YOLO5单独提取代码计算预测框与类别的Map0.5-0.95

import numpy as np


def ap_per_class(tp, conf, pred_cls, target_cls, plot=False, save_dir='.', names=()):
    """ Compute the average precision, given the recall and precision curves.
    Source: https://github.com/rafaelpadilla/Object-Detection-Metrics.
    # Arguments
        tp:  True positives (nparray, nx1 or nx10).
        conf:  Objectness value from 0-1 (nparray).
        pred_cls:  Predicted object classes (nparray).
        target_cls:  True object classes (nparray).
        plot:  Plot precision-recall curve at mAP@0.5
        save_dir:  Plot save directory
    # Returns
        The average precision as computed in py-faster-rcnn.
    """

    # Sort by objectness
    i = np.argsort(-conf)
    tp, conf, pred_cls = tp[i], conf[i], pred_cls[i]

    # Find unique classes
    unique_classes = np.unique(target_cls)
    nc = unique_classes.shape[0]  # number of classes, number of detections

    # Create Precision-Recall curve and compute AP for each class
    px, py = np.linspace(0, 1, 1000), []  # for plotting
    ap, p, r = np.zeros((nc, tp.shape[1])), np.zeros((nc, 1000)), np.zeros((nc, 1000))
    for ci, c in enumerate(unique_classes):
        i = pred_cls == c
        n_l = (target_cls == c).sum()  # number of labels
        n_p = i.sum()  # number of predictions

        if n_p == 0 or n_l == 0:
            continue
        else:
            # Accumulate FPs and TPs
            fpc = (1 - tp[i]).cumsum(0)
            tpc = tp[i].cumsum(0)

            # Recall
            recall = tpc / (n_l + 1e-16)  # recall curve
            r[ci] = np.interp(-px, -conf[i], recall[:, 0], left=0)  # negative x, xp because xp decreases

            # Precision
            precision = tpc / (tpc + fpc)  # precision curve
            p[ci] = np.interp(-px, -conf[i], precision[:, 0], left=1)  # p at pr_score

            # AP from recall-precision curve
            for j in range(tp.shape[1]):
                ap[ci, j], mpre, mrec = compute_ap(recall[:, j], precision[:, j])
            
    # Compute F1 (harmonic mean of precision and recall)
    f1 = 2 * p * r / (p + r + 1e-16)
    i = f1.mean(0).argmax()  # max F1 index
    return p[:, i], r[:, i], ap, f1[:, i], unique_classes.astype('int32')


def compute_ap(recall, precision):
    """ Compute the average precision, given the recall and precision curves
    # Arguments
        recall:    The recall curve (list)
        precision: The precision curve (list)
    # Returns
        Average precision, precision curve, recall curve
    """

    # Append sentinel values to beginning and end
    mrec = np.concatenate(([0.0], recall, [1.0]))
    mpre = np.concatenate(([1.0], precision, [0.0]))

    # Compute the precision envelope
    mpre = np.flip(np.maximum.accumulate(np.flip(mpre)))

    # Integrate area under curve
    method = 'interp'  # methods: 'continuous', 'interp'
    if method == 'interp':
        x = np.linspace(0, 1, 101)  # 101-point interp (COCO)
        ap = np.trapz(np.interp(x, mrec, mpre), x)  # integrate
    else:  # 'continuous'
        i = np.where(mrec[1:] != mrec[:-1])[0]  # points where x axis (recall) changes
        ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])  # area under curve

    return ap, mpre, mrec

def box_iou(box1, box2):
    # https://github.com/pytorch/vision/blob/master/torchvision/ops/boxes.py
    """
    Return intersection-over-union (Jaccard index) of boxes.
    Both sets of boxes are expected to be in (x1, y1, x2, y2) format.
    Arguments:
        box1 (Tensor[N, 4])
        box2 (Tensor[M, 4])
    Returns:
        iou (Tensor[N, M]): the NxM matrix containing the pairwise
            IoU values for every element in boxes1 and boxes2
    """

    def box_area(box):
        # box = 4xn
        return (box[2] - box[0]) * (box[3] - box[1])
    
    area1 = box_area(box1.T)
    area2 = box_area(box2.T)
    
    # inter(N,M) = (rb(N,M,2) - lt(N,M,2)).clamp(0).prod(2)
    inter = (np.minimum(box1[:, None, 2:], box2[:, 2:]) - np.maximum(box1[:, None, :2], box2[:, :2])).clip(0).prod(2)
    
    return inter / (area1[:, None] + area2 - inter)  # iou = inter / (area1 + area2 - inter)

def process_batch(detections, labels, iouv):
    """
    Return correct predictions matrix. Both sets of boxes are in (x1, y1, x2, y2) format.
    Arguments:
        detections (Array[N, 6]), x1, y1, x2, y2, conf, class
        labels     (Array[M, 5]), class, x1, y1, x2, y2
    Returns:
        correct    (Array[N, 10]), for 10 IoU levels
    """
    correct = np.zeros((detections.shape[0], iouv.shape[0]), dtype=np.bool)
    iou = box_iou(labels[:, 1:], detections[:, :4])
    
    x = np.where((iou >= iouv[0]) & (labels[:, 0:1] == detections[:, 5]))  # IoU above threshold and classes match
    if x[0].shape[0]:
        matches = np.concatenate((np.stack(x, 1), iou[x[0], x[1]][:, None]), 1)  # [label, detection, iou]
        if x[0].shape[0] > 1:
            matches = matches[matches[:, 2].argsort()[::-1]]
            matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
            # matches = matches[matches[:, 2].argsort()[::-1]]
            matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
        correct[np.floor(matches[:, 1]).astype(np.int8)] = matches[:, 2:3] >= iouv
    return correct

predn =  np.array([[     171.77,      240.05,      195.48,      274.49,     0.93848,           3],
                   [     21.572,      51.537,      47.377,      86.898,      0.9333,          11],
                   [     209.37,      52.834,      234.48,      86.861,     0.92738,           6],
                   [     158.85,      53.388,      178.66,      86.812,     0.92486,           1],
                   [     52.979,      53.726,      74.956,      87.647,     0.90863,          30],
                   [     199.26,      239.44,      219.24,      274.93,     0.90682,           1],
                   [     183.99,      53.799,      205.99,      86.792,     0.89765,           2],
                   [     183.97,      52.928,      205.89,      87.249,     0.26055,           1],
                   [     199.31,      239.66,      219.37,      274.57,    0.013927,           3],
                   [     53.337,      53.867,      75.058,      88.076,   0.0075426,          23],
                   [     183.87,      53.502,      205.93,      86.706,   0.0064968,           6],
                   [     53.384,       53.45,      75.153,      87.949,   0.0061097,          19],
                   [     21.375,      51.966,      47.245,      87.098,   0.0048851,          26],
                   [     184.01,      53.078,      206.01,      87.207,   0.0039936,           4],
                   [     52.943,      53.725,      74.989,      87.645,   0.0028298,          26],
                   [     209.84,      52.922,      234.25,      86.502,     0.00276,           2],
                   [      209.8,      51.267,      234.56,       87.55,   0.0024511,           5],
                   [     209.84,      52.922,      234.25,      86.502,    0.002151,           0],
                   [     21.572,      51.537,      47.377,      86.898,   0.0020529,          27],
                   [     21.572,      51.537,      47.377,      86.898,   0.0017623,          23],
                   [     52.943,      53.725,      74.989,      87.645,   0.0016926,          13],
                   [     209.86,      52.984,      234.26,      86.499,   0.0016361,          27],
                   [     21.557,      51.488,      47.374,        86.9,   0.0015562,          17],
                   [      209.8,      51.267,      234.56,       87.55,    0.001505,           1],
                   [      209.8,      51.267,      234.56,       87.55,    0.001483,           7],
                   [     209.79,      51.285,      234.57,      87.517,   0.0014728,           9],
                   [     209.37,      52.834,      234.48,      86.861,   0.0014664,           8],
                   [     53.341,      53.449,      75.175,      87.967,   0.0012464,          21],
                   [     21.517,      51.855,      47.466,      87.171,   0.0012186,          25],
                   [     209.86,      52.984,      234.26,      86.499,    0.001037,          26]], dtype=np.float32)

labelsn= np.array([[          1,      158.95,          54,      177.94,          86],
                   [          1,      198.94,         240,      217.93,         273],
                   [          2,      183.94,          55,      204.93,          86],
                   [          3,      171.95,         241,      194.94,         273],
                   [          6,      208.93,          52,      233.93,          86],
                   [         11,      21.993,          53,      46.985,          87],
                   [         30,      53.983,          54,      74.976,          87]], dtype=np.float32)

iouv = np.array([ 0.5,0.55, 0.6,0.65, 0.7,0.75,0.8,0.85,0.9,0.95], dtype=np.float32)
tp = process_batch(predn, labelsn, iouv)
conf = predn[:,4]
pred_cls = predn[:, 5]
target_cls = labelsn[:,0]

stats=[]
stats.append((tp, predn[:, 4], predn[:, 5], target_cls))  # (correct, conf, pcls, tcls)
stats_temp = [np.concatenate(x, 0) for x in zip(*stats)]  # to numpy
p, r, ap, f1, ap_class = ap_per_class(*stats_temp)
ap50, ap = ap[:, 0], ap.mean(1)  # AP@0.5, AP@0.5:0.95
mp, mr, map50, map = p.mean(), r.mean(), ap50.mean(), ap.mean()
print(p)