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nms.py
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nms.py
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# Copied from: https://github.com/jveitchmichaelis/edgetpu-yolo/blob/main/nms.py
import numpy as np
import time
def xywh2xyxy(x):
# Convert nx4 boxes from [x, y, w, h] to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right
y = np.copy(x)
y[:, 0] = x[:, 0] - x[:, 2] / 2 # top left x
y[:, 1] = x[:, 1] - x[:, 3] / 2 # top left y
y[:, 2] = x[:, 0] + x[:, 2] / 2 # bottom right x
y[:, 3] = x[:, 1] + x[:, 3] / 2 # bottom right y
return y
def nms(dets, scores, thresh):
'''
dets is a numpy array : num_dets, 4
scores ia nump array : num_dets,
'''
x1 = dets[:, 0]
y1 = dets[:, 1]
x2 = dets[:, 2]
y2 = dets[:, 3]
areas = (x2 - x1 + 1e-9) * (y2 - y1 + 1e-9)
order = scores.argsort()[::-1] # get boxes with more ious first
keep = []
while order.size > 0:
i = order[0] # pick maxmum iou box
other_box_ids = order[1:]
keep.append(i)
xx1 = np.maximum(x1[i], x1[other_box_ids])
yy1 = np.maximum(y1[i], y1[other_box_ids])
xx2 = np.minimum(x2[i], x2[other_box_ids])
yy2 = np.minimum(y2[i], y2[other_box_ids])
#print(list(zip(xx1, yy1, xx2, yy2)))
w = np.maximum(0.0, xx2 - xx1 + 1e-9) # maximum width
h = np.maximum(0.0, yy2 - yy1 + 1e-9) # maxiumum height
inter = w * h
ovr = inter / (areas[i] + areas[other_box_ids] - inter)
inds = np.where(ovr <= thresh)[0]
order = order[inds + 1]
return np.array(keep)
def non_max_suppression(prediction, conf_thres=0.25, iou_thres=0.45, classes=None, agnostic=False, multi_label=False,
labels=(), max_det=300):
nc = prediction.shape[2] - 5 # number of classes
xc = prediction[..., 4] > conf_thres # candidates
# Checks
assert 0 <= conf_thres <= 1, f'Invalid Confidence threshold {conf_thres}, valid values are between 0.0 and 1.0'
assert 0 <= iou_thres <= 1, f'Invalid IoU {iou_thres}, valid values are between 0.0 and 1.0'
# Settings
min_wh, max_wh = 2, 4096 # (pixels) minimum and maximum box width and height
max_nms = 30000 # maximum number of boxes into torchvision.ops.nms()
time_limit = 10.0 # seconds to quit after
redundant = True # require redundant detections
multi_label &= nc > 1 # multiple labels per box (adds 0.5ms/img)
merge = False # use merge-NMS
t = time.time()
output = [np.zeros((0, 6))] * prediction.shape[0]
for xi, x in enumerate(prediction): # image index, image inference
# Apply constraints
# x[((x[..., 2:4] < min_wh) | (x[..., 2:4] > max_wh)).any(1), 4] = 0 # width-height
x = x[xc[xi]] # confidence
# Cat apriori labels if autolabelling
if labels and len(labels[xi]):
l = labels[xi]
v = np.zeros((len(l), nc + 5))
v[:, :4] = l[:, 1:5] # box
v[:, 4] = 1.0 # conf
v[range(len(l)), l[:, 0].long() + 5] = 1.0 # cls
x = np.concatenate((x, v), 0)
# If none remain process next image
if not x.shape[0]:
continue
# Compute conf
x[:, 5:] *= x[:, 4:5] # conf = obj_conf * cls_conf
# Box (center x, center y, width, height) to (x1, y1, x2, y2)
box = xywh2xyxy(x[:, :4])
# Detections matrix nx6 (xyxy, conf, cls)
if multi_label:
i, j = (x[:, 5:] > conf_thres).nonzero(as_tuple=False).T
x = np.concatenate((box[i], x[i, j + 5, None], j[:, None].astype(float)), axis=1)
else: # best class only
conf = np.amax(x[:, 5:], axis=1, keepdims=True)
j = np.argmax(x[:, 5:], axis=1).reshape(conf.shape)
x = np.concatenate((box, conf, j.astype(float)), axis=1)[conf.flatten() > conf_thres]
# Filter by class
if classes is not None:
x = x[(x[:, 5:6] == np.array(classes)).any(1)]
# Apply finite constraint
# if not torch.isfinite(x).all():
# x = x[torch.isfinite(x).all(1)]
# Check shape
n = x.shape[0] # number of boxes
if not n: # no boxes
continue
elif n > max_nms: # excess boxes
x = x[x[:, 4].argsort(descending=True)[:max_nms]] # sort by confidence
# Batched NMS
c = x[:, 5:6] * (0 if agnostic else max_wh) # classes
boxes, scores = x[:, :4] + c, x[:, 4] # boxes (offset by class), scores
i = nms(boxes, scores, iou_thres) # NMS
if i.shape[0] > max_det: # limit detections
i = i[:max_det]
if merge and (1 < n < 3E3): # Merge NMS (boxes merged using weighted mean)
# update boxes as boxes(i,4) = weights(i,n) * boxes(n,4)
iou = box_iou(boxes[i], boxes) > iou_thres # iou matrix
weights = iou * scores[None] # box weights
x[i, :4] = np.dot(weights, x[:, :4]).astype(float) / weights.sum(1, keepdim=True) # merged boxes
if redundant:
i = i[iou.sum(1) > 1] # require redundancy
output[xi] = x[i]
if (time.time() - t) > time_limit:
print(f'WARNING: NMS time limit {time_limit}s exceeded')
break # time limit exceeded
return output