test-model.js

const sigmoid = x => 1 / (1 + Math.exp(-x));

/* const anchors = [
  [116, 90],
  [156, 198],
  [373, 326],
  [30, 61],
  [62, 45],
]; */

const anchors = [
  [0.57273, 0.677385],
  [1.87446, 2.06253],
  [3.33843, 5.47434],
  [7.88282, 3.52778],
  [9.77052, 9.16828],
];

function decodeYoloOutput(
  flatOutput,
  {
    inputSize = 416,
    gridSize = 13,
    numAnchors = 5,
    numClasses = 4,
    confidenceThreshold = 0.03,
  } = {},
) {
  const boxes = [];
  const valuesPerBox = 5 + numClasses;
  const stride = numAnchors * valuesPerBox;

  for (let cy = 0; cy < gridSize; cy++) {
    for (let cx = 0; cx < gridSize; cx++) {
      for (let anchorIdx = 0; anchorIdx < numAnchors; anchorIdx++) {
        const offset = (cy * gridSize + cx) * stride + anchorIdx * valuesPerBox;

        const tx = flatOutput[offset];
        const ty = flatOutput[offset + 1];
        const tw = flatOutput[offset + 2];
        const th = flatOutput[offset + 3];
        const objectness = sigmoid(flatOutput[offset + 4]);

        const classScores = [];
        for (let i = 0; i < numClasses; i++) {
          classScores.push(sigmoid(flatOutput[offset + 5 + i]));
        }

        const scores = classScores.map(s => s * objectness);
        const confidence = Math.max(...scores);
        const classIndex = scores.indexOf(confidence);

        if (confidence > confidenceThreshold) {
          const anchor = anchors[anchorIdx];
          const gridUnit = inputSize / gridSize;

          const bx = (sigmoid(tx) + cx) * gridUnit;
          const by = (sigmoid(ty) + cy) * gridUnit;
          const bw = anchor[0] * Math.exp(tw);
          const bh = anchor[1] * Math.exp(th);

          const x1 = bx - bw / 2;
          const y1 = by - bh / 2;
          const x2 = bx + bw / 2;
          const y2 = by + bh / 2;

          boxes.push({
            x: x1,
            y: y1,
            width: bw,
            height: bh,
            confidence,
            classIndex,
          });
        }
      }
    }
  }

  return boxes;
}

function iou(boxA, boxB) {
  const xA = Math.max(boxA.x, boxB.x);
  const yA = Math.max(boxA.y, boxB.y);
  const xB = Math.min(boxA.x + boxA.width, boxB.x + boxB.width);
  const yB = Math.min(boxA.y + boxA.height, boxB.y + boxB.height);

  const interArea = Math.max(0, xB - xA) * Math.max(0, yB - yA);
  const boxAArea = boxA.width * boxA.height;
  const boxBArea = boxB.width * boxB.height;

  return interArea / (boxAArea + boxBArea - interArea);
}

function nonMaxSuppression(boxes, iouThreshold = 0.5) {
  const result = [];

  // Group boxes by classIndex
  const byClass = {};
  for (const box of boxes) {
    const cls = box.classIndex;
    if (!byClass[cls]) byClass[cls] = [];
    byClass[cls].push(box);
  }

  for (const classIndex in byClass) {
    const classBoxes = byClass[classIndex].sort(
      (a, b) => b.confidence - a.confidence,
    );

    while (classBoxes.length > 0) {
      const best = classBoxes.shift();
      result.push(best);

      for (let i = classBoxes.length - 1; i >= 0; i--) {
        const iouVal = iou(best, classBoxes[i]);
        if (iouVal > iouThreshold) {
          classBoxes.splice(i, 1);
        }
      }
    }
  }

  return result;
}

const testData = [
  -0.0031186752021313, 0.056378994137049, 0.22604389488697, 0.28742665052414,
  -6.8858451843262, -1.8437924385071, 1.4984958171844, -0.43612062931061,
  0.78141796588898, 0.0071634855121374, 0.22391405701637, -0.16918116807938,
  -0.099811017513275, -5.6208024024963, -2.7300126552582, 1.8317874670029,
  -0.93939626216888, 1.8376183509827, -0.11264641582966, -0.045685797929764,
  -0.21860970556736, 0.06385001540184, -7.5373330116272, -2.6852288246155,
  2.2990322113037, -0.38401556015015, 0.77021420001984, -0.15021082758904,
  -0.0052517000585794, 0.049395814538002, -0.069353580474854, -8.1346950531006,
  0.87017548084259, 0.43838682770729, -1.0851786136627, -0.22338545322418,
  -0.048047464340925, -0.056810826063156, -0.022436909377575, 0.020189771428704,
  -7.0055541992188, 2.9923105239868, 0.027987748384476, -1.7521395683289,
  -1.2681670188904, -0.03407609462738, -0.24475112557411, 0.59802484512329,
  -0.093879170715809, -7.3638849258423, -1.5491554737091, 1.7543904781342,
  -0.58929133415222, 0.38405784964561, -0.049049876630306, -0.27054706215858,
  0.13652054965496, -0.50381475687027, -7.2073135375977, -2.42311835289,
  2.0938081741333, -1.2021578550339, 1.5314692258835, -0.10961470007896,
  -0.35739314556122, 0.094561651349068, 0.11125767230988, -10.718281745911,
  -2.2161555290222, 2.5554642677307, -0.56514322757721, 0.22583776712418,
  -0.24175372719765, -0.015366506762803, 0.093138068914413, -0.11433678865433,
  -9.9257125854492, 1.3159855604172, 0.67113292217255, -1.2768566608429,
  -0.71026343107224, 0.0043596364557743, 0.031566709280014, 0.036114118993282,
  0.034280620515347, -7.617317199707, 3.302225112915, 0.31402778625488,
  -1.96764087677, -1.6486220359802, -0.21932703256607, -0.1328282058239,
  0.54348015785217, -0.11093855649233, -6.6963634490967, -1.502739906311,
  1.6131212711334, -0.4286367893219, 0.31825342774391, 0.11812682449818,
  -0.1696101129055, 0.21389499306679, -0.52098500728607, -6.153030872345,
  -2.2451269626617, 1.9118593931198, -1.0058387517929, 1.3391077518463,
  0.27230030298233, -0.38216233253479, 0.089392960071564, 0.089214116334915,
  -9.8931274414062, -2.0658710002899, 2.2258644104004, -0.38473355770111,
  0.22474092245102, -0.017094410955906, -0.057999931275845, 0.085795640945435,
  -0.16323685646057, -9.6992082595825, 0.99980342388153, 0.65792000293732,
  -0.98798012733459, -0.66974371671677, 0.24803791940212, 0.11132045090199,
  0.021888703107834, 0.028341606259346, -7.7544889450073, 2.6179218292236,
  0.40074628591537, -1.5357420444489, -1.4829325675964, -0.18126708269119,
  -0.033776521682739, 0.54060006141663, -0.14862376451492, -7.1226105690002,
  -1.4375340938568, 1.7778325080872, -0.40538489818573, 0.065088123083115,
  -0.0021561626344919, -0.1142408773303, 0.2226497232914, -0.47800582647324,
  -6.5401835441589, -2.2884912490845, 2.1171088218689, -1.0023967027664,
  1.173779964447, 0.15069270133972, -0.38315942883492, 0.1313834041357,
  0.12047892808914, -9.4996137619019, -2.0544815063477, 2.4602699279785,
  -0.32565999031067, -0.080128610134125, -0.074197858572006, -0.029326528310776,
  0.097213834524155, -0.15502364933491, -9.4157152175903, 1.2487276792526,
  0.7675005197525, -1.0315794944763, -0.98464852571487, 0.21469835937023,
  0.091103762388229, -0.0043694749474525, -0.0033506299369037, -7.7552785873413,
  2.9471187591553, 0.45070081949234, -1.5943205356598, -1.8035073280334,
  -0.071964740753174, -0.10076436400414, 0.54669779539108, -0.16220566630363,
  -7.3850746154785, -1.1000790596008, 1.4646954536438, -0.12526619434357,
  -0.23935097455978, 0.07295249402523, -0.15215559303761, 0.20763975381851,
  -0.46699279546738, -6.8191242218018, -2.079532623291, 1.7811096906662,
  -0.70753693580627, 1.0059599876404, 0.055356606841087, -0.39737984538078,
  0.17139302194118, 0.14085811376572, -9.6761617660522, -1.8182456493378,
  2.2261228561401, 0.047850370407104, -0.45572829246521, -0.25418812036514,
  -0.081401884555817, 0.1014052927494, -0.14839747548103, -9.169695854187,
  1.6923002004623, 0.45043429732323, -0.78344523906708, -1.3592917919159,
  0.030994895845652, 0.057519592344761, 0.041129015386105, 0.017370285466313,
  -6.4808473587036, 3.6753401756287, 0.046880960464478, -1.4688560962677,
  -2.2533774375916, -0.069669537246227, -0.10116794705391, 0.54583942890167,
  -0.16190701723099, -7.3769183158875, -1.0969281196594, 1.4618821144104,
  -0.12599551677704, -0.23895823955536, 0.077110335230827, -0.14840619266033,
  0.20735931396484, -0.46620136499405, -6.8116669654846, -2.0768098831177,
  1.7787009477615, -0.70745098590851, 1.0055596828461, 0.054496824741364,
  -0.39571669697762, 0.17153041064739, 0.1403614282608, -9.6696062088013,
  -1.8157963752747, 2.2241463661194, 0.046288132667542, -0.45463436841965,
  -0.25682199001312, -0.082577936351299, 0.10163259506226, -0.14853793382645,
  -9.1675710678101, 1.694148182869, 0.44832965731621, -0.78389239311218,
  -1.3585886955261, 0.027843471616507, 0.055671222507954, 0.041829660534859,
  0.017407888546586, -6.4697675704956, 3.6800799369812, 0.042795598506927,
  -1.4701426029205, -2.2527410984039, -0.071305111050606, -0.10073901712894,
  0.54524207115173, -0.16259202361107, -7.3693766593933, -1.0938632488251,
  1.461816072464, -0.13718235492706, -0.2307693362236, 0.077848933637142,
  -0.14875216782093, 0.20903661847115, -0.46579313278198, -6.8035502433777,
  -2.0729393959045, 1.7794350385666, -0.71805369853973, 1.0115586519241,
  0.055736988782883, -0.39567971229553, 0.1710329502821, 0.13886883854866,
  -9.6597328186035, -1.8132754564285, 2.2244648933411, 0.033620834350586,
  -0.44480961561203, -0.25430172681808, -0.081368774175644, 0.10109478235245,
  -0.14911393821239, -9.1598491668701, 1.6947685480118, 0.44884184002876,
  -0.7944598197937, -1.3491530418396, 0.030973751097918, 0.055696368217468,
  0.041945144534111, 0.01736206933856, -6.4694881439209, 3.6818342208862,
  0.042811304330826, -1.4806156158447, -2.2440409660339, -0.066503196954727,
  -0.10226619243622, 0.54581999778748, -0.16363888978958, -7.3696579933167,
  -1.0874292850494, 1.45370221138, -0.14534902572632, -0.22092658281326,
  0.078861884772778, -0.15060251951218, 0.20997861027718, -0.46555930376053,
  -6.8021306991577, -2.0671696662903, 1.7718244791031, -0.72569441795349,
  1.0210415124893, 0.054614543914795, -0.39637744426727, 0.17073629796505,
  0.13748115301132, -9.6598501205444, -1.8082637786865, 2.2171583175659,
  0.025393009185791, -0.43428510427475, -0.2538977265358, -0.08034760504961,
  0.10102707147598, -0.14944538474083, -9.1562767028809, 1.7013677358627,
  0.44065991044044, -0.80263304710388, -1.3393952846527, 0.031142946332693,
  0.05656373500824, 0.042491003870964, 0.017090521752834, -6.4634342193604,
  3.6926593780518, 0.03300878405571, -1.489616394043, -2.2360599040985,
  -0.047504924237728, -0.045821309089661, 0.50171375274658, -0.13038973510265,
  -7.2585906982422, -1.1637573242188, 1.1612210273743, -0.067036628723145,
  0.069572299718857, 0.13100978732109, -0.13567540049553, 0.19873148202896,
  -0.44520506262779, -6.8846487998962, -2.1434769630432, 1.4259835481644,
  -0.63966035842896, 1.3571555614471, 0.11342477798462, -0.37928318977356,
  0.16716815531254, 0.13792517781258, -9.5191516876221, -1.796416759491,
  1.9019485712051, 0.066538691520691, -0.17206770181656, -0.26388967037201,
  -0.045404430478811, 0.081678628921509, -0.13668322563171, -8.7732877731323,
  1.6809943914413, 0.14009639620781, -0.74014866352081, -1.080944776535,
  -0.10290965437889, 0.066670835018158, 0.024821870028973, -0.001252650283277,
  -6.2471923828125, 3.5137491226196, -0.23526971042156, -1.3564703464508,
  -1.922018289566, 0.0091290585696697, -0.054152049124241, 0.5073469877243,
  -0.1005302965641, -7.0818600654602, -1.3708978891373, 0.99358695745468,
  0.14919662475586, 0.22811448574066, 0.17863780260086, -0.14474628865719,
  0.19607472419739, -0.42813205718994, -6.7300300598145, -2.2524900436401,
  1.2090302705765, -0.40298819541931, 1.4464504718781, 0.13405632972717,
  -0.36879467964172, 0.15627650916576, 0.12408971786499, -9.7170820236206,
  -1.8987966775894, 1.6958092451096, 0.27724850177765, -0.074257791042328,
  -0.32711240649223, -0.048769183456898, 0.043378502130508, -0.15213108062744,
  -8.965425491333, 1.3797346353531, -0.0057623088359833, -0.49845468997955,
  -0.87551993131638, -0.18478019535542, 0.099234372377396, 0.001995325088501,
  -0.0086525995284319, -6.7325859069824, 3.0553436279297, -0.33773082494736,
  -1.079345703125, -1.6382734775543, 0.051843199878931, -0.18700149655342,
  0.48314774036407, -0.049194701015949, -7.3246717453003, -1.3915140628815,
  1.1446344852448, 0.16758209466934, 0.07929915189743, 0.16060258448124,
  -0.20515578985214, 0.13548274338245, -0.42258659005165, -7.4491024017334,
  -2.2132935523987, 1.3742805719376, -0.37301099300385, 1.2120265960693,
  0.17317561805248, -0.35460829734802, 0.10763336718082, 0.14226508140564,
  -10.769183158875, -1.8689855337143, 1.8092457056046, 0.2920293211937,
  -0.23228770494461, -0.30232104659081, -0.058253057301044, 0.05860136449337,
  -0.1383350789547, -9.6541433334351, 1.3176978826523, 0.13673260807991,
  -0.46476805210114, -0.98966354131699, -0.11332158744335, 0.046625480055809,
  -0.024846896529198, -0.021991159766912, -7.5461187362671, 2.942195892334,
  -0.176453769207, -1.0585958957672, -1.7071521282196, -0.024662271142006,
  -0.20262360572815, 0.45009464025497, -0.0097621828317642, -6.6536755561829,
  -1.2907297611237, 1.0821993350983, -0.18760895729065, 0.39614081382751,
  0.43870651721954, -0.11413425207138, 0.10142417252064, -0.3995660841465,
  -6.561749458313, -2.0268669128418, 1.3126274347305, -0.71912109851837,
  1.4333603382111, 0.53724563121796, -0.37419125437737, 0.01158969476819,
  0.13445749878883, -9.4999284744263, -1.8171366453171, 1.681445479393,
  -0.062605738639832, 0.1982983648777, -0.22592866420746, -0.05936299264431,
  0.037029907107353, -0.13748380541801, -9.2615404129028, 1.1092754602432,
  0.17465618252754, -0.74629855155945, -0.53763395547867, -0.026171119883657,
  -0.049038790166378, -0.030182410031557, -0.0015351786278188, -7.7708129882812,
  2.6928195953369, -0.08638197183609, -1.2961955070496, -1.3102509975433,
  0.11129733175039, -0.022703006863594, 0.047351151704788, 0.31862533092499,
  -6.2642583847046, -1.7010028362274, 1.0004329681396, -0.0098899602890015,
  0.71046042442322, 0.065403573215008, 0.056149952113628, -0.1887746155262,
  -0.097196578979492, -5.8222603797913, -2.3484239578247, 1.2133440971375,
  -0.43982350826263, 1.574902176857, 0.093172132968903, -0.35139095783234,
  -0.22223210334778, 0.13552132248878, -7.6296248435974, -2.2881371974945,
  1.6071760654449, 0.11049002408981, 0.57047134637833, -0.1967388689518,
  -0.01704028621316, 0.025473982095718, -0.077826485037804, -8.5668411254883,
  0.43759083747864, 0.1640952527523, -0.48577535152435, -0.11591309309006,
  -0.11462011933327, -0.057366523891687, -0.010897040367126, 0.047022324055433,
  -7.140567779541, 2.0156030654907, -0.1279217004776, -0.97047924995422,
  -0.91720515489578, -0.27988389134407, -0.015535332262516, -0.071847341954708,
  0.67104744911194, -7.4808654785156, -2.0671520233154, 1.9448652267456,
  -0.26931369304657, 0.39160287380219, -0.33660200238228, 0.46136006712914,
  -0.42973896861076, 0.13182887434959, -5.1434416770935, -2.8486096858978,
  2.2445034980774, -0.75708818435669, 1.3611946105957, -0.2484126240015,
  0.59912317991257, -0.38636296987534, 0.11826241016388, -8.5141572952271,
  -2.7076716423035, 2.7083230018616, -0.18391287326813, 0.1832600235939,
  -0.17565724253654, 0.20884490013123, 0.028194531798363, -0.089040167629719,
  -7.6809892654419, 0.54663503170013, 0.92096745967865, -0.85429286956787,
  -0.61331075429916, -0.002761360257864, 0.21393819153309, -0.080835737287998,
  0.048774234950542, -7.3574829101562, 2.5741209983826, 0.49575698375702,
  -1.5497505664825, -1.5201323032379, 0.33943623304367, -0.097437798976898,
  0.27979212999344, 0.32313334941864, -8.8318672180176, -1.952125787735,
  2.4613845348358, -0.055124640464783, -0.4541347026825, 0.0065984539687634,
  0.2621006667614, -0.20818421244621, -0.23391023278236, -9.0702152252197,
  -2.7816205024719, 2.818941116333, -0.62665188312531, 0.58933186531067,
  -0.28204792737961, 0.33162632584572, 0.00050301477313042, 0.21345967054367,
  -14.246068954468, -2.3639025688171, 3.2572708129883, 0.081377744674683,
  -0.97474628686905, -0.14661905169487, 0.12705129384995, 0.033676877617836,
  -0.14051985740662, -10.293195724487, 1.0376633405685, 1.331839799881,
  -0.74078178405762, -1.6287205219269, 0.091163009405136, 0.27402317523956,
  -0.019759364426136, 0.10765863955021, -8.6461124420166, 3.186695098877,
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];

const rawBoxes = decodeYoloOutput(testData);

console.log('rawBoxes', rawBoxes);