COMPMID-1766: Implemented CPP Non Max Suppression
Change-Id: I1dcd5fb3d9ad6c6c750415bf8074698b800dfbc1
Reviewed-on: https://review.mlplatform.org/494
Tested-by: Arm Jenkins <bsgcomp@arm.com>
Reviewed-by: Giuseppe Rossini <giuseppe.rossini@arm.com>
Reviewed-by: Georgios Pinitas <georgios.pinitas@arm.com>
diff --git a/tests/validation/reference/NonMaxSuppression.cpp b/tests/validation/reference/NonMaxSuppression.cpp
new file mode 100644
index 0000000..013a26f
--- /dev/null
+++ b/tests/validation/reference/NonMaxSuppression.cpp
@@ -0,0 +1,126 @@
+/*
+ * Copyright (c) 2019 ARM Limited.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to
+ * deal in the Software without restriction, including without limitation the
+ * rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
+ * sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Permute.h"
+
+#include "arm_compute/core/Types.h"
+#include "tests/validation/Helpers.h"
+#include <queue>
+
+namespace arm_compute
+{
+namespace test
+{
+namespace validation
+{
+namespace reference
+{
+namespace
+{
+inline float get_elem_by_coordinate(const SimpleTensor<float> &tensor, Coordinates coord)
+{
+ return *static_cast<const float *>(tensor(coord));
+}
+
+// Return intersection-over-union overlap between boxes i and j
+inline bool iou_greater_than_threshold(const SimpleTensor<float> &boxes, size_t i, size_t j, float iou_threshold)
+{
+ const float ymin_i = std::min<float>(get_elem_by_coordinate(boxes, Coordinates(0, i)), get_elem_by_coordinate(boxes, Coordinates(2, i)));
+ const float xmin_i = std::min<float>(get_elem_by_coordinate(boxes, Coordinates(1, i)), get_elem_by_coordinate(boxes, Coordinates(3, i)));
+ const float ymax_i = std::max<float>(get_elem_by_coordinate(boxes, Coordinates(0, i)), get_elem_by_coordinate(boxes, Coordinates(2, i)));
+ const float xmax_i = std::max<float>(get_elem_by_coordinate(boxes, Coordinates(1, i)), get_elem_by_coordinate(boxes, Coordinates(3, i)));
+ const float ymin_j = std::min<float>(get_elem_by_coordinate(boxes, Coordinates(0, j)), get_elem_by_coordinate(boxes, Coordinates(2, j)));
+ const float xmin_j = std::min<float>(get_elem_by_coordinate(boxes, Coordinates(1, j)), get_elem_by_coordinate(boxes, Coordinates(3, j)));
+ const float ymax_j = std::max<float>(get_elem_by_coordinate(boxes, Coordinates(0, j)), get_elem_by_coordinate(boxes, Coordinates(2, j)));
+ const float xmax_j = std::max<float>(get_elem_by_coordinate(boxes, Coordinates(1, j)), get_elem_by_coordinate(boxes, Coordinates(3, j)));
+ const float area_i = (ymax_i - ymin_i) * (xmax_i - xmin_i);
+ const float area_j = (ymax_j - ymin_j) * (xmax_j - xmin_j);
+ if(area_i <= 0 || area_j <= 0)
+ {
+ return false;
+ }
+ const float intersection_ymin = std::max<float>(ymin_i, ymin_j);
+ const float intersection_xmin = std::max<float>(xmin_i, xmin_j);
+ const float intersection_ymax = std::min<float>(ymax_i, ymax_j);
+ const float intersection_xmax = std::min<float>(xmax_i, xmax_j);
+ const float intersection_area = std::max<float>(intersection_ymax - intersection_ymin, 0.0) * std::max<float>(intersection_xmax - intersection_xmin, 0.0);
+ const float iou = intersection_area / (area_i + area_j - intersection_area);
+ return iou > iou_threshold;
+}
+
+} // namespace
+
+SimpleTensor<int> non_max_suppression(const SimpleTensor<float> &bboxes, const SimpleTensor<float> &scores, SimpleTensor<int> &indices,
+ unsigned int max_output_size, float score_threshold, float nms_threshold)
+{
+ const size_t num_boxes = bboxes.shape().y();
+ const size_t output_size = std::min(static_cast<size_t>(max_output_size), num_boxes);
+ std::vector<float> scores_data(num_boxes);
+ std::copy_n(scores.data(), num_boxes, scores_data.begin());
+
+ using CandidateBox = std::pair<int /* index */, float /* score */>;
+ auto cmp = [](const CandidateBox bb0, const CandidateBox bb1)
+ {
+ return bb0.second < bb1.second;
+ };
+
+ std::priority_queue<CandidateBox, std::deque<CandidateBox>, decltype(cmp)> candidate_priority_queue(cmp);
+ for(size_t i = 0; i < scores_data.size(); ++i)
+ {
+ if(scores_data[i] > score_threshold)
+ {
+ candidate_priority_queue.emplace(CandidateBox({ i, scores_data[i] }));
+ }
+ }
+
+ std::vector<int> selected;
+ std::vector<float> selected_scores;
+ CandidateBox next_candidate;
+
+ while(selected.size() < output_size && !candidate_priority_queue.empty())
+ {
+ next_candidate = candidate_priority_queue.top();
+ candidate_priority_queue.pop();
+ bool should_select = true;
+ for(int j = selected.size() - 1; j >= 0; --j)
+ {
+ if(iou_greater_than_threshold(bboxes, next_candidate.first, selected[j], nms_threshold))
+ {
+ should_select = false;
+ break;
+ }
+ }
+ if(should_select)
+ {
+ selected.push_back(next_candidate.first);
+ selected_scores.push_back(next_candidate.second);
+ }
+ }
+ std::copy_n(selected.begin(), selected.size(), indices.data());
+ return indices;
+}
+
+} // namespace reference
+} // namespace validation
+} // namespace test
+} // namespace arm_compute