text: # ------------------------------------------------------------------------
  # Modified from DETR (https://github.com/facebookresearch/detr)
  # Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved.
  # ------------------------------------------------------------------------
  
  """
  Utilities for bounding box manipulation and GIoU.
  """
  import torch
  from torchvision.ops.boxes import box_area
  
  
  def box_cxcywh_to_xyxy(x):
      x_c, y_c, w, h = x.unbind(-1)
      b = [(x_c - 0.5 * w), (y_c - 0.5 * h),
           (x_c + 0.5 * w), (y_c + 0.5 * h)]
      return torch.stack(b, dim=-1)
  
  
  def box_xyxy_to_cxcywh(x):
      x0, y0, x1, y1 = x.unbind(-1)
      b = [(x0 + x1) / 2, (y0 + y1) / 2,
           (x1 - x0), (y1 - y0)]
      return torch.stack(b, dim=-1)
  
  
  # modified from torchvision to also return the union
  def box_iou(boxes1, boxes2):
      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]
  
      wh = (rb - lt).clamp(min=0)  # [N,M,2]
      inter = wh[:, :, 0] * wh[:, :, 1]  # [N,M]
  
      union = area1[:, None] + area2 - inter
  
      iou = inter / union
      return iou, union
  
  
  def generalized_box_iou(boxes1, boxes2):
      """
      Generalized IoU from https://giou.stanford.edu/
  
      The boxes should be in [x0, y0, x1, y1] format
  
      Returns a [N, M] pairwise matrix, where N = len(boxes1)
      and M = len(boxes2)
      """
      # degenerate boxes gives inf / nan results
      # so do an early check
      assert (boxes1[:, 2:] >= boxes1[:, :2]).all()
      assert (boxes2[:, 2:] >= boxes2[:, :2]).all()
      iou, union = box_iou(boxes1, boxes2)
  
      lt = torch.min(boxes1[:, None, :2], boxes2[:, :2])
      rb = torch.max(boxes1[:, None, 2:], boxes2[:, 2:])
  
      wh = (rb - lt).clamp(min=0)  # [N,M,2]
      area = wh[:, :, 0] * wh[:, :, 1]
  
      return iou - (area - union) / area
  
  
  def masks_to_boxes(masks):
      """Compute the bounding boxes around the provided masks
  
      The masks should be in format [N, H, W] where N is the number of masks, (H, W) are the spatial dimensions.
  
      Returns a [N, 4] tensors, with the boxes in xyxy format
      """
      if masks.numel() == 0:
          return torch.zeros((0, 4), device=masks.device)
  
      h, w = masks.shape[-2:]
  
      y = torch.arange(0, h, dtype=torch.float)
      x = torch.arange(0, w, dtype=torch.float)
      y, x = torch.meshgrid(y, x)
  
      x_mask = (masks * x.unsqueeze(0))
      x_max = x_mask.flatten(1).max(-1)[0]
      x_min = x_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0]
  
      y_mask = (masks * y.unsqueeze(0))
      y_max = y_mask.flatten(1).max(-1)[0]
      y_min = y_mask.masked_fill(~(masks.bool()), 1e8).flatten(1).min(-1)[0]
  
      return torch.stack([x_min, y_min, x_max, y_max], 1)
  