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# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
"""
Common modules
这个模块存放着yolov5网络搭建常见Common模块。
"""
import json
import math # 数学函数模块
import platform
import warnings
from collections import OrderedDict, namedtuple
from copy import copy # 数据拷贝模块 分浅拷贝和深拷贝
from pathlib import Path # Path将str转换为Path对象 使字符串路径易于操作的模块
import cv2
import numpy as np # numpy数组操作模块
import pandas as pd # panda数组操作模块
import requests # Python的HTTP客户端库
import torch # pytorch深度学习框架
import torch.nn as nn # 专门为神经网络设计的模块化接口
import yaml
from PIL import Image # 图像基础操作模块
from torch.cuda import amp # 混合精度训练模块
from utils.datasets import exif_transpose, letterbox
from utils.general import (LOGGER, check_requirements, check_suffix, check_version, colorstr, increment_path,
make_divisible, non_max_suppression, scale_coords, xywh2xyxy, xyxy2xywh)
from utils.plots import Annotator, colors, save_one_box
from utils.torch_utils import copy_attr, time_sync
# ============================================= 核心模块 =====================================
def autopad(k, p=None): # kernel, padding
"""
用于Conv函数和Classify函数中,
为same卷积或same池化作自动扩充(0填充) Pad to 'same'
根据卷积核大小k自动计算卷积核padding数(0填充)
v5中只有两种卷积:
1、下采样卷积:conv3x3 s=2 p=k//2=1
2、feature size不变的卷积:conv1x1 s=1 p=k//2=1
:params k: 卷积核的kernel_size
:return p: 自动计算的需要pad值(0填充)
"""
if p is None:
p = k // 2 if isinstance(k, int) else [x // 2 for x in k] # auto-pad
return p
class Conv(nn.Module):
# Standard convolution
def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True): # ch_in, ch_out, kernel, stride, padding, groups
"""
Standard convolution conv+BN+act
:params c1: 输入的channel值
:params c2: 输出的channel值
:params k: 卷积的kernel_size
:params s: 卷积的stride
:params p: 卷积的padding 一般是None 可以通过autopad自行计算需要pad的padding数
:params g: 卷积的groups数 =1就是普通的卷积 >1就是深度可分离卷积,也就是分组卷积
:params act: 激活函数类型 True就是SiLU()/Swish False就是不使用激活函数
类型是nn.Module就使用传进来的激活函数类型
"""
super().__init__()
self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g, bias=False)
self.bn = nn.BatchNorm2d(c2)
# Todo 修改激活函数
# self.act = nn.Identity() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
# self.act = nn.Tanh() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
# self.act = nn.Sigmoid() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
# self.act = nn.ReLU() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
# self.act = nn.LeakyReLU(0.1) if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
# self.act = nn.Hardswish() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
self.act = nn.SiLU() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
def forward(self, x):
return self.act(self.bn(self.conv(x)))
def forward_fuse(self, x):
"""
用于Model类的fuse函数
前向融合conv+bn计算 加速推理 一般用于测试/验证阶段
"""
return self.act(self.conv(x))
class Focus(nn.Module):
# Focus wh information into c-space
def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True): # ch_in, ch_out, kernel, stride, padding, groups
"""
理论:从高分辨率图像中,周期性的抽出像素点重构到低分辨率图像中,即将图像相邻的四个位置进行堆叠,
聚焦wh维度信息到c通道空,提高每个点感受野,并减少原始信息的丢失,该模块的设计主要是减少计算量加快速度。
Focus wh information into c-space 把宽度w和高度h的信息整合到c空间中
先做4个slice 再concat 最后再做Conv
slice后 (b,c1,w,h) -> 分成4个slice 每个slice(b,c1,w/2,h/2)
concat(dim=1)后 4个slice(b,c1,w/2,h/2)) -> (b,4c1,w/2,h/2)
conv后 (b,4c1,w/2,h/2) -> (b,c2,w/2,h/2)
:params c1: slice后的channel
:params c2: Focus最终输出的channel
:params k: 最后卷积的kernel
:params s: 最后卷积的stride
:params p: 最后卷积的padding
:params g: 最后卷积的分组情况 =1普通卷积 >1深度可分离卷积
:params act: bool激活函数类型 默认True:SiLU()/Swish False:不用激活函数
"""
super().__init__()
self.conv = Conv(c1 * 4, c2, k, s, p, g, act)
# self.contract = Contract(gain=2) # 也可以调用Contract函数实现slice操作
def forward(self, x): # x(b,c,w,h) -> y(b,4c,w/2,h/2)
# x(b,c,w,h) -> y(b,4c,w/2,h/2) 有点像做了个下采样
return self.conv(torch.cat([x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]], 1))
# return self.conv(self.contract(x))
class Bottleneck(nn.Module):
# 这个模式是一个标准的 bottleneck 模块,非常简单,就是由一些 1x1conv、3x3conv、残差块组成
# Standard bottleneck
def __init__(self, c1, c2, shortcut=True, g=1, e=0.5): # ch_in, ch_out, shortcut, groups, expansion
"""
在BottleneckCSP和yolo.py的parse_model中调用
Standard bottleneck Conv+Conv+shortcut
:params c1: 第一个卷积的输入channel
:params c2: 第二个卷积的输出channel
:params shortcut: bool 是否有shortcut连接 默认是True
:params g: 卷积分组的个数 =1就是普通卷积 >1就是深度可分离卷积
:params e: expansion ratio e*c2就是第一个卷积的输出channel=第二个卷积的输入channel
"""
super().__init__()
c_ = int(c2 * e) # hidden channels
self.cv1 = Conv(c1, c_, 1, 1)
self.cv2 = Conv(c_, c2, 3, 1, g=g)
self.add = shortcut and c1 == c2
def forward(self, x):
return x + self.cv2(self.cv1(x)) if self.add else self.cv2(self.cv1(x))
class BottleneckCSP(nn.Module):
# 这个模块和上面yolov5s中的C3模块等效
# 如果要用的话直接在yolov5s.yaml文件中讲C3改成BottleneckCSP即可,但是一般来说不用改,因为C3更好。
# CSP Bottleneck https://github.com/WongKinYiu/CrossStagePartialNetworks
def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5): # ch_in, ch_out, number, shortcut, groups, expansion
"""
CSP Bottleneck https://github.com/WongKinYiu/CrossStagePartialNetworks
:params c1: 整个BottleneckCSP的输入channel
:params c2: 整个BottleneckCSP的输出channel
:params n: 有n个Bottleneck
:params shortcut: bool Bottleneck中是否有shortcut,默认True
:params g: Bottleneck中的3x3卷积类型 =1普通卷积 >1深度可分离卷积
:params e: expansion ratio c2xe=中间其他所有层的卷积核个数/中间所有层的输入输出channel数
"""
# ch_in, ch_out, number, shortcut, groups, expansion
super().__init__()
c_ = int(c2 * e) # hidden channels
self.cv1 = Conv(c1, c_, 1, 1)
self.cv2 = nn.Conv2d(c1, c_, 1, 1, bias=False)
self.cv3 = nn.Conv2d(c_, c_, 1, 1, bias=False)
self.cv4 = Conv(2 * c_, c2, 1, 1)
self.bn = nn.BatchNorm2d(2 * c_) # applied to cat(cv2, cv3)
self.act = nn.SiLU()
# 叠加n次Bottleneck
self.m = nn.Sequential(*(Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)))
def forward(self, x):
y1 = self.cv3(self.m(self.cv1(x)))
y2 = self.cv2(x)
return self.cv4(self.act(self.bn(torch.cat((y1, y2), dim=1))))
class C3(nn.Module):
# CSP Bottleneck with 3 convolutions
# 这个模块是一种简化版的BottleneckCSP,因为除了Bottleneck部分只有3个卷积,可以减少参数,所以取名C3。
def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
# ch_in, ch_out, number, shortcut, groups, expansion
"""
在C3TR模块和yolo.py的parse_model模块调用
CSP Bottleneck with 3 convolutions
:params c1: 整个BottleneckCSP的输入channel
:params c2: 整个BottleneckCSP的输出channel
:params n: 有n个Bottleneck
:params shortcut: bool Bottleneck中是否有shortcut,默认True
:params g: Bottleneck中的3x3卷积类型 =1普通卷积 >1深度可分离卷积
:params e: expansion ratio c2xe = 中间其他所有层的卷积核个数/中间所有层的输入输出channel数
"""
super().__init__()
c_ = int(c2 * e) # hidden channels
self.cv1 = Conv(c1, c_, 1, 1)
self.cv2 = Conv(c1, c_, 1, 1)
self.cv3 = Conv(2 * c_, c2, 1) # act=FReLU(c2)
self.m = nn.Sequential(*(Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)))
# 实验性 CrossConv 目标位置 models/experimental.py
# self.m = nn.Sequential(*[CrossConv(c_, c_, 3, 1, g, 1.0, shortcut) for _ in range(n)])
def forward(self, x):
return self.cv3(torch.cat((self.m(self.cv1(x)), self.cv2(x)), dim=1))
class SPP(nn.Module):
# 这个模块的主要目的是为了将更多不同分辨率的特征进行融合,得到更多的信息。
# Spatial Pyramid Pooling (SPP) layer https://arxiv.org/abs/1406.4729
def __init__(self, c1, c2, k=(5, 9, 13)):
"""
空间金字塔池化 Spatial pyramid pooling layer used in YOLOv3-SPP
:params c1: SPP模块的输入channel
:params c2: SPP模块的输出channel
:params k: 保存着三个maxpool的卷积核大小 默认是(5, 9, 13)
"""
super().__init__()
c_ = c1 // 2 # hidden channels
self.cv1 = Conv(c1, c_, 1, 1) # 第一层卷积
self.cv2 = Conv(c_ * (len(k) + 1), c2, 1, 1) # 最后一层卷积 +1是因为有len(k)+1个输入
self.m = nn.ModuleList([nn.MaxPool2d(kernel_size=x, stride=1, padding=x // 2) for x in k])
def forward(self, x):
x = self.cv1(x)
with warnings.catch_warnings():
warnings.simplefilter('ignore') # suppress torch 1.9.0 max_pool2d() warning
return self.cv2(torch.cat([x] + [m(x) for m in self.m], 1))
class Concat(nn.Module):
# 按照自身某个维度进行concat,常用来合并前后两个feature map,也就是上面Yolo 5s结构图中的Concat。
# Concatenate a list of tensors along dimension
def __init__(self, dimension=1):
"""
在yolo.py的parse_model模块调用
:params dimension: 沿着哪个维度进行concat
"""
super().__init__()
self.d = dimension
def forward(self, x):
return torch.cat(x, self.d)
class DWConv(Conv):
"""
Depthwise convolution 深度可分离卷积
:params c1: 输入的channel值
:params c2: 输出的channel值
:params k: 卷积的kernel_size
:params s: 卷积的stride
:params act:
g: 深度可分离的groups数
"""
def __init__(self, c1, c2, k=1, s=1, act=True): # ch_in, ch_out, kernel, stride, padding, groups
super().__init__(c1, c2, k, s, g=math.gcd(c1, c2), act=act)
# 改变feature map的维度 用的不多
class Contract(nn.Module):
"""
用在yolo.py的parse_model模块
改变输入特征的shape 将w和h维度(缩小)的数据收缩到channel维度上(放大)
Contract width-height into channels, i.e. x(1,64,80,80) to x(1,256,40,40)
"""
# Contract width-height into channels, i.e. x(1,64,80,80) to x(1,256,40,40)
def __init__(self, gain=2):
super().__init__()
self.gain = gain
def forward(self, x):
b, c, h, w = x.size() # assert (h / s == 0) and (W / s == 0), 'Indivisible gain'
s = self.gain
x = x.view(b, c, h // s, s, w // s, s) # x(1,64,40,2,40,2)
# permute: 改变tensor的维度顺序
x = x.permute(0, 3, 5, 1, 2, 4).contiguous() # x(1,2,2,64,40,40)
# .view: 改变tensor的维度
return x.view(b, c * s * s, h // s, w // s) # x(1,256,40,40)
class Expand(nn.Module):
"""
用在yolo.py的parse_model模块 用的不多
Expand函数也是改变输入特征的shape,不过与Contract的相反, 是将channel维度(变小)的数据扩展到W和H维度(变大)。
改变输入特征的shape 将channel维度(变小)的数据扩展到W和H维度(变大)
Expand channels into width-height, i.e. x(1,64,80,80) to x(1,16,160,160)
"""
# Expand channels into width-height, i.e. x(1,64,80,80) to x(1,16,160,160)
def __init__(self, gain=2):
super().__init__()
self.gain = gain
def forward(self, x):
b, c, h, w = x.size() # assert C / s ** 2 == 0, 'Indivisible gain'
s = self.gain
x = x.view(b, s, s, c // s ** 2, h, w) # x(1,2,2,16,80,80)
x = x.permute(0, 3, 4, 1, 5, 2).contiguous() # x(1,16,80,2,80,2)
return x.view(b, c // s ** 2, h * s, w * s) # x(1,16,160,160)
# ============================================= 注意力机制 ======================================================
# transformer
class TransformerLayer(nn.Module):
"""
Transformer layer https://arxiv.org/abs/2010.11929 (LayerNorm layers removed for better performance)
视频: https://www.bilibili.com/video/BV1Di4y1c7Zm?p=5&spm_id_from=pageDriver
https://www.bilibili.com/video/BV1v3411r78R?from=search&seid=12070149695619006113
这部分相当于原论文中的单个Encoder部分(只移除了两个Norm部分, 其他结构和原文中的Encoding一模一样)
"""
# Transformer layer https://arxiv.org/abs/2010.11929 (LayerNorm layers removed for better performance)
def __init__(self, c, num_heads):
super().__init__()
self.q = nn.Linear(c, c, bias=False)
self.k = nn.Linear(c, c, bias=False)
self.v = nn.Linear(c, c, bias=False)
# 输入: query、key、value
# 输出: 0 attn_output 即通过self-attention之后,从每一个词语位置输出来的attention 和输入的query它们形状一样的
# 1 attn_output_weights 即attention weights 每一个单词和任意另一个单词之间都会产生一个weight
self.ma = nn.MultiheadAttention(embed_dim=c, num_heads=num_heads)
self.fc1 = nn.Linear(c, c, bias=False)
self.fc2 = nn.Linear(c, c, bias=False)
def forward(self, x):
# 多头注意力机制 + 残差(这里移除了LayerNorm for better performance)
x = self.ma(self.q(x), self.k(x), self.v(x))[0] + x
# feed forward 前馈神经网络 + 残差(这里移除了LayerNorm for better performance)
x = self.fc2(self.fc1(x)) + x
return x
class TransformerBlock(nn.Module):
"""
Vision Transformer https://arxiv.org/abs/2010.11929
视频: https://www.bilibili.com/video/BV1Di4y1c7Zm?p=5&spm_id_from=pageDriver
https://www.bilibili.com/video/BV1v3411r78R?from=search&seid=12070149695619006113
这部分相当于原论文中的Encoders部分 只替换了一些编码方式和最后Encoders出来数据处理方式
"""
# Vision Transformer https://arxiv.org/abs/2010.11929
def __init__(self, c1, c2, num_heads, num_layers):
super().__init__()
self.conv = None
if c1 != c2:
self.conv = Conv(c1, c2)
self.linear = nn.Linear(c2, c2) # learnable position embedding 位置编码
self.tr = nn.Sequential(*(TransformerLayer(c2, num_heads) for _ in range(num_layers)))
self.c2 = c2 # 输出channel
def forward(self, x):
if self.conv is not None: # embedding
x = self.conv(x)
b, _, w, h = x.shape
p = x.flatten(2).permute(2, 0, 1)
return self.tr(p + self.linear(p)).permute(1, 2, 0).reshape(b, self.c2, w, h)
class C3TR(C3):
"""
这部分是根据上面的C3结构改编而来的, 将原先的Bottleneck替换为调用TransformerBlock模块
"""
# C3 module with TransformerBlock()
def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
super().__init__(c1, c2, n, shortcut, g, e)
c_ = int(c2 * e)
self.m = TransformerBlock(c_, c_, 4, n)
# ============================================= 模型扩展模块 ======================================================
class AutoShape(nn.Module):
"""在yolo.py中Model类的autoshape函数中使用
将model封装成包含前处理、推理、后处理的模块(预处理 + 推理 + nms) 也是一个扩展模型功能的模块
autoshape模块在train中不会被调用,当模型训练结束后,会通过这个模块对图片进行重塑,来方便模型的预测
自动调整shape,我们输入的图像可能不一样,可能来自cv2/np/PIL/torch 对输入进行预处理 调整其shape,
调整shape在datasets.py文件中,这个实在预测阶段使用的,model.eval(),模型就已经无法训练进入预测模式了
input-robust model wrapper for passing cv2/np/PIL/torch inputs. Includes preprocessing, inference and NMS
"""
# YOLOv5 input-robust model wrapper for passing cv2/np/PIL/torch inputs. Includes preprocessing, inference and NMS
conf = 0.25 # 置信度阈值 NMS confidence threshold
iou = 0.45 # NMS IoU threshold
agnostic = False # NMS class-agnostic
multi_label = False # NMS multiple labels per box
classes = None # 是否nms后只保留特定的类别 (optional list) filter by class
max_det = 1000 # maximum number of detections per image
amp = False # Automatic Mixed Precision (AMP) inference
def __init__(self, model):
super().__init__()
LOGGER.info('Adding AutoShape... ')
copy_attr(self, model, include=('yaml', 'nc', 'hyp', 'names', 'stride', 'abc'), exclude=()) # copy attributes
self.dmb = isinstance(model, DetectMultiBackend) # DetectMultiBackend() instance
self.pt = not self.dmb or model.pt # PyTorch model
# 开启验证模式
self.model = model.eval()
def _apply(self, fn):
# Apply to(), cpu(), cuda(), half() to model tensors that are not parameters or registered buffers
self = super()._apply(fn)
if self.pt:
m = self.model.model.model[-1] if self.dmb else self.model.model[-1] # Detect()
m.stride = fn(m.stride)
m.grid = list(map(fn, m.grid))
if isinstance(m.anchor_grid, list):
m.anchor_grid = list(map(fn, m.anchor_grid))
return self
@torch.no_grad()
def forward(self, imgs, size=640, augment=False, profile=False):
# 这里的imgs针对不同的方法读入,官方也给了具体的方法,size是图片的尺寸,就比如最上面图片里面的输入608*608*3
# Inference from various sources. For height=640, width=1280, RGB images example inputs are:
# file: imgs = 'data/images/zidane.jpg' # str or PosixPath
# URI: = 'https://ultralytics.com/images/zidane.jpg'
# OpenCV: = cv2.imread('image.jpg')[:,:,::-1] # HWC BGR to RGB x(640,1280,3)
# PIL: = Image.open('image.jpg') or ImageGrab.grab() # HWC x(640,1280,3)
# numpy: = np.zeros((640,1280,3)) # HWC
# torch: = torch.zeros(16,3,320,640) # BCHW (scaled to size=640, 0-1 values)
# multiple: = [Image.open('image1.jpg'), Image.open('image2.jpg'), ...] # list of images
t = [time_sync()]
p = next(self.model.parameters()) if self.pt else torch.zeros(1) # for device and type
autocast = self.amp and (p.device.type != 'cpu') # Automatic Mixed Precision (AMP) inference
# 图片如果是tensor格式 说明是预处理过的, 直接正常进行前向推理即可 nms在推理结束进行(函数外写)
if isinstance(imgs, torch.Tensor): # torch
with amp.autocast(enabled=autocast):
return self.model(imgs.to(p.device).type_as(p), augment, profile) # inference
# Pre-process
# 图片不是tensor格式 就先对图片进行预处理 Pre-process
n, imgs = (len(imgs), imgs) if isinstance(imgs, list) else (1, [imgs]) # number of images, list of images
shape0, shape1, files = [], [], [] # image and inference shapes, filenames
for i, im in enumerate(imgs):
f = f'image{i}' # filename
if isinstance(im, (str, Path)): # filename or uri
im, f = Image.open(requests.get(im, stream=True).raw if str(im).startswith('http') else im), im
im = np.asarray(exif_transpose(im))
elif isinstance(im, Image.Image): # PIL Image
im, f = np.asarray(exif_transpose(im)), getattr(im, 'filename', f) or f
files.append(Path(f).with_suffix('.jpg').name)
if im.shape[0] < 5: # image in CHW
im = im.transpose((1, 2, 0)) # reverse dataloader .transpose(2, 0, 1)
im = im[..., :3] if im.ndim == 3 else np.tile(im[..., None], 3) # enforce 3ch input
s = im.shape[:2] # HWC
shape0.append(s) # image shape
g = (size / max(s)) # gain
shape1.append([y * g for y in s])
imgs[i] = im if im.data.contiguous else np.ascontiguousarray(im) # update
shape1 = [make_divisible(x, self.stride) for x in np.stack(shape1, 0).max(0)] # inference shape
x = [letterbox(im, new_shape=shape1 if self.pt else size, auto=False)[0] for im in imgs] # pad
x = np.stack(x, 0) if n > 1 else x[0][None] # stack
x = np.ascontiguousarray(x.transpose((0, 3, 1, 2))) # BHWC to BCHW
x = torch.from_numpy(x).to(p.device).type_as(p) / 255 # uint8 to fp16/32
t.append(time_sync())
with amp.autocast(enabled=autocast):
# 预处理结束再进行前向推理 Inference
y = self.model(x, augment, profile) # forward 前向推理
t.append(time_sync())
# 前向推理结束后 进行后处理Post-process nms
y = non_max_suppression(y if self.dmb else y[0], self.conf, iou_thres=self.iou, classes=self.classes,
agnostic=self.agnostic, multi_label=self.multi_label, max_det=self.max_det) # NMS
for i in range(n):
scale_coords(shape1, y[i][:, :4], shape0[i]) # 将nms后的预测结果映射回原图尺寸
t.append(time_sync())
return Detections(imgs, y, files, t, self.names, x.shape)
class Detections:
"""
用在AutoShape函数结尾
对推理结果进行一些处理
detections class for YOLOv5 inference results
"""
# YOLOv5 detections class for inference results
def __init__(self, imgs, pred, files, times=(0, 0, 0, 0), names=None, shape=None):
super().__init__()
d = pred[0].device # device
gn = [torch.tensor([*(im.shape[i] for i in [1, 0, 1, 0]), 1, 1], device=d) for im in imgs] # normalizations
self.imgs = imgs # list of images as numpy arrays
self.pred = pred # list of tensors pred[0] = (xyxy, conf, cls)
self.names = names # class names
self.files = files # image filenames
self.times = times # profiling times
self.xyxy = pred # xyxy pixels
self.xywh = [xyxy2xywh(x) for x in pred] # xywh pixels
self.xyxyn = [x / g for x, g in zip(self.xyxy, gn)] # xyxy normalized
self.xywhn = [x / g for x, g in zip(self.xywh, gn)] # xywh normalized
self.n = len(self.pred) # number of images (batch size)
self.t = tuple((times[i + 1] - times[i]) * 1000 / self.n for i in range(3)) # timestamps (ms)
self.s = shape # inference BCHW shape
def display(self, pprint=False, show=False, save=False, crop=False, render=False, save_dir=Path('')):
crops = []
for i, (im, pred) in enumerate(zip(self.imgs, self.pred)):
s = f'image {i + 1}/{len(self.pred)}: {im.shape[0]}x{im.shape[1]} ' # string
if pred.shape[0]:
for c in pred[:, -1].unique():
n = (pred[:, -1] == c).sum() # detections per class
s += f"{n} {self.names[int(c)]}{'s' * (n > 1)}, " # add to string
if show or save or render or crop:
annotator = Annotator(im, example=str(self.names))
for *box, conf, cls in reversed(pred): # xyxy, confidence, class
label = f'{self.names[int(cls)]} {conf:.2f}'
if crop:
file = save_dir / 'crops' / self.names[int(cls)] / self.files[i] if save else None
crops.append({'box': box, 'conf': conf, 'cls': cls, 'label': label,
'im': save_one_box(box, im, file=file, save=save)})
else: # all others
annotator.box_label(box, label, color=colors(cls))
im = annotator.im
else:
s += '(no detections)'
im = Image.fromarray(im.astype(np.uint8)) if isinstance(im, np.ndarray) else im # from np
if pprint:
LOGGER.info(s.rstrip(', '))
if show:
im.show(self.files[i]) # show
if save:
f = self.files[i]
im.save(save_dir / f) # save
if i == self.n - 1:
LOGGER.info(f"Saved {self.n} image{'s' * (self.n > 1)} to {colorstr('bold', save_dir)}")
if render:
self.imgs[i] = np.asarray(im)
if crop:
if save:
LOGGER.info(f'Saved results to {save_dir}\n')
return crops
def print(self):
self.display(pprint=True) # print results
LOGGER.info(f'Speed: %.1fms pre-process, %.1fms inference, %.1fms NMS per image at shape {tuple(self.s)}' %
self.t)
def show(self):
self.display(show=True) # show results
def save(self, save_dir='runs/detect/exp'):
save_dir = increment_path(save_dir, exist_ok=save_dir != 'runs/detect/exp', mkdir=True) # increment save_dir
self.display(save=True, save_dir=save_dir) # save results
def crop(self, save=True, save_dir='runs/detect/exp'):
save_dir = increment_path(save_dir, exist_ok=save_dir != 'runs/detect/exp', mkdir=True) if save else None
return self.display(crop=True, save=save, save_dir=save_dir) # crop results
def render(self):
self.display(render=True) # render results
return self.imgs
def pandas(self):
# return detections as pandas DataFrames, i.e. print(results.pandas().xyxy[0])
new = copy(self) # return copy
ca = 'xmin', 'ymin', 'xmax', 'ymax', 'confidence', 'class', 'name' # xyxy columns
cb = 'xcenter', 'ycenter', 'width', 'height', 'confidence', 'class', 'name' # xywh columns
for k, c in zip(['xyxy', 'xyxyn', 'xywh', 'xywhn'], [ca, ca, cb, cb]):
a = [[x[:5] + [int(x[5]), self.names[int(x[5])]] for x in x.tolist()] for x in getattr(self, k)] # update
setattr(new, k, [pd.DataFrame(x, columns=c) for x in a])
return new
def tolist(self):
# return a list of Detections objects, i.e. 'for result in results.tolist():'
r = range(self.n) # iterable
x = [Detections([self.imgs[i]], [self.pred[i]], [self.files[i]], self.times, self.names, self.s) for i in r]
# for d in x:
# for k in ['imgs', 'pred', 'xyxy', 'xyxyn', 'xywh', 'xywhn']:
# setattr(d, k, getattr(d, k)[0]) # pop out of list
return x
def __len__(self):
return self.n
class Classify(nn.Module):
# Classification head, i.e. x(b,c1,20,20) to x(b,c2)
def __init__(self, c1, c2, k=1, s=1, p=None, g=1): # ch_in, ch_out, kernel, stride, padding, groups
"""
这是一个二级分类模块, 什么是二级分类模块? 比如做车牌的识别, 先识别出车牌, 如果想对车牌上的字进行识别, 就需要二级分类进一步检测.
如果对模型输出的分类再进行分类, 就可以用这个模块. 不过这里这个类写的比较简单, 若进行复杂的二级分类, 可以根据自己的实际任务可以改写, 这里代码不唯一.
Classification head, i.e. x(b,c1,20,20) to x(b,c2)
用于第二级分类 可以根据自己的任务自己改写,比较简单
比如车牌识别 检测到车牌之后还需要检测车牌在哪里,如果检测到侧拍后还想对车牌上的字再做识别的话就要进行二级分类
"""
super().__init__()
self.aap = nn.AdaptiveAvgPool2d(1) # to x(b,c1,1,1) 自适应平均池化操作
self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g) # to x(b,c2,1,1)
self.flat = nn.Flatten() # 展平
def forward(self, x):
# 先自适应平均池化操作, 然后拼接
z = torch.cat([self.aap(y) for y in (x if isinstance(x, list) else [x])], 1) # cat if list
# 对z进行展平操作
return self.flat(self.conv(z)) # flatten to x(b,c2)
# ============================================= V6新增模块 ======================================================
class C3SPP(C3):
"""
这部分是根据上面的C3结构改编而来的, 将原先的Bottleneck替换为调用TransformerBlock模块
"""
# C3 module with TransformerBlock()
# C3 module with SPP()
def __init__(self, c1, c2, k=(5, 9, 13), n=1, shortcut=True, g=1, e=0.5):
super().__init__(c1, c2, n, shortcut, g, e)
c_ = int(c2 * e)
self.m = SPP(c_, c_, k)
class C3Ghost(C3):
# C3 module with GhostBottleneck()
def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
super().__init__(c1, c2, n, shortcut, g, e)
c_ = int(c2 * e) # hidden channels
self.m = nn.Sequential(*(GhostBottleneck(c_, c_) for _ in range(n)))
class SPPF(nn.Module):
# Spatial Pyramid Pooling - Fast (SPPF) layer for YOLOv5 by Glenn Jocher
def __init__(self, c1, c2, k=5): # equivalent to SPP(k=(5, 9, 13))
super().__init__()
c_ = c1 // 2 # hidden channels
self.cv1 = Conv(c1, c_, 1, 1)
self.cv2 = Conv(c_ * 4, c2, 1, 1)
self.m = nn.MaxPool2d(kernel_size=k, stride=1, padding=k // 2)
def forward(self, x):
x = self.cv1(x)
with warnings.catch_warnings():
warnings.simplefilter('ignore') # suppress torch 1.9.0 max_pool2d() warning
y1 = self.m(x)
y2 = self.m(y1)
return self.cv2(torch.cat([x, y1, y2, self.m(y2)], 1))
class GhostConv(nn.Module):
# Ghost Convolution https://github.com/huawei-noah/ghostnet
def __init__(self, c1, c2, k=1, s=1, g=1, act=True): # ch_in, ch_out, kernel, stride, groups
"""
Standard bottleneck Conv+Conv+shortcut
:params c1: 第一个卷积的输入channel
:params c2: 第二个卷积的输出channel
:params shortcut: bool 是否有shortcut连接 默认是True
:params g: 卷积分组的个数 =1就是普通卷积 >1就是深度可分离卷积
:params e: expansion ratio e*c2就是第一个卷积的输出channel=第二个卷积的输入channel
"""
super().__init__()
c_ = c2 // 2 # hidden channels
self.cv1 = Conv(c1, c_, k, s, None, g, act)
self.cv2 = Conv(c_, c_, 5, 1, None, c_, act)
def forward(self, x):
y = self.cv1(x)
return torch.cat([y, self.cv2(y)], 1)
class GhostBottleneck(nn.Module):
# Ghost Bottleneck https://github.com/huawei-noah/ghostnet
def __init__(self, c1, c2, k=3, s=1): # ch_in, ch_out, kernel, stride
super().__init__()
c_ = c2 // 2
self.conv = nn.Sequential(GhostConv(c1, c_, 1, 1), # pw
DWConv(c_, c_, k, s, act=False) if s == 2 else nn.Identity(), # dw
GhostConv(c_, c2, 1, 1, act=False)) # pw-linear
self.shortcut = nn.Sequential(DWConv(c1, c1, k, s, act=False),
Conv(c1, c2, 1, 1, act=False)) if s == 2 else nn.Identity()
def forward(self, x):
return self.conv(x) + self.shortcut(x)
class DetectMultiBackend(nn.Module):
# YOLOv5 MultiBackend class for python inference on various backends
def __init__(self, weights='yolov5s.pt', device=None, dnn=False, data=None):
# Usage:
# PyTorch: weights = *.pt
# TorchScript: *.torchscript
# ONNX Runtime: *.onnx
# ONNX OpenCV DNN: *.onnx with --dnn
# OpenVINO: *.xml
# CoreML: *.mlmodel
# TensorRT: *.engine
# TensorFlow SavedModel: *_saved_model
# TensorFlow GraphDef: *.pb
# TensorFlow Lite: *.tflite
# TensorFlow Edge TPU: *_edgetpu.tflite
from models.experimental import attempt_download, attempt_load # scoped to avoid circular import
super().__init__()
w = str(weights[0] if isinstance(weights, list) else weights)
pt, jit, onnx, xml, engine, coreml, saved_model, pb, tflite, edgetpu, tfjs = self.model_type(w) # get backend
stride, names = 64, [f'class{i}' for i in range(1000)] # assign defaults
w = attempt_download(w) # download if not local
if data: # data.yaml path (optional)
with open(data, errors='ignore') as f:
names = yaml.safe_load(f)['names'] # class names
if pt: # PyTorch
model = attempt_load(weights if isinstance(weights, list) else w, map_location=device)
stride = max(int(model.stride.max()), 32) # model stride
names = model.module.names if hasattr(model, 'module') else model.names # get class names
self.model = model # explicitly assign for to(), cpu(), cuda(), half()
elif jit: # TorchScript
LOGGER.info(f'Loading {w} for TorchScript inference...')
extra_files = {'config.txt': ''} # model metadata
model = torch.jit.load(w, _extra_files=extra_files)
if extra_files['config.txt']:
d = json.loads(extra_files['config.txt']) # extra_files dict
stride, names = int(d['stride']), d['names']
elif dnn: # ONNX OpenCV DNN
LOGGER.info(f'Loading {w} for ONNX OpenCV DNN inference...')
check_requirements(('opencv-python>=4.5.4',))
net = cv2.dnn.readNetFromONNX(w)
elif onnx: # ONNX Runtime
LOGGER.info(f'Loading {w} for ONNX Runtime inference...')
cuda = torch.cuda.is_available()
check_requirements(('onnx', 'onnxruntime-gpu' if cuda else 'onnxruntime'))
import onnxruntime
providers = ['CUDAExecutionProvider', 'CPUExecutionProvider'] if cuda else ['CPUExecutionProvider']
session = onnxruntime.InferenceSession(w, providers=providers)
elif xml: # OpenVINO
LOGGER.info(f'Loading {w} for OpenVINO inference...')
check_requirements(('openvino-dev',)) # requires openvino-dev: https://pypi.org/project/openvino-dev/
import openvino.inference_engine as ie
core = ie.IECore()
if not Path(w).is_file(): # if not *.xml
w = next(Path(w).glob('*.xml')) # get *.xml file from *_openvino_model dir
network = core.read_network(model=w, weights=Path(w).with_suffix('.bin')) # *.xml, *.bin paths
executable_network = core.load_network(network, device_name='CPU', num_requests=1)
elif engine: # TensorRT
LOGGER.info(f'Loading {w} for TensorRT inference...')
import tensorrt as trt # https://developer.nvidia.com/nvidia-tensorrt-download
check_version(trt.__version__, '7.0.0', hard=True) # require tensorrt>=7.0.0
Binding = namedtuple('Binding', ('name', 'dtype', 'shape', 'data', 'ptr'))
logger = trt.Logger(trt.Logger.INFO)
with open(w, 'rb') as f, trt.Runtime(logger) as runtime:
model = runtime.deserialize_cuda_engine(f.read())
bindings = OrderedDict()
for index in range(model.num_bindings):
name = model.get_binding_name(index)
dtype = trt.nptype(model.get_binding_dtype(index))
shape = tuple(model.get_binding_shape(index))
data = torch.from_numpy(np.empty(shape, dtype=np.dtype(dtype))).to(device)
bindings[name] = Binding(name, dtype, shape, data, int(data.data_ptr()))
binding_addrs = OrderedDict((n, d.ptr) for n, d in bindings.items())
context = model.create_execution_context()
batch_size = bindings['images'].shape[0]
elif coreml: # CoreML
LOGGER.info(f'Loading {w} for CoreML inference...')
import coremltools as ct
model = ct.models.MLModel(w)
else: # TensorFlow (SavedModel, GraphDef, Lite, Edge TPU)
if saved_model: # SavedModel
LOGGER.info(f'Loading {w} for TensorFlow SavedModel inference...')
import tensorflow as tf
keras = False # assume TF1 saved_model
model = tf.keras.models.load_model(w) if keras else tf.saved_model.load(w)
elif pb: # GraphDef https://www.tensorflow.org/guide/migrate#a_graphpb_or_graphpbtxt
LOGGER.info(f'Loading {w} for TensorFlow GraphDef inference...')
import tensorflow as tf
def wrap_frozen_graph(gd, inputs, outputs):
x = tf.compat.v1.wrap_function(lambda: tf.compat.v1.import_graph_def(gd, name=""), []) # wrapped
ge = x.graph.as_graph_element
return x.prune(tf.nest.map_structure(ge, inputs), tf.nest.map_structure(ge, outputs))
gd = tf.Graph().as_graph_def() # graph_def
gd.ParseFromString(open(w, 'rb').read())
frozen_func = wrap_frozen_graph(gd, inputs="x:0", outputs="Identity:0")
elif tflite or edgetpu: # https://www.tensorflow.org/lite/guide/python#install_tensorflow_lite_for_python
try: # https://coral.ai/docs/edgetpu/tflite-python/#update-existing-tf-lite-code-for-the-edge-tpu
from tflite_runtime.interpreter import Interpreter, load_delegate
except ImportError:
import tensorflow as tf
Interpreter, load_delegate = tf.lite.Interpreter, tf.lite.experimental.load_delegate,
if edgetpu: # Edge TPU https://coral.ai/software/#edgetpu-runtime
LOGGER.info(f'Loading {w} for TensorFlow Lite Edge TPU inference...')
delegate = {'Linux': 'libedgetpu.so.1',
'Darwin': 'libedgetpu.1.dylib',
'Windows': 'edgetpu.dll'}[platform.system()]
interpreter = Interpreter(model_path=w, experimental_delegates=[load_delegate(delegate)])
else: # Lite
LOGGER.info(f'Loading {w} for TensorFlow Lite inference...')
interpreter = Interpreter(model_path=w) # load TFLite model
interpreter.allocate_tensors() # allocate
input_details = interpreter.get_input_details() # inputs
output_details = interpreter.get_output_details() # outputs
elif tfjs:
raise Exception('ERROR: YOLOv5 TF.js inference is not supported')
self.__dict__.update(locals()) # assign all variables to self
def forward(self, im, augment=False, visualize=False, val=False):
# YOLOv5 MultiBackend inference
b, ch, h, w = im.shape # batch, channel, height, width
if self.pt or self.jit: # PyTorch
y = self.model(im) if self.jit else self.model(im, augment=augment, visualize=visualize)
return y if val else y[0]
elif self.dnn: # ONNX OpenCV DNN
im = im.cpu().numpy() # torch to numpy
self.net.setInput(im)
y = self.net.forward()
elif self.onnx: # ONNX Runtime
im = im.cpu().numpy() # torch to numpy
y = self.session.run([self.session.get_outputs()[0].name], {self.session.get_inputs()[0].name: im})[0]
elif self.xml: # OpenVINO
im = im.cpu().numpy() # FP32
desc = self.ie.TensorDesc(precision='FP32', dims=im.shape, layout='NCHW') # Tensor Description
request = self.executable_network.requests[0] # inference request
request.set_blob(blob_name='images', blob=self.ie.Blob(desc, im)) # name=next(iter(request.input_blobs))
request.infer()
y = request.output_blobs['output'].buffer # name=next(iter(request.output_blobs))
elif self.engine: # TensorRT
assert im.shape == self.bindings['images'].shape, (im.shape, self.bindings['images'].shape)
self.binding_addrs['images'] = int(im.data_ptr())
self.context.execute_v2(list(self.binding_addrs.values()))
y = self.bindings['output'].data
elif self.coreml: # CoreML
im = im.permute(0, 2, 3, 1).cpu().numpy() # torch BCHW to numpy BHWC shape(1,320,192,3)
im = Image.fromarray((im[0] * 255).astype('uint8'))
# im = im.resize((192, 320), Image.ANTIALIAS)
y = self.model.predict({'image': im}) # coordinates are xywh normalized
if 'confidence' in y:
box = xywh2xyxy(y['coordinates'] * [[w, h, w, h]]) # xyxy pixels
conf, cls = y['confidence'].max(1), y['confidence'].argmax(1).astype(np.float)
y = np.concatenate((box, conf.reshape(-1, 1), cls.reshape(-1, 1)), 1)
else:
k = 'var_' + str(sorted(int(k.replace('var_', '')) for k in y)[-1]) # output key
y = y[k] # output
else: # TensorFlow (SavedModel, GraphDef, Lite, Edge TPU)
im = im.permute(0, 2, 3, 1).cpu().numpy() # torch BCHW to numpy BHWC shape(1,320,192,3)
if self.saved_model: # SavedModel
y = (self.model(im, training=False) if self.keras else self.model(im)[0]).numpy()
elif self.pb: # GraphDef
y = self.frozen_func(x=self.tf.constant(im)).numpy()
else: # Lite or Edge TPU
input, output = self.input_details[0], self.output_details[0]
int8 = input['dtype'] == np.uint8 # is TFLite quantized uint8 model
if int8:
scale, zero_point = input['quantization']
im = (im / scale + zero_point).astype(np.uint8) # de-scale
self.interpreter.set_tensor(input['index'], im)
self.interpreter.invoke()
y = self.interpreter.get_tensor(output['index'])
if int8:
scale, zero_point = output['quantization']
y = (y.astype(np.float32) - zero_point) * scale # re-scale
y[..., :4] *= [w, h, w, h] # xywh normalized to pixels
y = torch.tensor(y) if isinstance(y, np.ndarray) else y
return (y, []) if val else y
def warmup(self, imgsz=(1, 3, 640, 640), half=False):
# Warmup model by running inference once
if self.pt or self.jit or self.onnx or self.engine: # warmup types
if isinstance(self.device, torch.device) and self.device.type != 'cpu': # only warmup GPU models
im = torch.zeros(*imgsz).to(self.device).type(torch.half if half else torch.float) # input image
self.forward(im) # warmup
@staticmethod
def model_type(p='path/to/model.pt'):
# Return model type from model path, i.e. path='path/to/model.onnx' -> type=onnx
from export import export_formats
suffixes = list(export_formats().Suffix) + ['.xml'] # export suffixes
check_suffix(p, suffixes) # checks
p = Path(p).name # eliminate trailing separators
pt, jit, onnx, xml, engine, coreml, saved_model, pb, tflite, edgetpu, tfjs, xml2 = (s in p for s in suffixes)
xml |= xml2 # *_openvino_model or *.xml
tflite &= not edgetpu # *.tflite
return pt, jit, onnx, xml, engine, coreml, saved_model, pb, tflite, edgetpu, tfjs