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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import open3d as o3d
import numpy as np
import mltest
# Skip all tests if the ml ops were not built.
pytestmark = mltest.default_marks
@mltest.parametrize.ml
def test_nms(ml):
boxes = np.array([[15.0811, -7.9803, 15.6721, -6.8714, 0.5152],
[15.1166, -7.9261, 15.7060, -6.8137, 0.6501],
[15.1304, -7.8129, 15.7069, -6.8903, 0.7296],
[15.2050, -7.8447, 15.8311, -6.7437, 1.0506],
[15.1343, -7.8136, 15.7121, -6.8479, 1.0352],
[15.0931, -7.9552, 15.6675, -7.0056, 0.5979]],
dtype=np.float32)
scores = np.array([3, 1.1, 5, 2, 1, 0], dtype=np.float32)
nms_overlap_thresh = 0.7
keep_indices_ref = np.array([2, 3, 5]).astype(np.int64)
keep_indices = mltest.run_op(ml,
ml.device,
True,
ml.ops.nms,
boxes,
scores,
nms_overlap_thresh=nms_overlap_thresh)
np.testing.assert_equal(keep_indices, keep_indices_ref)
assert keep_indices.dtype == keep_indices_ref.dtype
@mltest.parametrize.ml
def test_nms_empty(ml):
boxes = np.zeros((0, 5), dtype=np.float32)
scores = np.array([], dtype=np.float32)
nms_overlap_thresh = 0.7
keep_indices_ref = np.array([]).astype(np.int64)
keep_indices = mltest.run_op(ml,
ml.device,
True,
ml.ops.nms,
boxes,
scores,
nms_overlap_thresh=nms_overlap_thresh)
np.testing.assert_equal(keep_indices, keep_indices_ref)
assert keep_indices.dtype == keep_indices_ref.dtype
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