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import numpy as np | |
def bbox_overlaps(bboxes1, bboxes2, mode='iou', eps=1e-6): | |
"""Calculate the ious between each bbox of bboxes1 and bboxes2. | |
Args: | |
bboxes1(ndarray): shape (n, 4) | |
bboxes2(ndarray): shape (k, 4) | |
mode(str): iou (intersection over union) or iof (intersection | |
over foreground) | |
Returns: | |
ious(ndarray): shape (n, k) | |
""" | |
assert mode in ['iou', 'iof'] | |
bboxes1 = bboxes1.astype(np.float32) | |
bboxes2 = bboxes2.astype(np.float32) | |
rows = bboxes1.shape[0] | |
cols = bboxes2.shape[0] | |
ious = np.zeros((rows, cols), dtype=np.float32) | |
if rows * cols == 0: | |
return ious | |
exchange = False | |
if bboxes1.shape[0] > bboxes2.shape[0]: | |
bboxes1, bboxes2 = bboxes2, bboxes1 | |
ious = np.zeros((cols, rows), dtype=np.float32) | |
exchange = True | |
area1 = (bboxes1[:, 2] - bboxes1[:, 0]) * (bboxes1[:, 3] - bboxes1[:, 1]) | |
area2 = (bboxes2[:, 2] - bboxes2[:, 0]) * (bboxes2[:, 3] - bboxes2[:, 1]) | |
for i in range(bboxes1.shape[0]): | |
x_start = np.maximum(bboxes1[i, 0], bboxes2[:, 0]) | |
y_start = np.maximum(bboxes1[i, 1], bboxes2[:, 1]) | |
x_end = np.minimum(bboxes1[i, 2], bboxes2[:, 2]) | |
y_end = np.minimum(bboxes1[i, 3], bboxes2[:, 3]) | |
overlap = np.maximum(x_end - x_start, 0) * np.maximum( | |
y_end - y_start, 0) | |
if mode == 'iou': | |
union = area1[i] + area2 - overlap | |
else: | |
union = area1[i] if not exchange else area2 | |
union = np.maximum(union, eps) | |
ious[i, :] = overlap / union | |
if exchange: | |
ious = ious.T | |
return ious | |