🚀🚀🚀前言
Wise-IoU有三个版本(分别是v1、v2、v3)来观察不同类别的map@0.5变化。我使用的是第三个版本，Wise-IoU v3方法将茶叶嫩芽数据集的map@50从59%提升到了61%，将近提升了2个百分点。
目录
一，损失函数wise-iou原理
二，yolov8添加w-iou具体步骤
三，实际涨点效果对比
一，损失函数wise-iou原理
wise-iou：基于动态非单调聚焦机制的边界框损失
📜该论文是2023年8月发表在arXiv上；论文连接：Wise-IoU: Bounding Box Regression Loss with Dynamic Focusing Mechanism
1.1 介绍
🚀目标检测作为计算机视觉的核心问题，其检测性能依赖于损失函数的设计。边界框损失函数作为目标检测损失函数的重要组成部分，其良好的定义将为目标检测模型带来显著的性能提升。近年来的研究大多假设训练数据中的示例有较高的质量，致力于强化边界框损失的拟合能力。但我们注意到目标检测训练集中含有低质量示例，如果一味地强化边界框对低质量示例的回归，显然会危害模型检测性能的提升。Focal-EIoU v1 被提出以解决这个问题，但由于其聚焦机制是静态的，并未充分挖掘非单调聚焦机制的潜能。
⭐️基于这个观点，我们提出了动态非单调的聚焦机制，设计了 Wise-IoU (WIoU)。动态非单调聚焦机制使用“离群度”替代 IoU 对锚框进行质量评估，并提供了明智的梯度增益分配策略。该策略在降低高质量锚框的竞争力的同时，也减小了低质量示例产生的有害梯度。这使得 WIoU 可以聚焦于普通质量的锚框，并提高检测器的整体性能。将WIoU应用于最先进的单级检测器 YOLOv7 时，在 MS-COCO 数据集上的 AP.-75 从 53.03% 提升到 54.50%。
1.2 ✨WIOU解决的问题
🔥在数据标准的过程中，存在物体标准问题，会有一些目标物体标注的质量很差，如下： 
一个性能良好的模型在为低质量示例生成高质量锚框时会产生较大的 iou损失。如果单调 FM 为这些锚框分配较大的梯度增益，则模型的学习将受到损害。在性能提升上，数据集的标注质量越差 (当然差到一定程度就不叫数据集了)，WIoU 相对其它边界框损失的表现越好。
1.3 ⭐️论文实验结果
☀️CIoU、SIoU 的 v2 使用和 WIoU v2 一致的单调聚焦机制，v3 使用和 WIoU v3 一致的动态非单调聚焦机制，详见论文的消融实验，在计算速度上，WIoU 所增加的计算成本主要在于聚焦系数的计算、IoU 损失的均值统计。在实验条件相同时，WIoU 因为没有对纵横比进行计算反而有更快的速度，WIoU 的计算耗时为 CIoU 的 87.2%。
对比CIOU和SIOU等方法，WIOU的AP50要优于之前的边界框损失。
1.4 🎯论文方法
🚀该本文所涉及的聚焦机制有以下几种：
静态：当边界框的 IoU 为某一指定值时有最高的梯度增益，如 Focal EIoU v1
动态：享有最高梯度增益的边界框的条件处于动态变化中，如 WIoU v3
单调：梯度增益随损失值的增加而单调增加，如 Focal loss
非单调：梯度增益随损失值的增加呈非单调变化
WIoU v1 构造了基于注意力的边界框损失，WIoU v2 和 v3 则是在此基础上通过构造梯度增益 (聚焦系数) 的计算方法来附加聚焦机制。
1.4.1☀️Wise-IoU v1
1.4.2☀️Wise-IoU v2
二，yolov8添加w-iou具体步骤
!!!只需要修改两个python文件，metrics.py和loss.py
首先打开metrics.py文件，替换一些代码。
以下是原始代码
# Ultralytics YOLO 🚀, AGPL-3.0 license
"""Model validation metrics."""
import math
import warnings
from pathlib import Path
import matplotlib.pyplot as plt
import numpy as np
import torch
from ultralytics.utils import LOGGER, SimpleClass, TryExcept, plt_settings
OKS_SIGMA = (
np.array([0.26, 0.25, 0.25, 0.35, 0.35, 0.79, 0.79, 0.72, 0.72, 0.62, 0.62, 1.07, 1.07, 0.87, 0.87, 0.89, 0.89])
/ 10.0
)
def bbox_ioa(box1, box2, iou=False, eps=1e-7):
"""
Calculate the intersection over box2 area given box1 and box2. Boxes are in x1y1x2y2 format.
Args:
box1 (np.ndarray): A numpy array of shape (n, 4) representing n bounding boxes.
box2 (np.ndarray): A numpy array of shape (m, 4) representing m bounding boxes.
iou (bool): Calculate the standard IoU if True else return inter_area/box2_area.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(np.ndarray): A numpy array of shape (n, m) representing the intersection over box2 area.
"""
# Get the coordinates of bounding boxes
b1_x1, b1_y1, b1_x2, b1_y2 = box1.T
b2_x1, b2_y1, b2_x2, b2_y2 = box2.T
# Intersection area
inter_area = (np.minimum(b1_x2[:, None], b2_x2) - np.maximum(b1_x1[:, None], b2_x1)).clip(0) * (
np.minimum(b1_y2[:, None], b2_y2) - np.maximum(b1_y1[:, None], b2_y1)
).clip(0)
# Box2 area
area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1)
if iou:
box1_area = (b1_x2 - b1_x1) * (b1_y2 - b1_y1)
area = area + box1_area[:, None] - inter_area
# Intersection over box2 area
return inter_area / (area + eps)
def box_iou(box1, box2, eps=1e-7):
"""
Calculate intersection-over-union (IoU) of boxes. Both sets of boxes are expected to be in (x1, y1, x2, y2) format.
Based on https://github.com/pytorch/vision/blob/master/torchvision/ops/boxes.py
Args:
box1 (torch.Tensor): A tensor of shape (N, 4) representing N bounding boxes.
box2 (torch.Tensor): A tensor of shape (M, 4) representing M bounding boxes.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(torch.Tensor): An NxM tensor containing the pairwise IoU values for every element in box1 and box2.
"""
# inter(N,M) = (rb(N,M,2) - lt(N,M,2)).clamp(0).prod(2)
(a1, a2), (b1, b2) = box1.unsqueeze(1).chunk(2, 2), box2.unsqueeze(0).chunk(2, 2)
inter = (torch.min(a2, b2) - torch.max(a1, b1)).clamp_(0).prod(2)
# IoU = inter / (area1 + area2 - inter)
return inter / ((a2 - a1).prod(2) + (b2 - b1).prod(2) - inter + eps)
def bbox_iou(box1, box2, xywh=True, GIoU=False, DIoU=False, CIoU=False, eps=1e-7):
"""
Calculate Intersection over Union (IoU) of box1(1, 4) to box2(n, 4).
Args:
box1 (torch.Tensor): A tensor representing a single bounding box with shape (1, 4).
box2 (torch.Tensor): A tensor representing n bounding boxes with shape (n, 4).
xywh (bool, optional): If True, input boxes are in (x, y, w, h) format. If False, input boxes are in
(x1, y1, x2, y2) format. Defaults to True.
GIoU (bool, optional): If True, calculate Generalized IoU. Defaults to False.
DIoU (bool, optional): If True, calculate Distance IoU. Defaults to False.
CIoU (bool, optional): If True, calculate Complete IoU. Defaults to False.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(torch.Tensor): IoU, GIoU, DIoU, or CIoU values depending on the specified flags.
"""
# Get the coordinates of bounding boxes
if xywh: # transform from xywh to xyxy
(x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
else: # x1, y1, x2, y2 = box1
b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + eps
w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + eps
# Intersection area
inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp_(0) * (
b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)
).clamp_(0)
# Union Area
union = w1 * h1 + w2 * h2 - inter + eps
# IoU
iou = inter / union
if CIoU or DIoU or GIoU:
cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1) # convex (smallest enclosing box) width
ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1) # convex height
if CIoU or DIoU: # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
c2 = cw.pow(2) + ch.pow(2) + eps # convex diagonal squared
rho2 = (
(b2_x1 + b2_x2 - b1_x1 - b1_x2).pow(2) + (b2_y1 + b2_y2 - b1_y1 - b1_y2).pow(2)
) / 4 # center dist**2
if CIoU: # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
v = (4 / math.pi**2) * ((w2 / h2).atan() - (w1 / h1).atan()).pow(2)
with torch.no_grad():
alpha = v / (v - iou + (1 + eps))
return iou - (rho2 / c2 + v * alpha) # CIoU
return iou - rho2 / c2 # DIoU
c_area = cw * ch + eps # convex area
return iou - (c_area - union) / c_area # GIoU https://arxiv.org/pdf/1902.09630.pdf
return iou # IoU
def mask_iou(mask1, mask2, eps=1e-7):
"""
Calculate masks IoU.
Args:
mask1 (torch.Tensor): A tensor of shape (N, n) where N is the number of ground truth objects and n is the
product of image width and height.
mask2 (torch.Tensor): A tensor of shape (M, n) where M is the number of predicted objects and n is the
product of image width and height.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(torch.Tensor): A tensor of shape (N, M) representing masks IoU.
"""
intersection = torch.matmul(mask1, mask2.T).clamp_(0)
union = (mask1.sum(1)[:, None] + mask2.sum(1)[None]) - intersection # (area1 + area2) - intersection
return intersection / (union + eps)
def kpt_iou(kpt1, kpt2, area, sigma, eps=1e-7):
"""
Calculate Object Keypoint Similarity (OKS).
Args:
kpt1 (torch.Tensor): A tensor of shape (N, 17, 3) representing ground truth keypoints.
kpt2 (torch.Tensor): A tensor of shape (M, 17, 3) representing predicted keypoints.
area (torch.Tensor): A tensor of shape (N,) representing areas from ground truth.
sigma (list): A list containing 17 values representing keypoint scales.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(torch.Tensor): A tensor of shape (N, M) representing keypoint similarities.
"""
d = (kpt1[:, None, :, 0] - kpt2[..., 0]).pow(2) + (kpt1[:, None, :, 1] - kpt2[..., 1]).pow(2) # (N, M, 17)
sigma = torch.tensor(sigma, device=kpt1.device, dtype=kpt1.dtype) # (17, )
kpt_mask = kpt1[..., 2] != 0 # (N, 17)
e = d / ((2 * sigma).pow(2) * (area[:, None, None] + eps) * 2) # from cocoeval
# e = d / ((area[None, :, None] + eps) * sigma) ** 2 / 2 # from formula
return ((-e).exp() * kpt_mask[:, None]).sum(-1) / (kpt_mask.sum(-1)[:, None] + eps)
def _get_covariance_matrix(boxes):
"""
Generating covariance matrix from obbs.
Args:
boxes (torch.Tensor): A tensor of shape (N, 5) representing rotated bounding boxes, with xywhr format.
Returns:
(torch.Tensor): Covariance metrixs corresponding to original rotated bounding boxes.
"""
# Gaussian bounding boxes, ignore the center points (the first two columns) because they are not needed here.
gbbs = torch.cat((boxes[:, 2:4].pow(2) / 12, boxes[:, 4:]), dim=-1)
a, b, c = gbbs.split(1, dim=-1)
cos = c.cos()
sin = c.sin()
cos2 = cos.pow(2)
sin2 = sin.pow(2)
return a * cos2 + b * sin2, a * sin2 + b * cos2, (a - b) * cos * sin
def probiou(obb1, obb2, CIoU=False, eps=1e-7):
"""
Calculate the prob IoU between oriented bounding boxes, https://arxiv.org/pdf/2106.06072v1.pdf.
Args:
obb1 (torch.Tensor): A tensor of shape (N, 5) representing ground truth obbs, with xywhr format.
obb2 (torch.Tensor): A tensor of shape (N, 5) representing predicted obbs, with xywhr format.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(torch.Tensor): A tensor of shape (N, ) representing obb similarities.
"""
x1, y1 = obb1[..., :2].split(1, dim=-1)
x2, y2 = obb2[..., :2].split(1, dim=-1)
a1, b1, c1 = _get_covariance_matrix(obb1)
a2, b2, c2 = _get_covariance_matrix(obb2)
t1 = (
((a1 + a2) * (y1 - y2).pow(2) + (b1 + b2) * (x1 - x2).pow(2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)
) * 0.25
t2 = (((c1 + c2) * (x2 - x1) * (y1 - y2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)) * 0.5
t3 = (
((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2))
/ (4 * ((a1 * b1 - c1.pow(2)).clamp_(0) * (a2 * b2 - c2.pow(2)).clamp_(0)).sqrt() + eps)
+ eps
).log() * 0.5
bd = (t1 + t2 + t3).clamp(eps, 100.0)
hd = (1.0 - (-bd).exp() + eps).sqrt()
iou = 1 - hd
if CIoU: # only include the wh aspect ratio part
w1, h1 = obb1[..., 2:4].split(1, dim=-1)
w2, h2 = obb2[..., 2:4].split(1, dim=-1)
v = (4 / math.pi**2) * ((w2 / h2).atan() - (w1 / h1).atan()).pow(2)
with torch.no_grad():
alpha = v / (v - iou + (1 + eps))
return iou - v * alpha # CIoU
return iou
def batch_probiou(obb1, obb2, eps=1e-7):
"""
Calculate the prob IoU between oriented bounding boxes, https://arxiv.org/pdf/2106.06072v1.pdf.
Args:
obb1 (torch.Tensor | np.ndarray): A tensor of shape (N, 5) representing ground truth obbs, with xywhr format.
obb2 (torch.Tensor | np.ndarray): A tensor of shape (M, 5) representing predicted obbs, with xywhr format.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-7.
Returns:
(torch.Tensor): A tensor of shape (N, M) representing obb similarities.
"""
obb1 = torch.from_numpy(obb1) if isinstance(obb1, np.ndarray) else obb1
obb2 = torch.from_numpy(obb2) if isinstance(obb2, np.ndarray) else obb2
x1, y1 = obb1[..., :2].split(1, dim=-1)
x2, y2 = (x.squeeze(-1)[None] for x in obb2[..., :2].split(1, dim=-1))
a1, b1, c1 = _get_covariance_matrix(obb1)
a2, b2, c2 = (x.squeeze(-1)[None] for x in _get_covariance_matrix(obb2))
t1 = (
((a1 + a2) * (y1 - y2).pow(2) + (b1 + b2) * (x1 - x2).pow(2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)
) * 0.25
t2 = (((c1 + c2) * (x2 - x1) * (y1 - y2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)) * 0.5
t3 = (
((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2))
/ (4 * ((a1 * b1 - c1.pow(2)).clamp_(0) * (a2 * b2 - c2.pow(2)).clamp_(0)).sqrt() + eps)
+ eps
).log() * 0.5
bd = (t1 + t2 + t3).clamp(eps, 100.0)
hd = (1.0 - (-bd).exp() + eps).sqrt()
return 1 - hd
def smooth_BCE(eps=0.1):
"""
Computes smoothed positive and negative Binary Cross-Entropy targets.
This function calculates positive and negative label smoothing BCE targets based on a given epsilon value.
For implementation details, refer to https://github.com/ultralytics/yolov3/issues/238#issuecomment-598028441.
Args:
eps (float, optional): The epsilon value for label smoothing. Defaults to 0.1.
Returns:
(tuple): A tuple containing the positive and negative label smoothing BCE targets.
"""
return 1.0 - 0.5 * eps, 0.5 * eps
class ConfusionMatrix:
"""
A class for calculating and updating a confusion matrix for object detection and classification tasks.
Attributes:
task (str): The type of task, either 'detect' or 'classify'.
matrix (np.ndarray): The confusion matrix, with dimensions depending on the task.
nc (int): The number of classes.
conf (float): The confidence threshold for detections.
iou_thres (float): The Intersection over Union threshold.
"""
def __init__(self, nc, conf=0.25, iou_thres=0.45, task="detect"):
"""Initialize attributes for the YOLO model."""
self.task = task
self.matrix = np.zeros((nc + 1, nc + 1)) if self.task == "detect" else np.zeros((nc, nc))
self.nc = nc # number of classes
self.conf = 0.25 if conf in (None, 0.001) else conf # apply 0.25 if default val conf is passed
self.iou_thres = iou_thres
def process_cls_preds(self, preds, targets):
"""
Update confusion matrix for classification task.
Args:
preds (Array[N, min(nc,5)]): Predicted class labels.
targets (Array[N, 1]): Ground truth class labels.
"""
preds, targets = torch.cat(preds)[:, 0], torch.cat(targets)
for p, t in zip(preds.cpu().numpy(), targets.cpu().numpy()):
self.matrix[p][t] += 1
def process_batch(self, detections, gt_bboxes, gt_cls):
"""
Update confusion matrix for object detection task.
Args:
detections (Array[N, 6] | Array[N, 7]): Detected bounding boxes and their associated information.
Each row should contain (x1, y1, x2, y2, conf, class)
or with an additional element `angle` when it's obb.
gt_bboxes (Array[M, 4]| Array[N, 5]): Ground truth bounding boxes with xyxy/xyxyr format.
gt_cls (Array[M]): The class labels.
"""
if gt_cls.shape[0] == 0: # Check if labels is empty
if detections is not None:
detections = detections[detections[:, 4] > self.conf]
detection_classes = detections[:, 5].int()
for dc in detection_classes:
self.matrix[dc, self.nc] += 1 # false positives
return
if detections is None:
gt_classes = gt_cls.int()
for gc in gt_classes:
self.matrix[self.nc, gc] += 1 # background FN
return
detections = detections[detections[:, 4] > self.conf]
gt_classes = gt_cls.int()
detection_classes = detections[:, 5].int()
is_obb = detections.shape[1] == 7 and gt_bboxes.shape[1] == 5 # with additional `angle` dimension
iou = (
batch_probiou(gt_bboxes, torch.cat([detections[:, :4], detections[:, -1:]], dim=-1))
if is_obb
else box_iou(gt_bboxes, detections[:, :4])
)
x = torch.where(iou > self.iou_thres)
if x[0].shape[0]:
matches = torch.cat((torch.stack(x, 1), iou[x[0], x[1]][:, None]), 1).cpu().numpy()
if x[0].shape[0] > 1:
matches = matches[matches[:, 2].argsort()[::-1]]
matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
matches = matches[matches[:, 2].argsort()[::-1]]
matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
else:
matches = np.zeros((0, 3))
n = matches.shape[0] > 0
m0, m1, _ = matches.transpose().astype(int)
for i, gc in enumerate(gt_classes):
j = m0 == i
if n and sum(j) == 1:
self.matrix[detection_classes[m1[j]], gc] += 1 # correct
else:
self.matrix[self.nc, gc] += 1 # true background
if n:
for i, dc in enumerate(detection_classes):
if not any(m1 == i):
self.matrix[dc, self.nc] += 1 # predicted background
def matrix(self):
"""Returns the confusion matrix."""
return self.matrix
def tp_fp(self):
"""Returns true positives and false positives."""
tp = self.matrix.diagonal() # true positives
fp = self.matrix.sum(1) - tp # false positives
# fn = self.matrix.sum(0) - tp # false negatives (missed detections)
return (tp[:-1], fp[:-1]) if self.task == "detect" else (tp, fp) # remove background class if task=detect
@TryExcept("WARNING ⚠️ ConfusionMatrix plot failure")
@plt_settings()
def plot(self, normalize=True, save_dir="", names=(), on_plot=None):
"""
Plot the confusion matrix using seaborn and save it to a file.
Args:
normalize (bool): Whether to normalize the confusion matrix.
save_dir (str): Directory where the plot will be saved.
names (tuple): Names of classes, used as labels on the plot.
on_plot (func): An optional callback to pass plots path and data when they are rendered.
"""
import seaborn as sn
array = self.matrix / ((self.matrix.sum(0).reshape(1, -1) + 1e-9) if normalize else 1) # normalize columns
array[array < 0.005] = np.nan # don't annotate (would appear as 0.00)
fig, ax = plt.subplots(1, 1, figsize=(12, 9), tight_layout=True)
nc, nn = self.nc, len(names) # number of classes, names
sn.set_theme(font_scale=1.0 if nc < 50 else 0.8) # for label size
labels = (0 < nn < 99) and (nn == nc) # apply names to ticklabels
ticklabels = (list(names) + ["background"]) if labels else "auto"
with warnings.catch_warnings():
warnings.simplefilter("ignore") # suppress empty matrix RuntimeWarning: All-NaN slice encountered
sn.heatmap(
array,
ax=ax,
annot=nc < 30,
annot_kws={"size": 8},
cmap="Blues",
fmt=".2f" if normalize else ".0f",
square=True,
vmin=0.0,
xticklabels=ticklabels,
yticklabels=ticklabels,
).set_facecolor((1, 1, 1))
title = "Confusion Matrix" + " Normalized" * normalize
ax.set_xlabel("True")
ax.set_ylabel("Predicted")
ax.set_title(title)
plot_fname = Path(save_dir) / f'{title.lower().replace(" ", "_")}.png'
fig.savefig(plot_fname, dpi=250)
plt.close(fig)
if on_plot:
on_plot(plot_fname)
def print(self):
"""Print the confusion matrix to the console."""
for i in range(self.nc + 1):
LOGGER.info(" ".join(map(str, self.matrix[i])))
def smooth(y, f=0.05):
"""Box filter of fraction f."""
nf = round(len(y) * f * 2) // 2 + 1 # number of filter elements (must be odd)
p = np.ones(nf // 2) # ones padding
yp = np.concatenate((p * y[0], y, p * y[-1]), 0) # y padded
return np.convolve(yp, np.ones(nf) / nf, mode="valid") # y-smoothed
@plt_settings()
def plot_pr_curve(px, py, ap, save_dir=Path("pr_curve.png"), names=(), on_plot=None):
"""Plots a precision-recall curve."""
fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
py = np.stack(py, axis=1)
if 0 < len(names) < 21: # display per-class legend if < 21 classes
for i, y in enumerate(py.T):
ax.plot(px, y, linewidth=1, label=f"{names[i]} {ap[i, 0]:.3f}") # plot(recall, precision)
else:
ax.plot(px, py, linewidth=1, color="grey") # plot(recall, precision)
ax.plot(px, py.mean(1), linewidth=3, color="blue", label="all classes %.3f mAP@0.5" % ap[:, 0].mean())
ax.set_xlabel("Recall")
ax.set_ylabel("Precision")
ax.set_xlim(0, 1)
ax.set_ylim(0, 1)
ax.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
ax.set_title("Precision-Recall Curve")
fig.savefig(save_dir, dpi=250)
plt.close(fig)
if on_plot:
on_plot(save_dir)
@plt_settings()
def plot_mc_curve(px, py, save_dir=Path("mc_curve.png"), names=(), xlabel="Confidence", ylabel="Metric", on_plot=None):
"""Plots a metric-confidence curve."""
fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
if 0 < len(names) < 21: # display per-class legend if < 21 classes
for i, y in enumerate(py):
ax.plot(px, y, linewidth=1, label=f"{names[i]}") # plot(confidence, metric)
else:
ax.plot(px, py.T, linewidth=1, color="grey") # plot(confidence, metric)
y = smooth(py.mean(0), 0.05)
ax.plot(px, y, linewidth=3, color="blue", label=f"all classes {y.max():.2f} at {px[y.argmax()]:.3f}")
ax.set_xlabel(xlabel)
ax.set_ylabel(ylabel)
ax.set_xlim(0, 1)
ax.set_ylim(0, 1)
ax.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
ax.set_title(f"{ylabel}-Confidence Curve")
fig.savefig(save_dir, dpi=250)
plt.close(fig)
if on_plot:
on_plot(save_dir)
def compute_ap(recall, precision):
"""
Compute the average precision (AP) given the recall and precision curves.
Args:
recall (list): The recall curve.
precision (list): The precision curve.
Returns:
(float): Average precision.
(np.ndarray): Precision envelope curve.
(np.ndarray): Modified recall curve with sentinel values added at the beginning and end.
"""
# Append sentinel values to beginning and end
mrec = np.concatenate(([0.0], recall, [1.0]))
mpre = np.concatenate(([1.0], precision, [0.0]))
# Compute the precision envelope
mpre = np.flip(np.maximum.accumulate(np.flip(mpre)))
# Integrate area under curve
method = "interp" # methods: 'continuous', 'interp'
if method == "interp":
x = np.linspace(0, 1, 101) # 101-point interp (COCO)
ap = np.trapz(np.interp(x, mrec, mpre), x) # integrate
else: # 'continuous'
i = np.where(mrec[1:] != mrec[:-1])[0] # points where x-axis (recall) changes
ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1]) # area under curve
return ap, mpre, mrec
def ap_per_class(
tp, conf, pred_cls, target_cls, plot=False, on_plot=None, save_dir=Path(), names=(), eps=1e-16, prefix=""
):
"""
Computes the average precision per class for object detection evaluation.
Args:
tp (np.ndarray): Binary array indicating whether the detection is correct (True) or not (False).
conf (np.ndarray): Array of confidence scores of the detections.
pred_cls (np.ndarray): Array of predicted classes of the detections.
target_cls (np.ndarray): Array of true classes of the detections.
plot (bool, optional): Whether to plot PR curves or not. Defaults to False.
on_plot (func, optional): A callback to pass plots path and data when they are rendered. Defaults to None.
save_dir (Path, optional): Directory to save the PR curves. Defaults to an empty path.
names (tuple, optional): Tuple of class names to plot PR curves. Defaults to an empty tuple.
eps (float, optional): A small value to avoid division by zero. Defaults to 1e-16.
prefix (str, optional): A prefix string for saving the plot files. Defaults to an empty string.
Returns:
(tuple): A tuple of six arrays and one array of unique classes, where:
tp (np.ndarray): True positive counts at threshold given by max F1 metric for each class.Shape: (nc,).
fp (np.ndarray): False positive counts at threshold given by max F1 metric for each class. Shape: (nc,).
p (np.ndarray): Precision values at threshold given by max F1 metric for each class. Shape: (nc,).
r (np.ndarray): Recall values at threshold given by max F1 metric for each class. Shape: (nc,).
f1 (np.ndarray): F1-score values at threshold given by max F1 metric for each class. Shape: (nc,).
ap (np.ndarray): Average precision for each class at different IoU thresholds. Shape: (nc, 10).
unique_classes (np.ndarray): An array of unique classes that have data. Shape: (nc,).
p_curve (np.ndarray): Precision curves for each class. Shape: (nc, 1000).
r_curve (np.ndarray): Recall curves for each class. Shape: (nc, 1000).
f1_curve (np.ndarray): F1-score curves for each class. Shape: (nc, 1000).
x (np.ndarray): X-axis values for the curves. Shape: (1000,).
prec_values: Precision values at mAP@0.5 for each class. Shape: (nc, 1000).
"""
# Sort by objectness
i = np.argsort(-conf)
tp, conf, pred_cls = tp[i], conf[i], pred_cls[i]
# Find unique classes
unique_classes, nt = np.unique(target_cls, return_counts=True)
nc = unique_classes.shape[0] # number of classes, number of detections
# Create Precision-Recall curve and compute AP for each class
x, prec_values = np.linspace(0, 1, 1000), []
# Average precision, precision and recall curves
ap, p_curve, r_curve = np.zeros((nc, tp.shape[1])), np.zeros((nc, 1000)), np.zeros((nc, 1000))
for ci, c in enumerate(unique_classes):
i = pred_cls == c
n_l = nt[ci] # number of labels
n_p = i.sum() # number of predictions
if n_p == 0 or n_l == 0:
continue
# Accumulate FPs and TPs
fpc = (1 - tp[i]).cumsum(0)
tpc = tp[i].cumsum(0)
# Recall
recall = tpc / (n_l + eps) # recall curve
r_curve[ci] = np.interp(-x, -conf[i], recall[:, 0], left=0) # negative x, xp because xp decreases
# Precision
precision = tpc / (tpc + fpc) # precision curve
p_curve[ci] = np.interp(-x, -conf[i], precision[:, 0], left=1) # p at pr_score
# AP from recall-precision curve
for j in range(tp.shape[1]):
ap[ci, j], mpre, mrec = compute_ap(recall[:, j], precision[:, j])
if plot and j == 0:
prec_values.append(np.interp(x, mrec, mpre)) # precision at mAP@0.5
prec_values = np.array(prec_values) # (nc, 1000)
# Compute F1 (harmonic mean of precision and recall)
f1_curve = 2 * p_curve * r_curve / (p_curve + r_curve + eps)
names = [v for k, v in names.items() if k in unique_classes] # list: only classes that have data
names = dict(enumerate(names)) # to dict
if plot:
plot_pr_curve(x, prec_values, ap, save_dir / f"{prefix}PR_curve.png", names, on_plot=on_plot)
plot_mc_curve(x, f1_curve, save_dir / f"{prefix}F1_curve.png", names, ylabel="F1", on_plot=on_plot)
plot_mc_curve(x, p_curve, save_dir / f"{prefix}P_curve.png", names, ylabel="Precision", on_plot=on_plot)
plot_mc_curve(x, r_curve, save_dir / f"{prefix}R_curve.png", names, ylabel="Recall", on_plot=on_plot)
i = smooth(f1_curve.mean(0), 0.1).argmax() # max F1 index
p, r, f1 = p_curve[:, i], r_curve[:, i], f1_curve[:, i] # max-F1 precision, recall, F1 values
tp = (r * nt).round() # true positives
fp = (tp / (p + eps) - tp).round() # false positives
return tp, fp, p, r, f1, ap, unique_classes.astype(int), p_curve, r_curve, f1_curve, x, prec_values
class Metric(SimpleClass):
"""
Class for computing evaluation metrics for YOLOv8 model.
Attributes:
p (list): Precision for each class. Shape: (nc,).
r (list): Recall for each class. Shape: (nc,).
f1 (list): F1 score for each class. Shape: (nc,).
all_ap (list): AP scores for all classes and all IoU thresholds. Shape: (nc, 10).
ap_class_index (list): Index of class for each AP score. Shape: (nc,).
nc (int): Number of classes.
Methods:
ap50(): AP at IoU threshold of 0.5 for all classes. Returns: List of AP scores. Shape: (nc,) or [].
ap(): AP at IoU thresholds from 0.5 to 0.95 for all classes. Returns: List of AP scores. Shape: (nc,) or [].
mp(): Mean precision of all classes. Returns: Float.
mr(): Mean recall of all classes. Returns: Float.
map50(): Mean AP at IoU threshold of 0.5 for all classes. Returns: Float.
map75(): Mean AP at IoU threshold of 0.75 for all classes. Returns: Float.
map(): Mean AP at IoU thresholds from 0.5 to 0.95 for all classes. Returns: Float.
mean_results(): Mean of results, returns mp, mr, map50, map.
class_result(i): Class-aware result, returns p[i], r[i], ap50[i], ap[i].
maps(): mAP of each class. Returns: Array of mAP scores, shape: (nc,).
fitness(): Model fitness as a weighted combination of metrics. Returns: Float.
update(results): Update metric attributes with new evaluation results.
"""
def __init__(self) -> None:
"""Initializes a Metric instance for computing evaluation metrics for the YOLOv8 model."""
self.p = [] # (nc, )
self.r = [] # (nc, )
self.f1 = [] # (nc, )
self.all_ap = [] # (nc, 10)
self.ap_class_index = [] # (nc, )
self.nc = 0
@property
def ap50(self):
"""
Returns the Average Precision (AP) at an IoU threshold of 0.5 for all classes.
Returns:
(np.ndarray, list): Array of shape (nc,) with AP50 values per class, or an empty list if not available.
"""
return self.all_ap[:, 0] if len(self.all_ap) else []
@property
def ap(self):
"""
Returns the Average Precision (AP) at an IoU threshold of 0.5-0.95 for all classes.
Returns:
(np.ndarray, list): Array of shape (nc,) with AP50-95 values per class, or an empty list if not available.
"""
return self.all_ap.mean(1) if len(self.all_ap) else []
@property
def mp(self):
"""
Returns the Mean Precision of all classes.
Returns:
(float): The mean precision of all classes.
"""
return self.p.mean() if len(self.p) else 0.0
@property
def mr(self):
"""
Returns the Mean Recall of all classes.
Returns:
(float): The mean recall of all classes.
"""
return self.r.mean() if len(self.r) else 0.0
@property
def map50(self):
"""
Returns the mean Average Precision (mAP) at an IoU threshold of 0.5.
Returns:
(float): The mAP at an IoU threshold of 0.5.
"""
return self.all_ap[:, 0].mean() if len(self.all_ap) else 0.0
@property
def map75(self):
"""
Returns the mean Average Precision (mAP) at an IoU threshold of 0.75.
Returns:
(float): The mAP at an IoU threshold of 0.75.
"""
return self.all_ap[:, 5].mean() if len(self.all_ap) else 0.0
@property
def map(self):
"""
Returns the mean Average Precision (mAP) over IoU thresholds of 0.5 - 0.95 in steps of 0.05.
Returns:
(float): The mAP over IoU thresholds of 0.5 - 0.95 in steps of 0.05.
"""
return self.all_ap.mean() if len(self.all_ap) else 0.0
def mean_results(self):
"""Mean of results, return mp, mr, map50, map."""
return [self.mp, self.mr, self.map50, self.map]
def class_result(self, i):
"""Class-aware result, return p[i], r[i], ap50[i], ap[i]."""
return self.p[i], self.r[i], self.ap50[i], self.ap[i]
@property
def maps(self):
"""MAP of each class."""
maps = np.zeros(self.nc) + self.map
for i, c in enumerate(self.ap_class_index):
maps[c] = self.ap[i]
return maps
def fitness(self):
"""Model fitness as a weighted combination of metrics."""
w = [0.0, 0.0, 0.1, 0.9] # weights for [P, R, mAP@0.5, mAP@0.5:0.95]
return (np.array(self.mean_results()) * w).sum()
def update(self, results):
"""
Updates the evaluation metrics of the model with a new set of results.
Args:
results (tuple): A tuple containing the following evaluation metrics:
- p (list): Precision for each class. Shape: (nc,).
- r (list): Recall for each class. Shape: (nc,).
- f1 (list): F1 score for each class. Shape: (nc,).
- all_ap (list): AP scores for all classes and all IoU thresholds. Shape: (nc, 10).
- ap_class_index (list): Index of class for each AP score. Shape: (nc,).
Side Effects:
Updates the class attributes `self.p`, `self.r`, `self.f1`, `self.all_ap`, and `self.ap_class_index` based
on the values provided in the `results` tuple.
"""
(
self.p,
self.r,
self.f1,
self.all_ap,
self.ap_class_index,
self.p_curve,
self.r_curve,
self.f1_curve,
self.px,
self.prec_values,
) = results
@property
def curves(self):
"""Returns a list of curves for accessing specific metrics curves."""
return []
@property
def curves_results(self):
"""Returns a list of curves for accessing specific metrics curves."""
return [
[self.px, self.prec_values, "Recall", "Precision"],
[self.px, self.f1_curve, "Confidence", "F1"],
[self.px, self.p_curve, "Confidence", "Precision"],
[self.px, self.r_curve, "Confidence", "Recall"],
]
class DetMetrics(SimpleClass):
"""
This class is a utility class for computing detection metrics such as precision, recall, and mean average precision
(mAP) of an object detection model.
Args:
save_dir (Path): A path to the directory where the output plots will be saved. Defaults to current directory.
plot (bool): A flag that indicates whether to plot precision-recall curves for each class. Defaults to False.
on_plot (func): An optional callback to pass plots path and data when they are rendered. Defaults to None.
names (tuple of str): A tuple of strings that represents the names of the classes. Defaults to an empty tuple.
Attributes:
save_dir (Path): A path to the directory where the output plots will be saved.
plot (bool): A flag that indicates whether to plot the precision-recall curves for each class.
on_plot (func): An optional callback to pass plots path and data when they are rendered.
names (tuple of str): A tuple of strings that represents the names of the classes.
box (Metric): An instance of the Metric class for storing the results of the detection metrics.
speed (dict): A dictionary for storing the execution time of different parts of the detection process.
Methods:
process(tp, conf, pred_cls, target_cls): Updates the metric results with the latest batch of predictions.
keys: Returns a list of keys for accessing the computed detection metrics.
mean_results: Returns a list of mean values for the computed detection metrics.
class_result(i): Returns a list of values for the computed detection metrics for a specific class.
maps: Returns a dictionary of mean average precision (mAP) values for different IoU thresholds.
fitness: Computes the fitness score based on the computed detection metrics.
ap_class_index: Returns a list of class indices sorted by their average precision (AP) values.
results_dict: Returns a dictionary that maps detection metric keys to their computed values.
curves: TODO
curves_results: TODO
"""
def __init__(self, save_dir=Path("."), plot=False, on_plot=None, names=()) -> None:
"""Initialize a DetMetrics instance with a save directory, plot flag, callback function, and class names."""
self.save_dir = save_dir
self.plot = plot
self.on_plot = on_plot
self.names = names
self.box = Metric()
self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
self.task = "detect"
def process(self, tp, conf, pred_cls, target_cls):
"""Process predicted results for object detection and update metrics."""
results = ap_per_class(
tp,
conf,
pred_cls,
target_cls,
plot=self.plot,
save_dir=self.save_dir,
names=self.names,
on_plot=self.on_plot,
)[2:]
self.box.nc = len(self.names)
self.box.update(results)
@property
def keys(self):
"""Returns a list of keys for accessing specific metrics."""
return ["metrics/precision(B)", "metrics/recall(B)", "metrics/mAP50(B)", "metrics/mAP50-95(B)"]
def mean_results(self):
"""Calculate mean of detected objects & return precision, recall, mAP50, and mAP50-95."""
return self.box.mean_results()
def class_result(self, i):
"""Return the result of evaluating the performance of an object detection model on a specific class."""
return self.box.class_result(i)
@property
def maps(self):
"""Returns mean Average Precision (mAP) scores per class."""
return self.box.maps
@property
def fitness(self):
"""Returns the fitness of box object."""
return self.box.fitness()
@property
def ap_class_index(self):
"""Returns the average precision index per class."""
return self.box.ap_class_index
@property
def results_dict(self):
"""Returns dictionary of computed performance metrics and statistics."""
return dict(zip(self.keys + ["fitness"], self.mean_results() + [self.fitness]))
@property
def curves(self):
"""Returns a list of curves for accessing specific metrics curves."""
return ["Precision-Recall(B)", "F1-Confidence(B)", "Precision-Confidence(B)", "Recall-Confidence(B)"]
@property
def curves_results(self):
"""Returns dictionary of computed performance metrics and statistics."""
return self.box.curves_results
class SegmentMetrics(SimpleClass):
"""
Calculates and aggregates detection and segmentation metrics over a given set of classes.
Args:
save_dir (Path): Path to the directory where the output plots should be saved. Default is the current directory.
plot (bool): Whether to save the detection and segmentation plots. Default is False.
on_plot (func): An optional callback to pass plots path and data when they are rendered. Defaults to None.
names (list): List of class names. Default is an empty list.
Attributes:
save_dir (Path): Path to the directory where the output plots should be saved.
plot (bool): Whether to save the detection and segmentation plots.
on_plot (func): An optional callback to pass plots path and data when they are rendered.
names (list): List of class names.
box (Metric): An instance of the Metric class to calculate box detection metrics.
seg (Metric): An instance of the Metric class to calculate mask segmentation metrics.
speed (dict): Dictionary to store the time taken in different phases of inference.
Methods:
process(tp_m, tp_b, conf, pred_cls, target_cls): Processes metrics over the given set of predictions.
mean_results(): Returns the mean of the detection and segmentation metrics over all the classes.
class_result(i): Returns the detection and segmentation metrics of class `i`.
maps: Returns the mean Average Precision (mAP) scores for IoU thresholds ranging from 0.50 to 0.95.
fitness: Returns the fitness scores, which are a single weighted combination of metrics.
ap_class_index: Returns the list of indices of classes used to compute Average Precision (AP).
results_dict: Returns the dictionary containing all the detection and segmentation metrics and fitness score.
"""
def __init__(self, save_dir=Path("."), plot=False, on_plot=None, names=()) -> None:
"""Initialize a SegmentMetrics instance with a save directory, plot flag, callback function, and class names."""
self.save_dir = save_dir
self.plot = plot
self.on_plot = on_plot
self.names = names
self.box = Metric()
self.seg = Metric()
self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
self.task = "segment"
def process(self, tp, tp_m, conf, pred_cls, target_cls):
"""
Processes the detection and segmentation metrics over the given set of predictions.
Args:
tp (list): List of True Positive boxes.
tp_m (list): List of True Positive masks.
conf (list): List of confidence scores.
pred_cls (list): List of predicted classes.
target_cls (list): List of target classes.
"""
results_mask = ap_per_class(
tp_m,
conf,
pred_cls,
target_cls,
plot=self.plot,
on_plot=self.on_plot,
save_dir=self.save_dir,
names=self.names,
prefix="Mask",
)[2:]
self.seg.nc = len(self.names)
self.seg.update(results_mask)
results_box = ap_per_class(
tp,
conf,
pred_cls,
target_cls,
plot=self.plot,
on_plot=self.on_plot,
save_dir=self.save_dir,
names=self.names,
prefix="Box",
)[2:]
self.box.nc = len(self.names)
self.box.update(results_box)
@property
def keys(self):
"""Returns a list of keys for accessing metrics."""
return [
"metrics/precision(B)",
"metrics/recall(B)",
"metrics/mAP50(B)",
"metrics/mAP50-95(B)",
"metrics/precision(M)",
"metrics/recall(M)",
"metrics/mAP50(M)",
"metrics/mAP50-95(M)",
]
def mean_results(self):
"""Return the mean metrics for bounding box and segmentation results."""
return self.box.mean_results() + self.seg.mean_results()
def class_result(self, i):
"""Returns classification results for a specified class index."""
return self.box.class_result(i) + self.seg.class_result(i)
@property
def maps(self):
"""Returns mAP scores for object detection and semantic segmentation models."""
return self.box.maps + self.seg.maps
@property
def fitness(self):
"""Get the fitness score for both segmentation and bounding box models."""
return self.seg.fitness() + self.box.fitness()
@property
def ap_class_index(self):
"""Boxes and masks have the same ap_class_index."""
return self.box.ap_class_index
@property
def results_dict(self):
"""Returns results of object detection model for evaluation."""
return dict(zip(self.keys + ["fitness"], self.mean_results() + [self.fitness]))
@property
def curves(self):
"""Returns a list of curves for accessing specific metrics curves."""
return [
"Precision-Recall(B)",
"F1-Confidence(B)",
"Precision-Confidence(B)",
"Recall-Confidence(B)",
"Precision-Recall(M)",
"F1-Confidence(M)",
"Precision-Confidence(M)",
"Recall-Confidence(M)",
]
@property
def curves_results(self):
"""Returns dictionary of computed performance metrics and statistics."""
return self.box.curves_results + self.seg.curves_results
class PoseMetrics(SegmentMetrics):
"""
Calculates and aggregates detection and pose metrics over a given set of classes.
Args:
save_dir (Path): Path to the directory where the output plots should be saved. Default is the current directory.
plot (bool): Whether to save the detection and segmentation plots. Default is False.
on_plot (func): An optional callback to pass plots path and data when they are rendered. Defaults to None.
names (list): List of class names. Default is an empty list.
Attributes:
save_dir (Path): Path to the directory where the output plots should be saved.
plot (bool): Whether to save the detection and segmentation plots.
on_plot (func): An optional callback to pass plots path and data when they are rendered.
names (list): List of class names.
box (Metric): An instance of the Metric class to calculate box detection metrics.
pose (Metric): An instance of the Metric class to calculate mask segmentation metrics.
speed (dict): Dictionary to store the time taken in different phases of inference.
Methods:
process(tp_m, tp_b, conf, pred_cls, target_cls): Processes metrics over the given set of predictions.
mean_results(): Returns the mean of the detection and segmentation metrics over all the classes.
class_result(i): Returns the detection and segmentation metrics of class `i`.
maps: Returns the mean Average Precision (mAP) scores for IoU thresholds ranging from 0.50 to 0.95.
fitness: Returns the fitness scores, which are a single weighted combination of metrics.
ap_class_index: Returns the list of indices of classes used to compute Average Precision (AP).
results_dict: Returns the dictionary containing all the detection and segmentation metrics and fitness score.
"""
def __init__(self, save_dir=Path("."), plot=False, on_plot=None, names=()) -> None:
"""Initialize the PoseMetrics class with directory path, class names, and plotting options."""
super().__init__(save_dir, plot, names)
self.save_dir = save_dir
self.plot = plot
self.on_plot = on_plot
self.names = names
self.box = Metric()
self.pose = Metric()
self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
self.task = "pose"
def process(self, tp, tp_p, conf, pred_cls, target_cls):
"""
Processes the detection and pose metrics over the given set of predictions.
Args:
tp (list): List of True Positive boxes.
tp_p (list): List of True Positive keypoints.
conf (list): List of confidence scores.
pred_cls (list): List of predicted classes.
target_cls (list): List of target classes.
"""
results_pose = ap_per_class(
tp_p,
conf,
pred_cls,
target_cls,
plot=self.plot,
on_plot=self.on_plot,
save_dir=self.save_dir,
names=self.names,
prefix="Pose",
)[2:]
self.pose.nc = len(self.names)
self.pose.update(results_pose)
results_box = ap_per_class(
tp,
conf,
pred_cls,
target_cls,
plot=self.plot,
on_plot=self.on_plot,
save_dir=self.save_dir,
names=self.names,
prefix="Box",
)[2:]
self.box.nc = len(self.names)
self.box.update(results_box)
@property
def keys(self):
"""Returns list of evaluation metric keys."""
return [
"metrics/precision(B)",
"metrics/recall(B)",
"metrics/mAP50(B)",
"metrics/mAP50-95(B)",
"metrics/precision(P)",
"metrics/recall(P)",
"metrics/mAP50(P)",
"metrics/mAP50-95(P)",
]
def mean_results(self):
"""Return the mean results of box and pose."""
return self.box.mean_results() + self.pose.mean_results()
def class_result(self, i):
"""Return the class-wise detection results for a specific class i."""
return self.box.class_result(i) + self.pose.class_result(i)
@property
def maps(self):
"""Returns the mean average precision (mAP) per class for both box and pose detections."""
return self.box.maps + self.pose.maps
@property
def fitness(self):
"""Computes classification metrics and speed using the `targets` and `pred` inputs."""
return self.pose.fitness() + self.box.fitness()
@property
def curves(self):
"""Returns a list of curves for accessing specific metrics curves."""
return [
"Precision-Recall(B)",
"F1-Confidence(B)",
"Precision-Confidence(B)",
"Recall-Confidence(B)",
"Precision-Recall(P)",
"F1-Confidence(P)",
"Precision-Confidence(P)",
"Recall-Confidence(P)",
]
@property
def curves_results(self):
"""Returns dictionary of computed performance metrics and statistics."""
return self.box.curves_results + self.pose.curves_results
class ClassifyMetrics(SimpleClass):
"""
Class for computing classification metrics including top-1 and top-5 accuracy.
Attributes:
top1 (float): The top-1 accuracy.
top5 (float): The top-5 accuracy.
speed (Dict[str, float]): A dictionary containing the time taken for each step in the pipeline.
Properties:
fitness (float): The fitness of the model, which is equal to top-5 accuracy.
results_dict (Dict[str, Union[float, str]]): A dictionary containing the classification metrics and fitness.
keys (List[str]): A list of keys for the results_dict.
Methods:
process(targets, pred): Processes the targets and predictions to compute classification metrics.
"""
def __init__(self) -> None:
"""Initialize a ClassifyMetrics instance."""
self.top1 = 0
self.top5 = 0
self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
self.task = "classify"
def process(self, targets, pred):
"""Target classes and predicted classes."""
pred, targets = torch.cat(pred), torch.cat(targets)
correct = (targets[:, None] == pred).float()
acc = torch.stack((correct[:, 0], correct.max(1).values), dim=1) # (top1, top5) accuracy
self.top1, self.top5 = acc.mean(0).tolist()
@property
def fitness(self):
"""Returns mean of top-1 and top-5 accuracies as fitness score."""
return (self.top1 + self.top5) / 2
@property
def results_dict(self):
"""Returns a dictionary with model's performance metrics and fitness score."""
return dict(zip(self.keys + ["fitness"], [self.top1, self.top5, self.fitness]))
@property
def keys(self):
"""Returns a list of keys for the results_dict property."""
return ["metrics/accuracy_top1", "metrics/accuracy_top5"]
@property
def curves(self):
"""Returns a list of curves for accessing specific metrics curves."""
return []
@property
def curves_results(self):
"""Returns a list of curves for accessing specific metrics curves."""
return []
class OBBMetrics(SimpleClass):
def __init__(self, save_dir=Path("."), plot=False, on_plot=None, names=()) -> None:
self.save_dir = save_dir
self.plot = plot
self.on_plot = on_plot
self.names = names
self.box = Metric()
self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
def process(self, tp, conf, pred_cls, target_cls):
"""Process predicted results for object detection and update metrics."""
results = ap_per_class(
tp,
conf,
pred_cls,
target_cls,
plot=self.plot,
save_dir=self.save_dir,
names=self.names,
on_plot=self.on_plot,
)[2:]
self.box.nc = len(self.names)
self.box.update(results)
@property
def keys(self):
"""Returns a list of keys for accessing specific metrics."""
return ["metrics/precision(B)", "metrics/recall(B)", "metrics/mAP50(B)", "metrics/mAP50-95(B)"]
def mean_results(self):
"""Calculate mean of detected objects & return precision, recall, mAP50, and mAP50-95."""
return self.box.mean_results()
def class_result(self, i):
"""Return the result of evaluating the performance of an object detection model on a specific class."""
return self.box.class_result(i)
@property
def maps(self):
"""Returns mean Average Precision (mAP) scores per class."""
return self.box.maps
@property
def fitness(self):
"""Returns the fitness of box object."""
return self.box.fitness()
@property
def ap_class_index(self):
"""Returns the average precision index per class."""
return self.box.ap_class_index
@property
def results_dict(self):
"""Returns dictionary of computed performance metrics and statistics."""
return dict(zip(self.keys + ["fitness"], self.mean_results() + [self.fitness]))
@property
def curves(self):
"""Returns a list of curves for accessing specific metrics curves."""
return []
@property
def curves_results(self):
"""Returns a list of curves for accessing specific metrics curves."""
return []
将上面原始代码中的def bbox_iou那一段代码替换成以下代码
class WIoU_Scale:
''' monotonous: {
None: origin v1
True: monotonic FM v2
False: non-monotonic FM v3
}
momentum: The momentum of running mean'''
iou_mean = 1.
monotonous = False
_momentum = 1 - 0.5 ** (1 / 7000)
_is_train = True
def __init__(self, iou):
self.iou = iou
self._update(self)
@classmethod
def _update(cls, self):
if cls._is_train: cls.iou_mean = (1 - cls._momentum) * cls.iou_mean + \
cls._momentum * self.iou.detach().mean().item()
@classmethod
def _scaled_loss(cls, self, gamma=1.9, delta=3):
if isinstance(self.monotonous, bool):
if self.monotonous:
return (self.iou.detach() / self.iou_mean).sqrt()
else:
beta = self.iou.detach() / self.iou_mean
alpha = delta * torch.pow(gamma, beta - delta)
return beta / alpha
return 1
def bbox_iou(box1, box2, xywh=True, GIoU=False, DIoU=False, CIoU=False, SIoU=False, EIoU=False, WIoU=False, Focal=False, alpha=1, gamma=0.5, scale=False, eps=1e-7):
# Returns Intersection over Union (IoU) of box1(1,4) to box2(n,4)
# Get the coordinates of bounding boxes
if xywh: # transform from xywh to xyxy
(x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
else: # x1, y1, x2, y2 = box1
b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
w1, h1 = b1_x2 - b1_x1, (b1_y2 - b1_y1).clamp(eps)
w2, h2 = b2_x2 - b2_x1, (b2_y2 - b2_y1).clamp(eps)
# Intersection area
inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp(0) * \
(b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)).clamp(0)
# Union Area
union = w1 * h1 + w2 * h2 - inter + eps
if scale:
self = WIoU_Scale(1 - (inter / union))
# IoU
# iou = inter / union # ori iou
iou = torch.pow(inter/(union + eps), alpha) # alpha iou
if CIoU or DIoU or GIoU or EIoU or SIoU or WIoU:
cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1) # convex (smallest enclosing box) width
ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1) # convex height
if CIoU or DIoU or EIoU or SIoU or WIoU: # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
c2 = (cw ** 2 + ch ** 2) ** alpha + eps # convex diagonal squared
rho2 = (((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 + (b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4) ** alpha # center dist ** 2
if CIoU: # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
v = (4 / math.pi ** 2) * (torch.atan(w2 / h2) - torch.atan(w1 / h1)).pow(2)
with torch.no_grad():
alpha_ciou = v / (v - iou + (1 + eps))
if Focal:
return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha)), torch.pow(inter/(union + eps), gamma) # Focal_CIoU
else:
return iou - (rho2 / c2 + torch.pow(v * alpha_ciou + eps, alpha)) # CIoU
elif EIoU:
rho_w2 = ((b2_x2 - b2_x1) - (b1_x2 - b1_x1)) ** 2
rho_h2 = ((b2_y2 - b2_y1) - (b1_y2 - b1_y1)) ** 2
cw2 = torch.pow(cw ** 2 + eps, alpha)
ch2 = torch.pow(ch ** 2 + eps, alpha)
if Focal:
return iou - (rho2 / c2 + rho_w2 / cw2 + rho_h2 / ch2), torch.pow(inter/(union + eps), gamma) # Focal_EIou
else:
return iou - (rho2 / c2 + rho_w2 / cw2 + rho_h2 / ch2) # EIou
elif SIoU:
# SIoU Loss https://arxiv.org/pdf/2205.12740.pdf
s_cw = (b2_x1 + b2_x2 - b1_x1 - b1_x2) * 0.5 + eps
s_ch = (b2_y1 + b2_y2 - b1_y1 - b1_y2) * 0.5 + eps
sigma = torch.pow(s_cw ** 2 + s_ch ** 2, 0.5)
sin_alpha_1 = torch.abs(s_cw) / sigma
sin_alpha_2 = torch.abs(s_ch) / sigma
threshold = pow(2, 0.5) / 2
sin_alpha = torch.where(sin_alpha_1 > threshold, sin_alpha_2, sin_alpha_1)
angle_cost = torch.cos(torch.arcsin(sin_alpha) * 2 - math.pi / 2)
rho_x = (s_cw / cw) ** 2
rho_y = (s_ch / ch) ** 2
gamma = angle_cost - 2
distance_cost = 2 - torch.exp(gamma * rho_x) - torch.exp(gamma * rho_y)
omiga_w = torch.abs(w1 - w2) / torch.max(w1, w2)
omiga_h = torch.abs(h1 - h2) / torch.max(h1, h2)
shape_cost = torch.pow(1 - torch.exp(-1 * omiga_w), 4) + torch.pow(1 - torch.exp(-1 * omiga_h), 4)
if Focal:
return iou - torch.pow(0.5 * (distance_cost + shape_cost) + eps, alpha), torch.pow(inter/(union + eps), gamma) # Focal_SIou
else:
return iou - torch.pow(0.5 * (distance_cost + shape_cost) + eps, alpha) # SIou
elif WIoU:
if Focal:
raise RuntimeError("WIoU do not support Focal.")
elif scale:
return getattr(WIoU_Scale, '_scaled_loss')(self), (1 - iou) * torch.exp((rho2 / c2)), iou # WIoU https://arxiv.org/abs/2301.10051
else:
return iou, torch.exp((rho2 / c2)) # WIoU v1
if Focal:
return iou - rho2 / c2, torch.pow(inter/(union + eps), gamma) # Focal_DIoU
else:
return iou - rho2 / c2 # DIoU
c_area = cw * ch + eps # convex area
if Focal:
return iou - torch.pow((c_area - union) / c_area + eps, alpha), torch.pow(inter/(union + eps), gamma) # Focal_GIoU https://arxiv.org/pdf/1902.09630.pdf
else:
return iou - torch.pow((c_area - union) / c_area + eps, alpha) # GIoU https://arxiv.org/pdf/1902.09630.pdf
if Focal:
return iou, torch.pow(inter/(union + eps), gamma) # Focal_IoU
else:
return iou # IoU
在替换的代码中：
- monotonous =None：表示Wise-IoU v1
- monotonous =True：表示Wise-IoU v2
- monotonous =False：表示Wise-IoU v3（我使用的是第三种）
然后修改loss.py，这里有两处需要修改的地方。
第一处，找到
iou = bbox_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, CIoU=True)将其替换成
iou = bbox_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, WIoU=True, scale=True)❗️注意：scale需要设置为True，它是wiou中的一个缩放参数
第二处，找到
loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum将其替换成
if type(iou) is tuple:
if len(iou) == 2:
loss_iou = ((1.0 - iou[0]) * iou[1].detach() * weight).sum() / target_scores_sum
else:
loss_iou = (iou[0] * iou[1] * weight).sum() / target_scores_sum
else:
loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum（记得将后面几行缩进一下）
以下是修改后完整的loss.py文件
# Ultralytics YOLO 🚀, AGPL-3.0 license
import torch
import torch.nn as nn
import torch.nn.functional as F
from ultralytics.utils.metrics import OKS_SIGMA
from ultralytics.utils.ops import crop_mask, xywh2xyxy, xyxy2xywh
from ultralytics.utils.tal import RotatedTaskAlignedAssigner, TaskAlignedAssigner, dist2bbox, dist2rbox, make_anchors
from .metrics import bbox_iou, probiou
from .tal import bbox2dist
class VarifocalLoss(nn.Module):
"""
Varifocal loss by Zhang et al.
https://arxiv.org/abs/2008.13367.
"""
def __init__(self):
"""Initialize the VarifocalLoss class."""
super().__init__()
@staticmethod
def forward(pred_score, gt_score, label, alpha=0.75, gamma=2.0):
"""Computes varfocal loss."""
weight = alpha * pred_score.sigmoid().pow(gamma) * (1 - label) + gt_score * label
with torch.cuda.amp.autocast(enabled=False):
loss = (
(F.binary_cross_entropy_with_logits(pred_score.float(), gt_score.float(), reduction="none") * weight)
.mean(1)
.sum()
)
return loss
class FocalLoss(nn.Module):
"""Wraps focal loss around existing loss_fcn(), i.e. criteria = FocalLoss(nn.BCEWithLogitsLoss(), gamma=1.5)."""
def __init__(self):
"""Initializer for FocalLoss class with no parameters."""
super().__init__()
@staticmethod
def forward(pred, label, gamma=1.5, alpha=0.25):
"""Calculates and updates confusion matrix for object detection/classification tasks."""
loss = F.binary_cross_entropy_with_logits(pred, label, reduction="none")
# p_t = torch.exp(-loss)
# loss *= self.alpha * (1.000001 - p_t) ** self.gamma # non-zero power for gradient stability
# TF implementation https://github.com/tensorflow/addons/blob/v0.7.1/tensorflow_addons/losses/focal_loss.py
pred_prob = pred.sigmoid() # prob from logits
p_t = label * pred_prob + (1 - label) * (1 - pred_prob)
modulating_factor = (1.0 - p_t) ** gamma
loss *= modulating_factor
if alpha > 0:
alpha_factor = label * alpha + (1 - label) * (1 - alpha)
loss *= alpha_factor
return loss.mean(1).sum()
class BboxLoss(nn.Module):
"""Criterion class for computing training losses during training."""
def __init__(self, reg_max, use_dfl=False):
"""Initialize the BboxLoss module with regularization maximum and DFL settings."""
super().__init__()
self.reg_max = reg_max
self.use_dfl = use_dfl
def forward(self, pred_dist, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask):
"""IoU loss."""
weight = target_scores.sum(-1)[fg_mask].unsqueeze(-1)
iou = bbox_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, WIoU=True, scale=True)
if type(iou) is tuple:
if len(iou) == 2:
loss_iou = ((1.0 - iou[0]) * iou[1].detach() * weight).sum() / target_scores_sum
else:
loss_iou = (iou[0] * iou[1] * weight).sum() / target_scores_sum
else:
loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum
# DFL loss
if self.use_dfl:
target_ltrb = bbox2dist(anchor_points, target_bboxes, self.reg_max)
loss_dfl = self._df_loss(pred_dist[fg_mask].view(-1, self.reg_max + 1), target_ltrb[fg_mask]) * weight
loss_dfl = loss_dfl.sum() / target_scores_sum
else:
loss_dfl = torch.tensor(0.0).to(pred_dist.device)
return loss_iou, loss_dfl
@staticmethod
def _df_loss(pred_dist, target):
"""
Return sum of left and right DFL losses.
Distribution Focal Loss (DFL) proposed in Generalized Focal Loss
https://ieeexplore.ieee.org/document/9792391
"""
tl = target.long() # target left
tr = tl + 1 # target right
wl = tr - target # weight left
wr = 1 - wl # weight right
return (
F.cross_entropy(pred_dist, tl.view(-1), reduction="none").view(tl.shape) * wl
+ F.cross_entropy(pred_dist, tr.view(-1), reduction="none").view(tl.shape) * wr
).mean(-1, keepdim=True)
class RotatedBboxLoss(BboxLoss):
"""Criterion class for computing training losses during training."""
def __init__(self, reg_max, use_dfl=False):
"""Initialize the BboxLoss module with regularization maximum and DFL settings."""
super().__init__(reg_max, use_dfl)
def forward(self, pred_dist, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask):
"""IoU loss."""
weight = target_scores.sum(-1)[fg_mask].unsqueeze(-1)
iou = probiou(pred_bboxes[fg_mask], target_bboxes[fg_mask])
loss_iou = ((1.0 - iou) * weight).sum() / target_scores_sum
# DFL loss
if self.use_dfl:
target_ltrb = bbox2dist(anchor_points, xywh2xyxy(target_bboxes[..., :4]), self.reg_max)
loss_dfl = self._df_loss(pred_dist[fg_mask].view(-1, self.reg_max + 1), target_ltrb[fg_mask]) * weight
loss_dfl = loss_dfl.sum() / target_scores_sum
else:
loss_dfl = torch.tensor(0.0).to(pred_dist.device)
return loss_iou, loss_dfl
class KeypointLoss(nn.Module):
"""Criterion class for computing training losses."""
def __init__(self, sigmas) -> None:
"""Initialize the KeypointLoss class."""
super().__init__()
self.sigmas = sigmas
def forward(self, pred_kpts, gt_kpts, kpt_mask, area):
"""Calculates keypoint loss factor and Euclidean distance loss for predicted and actual keypoints."""
d = (pred_kpts[..., 0] - gt_kpts[..., 0]).pow(2) + (pred_kpts[..., 1] - gt_kpts[..., 1]).pow(2)
kpt_loss_factor = kpt_mask.shape[1] / (torch.sum(kpt_mask != 0, dim=1) + 1e-9)
# e = d / (2 * (area * self.sigmas) ** 2 + 1e-9) # from formula
e = d / ((2 * self.sigmas).pow(2) * (area + 1e-9) * 2) # from cocoeval
return (kpt_loss_factor.view(-1, 1) * ((1 - torch.exp(-e)) * kpt_mask)).mean()
class v8DetectionLoss:
"""Criterion class for computing training losses."""
def __init__(self, model): # model must be de-paralleled
"""Initializes v8DetectionLoss with the model, defining model-related properties and BCE loss function."""
device = next(model.parameters()).device # get model device
h = model.args # hyperparameters
m = model.model[-1] # Detect() module
self.bce = nn.BCEWithLogitsLoss(reduction="none")
self.hyp = h
self.stride = m.stride # model strides
self.nc = m.nc # number of classes
self.no = m.nc + m.reg_max * 4
self.reg_max = m.reg_max
self.device = device
self.use_dfl = m.reg_max > 1
self.assigner = TaskAlignedAssigner(topk=10, num_classes=self.nc, alpha=0.5, beta=6.0)
self.bbox_loss = BboxLoss(m.reg_max - 1, use_dfl=self.use_dfl).to(device)
self.proj = torch.arange(m.reg_max, dtype=torch.float, device=device)
def preprocess(self, targets, batch_size, scale_tensor):
"""Preprocesses the target counts and matches with the input batch size to output a tensor."""
if targets.shape[0] == 0:
out = torch.zeros(batch_size, 0, 5, device=self.device)
else:
i = targets[:, 0] # image index
_, counts = i.unique(return_counts=True)
counts = counts.to(dtype=torch.int32)
out = torch.zeros(batch_size, counts.max(), 5, device=self.device)
for j in range(batch_size):
matches = i == j
n = matches.sum()
if n:
out[j, :n] = targets[matches, 1:]
out[..., 1:5] = xywh2xyxy(out[..., 1:5].mul_(scale_tensor))
return out
def bbox_decode(self, anchor_points, pred_dist):
"""Decode predicted object bounding box coordinates from anchor points and distribution."""
if self.use_dfl:
b, a, c = pred_dist.shape # batch, anchors, channels
pred_dist = pred_dist.view(b, a, 4, c // 4).softmax(3).matmul(self.proj.type(pred_dist.dtype))
# pred_dist = pred_dist.view(b, a, c // 4, 4).transpose(2,3).softmax(3).matmul(self.proj.type(pred_dist.dtype))
# pred_dist = (pred_dist.view(b, a, c // 4, 4).softmax(2) * self.proj.type(pred_dist.dtype).view(1, 1, -1, 1)).sum(2)
return dist2bbox(pred_dist, anchor_points, xywh=False)
def __call__(self, preds, batch):
"""Calculate the sum of the loss for box, cls and dfl multiplied by batch size."""
loss = torch.zeros(3, device=self.device) # box, cls, dfl
feats = preds[1] if isinstance(preds, tuple) else preds
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
(self.reg_max * 4, self.nc), 1
)
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
dtype = pred_scores.dtype
batch_size = pred_scores.shape[0]
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
# Targets
targets = torch.cat((batch["batch_idx"].view(-1, 1), batch["cls"].view(-1, 1), batch["bboxes"]), 1)
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
# Pboxes
pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
_, target_bboxes, target_scores, fg_mask, _ = self.assigner(
pred_scores.detach().sigmoid(),
(pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
anchor_points * stride_tensor,
gt_labels,
gt_bboxes,
mask_gt,
)
target_scores_sum = max(target_scores.sum(), 1)
# Cls loss
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
loss[1] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
# Bbox loss
if fg_mask.sum():
target_bboxes /= stride_tensor
loss[0], loss[2] = self.bbox_loss(
pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask
)
loss[0] *= self.hyp.box # box gain
loss[1] *= self.hyp.cls # cls gain
loss[2] *= self.hyp.dfl # dfl gain
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
class v8SegmentationLoss(v8DetectionLoss):
"""Criterion class for computing training losses."""
def __init__(self, model): # model must be de-paralleled
"""Initializes the v8SegmentationLoss class, taking a de-paralleled model as argument."""
super().__init__(model)
self.overlap = model.args.overlap_mask
def __call__(self, preds, batch):
"""Calculate and return the loss for the YOLO model."""
loss = torch.zeros(4, device=self.device) # box, cls, dfl
feats, pred_masks, proto = preds if len(preds) == 3 else preds[1]
batch_size, _, mask_h, mask_w = proto.shape # batch size, number of masks, mask height, mask width
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
(self.reg_max * 4, self.nc), 1
)
# B, grids, ..
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
pred_masks = pred_masks.permute(0, 2, 1).contiguous()
dtype = pred_scores.dtype
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
# Targets
try:
batch_idx = batch["batch_idx"].view(-1, 1)
targets = torch.cat((batch_idx, batch["cls"].view(-1, 1), batch["bboxes"]), 1)
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
except RuntimeError as e:
raise TypeError(
"ERROR ❌ segment dataset incorrectly formatted or not a segment dataset.\n"
"This error can occur when incorrectly training a 'segment' model on a 'detect' dataset, "
"i.e. 'yolo train model=yolov8n-seg.pt data=coco8.yaml'.\nVerify your dataset is a "
"correctly formatted 'segment' dataset using 'data=coco8-seg.yaml' "
"as an example.\nSee https://docs.ultralytics.com/datasets/segment/ for help."
) from e
# Pboxes
pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
_, target_bboxes, target_scores, fg_mask, target_gt_idx = self.assigner(
pred_scores.detach().sigmoid(),
(pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
anchor_points * stride_tensor,
gt_labels,
gt_bboxes,
mask_gt,
)
target_scores_sum = max(target_scores.sum(), 1)
# Cls loss
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
loss[2] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
if fg_mask.sum():
# Bbox loss
loss[0], loss[3] = self.bbox_loss(
pred_distri,
pred_bboxes,
anchor_points,
target_bboxes / stride_tensor,
target_scores,
target_scores_sum,
fg_mask,
)
# Masks loss
masks = batch["masks"].to(self.device).float()
if tuple(masks.shape[-2:]) != (mask_h, mask_w): # downsample
masks = F.interpolate(masks[None], (mask_h, mask_w), mode="nearest")[0]
loss[1] = self.calculate_segmentation_loss(
fg_mask, masks, target_gt_idx, target_bboxes, batch_idx, proto, pred_masks, imgsz, self.overlap
)
# WARNING: lines below prevent Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
else:
loss[1] += (proto * 0).sum() + (pred_masks * 0).sum() # inf sums may lead to nan loss
loss[0] *= self.hyp.box # box gain
loss[1] *= self.hyp.box # seg gain
loss[2] *= self.hyp.cls # cls gain
loss[3] *= self.hyp.dfl # dfl gain
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
@staticmethod
def single_mask_loss(
gt_mask: torch.Tensor, pred: torch.Tensor, proto: torch.Tensor, xyxy: torch.Tensor, area: torch.Tensor
) -> torch.Tensor:
"""
Compute the instance segmentation loss for a single image.
Args:
gt_mask (torch.Tensor): Ground truth mask of shape (n, H, W), where n is the number of objects.
pred (torch.Tensor): Predicted mask coefficients of shape (n, 32).
proto (torch.Tensor): Prototype masks of shape (32, H, W).
xyxy (torch.Tensor): Ground truth bounding boxes in xyxy format, normalized to [0, 1], of shape (n, 4).
area (torch.Tensor): Area of each ground truth bounding box of shape (n,).
Returns:
(torch.Tensor): The calculated mask loss for a single image.
Notes:
The function uses the equation pred_mask = torch.einsum('in,nhw->ihw', pred, proto) to produce the
predicted masks from the prototype masks and predicted mask coefficients.
"""
pred_mask = torch.einsum("in,nhw->ihw", pred, proto) # (n, 32) @ (32, 80, 80) -> (n, 80, 80)
loss = F.binary_cross_entropy_with_logits(pred_mask, gt_mask, reduction="none")
return (crop_mask(loss, xyxy).mean(dim=(1, 2)) / area).sum()
def calculate_segmentation_loss(
self,
fg_mask: torch.Tensor,
masks: torch.Tensor,
target_gt_idx: torch.Tensor,
target_bboxes: torch.Tensor,
batch_idx: torch.Tensor,
proto: torch.Tensor,
pred_masks: torch.Tensor,
imgsz: torch.Tensor,
overlap: bool,
) -> torch.Tensor:
"""
Calculate the loss for instance segmentation.
Args:
fg_mask (torch.Tensor): A binary tensor of shape (BS, N_anchors) indicating which anchors are positive.
masks (torch.Tensor): Ground truth masks of shape (BS, H, W) if `overlap` is False, otherwise (BS, ?, H, W).
target_gt_idx (torch.Tensor): Indexes of ground truth objects for each anchor of shape (BS, N_anchors).
target_bboxes (torch.Tensor): Ground truth bounding boxes for each anchor of shape (BS, N_anchors, 4).
batch_idx (torch.Tensor): Batch indices of shape (N_labels_in_batch, 1).
proto (torch.Tensor): Prototype masks of shape (BS, 32, H, W).
pred_masks (torch.Tensor): Predicted masks for each anchor of shape (BS, N_anchors, 32).
imgsz (torch.Tensor): Size of the input image as a tensor of shape (2), i.e., (H, W).
overlap (bool): Whether the masks in `masks` tensor overlap.
Returns:
(torch.Tensor): The calculated loss for instance segmentation.
Notes:
The batch loss can be computed for improved speed at higher memory usage.
For example, pred_mask can be computed as follows:
pred_mask = torch.einsum('in,nhw->ihw', pred, proto) # (i, 32) @ (32, 160, 160) -> (i, 160, 160)
"""
_, _, mask_h, mask_w = proto.shape
loss = 0
# Normalize to 0-1
target_bboxes_normalized = target_bboxes / imgsz[[1, 0, 1, 0]]
# Areas of target bboxes
marea = xyxy2xywh(target_bboxes_normalized)[..., 2:].prod(2)
# Normalize to mask size
mxyxy = target_bboxes_normalized * torch.tensor([mask_w, mask_h, mask_w, mask_h], device=proto.device)
for i, single_i in enumerate(zip(fg_mask, target_gt_idx, pred_masks, proto, mxyxy, marea, masks)):
fg_mask_i, target_gt_idx_i, pred_masks_i, proto_i, mxyxy_i, marea_i, masks_i = single_i
if fg_mask_i.any():
mask_idx = target_gt_idx_i[fg_mask_i]
if overlap:
gt_mask = masks_i == (mask_idx + 1).view(-1, 1, 1)
gt_mask = gt_mask.float()
else:
gt_mask = masks[batch_idx.view(-1) == i][mask_idx]
loss += self.single_mask_loss(
gt_mask, pred_masks_i[fg_mask_i], proto_i, mxyxy_i[fg_mask_i], marea_i[fg_mask_i]
)
# WARNING: lines below prevents Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
else:
loss += (proto * 0).sum() + (pred_masks * 0).sum() # inf sums may lead to nan loss
return loss / fg_mask.sum()
class v8PoseLoss(v8DetectionLoss):
"""Criterion class for computing training losses."""
def __init__(self, model): # model must be de-paralleled
"""Initializes v8PoseLoss with model, sets keypoint variables and declares a keypoint loss instance."""
super().__init__(model)
self.kpt_shape = model.model[-1].kpt_shape
self.bce_pose = nn.BCEWithLogitsLoss()
is_pose = self.kpt_shape == [17, 3]
nkpt = self.kpt_shape[0] # number of keypoints
sigmas = torch.from_numpy(OKS_SIGMA).to(self.device) if is_pose else torch.ones(nkpt, device=self.device) / nkpt
self.keypoint_loss = KeypointLoss(sigmas=sigmas)
def __call__(self, preds, batch):
"""Calculate the total loss and detach it."""
loss = torch.zeros(5, device=self.device) # box, cls, dfl, kpt_location, kpt_visibility
feats, pred_kpts = preds if isinstance(preds[0], list) else preds[1]
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
(self.reg_max * 4, self.nc), 1
)
# B, grids, ..
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
pred_kpts = pred_kpts.permute(0, 2, 1).contiguous()
dtype = pred_scores.dtype
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
# Targets
batch_size = pred_scores.shape[0]
batch_idx = batch["batch_idx"].view(-1, 1)
targets = torch.cat((batch_idx, batch["cls"].view(-1, 1), batch["bboxes"]), 1)
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
# Pboxes
pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
pred_kpts = self.kpts_decode(anchor_points, pred_kpts.view(batch_size, -1, *self.kpt_shape)) # (b, h*w, 17, 3)
_, target_bboxes, target_scores, fg_mask, target_gt_idx = self.assigner(
pred_scores.detach().sigmoid(),
(pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
anchor_points * stride_tensor,
gt_labels,
gt_bboxes,
mask_gt,
)
target_scores_sum = max(target_scores.sum(), 1)
# Cls loss
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
loss[3] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
# Bbox loss
if fg_mask.sum():
target_bboxes /= stride_tensor
loss[0], loss[4] = self.bbox_loss(
pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask
)
keypoints = batch["keypoints"].to(self.device).float().clone()
keypoints[..., 0] *= imgsz[1]
keypoints[..., 1] *= imgsz[0]
loss[1], loss[2] = self.calculate_keypoints_loss(
fg_mask, target_gt_idx, keypoints, batch_idx, stride_tensor, target_bboxes, pred_kpts
)
loss[0] *= self.hyp.box # box gain
loss[1] *= self.hyp.pose # pose gain
loss[2] *= self.hyp.kobj # kobj gain
loss[3] *= self.hyp.cls # cls gain
loss[4] *= self.hyp.dfl # dfl gain
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
@staticmethod
def kpts_decode(anchor_points, pred_kpts):
"""Decodes predicted keypoints to image coordinates."""
y = pred_kpts.clone()
y[..., :2] *= 2.0
y[..., 0] += anchor_points[:, [0]] - 0.5
y[..., 1] += anchor_points[:, [1]] - 0.5
return y
def calculate_keypoints_loss(
self, masks, target_gt_idx, keypoints, batch_idx, stride_tensor, target_bboxes, pred_kpts
):
"""
Calculate the keypoints loss for the model.
This function calculates the keypoints loss and keypoints object loss for a given batch. The keypoints loss is
based on the difference between the predicted keypoints and ground truth keypoints. The keypoints object loss is
a binary classification loss that classifies whether a keypoint is present or not.
Args:
masks (torch.Tensor): Binary mask tensor indicating object presence, shape (BS, N_anchors).
target_gt_idx (torch.Tensor): Index tensor mapping anchors to ground truth objects, shape (BS, N_anchors).
keypoints (torch.Tensor): Ground truth keypoints, shape (N_kpts_in_batch, N_kpts_per_object, kpts_dim).
batch_idx (torch.Tensor): Batch index tensor for keypoints, shape (N_kpts_in_batch, 1).
stride_tensor (torch.Tensor): Stride tensor for anchors, shape (N_anchors, 1).
target_bboxes (torch.Tensor): Ground truth boxes in (x1, y1, x2, y2) format, shape (BS, N_anchors, 4).
pred_kpts (torch.Tensor): Predicted keypoints, shape (BS, N_anchors, N_kpts_per_object, kpts_dim).
Returns:
(tuple): Returns a tuple containing:
- kpts_loss (torch.Tensor): The keypoints loss.
- kpts_obj_loss (torch.Tensor): The keypoints object loss.
"""
batch_idx = batch_idx.flatten()
batch_size = len(masks)
# Find the maximum number of keypoints in a single image
max_kpts = torch.unique(batch_idx, return_counts=True)[1].max()
# Create a tensor to hold batched keypoints
batched_keypoints = torch.zeros(
(batch_size, max_kpts, keypoints.shape[1], keypoints.shape[2]), device=keypoints.device
)
# TODO: any idea how to vectorize this?
# Fill batched_keypoints with keypoints based on batch_idx
for i in range(batch_size):
keypoints_i = keypoints[batch_idx == i]
batched_keypoints[i, : keypoints_i.shape[0]] = keypoints_i
# Expand dimensions of target_gt_idx to match the shape of batched_keypoints
target_gt_idx_expanded = target_gt_idx.unsqueeze(-1).unsqueeze(-1)
# Use target_gt_idx_expanded to select keypoints from batched_keypoints
selected_keypoints = batched_keypoints.gather(
1, target_gt_idx_expanded.expand(-1, -1, keypoints.shape[1], keypoints.shape[2])
)
# Divide coordinates by stride
selected_keypoints /= stride_tensor.view(1, -1, 1, 1)
kpts_loss = 0
kpts_obj_loss = 0
if masks.any():
gt_kpt = selected_keypoints[masks]
area = xyxy2xywh(target_bboxes[masks])[:, 2:].prod(1, keepdim=True)
pred_kpt = pred_kpts[masks]
kpt_mask = gt_kpt[..., 2] != 0 if gt_kpt.shape[-1] == 3 else torch.full_like(gt_kpt[..., 0], True)
kpts_loss = self.keypoint_loss(pred_kpt, gt_kpt, kpt_mask, area) # pose loss
if pred_kpt.shape[-1] == 3:
kpts_obj_loss = self.bce_pose(pred_kpt[..., 2], kpt_mask.float()) # keypoint obj loss
return kpts_loss, kpts_obj_loss
class v8ClassificationLoss:
"""Criterion class for computing training losses."""
def __call__(self, preds, batch):
"""Compute the classification loss between predictions and true labels."""
loss = torch.nn.functional.cross_entropy(preds, batch["cls"], reduction="mean")
loss_items = loss.detach()
return loss, loss_items
class v8OBBLoss(v8DetectionLoss):
def __init__(self, model):
"""
Initializes v8OBBLoss with model, assigner, and rotated bbox loss.
Note model must be de-paralleled.
"""
super().__init__(model)
self.assigner = RotatedTaskAlignedAssigner(topk=10, num_classes=self.nc, alpha=0.5, beta=6.0)
self.bbox_loss = RotatedBboxLoss(self.reg_max - 1, use_dfl=self.use_dfl).to(self.device)
def preprocess(self, targets, batch_size, scale_tensor):
"""Preprocesses the target counts and matches with the input batch size to output a tensor."""
if targets.shape[0] == 0:
out = torch.zeros(batch_size, 0, 6, device=self.device)
else:
i = targets[:, 0] # image index
_, counts = i.unique(return_counts=True)
counts = counts.to(dtype=torch.int32)
out = torch.zeros(batch_size, counts.max(), 6, device=self.device)
for j in range(batch_size):
matches = i == j
n = matches.sum()
if n:
bboxes = targets[matches, 2:]
bboxes[..., :4].mul_(scale_tensor)
out[j, :n] = torch.cat([targets[matches, 1:2], bboxes], dim=-1)
return out
def __call__(self, preds, batch):
"""Calculate and return the loss for the YOLO model."""
loss = torch.zeros(3, device=self.device) # box, cls, dfl
feats, pred_angle = preds if isinstance(preds[0], list) else preds[1]
batch_size = pred_angle.shape[0] # batch size, number of masks, mask height, mask width
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
(self.reg_max * 4, self.nc), 1
)
# b, grids, ..
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
pred_angle = pred_angle.permute(0, 2, 1).contiguous()
dtype = pred_scores.dtype
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
# targets
try:
batch_idx = batch["batch_idx"].view(-1, 1)
targets = torch.cat((batch_idx, batch["cls"].view(-1, 1), batch["bboxes"].view(-1, 5)), 1)
rw, rh = targets[:, 4] * imgsz[0].item(), targets[:, 5] * imgsz[1].item()
targets = targets[(rw >= 2) & (rh >= 2)] # filter rboxes of tiny size to stabilize training
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
gt_labels, gt_bboxes = targets.split((1, 5), 2) # cls, xywhr
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
except RuntimeError as e:
raise TypeError(
"ERROR ❌ OBB dataset incorrectly formatted or not a OBB dataset.\n"
"This error can occur when incorrectly training a 'OBB' model on a 'detect' dataset, "
"i.e. 'yolo train model=yolov8n-obb.pt data=dota8.yaml'.\nVerify your dataset is a "
"correctly formatted 'OBB' dataset using 'data=dota8.yaml' "
"as an example.\nSee https://docs.ultralytics.com/datasets/obb/ for help."
) from e
# Pboxes
pred_bboxes = self.bbox_decode(anchor_points, pred_distri, pred_angle) # xyxy, (b, h*w, 4)
bboxes_for_assigner = pred_bboxes.clone().detach()
# Only the first four elements need to be scaled
bboxes_for_assigner[..., :4] *= stride_tensor
_, target_bboxes, target_scores, fg_mask, _ = self.assigner(
pred_scores.detach().sigmoid(),
bboxes_for_assigner.type(gt_bboxes.dtype),
anchor_points * stride_tensor,
gt_labels,
gt_bboxes,
mask_gt,
)
target_scores_sum = max(target_scores.sum(), 1)
# Cls loss
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
loss[1] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
# Bbox loss
if fg_mask.sum():
target_bboxes[..., :4] /= stride_tensor
loss[0], loss[2] = self.bbox_loss(
pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores, target_scores_sum, fg_mask
)
else:
loss[0] += (pred_angle * 0).sum()
loss[0] *= self.hyp.box # box gain
loss[1] *= self.hyp.cls # cls gain
loss[2] *= self.hyp.dfl # dfl gain
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
def bbox_decode(self, anchor_points, pred_dist, pred_angle):
"""
Decode predicted object bounding box coordinates from anchor points and distribution.
Args:
anchor_points (torch.Tensor): Anchor points, (h*w, 2).
pred_dist (torch.Tensor): Predicted rotated distance, (bs, h*w, 4).
pred_angle (torch.Tensor): Predicted angle, (bs, h*w, 1).
Returns:
(torch.Tensor): Predicted rotated bounding boxes with angles, (bs, h*w, 5).
"""
if self.use_dfl:
b, a, c = pred_dist.shape # batch, anchors, channels
pred_dist = pred_dist.view(b, a, 4, c // 4).softmax(3).matmul(self.proj.type(pred_dist.dtype))
return torch.cat((dist2rbox(pred_dist, pred_angle, anchor_points), pred_angle), dim=-1)
三，实际涨点效果对比
训练了两千多张茶叶嫩芽的数据集，前面是没有采用wise-iou直接训练的，后面是采用了wise-iou，效果很明显，map@0.5从59%提升到了将近61%。
注意！！！数据集大小种类环境等各种因素都会导致不一样的效果，可能对我有用，但对你的不一定，还有我用的是论文中的wise-iou第三个方法（论文中效果最好），但可能第一第二个对你有用也有可能，只有多尝试才能知道会不会有好的效果！
原始的：（中途训练停止过，后面接着训练的，真实曲线比这个好一点）
改进后：
扫一扫
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