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| import argparse | |
| import logging | |
| import sys | |
| from copy import deepcopy | |
| sys.path.append('./') # to run '$ python *.py' files in subdirectories | |
| logger = logging.getLogger(__name__) | |
| import torch | |
| from models.common import * | |
| from models.experimental import * | |
| from utils.autoanchor import check_anchor_order | |
| from utils.general import make_divisible, check_file, set_logging | |
| from utils.torch_utils import time_synchronized, fuse_conv_and_bn, model_info, scale_img, initialize_weights, \ | |
| select_device, copy_attr | |
| from utils.loss import SigmoidBin | |
| try: | |
| import thop # for FLOPS computation | |
| except ImportError: | |
| thop = None | |
| class Detect(nn.Module): | |
| stride = None # strides computed during build | |
| export = False # onnx export | |
| end2end = False | |
| include_nms = False | |
| concat = False | |
| def __init__(self, nc=80, anchors=(), ch=()): # detection layer | |
| super(Detect, self).__init__() | |
| 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.m = nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch) # output conv | |
| def forward(self, x): | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| x[i] = self.m[i](x[i]) # conv | |
| 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() | |
| if not torch.onnx.is_in_onnx_export(): | |
| 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 | |
| else: | |
| xy, wh, conf = y.split((2, 2, self.nc + 1), 4) # y.tensor_split((2, 4, 5), 4) # torch 1.8.0 | |
| xy = xy * (2. * self.stride[i]) + (self.stride[i] * (self.grid[i] - 0.5)) # new xy | |
| wh = wh ** 2 * (4 * self.anchor_grid[i].data) # new wh | |
| y = torch.cat((xy, wh, conf), 4) | |
| z.append(y.view(bs, -1, self.no)) | |
| if self.training: | |
| out = x | |
| elif self.end2end: | |
| out = torch.cat(z, 1) | |
| elif self.include_nms: | |
| z = self.convert(z) | |
| out = (z, ) | |
| elif self.concat: | |
| out = torch.cat(z, 1) | |
| else: | |
| out = (torch.cat(z, 1), x) | |
| return out | |
| 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() | |
| def convert(self, z): | |
| z = torch.cat(z, 1) | |
| box = z[:, :, :4] | |
| conf = z[:, :, 4:5] | |
| score = z[:, :, 5:] | |
| score *= conf | |
| convert_matrix = torch.tensor([[1, 0, 1, 0], [0, 1, 0, 1], [-0.5, 0, 0.5, 0], [0, -0.5, 0, 0.5]], | |
| dtype=torch.float32, | |
| device=z.device) | |
| box @= convert_matrix | |
| return (box, score) | |
| class IDetect(nn.Module): | |
| stride = None # strides computed during build | |
| export = False # onnx export | |
| end2end = False | |
| include_nms = False | |
| concat = False | |
| def __init__(self, nc=80, anchors=(), ch=()): # detection layer | |
| super(IDetect, self).__init__() | |
| 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.m = nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch) # output conv | |
| self.ia = nn.ModuleList(ImplicitA(x) for x in ch) | |
| self.im = nn.ModuleList(ImplicitM(self.no * self.na) for _ in ch) | |
| def forward(self, x): | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| x[i] = self.m[i](self.ia[i](x[i])) # conv | |
| x[i] = self.im[i](x[i]) | |
| 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) | |
| def fuseforward(self, x): | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| x[i] = self.m[i](x[i]) # conv | |
| 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() | |
| if not torch.onnx.is_in_onnx_export(): | |
| 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 | |
| else: | |
| xy, wh, conf = y.split((2, 2, self.nc + 1), 4) # y.tensor_split((2, 4, 5), 4) # torch 1.8.0 | |
| xy = xy * (2. * self.stride[i]) + (self.stride[i] * (self.grid[i] - 0.5)) # new xy | |
| wh = wh ** 2 * (4 * self.anchor_grid[i].data) # new wh | |
| y = torch.cat((xy, wh, conf), 4) | |
| z.append(y.view(bs, -1, self.no)) | |
| if self.training: | |
| out = x | |
| elif self.end2end: | |
| out = torch.cat(z, 1) | |
| elif self.include_nms: | |
| z = self.convert(z) | |
| out = (z, ) | |
| elif self.concat: | |
| out = torch.cat(z, 1) | |
| else: | |
| out = (torch.cat(z, 1), x) | |
| return out | |
| def fuse(self): | |
| print("IDetect.fuse") | |
| # fuse ImplicitA and Convolution | |
| for i in range(len(self.m)): | |
| c1,c2,_,_ = self.m[i].weight.shape | |
| c1_,c2_, _,_ = self.ia[i].implicit.shape | |
| self.m[i].bias += torch.matmul(self.m[i].weight.reshape(c1,c2),self.ia[i].implicit.reshape(c2_,c1_)).squeeze(1) | |
| # fuse ImplicitM and Convolution | |
| for i in range(len(self.m)): | |
| c1,c2, _,_ = self.im[i].implicit.shape | |
| self.m[i].bias *= self.im[i].implicit.reshape(c2) | |
| self.m[i].weight *= self.im[i].implicit.transpose(0,1) | |
| 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() | |
| def convert(self, z): | |
| z = torch.cat(z, 1) | |
| box = z[:, :, :4] | |
| conf = z[:, :, 4:5] | |
| score = z[:, :, 5:] | |
| score *= conf | |
| convert_matrix = torch.tensor([[1, 0, 1, 0], [0, 1, 0, 1], [-0.5, 0, 0.5, 0], [0, -0.5, 0, 0.5]], | |
| dtype=torch.float32, | |
| device=z.device) | |
| box @= convert_matrix | |
| return (box, score) | |
| class IKeypoint(nn.Module): | |
| stride = None # strides computed during build | |
| export = False # onnx export | |
| def __init__(self, nc=80, anchors=(), nkpt=17, ch=(), inplace=True, dw_conv_kpt=False): # detection layer | |
| super(IKeypoint, self).__init__() | |
| self.nc = nc # number of classes | |
| self.nkpt = nkpt | |
| self.dw_conv_kpt = dw_conv_kpt | |
| self.no_det=(nc + 5) # number of outputs per anchor for box and class | |
| self.no_kpt = 3*self.nkpt ## number of outputs per anchor for keypoints | |
| self.no = self.no_det+self.no_kpt | |
| 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 | |
| self.flip_test = False | |
| 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.m = nn.ModuleList(nn.Conv2d(x, self.no_det * self.na, 1) for x in ch) # output conv | |
| self.ia = nn.ModuleList(ImplicitA(x) for x in ch) | |
| self.im = nn.ModuleList(ImplicitM(self.no_det * self.na) for _ in ch) | |
| if self.nkpt is not None: | |
| if self.dw_conv_kpt: #keypoint head is slightly more complex | |
| self.m_kpt = nn.ModuleList( | |
| nn.Sequential(DWConv(x, x, k=3), Conv(x,x), | |
| DWConv(x, x, k=3), Conv(x, x), | |
| DWConv(x, x, k=3), Conv(x,x), | |
| DWConv(x, x, k=3), Conv(x, x), | |
| DWConv(x, x, k=3), Conv(x, x), | |
| DWConv(x, x, k=3), nn.Conv2d(x, self.no_kpt * self.na, 1)) for x in ch) | |
| else: #keypoint head is a single convolution | |
| self.m_kpt = nn.ModuleList(nn.Conv2d(x, self.no_kpt * self.na, 1) for x in ch) | |
| self.inplace = inplace # use in-place ops (e.g. slice assignment) | |
| def forward(self, x): | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| if self.nkpt is None or self.nkpt==0: | |
| x[i] = self.im[i](self.m[i](self.ia[i](x[i]))) # conv | |
| else : | |
| x[i] = torch.cat((self.im[i](self.m[i](self.ia[i](x[i]))), self.m_kpt[i](x[i])), axis=1) | |
| 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() | |
| x_det = x[i][..., :6] | |
| x_kpt = x[i][..., 6:] | |
| 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) | |
| kpt_grid_x = self.grid[i][..., 0:1] | |
| kpt_grid_y = self.grid[i][..., 1:2] | |
| if self.nkpt == 0: | |
| y = x[i].sigmoid() | |
| else: | |
| y = x_det.sigmoid() | |
| if self.inplace: | |
| xy = (y[..., 0:2] * 2. - 0.5 + self.grid[i]) * self.stride[i] # xy | |
| wh = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i].view(1, self.na, 1, 1, 2) # wh | |
| if self.nkpt != 0: | |
| x_kpt[..., 0::3] = (x_kpt[..., ::3] * 2. - 0.5 + kpt_grid_x.repeat(1,1,1,1,17)) * self.stride[i] # xy | |
| x_kpt[..., 1::3] = (x_kpt[..., 1::3] * 2. - 0.5 + kpt_grid_y.repeat(1,1,1,1,17)) * self.stride[i] # xy | |
| #x_kpt[..., 0::3] = (x_kpt[..., ::3] + kpt_grid_x.repeat(1,1,1,1,17)) * self.stride[i] # xy | |
| #x_kpt[..., 1::3] = (x_kpt[..., 1::3] + kpt_grid_y.repeat(1,1,1,1,17)) * self.stride[i] # xy | |
| #print('=============') | |
| #print(self.anchor_grid[i].shape) | |
| #print(self.anchor_grid[i][...,0].unsqueeze(4).shape) | |
| #print(x_kpt[..., 0::3].shape) | |
| #x_kpt[..., 0::3] = ((x_kpt[..., 0::3].tanh() * 2.) ** 3 * self.anchor_grid[i][...,0].unsqueeze(4).repeat(1,1,1,1,self.nkpt)) + kpt_grid_x.repeat(1,1,1,1,17) * self.stride[i] # xy | |
| #x_kpt[..., 1::3] = ((x_kpt[..., 1::3].tanh() * 2.) ** 3 * self.anchor_grid[i][...,1].unsqueeze(4).repeat(1,1,1,1,self.nkpt)) + kpt_grid_y.repeat(1,1,1,1,17) * self.stride[i] # xy | |
| #x_kpt[..., 0::3] = (((x_kpt[..., 0::3].sigmoid() * 4.) ** 2 - 8.) * self.anchor_grid[i][...,0].unsqueeze(4).repeat(1,1,1,1,self.nkpt)) + kpt_grid_x.repeat(1,1,1,1,17) * self.stride[i] # xy | |
| #x_kpt[..., 1::3] = (((x_kpt[..., 1::3].sigmoid() * 4.) ** 2 - 8.) * self.anchor_grid[i][...,1].unsqueeze(4).repeat(1,1,1,1,self.nkpt)) + kpt_grid_y.repeat(1,1,1,1,17) * self.stride[i] # xy | |
| x_kpt[..., 2::3] = x_kpt[..., 2::3].sigmoid() | |
| y = torch.cat((xy, wh, y[..., 4:], x_kpt), dim = -1) | |
| else: # for YOLOv5 on AWS Inferentia https://github.com/ultralytics/yolov5/pull/2953 | |
| xy = (y[..., 0:2] * 2. - 0.5 + self.grid[i]) * self.stride[i] # xy | |
| wh = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i] # wh | |
| if self.nkpt != 0: | |
| y[..., 6:] = (y[..., 6:] * 2. - 0.5 + self.grid[i].repeat((1,1,1,1,self.nkpt))) * self.stride[i] # xy | |
| y = torch.cat((xy, wh, y[..., 4:]), -1) | |
| z.append(y.view(bs, -1, self.no)) | |
| return x if self.training else (torch.cat(z, 1), x) | |
| 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 IAuxDetect(nn.Module): | |
| stride = None # strides computed during build | |
| export = False # onnx export | |
| end2end = False | |
| include_nms = False | |
| concat = False | |
| def __init__(self, nc=80, anchors=(), ch=()): # detection layer | |
| super(IAuxDetect, self).__init__() | |
| 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.m = nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch[:self.nl]) # output conv | |
| self.m2 = nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch[self.nl:]) # output conv | |
| self.ia = nn.ModuleList(ImplicitA(x) for x in ch[:self.nl]) | |
| self.im = nn.ModuleList(ImplicitM(self.no * self.na) for _ in ch[:self.nl]) | |
| def forward(self, x): | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| x[i] = self.m[i](self.ia[i](x[i])) # conv | |
| x[i] = self.im[i](x[i]) | |
| 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() | |
| x[i+self.nl] = self.m2[i](x[i+self.nl]) | |
| x[i+self.nl] = x[i+self.nl].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() | |
| if not torch.onnx.is_in_onnx_export(): | |
| 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 | |
| else: | |
| xy, wh, conf = y.split((2, 2, self.nc + 1), 4) # y.tensor_split((2, 4, 5), 4) # torch 1.8.0 | |
| xy = xy * (2. * self.stride[i]) + (self.stride[i] * (self.grid[i] - 0.5)) # new xy | |
| wh = wh ** 2 * (4 * self.anchor_grid[i].data) # new wh | |
| y = torch.cat((xy, wh, conf), 4) | |
| z.append(y.view(bs, -1, self.no)) | |
| return x if self.training else (torch.cat(z, 1), x[:self.nl]) | |
| def fuseforward(self, x): | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| x[i] = self.m[i](x[i]) # conv | |
| 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() | |
| if not torch.onnx.is_in_onnx_export(): | |
| 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 | |
| else: | |
| xy = (y[..., 0:2] * 2. - 0.5 + self.grid[i]) * self.stride[i] # xy | |
| wh = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i].data # wh | |
| y = torch.cat((xy, wh, y[..., 4:]), -1) | |
| z.append(y.view(bs, -1, self.no)) | |
| if self.training: | |
| out = x | |
| elif self.end2end: | |
| out = torch.cat(z, 1) | |
| elif self.include_nms: | |
| z = self.convert(z) | |
| out = (z, ) | |
| elif self.concat: | |
| out = torch.cat(z, 1) | |
| else: | |
| out = (torch.cat(z, 1), x) | |
| return out | |
| def fuse(self): | |
| print("IAuxDetect.fuse") | |
| # fuse ImplicitA and Convolution | |
| for i in range(len(self.m)): | |
| c1,c2,_,_ = self.m[i].weight.shape | |
| c1_,c2_, _,_ = self.ia[i].implicit.shape | |
| self.m[i].bias += torch.matmul(self.m[i].weight.reshape(c1,c2),self.ia[i].implicit.reshape(c2_,c1_)).squeeze(1) | |
| # fuse ImplicitM and Convolution | |
| for i in range(len(self.m)): | |
| c1,c2, _,_ = self.im[i].implicit.shape | |
| self.m[i].bias *= self.im[i].implicit.reshape(c2) | |
| self.m[i].weight *= self.im[i].implicit.transpose(0,1) | |
| 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() | |
| def convert(self, z): | |
| z = torch.cat(z, 1) | |
| box = z[:, :, :4] | |
| conf = z[:, :, 4:5] | |
| score = z[:, :, 5:] | |
| score *= conf | |
| convert_matrix = torch.tensor([[1, 0, 1, 0], [0, 1, 0, 1], [-0.5, 0, 0.5, 0], [0, -0.5, 0, 0.5]], | |
| dtype=torch.float32, | |
| device=z.device) | |
| box @= convert_matrix | |
| return (box, score) | |
| class IBin(nn.Module): | |
| stride = None # strides computed during build | |
| export = False # onnx export | |
| def __init__(self, nc=80, anchors=(), ch=(), bin_count=21): # detection layer | |
| super(IBin, self).__init__() | |
| self.nc = nc # number of classes | |
| self.bin_count = bin_count | |
| self.w_bin_sigmoid = SigmoidBin(bin_count=self.bin_count, min=0.0, max=4.0) | |
| self.h_bin_sigmoid = SigmoidBin(bin_count=self.bin_count, min=0.0, max=4.0) | |
| # classes, x,y,obj | |
| self.no = nc + 3 + \ | |
| self.w_bin_sigmoid.get_length() + self.h_bin_sigmoid.get_length() # w-bce, h-bce | |
| # + self.x_bin_sigmoid.get_length() + self.y_bin_sigmoid.get_length() | |
| 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.m = nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch) # output conv | |
| self.ia = nn.ModuleList(ImplicitA(x) for x in ch) | |
| self.im = nn.ModuleList(ImplicitM(self.no * self.na) for _ in ch) | |
| def forward(self, x): | |
| #self.x_bin_sigmoid.use_fw_regression = True | |
| #self.y_bin_sigmoid.use_fw_regression = True | |
| self.w_bin_sigmoid.use_fw_regression = True | |
| self.h_bin_sigmoid.use_fw_regression = True | |
| # x = x.copy() # for profiling | |
| z = [] # inference output | |
| self.training |= self.export | |
| for i in range(self.nl): | |
| x[i] = self.m[i](self.ia[i](x[i])) # conv | |
| x[i] = self.im[i](x[i]) | |
| 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 | |
| #px = (self.x_bin_sigmoid.forward(y[..., 0:12]) + self.grid[i][..., 0]) * self.stride[i] | |
| #py = (self.y_bin_sigmoid.forward(y[..., 12:24]) + self.grid[i][..., 1]) * self.stride[i] | |
| pw = self.w_bin_sigmoid.forward(y[..., 2:24]) * self.anchor_grid[i][..., 0] | |
| ph = self.h_bin_sigmoid.forward(y[..., 24:46]) * self.anchor_grid[i][..., 1] | |
| #y[..., 0] = px | |
| #y[..., 1] = py | |
| y[..., 2] = pw | |
| y[..., 3] = ph | |
| y = torch.cat((y[..., 0:4], y[..., 46:]), dim=-1) | |
| z.append(y.view(bs, -1, y.shape[-1])) | |
| return x if self.training else (torch.cat(z, 1), x) | |
| 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, cfg='yolor-csp-c.yaml', ch=3, nc=None, anchors=None): # model, input channels, number of classes | |
| super(Model, self).__init__() | |
| self.traced = False | |
| if isinstance(cfg, dict): | |
| self.yaml = cfg # model dict | |
| else: # is *.yaml | |
| import yaml # for torch hub | |
| self.yaml_file = Path(cfg).name | |
| with open(cfg) as f: | |
| self.yaml = yaml.load(f, Loader=yaml.SafeLoader) # model dict | |
| # Define model | |
| ch = self.yaml['ch'] = self.yaml.get('ch', ch) # input channels | |
| if nc and nc != self.yaml['nc']: | |
| logger.info(f"Overriding model.yaml nc={self.yaml['nc']} with nc={nc}") | |
| self.yaml['nc'] = nc # override yaml value | |
| if anchors: | |
| logger.info(f'Overriding model.yaml anchors with anchors={anchors}') | |
| self.yaml['anchors'] = round(anchors) # override yaml value | |
| self.model, self.save = parse_model(deepcopy(self.yaml), ch=[ch]) # model, savelist | |
| self.names = [str(i) for i in range(self.yaml['nc'])] # default names | |
| # print([x.shape for x in self.forward(torch.zeros(1, ch, 64, 64))]) | |
| # Build strides, anchors | |
| m = self.model[-1] # Detect() | |
| if isinstance(m, Detect): | |
| s = 256 # 2x min stride | |
| m.stride = torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))]) # forward | |
| check_anchor_order(m) | |
| m.anchors /= m.stride.view(-1, 1, 1) | |
| self.stride = m.stride | |
| self._initialize_biases() # only run once | |
| # print('Strides: %s' % m.stride.tolist()) | |
| if isinstance(m, IDetect): | |
| s = 256 # 2x min stride | |
| m.stride = torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))]) # forward | |
| check_anchor_order(m) | |
| m.anchors /= m.stride.view(-1, 1, 1) | |
| self.stride = m.stride | |
| self._initialize_biases() # only run once | |
| # print('Strides: %s' % m.stride.tolist()) | |
| if isinstance(m, IAuxDetect): | |
| s = 256 # 2x min stride | |
| m.stride = torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))[:4]]) # forward | |
| #print(m.stride) | |
| check_anchor_order(m) | |
| m.anchors /= m.stride.view(-1, 1, 1) | |
| self.stride = m.stride | |
| self._initialize_aux_biases() # only run once | |
| # print('Strides: %s' % m.stride.tolist()) | |
| if isinstance(m, IBin): | |
| s = 256 # 2x min stride | |
| m.stride = torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))]) # forward | |
| check_anchor_order(m) | |
| m.anchors /= m.stride.view(-1, 1, 1) | |
| self.stride = m.stride | |
| self._initialize_biases_bin() # only run once | |
| # print('Strides: %s' % m.stride.tolist()) | |
| if isinstance(m, IKeypoint): | |
| s = 256 # 2x min stride | |
| m.stride = torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))]) # forward | |
| check_anchor_order(m) | |
| m.anchors /= m.stride.view(-1, 1, 1) | |
| self.stride = m.stride | |
| self._initialize_biases_kpt() # only run once | |
| # print('Strides: %s' % m.stride.tolist()) | |
| # Init weights, biases | |
| initialize_weights(self) | |
| self.info() | |
| logger.info('') | |
| def forward(self, x, augment=False, profile=False): | |
| if augment: | |
| img_size = x.shape[-2:] # height, width | |
| s = [1, 0.83, 0.67] # scales | |
| f = [None, 3, None] # flips (2-ud, 3-lr) | |
| y = [] # outputs | |
| for si, fi in zip(s, f): | |
| xi = scale_img(x.flip(fi) if fi else x, si, gs=int(self.stride.max())) | |
| yi = self.forward_once(xi)[0] # forward | |
| # cv2.imwrite(f'img_{si}.jpg', 255 * xi[0].cpu().numpy().transpose((1, 2, 0))[:, :, ::-1]) # save | |
| yi[..., :4] /= si # de-scale | |
| if fi == 2: | |
| yi[..., 1] = img_size[0] - yi[..., 1] # de-flip ud | |
| elif fi == 3: | |
| yi[..., 0] = img_size[1] - yi[..., 0] # de-flip lr | |
| y.append(yi) | |
| return torch.cat(y, 1), None # augmented inference, train | |
| else: | |
| return self.forward_once(x, profile) # single-scale inference, train | |
| def forward_once(self, x, profile=False): | |
| y, dt = [], [] # 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 not hasattr(self, 'traced'): | |
| self.traced=False | |
| if self.traced: | |
| if isinstance(m, Detect) or isinstance(m, IDetect) or isinstance(m, IAuxDetect) or isinstance(m, IKeypoint): | |
| break | |
| if profile: | |
| c = isinstance(m, (Detect, IDetect, IAuxDetect, IBin)) | |
| o = thop.profile(m, inputs=(x.copy() if c else x,), verbose=False)[0] / 1E9 * 2 if thop else 0 # FLOPS | |
| for _ in range(10): | |
| m(x.copy() if c else x) | |
| t = time_synchronized() | |
| for _ in range(10): | |
| m(x.copy() if c else x) | |
| dt.append((time_synchronized() - t) * 100) | |
| print('%10.1f%10.0f%10.1fms %-40s' % (o, m.np, dt[-1], m.type)) | |
| x = m(x) # run | |
| y.append(x if m.i in self.save else None) # save output | |
| if profile: | |
| print('%.1fms total' % sum(dt)) | |
| return x | |
| def _initialize_biases(self, cf=None): # initialize biases into Detect(), cf is class frequency | |
| # https://arxiv.org/abs/1708.02002 section 3.3 | |
| # cf = torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlength=nc) + 1. | |
| m = self.model[-1] # Detect() module | |
| for mi, s in zip(m.m, m.stride): # from | |
| b = mi.bias.view(m.na, -1) # conv.bias(255) to (3,85) | |
| b.data[:, 4] += math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image) | |
| b.data[:, 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 _initialize_aux_biases(self, cf=None): # initialize biases into Detect(), cf is class frequency | |
| # https://arxiv.org/abs/1708.02002 section 3.3 | |
| # cf = torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlength=nc) + 1. | |
| m = self.model[-1] # Detect() module | |
| for mi, mi2, s in zip(m.m, m.m2, m.stride): # from | |
| b = mi.bias.view(m.na, -1) # conv.bias(255) to (3,85) | |
| b.data[:, 4] += math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image) | |
| b.data[:, 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) | |
| b2 = mi2.bias.view(m.na, -1) # conv.bias(255) to (3,85) | |
| b2.data[:, 4] += math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image) | |
| b2.data[:, 5:] += math.log(0.6 / (m.nc - 0.99)) if cf is None else torch.log(cf / cf.sum()) # cls | |
| mi2.bias = torch.nn.Parameter(b2.view(-1), requires_grad=True) | |
| def _initialize_biases_bin(self, cf=None): # initialize biases into Detect(), cf is class frequency | |
| # https://arxiv.org/abs/1708.02002 section 3.3 | |
| # cf = torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlength=nc) + 1. | |
| m = self.model[-1] # Bin() module | |
| bc = m.bin_count | |
| for mi, s in zip(m.m, m.stride): # from | |
| b = mi.bias.view(m.na, -1) # conv.bias(255) to (3,85) | |
| old = b[:, (0,1,2,bc+3)].data | |
| obj_idx = 2*bc+4 | |
| b[:, :obj_idx].data += math.log(0.6 / (bc + 1 - 0.99)) | |
| b[:, obj_idx].data += math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image) | |
| b[:, (obj_idx+1):].data += math.log(0.6 / (m.nc - 0.99)) if cf is None else torch.log(cf / cf.sum()) # cls | |
| b[:, (0,1,2,bc+3)].data = old | |
| mi.bias = torch.nn.Parameter(b.view(-1), requires_grad=True) | |
| def _initialize_biases_kpt(self, cf=None): # initialize biases into Detect(), cf is class frequency | |
| # https://arxiv.org/abs/1708.02002 section 3.3 | |
| # cf = torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlength=nc) + 1. | |
| m = self.model[-1] # Detect() module | |
| for mi, s in zip(m.m, m.stride): # from | |
| b = mi.bias.view(m.na, -1) # conv.bias(255) to (3,85) | |
| b.data[:, 4] += math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image) | |
| b.data[:, 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 mi in m.m: # from | |
| b = mi.bias.detach().view(m.na, -1).T # conv.bias(255) to (3,85) | |
| print(('%6g Conv2d.bias:' + '%10.3g' * 6) % (mi.weight.shape[1], *b[:5].mean(1).tolist(), b[5:].mean())) | |
| # def _print_weights(self): | |
| # for m in self.model.modules(): | |
| # if type(m) is Bottleneck: | |
| # print('%10.3g' % (m.w.detach().sigmoid() * 2)) # shortcut weights | |
| def fuse(self): # fuse model Conv2d() + BatchNorm2d() layers | |
| print('Fusing layers... ') | |
| for m in self.model.modules(): | |
| if isinstance(m, RepConv): | |
| #print(f" fuse_repvgg_block") | |
| m.fuse_repvgg_block() | |
| elif isinstance(m, RepConv_OREPA): | |
| #print(f" switch_to_deploy") | |
| m.switch_to_deploy() | |
| elif type(m) is Conv and hasattr(m, 'bn'): | |
| m.conv = fuse_conv_and_bn(m.conv, m.bn) # update conv | |
| delattr(m, 'bn') # remove batchnorm | |
| m.forward = m.fuseforward # update forward | |
| elif isinstance(m, (IDetect, IAuxDetect)): | |
| m.fuse() | |
| m.forward = m.fuseforward | |
| self.info() | |
| return self | |
| def nms(self, mode=True): # add or remove NMS module | |
| present = type(self.model[-1]) is NMS # last layer is NMS | |
| if mode and not present: | |
| print('Adding NMS... ') | |
| m = NMS() # module | |
| m.f = -1 # from | |
| m.i = self.model[-1].i + 1 # index | |
| self.model.add_module(name='%s' % m.i, module=m) # add | |
| self.eval() | |
| elif not mode and present: | |
| print('Removing NMS... ') | |
| self.model = self.model[:-1] # remove | |
| return self | |
| def autoshape(self): # add autoShape module | |
| print('Adding autoShape... ') | |
| m = autoShape(self) # wrap model | |
| copy_attr(m, self, include=('yaml', 'nc', 'hyp', 'names', 'stride'), exclude=()) # copy attributes | |
| return m | |
| def info(self, verbose=False, img_size=640): # print model information | |
| model_info(self, verbose, img_size) | |
| def parse_model(d, ch): # model_dict, input_channels(3) | |
| logger.info('\n%3s%18s%3s%10s %-40s%-30s' % ('', 'from', 'n', 'params', 'module', 'arguments')) | |
| anchors, nc, gd, gw = d['anchors'], d['nc'], d['depth_multiple'], d['width_multiple'] | |
| na = (len(anchors[0]) // 2) if isinstance(anchors, list) else anchors # 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(d['backbone'] + d['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, RobustConv, RobustConv2, DWConv, GhostConv, RepConv, RepConv_OREPA, DownC, | |
| SPP, SPPF, SPPCSPC, GhostSPPCSPC, MixConv2d, Focus, Stem, GhostStem, CrossConv, | |
| Bottleneck, BottleneckCSPA, BottleneckCSPB, BottleneckCSPC, | |
| RepBottleneck, RepBottleneckCSPA, RepBottleneckCSPB, RepBottleneckCSPC, | |
| Res, ResCSPA, ResCSPB, ResCSPC, | |
| RepRes, RepResCSPA, RepResCSPB, RepResCSPC, | |
| ResX, ResXCSPA, ResXCSPB, ResXCSPC, | |
| RepResX, RepResXCSPA, RepResXCSPB, RepResXCSPC, | |
| Ghost, GhostCSPA, GhostCSPB, GhostCSPC, | |
| SwinTransformerBlock, STCSPA, STCSPB, STCSPC, | |
| SwinTransformer2Block, ST2CSPA, ST2CSPB, ST2CSPC]: | |
| c1, c2 = ch[f], args[0] | |
| if c2 != no: # if not output | |
| c2 = make_divisible(c2 * gw, 8) | |
| args = [c1, c2, *args[1:]] | |
| if m in [DownC, SPPCSPC, GhostSPPCSPC, | |
| BottleneckCSPA, BottleneckCSPB, BottleneckCSPC, | |
| RepBottleneckCSPA, RepBottleneckCSPB, RepBottleneckCSPC, | |
| ResCSPA, ResCSPB, ResCSPC, | |
| RepResCSPA, RepResCSPB, RepResCSPC, | |
| ResXCSPA, ResXCSPB, ResXCSPC, | |
| RepResXCSPA, RepResXCSPB, RepResXCSPC, | |
| GhostCSPA, GhostCSPB, GhostCSPC, | |
| STCSPA, STCSPB, STCSPC, | |
| ST2CSPA, ST2CSPB, ST2CSPC]: | |
| args.insert(2, n) # number of repeats | |
| 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 Chuncat: | |
| c2 = sum([ch[x] for x in f]) | |
| elif m is Shortcut: | |
| c2 = ch[f[0]] | |
| elif m is Foldcut: | |
| c2 = ch[f] // 2 | |
| elif m in [Detect, IDetect, IAuxDetect, IBin, IKeypoint]: | |
| args.append([ch[x] for x in f]) | |
| if isinstance(args[1], int): # number of anchors | |
| args[1] = [list(range(args[1] * 2))] * len(f) | |
| elif m is ReOrg: | |
| c2 = ch[f] * 4 | |
| elif m is Contract: | |
| c2 = ch[f] * args[0] ** 2 | |
| elif m is Expand: | |
| c2 = ch[f] // args[0] ** 2 | |
| 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 | |
| logger.info('%3s%18s%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_) | |
| if i == 0: | |
| ch = [] | |
| ch.append(c2) | |
| return nn.Sequential(*layers), sorted(save) | |
| if __name__ == '__main__': | |
| parser = argparse.ArgumentParser() | |
| parser.add_argument('--cfg', type=str, default='yolor-csp-c.yaml', help='model.yaml') | |
| parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu') | |
| parser.add_argument('--profile', action='store_true', help='profile model speed') | |
| opt = parser.parse_args() | |
| opt.cfg = check_file(opt.cfg) # check file | |
| set_logging() | |
| device = select_device(opt.device) | |
| # Create model | |
| model = Model(opt.cfg).to(device) | |
| model.train() | |
| if opt.profile: | |
| img = torch.rand(1, 3, 640, 640).to(device) | |
| y = model(img, profile=True) | |
| # Profile | |
| # img = torch.rand(8 if torch.cuda.is_available() else 1, 3, 640, 640).to(device) | |
| # y = model(img, profile=True) | |
| # 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 | |