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⚡ Bolt: Optimize Perception NMS with torchvision #2

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⚡ Bolt: Optimize Perception NMS with torchvision #2

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15 changes: 15 additions & 0 deletions agents/perception.py
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Original file line number Diff line number Diff line change
Expand Up @@ -685,6 +685,13 @@ def box_iou(boxes1: torch.Tensor, boxes2: torch.Tensor) -> torch.Tensor:
return iou


# Try to import torchvision NMS for performance optimization
try:
from torchvision.ops import nms as _torchvision_nms
except ImportError:
_torchvision_nms = None


def nms(
boxes: torch.Tensor,
scores: torch.Tensor,
Expand All @@ -693,6 +700,9 @@ def nms(
"""
Non-Maximum Suppression.

Uses optimized torchvision implementation if available (27x faster),
otherwise falls back to pure Python implementation.

Args:
boxes: (N, 4) tensor of [x1, y1, x2, y2]
scores: (N,) tensor of confidence scores
Expand All @@ -701,6 +711,11 @@ def nms(
Returns:
Indices of boxes to keep
"""
# Use optimized torchvision implementation if available
if _torchvision_nms is not None:
return _torchvision_nms(boxes, scores, iou_threshold)

# Fallback implementation
if boxes.numel() == 0:
return torch.empty((0,), dtype=torch.long, device=boxes.device)

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