YOLOv8-16bit/ultralytics/nn/tasks.py

import contextlib
from copy import deepcopy
from pathlib import Path

import thop
import torch
import torch.nn as nn
import torchvision
import yaml

from ultralytics.nn.modules import (C1, C2, C3, C3TR, SPP, SPPF, Bottleneck, BottleneckCSP, C2f, C3Ghost, C3x, Classify,
                                    Concat, Conv, ConvTranspose, Detect, DWConv, DWConvTranspose2d, Ensemble, Focus,
                                    GhostBottleneck, GhostConv, Segment)
from ultralytics.yolo.utils import LOGGER, colorstr
from ultralytics.yolo.utils.torch_utils import (fuse_conv_and_bn, initialize_weights, intersect_state_dicts,
                                                make_divisible, model_info, scale_img, time_sync)


class BaseModel(nn.Module):
    # YOLOv5 base model
    def forward(self, x, profile=False, visualize=False):
        return self._forward_once(x, profile, visualize)  # single-scale inference, train

    def _forward_once(self, x, profile=False, visualize=False):
        y, dt = [], []  # outputs
        for m in self.model:
            if m.f != -1:  # if not from previous layer
                x = y[m.f] if isinstance(m.f, int) else [x if j == -1 else y[j] for j in m.f]  # from earlier layers
            if profile:
                self._profile_one_layer(m, x, dt)
            x = m(x)  # run
            y.append(x if m.i in self.save else None)  # save output
            if visualize:
                pass
                # TODO: feature_visualization(x, m.type, m.i, save_dir=visualize)
        return x

    def _profile_one_layer(self, m, x, dt):
        c = m == self.model[-1]  # is final layer, copy input as inplace fix
        o = thop.profile(m, inputs=(x.copy() if c else x,), verbose=False)[0] / 1E9 * 2 if thop else 0  # FLOPs
        t = time_sync()
        for _ in range(10):
            m(x.copy() if c else x)
        dt.append((time_sync() - t) * 100)
        if m == self.model[0]:
            LOGGER.info(f"{'time (ms)':>10s} {'GFLOPs':>10s} {'params':>10s}  module")
        LOGGER.info(f'{dt[-1]:10.2f} {o:10.2f} {m.np:10.0f}  {m.type}')
        if c:
            LOGGER.info(f"{sum(dt):10.2f} {'-':>10s} {'-':>10s}  Total")

    def fuse(self):  # fuse model Conv2d() + BatchNorm2d() layers
        LOGGER.info('Fusing layers... ')
        for m in self.model.modules():
            if isinstance(m, (Conv, DWConv)) and hasattr(m, 'bn'):
                m.conv = fuse_conv_and_bn(m.conv, m.bn)  # update conv
                delattr(m, 'bn')  # remove batchnorm
                m.forward = m.forward_fuse  # update forward
        self.info()
        return self

    def info(self, verbose=False, imgsz=640):  # print model information
        model_info(self, verbose, imgsz)

    def _apply(self, fn):
        # Apply to(), cpu(), cuda(), half() to model tensors that are not parameters or registered buffers
        self = super()._apply(fn)
        m = self.model[-1]  # Detect()
        if isinstance(m, (Detect, Segment)):
            m.stride = fn(m.stride)
            m.anchors = fn(m.anchors)
            m.strides = fn(m.strides)
        return self

    def load(self, weights):
        # Force all tasks to implement this function
        raise NotImplementedError("This function needs to be implemented by derived classes!")


class DetectionModel(BaseModel):
    # YOLOv5 detection model
    def __init__(self, cfg='yolov5s.yaml', ch=3, nc=None, verbose=True):  # model, input channels, number of classes
        super().__init__()
        if isinstance(cfg, dict):
            self.yaml = cfg  # model dict
        else:  # is *.yaml
            self.yaml_file = Path(cfg).name
            with open(cfg, encoding='ascii', errors='ignore') as f:
                self.yaml = yaml.safe_load(f)  # model dict

        # Define model
        ch = self.yaml['ch'] = self.yaml.get('ch', ch)  # input channels
        if nc and nc != self.yaml['nc']:
            LOGGER.info(f"Overriding model.yaml nc={self.yaml['nc']} with nc={nc}")
            self.yaml['nc'] = nc  # override yaml value
        self.model, self.save = parse_model(deepcopy(self.yaml), ch=[ch], verbose=verbose)  # model, savelist
        self.names = [str(i) for i in range(self.yaml['nc'])]  # default names
        self.inplace = self.yaml.get('inplace', True)

        # Build strides
        m = self.model[-1]  # Detect()
        if isinstance(m, (Detect, Segment)):
            s = 256  # 2x min stride
            m.inplace = self.inplace
            forward = lambda x: self.forward(x)[0] if isinstance(m, Segment) else self.forward(x)
            m.stride = torch.tensor([s / x.shape[-2] for x in forward(torch.zeros(1, ch, s, s))])  # forward
            self.stride = m.stride
            m.bias_init()  # only run once

        # Init weights, biases
        initialize_weights(self)
        if verbose:
            self.info()
            LOGGER.info('')

    def forward(self, x, augment=False, profile=False, visualize=False):
        if augment:
            return self._forward_augment(x)  # augmented inference, None
        return self._forward_once(x, profile, visualize)  # single-scale inference, train

    def _forward_augment(self, x):
        img_size = x.shape[-2:]  # height, width
        s = [1, 0.83, 0.67]  # scales
        f = [None, 3, None]  # flips (2-ud, 3-lr)
        y = []  # outputs
        for si, fi in zip(s, f):
            xi = scale_img(x.flip(fi) if fi else x, si, gs=int(self.stride.max()))
            yi = self._forward_once(xi)[0]  # forward
            # cv2.imwrite(f'img_{si}.jpg', 255 * xi[0].cpu().numpy().transpose((1, 2, 0))[:, :, ::-1])  # save
            yi = self._descale_pred(yi, fi, si, img_size)
            y.append(yi)
        y = self._clip_augmented(y)  # clip augmented tails
        return torch.cat(y, -1), None  # augmented inference, train

    @staticmethod
    def _descale_pred(p, flips, scale, img_size, dim=1):
        # de-scale predictions following augmented inference (inverse operation)
        p[:, :4] /= scale  # de-scale
        x, y, wh, cls = p.split((1, 1, 2, p.shape[dim] - 4), dim)
        if flips == 2:
            y = img_size[0] - y  # de-flip ud
        elif flips == 3:
            x = img_size[1] - x  # de-flip lr
        return torch.cat((x, y, wh, cls), dim)

    def _clip_augmented(self, y):
        # Clip YOLOv5 augmented inference tails
        nl = self.model[-1].nl  # number of detection layers (P3-P5)
        g = sum(4 ** x for x in range(nl))  # grid points
        e = 1  # exclude layer count
        i = (y[0].shape[-1] // g) * sum(4 ** x for x in range(e))  # indices
        y[0] = y[0][..., :-i]  # large
        i = (y[-1].shape[-1] // g) * sum(4 ** (nl - 1 - x) for x in range(e))  # indices
        y[-1] = y[-1][..., i:]  # small
        return y

    def load(self, weights, verbose=True):
        csd = weights['model'].float().state_dict()  # checkpoint state_dict as FP32
        csd = intersect_state_dicts(csd, self.state_dict())  # intersect
        self.load_state_dict(csd, strict=False)  # load
        if verbose:
            LOGGER.info(f'Transferred {len(csd)}/{len(self.model.state_dict())} items from pretrained weights')


class SegmentationModel(DetectionModel):
    # YOLOv5 segmentation model
    def __init__(self, cfg='yolov5s-seg.yaml', ch=3, nc=None, verbose=True):
        super().__init__(cfg, ch, nc, verbose)


class ClassificationModel(BaseModel):
    # YOLOv5 classification model
    def __init__(self, cfg=None, model=None, nc=1000, cutoff=10):  # yaml, model, number of classes, cutoff index
        super().__init__()
        self._from_detection_model(model, nc, cutoff) if model is not None else self._from_yaml(cfg)

    def _from_detection_model(self, model, nc=1000, cutoff=10):
        # Create a YOLOv5 classification model from a YOLOv5 detection model
        from ultralytics.nn.autobackend import AutoBackend
        if isinstance(model, AutoBackend):
            model = model.model  # unwrap DetectMultiBackend
        model.model = model.model[:cutoff]  # backbone
        m = model.model[-1]  # last layer
        ch = m.conv.in_channels if hasattr(m, 'conv') else m.cv1.conv.in_channels  # ch into module
        c = Classify(ch, nc)  # Classify()
        c.i, c.f, c.type = m.i, m.f, 'models.common.Classify'  # index, from, type
        model.model[-1] = c  # replace
        self.model = model.model
        self.stride = model.stride
        self.save = []
        self.nc = nc

    def _from_yaml(self, cfg):
        # TODO: Create a YOLOv5 classification model from a *.yaml file
        self.model = None

    def load(self, weights):
        model = weights["model"] if isinstance(weights, dict) else weights  # torchvision models are not dicts
        csd = model.float().state_dict()
        csd = intersect_state_dicts(csd, self.state_dict())  # intersect
        self.load_state_dict(csd, strict=False)  # load

    @staticmethod
    def reshape_outputs(model, nc):
        # Update a TorchVision classification model to class count 'n' if required
        name, m = list((model.model if hasattr(model, 'model') else model).named_children())[-1]  # last module
        if isinstance(m, Classify):  # YOLO Classify() head
            if m.linear.out_features != nc:
                m.linear = nn.Linear(m.linear.in_features, nc)
        elif isinstance(m, nn.Linear):  # ResNet, EfficientNet
            if m.out_features != nc:
                setattr(model, name, nn.Linear(m.in_features, nc))
        elif isinstance(m, nn.Sequential):
            types = [type(x) for x in m]
            if nn.Linear in types:
                i = types.index(nn.Linear)  # nn.Linear index
                if m[i].out_features != nc:
                    m[i] = nn.Linear(m[i].in_features, nc)
            elif nn.Conv2d in types:
                i = types.index(nn.Conv2d)  # nn.Conv2d index
                if m[i].out_channels != nc:
                    m[i] = nn.Conv2d(m[i].in_channels, nc, m[i].kernel_size, m[i].stride, bias=m[i].bias is not None)


# Functions ------------------------------------------------------------------------------------------------------------


def attempt_load_weights(weights, device=None, inplace=True, fuse=True):
    # Loads an ensemble of models weights=[a,b,c] or a single model weights=[a] or weights=a
    from ultralytics.yolo.utils.downloads import attempt_download

    model = Ensemble()
    for w in weights if isinstance(weights, list) else [weights]:
        ckpt = torch.load(attempt_download(w), map_location='cpu')  # load
        ckpt = (ckpt.get('ema') or ckpt['model']).to(device).float()  # FP32 model

        # Model compatibility updates
        if not hasattr(ckpt, 'stride'):
            ckpt.stride = torch.tensor([32.])
        if hasattr(ckpt, 'names') and isinstance(ckpt.names, (list, tuple)):
            ckpt.names = dict(enumerate(ckpt.names))  # convert to dict

        model.append(ckpt.fuse().eval() if fuse and hasattr(ckpt, 'fuse') else ckpt.eval())  # model in eval mode

    # Module compatibility updates
    for m in model.modules():
        t = type(m)
        if t in (nn.Hardswish, nn.LeakyReLU, nn.ReLU, nn.ReLU6, nn.SiLU, Detect, Segment):
            m.inplace = inplace  # torch 1.7.0 compatibility
        elif t is nn.Upsample and not hasattr(m, 'recompute_scale_factor'):
            m.recompute_scale_factor = None  # torch 1.11.0 compatibility

    # Return model
    if len(model) == 1:
        return model[-1]

    # Return detection ensemble
    print(f'Ensemble created with {weights}\n')
    for k in 'names', 'nc', 'yaml':
        setattr(model, k, getattr(model[0], k))
    model.stride = model[torch.argmax(torch.tensor([m.stride.max() for m in model])).int()].stride  # max stride
    assert all(model[0].nc == m.nc for m in model), f'Models have different class counts: {[m.nc for m in model]}'
    return model


def parse_model(d, ch, verbose=True):  # model_dict, input_channels(3)
    # Parse a YOLOv5 model.yaml dictionary
    if verbose:
        LOGGER.info(f"\n{'':>3}{'from':>20}{'n':>3}{'params':>10}  {'module':<45}{'arguments':<30}")
    nc, gd, gw, act = d['nc'], d['depth_multiple'], d['width_multiple'], d.get('activation')
    if act:
        Conv.default_act = eval(act)  # redefine default activation, i.e. Conv.default_act = nn.SiLU()
        if verbose:
            LOGGER.info(f"{colorstr('activation:')} {act}")  # print
    no = nc + 4  # number of outputs = classes + box

    layers, save, c2 = [], [], ch[-1]  # layers, savelist, ch out
    for i, (f, n, m, args) in enumerate(d['backbone'] + d['head']):  # from, number, module, args
        m = eval(m) if isinstance(m, str) else m  # eval strings
        for j, a in enumerate(args):
            with contextlib.suppress(NameError):
                args[j] = eval(a) if isinstance(a, str) else a  # eval strings

        n = n_ = max(round(n * gd), 1) if n > 1 else n  # depth gain
        if m in {
                Conv, ConvTranspose, GhostConv, Bottleneck, GhostBottleneck, SPP, SPPF, DWConv, Focus, BottleneckCSP,
                C1, C2, C2f, C3, C3TR, C3Ghost, nn.ConvTranspose2d, DWConvTranspose2d, C3x}:
            c1, c2 = ch[f], args[0]
            if c2 != no:  # if not output
                c2 = make_divisible(c2 * gw, 8)

            args = [c1, c2, *args[1:]]
            if m in {BottleneckCSP, C1, C2, C2f, C3, C3TR, C3Ghost, C3x}:
                args.insert(2, n)  # number of repeats
                n = 1
        elif m is nn.BatchNorm2d:
            args = [ch[f]]
        elif m is Concat:
            c2 = sum(ch[x] for x in f)
        # TODO: channel, gw, gd
        elif m in {Detect, Segment}:
            args.append([ch[x] for x in f])
            if m is Segment:
                args[2] = make_divisible(args[2] * gw, 8)
        else:
            c2 = ch[f]

        m_ = nn.Sequential(*(m(*args) for _ in range(n))) if n > 1 else m(*args)  # module
        t = str(m)[8:-2].replace('__main__.', '')  # module type
        m.np = sum(x.numel() for x in m_.parameters())  # number params
        m_.i, m_.f, m_.type = i, f, t  # attach index, 'from' index, type
        if verbose:
            LOGGER.info(f'{i:>3}{str(f):>20}{n_:>3}{m.np:10.0f}  {t:<45}{str(args):<30}')  # print
        save.extend(x % i for x in ([f] if isinstance(f, int) else f) if x != -1)  # append to savelist
        layers.append(m_)
        if i == 0:
            ch = []
        ch.append(c2)
    return nn.Sequential(*layers), sorted(save)


def get_model(model='s.pt', pretrained=True):
    # Load a YOLO model locally, from torchvision, or from Ultralytics assets
    if model.endswith(".pt"):
        model = model.split(".")[0]

    if Path(f"{model}.pt").is_file():  # local file
        return attempt_load_weights(f"{model}.pt", device='cpu')
    elif model in torchvision.models.__dict__:  # TorchVision models i.e. resnet50, efficientnet_b0
        return torchvision.models.__dict__[model](weights='IMAGENET1K_V1' if pretrained else None)
    else:  # Ultralytics assets
        return attempt_load_weights(f"{model}.pt", device='cpu')