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| # -*- coding: utf-8 -*- | |
| # Copyright (c) Facebook, Inc. and its affiliates. | |
| import torch | |
| from torchvision.ops import boxes as box_ops | |
| from torchvision.ops import nms # noqa . for compatibility | |
| def batched_nms( | |
| boxes: torch.Tensor, scores: torch.Tensor, idxs: torch.Tensor, iou_threshold: float | |
| ): | |
| """ | |
| Same as torchvision.ops.boxes.batched_nms, but with float(). | |
| """ | |
| assert boxes.shape[-1] == 4 | |
| # Note: Torchvision already has a strategy (https://github.com/pytorch/vision/issues/1311) | |
| # to decide whether to use coordinate trick or for loop to implement batched_nms. So we | |
| # just call it directly. | |
| # Fp16 does not have enough range for batched NMS, so adding float(). | |
| return box_ops.batched_nms(boxes.float(), scores, idxs, iou_threshold) | |
| # Note: this function (nms_rotated) might be moved into | |
| # torchvision/ops/boxes.py in the future | |
| def nms_rotated(boxes, scores, iou_threshold): | |
| """ | |
| Performs non-maximum suppression (NMS) on the rotated boxes according | |
| to their intersection-over-union (IoU). | |
| Rotated NMS iteratively removes lower scoring rotated boxes which have an | |
| IoU greater than iou_threshold with another (higher scoring) rotated box. | |
| Note that RotatedBox (5, 3, 4, 2, -90) covers exactly the same region as | |
| RotatedBox (5, 3, 4, 2, 90) does, and their IoU will be 1. However, they | |
| can be representing completely different objects in certain tasks, e.g., OCR. | |
| As for the question of whether rotated-NMS should treat them as faraway boxes | |
| even though their IOU is 1, it depends on the application and/or ground truth annotation. | |
| As an extreme example, consider a single character v and the square box around it. | |
| If the angle is 0 degree, the object (text) would be read as 'v'; | |
| If the angle is 90 degrees, the object (text) would become '>'; | |
| If the angle is 180 degrees, the object (text) would become '^'; | |
| If the angle is 270/-90 degrees, the object (text) would become '<' | |
| All of these cases have IoU of 1 to each other, and rotated NMS that only | |
| uses IoU as criterion would only keep one of them with the highest score - | |
| which, practically, still makes sense in most cases because typically | |
| only one of theses orientations is the correct one. Also, it does not matter | |
| as much if the box is only used to classify the object (instead of transcribing | |
| them with a sequential OCR recognition model) later. | |
| On the other hand, when we use IoU to filter proposals that are close to the | |
| ground truth during training, we should definitely take the angle into account if | |
| we know the ground truth is labeled with the strictly correct orientation (as in, | |
| upside-down words are annotated with -180 degrees even though they can be covered | |
| with a 0/90/-90 degree box, etc.) | |
| The way the original dataset is annotated also matters. For example, if the dataset | |
| is a 4-point polygon dataset that does not enforce ordering of vertices/orientation, | |
| we can estimate a minimum rotated bounding box to this polygon, but there's no way | |
| we can tell the correct angle with 100% confidence (as shown above, there could be 4 different | |
| rotated boxes, with angles differed by 90 degrees to each other, covering the exactly | |
| same region). In that case we have to just use IoU to determine the box | |
| proximity (as many detection benchmarks (even for text) do) unless there're other | |
| assumptions we can make (like width is always larger than height, or the object is not | |
| rotated by more than 90 degrees CCW/CW, etc.) | |
| In summary, not considering angles in rotated NMS seems to be a good option for now, | |
| but we should be aware of its implications. | |
| Args: | |
| boxes (Tensor[N, 5]): Rotated boxes to perform NMS on. They are expected to be in | |
| (x_center, y_center, width, height, angle_degrees) format. | |
| scores (Tensor[N]): Scores for each one of the rotated boxes | |
| iou_threshold (float): Discards all overlapping rotated boxes with IoU < iou_threshold | |
| Returns: | |
| keep (Tensor): int64 tensor with the indices of the elements that have been kept | |
| by Rotated NMS, sorted in decreasing order of scores | |
| """ | |
| return torch.ops.detectron2.nms_rotated(boxes, scores, iou_threshold) | |
| # Note: this function (batched_nms_rotated) might be moved into | |
| # torchvision/ops/boxes.py in the future | |
| def batched_nms_rotated(boxes, scores, idxs, iou_threshold): | |
| """ | |
| Performs non-maximum suppression in a batched fashion. | |
| Each index value correspond to a category, and NMS | |
| will not be applied between elements of different categories. | |
| Args: | |
| boxes (Tensor[N, 5]): | |
| boxes where NMS will be performed. They | |
| are expected to be in (x_ctr, y_ctr, width, height, angle_degrees) format | |
| scores (Tensor[N]): | |
| scores for each one of the boxes | |
| idxs (Tensor[N]): | |
| indices of the categories for each one of the boxes. | |
| iou_threshold (float): | |
| discards all overlapping boxes | |
| with IoU < iou_threshold | |
| Returns: | |
| Tensor: | |
| int64 tensor with the indices of the elements that have been kept | |
| by NMS, sorted in decreasing order of scores | |
| """ | |
| assert boxes.shape[-1] == 5 | |
| if boxes.numel() == 0: | |
| return torch.empty((0,), dtype=torch.int64, device=boxes.device) | |
| boxes = boxes.float() # fp16 does not have enough range for batched NMS | |
| # Strategy: in order to perform NMS independently per class, | |
| # we add an offset to all the boxes. The offset is dependent | |
| # only on the class idx, and is large enough so that boxes | |
| # from different classes do not overlap | |
| # Note that batched_nms in torchvision/ops/boxes.py only uses max_coordinate, | |
| # which won't handle negative coordinates correctly. | |
| # Here by using min_coordinate we can make sure the negative coordinates are | |
| # correctly handled. | |
| max_coordinate = ( | |
| torch.max(boxes[:, 0], boxes[:, 1]) + torch.max(boxes[:, 2], boxes[:, 3]) / 2 | |
| ).max() | |
| min_coordinate = ( | |
| torch.min(boxes[:, 0], boxes[:, 1]) - torch.max(boxes[:, 2], boxes[:, 3]) / 2 | |
| ).min() | |
| offsets = idxs.to(boxes) * (max_coordinate - min_coordinate + 1) | |
| boxes_for_nms = boxes.clone() # avoid modifying the original values in boxes | |
| boxes_for_nms[:, :2] += offsets[:, None] | |
| keep = nms_rotated(boxes_for_nms, scores, iou_threshold) | |
| return keep | |