Fix box_iou returning 0 for floating-point results less than 1. #8369 (#8553)

Fixes # 8369

### Description
Fixes an issue where the result of `box_iou` was 0 when the first
argument was an integer, as described in #8369.
IOU values range from 0 to 1. If the first argument is an integer, the
function could return an integer less than 1, resulting in a return
value of 0.
This pull request changes the return type of `box_iou` to `float32`, or
to match the float data type of the first argument.

### Types of changes
<!--- Put an `x` in all the boxes that apply, and remove the not
applicable items -->
- [x] Non-breaking change (fix or new feature that would not break
existing functionality).
- [ ] Integration tests passed locally by running `./runtests.sh -f -u
--net --coverage`.
- [ ] Quick tests passed locally by running `./runtests.sh --quick
--unittests --disttests`.
- [x] In-line docstrings updated.

---------

Signed-off-by: reworld223 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: YunLiu <[email protected]>

Author: 3 people

monai/data/box_utils.py

@@ -826,7 +826,10 @@ def box_iou(boxes1: NdarrayOrTensor, boxes2: NdarrayOrTensor) -> NdarrayOrTensor
         boxes2: bounding boxes, Mx4 or Mx6 torch tensor or ndarray. The box mode is assumed to be ``StandardMode``
 
     Returns:
-        IoU, with size of (N,M) and same data type as ``boxes1``
+        An array/tensor matching the container type of ``boxes1`` (NumPy ndarray or Torch tensor), always
+        floating-point with size ``(N, M)``:
+        - if ``boxes1`` has a floating-point dtype, the same dtype is used.
+        - if ``boxes1`` has an integer dtype, the result is returned as ``torch.float32``.
 
     """
 
@@ -842,16 +845,18 @@ def box_iou(boxes1: NdarrayOrTensor, boxes2: NdarrayOrTensor) -> NdarrayOrTensor
 
     inter, union = _box_inter_union(boxes1_t, boxes2_t, compute_dtype=COMPUTE_DTYPE)
 
-    # compute IoU and convert back to original box_dtype
+    # compute IoU and convert back to original box_dtype or torch.float32
     iou_t = inter / (union + torch.finfo(COMPUTE_DTYPE).eps)  # (N,M)
+    if not box_dtype.is_floating_point:
+        box_dtype = COMPUTE_DTYPE
     iou_t = iou_t.to(dtype=box_dtype)
 
     # check if NaN or Inf
     if torch.isnan(iou_t).any() or torch.isinf(iou_t).any():
         raise ValueError("Box IoU is NaN or Inf.")
 
     # convert tensor back to numpy if needed
-    iou, *_ = convert_to_dst_type(src=iou_t, dst=boxes1)
+    iou, *_ = convert_to_dst_type(src=iou_t, dst=boxes1, dtype=box_dtype)
     return iou
 
 
@@ -867,7 +872,10 @@ def box_giou(boxes1: NdarrayOrTensor, boxes2: NdarrayOrTensor) -> NdarrayOrTenso
         boxes2: bounding boxes, Mx4 or Mx6 torch tensor or ndarray. The box mode is assumed to be ``StandardMode``
 
     Returns:
-        GIoU, with size of (N,M) and same data type as ``boxes1``
+        An array/tensor matching the container type of ``boxes1`` (NumPy ndarray or Torch tensor), always
+        floating-point with size ``(N, M)``:
+        - if ``boxes1`` has a floating-point dtype, the same dtype is used.
+        - if ``boxes1`` has an integer dtype, the result is returned as ``torch.float32``.
 
     Reference:
         https://giou.stanford.edu/GIoU.pdf
@@ -904,12 +912,15 @@ def box_giou(boxes1: NdarrayOrTensor, boxes2: NdarrayOrTensor) -> NdarrayOrTenso
 
     # GIoU
     giou_t = iou - (enclosure - union) / (enclosure + torch.finfo(COMPUTE_DTYPE).eps)
+    if not box_dtype.is_floating_point:
+        box_dtype = COMPUTE_DTYPE
     giou_t = giou_t.to(dtype=box_dtype)
+
     if torch.isnan(giou_t).any() or torch.isinf(giou_t).any():
         raise ValueError("Box GIoU is NaN or Inf.")
 
     # convert tensor back to numpy if needed
-    giou, *_ = convert_to_dst_type(src=giou_t, dst=boxes1)
+    giou, *_ = convert_to_dst_type(src=giou_t, dst=boxes1, dtype=box_dtype)
     return giou
 
 
@@ -925,7 +936,10 @@ def box_pair_giou(boxes1: NdarrayOrTensor, boxes2: NdarrayOrTensor) -> NdarrayOr
         boxes2: bounding boxes, same shape with boxes1. The box mode is assumed to be ``StandardMode``
 
     Returns:
-        paired GIoU, with size of (N,) and same data type as ``boxes1``
+        An array/tensor matching the container type of ``boxes1`` (NumPy ndarray or Torch tensor), always
+        floating-point with size ``(N, )``:
+        - if ``boxes1`` has a floating-point dtype, the same dtype is used.
+        - if ``boxes1`` has an integer dtype, the result is returned as ``torch.float32``.
 
     Reference:
         https://giou.stanford.edu/GIoU.pdf
@@ -982,12 +996,15 @@ def box_pair_giou(boxes1: NdarrayOrTensor, boxes2: NdarrayOrTensor) -> NdarrayOr
     enclosure = torch.prod(wh, dim=-1, keepdim=False)  # (N,)
 
     giou_t: torch.Tensor = iou - (enclosure - union) / (enclosure + torch.finfo(COMPUTE_DTYPE).eps)  # type: ignore
+    if not box_dtype.is_floating_point:
+        box_dtype = COMPUTE_DTYPE
     giou_t = giou_t.to(dtype=box_dtype)  # (N,spatial_dims)
+
     if torch.isnan(giou_t).any() or torch.isinf(giou_t).any():
         raise ValueError("Box GIoU is NaN or Inf.")
 
     # convert tensor back to numpy if needed
-    giou, *_ = convert_to_dst_type(src=giou_t, dst=boxes1)
+    giou, *_ = convert_to_dst_type(src=giou_t, dst=boxes1, dtype=box_dtype)
     return giou
 
 

tests/data/test_box_utils.py

@@ -14,6 +14,7 @@
 import unittest
 
 import numpy as np
+import torch
 from parameterized import parameterized
 
 from monai.data.box_utils import (
@@ -218,5 +219,55 @@ def test_value(self, input_data, mode2, expected_box, expected_area):
         assert_allclose(nms_box, [1], type_test=False)
 
 
+class TestBoxUtilsDtype(unittest.TestCase):
+    @parameterized.expand(
+        [
+            # numpy dtypes
+            (np.array([[1, 1, 1, 2, 2, 2]], dtype=np.int32), np.array([[1, 1, 1, 2, 2, 2]], dtype=np.int32)),
+            (np.array([[1, 1, 1, 2, 2, 2]], dtype=np.float32), np.array([[1, 1, 1, 2, 2, 2]], dtype=np.float32)),
+            # torch dtypes
+            (
+                torch.tensor([[1, 1, 1, 2, 2, 2]], dtype=torch.int64),
+                torch.tensor([[1, 1, 1, 2, 2, 2]], dtype=torch.int64),
+            ),
+            (
+                torch.tensor([[1, 1, 1, 2, 2, 2]], dtype=torch.float32),
+                torch.tensor([[1, 1, 1, 2, 2, 2]], dtype=torch.float32),
+            ),
+            # mixed numpy (int + float)
+            (np.array([[1, 1, 1, 2, 2, 2]], dtype=np.int32), np.array([[1, 1, 1, 2, 2, 2]], dtype=np.float32)),
+            # mixed torch (int + float)
+            (
+                torch.tensor([[1, 1, 1, 2, 2, 2]], dtype=torch.int64),
+                torch.tensor([[1, 1, 1, 2, 2, 2]], dtype=torch.float32),
+            ),
+        ]
+    )
+    def test_dtype_behavior(self, boxes1, boxes2):
+        funcs = [box_iou, box_giou, box_pair_giou]
+        for func in funcs:
+            result = func(boxes1, boxes2)
+
+            if isinstance(result, np.ndarray):
+                self.assertTrue(
+                    np.issubdtype(result.dtype, np.floating), f"{func.__name__} expected float, got {result.dtype}"
+                )
+            elif torch.is_tensor(result):
+                self.assertTrue(
+                    torch.is_floating_point(result), f"{func.__name__} expected float tensor, got {result.dtype}"
+                )
+            else:
+                self.fail(f"Unexpected return type {type(result)}")
+
+    def test_integer_truncation_bug(self):
+        # Verify fix for #8553: IoU < 1.0 with integer inputs should not truncate to 0
+        boxes1 = np.array([[0, 0, 0, 2, 2, 2]], dtype=np.int32)
+        boxes2 = np.array([[1, 1, 1, 3, 3, 3]], dtype=np.int32)
+
+        iou = box_iou(boxes1, boxes2)
+        self.assertTrue(np.issubdtype(iou.dtype, np.floating))
+        self.assertGreater(iou[0, 0], 0.0, "IoU should not be truncated to 0")
+
+
 if __name__ == "__main__":
     unittest.main()