# YOLOR general utils
import glob
import logging
import math
import os
import platform
import random
import re
import subprocess
import time
from pathlib import Path
import cv2
import numpy as np
import pandas as pd
import torch
import torchvision
import yaml
from utils.google_utils import gsutil_getsize
from utils.metrics import fitness
from utils.torch_utils import init_torch_seeds
# Settings
torch.set_printoptions(linewidth=320, precision=5, profile='long')
np.set_printoptions(linewidth=320, formatter={'float_kind': '{:11.5g}'.format}) # format short g, %precision=5
pd.options.display.max_columns = 10
cv2.setNumThreads(0) # prevent OpenCV from multithreading (incompatible with PyTorch DataLoader)
os.environ['NUMEXPR_MAX_THREADS'] = str(min(os.cpu_count(), 8)) # NumExpr max threads
def set_logging(rank=-1):
logging.basicConfig(
format="%(message)s",
level=logging.INFO if rank in [-1, 0] else logging.WARN)
def init_seeds(seed=0):
# Initialize random number generator (RNG) seeds
random.seed(seed)
np.random.seed(seed)
init_torch_seeds(seed)
def get_latest_run(search_dir='.'):
# Return path to most recent 'last.pt' in /runs (i.e. to --resume from)
last_list = glob.glob(f'{search_dir}/**/last*.pt', recursive=True)
return max(last_list, key=os.path.getctime) if last_list else ''
def isdocker():
# Is environment a Docker container
return Path('/workspace').exists() # or Path('/.dockerenv').exists()
def emojis(str=''):
# Return platform-dependent emoji-safe version of string
return str.encode().decode('ascii', 'ignore') if platform.system() == 'Windows' else str
def check_online():
# Check internet connectivity
import socket
try:
socket.create_connection(("1.1.1.1", 443), 5) # check host accesability
return True
except OSError:
return False
def check_git_status():
# Recommend 'git pull' if code is out of date
print(colorstr('github: '), end='')
try:
assert Path('.git').exists(), 'skipping check (not a git repository)'
assert not isdocker(), 'skipping check (Docker image)'
assert check_online(), 'skipping check (offline)'
cmd = 'git fetch && git config --get remote.origin.url'
url = subprocess.check_output(cmd, shell=True).decode().strip().rstrip('.git') # github repo url
branch = subprocess.check_output('git rev-parse --abbrev-ref HEAD', shell=True).decode().strip() # checked out
n = int(subprocess.check_output(f'git rev-list {branch}..origin/master --count', shell=True)) # commits behind
if n > 0:
s = f"⚠️ WARNING: code is out of date by {n} commit{'s' * (n > 1)}. " \
f"Use 'git pull' to update or 'git clone {url}' to download latest."
else:
s = f'up to date with {url} ✅'
print(emojis(s)) # emoji-safe
except Exception as e:
print(e)
def check_requirements(requirements='requirements.txt', exclude=()):
# Check installed dependencies meet requirements (pass *.txt file or list of packages)
import pkg_resources as pkg
prefix = colorstr('red', 'bold', 'requirements:')
if isinstance(requirements, (str, Path)): # requirements.txt file
file = Path(requirements)
if not file.exists():
print(f"{prefix} {file.resolve()} not found, check failed.")
return
requirements = [f'{x.name}{x.specifier}' for x in pkg.parse_requirements(file.open()) if x.name not in exclude]
else: # list or tuple of packages
requirements = [x for x in requirements if x not in exclude]
n = 0 # number of packages updates
for r in requirements:
try:
pkg.require(r)
except Exception as e: # DistributionNotFound or VersionConflict if requirements not met
n += 1
print(f"{prefix} {e.req} not found and is required by YOLOR, attempting auto-update...")
print(subprocess.check_output(f"pip install '{e.req}'", shell=True).decode())
if n: # if packages updated
source = file.resolve() if 'file' in locals() else requirements
s = f"{prefix} {n} package{'s' * (n > 1)} updated per {source}\n" \
f"{prefix} ⚠️ {colorstr('bold', 'Restart runtime or rerun command for updates to take effect')}\n"
print(emojis(s)) # emoji-safe
def check_img_size(img_size, s=32):
# Verify img_size is a multiple of stride s
new_size = make_divisible(img_size, int(s)) # ceil gs-multiple
if new_size != img_size:
print('WARNING: --img-size %g must be multiple of max stride %g, updating to %g' % (img_size, s, new_size))
return new_size
def check_imshow():
# Check if environment supports image displays
try:
assert not isdocker(), 'cv2.imshow() is disabled in Docker environments'
cv2.imshow('test', np.zeros((1, 1, 3)))
cv2.waitKey(1)
cv2.destroyAllWindows()
cv2.waitKey(1)
return True
except Exception as e:
print(f'WARNING: Environment does not support cv2.imshow() or PIL Image.show() image displays\n{e}')
return False
def check_file(file):
# Search for file if not found
if Path(file).is_file() or file == '':
return file
else:
files = glob.glob('./**/' + file, recursive=True) # find file
assert len(files), f'File Not Found: {file}' # assert file was found
assert len(files) == 1, f"Multiple files match '{file}', specify exact path: {files}" # assert unique
return files[0] # return file
def check_dataset(dict):
# Download dataset if not found locally
val, s = dict.get('val'), dict.get('download')
if val and len(val):
val = [Path(x).resolve() for x in (val if isinstance(val, list) else [val])] # val path
if not all(x.exists() for x in val):
print('\nWARNING: Dataset not found, nonexistent paths: %s' % [str(x) for x in val if not x.exists()])
if s and len(s): # download script
print('Downloading %s ...' % s)
if s.startswith('http') and s.endswith('.zip'): # URL
f = Path(s).name # filename
torch.hub.download_url_to_file(s, f)
r = os.system('unzip -q %s -d ../ && rm %s' % (f, f)) # unzip
else: # bash script
r = os.system(s)
print('Dataset autodownload %s\n' % ('success' if r == 0 else 'failure')) # analyze return value
else:
raise Exception('Dataset not found.')
def make_divisible(x, divisor):
# Returns x evenly divisible by divisor
return math.ceil(x / divisor) * divisor
def clean_str(s):
# Cleans a string by replacing special characters with underscore _
return re.sub(pattern="[|@#!¡·$€%&()=?¿^*;:,¨´><+]", repl="_", string=s)
def one_cycle(y1=0.0, y2=1.0, steps=100):
# lambda function for sinusoidal ramp from y1 to y2
return lambda x: ((1 - math.cos(x * math.pi / steps)) / 2) * (y2 - y1) + y1
def colorstr(*input):
# Colors a string https://en.wikipedia.org/wiki/ANSI_escape_code, i.e. colorstr('blue', 'hello world')
*args, string = input if len(input) > 1 else ('blue', 'bold', input[0]) # color arguments, string
colors = {'black': '\033[30m', # basic colors
'red': '\033[31m',
'green': '\033[32m',
'yellow': '\033[33m',
'blue': '\033[34m',
'magenta': '\033[35m',
'cyan': '\033[36m',
'white': '\033[37m',
'bright_black': '\033[90m', # bright colors
'bright_red': '\033[91m',
'bright_green': '\033[92m',
'bright_yellow': '\033[93m',
'bright_blue': '\033[94m',
'bright_magenta': '\033[95m',
'bright_cyan': '\033[96m',
'bright_white': '\033[97m',
'end': '\033[0m', # misc
'bold': '\033[1m',
'underline': '\033[4m'}
return ''.join(colors[x] for x in args) + f'{string}' + colors['end']
def labels_to_class_weights(labels, nc=80):
# Get class weights (inverse frequency) from training labels
if labels[0] is None: # no labels loaded
return torch.Tensor()
labels = np.concatenate(labels, 0) # labels.shape = (866643, 5) for COCO
classes = labels[:, 0].astype(np.int) # labels = [class xywh]
weights = np.bincount(classes, minlength=nc) # occurrences per class
# Prepend gridpoint count (for uCE training)
# gpi = ((320 / 32 * np.array([1, 2, 4])) ** 2 * 3).sum() # gridpoints per image
# weights = np.hstack([gpi * len(labels) - weights.sum() * 9, weights * 9]) ** 0.5 # prepend gridpoints to start
weights[weights == 0] = 1 # replace empty bins with 1
weights = 1 / weights # number of targets per class
weights /= weights.sum() # normalize
return torch.from_numpy(weights)
def labels_to_image_weights(labels, nc=80, class_weights=np.ones(80)):
# Produces image weights based on class_weights and image contents
class_counts = np.array([np.bincount(x[:, 0].astype(np.int), minlength=nc) for x in labels])
image_weights = (class_weights.reshape(1, nc) * class_counts).sum(1)
# index = random.choices(range(n), weights=image_weights, k=1) # weight image sample
return image_weights
def coco80_to_coco91_class(): # converts 80-index (val2014) to 91-index (paper)
# https://tech.amikelive.com/node-718/what-object-categories-labels-are-in-coco-dataset/
# a = np.loadtxt('data/coco.names', dtype='str', delimiter='\n')
# b = np.loadtxt('data/coco_paper.names', dtype='str', delimiter='\n')
# x1 = [list(a[i] == b).index(True) + 1 for i in range(80)] # darknet to coco
# x2 = [list(b[i] == a).index(True) if any(b[i] == a) else None for i in range(91)] # coco to darknet
x = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 27, 28, 31, 32, 33, 34,
35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63,
64, 65, 67, 70, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 84, 85, 86, 87, 88, 89, 90]
return x
def xyxy2xywh(x):
# Convert nx4 boxes from [x1, y1, x2, y2] to [x, y, w, h] where xy1=top-left, xy2=bottom-right
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = (x[:, 0] + x[:, 2]) / 2 # x center
y[:, 1] = (x[:, 1] + x[:, 3]) / 2 # y center
y[:, 2] = x[:, 2] - x[:, 0] # width
y[:, 3] = x[:, 3] - x[:, 1] # height
return y
def xywh2xyxy(x):
# Convert nx4 boxes from [x, y, w, h] to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = x[:, 0] - x[:, 2] / 2 # top left x
y[:, 1] = x[:, 1] - x[:, 3] / 2 # top left y
y[:, 2] = x[:, 0] + x[:, 2] / 2 # bottom right x
y[:, 3] = x[:, 1] + x[:, 3] / 2 # bottom right y
return y
def xywhn2xyxy(x, w=640, h=640, padw=0, padh=0):
# Convert nx4 boxes from [x, y, w, h] normalized to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = w * (x[:, 0] - x[:, 2] / 2) + padw # top left x
y[:, 1] = h * (x[:, 1] - x[:, 3] / 2) + padh # top left y
y[:, 2] = w * (x[:, 0] + x[:, 2] / 2) + padw # bottom right x
y[:, 3] = h * (x[:, 1] + x[:, 3] / 2) + padh # bottom right y
return y
def xyn2xy(x, w=640, h=640, padw=0, padh=0):
# Convert normalized segments into pixel segments, shape (n,2)
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = w * x[:, 0] + padw # top left x
y[:, 1] = h * x[:, 1] + padh # top left y
return y
def segment2box(segment, width=640, height=640):
# Convert 1 segment label to 1 box label, applying inside-image constraint, i.e. (xy1, xy2, ...) to (xyxy)
x, y = segment.T # segment xy
inside = (x >= 0) & (y >= 0) & (x <= width) & (y <= height)
x, y, = x[inside], y[inside]
return np.array([x.min(), y.min(), x.max(), y.max()]) if any(x) else np.zeros((1, 4)) # xyxy
def segments2boxes(segments):
# Convert segment labels to box labels, i.e. (cls, xy1, xy2, ...) to (cls, xywh)
boxes = []
for s in segments:
x, y = s.T # segment xy
boxes.append([x.min(), y.min(), x.max(), y.max()]) # cls, xyxy
return xyxy2xywh(np.array(boxes)) # cls, xywh
def resample_segments(segments, n=1000):
# Up-sample an (n,2) segment
for i, s in enumerate(segments):
x = np.linspace(0, len(s) - 1, n)
xp = np.arange(len(s))
segments[i] = np.concatenate([np.interp(x, xp, s[:, i]) for i in range(2)]).reshape(2, -1).T # segment xy
return segments
def scale_coords(img1_shape, coords, img0_shape, ratio_pad=None):
# Rescale coords (xyxy) from img1_shape to img0_shape
if ratio_pad is None: # calculate from img0_shape
gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1]) # gain = old / new
pad = (img1_shape[1] - img0_shape[1] * gain) / 2, (img1_shape[0] - img0_shape[0] * gain) / 2 # wh padding
else:
gain = ratio_pad[0][0]
pad = ratio_pad[1]
coords[:, [0, 2]] -= pad[0] # x padding
coords[:, [1, 3]] -= pad[1] # y padding
coords[:, :4] /= gain
clip_coords(coords, img0_shape)
return coords
def clip_coords(boxes, img_shape):
# Clip bounding xyxy bounding boxes to image shape (height, width)
boxes[:, 0].clamp_(0, img_shape[1]) # x1
boxes[:, 1].clamp_(0, img_shape[0]) # y1
boxes[:, 2].clamp_(0, img_shape[1]) # x2
boxes[:, 3].clamp_(0, img_shape[0]) # y2
def bbox_iou(box1, box2, x1y1x2y2=True, GIoU=False, DIoU=False, CIoU=False, eps=1e-7):
# Returns the IoU of box1 to box2. box1 is 4, box2 is nx4
box2 = box2.T
# Get the coordinates of bounding boxes
if x1y1x2y2: # x1, y1, x2, y2 = box1
b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2], box1[3]
b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2], box2[3]
else: # transform from xywh to xyxy
b1_x1, b1_x2 = box1[0] - box1[2] / 2, box1[0] + box1[2] / 2
b1_y1, b1_y2 = box1[1] - box1[3] / 2, box1[1] + box1[3] / 2
b2_x1, b2_x2 = box2[0] - box2[2] / 2, box2[0] + box2[2] / 2
b2_y1, b2_y2 = box2[1] - box2[3] / 2, box2[1] + box2[3] / 2
# Intersection area
inter = (torch.min(b1_x2, b2_x2) - torch.max(b1_x1, b2_x1)).clamp(0) * \
(torch.min(b1_y2, b2_y2) - torch.max(b1_y1, b2_y1)).clamp(0)
# Union Area
w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + eps
w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + eps
union = w1 * h1 + w2 * h2 - inter + eps
iou = inter / union
if GIoU or DIoU or CIoU:
cw = torch.max(b1_x2, b2_x2) - torch.min(b1_x1, b2_x1) # convex (smallest enclosing box) width
ch = torch.max(b1_y2, b2_y2) - torch.min(b1_y1, b2_y1) # convex height
if CIoU or DIoU: # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
c2 = cw ** 2 + ch ** 2 + eps # convex diagonal squared
rho2 = ((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 +
(b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4 # center distance squared
if DIoU:
return iou - rho2 / c2 # DIoU
elif CIoU: # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
v = (4 / math.pi ** 2) * torch.pow(torch.atan(w2 / (h2 + eps)) - torch.atan(w1 / (h1 + eps)), 2)
with torch.no_grad():
alpha = v / (v - iou + (1 + eps))
return iou - (rho2 / c2 + v * alpha) # CIoU
else: # GIoU https://arxiv.org/pdf/1902.09630.pdf
c_area = cw * ch + eps # convex area
return iou - (c_area - union) / c_area # GIoU
else:
return iou # IoU
def bbox_alpha_iou(box1, box2, x1y1x2y2=False, GIoU=False, DIoU=False, CIoU=False, alpha=2, eps=1e-9):
# Returns tsqrt_he IoU of box1 to box2. box1 is 4, box2 is nx4
box2 = box2.T
# Get the coordinates of bounding boxes
if x1y1x2y2: # x1, y1, x2, y2 = box1
b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2], box1[3]
b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2], box2[3]
else: # transform from xywh to xyxy
b1_x1, b1_x2 = box1[0] - box1[2] / 2, box1[0] + box1[2] / 2
b1_y1, b1_y2 = box1[1] - box1[3] / 2, box1[1] + box1[3] / 2
b2_x1, b2_x2 = box2[0] - box2[2] / 2, box2[0] + box2[2] / 2
b2_y1, b2_y2 = box2[1] - box2[3] / 2, box2[1] + box2[3] / 2
# Intersection area
inter = (torch.min(b1_x2, b2_x2) - torch.max(b1_x1, b2_x1)).clamp(0) * \
(torch.min(b1_y2, b2_y2) - torch.max(b1_y1, b2_y1)).clamp(0)
# Union Area
w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + eps
w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + eps
union = w1 * h1 + w2 * h2 - inter + eps
# change iou into pow(iou+eps)
# iou = inter / union
iou = torch.pow(inter/union + eps, alpha)
# beta = 2 * alpha
if GIoU or DIoU or CIoU:
cw = torch.max(b1_x2, b2_x2) - torch.min(b1_x1, b2_x1) # convex (smallest enclosing box) width
ch = torch.max(b1_y2, b2_y2) - torch.min(b1_y1, b2_y1) # convex height
if CIoU or DIoU: # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
c2 = (cw ** 2 + ch ** 2) ** alpha + eps # convex diagonal
rho_x = torch.abs(b2_x1 + b2_x2 - b1_x1 - b1_x2)
rho_y = torch.abs(b2_y1 + b2_y2 - b1_y1 - b1_y2)
rho2 = ((rho_x ** 2 + rho_y ** 2) / 4) ** alpha # center distance
if DIoU:
return iou - rho2 / c2 # DIoU
elif CIoU: # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
v = (4 / math.pi ** 2) * torch.pow(torch.atan(w2 / h2) - torch.atan(w1 / h1), 2)
with torch.no_grad():
alpha_ciou = v / ((1 + eps) - inter / union + v)
# return iou - (rho2 / c2 + v * alpha_ciou) # CIoU
return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha)) # CIoU
else: # GIoU https://arxiv.org/pdf/1902.09630.pdf
# c_area = cw * ch + eps # convex area
# return iou - (c_area - union) / c_area # GIoU
c_area = torch.max(cw * ch + eps, union) # convex area
return iou - torch.pow((c_area - union) / c_area + eps, alpha) # GIoU
else:
return iou # torch.log(iou+eps) or iou
def box_iou(box1, box2):
# https://github.com/pytorch/vision/blob/master/torchvision/ops/boxes.py
"""
Return intersection-over-union (Jaccard index) of boxes.
Both sets of boxes are expected to be in (x1, y1, x2, y2) format.
Arguments:
box1 (Tensor[N, 4])
box2 (Tensor[M, 4])
Returns:
iou (Tensor[N, M]): the NxM matrix containing the pairwise
IoU values for every element in boxes1 and boxes2
"""
def box_area(box):
# box = 4xn
return (box[2] - box[0]) * (box[3] - box[1])
area1 = box_area(box1.T)
area2 = box_area(box2.T)
# inter(N,M) = (rb(N,M,2) - lt(N,M,2)).clamp(0).prod(2)
inter = (torch.min(box1[:, None, 2:], box2[:, 2:]) - torch.max(box1[:, None, :2], box2[:, :2])).clamp(0).prod(2)
return inter / (area1[:, None] + area2 - inter) # iou = inter / (area1 + area2 - inter)
def wh_iou(wh1, wh2):
# Returns the nxm IoU matrix. wh1 is nx2, wh2 is mx2
wh1 = wh1[:, None] # [N,1,2]
wh2 = wh2[None] # [1,M,2]
inter = torch.min(wh1, wh2).prod(2) # [N,M]
return inter / (wh1.prod(2) + wh2.prod(2) - inter) # iou = inter / (area1 + area2 - inter)
def box_giou(box1, box2):
"""
Return generalized intersection-over-union (Jaccard index) between two sets of boxes.
Both sets of boxes are expected to be in ``(x1, y1, x2, y2)`` format with
``0 <= x1 < x2`` and ``0 <= y1 < y2``.
Args:
boxes1 (Tensor[N, 4]): first set of boxes
boxes2 (Tensor[M, 4]): second set of boxes
Returns:
Tensor[N, M]: the NxM matrix containing the pairwise generalized IoU values
for every element in boxes1 and boxes2
"""
def box_area(box):
# box = 4xn
return (box[2] - box[0]) * (box[3] - box[1])
area1 = box_area(box1.T)
area2 = box_area(box2.T)
inter = (torch.min(box1[:, None, 2:], box2[:, 2:]) - torch.max(box1[:, None, :2], box2[:, :2])).clamp(0).prod(2)
union = (area1[:, None] + area2 - inter)
iou = inter / union
lti = torch.min(box1[:, None, :2], box2[:, :2])
rbi = torch.max(box1[:, None, 2:], box2[:, 2:])
whi = (rbi - lti).clamp(min=0) # [N,M,2]
areai = whi[:, :, 0] * whi[:, :, 1]
return iou - (areai - union) / areai
def box_ciou(box1, box2, eps: float = 1e-7):
"""
Return complete intersection-over-union (Jaccard index) between two sets of boxes.
Both sets of boxes are expected to be in ``(x1, y1, x2, y2)`` format with
``0 <= x1 < x2`` and ``0 <= y1 < y2``.
Args:
boxes1 (Tensor[N, 4]): first set of boxes
boxes2 (Tensor[M, 4]): second set of boxes
eps (float, optional): small number to prevent division by zero. Default: 1e-7
Returns:
Tensor[N, M]: the NxM matrix containing the pairwise complete IoU values
for every element in boxes1 and boxes2
"""
def box_area(box):
# box = 4xn
return (box[2] - box[0]) * (box[3] - box[1])
area1 = box_area(box1.T)
area2 = box_area(box2.T)
inter = (torch.min(box1[:, None, 2:], box2[:, 2:]) - torch.max(box1[:, None, :2], box2[:, :2])).clamp(0).prod(2)
union = (area1[:, None] + area2 - inter)
iou = inter / union
lti = torch.min(box1[:, None, :2], box2[:, :2])
rbi = torch.max(box1[:, None, 2:], box2[:, 2:])
whi = (rbi - lti).clamp(min=0) # [N,M,2]
diagonal_distance_squared = (whi[:, :, 0] ** 2) + (whi[:, :, 1] ** 2) + eps
# centers of boxes
x_p = (box1[:, None, 0] + box1[:, None, 2]) / 2
y_p = (box1[:, None, 1] + box1[:, None, 3]) / 2
x_g = (box2[:, 0] + box2[:, 2]) / 2
y_g = (box2[:, 1] + box2[:, 3]) / 2
# The distance between boxes' centers squared.
centers_distance_squared = (x_p - x_g) ** 2 + (y_p - y_g) ** 2
w_pred = box1[:, None, 2] - box1[:, None, 0]
h_pred = box1[:, None, 3] - box1[:, None, 1]
w_gt = box2[:, 2] - box2[:, 0]
h_gt = box2[:, 3] - box2[:, 1]
v = (4 / (torch.pi ** 2)) * torch.pow((torch.atan(w_gt / h_gt) - torch.atan(w_pred / h_pred)), 2)
with torch.no_grad():
alpha = v / (1 - iou + v + eps)
return iou - (centers_distance_squared / diagonal_distance_squared) - alpha * v
def box_diou(box1, box2, eps: float = 1e-7):
"""
Return distance intersection-over-union (Jaccard index) between two sets of boxes.
Both sets of boxes are expected to be in ``(x1, y1, x2, y2)`` format with
``0 <= x1 < x2`` and ``0 <= y1 < y2``.
Args:
boxes1 (Tensor[N, 4]): first set of boxes
boxes2 (Tensor[M, 4]): second set of boxes
eps (float, optional): small number to prevent division by zero. Default: 1e-7
Returns:
Tensor[N, M]: the NxM matrix containing the pairwise distance IoU values
for every element in boxes1 and boxes2
"""
def box_area(box):
# box = 4xn
return (box[2] - box[0]) * (box[3] - box[1])
area1 = box_area(box1.T)
area2 = box_area(box2.T)
inter = (torch.min(box1[:, None, 2:], box2[:, 2:]) - torch.max(box1[:, None, :2], box2[:, :2])).clamp(0).prod(2)
union = (area1[:, None] + area2 - inter)
iou = inter / union
lti = torch.min(box1[:, None, :2], box2[:, :2])
rbi = torch.max(box1[:, None, 2:], box2[:, 2:])
whi = (rbi - lti).clamp(min=0) # [N,M,2]
diagonal_distance_squared = (whi[:, :, 0] ** 2) + (whi[:, :, 1] ** 2) + eps
# centers of boxes
x_p = (box1[:, None, 0] + box1[:, None, 2]) / 2
y_p = (box1[:, None, 1] + box1[:, None, 3]) / 2
x_g = (box2[:, 0] + box2[:, 2]) / 2
y_g = (box2[:, 1] + box2[:, 3]) / 2
# The distance between boxes' centers squared.
centers_distance_squared = (x_p - x_g) ** 2 + (y_p - y_g) ** 2
# The distance IoU is the IoU penalized by a normalized
# distance between boxes' centers squared.
return iou - (centers_distance_squared / diagonal_distance_squared)
def non_max_suppression(prediction, conf_thres=0.25, iou_thres=0.45, classes=None, agnostic=False, multi_label=False,
labels=()):
"""Runs Non-Maximum Suppression (NMS) on inference results
Returns:
list of detections, on (n,6) tensor per image [xyxy, conf, cls]
"""
nc = prediction.shape[2] - 5 # number of classes
xc = prediction[..., 4] > conf_thres # candidates
# Settings
min_wh, max_wh = 2, 4096 # (pixels) minimum and maximum box width and height
max_det = 300 # maximum number of detections per image
max_nms = 30000 # maximum number of boxes into torchvision.ops.nms()
time_limit = 10.0 # seconds to quit after
redundant = True # require redundant detections
multi_label &= nc > 1 # multiple labels per box (adds 0.5ms/img)
merge = False # use merge-NMS
t = time.time()
output = [torch.zeros((0, 6), device=prediction.device)] * prediction.shape[0]
for xi, x in enumerate(prediction): # image index, image inference
# Apply constraints
# x[((x[..., 2:4] < min_wh) | (x[..., 2:4] > max_wh)).any(1), 4] = 0 # width-height
x = x[xc[xi]] # confidence
# Cat apriori labels if autolabelling
if labels and len(labels[xi]):
l = labels[xi]
v = torch.zeros((len(l), nc + 5), device=x.device)
v[:, :4] = l[:, 1:5] # box
v[:, 4] = 1.0 # conf
v[range(len(l)), l[:, 0].long() + 5] = 1.0 # cls
x = torch.cat((x, v), 0)
# If none remain process next image
if not x.shape[0]:
continue
# Compute conf
if nc == 1:
x[:, 5:] = x[:, 4:5] # for models with one class, cls_loss is 0 and cls_conf is always 0.5,
# so there is no need to multiplicate.
else:
x[:, 5:] *= x[:, 4:5] # conf = obj_conf * cls_conf
# Box (center x, center y, width, height) to (x1, y1, x2, y2)
box = xywh2xyxy(x[:, :4])
# Detections matrix nx6 (xyxy, conf, cls)
if multi_label:
i, j = (x[:, 5:] > conf_thres).nonzero(as_tuple=False).T
x = torch.cat((box[i], x[i, j + 5, None], j[:, None].float()), 1)
else: # best class only
conf, j = x[:, 5:].max(1, keepdim=True)
x = torch.cat((box, conf, j.float()), 1)[conf.view(-1) > conf_thres]
# Filter by class
if classes is not None:
x = x[(x[:, 5:6] == torch.tensor(classes, device=x.device)).any(1)]
# Apply finite constraint
# if not torch.isfinite(x).all():
# x = x[torch.isfinite(x).all(1)]
# Check shape
n = x.shape[0] # number of boxes
if not n: # no boxes
continue
elif n > max_nms: # excess boxes
x = x[x[:, 4].argsort(descending=True)[:max_nms]] # sort by confidence
# Batched NMS
c = x[:, 5:6] * (0 if agnostic else max_wh) # classes
boxes, scores = x[:, :4] + c, x[:, 4] # boxes (offset by class), scores
i = torchvision.ops.nms(boxes, scores, iou_thres) # NMS
if i.shape[0] > max_det: # limit detections
i = i[:max_det]
if merge and (1 < n < 3E3): # Merge NMS (boxes merged using weighted mean)
# update boxes as boxes(i,4) = weights(i,n) * boxes(n,4)
iou = box_iou(boxes[i], boxes) > iou_thres # iou matrix
weights = iou * scores[None] # box weights
x[i, :4] = torch.mm(weights, x[:, :4]).float() / weights.sum(1, keepdim=True) # merged boxes
if redundant:
i = i[iou.sum(1) > 1] # require redundancy
output[xi] = x[i]
if (time.time() - t) > time_limit:
print(f'WARNING: NMS time limit {time_limit}s exceeded')
break # time limit exceeded
return output
def non_max_suppression_kpt(prediction, conf_thres=0.25, iou_thres=0.45, classes=None, agnostic=False, multi_label=False,
labels=(), kpt_label=False, nc=None, nkpt=None):
"""Runs Non-Maximum Suppression (NMS) on inference results
Returns:
list of detections, on (n,6) tensor per image [xyxy, conf, cls]
"""
if nc is None:
nc = prediction.shape[2] - 5 if not kpt_label else prediction.shape[2] - 56 # number of classes
xc = prediction[..., 4] > conf_thres # candidates
# Settings
min_wh, max_wh = 2, 4096 # (pixels) minimum and maximum box width and height
max_det = 300 # maximum number of detections per image
max_nms = 30000 # maximum number of boxes into torchvision.ops.nms()
time_limit = 10.0 # seconds to quit after
redundant = True # require redundant detections
multi_label &= nc > 1 # multiple labels per box (adds 0.5ms/img)
merge = False # use merge-NMS
t = time.time()
output = [torch.zeros((0,6), device=prediction.device)] * prediction.shape[0]
for xi, x in enumerate(prediction): # image index, image inference
# Apply constraints
# x[((x[..., 2:4] < min_wh) | (x[..., 2:4] > max_wh)).any(1), 4] = 0 # width-height
x = x[xc[xi]] # confidence
# Cat apriori labels if autolabelling
if labels and len(labels[xi]):
l = labels[xi]
v = torch.zeros((len(l), nc + 5), device=x.device)
v[:, :4] = l[:, 1:5] # box
v[:, 4] = 1.0 # conf
v[range(len(l)), l[:, 0].long() + 5] = 1.0 # cls
x = torch.cat((x, v), 0)
# If none remain process next image
if not x.shape[0]:
continue
# Compute conf
x[:, 5:5+nc] *= x[:, 4:5] # conf = obj_conf * cls_conf
# Box (center x, center y, width, height) to (x1, y1, x2, y2)
box = xywh2xyxy(x[:, :4])
# Detections matrix nx6 (xyxy, conf, cls)
if multi_label:
i, j = (x[:, 5:] > conf_thres).nonzero(as_tuple=False).T
x = torch.cat((box[i], x[i, j + 5, None], j[:, None].float()), 1)
else: # best class only
if not kpt_label:
conf, j = x[:, 5:].max(1, keepdim=True)
x = torch.cat((box, conf, j.float()), 1)[conf.view(-1) > conf_thres]
else:
kpts = x[:, 6:]
conf, j = x[:, 5:6].max(1, keepdim=True)
x = torch.cat((box, conf, j.float(), kpts), 1)[conf.view(-1) > conf_thres]
# Filter by class
if classes is not None:
x = x[(x[:, 5:6] == torch.tensor(classes, device=x.device)).any(1)]
# Apply finite constraint
# if not torch.isfinite(x).all():
# x = x[torch.isfinite(x).all(1)]
# Check shape
n = x.shape[0] # number of boxes
if not n: # no boxes
continue
elif n > max_nms: # excess boxes
x = x[x[:, 4].argsort(descending=True)[:max_nms]] # sort by confidence
# Batched NMS
c = x[:, 5:6] * (0 if agnostic else max_wh) # classes
boxes, scores = x[:, :4] + c, x[:, 4] # boxes (offset by class), scores
i = torchvision.ops.nms(boxes, scores, iou_thres) # NMS
if i.shape[0] > max_det: # limit detections
i = i[:max_det]
if merge and (1 < n < 3E3): # Merge NMS (boxes merged using weighted mean)
# update boxes as boxes(i,4) = weights(i,n) * boxes(n,4)
iou = box_iou(boxes[i], boxes) > iou_thres # iou matrix
weights = iou * scores[None] # box weights
x[i, :4] = torch.mm(weights, x[:, :4]).float() / weights.sum(1, keepdim=True) # merged boxes
if redundant:
i = i[iou.sum(1) > 1] # require redundancy
output[xi] = x[i]
if (time.time() - t) > time_limit:
print(f'WARNING: NMS time limit {time_limit}s exceeded')
break # time limit exceeded
return output
def strip_optimizer(f='best.pt', s=''): # from utils.general import *; strip_optimizer()
# Strip optimizer from 'f' to finalize training, optionally save as 's'
x = torch.load(f, map_location=torch.device('cpu'))
if x.get('ema'):
x['model'] = x['ema'] # replace model with ema
for k in 'optimizer', 'training_results', 'wandb_id', 'ema', 'updates': # keys
x[k] = None
x['epoch'] = -1
x['model'].half() # to FP16
for p in x['model'].parameters():
p.requires_grad = False
torch.save(x, s or f)
mb = os.path.getsize(s or f) / 1E6 # filesize
print(f"Optimizer stripped from {f},{(' saved as %s,' % s) if s else ''} {mb:.1f}MB")
def print_mutation(hyp, results, yaml_file='hyp_evolved.yaml', bucket=''):
# Print mutation results to evolve.txt (for use with train.py --evolve)
a = '%10s' * len(hyp) % tuple(hyp.keys()) # hyperparam keys
b = '%10.3g' * len(hyp) % tuple(hyp.values()) # hyperparam values
c = '%10.4g' * len(results) % results # results (P, R, mAP@0.5, mAP@0.5:0.95, val_losses x 3)
print('\n%s\n%s\nEvolved fitness: %s\n' % (a, b, c))
if bucket:
url = 'gs://%s/evolve.txt' % bucket
if gsutil_getsize(url) > (os.path.getsize('evolve.txt') if os.path.exists('evolve.txt') else 0):
os.system('gsutil cp %s .' % url) # download evolve.txt if larger than local
with open('evolve.txt', 'a') as f: # append result
f.write(c + b + '\n')
x = np.unique(np.loadtxt('evolve.txt', ndmin=2), axis=0) # load unique rows
x = x[np.argsort(-fitness(x))] # sort
np.savetxt('evolve.txt', x, '%10.3g') # save sort by fitness
# Save yaml
for i, k in enumerate(hyp.keys()):
hyp[k] = float(x[0, i + 7])
with open(yaml_file, 'w') as f:
results = tuple(x[0, :7])
c = '%10.4g' * len(results) % results # results (P, R, mAP@0.5, mAP@0.5:0.95, val_losses x 3)
f.write('# Hyperparameter Evolution Results\n# Generations: %g\n# Metrics: ' % len(x) + c + '\n\n')
yaml.dump(hyp, f, sort_keys=False)
if bucket:
os.system('gsutil cp evolve.txt %s gs://%s' % (yaml_file, bucket)) # upload
def apply_classifier(x, model, img, im0):
# applies a second stage classifier to yolo outputs
im0 = [im0] if isinstance(im0, np.ndarray) else im0
for i, d in enumerate(x): # per image
if d is not None and len(d):
d = d.clone()
# Reshape and pad cutouts
b = xyxy2xywh(d[:, :4]) # boxes
b[:, 2:] = b[:, 2:].max(1)[0].unsqueeze(1) # rectangle to square
b[:, 2:] = b[:, 2:] * 1.3 + 30 # pad
d[:, :4] = xywh2xyxy(b).long()
# Rescale boxes from img_size to im0 size
scale_coords(img.shape[2:], d[:, :4], im0[i].shape)
# Classes
pred_cls1 = d[:, 5].long()
ims = []
for j, a in enumerate(d): # per item
cutout = im0[i][int(a[1]):int(a[3]), int(a[0]):int(a[2])]
im = cv2.resize(cutout, (224, 224)) # BGR
# cv2.imwrite('test%i.jpg' % j, cutout)
im = im[:, :, ::-1].transpose(2, 0, 1) # BGR to RGB, to 3x416x416
im = np.ascontiguousarray(im, dtype=np.float32) # uint8 to float32
im /= 255.0 # 0 - 255 to 0.0 - 1.0
ims.append(im)
pred_cls2 = model(torch.Tensor(ims).to(d.device)).argmax(1) # classifier prediction
x[i] = x[i][pred_cls1 == pred_cls2] # retain matching class detections
return x
def increment_path(path, exist_ok=True, sep=''):
# Increment path, i.e. runs/exp --> runs/exp{sep}0, runs/exp{sep}1 etc.
path = Path(path) # os-agnostic
if (path.exists() and exist_ok) or (not path.exists()):
return str(path)
else:
dirs = glob.glob(f"{path}{sep}*") # similar paths
matches = [re.search(rf"%s{sep}(\d+)" % path.stem, d) for d in dirs]
i = [int(m.groups()[0]) for m in matches if m] # indices
n = max(i) + 1 if i else 2 # increment number
return f"{path}{sep}{n}" # update path