Soft Non-Maximum Suppression (#2400)

* Soft NMS with thresholds

* NMS Test

* Soft nms w/ boxes removed below threshold

* Soft nms test

* No longer removing bounding boxes to fit Soft-NMS focus

* Initialize confidence

* Added comments

* Refactored out updating based on IOU/sigma

* Score_threshold -> confidence_threshold for clarity

* Remove bboxes below confidence threshold

* Softnms basic functionality test

* Softnms confidence decay test

* Softnms confidence threshold test

* Softnms no overlapping bbox test

* Testing confidence after no overlap test

* Single bbox and no bbox tests

* Signify test completion

* Handling result of test functions

* Checking all pairs of bboxes instead of a forward pass

* Equal confidence overlap test

* Clarified tests for implementation

* No longer dropping boxes, just setting to 0.0

* Formatted w/ cargo

candle-transformers/src/object_detection.rs

@@ -50,3 +50,61 @@ pub fn non_maximum_suppression<D>(bboxes: &mut [Vec<Bbox<D>>], threshold: f32) {
         bboxes_for_class.truncate(current_index);
     }
 }
+
+// Updates confidences starting at highest and comparing subsequent boxes.
+fn update_confidences<D>(
+    bboxes_for_class: &[Bbox<D>],
+    updated_confidences: &mut [f32],
+    iou_threshold: f32,
+    sigma: f32,
+) {
+    let len = bboxes_for_class.len();
+    for current_index in 0..len {
+        let current_bbox = &bboxes_for_class[current_index];
+        for index in (current_index + 1)..len {
+            let iou_val = iou(current_bbox, &bboxes_for_class[index]);
+            if iou_val > iou_threshold {
+                // Decay calculation from page 4 of: https://arxiv.org/pdf/1704.04503
+                let decay = (-iou_val * iou_val / sigma).exp();
+                let updated_confidence = bboxes_for_class[index].confidence * decay;
+                updated_confidences[index] = updated_confidence;
+            }
+        }
+    }
+}
+
+// Sorts the bounding boxes by confidence and applies soft non-maximum suppression.
+// This function is based on the algorithm described in https://arxiv.org/pdf/1704.04503
+pub fn soft_non_maximum_suppression<D>(
+    bboxes: &mut [Vec<Bbox<D>>],
+    iou_threshold: Option<f32>,
+    confidence_threshold: Option<f32>,
+    sigma: Option<f32>,
+) {
+    let iou_threshold = iou_threshold.unwrap_or(0.5);
+    let confidence_threshold = confidence_threshold.unwrap_or(0.1);
+    let sigma = sigma.unwrap_or(0.5);
+
+    for bboxes_for_class in bboxes.iter_mut() {
+        // Sort boxes by confidence in descending order
+        bboxes_for_class.sort_by(|b1, b2| b2.confidence.partial_cmp(&b1.confidence).unwrap());
+        let mut updated_confidences = bboxes_for_class
+            .iter()
+            .map(|bbox| bbox.confidence)
+            .collect::<Vec<_>>();
+        update_confidences(
+            bboxes_for_class,
+            &mut updated_confidences,
+            iou_threshold,
+            sigma,
+        );
+        // Update confidences, set to 0.0 if below threshold
+        for (i, &confidence) in updated_confidences.iter().enumerate() {
+            bboxes_for_class[i].confidence = if confidence < confidence_threshold {
+                0.0
+            } else {
+                confidence
+            };
+        }
+    }
+}

candle-transformers/tests/nms_tests.rs

@@ -0,0 +1,222 @@
+use candle::Result;
+use candle_transformers::object_detection::{
+    non_maximum_suppression, soft_non_maximum_suppression, Bbox,
+};
+
+#[test]
+fn nms_basic() -> Result<()> {
+    // Boxes based upon https://thepythoncode.com/article/non-maximum-suppression-using-opencv-in-python
+    let mut bboxes = vec![vec![
+        Bbox {
+            xmin: 245.0,
+            ymin: 305.0,
+            xmax: 575.0,
+            ymax: 490.0,
+            confidence: 0.9,
+            data: (),
+        }, // Box 1
+        Bbox {
+            xmin: 235.0,
+            ymin: 300.0,
+            xmax: 485.0,
+            ymax: 515.0,
+            confidence: 0.8,
+            data: (),
+        }, // Box 2
+        Bbox {
+            xmin: 305.0,
+            ymin: 270.0,
+            xmax: 540.0,
+            ymax: 500.0,
+            confidence: 0.6,
+            data: (),
+        }, // Box 3
+    ]];
+
+    non_maximum_suppression(&mut bboxes, 0.5);
+    let bboxes = bboxes.into_iter().next().unwrap();
+    assert_eq!(bboxes.len(), 1);
+    assert_eq!(bboxes[0].confidence, 0.9);
+
+    Ok(())
+}
+
+#[test]
+fn softnms_basic_functionality() -> Result<()> {
+    let mut bboxes = vec![vec![
+        Bbox {
+            xmin: 0.0,
+            ymin: 0.0,
+            xmax: 1.0,
+            ymax: 1.0,
+            confidence: 0.5,
+            data: (),
+        },
+        Bbox {
+            xmin: 0.1,
+            ymin: 0.1,
+            xmax: 1.1,
+            ymax: 1.1,
+            confidence: 0.9,
+            data: (),
+        },
+        Bbox {
+            xmin: 0.2,
+            ymin: 0.2,
+            xmax: 1.2,
+            ymax: 1.2,
+            confidence: 0.6,
+            data: (),
+        },
+    ]];
+
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+
+    // Should decay boxes following highest confidence box
+    assert!(bboxes[0][0].confidence == 0.9);
+    assert!(bboxes[0][1].confidence < 0.5);
+    assert!(bboxes[0][2].confidence < 0.6);
+    Ok(())
+}
+
+#[test]
+fn softnms_confidence_decay() -> Result<()> {
+    let mut bboxes = vec![vec![
+        Bbox {
+            xmin: 0.0,
+            ymin: 0.0,
+            xmax: 1.0,
+            ymax: 1.0,
+            confidence: 0.9,
+            data: (),
+        }, // Reference box
+        Bbox {
+            xmin: 0.1,
+            ymin: 0.1,
+            xmax: 1.1,
+            ymax: 1.1,
+            confidence: 0.8,
+            data: (),
+        }, // Overlapping box
+    ]];
+
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+
+    // Check that confidence of the overlapping box is decayed
+    assert!(bboxes[0][0].confidence == 0.9);
+    assert!(bboxes[0][1].confidence < 0.8);
+    Ok(())
+}
+
+#[test]
+fn softnms_confidence_threshold() -> Result<()> {
+    let mut bboxes = vec![vec![
+        Bbox {
+            xmin: 0.0,
+            ymin: 0.0,
+            xmax: 1.0,
+            ymax: 1.0,
+            confidence: 0.9,
+            data: (),
+        },
+        Bbox {
+            xmin: 0.1,
+            ymin: 0.1,
+            xmax: 1.1,
+            ymax: 1.1,
+            confidence: 0.05,
+            data: (),
+        },
+    ]];
+
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+
+    // Box with confidence below the threshold should be removed
+    assert_eq!(bboxes[0].len(), 2);
+    assert_eq!(bboxes[0][0].confidence, 0.9);
+    assert_eq!(bboxes[0][1].confidence, 0.00);
+    Ok(())
+}
+
+#[test]
+fn softnms_no_overlap() -> Result<()> {
+    let mut bboxes = vec![vec![
+        Bbox {
+            xmin: 0.0,
+            ymin: 0.0,
+            xmax: 1.0,
+            ymax: 1.0,
+            confidence: 0.9,
+            data: (),
+        },
+        Bbox {
+            xmin: 2.0,
+            ymin: 2.0,
+            xmax: 3.0,
+            ymax: 3.0,
+            confidence: 0.8,
+            data: (),
+        },
+    ]];
+
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+
+    // Both boxes should remain as they do not significantly overlap
+    assert_eq!(bboxes[0].len(), 2);
+    assert_eq!(bboxes[0][0].confidence, 0.9);
+    assert_eq!(bboxes[0][1].confidence, 0.8);
+    Ok(())
+}
+#[test]
+fn softnms_no_bbox() -> Result<()> {
+    let mut bboxes: Vec<Vec<Bbox<()>>> = vec![];
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+    assert!(bboxes.is_empty());
+    Ok(())
+}
+
+#[test]
+fn softnms_single_bbox() -> Result<()> {
+    let mut bboxes = vec![vec![Bbox {
+        xmin: 0.0,
+        ymin: 0.0,
+        xmax: 1.0,
+        ymax: 1.0,
+        confidence: 0.9,
+        data: (),
+    }]];
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+    assert_eq!(bboxes[0].len(), 1);
+    Ok(())
+}
+
+#[test]
+fn softnms_equal_confidence_overlap() -> Result<()> {
+    let mut bboxes = vec![vec![
+        Bbox {
+            xmin: 0.0,
+            ymin: 0.0,
+            xmax: 1.0,
+            ymax: 1.0,
+            confidence: 0.5,
+            data: (),
+        },
+        Bbox {
+            xmin: 0.1,
+            ymin: 0.1,
+            xmax: 1.1,
+            ymax: 1.1,
+            confidence: 0.5,
+            data: (),
+        },
+    ]];
+
+    soft_non_maximum_suppression(&mut bboxes, Some(0.5), Some(0.1), Some(0.5));
+
+    // First box will be reference box, second box should be decayed
+    // Implementation must change to have both be decayed
+    assert_eq!(bboxes[0].len(), 2);
+    assert!(bboxes[0][0].confidence == 0.5);
+    assert!(bboxes[0][1].confidence < 0.5);
+    Ok(())
+}