yolov7的主干网络是其核心创新,主要是增加了E-ELAN模块和aux的辅助检测头,目前来看新的网络结构还是有点效果的,主要的代码详解如下,对应yolo.py。
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
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 = (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, )
else:
out = (torch.cat(z, 1), x)
return out
@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()
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
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=3
self.na = len(anchors[0]) // 2 # number of anchors 6//2=3
self.grid = [torch.zeros(1)] * self.nl # init grid [tensor([0.]), tensor([0.]), tensor([0.])]
a = torch.tensor(anchors).float().view(self.nl, -1, 2) # (3, 6)->(3, 3, 2) = [[[10,13], [16,30], [33,23]], [[30,61], [62,45], [59,119]], [[116,90], [156,198], [373,326]]]
self.register_buffer('anchors', a) # shape(nl,na,2)=(3,3,2)
self.register_buffer('anchor_grid', a.clone().view(self.nl, 1, -1, 1, 1, 2)) # shape(nl,1,na,1,1,2)=(3,1,3,1,1,2)
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 = (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, )
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