Add visibility score computation to cpp

Author: sovrasov

src/cpp/models/src/keypoint_detection.cpp

@@ -55,16 +55,24 @@ DetectedKeypoints decode_simcc(const cv::Mat& simcc_x,
                                const cv::Point2f& extra_scale = cv::Point2f(1.f, 1.f),
                                const cv::Point2i& extra_offset = cv::Point2f(0.f, 0.f),
                                bool apply_softmax = false,
-                               float simcc_split_ratio = 2.0f) {
+                               float simcc_split_ratio = 2.0f,
+                               float decode_beta = 150.0f,
+                               float sigma = 6.0f) {
     cv::Mat x_locs, max_val_x;
-    colArgMax(simcc_x, x_locs, max_val_x, apply_softmax);
+    colArgMax(simcc_x, x_locs, max_val_x, false);
 
     cv::Mat y_locs, max_val_y;
-    colArgMax(simcc_y, y_locs, max_val_y, apply_softmax);
+    colArgMax(simcc_y, y_locs, max_val_x, false);
+
+    if (apply_softmax) {
+        cv::Mat tmp_locs;
+        colArgMax(decode_beta * sigma * simcc_x, tmp_locs, max_val_x, true);
+        colArgMax(decode_beta * sigma * simcc_y, tmp_locs, max_val_y, true);
+    }
 
     std::vector<cv::Point2f> keypoints(x_locs.rows);
     cv::Mat scores = cv::Mat::zeros(x_locs.rows, 1, CV_32F);
-    for (int i = 0; i < x_locs.rows; i++) {
+    for (int i = 0; i < x_locs.rows; ++i) {
         keypoints[i] = cv::Point2f((x_locs.at<int>(i) - extra_offset.x) * extra_scale.x,
                                    (y_locs.at<int>(i) - extra_offset.y) * extra_scale.y) /
                        simcc_split_ratio;