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add nmsboxes

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add nmsboxes
pull/219/head
Jiaqi Wu 7 months ago committed by GitHub
parent 7677e1793d 92f0b26e98
commit 94ec430a68
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1 changed files with 46 additions and 114 deletions
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  1. 160
      models/utils.py

160
models/utils.py
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@ -61,118 +61,6 @@ def sigmoid(x: ndarray) -> ndarray:
return 1. / (1. + np.exp(-x))
def bbox_iou(boxes1: ndarray, boxes2: ndarray) -> ndarray:
boxes1_area = (boxes1[..., 2] - boxes1[..., 0]) * \
(boxes1[..., 3] - boxes1[..., 1])
boxes2_area = (boxes2[..., 2] - boxes2[..., 0]) * \
(boxes2[..., 3] - boxes2[..., 1])
left_up = np.maximum(boxes1[..., :2], boxes2[..., :2])
right_down = np.minimum(boxes1[..., 2:], boxes2[..., 2:])
inter_section = np.maximum(right_down - left_up, 0.0)
inter_area = inter_section[..., 0] * inter_section[..., 1]
union_area = boxes1_area + boxes2_area - inter_area
ious = np.maximum(1.0 * inter_area / union_area, np.finfo(np.float32).eps)
return ious
def batched_nms(boxes: ndarray,
scores: ndarray,
iou_thres: float = 0.65,
conf_thres: float = 0.25):
labels = np.argmax(scores, axis=-1)
scores = np.max(scores, axis=-1)
cand = scores > conf_thres
boxes = boxes[cand]
scores = scores[cand]
labels = labels[cand]
keep_boxes = []
keep_scores = []
keep_labels = []
for cls in np.unique(labels):
cls_mask = labels == cls
cls_boxes = boxes[cls_mask]
cls_scores = scores[cls_mask]
while cls_boxes.shape[0] > 0:
max_idx = np.argmax(cls_scores)
max_box = cls_boxes[max_idx:max_idx + 1]
max_score = cls_scores[max_idx:max_idx + 1]
max_label = np.array([cls], dtype=np.int32)
keep_boxes.append(max_box)
keep_scores.append(max_score)
keep_labels.append(max_label)
other_boxes = np.delete(cls_boxes, max_idx, axis=0)
other_scores = np.delete(cls_scores, max_idx, axis=0)
ious = bbox_iou(max_box, other_boxes)
iou_mask = ious < iou_thres
if not iou_mask.any():
break
cls_boxes = other_boxes[iou_mask]
cls_scores = other_scores[iou_mask]
if len(keep_boxes) == 0:
keep_boxes = np.empty((0, 4), dtype=np.float32)
keep_scores = np.empty((0, ), dtype=np.float32)
keep_labels = np.empty((0, ), dtype=np.float32)
else:
keep_boxes = np.concatenate(keep_boxes, axis=0)
keep_scores = np.concatenate(keep_scores, axis=0)
keep_labels = np.concatenate(keep_labels, axis=0)
return keep_boxes, keep_scores, keep_labels
def nms(boxes: ndarray,
scores: ndarray,
iou_thres: float = 0.65,
conf_thres: float = 0.25):
labels = np.argmax(scores, axis=-1)
scores = np.max(scores, axis=-1)
cand = scores > conf_thres
boxes = boxes[cand]
scores = scores[cand]
labels = labels[cand]
keep_boxes = []
keep_scores = []
keep_labels = []
idxs = scores.argsort()
while idxs.size > 0:
max_score_index = idxs[-1]
max_box = boxes[max_score_index:max_score_index + 1]
max_score = scores[max_score_index:max_score_index + 1]
max_label = np.array([labels[max_score_index]], dtype=np.int32)
keep_boxes.append(max_box)
keep_scores.append(max_score)
keep_labels.append(max_label)
if idxs.size == 1:
break
idxs = idxs[:-1]
other_boxes = boxes[idxs]
ious = bbox_iou(max_box, other_boxes)
iou_mask = ious < iou_thres
idxs = idxs[iou_mask]
if len(keep_boxes) == 0:
keep_boxes = np.empty((0, 4), dtype=np.float32)
keep_scores = np.empty((0, ), dtype=np.float32)
keep_labels = np.empty((0, ), dtype=np.float32)
else:
keep_boxes = np.concatenate(keep_boxes, axis=0)
keep_scores = np.concatenate(keep_scores, axis=0)
keep_labels = np.concatenate(keep_labels, axis=0)
return keep_boxes, keep_scores, keep_labels
def path_to_list(images_path: Union[str, Path]) -> List:
if isinstance(images_path, str):
images_path = Path(images_path)
@ -197,13 +85,57 @@ def crop_mask(masks: ndarray, bboxes: ndarray) -> ndarray:
return masks * ((r >= x1) * (r < x2) * (c >= y1) * (c < y2))
def box_iou(box1: ndarray, box2: ndarray) -> float:
x11, y11, x21, y21 = box1
x12, y12, x22, y22 = box2
x1 = max(x11, x12)
y1 = max(y11, y12)
x2 = min(x21, x22)
y2 = min(y21, y22)
inter_area = max(0, x2 - x1) * max(0, y2 - y1)
union_area = (x21 - x11) * (y21 - y11) + (x22 - x12) * (y22 - y12) - inter_area
return max(0, inter_area / union_area)
def NMSBoxes(
boxes: ndarray,
scores: ndarray,
labels: ndarray,
iou_thres: float,
agnostic: bool = False
):
num_boxes = boxes.shape[0]
order = np.argsort(scores)[::-1]
boxes = boxes[order]
labels = labels[order]
indices = []
for i in range(num_boxes):
box_a = boxes[i]
label_a = labels[i]
keep = True
for j in indices:
box_b = boxes[j]
label_b = labels[j]
if not agnostic and label_a != label_b:
continue
if box_iou(box_a, box_b) > iou_thres:
keep = False
if keep:
indices.append(i)
indices = np.array(indices, dtype=np.int32)
return order[indices]
def det_postprocess(data: Tuple[ndarray, ndarray, ndarray, ndarray]):
assert len(data) == 4
num_dets, bboxes, scores, labels = (i[0] for i in data)
nums = num_dets.item()
if nums == 0:
return np.empty((0, 4), dtype=np.float32), np.empty(
(0, ), dtype=np.float32), np.empty((0, ), dtype=np.int32)
(0,), dtype=np.float32), np.empty((0,), dtype=np.int32)
# check score negative
scores[scores < 0] = 1 + scores[scores < 0]
bboxes = bboxes[:nums]
@ -268,7 +200,7 @@ def pose_postprocess(
idx = scores > conf_thres
if not idx.any(): # no bounding boxes or seg were created
return np.empty((0, 4), dtype=np.float32), np.empty(
(0, ), dtype=np.float32), np.empty((0, 0, 0), dtype=np.float32)
(0,), dtype=np.float32), np.empty((0, 0, 0), dtype=np.float32)
bboxes, scores, kpts = bboxes[idx], scores[idx], kpts[idx]
xycenter, wh = np.split(bboxes, [
2,

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