类间的nms

def nms(result, thresh):
    # dets:(m,5)  thresh:scaler
    ls=[]
    noempty_nums=0
    for r in result:
        l=len(r)
        ls.append(l)
        if l>0:
            noempty_nums+=0
    if noempty_nums==1:
        return result
    #ls=[set(range(r)) for r in result]
    dets=np.vstack(result)

    # if len(result[1])==0:
    #     dets=result[0]
    #     l_bottle=len(result[0])
    #     l_other=0
    # else:
    #     dets=np.vstack([result[0],result[1]])
    #     l_bottle=len(result[0])
    #     l_other=[len(result[0]),len(dets)]

    x1 = dets[:, 0]
    y1 = dets[:, 1]
    x2 = dets[:, 2]
    y2 = dets[:, 3]

    areas = (y2 - y1 + 1) * (x2 - x1 + 1)
    scores = dets[:, 4]
    keep = []

    index = scores.argsort()[::-1]

    while index.size > 0:
        i = index[0]  # every time the first is the biggst, and add it directly
        keep.append(i)

        x11 = np.maximum(x1[i], x1[index[1:]])  # calculate the points of overlap
        y11 = np.maximum(y1[i], y1[index[1:]])
        x22 = np.minimum(x2[i], x2[index[1:]])
        y22 = np.minimum(y2[i], y2[index[1:]])

        w = np.maximum(0, x22 - x11 + 1)  # the weights of overlap
        h = np.maximum(0, y22 - y11 + 1)  # the height of overlap

        overlaps = w * h

        ious = overlaps / (areas[i] + areas[index[1:]] - overlaps)

        idx = np.where(ious <= thresh)[0]

        index = index[idx + 1]  # because index start from 1
    start=0
    det_classes=[]
    keep=np.array(keep)
    for l in ls:
        indexs=keep[np.where((start<=keep)&(keep<l+start))]
        #indexs=keep[start<=keep<l+start]
        det_classes.append(dets[indexs])
        start=l+start
    # for index in keep:
    #     for i,s in enumerate(ls):
    #         if index in s:
    #             print()



    # index_bottle=[index for index in keep if index<l_bottle]
    # index_=[index for index in keep if index>=l_bottle]
    # bottle=dets[index_bottle,:]
    # impurity=dets[index_other,:]
    # plastic_can
    # metal_can
    # result=[bottle,impurity,plastic_can,metal_can]

    return det_classes