UnityEngine;
public static class BlazeUtils
{
// matrix utility
public static float2x3 mul(float2x3 a, float2x3 b)
{
return new float2x3(
a[0][0] * b[0][0] + a[1][0] * b[0][1],
a[0][0] * b[1][0] + a[1][0] * b[1][1],
a[0][0] * b[2][0] + a[1][0] * b[2][1] + a[2][0],
a[0][1] * b[0][0] + a[1][1] * b[0][1],
a[0][1] * b[1][0] + a[1][1] * b[1][1],
a[0][1] * b[2][0] + a[1][1] * b[2][1] + a[2][1]
);
}
public static float2 mul(float2x3 a, float2 b)
{
return new float2(
a[0][0] * b.x + a[1][0] * b.y + a[2][0],
a[0][1] * b.x + a[1][1] * b.y + a[2][1]
);
}
public static float2x3 RotationMatrix(float theta)
{
var sinTheta = math.sin(theta);
var cosTheta = math.cos(theta);
return new float2x3(
cosTheta, -sinTheta, 0,
sinTheta, cosTheta, 0
);
}
public static float2x3 TranslationMatrix(float2 delta)
{
return new float2x3(
1, 0, delta.x,
0, 1, delta.y
);
}
public static float2x3 ScaleMatrix(float2 scale)
{
return new float2x3(
scale.x, 0, 0,
0, scale.y, 0
);
}
// model filtering utility
static FunctionalTensor ScoreFiltering(FunctionalTensor rawScores, float scoreThreshold)
{
return Functional.Sigmoid(Functional.Clamp(rawScores, -scoreThreshold, scoreThreshold));
}
public static (FunctionalTensor, FunctionalTensor, FunctionalTensor) ArgMaxFiltering(FunctionalTensor rawBoxes, FunctionalTensor rawScores)
{
var detectionScores = ScoreFiltering(rawScores, 100f); // (1, 2016, 1)
var bestScoreIndex = Functional.ArgMax(rawScores, 1).Squeeze();
var selectedBoxes = Functional.IndexSelect(rawBoxes, 1, bestScoreIndex).Unsqueeze(0); // (1, 1, 16)
var selectedScores = Functional.IndexSelect(detectionScores, 1, bestScoreIndex).Unsqueeze(0); // (1, 1, 1)
return (bestScoreIndex, selectedScores, selectedBoxes);
}
// image transform utility
static ComputeShader s_ImageTransformShader = Resources.Load<ComputeShader>("ComputeShaders/ImageTransform");
static int s_ImageSample = s_ImageTransformShader.FindKernel("ImageSample");
static int s_Optr = Shader.PropertyToID("Optr");
static int s_X_tex2D = Shader.PropertyToID("X_tex2D");
static int s_O_height = Shader.PropertyToID("O_height");
static int s_O_width = Shader.PropertyToID("O_width");
static int s_O_channels = Shader.PropertyToID("O_channels");
static int s_X_height = Shader.PropertyToID("X_height");
static int s_X_width = Shader.PropertyToID("X_width");
static int s_affineMatrix = Shader.PropertyToID("affineMatrix");
static int IDivC(int v, int div)
{
return (v + div - 1) / div;
}
public static void SampleImageAffine(Texture srcTexture, Tensor<float> dstTensor, float2x3 M)
{
var tensorData = ComputeTensorData.Pin(dstTensor, false);
s_ImageTransformShader.SetTexture(s_ImageSample, s_X_tex2D, srcTexture);
s_ImageTransformShader.SetBuffer(s_ImageSample, s_Optr, tensorData.buffer);
s_ImageTransformShader.SetInt(s_O_height, dstTensor.shape[1]);
s_ImageTransformShader.SetInt(s_O_width, dstTensor.shape[2]);
s_ImageTransformShader.SetInt(s_O_channels, dstTensor.shape[3]);
s_ImageTransformShader.SetInt(s_X_height, srcTexture.height);
s_ImageTransformShader.SetInt(s_X_width, srcTexture.width);
s_ImageTransformShader.SetMatrix(s_affineMatrix, new Matrix4x4(new Vector4(M[0][0], M[0][1]), new Vector4(M[1][0], M[1][1]), new Vector4(M[2][0], M[2][1]), Vector4.zero));
s_ImageTransformShader.Dispatch(s_ImageSample, IDivC(dstTensor.shape[1], 8), IDivC(dstTensor.shape[1], 8), 1);
}
public static float[,] LoadAnchors(string csv, int numAnchors)
{
var anchors = new float[numAnchors, 4];
var anchorLines = csv.Split('\n');
for (var i = 0; i < numAnchors; i++)
{
var anchorValues = anchorLines[i].Split(',');
for (var j = 0; j < 4; j++)
{
anchors[i, j] = float.Parse(anchorValues[j], CultureInfo.InvariantCulture);
}
}
return anchors;
}
}
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