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mmcv.ops.box_iou_rotated 源代码

# Copyright (c) OpenMMLab. All rights reserved.
import torch

from ..utils import ext_loader

ext_module = ext_loader.load_ext('_ext', ['box_iou_rotated'])


[文档]def box_iou_rotated(bboxes1: torch.Tensor, bboxes2: torch.Tensor, mode: str = 'iou', aligned: bool = False, clockwise: bool = True) -> torch.Tensor: """Return intersection-over-union (Jaccard index) of boxes. Both sets of boxes are expected to be in (x_center, y_center, width, height, angle) format. If ``aligned`` is ``False``, then calculate the ious between each bbox of bboxes1 and bboxes2, otherwise the ious between each aligned pair of bboxes1 and bboxes2. .. note:: The operator assumes: 1) The positive direction along x axis is left -> right. 2) The positive direction along y axis is top -> down. 3) The w border is in parallel with x axis when angle = 0. However, there are 2 opposite definitions of the positive angular direction, clockwise (CW) and counter-clockwise (CCW). MMCV supports both definitions and uses CW by default. Please set ``clockwise=False`` if you are using the CCW definition. The coordinate system when ``clockwise`` is ``True`` (default) .. code-block:: none 0-------------------> x (0 rad) | A-------------B | | | | | box h | | angle=0 | | D------w------C v y (pi/2 rad) In such coordination system the rotation matrix is .. math:: \\begin{pmatrix} \\cos\\alpha & -\\sin\\alpha \\\\ \\sin\\alpha & \\cos\\alpha \\end{pmatrix} The coordinates of the corner point A can be calculated as: .. math:: P_A= \\begin{pmatrix} x_A \\\\ y_A\\end{pmatrix} = \\begin{pmatrix} x_{center} \\\\ y_{center}\\end{pmatrix} + \\begin{pmatrix}\\cos\\alpha & -\\sin\\alpha \\\\ \\sin\\alpha & \\cos\\alpha\\end{pmatrix} \\begin{pmatrix} -0.5w \\\\ -0.5h\\end{pmatrix} \\\\ = \\begin{pmatrix} x_{center}-0.5w\\cos\\alpha+0.5h\\sin\\alpha \\\\ y_{center}-0.5w\\sin\\alpha-0.5h\\cos\\alpha\\end{pmatrix} The coordinate system when ``clockwise`` is ``False`` .. code-block:: none 0-------------------> x (0 rad) | A-------------B | | | | | box h | | angle=0 | | D------w------C v y (-pi/2 rad) In such coordination system the rotation matrix is .. math:: \\begin{pmatrix} \\cos\\alpha & \\sin\\alpha \\\\ -\\sin\\alpha & \\cos\\alpha \\end{pmatrix} The coordinates of the corner point A can be calculated as: .. math:: P_A= \\begin{pmatrix} x_A \\\\ y_A\\end{pmatrix} = \\begin{pmatrix} x_{center} \\\\ y_{center}\\end{pmatrix} + \\begin{pmatrix}\\cos\\alpha & \\sin\\alpha \\\\ -\\sin\\alpha & \\cos\\alpha\\end{pmatrix} \\begin{pmatrix} -0.5w \\\\ -0.5h\\end{pmatrix} \\\\ = \\begin{pmatrix} x_{center}-0.5w\\cos\\alpha-0.5h\\sin\\alpha \\\\ y_{center}+0.5w\\sin\\alpha-0.5h\\cos\\alpha\\end{pmatrix} Args: boxes1 (torch.Tensor): rotated bboxes 1. It has shape (N, 5), indicating (x, y, w, h, theta) for each row. Note that theta is in radian. boxes2 (torch.Tensor): rotated bboxes 2. It has shape (M, 5), indicating (x, y, w, h, theta) for each row. Note that theta is in radian. mode (str): "iou" (intersection over union) or iof (intersection over foreground). clockwise (bool): flag indicating whether the positive angular orientation is clockwise. default True. `New in version 1.4.3.` Returns: torch.Tensor: Return the ious betweens boxes. If ``aligned`` is ``False``, the shape of ious is (N, M) else (N,). """ assert mode in ['iou', 'iof'] mode_dict = {'iou': 0, 'iof': 1} mode_flag = mode_dict[mode] rows = bboxes1.size(0) cols = bboxes2.size(0) if aligned: ious = bboxes1.new_zeros(rows) else: if bboxes1.device.type == 'mlu': ious = bboxes1.new_zeros([rows, cols]) else: ious = bboxes1.new_zeros(rows * cols) if not clockwise: flip_mat = bboxes1.new_ones(bboxes1.shape[-1]) flip_mat[-1] = -1 bboxes1 = bboxes1 * flip_mat bboxes2 = bboxes2 * flip_mat bboxes1 = bboxes1.contiguous() bboxes2 = bboxes2.contiguous() ext_module.box_iou_rotated( bboxes1, bboxes2, ious, mode_flag=mode_flag, aligned=aligned) if not aligned: ious = ious.view(rows, cols) return ious
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