Batched Box Ops (#9058)

Signed-off-by: Bryce Ferenczi <[email protected]>
Co-authored-by: Scott Schneider <[email protected]>

Author: 5had3z

test/test_ops.py

@@ -1073,15 +1073,15 @@ def test_forward(self, device, contiguous, batch_sz, dtype=None):
         expected = self.expected_fn(x, weight, offset, mask, bias, stride=stride, padding=padding, dilation=dilation)
 
         torch.testing.assert_close(
-            res.to(expected), expected, rtol=tol, atol=tol, msg=f"\nres:\n{res}\nexpected:\n{expected}"
+            res.to(expected), expected, rtol=tol, atol=tol, msg=f"\nres: \n{res}\nexpected: \n{expected}"
         )
 
         # no modulation test
         res = layer(x, offset)
         expected = self.expected_fn(x, weight, offset, None, bias, stride=stride, padding=padding, dilation=dilation)
 
         torch.testing.assert_close(
-            res.to(expected), expected, rtol=tol, atol=tol, msg=f"\nres:\n{res}\nexpected:\n{expected}"
+            res.to(expected), expected, rtol=tol, atol=tol, msg=f"\nres: \n{res}\nexpected: \n{expected}"
         )
 
     def test_wrong_sizes(self):
@@ -1487,7 +1487,7 @@ def test_box_area_jit(self):
 ]
 
 
-def gen_box(size, dtype=torch.float):
+def gen_box(size, dtype=torch.float) -> Tensor:
     xy1 = torch.rand((size, 2), dtype=dtype)
     xy2 = xy1 + torch.rand((size, 2), dtype=dtype)
     return torch.cat([xy1, xy2], axis=-1)
@@ -1529,6 +1529,14 @@ def _run_cartesian_test(target_fn: Callable):
         b = target_fn(boxes1, boxes2)
         torch.testing.assert_close(a, b)
 
+    @staticmethod
+    def _run_batch_test(target_fn: Callable):
+        boxes1 = torch.stack([gen_box(5) for _ in range(3)], dim=0)
+        boxes2 = torch.stack([gen_box(5) for _ in range(3)], dim=0)
+        native: Tensor = target_fn(boxes1, boxes2)
+        iterative: Tensor = torch.stack([target_fn(*pairs) for pairs in zip(boxes1, boxes2)], dim=0)
+        torch.testing.assert_close(native, iterative)
+
 
 class TestBoxIou(TestIouBase):
     int_expected = [[1.0, 0.25, 0.0], [0.25, 1.0, 0.0], [0.0, 0.0, 1.0], [0.0625, 0.25, 0.0]]
@@ -1551,6 +1559,9 @@ def test_iou_jit(self):
     def test_iou_cartesian(self):
         self._run_cartesian_test(ops.box_iou)
 
+    def test_iou_batch(self):
+        self._run_batch_test(ops.box_iou)
+
 
 class TestGeneralizedBoxIou(TestIouBase):
     int_expected = [[1.0, 0.25, -0.7778], [0.25, 1.0, -0.8611], [-0.7778, -0.8611, 1.0], [0.0625, 0.25, -0.8819]]
@@ -1573,6 +1584,9 @@ def test_iou_jit(self):
     def test_iou_cartesian(self):
         self._run_cartesian_test(ops.generalized_box_iou)
 
+    def test_iou_batch(self):
+        self._run_batch_test(ops.generalized_box_iou)
+
 
 class TestDistanceBoxIoU(TestIouBase):
     int_expected = [
@@ -1600,6 +1614,9 @@ def test_iou_jit(self):
     def test_iou_cartesian(self):
         self._run_cartesian_test(ops.distance_box_iou)
 
+    def test_iou_batch(self):
+        self._run_batch_test(ops.distance_box_iou)
+
 
 class TestCompleteBoxIou(TestIouBase):
     int_expected = [
@@ -1627,6 +1644,9 @@ def test_iou_jit(self):
     def test_iou_cartesian(self):
         self._run_cartesian_test(ops.complete_box_iou)
 
+    def test_iou_batch(self):
+        self._run_batch_test(ops.complete_box_iou)
+
 
 def get_boxes(dtype, device):
     box1 = torch.tensor([-1, -1, 1, 1], dtype=dtype, device=device)

torchvision/ops/boxes.py

@@ -130,7 +130,7 @@ def remove_small_boxes(boxes: Tensor, min_size: float) -> Tensor:
         the transform :func:`~torchvision.transforms.v2.SanitizeBoundingBoxes` instead.
 
     Args:
-        boxes (Tensor[N, 4]): boxes in ``(x1, y1, x2, y2)`` format
+        boxes (Tensor[..., 4]): boxes in ``(x1, y1, x2, y2)`` format
             with ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
         min_size (float): minimum size
 
@@ -140,7 +140,7 @@ def remove_small_boxes(boxes: Tensor, min_size: float) -> Tensor:
     """
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
         _log_api_usage_once(remove_small_boxes)
-    ws, hs = boxes[:, 2] - boxes[:, 0], boxes[:, 3] - boxes[:, 1]
+    ws, hs = boxes[..., 2] - boxes[..., 0], boxes[..., 3] - boxes[..., 1]
     keep = (ws >= min_size) & (hs >= min_size)
     keep = torch.where(keep)[0]
     return keep
@@ -155,12 +155,12 @@ def clip_boxes_to_image(boxes: Tensor, size: tuple[int, int]) -> Tensor:
         the transform :func:`~torchvision.transforms.v2.ClampBoundingBoxes` instead.
 
     Args:
-        boxes (Tensor[N, 4]): boxes in ``(x1, y1, x2, y2)`` format
+        boxes (Tensor[..., 4]): boxes in ``(x1, y1, x2, y2)`` format
             with ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
         size (Tuple[height, width]): size of the image
 
     Returns:
-        Tensor[N, 4]: clipped boxes
+        Tensor[..., 4]: clipped boxes
     """
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
         _log_api_usage_once(clip_boxes_to_image)
@@ -276,7 +276,7 @@ def box_area(boxes: Tensor) -> Tensor:
     (x1, y1, x2, y2) coordinates.
 
     Args:
-        boxes (Tensor[N, 4]): boxes for which the area will be computed. They
+        boxes (Tensor[..., 4]): boxes for which the area will be computed. They
             are expected to be in (x1, y1, x2, y2) format with
             ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
 
@@ -286,7 +286,7 @@ def box_area(boxes: Tensor) -> Tensor:
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
         _log_api_usage_once(box_area)
     boxes = _upcast(boxes)
-    return (boxes[:, 2] - boxes[:, 0]) * (boxes[:, 3] - boxes[:, 1])
+    return (boxes[..., 2] - boxes[..., 0]) * (boxes[..., 3] - boxes[..., 1])
 
 
 # implementation from https://github.com/kuangliu/torchcv/blob/master/torchcv/utils/box.py
@@ -295,13 +295,13 @@ def _box_inter_union(boxes1: Tensor, boxes2: Tensor) -> tuple[Tensor, Tensor]:
     area1 = box_area(boxes1)
     area2 = box_area(boxes2)
 
-    lt = torch.max(boxes1[:, None, :2], boxes2[:, :2])  # [N,M,2]
-    rb = torch.min(boxes1[:, None, 2:], boxes2[:, 2:])  # [N,M,2]
+    lt = torch.max(boxes1[..., None, :2], boxes2[..., None, :, :2])  # [...,N,M,2]
+    rb = torch.min(boxes1[..., None, 2:], boxes2[..., None, :, 2:])  # [...,N,M,2]
 
     wh = _upcast(rb - lt).clamp(min=0)  # [N,M,2]
-    inter = wh[:, :, 0] * wh[:, :, 1]  # [N,M]
+    inter = wh[..., 0] * wh[..., 1]  # [N,M]
 
-    union = area1[:, None] + area2 - inter
+    union = area1[..., None] + area2[..., None, :] - inter
 
     return inter, union
 
@@ -314,11 +314,12 @@ def box_iou(boxes1: Tensor, boxes2: Tensor) -> Tensor:
     ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
 
     Args:
-        boxes1 (Tensor[N, 4]): first set of boxes
-        boxes2 (Tensor[M, 4]): second set of boxes
+        boxes1 (Tensor[..., N, 4]): first set of boxes
+        boxes2 (Tensor[..., M, 4]): second set of boxes
 
     Returns:
-        Tensor[N, M]: the NxM matrix containing the pairwise IoU values for every element in boxes1 and boxes2
+        Tensor[..., N, M]: the NxM matrix containing the pairwise IoU values for every element
+        in boxes1 and boxes2
     """
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
         _log_api_usage_once(box_iou)
@@ -336,11 +337,11 @@ def generalized_box_iou(boxes1: Tensor, boxes2: Tensor) -> Tensor:
     ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
 
     Args:
-        boxes1 (Tensor[N, 4]): first set of boxes
-        boxes2 (Tensor[M, 4]): second set of boxes
+        boxes1 (Tensor[..., N, 4]): first set of boxes
+        boxes2 (Tensor[..., M, 4]): second set of boxes
 
     Returns:
-        Tensor[N, M]: the NxM matrix containing the pairwise generalized IoU values
+        Tensor[..., N, M]: the NxM matrix containing the pairwise generalized IoU values
         for every element in boxes1 and boxes2
     """
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
@@ -349,11 +350,11 @@ def generalized_box_iou(boxes1: Tensor, boxes2: Tensor) -> Tensor:
     inter, union = _box_inter_union(boxes1, boxes2)
     iou = inter / union
 
-    lti = torch.min(boxes1[:, None, :2], boxes2[:, :2])
-    rbi = torch.max(boxes1[:, None, 2:], boxes2[:, 2:])
+    lti = torch.min(boxes1[..., None, :2], boxes2[..., None, :, :2])
+    rbi = torch.max(boxes1[..., None, 2:], boxes2[..., None, :, 2:])
 
     whi = _upcast(rbi - lti).clamp(min=0)  # [N,M,2]
-    areai = whi[:, :, 0] * whi[:, :, 1]
+    areai = whi[..., 0] * whi[..., 1]
 
     return iou - (areai - union) / areai
 
@@ -364,11 +365,11 @@ def complete_box_iou(boxes1: Tensor, boxes2: Tensor, eps: float = 1e-7) -> Tenso
     Both sets of boxes are expected to be in ``(x1, y1, x2, y2)`` format with
     ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
     Args:
-        boxes1 (Tensor[N, 4]): first set of boxes
-        boxes2 (Tensor[M, 4]): second set of boxes
+        boxes1 (Tensor[..., N, 4]): first set of boxes
+        boxes2 (Tensor[..., M, 4]): second set of boxes
         eps (float, optional): small number to prevent division by zero. Default: 1e-7
     Returns:
-        Tensor[N, M]: the NxM matrix containing the pairwise complete IoU values
+        Tensor[..., N, M]: the NxM matrix containing the pairwise complete IoU values
         for every element in boxes1 and boxes2
     """
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
@@ -379,11 +380,11 @@ def complete_box_iou(boxes1: Tensor, boxes2: Tensor, eps: float = 1e-7) -> Tenso
 
     diou, iou = _box_diou_iou(boxes1, boxes2, eps)
 
-    w_pred = boxes1[:, None, 2] - boxes1[:, None, 0]
-    h_pred = boxes1[:, None, 3] - boxes1[:, None, 1]
+    w_pred = boxes1[..., None, 2] - boxes1[..., None, 0]
+    h_pred = boxes1[..., None, 3] - boxes1[..., None, 1]
 
-    w_gt = boxes2[:, 2] - boxes2[:, 0]
-    h_gt = boxes2[:, 3] - boxes2[:, 1]
+    w_gt = boxes2[..., None, :, 2] - boxes2[..., None, :, 0]
+    h_gt = boxes2[..., None, :, 3] - boxes2[..., None, :, 1]
 
     v = (4 / (torch.pi**2)) * torch.pow(torch.atan(w_pred / h_pred) - torch.atan(w_gt / h_gt), 2)
     with torch.no_grad():
@@ -399,12 +400,12 @@ def distance_box_iou(boxes1: Tensor, boxes2: Tensor, eps: float = 1e-7) -> Tenso
     ``0 <= x1 < x2`` and ``0 <= y1 < y2``.
 
     Args:
-        boxes1 (Tensor[N, 4]): first set of boxes
-        boxes2 (Tensor[M, 4]): second set of boxes
+        boxes1 (Tensor[..., N, 4]): first set of boxes
+        boxes2 (Tensor[..., M, 4]): second set of boxes
         eps (float, optional): small number to prevent division by zero. Default: 1e-7
 
     Returns:
-        Tensor[N, M]: the NxM matrix containing the pairwise distance IoU values
+        Tensor[..., N, M]: the NxM matrix containing the pairwise distance IoU values
         for every element in boxes1 and boxes2
     """
     if not torch.jit.is_scripting() and not torch.jit.is_tracing():
@@ -419,17 +420,19 @@ def distance_box_iou(boxes1: Tensor, boxes2: Tensor, eps: float = 1e-7) -> Tenso
 def _box_diou_iou(boxes1: Tensor, boxes2: Tensor, eps: float = 1e-7) -> tuple[Tensor, Tensor]:
 
     iou = box_iou(boxes1, boxes2)
-    lti = torch.min(boxes1[:, None, :2], boxes2[:, :2])
-    rbi = torch.max(boxes1[:, None, 2:], boxes2[:, 2:])
+    lti = torch.min(boxes1[..., None, :2], boxes2[..., None, :, :2])
+    rbi = torch.max(boxes1[..., None, 2:], boxes2[..., None, :, 2:])
     whi = _upcast(rbi - lti).clamp(min=0)  # [N,M,2]
-    diagonal_distance_squared = (whi[:, :, 0] ** 2) + (whi[:, :, 1] ** 2) + eps
+    diagonal_distance_squared = (whi[..., 0] ** 2) + (whi[..., 1] ** 2) + eps
     # centers of boxes
-    x_p = (boxes1[:, 0] + boxes1[:, 2]) / 2
-    y_p = (boxes1[:, 1] + boxes1[:, 3]) / 2
-    x_g = (boxes2[:, 0] + boxes2[:, 2]) / 2
-    y_g = (boxes2[:, 1] + boxes2[:, 3]) / 2
+    x_p = (boxes1[..., 0] + boxes1[..., 2]) / 2
+    y_p = (boxes1[..., 1] + boxes1[..., 3]) / 2
+    x_g = (boxes2[..., 0] + boxes2[..., 2]) / 2
+    y_g = (boxes2[..., 1] + boxes2[..., 3]) / 2
     # The distance between boxes' centers squared.
-    centers_distance_squared = (_upcast(x_p[:, None] - x_g[None, :]) ** 2) + (_upcast(y_p[:, None] - y_g[None, :]) ** 2)
+    centers_distance_squared = (_upcast(x_p[..., None] - x_g[..., None, :]) ** 2) + (
+        _upcast(y_p[..., None] - y_g[..., None, :]) ** 2
+    )
     # The distance IoU is the IoU penalized by a normalized
     # distance between boxes' centers squared.
     return iou - (centers_distance_squared / diagonal_distance_squared), iou