实现NMS算法

# python3
import numpy as np

def py_nms(dets, thresh):
    """Pure Python NMS baseline."""
    #x1、y1、x2、y2、以及score赋值
    x1 = dets[:, 0]
    y1 = dets[:, 1]
    x2 = dets[:, 2]
    y2 = dets[:, 3]
    scores = dets[:, 4]
    # print(scores)

    #每一个候选框的面积
    areas = (x2 - x1 ) * (y2 - y1 )
    # print(areas)
    #order是按照score降序排序的
    # print(scores.argsort())
    order = scores.argsort()[::-1]

    keep = []
    while order.size > 0:
        i = order[0] # 找到得分最大的框
        keep.append(i)
        #计算当前概率最大矩形框与其他矩形框的相交框的坐标，会用到numpy的broadcast机制，得到的是向量
        xx1 = np.maximum(x1[i], x1[order[1:]])
        yy1 = np.maximum(y1[i], y1[order[1:]])
        xx2 = np.minimum(x2[i], x2[order[1:]])
        yy2 = np.minimum(y2[i], y2[order[1:]])

        #计算相交框的面积,注意矩形框不相交时w或h算出来会是负数，用0代替
        w = np.maximum(0.0, xx2 - xx1 )
        h = np.maximum(0.0, yy2 - yy1 )
        inter = w * h
        #计算重叠度IOU：重叠面积/（面积1+面积2-重叠面积）
        ovr = inter / (areas[i] + areas[order[1:]] - inter)
        # print(ovr)

        #找到重叠度不高于阈值的矩形框索引
        inds = np.where(ovr <= thresh)[0]
        order = order[inds + 1] # 当前inds分数最高，继续通过iou寻找
        print(order)
    return keep

# test
if __name__ == "__main__":
    dets = np.array([[30, 20, 230, 200, 1],
                     [50, 50, 260, 220, 0.9],
                     [210, 30, 420, 5, 0.8],
                     [430, 280, 460, 360, 0.7]])
    thresh = 0.35
    keep_dets = py_nms(dets, thresh)