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import argparse
import yaml
from models.common import *
class Detect(nn.Module):
def __init__(self, nc=80, anchors=()): # detection layer
super(Detect, self).__init__()
self.stride = None # strides computed during build
self.nc = nc # number of classes
self.no = nc + 5 # number of outputs per anchor
self.nl = len(anchors) # number of detection layers
self.na = len(anchors[0]) // 2 # number of anchors
self.grid = [torch.zeros(1)] * self.nl # init grid
a = torch.tensor(anchors).float().view(self.nl, -1, 2)
self.register_buffer('anchors', a) # shape(nl,na,2)
self.register_buffer('anchor_grid', a.clone().view(self.nl, 1, -1, 1, 1, 2)) # shape(nl,1,na,1,1,2)
self.export = False # onnx export
def forward(self, x):
z = [] # inference output
self.training |= self.export
for i in range(self.nl):
bs, _, ny, nx = x[i].shape # x(bs,255,20,20) to x(bs,3,20,20,85)
x[i] = x[i].view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()
if not self.training: # inference
if self.grid[i].shape[2:4] != x[i].shape[2:4]:
self.grid[i] = self._make_grid(nx, ny).to(x[i].device)
y = x[i].sigmoid()
y[..., 0:2] = (y[..., 0:2] * 2. - 0.5 + self.grid[i]) * self.stride[i] # xy
y[..., 2:4] = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i] # wh
z.append(y.view(bs, -1, self.no))
return x if self.training else (torch.cat(z, 1), x)
@staticmethod
def _make_grid(nx=20, ny=20):
yv, xv = torch.meshgrid([torch.arange(ny), torch.arange(nx)])
return torch.stack((xv, yv), 2).view((1, 1, ny, nx, 2)).float()
class Model(nn.Module):
def __init__(self, model_yaml='yolov5s.yaml'): # cfg, number of classes, depth-width gains
super(Model, self).__init__()
with open(model_yaml) as f:
self.md = yaml.load(f, Loader=yaml.FullLoader) # model dict
# Define model
self.model, self.save, ch = parse_model(self.md, ch=[3]) # model, savelist, ch_out
# print([x.shape for x in self.forward(torch.zeros(1, 3, 64, 64))])
# Build strides, anchors
m = self.model[-1] # Detect()
m.stride = torch.tensor([64 / x.shape[-2] for x in self.forward(torch.zeros(1, 3, 64, 64))]) # forward
m.anchors /= m.stride.view(-1, 1, 1)
self.stride = m.stride
# Init weights, biases
torch_utils.initialize_weights(self)
self._initialize_biases() # only run once
torch_utils.model_info(self)
print('')
def forward(self, x, augment=False, profile=False):
y, ts = [], 0 # outputs
for m in self.model:
if m.f != -1: # if not from previous layer
x = y[m.f] if isinstance(m.f, int) else [x if j == -1 else y[j] for j in m.f] # from earlier layers
if profile:
import thop
o = thop.profile(m, inputs=(x,), verbose=False)[0] / 1E9 * 2 # FLOPS
t = torch_utils.time_synchronized()
for _ in range(10):
_ = m(x)
dt = torch_utils.time_synchronized() - t
ts += dt
print('%10.1f%10.0f%10.1fms %-40s' % (o, m.np, dt * 100, m.type))
x = m(x) # run
y.append(x if m.i in self.save else None) # save output
if profile:
print(ts * 100)
return x
def _initialize_biases(self, cf=None): # initialize biases into Detect(), cf is class frequency
# cf = torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlength=nc) + 1.
m = self.model[-1] # Detect() module
for f, s in zip(m.f, m.stride): # from
mi = self.model[f % m.i]
b = mi.bias.view(m.na, -1) # conv.bias(255) to (3,85)
b[:, 4] += math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image)
b[:, 5:] += math.log(0.6 / (m.nc - 0.99)) if cf is None else torch.log(cf / cf.sum()) # cls
mi.bias = torch.nn.Parameter(b.view(-1), requires_grad=True)
def _print_biases(self):
m = self.model[-1] # Detect() module
for f in sorted([x % m.i for x in m.f]): # from
b = self.model[f].bias.detach().view(m.na, -1).T # conv.bias(255) to (3,85)
print(('%g Conv2d.bias:' + '%10.3g' * 6) % (f, *b[:5].mean(1).tolist(), b[5:].mean()))
def parse_model(md, ch): # model_dict, input_channels(3)
print('\n%3s%15s%3s%10s %-40s%-30s' % ('', 'from', 'n', 'params', 'module', 'arguments'))
anchors, nc, gd, gw = md['anchors'], md['nc'], md['depth_multiple'], md['width_multiple']
na = (len(anchors[0]) // 2) # number of anchors
no = na * (nc + 5) # number of outputs = anchors * (classes + 5)
layers, save, c2 = [], [], ch[-1] # layers, savelist, ch out
for i, (f, n, m, args) in enumerate(md['backbone'] + md['head']): # from, number, module, args
m = eval(m) if isinstance(m, str) else m # eval strings
for j, a in enumerate(args):
try:
args[j] = eval(a) if isinstance(a, str) else a # eval strings
except:
pass
n = max(round(n * gd), 1) if n > 1 else n # depth gain
if m in [nn.Conv2d, Conv, Bottleneck, SPP, DWConv, MixConv2d, Focus, ConvPlus, BottleneckCSP, BottleneckLight]:
c1, c2 = ch[f], args[0]
# Normal
# if i > 0 and args[0] != no: # channel expansion factor
# ex = 1.75 # exponential (default 2.0)
# e = math.log(c2 / ch[1]) / math.log(2)
# c2 = int(ch[1] * ex ** e)
# if m != Focus:
c2 = make_divisible(c2 * gw, 8) if c2 != no else c2
# Experimental
# if i > 0 and args[0] != no: # channel expansion factor
# ex = 1 + gw # exponential (default 2.0)
# ch1 = 32 # ch[1]
# e = math.log(c2 / ch1) / math.log(2) # level 1-n
# c2 = int(ch1 * ex ** e)
# if m != Focus:
# c2 = make_divisible(c2, 8) if c2 != no else c2
args = [c1, c2, *args[1:]]
if m is BottleneckCSP:
args.insert(2, n)
n = 1
elif m is nn.BatchNorm2d:
args = [ch[f]]
elif m is Concat:
c2 = sum([ch[x] for x in f])
elif m is Origami:
c2 = ch[f] * 5
elif m is Detect:
f = f or list(reversed([(-1 if j == i else j - 1) for j, x in enumerate(ch) if x == no]))
else:
c2 = ch[f]
m_ = nn.Sequential(*[m(*args) for _ in range(n)]) if n > 1 else m(*args) # module
t = str(m)[8:-2].replace('__main__.', '') # module type
np = sum([x.numel() for x in m_.parameters()]) # number params
m_.i, m_.f, m_.type, m_.np = i, f, t, np # attach index, 'from' index, type, number params
print('%3s%15s%3s%10.0f %-40s%-30s' % (i, f, n, np, t, args)) # print
save.extend(x % i for x in ([f] if isinstance(f, int) else f) if x != -1) # append to savelist
layers.append(m_)
ch.append(c2)
return nn.Sequential(*layers), sorted(save), ch
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--cfg', type=str, default='yolov5s.yaml', help='model.yaml')
parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
opt = parser.parse_args()
opt.cfg = glob.glob('./**/' + opt.cfg, recursive=True)[0] # find file
device = torch_utils.select_device(opt.device)
# Create model
model = Model(opt.cfg).to(device)
model.train()
# Profile
# img = torch.rand(8 if torch.cuda.is_available() else 1, 3, 640, 640).to(device)
# y = model(img, profile=True)
# print([y[0].shape] + [x.shape for x in y[1]])
# ONNX export
# model.model[-1].export = True
# torch.onnx.export(model, img, f.replace('.yaml', '.onnx'), verbose=True, opset_version=11)
# Tensorboard
# from torch.utils.tensorboard import SummaryWriter
# tb_writer = SummaryWriter()
# print("Run 'tensorboard --logdir=models/runs' to view tensorboard at http://localhost:6006/")
# tb_writer.add_graph(model.model, img) # add model to tensorboard
# tb_writer.add_image('test', img[0], dataformats='CWH') # add model to tensorboard
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