eye-cv 1.0.0__py3-none-any.whl

eye/metrics/detection.py

@@ -0,0 +1,843 @@
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import Callable, List, Optional, Tuple
+
+import matplotlib
+import matplotlib.pyplot as plt
+import numpy as np
+
+from eye.dataset.core import DetectionDataset
+from eye.detection.core import Detections
+from eye.detection.utils import box_iou_batch
+
+
+def detections_to_tensor(
+    detections: Detections, with_confidence: bool = False
+) -> np.ndarray:
+    """
+    Convert eye Detections to numpy tensors for further computation
+    Args:
+        detections (sv.Detections): Detections/Targets in the format of sv.Detections
+        with_confidence (bool): Whether to include confidence in the tensor
+    Returns:
+        (np.ndarray): Detections as numpy tensors as in (xyxy, class_id,
+            confidence) order
+    """
+    if detections.class_id is None:
+        raise ValueError(
+            "ConfusionMatrix can only be calculated for Detections with class_id"
+        )
+
+    arrays_to_concat = [detections.xyxy, np.expand_dims(detections.class_id, 1)]
+
+    if with_confidence:
+        if detections.confidence is None:
+            raise ValueError(
+                "ConfusionMatrix can only be calculated for Detections with confidence"
+            )
+        arrays_to_concat.append(np.expand_dims(detections.confidence, 1))
+
+    return np.concatenate(arrays_to_concat, axis=1)
+
+
+def validate_input_tensors(predictions: List[np.ndarray], targets: List[np.ndarray]):
+    """
+    Checks for shape consistency of input tensors.
+    """
+    if len(predictions) != len(targets):
+        raise ValueError(
+            f"Number of predictions ({len(predictions)}) and"
+            f"targets ({len(targets)}) must be equal."
+        )
+    if len(predictions) > 0:
+        if not isinstance(predictions[0], np.ndarray) or not isinstance(
+            targets[0], np.ndarray
+        ):
+            raise ValueError(
+                f"Predictions and targets must be lists of numpy arrays."
+                f"Got {type(predictions[0])} and {type(targets[0])} instead."
+            )
+        if predictions[0].shape[1] != 6:
+            raise ValueError(
+                f"Predictions must have shape (N, 6)."
+                f"Got {predictions[0].shape} instead."
+            )
+        if targets[0].shape[1] != 5:
+            raise ValueError(
+                f"Targets must have shape (N, 5). Got {targets[0].shape} instead."
+            )
+
+
+@dataclass
+class ConfusionMatrix:
+    """
+    Confusion matrix for object detection tasks.
+
+    Attributes:
+        matrix (np.ndarray): An 2D `np.ndarray` of shape
+            `(len(classes) + 1, len(classes) + 1)`
+            containing the number of `TP`, `FP`, `FN` and `TN` for each class.
+        classes (List[str]): Model class names.
+        conf_threshold (float): Detection confidence threshold between `0` and `1`.
+            Detections with lower confidence will be excluded from the matrix.
+        iou_threshold (float): Detection IoU threshold between `0` and `1`.
+            Detections with lower IoU will be classified as `FP`.
+    """
+
+    matrix: np.ndarray
+    classes: List[str]
+    conf_threshold: float
+    iou_threshold: float
+
+    @classmethod
+    def from_detections(
+        cls,
+        predictions: List[Detections],
+        targets: List[Detections],
+        classes: List[str],
+        conf_threshold: float = 0.3,
+        iou_threshold: float = 0.5,
+    ) -> ConfusionMatrix:
+        """
+        Calculate confusion matrix based on predicted and ground-truth detections.
+
+        Args:
+            targets (List[Detections]): Detections objects from ground-truth.
+            predictions (List[Detections]): Detections objects predicted by the model.
+            classes (List[str]): Model class names.
+            conf_threshold (float): Detection confidence threshold between `0` and `1`.
+                Detections with lower confidence will be excluded.
+            iou_threshold (float): Detection IoU threshold between `0` and `1`.
+                Detections with lower IoU will be classified as `FP`.
+
+        Returns:
+            ConfusionMatrix: New instance of ConfusionMatrix.
+
+        Example:
+            ```python
+            import eye as sv
+
+            targets = [
+                sv.Detections(...),
+                sv.Detections(...)
+            ]
+
+            predictions = [
+                sv.Detections(...),
+                sv.Detections(...)
+            ]
+
+            confusion_matrix = sv.ConfusionMatrix.from_detections(
+                predictions=predictions,
+                targets=target,
+                classes=['person', ...]
+            )
+
+            print(confusion_matrix.matrix)
+            # np.array([
+            #    [0., 0., 0., 0.],
+            #    [0., 1., 0., 1.],
+            #    [0., 1., 1., 0.],
+            #    [1., 1., 0., 0.]
+            # ])
+            ```
+        """
+
+        prediction_tensors = []
+        target_tensors = []
+        for prediction, target in zip(predictions, targets):
+            prediction_tensors.append(
+                detections_to_tensor(prediction, with_confidence=True)
+            )
+            target_tensors.append(detections_to_tensor(target, with_confidence=False))
+        return cls.from_tensors(
+            predictions=prediction_tensors,
+            targets=target_tensors,
+            classes=classes,
+            conf_threshold=conf_threshold,
+            iou_threshold=iou_threshold,
+        )
+
+    @classmethod
+    def from_tensors(
+        cls,
+        predictions: List[np.ndarray],
+        targets: List[np.ndarray],
+        classes: List[str],
+        conf_threshold: float = 0.3,
+        iou_threshold: float = 0.5,
+    ) -> ConfusionMatrix:
+        """
+        Calculate confusion matrix based on predicted and ground-truth detections.
+
+        Args:
+            predictions (List[np.ndarray]): Each element of the list describes a single
+                image and has `shape = (M, 6)` where `M` is the number of detected
+                objects. Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class, conf)` format.
+            targets (List[np.ndarray]): Each element of the list describes a single
+                image and has `shape = (N, 5)` where `N` is the number of
+                ground-truth objects. Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class)` format.
+            classes (List[str]): Model class names.
+            conf_threshold (float): Detection confidence threshold between `0` and `1`.
+                Detections with lower confidence will be excluded.
+            iou_threshold (float): Detection iou  threshold between `0` and `1`.
+                Detections with lower iou will be classified as `FP`.
+
+        Returns:
+            ConfusionMatrix: New instance of ConfusionMatrix.
+
+        Example:
+            ```python
+            import eye as sv
+            import numpy as np
+
+            targets = (
+                [
+                    np.array(
+                        [
+                            [0.0, 0.0, 3.0, 3.0, 1],
+                            [2.0, 2.0, 5.0, 5.0, 1],
+                            [6.0, 1.0, 8.0, 3.0, 2],
+                        ]
+                    ),
+                    np.array([1.0, 1.0, 2.0, 2.0, 2]),
+                ]
+            )
+
+            predictions = [
+                np.array(
+                    [
+                        [0.0, 0.0, 3.0, 3.0, 1, 0.9],
+                        [0.1, 0.1, 3.0, 3.0, 0, 0.9],
+                        [6.0, 1.0, 8.0, 3.0, 1, 0.8],
+                        [1.0, 6.0, 2.0, 7.0, 1, 0.8],
+                    ]
+                ),
+                np.array([[1.0, 1.0, 2.0, 2.0, 2, 0.8]])
+            ]
+
+            confusion_matrix = sv.ConfusionMatrix.from_tensors(
+                predictions=predictions,
+                targets=targets,
+                classes=['person', ...]
+            )
+
+            print(confusion_matrix.matrix)
+            # np.array([
+            #     [0., 0., 0., 0.],
+            #     [0., 1., 0., 1.],
+            #     [0., 1., 1., 0.],
+            #     [1., 1., 0., 0.]
+            # ])
+            ```
+        """
+        validate_input_tensors(predictions, targets)
+
+        num_classes = len(classes)
+        matrix = np.zeros((num_classes + 1, num_classes + 1))
+        for true_batch, detection_batch in zip(targets, predictions):
+            matrix += cls.evaluate_detection_batch(
+                predictions=detection_batch,
+                targets=true_batch,
+                num_classes=num_classes,
+                conf_threshold=conf_threshold,
+                iou_threshold=iou_threshold,
+            )
+        return cls(
+            matrix=matrix,
+            classes=classes,
+            conf_threshold=conf_threshold,
+            iou_threshold=iou_threshold,
+        )
+
+    @staticmethod
+    def evaluate_detection_batch(
+        predictions: np.ndarray,
+        targets: np.ndarray,
+        num_classes: int,
+        conf_threshold: float,
+        iou_threshold: float,
+    ) -> np.ndarray:
+        """
+        Calculate confusion matrix for a batch of detections for a single image.
+
+        Args:
+            predictions (np.ndarray): Batch prediction. Describes a single image and
+                has `shape = (M, 6)` where `M` is the number of detected objects.
+                Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class, conf)` format.
+            targets (np.ndarray): Batch target labels. Describes a single image and
+                has `shape = (N, 5)` where `N` is the number of ground-truth objects.
+                Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class)` format.
+            num_classes (int): Number of classes.
+            conf_threshold (float): Detection confidence threshold between `0` and `1`.
+                Detections with lower confidence will be excluded.
+            iou_threshold (float): Detection iou  threshold between `0` and `1`.
+                Detections with lower iou will be classified as `FP`.
+
+        Returns:
+            np.ndarray: Confusion matrix based on a single image.
+        """
+        result_matrix = np.zeros((num_classes + 1, num_classes + 1))
+
+        conf_idx = 5
+        confidence = predictions[:, conf_idx]
+        detection_batch_filtered = predictions[confidence > conf_threshold]
+
+        class_id_idx = 4
+        true_classes = np.array(targets[:, class_id_idx], dtype=np.int16)
+        detection_classes = np.array(
+            detection_batch_filtered[:, class_id_idx], dtype=np.int16
+        )
+        true_boxes = targets[:, :class_id_idx]
+        detection_boxes = detection_batch_filtered[:, :class_id_idx]
+
+        iou_batch = box_iou_batch(
+            boxes_true=true_boxes, boxes_detection=detection_boxes
+        )
+        matched_idx = np.asarray(iou_batch > iou_threshold).nonzero()
+
+        if matched_idx[0].shape[0]:
+            matches = np.stack(
+                (matched_idx[0], matched_idx[1], iou_batch[matched_idx]), axis=1
+            )
+            matches = ConfusionMatrix._drop_extra_matches(matches=matches)
+        else:
+            matches = np.zeros((0, 3))
+
+        matched_true_idx, matched_detection_idx, _ = matches.transpose().astype(
+            np.int16
+        )
+
+        for i, true_class_value in enumerate(true_classes):
+            j = matched_true_idx == i
+            if matches.shape[0] > 0 and sum(j) == 1:
+                result_matrix[
+                    true_class_value, detection_classes[matched_detection_idx[j]]
+                ] += 1  # TP
+            else:
+                result_matrix[true_class_value, num_classes] += 1  # FN
+
+        for i, detection_class_value in enumerate(detection_classes):
+            if not any(matched_detection_idx == i):
+                result_matrix[num_classes, detection_class_value] += 1  # FP
+
+        return result_matrix
+
+    @staticmethod
+    def _drop_extra_matches(matches: np.ndarray) -> np.ndarray:
+        """
+        Deduplicate matches. If there are multiple matches for the same true or
+        predicted box, only the one with the highest IoU is kept.
+        """
+        if matches.shape[0] > 0:
+            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]]
+        return matches
+
+    @classmethod
+    def benchmark(
+        cls,
+        dataset: DetectionDataset,
+        callback: Callable[[np.ndarray], Detections],
+        conf_threshold: float = 0.3,
+        iou_threshold: float = 0.5,
+    ) -> ConfusionMatrix:
+        """
+        Calculate confusion matrix from dataset and callback function.
+
+        Args:
+            dataset (DetectionDataset): Object detection dataset used for evaluation.
+            callback (Callable[[np.ndarray], Detections]): Function that takes an image
+                as input and returns Detections object.
+            conf_threshold (float): Detection confidence threshold between `0` and `1`.
+                Detections with lower confidence will be excluded.
+            iou_threshold (float): Detection IoU threshold between `0` and `1`.
+                Detections with lower IoU will be classified as `FP`.
+
+        Returns:
+            ConfusionMatrix: New instance of ConfusionMatrix.
+
+        Example:
+            ```python
+            import eye as sv
+            from ultralytics import YOLO
+
+            dataset = sv.DetectionDataset.from_yolo(...)
+
+            model = YOLO(...)
+            def callback(image: np.ndarray) -> sv.Detections:
+                result = model(image)[0]
+                return sv.Detections.from_ultralytics(result)
+
+            confusion_matrix = sv.ConfusionMatrix.benchmark(
+                dataset = dataset,
+                callback = callback
+            )
+
+            print(confusion_matrix.matrix)
+            # np.array([
+            #     [0., 0., 0., 0.],
+            #     [0., 1., 0., 1.],
+            #     [0., 1., 1., 0.],
+            #     [1., 1., 0., 0.]
+            # ])
+            ```
+        """
+        predictions, targets = [], []
+        for _, image, annotation in dataset:
+            predictions_batch = callback(image)
+            predictions.append(predictions_batch)
+            targets.append(annotation)
+        return cls.from_detections(
+            predictions=predictions,
+            targets=targets,
+            classes=dataset.classes,
+            conf_threshold=conf_threshold,
+            iou_threshold=iou_threshold,
+        )
+
+    def plot(
+        self,
+        save_path: Optional[str] = None,
+        title: Optional[str] = None,
+        classes: Optional[List[str]] = None,
+        normalize: bool = False,
+        fig_size: Tuple[int, int] = (12, 10),
+    ) -> matplotlib.figure.Figure:
+        """
+        Create confusion matrix plot and save it at selected location.
+
+        Args:
+            save_path (Optional[str]): Path to save the plot. If not provided,
+                plot will be displayed.
+            title (Optional[str]): Title of the plot.
+            classes (Optional[List[str]]): List of classes to be displayed on the plot.
+                If not provided, all classes will be displayed.
+            normalize (bool): If True, normalize the confusion matrix.
+            fig_size (Tuple[int, int]): Size of the plot.
+
+        Returns:
+            matplotlib.figure.Figure: Confusion matrix plot.
+        """
+
+        array = self.matrix.copy()
+
+        if normalize:
+            eps = 1e-8
+            array = array / (array.sum(0).reshape(1, -1) + eps)
+
+        array[array < 0.005] = np.nan
+
+        fig, ax = plt.subplots(figsize=fig_size, tight_layout=True, facecolor="white")
+
+        class_names = classes if classes is not None else self.classes
+        use_labels_for_ticks = class_names is not None and (0 < len(class_names) < 99)
+        if use_labels_for_ticks:
+            x_tick_labels = [*class_names, "FN"]
+            y_tick_labels = [*class_names, "FP"]
+            num_ticks = len(x_tick_labels)
+        else:
+            x_tick_labels = None
+            y_tick_labels = None
+            num_ticks = len(array)
+        im = ax.imshow(array, cmap="Blues")
+
+        cbar = ax.figure.colorbar(im, ax=ax)
+        cbar.mappable.set_clim(vmin=0, vmax=np.nanmax(array))
+
+        if x_tick_labels is None:
+            tick_interval = 2
+        else:
+            tick_interval = 1
+        ax.set_xticks(np.arange(0, num_ticks, tick_interval), labels=x_tick_labels)
+        ax.set_yticks(np.arange(0, num_ticks, tick_interval), labels=y_tick_labels)
+
+        plt.setp(ax.get_xticklabels(), rotation=90, ha="right", rotation_mode="default")
+
+        labelsize = 10 if num_ticks < 50 else 8
+        ax.tick_params(axis="both", which="both", labelsize=labelsize)
+
+        if num_ticks < 30:
+            for i in range(array.shape[0]):
+                for j in range(array.shape[1]):
+                    n_preds = array[i, j]
+                    if not np.isnan(n_preds):
+                        ax.text(
+                            j,
+                            i,
+                            f"{n_preds:.2f}" if normalize else f"{n_preds:.0f}",
+                            ha="center",
+                            va="center",
+                            color="black"
+                            if n_preds < 0.5 * np.nanmax(array)
+                            else "white",
+                        )
+
+        if title:
+            ax.set_title(title, fontsize=20)
+
+        ax.set_xlabel("Predicted")
+        ax.set_ylabel("True")
+        ax.set_facecolor("white")
+        if save_path:
+            fig.savefig(
+                save_path, dpi=250, facecolor=fig.get_facecolor(), transparent=True
+            )
+        return fig
+
+
+@dataclass(frozen=True)
+class MeanAveragePrecision:
+    """
+    Mean Average Precision for object detection tasks.
+
+    Attributes:
+        map50_95 (float): Mean Average Precision (mAP) calculated over IoU thresholds
+            ranging from `0.50` to `0.95` with a step size of `0.05`.
+        map50 (float): Mean Average Precision (mAP) calculated specifically at
+            an IoU threshold of `0.50`.
+        map75 (float): Mean Average Precision (mAP) calculated specifically at
+            an IoU threshold of `0.75`.
+        per_class_ap50_95 (np.ndarray): Average Precision (AP) values calculated over
+            IoU thresholds ranging from `0.50` to `0.95` with a step size of `0.05`,
+            provided for each individual class.
+    """
+
+    map50_95: float
+    map50: float
+    map75: float
+    per_class_ap50_95: np.ndarray
+
+    @classmethod
+    def from_detections(
+        cls,
+        predictions: List[Detections],
+        targets: List[Detections],
+    ) -> MeanAveragePrecision:
+        """
+        Calculate mean average precision based on predicted and ground-truth detections.
+
+        Args:
+            targets (List[Detections]): Detections objects from ground-truth.
+            predictions (List[Detections]): Detections objects predicted by the model.
+        Returns:
+            MeanAveragePrecision: New instance of ConfusionMatrix.
+
+        Example:
+            ```python
+            import eye as sv
+
+            targets = [
+                sv.Detections(...),
+                sv.Detections(...)
+            ]
+
+            predictions = [
+                sv.Detections(...),
+                sv.Detections(...)
+            ]
+
+            mean_average_precision = sv.MeanAveragePrecision.from_detections(
+                predictions=predictions,
+                targets=target,
+            )
+
+            print(mean_average_precison.map50_95)
+            # 0.2899
+            ```
+        """
+        prediction_tensors = []
+        target_tensors = []
+        for prediction, target in zip(predictions, targets):
+            prediction_tensors.append(
+                detections_to_tensor(prediction, with_confidence=True)
+            )
+            target_tensors.append(detections_to_tensor(target, with_confidence=False))
+        return cls.from_tensors(
+            predictions=prediction_tensors,
+            targets=target_tensors,
+        )
+
+    @classmethod
+    def benchmark(
+        cls,
+        dataset: DetectionDataset,
+        callback: Callable[[np.ndarray], Detections],
+    ) -> MeanAveragePrecision:
+        """
+        Calculate mean average precision from dataset and callback function.
+
+        Args:
+            dataset (DetectionDataset): Object detection dataset used for evaluation.
+            callback (Callable[[np.ndarray], Detections]): Function that takes
+                an image as input and returns Detections object.
+        Returns:
+            MeanAveragePrecision: New instance of MeanAveragePrecision.
+
+        Example:
+            ```python
+            import eye as sv
+            from ultralytics import YOLO
+
+            dataset = sv.DetectionDataset.from_yolo(...)
+
+            model = YOLO(...)
+            def callback(image: np.ndarray) -> sv.Detections:
+                result = model(image)[0]
+                return sv.Detections.from_ultralytics(result)
+
+            mean_average_precision = sv.MeanAveragePrecision.benchmark(
+                dataset = dataset,
+                callback = callback
+            )
+
+            print(mean_average_precision.map50_95)
+            # 0.433
+            ```
+        """
+        predictions, targets = [], []
+        for _, image, annotation in dataset:
+            predictions_batch = callback(image)
+            predictions.append(predictions_batch)
+            targets.append(annotation)
+        return cls.from_detections(
+            predictions=predictions,
+            targets=targets,
+        )
+
+    @classmethod
+    def from_tensors(
+        cls,
+        predictions: List[np.ndarray],
+        targets: List[np.ndarray],
+    ) -> MeanAveragePrecision:
+        """
+        Calculate Mean Average Precision based on predicted and ground-truth
+            detections at different threshold.
+
+        Args:
+            predictions (List[np.ndarray]): Each element of the list describes
+                a single image and has `shape = (M, 6)` where `M` is
+                the number of detected objects. Each row is expected to be
+                in `(x_min, y_min, x_max, y_max, class, conf)` format.
+            targets (List[np.ndarray]): Each element of the list describes a single
+                image and has `shape = (N, 5)` where `N` is the
+                number of ground-truth objects. Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class)` format.
+        Returns:
+            MeanAveragePrecision: New instance of MeanAveragePrecision.
+
+        Example:
+            ```python
+            import eye as sv
+            import numpy as np
+
+            targets = (
+                [
+                    np.array(
+                        [
+                            [0.0, 0.0, 3.0, 3.0, 1],
+                            [2.0, 2.0, 5.0, 5.0, 1],
+                            [6.0, 1.0, 8.0, 3.0, 2],
+                        ]
+                    ),
+                    np.array([[1.0, 1.0, 2.0, 2.0, 2]]),
+                ]
+            )
+
+            predictions = [
+                np.array(
+                    [
+                        [0.0, 0.0, 3.0, 3.0, 1, 0.9],
+                        [0.1, 0.1, 3.0, 3.0, 0, 0.9],
+                        [6.0, 1.0, 8.0, 3.0, 1, 0.8],
+                        [1.0, 6.0, 2.0, 7.0, 1, 0.8],
+                    ]
+                ),
+                np.array([[1.0, 1.0, 2.0, 2.0, 2, 0.8]])
+            ]
+
+            mean_average_precision = sv.MeanAveragePrecision.from_tensors(
+                predictions=predictions,
+                targets=targets,
+            )
+
+            print(mean_average_precision.map50_95)
+            # 0.6649
+            ```
+        """
+        validate_input_tensors(predictions, targets)
+        iou_thresholds = np.linspace(0.5, 0.95, 10)
+        stats = []
+
+        # Gather matching stats for predictions and targets
+        for true_objs, predicted_objs in zip(targets, predictions):
+            if predicted_objs.shape[0] == 0:
+                if true_objs.shape[0]:
+                    stats.append(
+                        (
+                            np.zeros((0, iou_thresholds.size), dtype=bool),
+                            *np.zeros((2, 0)),
+                            true_objs[:, 4],
+                        )
+                    )
+                continue
+
+            if true_objs.shape[0]:
+                matches = cls._match_detection_batch(
+                    predicted_objs, true_objs, iou_thresholds
+                )
+                stats.append(
+                    (
+                        matches,
+                        predicted_objs[:, 5],
+                        predicted_objs[:, 4],
+                        true_objs[:, 4],
+                    )
+                )
+
+        # Compute average precisions if any matches exist
+        if stats:
+            concatenated_stats = [np.concatenate(items, 0) for items in zip(*stats)]
+            average_precisions = cls._average_precisions_per_class(*concatenated_stats)
+            map50 = average_precisions[:, 0].mean()
+            map75 = average_precisions[:, 5].mean()
+            map50_95 = average_precisions.mean()
+        else:
+            map50, map75, map50_95 = 0, 0, 0
+            average_precisions = []
+
+        return cls(
+            map50_95=map50_95,
+            map50=map50,
+            map75=map75,
+            per_class_ap50_95=average_precisions,
+        )
+
+    @staticmethod
+    def compute_average_precision(recall: np.ndarray, precision: np.ndarray) -> float:
+        """
+        Compute the average precision using 101-point interpolation (COCO), given
+            the recall and precision curves.
+
+        Args:
+            recall (np.ndarray): The recall curve.
+            precision (np.ndarray): The precision curve.
+
+        Returns:
+            float: Average precision.
+        """
+        extended_recall = np.concatenate(([0.0], recall, [1.0]))
+        extended_precision = np.concatenate(([1.0], precision, [0.0]))
+        max_accumulated_precision = np.flip(
+            np.maximum.accumulate(np.flip(extended_precision))
+        )
+        interpolated_recall_levels = np.linspace(0, 1, 101)
+        interpolated_precision = np.interp(
+            interpolated_recall_levels, extended_recall, max_accumulated_precision
+        )
+        average_precision = np.trapz(interpolated_precision, interpolated_recall_levels)
+        return average_precision
+
+    @staticmethod
+    def _match_detection_batch(
+        predictions: np.ndarray, targets: np.ndarray, iou_thresholds: np.ndarray
+    ) -> np.ndarray:
+        """
+        Match predictions with target labels based on IoU levels.
+
+        Args:
+            predictions (np.ndarray): Batch prediction. Describes a single image and
+                has `shape = (M, 6)` where `M` is the number of detected objects.
+                Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class, conf)` format.
+            targets (np.ndarray): Batch target labels. Describes a single image and
+                has `shape = (N, 5)` where `N` is the number of ground-truth objects.
+                Each row is expected to be in
+                `(x_min, y_min, x_max, y_max, class)` format.
+            iou_thresholds (np.ndarray): Array contains different IoU thresholds.
+
+        Returns:
+            np.ndarray: Matched prediction with target labels result.
+        """
+        num_predictions, num_iou_levels = predictions.shape[0], iou_thresholds.shape[0]
+        correct = np.zeros((num_predictions, num_iou_levels), dtype=bool)
+        iou = box_iou_batch(targets[:, :4], predictions[:, :4])
+        correct_class = targets[:, 4:5] == predictions[:, 4]
+
+        for i, iou_level in enumerate(iou_thresholds):
+            matched_indices = np.where((iou >= iou_level) & correct_class)
+
+            if matched_indices[0].shape[0]:
+                combined_indices = np.stack(matched_indices, axis=1)
+                iou_values = iou[matched_indices][:, None]
+                matches = np.hstack([combined_indices, iou_values])
+
+                if matched_indices[0].shape[0] > 1:
+                    matches = matches[matches[:, 2].argsort()[::-1]]
+                    matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
+                    matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
+
+                correct[matches[:, 1].astype(int), i] = True
+
+        return correct
+
+    @staticmethod
+    def _average_precisions_per_class(
+        matches: np.ndarray,
+        prediction_confidence: np.ndarray,
+        prediction_class_ids: np.ndarray,
+        true_class_ids: np.ndarray,
+        eps: float = 1e-16,
+    ) -> np.ndarray:
+        """
+        Compute the average precision, given the recall and precision curves.
+        Source: https://github.com/rafaelpadilla/Object-Detection-Metrics.
+
+        Args:
+            matches (np.ndarray): True positives.
+            prediction_confidence (np.ndarray): Objectness value from 0-1.
+            prediction_class_ids (np.ndarray): Predicted object classes.
+            true_class_ids (np.ndarray): True object classes.
+            eps (float): Small value to prevent division by zero.
+
+        Returns:
+            np.ndarray: Average precision for different IoU levels.
+        """
+        sorted_indices = np.argsort(-prediction_confidence)
+        matches = matches[sorted_indices]
+        prediction_class_ids = prediction_class_ids[sorted_indices]
+
+        unique_classes, class_counts = np.unique(true_class_ids, return_counts=True)
+        num_classes = unique_classes.shape[0]
+
+        average_precisions = np.zeros((num_classes, matches.shape[1]))
+
+        for class_idx, class_id in enumerate(unique_classes):
+            is_class = prediction_class_ids == class_id
+            total_true = class_counts[class_idx]
+            total_prediction = is_class.sum()
+
+            if total_prediction == 0 or total_true == 0:
+                continue
+
+            false_positives = (1 - matches[is_class]).cumsum(0)
+            true_positives = matches[is_class].cumsum(0)
+            recall = true_positives / (total_true + eps)
+            precision = true_positives / (true_positives + false_positives)
+
+            for iou_level_idx in range(matches.shape[1]):
+                average_precisions[class_idx, iou_level_idx] = (
+                    MeanAveragePrecision.compute_average_precision(
+                        recall[:, iou_level_idx], precision[:, iou_level_idx]
+                    )
+                )
+
+        return average_precisions