src/backends/reference/test/RefDetectionPostProcessTests.cpp

//
// Copyright © 2017 Arm Ltd. All rights reserved.
// SPDX-License-Identifier: MIT
//

#include <reference/workloads/DetectionPostProcess.hpp>

#include <armnn/Descriptors.hpp>
#include <armnn/Types.hpp>

#include <doctest/doctest.h>

TEST_SUITE("RefDetectionPostProcess")
{
TEST_CASE("TopKSortTest")
{
    unsigned int k = 3;
    unsigned int indices[8] = { 0, 1, 2, 3, 4, 5, 6, 7 };
    float values[8] = { 0, 7, 6, 5, 4, 3, 2, 500 };
    armnn::TopKSort(k, indices, values, 8);
    CHECK(indices[0] == 7);
    CHECK(indices[1] == 1);
    CHECK(indices[2] == 2);
}

TEST_CASE("FullTopKSortTest")
{
    unsigned int k = 8;
    unsigned int indices[8] = { 0, 1, 2, 3, 4, 5, 6, 7 };
    float values[8] = { 0, 7, 6, 5, 4, 3, 2, 500 };
    armnn::TopKSort(k, indices, values, 8);
    CHECK(indices[0] == 7);
    CHECK(indices[1] == 1);
    CHECK(indices[2] == 2);
    CHECK(indices[3] == 3);
    CHECK(indices[4] == 4);
    CHECK(indices[5] == 5);
    CHECK(indices[6] == 6);
    CHECK(indices[7] == 0);
}

TEST_CASE("IouTest")
{
    float boxI[4] = { 0.0f, 0.0f, 10.0f, 10.0f };
    float boxJ[4] = { 1.0f, 1.0f, 11.0f, 11.0f };
    float iou = armnn::IntersectionOverUnion(boxI, boxJ);
    CHECK(iou == doctest::Approx(0.68).epsilon(0.001f));
}

TEST_CASE("NmsFunction")
{
    std::vector<float> boxCorners({
        0.0f, 0.0f, 1.0f, 1.0f,
        0.0f, 0.1f, 1.0f, 1.1f,
        0.0f, -0.1f, 1.0f, 0.9f,
        0.0f, 10.0f, 1.0f, 11.0f,
        0.0f, 10.1f, 1.0f, 11.1f,
        0.0f, 100.0f, 1.0f, 101.0f
    });

    std::vector<float> scores({ 0.9f, 0.75f, 0.6f, 0.93f, 0.5f, 0.3f });

    std::vector<unsigned int> result =
        armnn::NonMaxSuppression(6, boxCorners, scores, 0.0, 3, 0.5);

    CHECK(result.size() == 3);
    CHECK(result[0] == 3);
    CHECK(result[1] == 0);
    CHECK(result[2] == 5);
}

void DetectionPostProcessTestImpl(bool useRegularNms,
                                  const std::vector<float>& expectedDetectionBoxes,
                                  const std::vector<float>& expectedDetectionClasses,
                                  const std::vector<float>& expectedDetectionScores,
                                  const std::vector<float>& expectedNumDetections)
{
    armnn::TensorInfo boxEncodingsInfo({ 1, 6, 4 }, armnn::DataType::Float32);
    armnn::TensorInfo scoresInfo({ 1, 6, 3 }, armnn::DataType::Float32);
    armnn::TensorInfo anchorsInfo({ 6, 4 }, armnn::DataType::Float32);

    armnn::TensorInfo detectionBoxesInfo({ 1, 3, 4 }, armnn::DataType::Float32);
    armnn::TensorInfo detectionScoresInfo({ 1, 3 }, armnn::DataType::Float32);
    armnn::TensorInfo detectionClassesInfo({ 1, 3 }, armnn::DataType::Float32);
    armnn::TensorInfo numDetectionInfo({ 1 }, armnn::DataType::Float32);

    armnn::DetectionPostProcessDescriptor desc;
    desc.m_UseRegularNms = useRegularNms;
    desc.m_MaxDetections = 3;
    desc.m_MaxClassesPerDetection = 1;
    desc.m_DetectionsPerClass =1;
    desc.m_NmsScoreThreshold = 0.0;
    desc.m_NmsIouThreshold = 0.5;
    desc.m_NumClasses = 2;
    desc.m_ScaleY = 10.0;
    desc.m_ScaleX = 10.0;
    desc.m_ScaleH = 5.0;
    desc.m_ScaleW = 5.0;

    std::vector<float> boxEncodings({
        0.0f, 0.0f, 0.0f, 0.0f,
        0.0f, 1.0f, 0.0f, 0.0f,
        0.0f, -1.0f, 0.0f, 0.0f,
        0.0f, 0.0f, 0.0f, 0.0f,
        0.0f, 1.0f, 0.0f, 0.0f,
        0.0f, 0.0f, 0.0f, 0.0f
    });

    std::vector<float> scores({
        0.0f, 0.9f, 0.8f,
        0.0f, 0.75f, 0.72f,
        0.0f, 0.6f, 0.5f,
        0.0f, 0.93f, 0.95f,
        0.0f, 0.5f, 0.4f,
        0.0f, 0.3f, 0.2f
    });

    std::vector<float> anchors({
        0.5f, 0.5f, 1.0f, 1.0f,
        0.5f, 0.5f, 1.0f, 1.0f,
        0.5f, 0.5f, 1.0f, 1.0f,
        0.5f, 10.5f, 1.0f, 1.0f,
        0.5f, 10.5f, 1.0f, 1.0f,
        0.5f, 100.5f, 1.0f, 1.0f
    });

    auto boxEncodingsDecoder = armnn::MakeDecoder<float>(boxEncodingsInfo, boxEncodings.data());
    auto scoresDecoder       = armnn::MakeDecoder<float>(scoresInfo, scores.data());
    auto anchorsDecoder      = armnn::MakeDecoder<float>(anchorsInfo, anchors.data());

    std::vector<float> detectionBoxes(detectionBoxesInfo.GetNumElements());
    std::vector<float> detectionScores(detectionScoresInfo.GetNumElements());
    std::vector<float> detectionClasses(detectionClassesInfo.GetNumElements());
    std::vector<float> numDetections(1);

    armnn::DetectionPostProcess(boxEncodingsInfo,
                                scoresInfo,
                                anchorsInfo,
                                detectionBoxesInfo,
                                detectionClassesInfo,
                                detectionScoresInfo,
                                numDetectionInfo,
                                desc,
                                *boxEncodingsDecoder,
                                *scoresDecoder,
                                *anchorsDecoder,
                                detectionBoxes.data(),
                                detectionClasses.data(),
                                detectionScores.data(),
                                numDetections.data());

    CHECK(std::equal(detectionBoxes.begin(),
                                  detectionBoxes.end(),
                                  expectedDetectionBoxes.begin(),
                                  expectedDetectionBoxes.end()));

    CHECK(std::equal(detectionScores.begin(), detectionScores.end(),
        expectedDetectionScores.begin(), expectedDetectionScores.end()));

    CHECK(std::equal(detectionClasses.begin(), detectionClasses.end(),
        expectedDetectionClasses.begin(), expectedDetectionClasses.end()));

    CHECK(std::equal(numDetections.begin(), numDetections.end(),
        expectedNumDetections.begin(), expectedNumDetections.end()));
}

TEST_CASE("RegularNmsDetectionPostProcess")
{
    std::vector<float> expectedDetectionBoxes({
        0.0f, 10.0f, 1.0f, 11.0f,
        0.0f, 10.0f, 1.0f, 11.0f,
        0.0f, 0.0f, 0.0f, 0.0f
    });

    std::vector<float> expectedDetectionScores({ 0.95f, 0.93f, 0.0f });
    std::vector<float> expectedDetectionClasses({ 1.0f, 0.0f, 0.0f });
    std::vector<float> expectedNumDetections({ 2.0f });

    DetectionPostProcessTestImpl(true, expectedDetectionBoxes, expectedDetectionClasses,
                                 expectedDetectionScores, expectedNumDetections);
}

TEST_CASE("FastNmsDetectionPostProcess")
{
    std::vector<float> expectedDetectionBoxes({
        0.0f, 10.0f, 1.0f, 11.0f,
        0.0f, 0.0f, 1.0f, 1.0f,
        0.0f, 100.0f, 1.0f, 101.0f
    });
    std::vector<float> expectedDetectionScores({ 0.95f, 0.9f, 0.3f });
    std::vector<float> expectedDetectionClasses({ 1.0f, 0.0f, 0.0f });
    std::vector<float> expectedNumDetections({ 3.0f });

    DetectionPostProcessTestImpl(false, expectedDetectionBoxes, expectedDetectionClasses,
                                 expectedDetectionScores, expectedNumDetections);
}

}