YOLOv8 architecture updates from R&D branch (#88)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>single_channel
Glenn Jocher
2 years ago
committed by
GitHub
parent
5fbea25f0b
commit
ebd3cfb2fd
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#!/bin/bash
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# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
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# Download latest models from https://github.com/ultralytics/yolov5/releases
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# Example usage: bash data/scripts/download_weights.sh
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# parent
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# └── yolov5
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# ├── yolov5s.pt ← downloads here
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# ├── yolov5m.pt
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# └── ...
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python - <<EOF
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from utils.downloads import attempt_download
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p5 = list('nsmlx') # P5 models
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p6 = [f'{x}6' for x in p5] # P6 models
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cls = [f'{x}-cls' for x in p5] # classification models
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seg = [f'{x}-seg' for x in p5] # classification models
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for x in p5 + p6 + cls + seg:
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attempt_download(f'weights/yolov5{x}.pt')
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EOF
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#!/bin/bash
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# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
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# Download COCO 2017 dataset http://cocodataset.org
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# Example usage: bash data/scripts/get_coco.sh
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# parent
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# ├── yolov5
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# └── datasets
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# └── coco ← downloads here
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# Arguments (optional) Usage: bash data/scripts/get_coco.sh --train --val --test --segments
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if [ "$#" -gt 0 ]; then
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for opt in "$@"; do
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case "${opt}" in
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--train) train=true ;;
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--val) val=true ;;
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--test) test=true ;;
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--segments) segments=true ;;
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--sama) sama=true ;;
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esac
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done
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else
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train=true
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val=true
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test=false
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segments=false
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sama=false
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fi
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# Download/unzip labels
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d='../datasets' # unzip directory
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url=https://github.com/ultralytics/yolov5/releases/download/v1.0/
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if [ "$segments" == "true" ]; then
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f='coco2017labels-segments.zip' # 169 MB
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elif [ "$sama" == "true" ]; then
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f='coco2017labels-segments-sama.zip' # 199 MB https://www.sama.com/sama-coco-dataset/
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else
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f='coco2017labels.zip' # 46 MB
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fi
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echo 'Downloading' $url$f ' ...'
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curl -L $url$f -o $f -# && unzip -q $f -d $d && rm $f &
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# Download/unzip images
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d='../datasets/coco/images' # unzip directory
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url=http://images.cocodataset.org/zips/
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if [ "$train" == "true" ]; then
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f='train2017.zip' # 19G, 118k images
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echo 'Downloading' $url$f '...'
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curl -L $url$f -o $f -# && unzip -q $f -d $d && rm $f &
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fi
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if [ "$val" == "true" ]; then
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f='val2017.zip' # 1G, 5k images
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echo 'Downloading' $url$f '...'
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curl -L $url$f -o $f -# && unzip -q $f -d $d && rm $f &
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fi
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if [ "$test" == "true" ]; then
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f='test2017.zip' # 7G, 41k images (optional)
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echo 'Downloading' $url$f '...'
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curl -L $url$f -o $f -# && unzip -q $f -d $d && rm $f &
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fi
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wait # finish background tasks
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#!/bin/bash
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# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
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# Download COCO128 dataset https://www.kaggle.com/ultralytics/coco128 (first 128 images from COCO train2017)
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# Example usage: bash data/scripts/get_coco128.sh
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# parent
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# ├── yolov5
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# └── datasets
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# └── coco128 ← downloads here
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# Download/unzip images and labels
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d='../datasets' # unzip directory
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url=https://github.com/ultralytics/yolov5/releases/download/v1.0/
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f='coco128.zip' # or 'coco128-segments.zip', 68 MB
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echo 'Downloading' $url$f ' ...'
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curl -L $url$f -o $f -# && unzip -q $f -d $d && rm $f &
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wait # finish background tasks
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#!/bin/bash
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# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
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# Download ILSVRC2012 ImageNet dataset https://image-net.org
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# Example usage: bash data/scripts/get_imagenet.sh
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# parent
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# ├── yolov5
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# └── datasets
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# └── imagenet ← downloads here
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# Arguments (optional) Usage: bash data/scripts/get_imagenet.sh --train --val
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if [ "$#" -gt 0 ]; then
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for opt in "$@"; do
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case "${opt}" in
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--train) train=true ;;
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--val) val=true ;;
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esac
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done
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else
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train=true
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val=true
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fi
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# Make dir
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d='../datasets/imagenet' # unzip directory
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mkdir -p $d && cd $d
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# Download/unzip train
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if [ "$train" == "true" ]; then
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wget https://image-net.org/data/ILSVRC/2012/ILSVRC2012_img_train.tar # download 138G, 1281167 images
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mkdir train && mv ILSVRC2012_img_train.tar train/ && cd train
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tar -xf ILSVRC2012_img_train.tar && rm -f ILSVRC2012_img_train.tar
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find . -name "*.tar" | while read NAME; do
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mkdir -p "${NAME%.tar}"
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tar -xf "${NAME}" -C "${NAME%.tar}"
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rm -f "${NAME}"
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done
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cd ..
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fi
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# Download/unzip val
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if [ "$val" == "true" ]; then
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wget https://image-net.org/data/ILSVRC/2012/ILSVRC2012_img_val.tar # download 6.3G, 50000 images
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mkdir val && mv ILSVRC2012_img_val.tar val/ && cd val && tar -xf ILSVRC2012_img_val.tar
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wget -qO- https://raw.githubusercontent.com/soumith/imagenetloader.torch/master/valprep.sh | bash # move into subdirs
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fi
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# Delete corrupted image (optional: PNG under JPEG name that may cause dataloaders to fail)
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# rm train/n04266014/n04266014_10835.JPEG
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# TFRecords (optional)
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# wget https://raw.githubusercontent.com/tensorflow/models/master/research/slim/datasets/imagenet_lsvrc_2015_synsets.txt
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# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
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"""
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AutoAnchor utils
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"""
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import random
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import numpy as np
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import torch
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import yaml
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from tqdm import tqdm
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from ultralytics.yolo.data import BaseDataset
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from ultralytics.yolo.utils import LOGGER, TryExcept, colorstr
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PREFIX = colorstr('AutoAnchor: ')
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def check_anchor_order(m):
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# Check anchor order against stride order for YOLOv5 Detect() module m, and correct if necessary
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a = m.anchors.prod(-1).mean(-1).view(-1) # mean anchor area per output layer
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da = a[-1] - a[0] # delta a
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ds = m.stride[-1] - m.stride[0] # delta s
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if da and (da.sign() != ds.sign()): # same order
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LOGGER.info(f'{PREFIX}Reversing anchor order')
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m.anchors[:] = m.anchors.flip(0)
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@TryExcept(f'{PREFIX}ERROR: ')
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def check_anchors(dataset, model, thr=4.0, imgsz=640):
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# Check anchor fit to data, recompute if necessary
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m = model.module.model[-1] if hasattr(model, 'module') else model.model[-1] # Detect()
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shapes = imgsz * dataset.shapes / dataset.shapes.max(1, keepdims=True)
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scale = np.random.uniform(0.9, 1.1, size=(shapes.shape[0], 1)) # augment scale
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wh = torch.tensor(np.concatenate([l[:, 3:5] * s for s, l in zip(shapes * scale, dataset.labels)])).float() # wh
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def metric(k): # compute metric
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r = wh[:, None] / k[None]
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x = torch.min(r, 1 / r).min(2)[0] # ratio metric
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best = x.max(1)[0] # best_x
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aat = (x > 1 / thr).float().sum(1).mean() # anchors above threshold
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bpr = (best > 1 / thr).float().mean() # best possible recall
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return bpr, aat
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stride = m.stride.to(m.anchors.device).view(-1, 1, 1) # model strides
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anchors = m.anchors.clone() * stride # current anchors
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bpr, aat = metric(anchors.cpu().view(-1, 2))
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s = f'\n{PREFIX}{aat:.2f} anchors/target, {bpr:.3f} Best Possible Recall (BPR). '
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if bpr > 0.98: # threshold to recompute
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LOGGER.info(f'{s}Current anchors are a good fit to dataset ✅')
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else:
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LOGGER.info(f'{s}Anchors are a poor fit to dataset ⚠️, attempting to improve...')
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na = m.anchors.numel() // 2 # number of anchors
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anchors = kmean_anchors(dataset, n=na, imgsz=imgsz, thr=thr, gen=1000, verbose=False)
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new_bpr = metric(anchors)[0]
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if new_bpr > bpr: # replace anchors
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anchors = torch.tensor(anchors, device=m.anchors.device).type_as(m.anchors)
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m.anchors[:] = anchors.clone().view_as(m.anchors)
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check_anchor_order(m) # must be in pixel-space (not grid-space)
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m.anchors /= stride
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s = f'{PREFIX}Done ✅ (optional: update model *.yaml to use these anchors in the future)'
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else:
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s = f'{PREFIX}Done ⚠️ (original anchors better than new anchors, proceeding with original anchors)'
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LOGGER.info(s)
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def kmean_anchors(dataset='./data/coco128.yaml', n=9, imgsz=640, thr=4.0, gen=1000, verbose=True):
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""" Creates kmeans-evolved anchors from training dataset
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Arguments:
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dataset: path to data.yaml, or a loaded dataset
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n: number of anchors
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imgsz: image size used for training
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thr: anchor-label wh ratio threshold hyperparameter hyp['anchor_t'] used for training, default=4.0
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gen: generations to evolve anchors using genetic algorithm
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verbose: print all results
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Return:
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k: kmeans evolved anchors
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Usage:
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from utils.autoanchor import *; _ = kmean_anchors()
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"""
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from scipy.cluster.vq import kmeans
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npr = np.random
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thr = 1 / thr
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def metric(k, wh): # compute metrics
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r = wh[:, None] / k[None]
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x = torch.min(r, 1 / r).min(2)[0] # ratio metric
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# x = wh_iou(wh, torch.tensor(k)) # iou metric
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return x, x.max(1)[0] # x, best_x
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def anchor_fitness(k): # mutation fitness
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_, best = metric(torch.tensor(k, dtype=torch.float32), wh)
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return (best * (best > thr).float()).mean() # fitness
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def print_results(k, verbose=True):
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k = k[np.argsort(k.prod(1))] # sort small to large
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x, best = metric(k, wh0)
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bpr, aat = (best > thr).float().mean(), (x > thr).float().mean() * n # best possible recall, anch > thr
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s = f'{PREFIX}thr={thr:.2f}: {bpr:.4f} best possible recall, {aat:.2f} anchors past thr\n' \
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f'{PREFIX}n={n}, imgsz={imgsz}, metric_all={x.mean():.3f}/{best.mean():.3f}-mean/best, ' \
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f'past_thr={x[x > thr].mean():.3f}-mean: '
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for x in k:
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s += '%i,%i, ' % (round(x[0]), round(x[1]))
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if verbose:
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LOGGER.info(s[:-2])
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return k
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if isinstance(dataset, str): # *.yaml file
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with open(dataset, errors='ignore') as f:
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data_dict = yaml.safe_load(f) # model dict
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dataset = BaseDataset(data_dict['train'], augment=True, rect=True)
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# Get label wh
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shapes = imgsz * dataset.shapes / dataset.shapes.max(1, keepdims=True)
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wh0 = np.concatenate([l[:, 3:5] * s for s, l in zip(shapes, dataset.labels)]) # wh
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# Filter
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i = (wh0 < 3.0).any(1).sum()
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if i:
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LOGGER.info(f'{PREFIX}WARNING ⚠️ Extremely small objects found: {i} of {len(wh0)} labels are <3 pixels in size')
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wh = wh0[(wh0 >= 2.0).any(1)].astype(np.float32) # filter > 2 pixels
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# wh = wh * (npr.rand(wh.shape[0], 1) * 0.9 + 0.1) # multiply by random scale 0-1
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# Kmeans init
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try:
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LOGGER.info(f'{PREFIX}Running kmeans for {n} anchors on {len(wh)} points...')
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assert n <= len(wh) # apply overdetermined constraint
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s = wh.std(0) # sigmas for whitening
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k = kmeans(wh / s, n, iter=30)[0] * s # points
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assert n == len(k) # kmeans may return fewer points than requested if wh is insufficient or too similar
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except Exception:
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LOGGER.warning(f'{PREFIX}WARNING ⚠️ switching strategies from kmeans to random init')
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k = np.sort(npr.rand(n * 2)).reshape(n, 2) * imgsz # random init
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wh, wh0 = (torch.tensor(x, dtype=torch.float32) for x in (wh, wh0))
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k = print_results(k, verbose=False)
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# Plot
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# k, d = [None] * 20, [None] * 20
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# for i in tqdm(range(1, 21)):
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# k[i-1], d[i-1] = kmeans(wh / s, i) # points, mean distance
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# fig, ax = plt.subplots(1, 2, figsize=(14, 7), tight_layout=True)
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# ax = ax.ravel()
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# ax[0].plot(np.arange(1, 21), np.array(d) ** 2, marker='.')
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# fig, ax = plt.subplots(1, 2, figsize=(14, 7)) # plot wh
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# ax[0].hist(wh[wh[:, 0]<100, 0],400)
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# ax[1].hist(wh[wh[:, 1]<100, 1],400)
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# fig.savefig('wh.png', dpi=200)
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# Evolve
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f, sh, mp, s = anchor_fitness(k), k.shape, 0.9, 0.1 # fitness, generations, mutation prob, sigma
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pbar = tqdm(range(gen), bar_format='{l_bar}{bar:10}{r_bar}{bar:-10b}') # progress bar
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for _ in pbar:
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v = np.ones(sh)
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while (v == 1).all(): # mutate until a change occurs (prevent duplicates)
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v = ((npr.random(sh) < mp) * random.random() * npr.randn(*sh) * s + 1).clip(0.3, 3.0)
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kg = (k.copy() * v).clip(min=2.0)
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fg = anchor_fitness(kg)
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if fg > f:
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f, k = fg, kg.copy()
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pbar.desc = f'{PREFIX}Evolving anchors with Genetic Algorithm: fitness = {f:.4f}'
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if verbose:
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print_results(k, verbose)
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return print_results(k).astype(np.float32)
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|
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|
import torch
|
||||||
|
import torch.nn as nn
|
||||||
|
import torch.nn.functional as F
|
||||||
|
|
||||||
|
from .metrics import bbox_iou
|
||||||
|
from .tal import bbox2dist
|
||||||
|
|
||||||
|
|
||||||
|
class VarifocalLoss(nn.Module):
|
||||||
|
# Varifocal loss by Zhang et al. https://arxiv.org/abs/2008.13367
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__()
|
||||||
|
|
||||||
|
def forward(self, pred_score, gt_score, label, alpha=0.75, gamma=2.0):
|
||||||
|
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).sum()
|
||||||
|
return loss
|
||||||
|
|
||||||
|
|
||||||
|
class BboxLoss(nn.Module):
|
||||||
|
|
||||||
|
def __init__(self, reg_max, use_dfl=False):
|
||||||
|
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 = torch.masked_select(target_scores.sum(-1), fg_mask).unsqueeze(-1)
|
||||||
|
iou = bbox_iou(pred_bboxes[fg_mask], target_bboxes[fg_mask], xywh=False, CIoU=True)
|
||||||
|
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
|
||||||
|
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)
|
||||||
@ -0,0 +1,211 @@
|
|||||||
|
import torch
|
||||||
|
import torch.nn as nn
|
||||||
|
import torch.nn.functional as F
|
||||||
|
|
||||||
|
from .checks import check_version
|
||||||
|
from .metrics import bbox_iou
|
||||||
|
|
||||||
|
TORCH_1_10 = check_version(torch.__version__, '1.10.0')
|
||||||
|
|
||||||
|
|
||||||
|
def select_candidates_in_gts(xy_centers, gt_bboxes, eps=1e-9):
|
||||||
|
"""select the positive anchor center in gt
|
||||||
|
|
||||||
|
Args:
|
||||||
|
xy_centers (Tensor): shape(h*w, 4)
|
||||||
|
gt_bboxes (Tensor): shape(b, n_boxes, 4)
|
||||||
|
Return:
|
||||||
|
(Tensor): shape(b, n_boxes, h*w)
|
||||||
|
"""
|
||||||
|
n_anchors = xy_centers.shape[0]
|
||||||
|
bs, n_boxes, _ = gt_bboxes.shape
|
||||||
|
lt, rb = gt_bboxes.view(-1, 1, 4).chunk(2, 2) # left-top, right-bottom
|
||||||
|
bbox_deltas = torch.cat((xy_centers[None] - lt, rb - xy_centers[None]), dim=2).view(bs, n_boxes, n_anchors, -1)
|
||||||
|
# return (bbox_deltas.min(3)[0] > eps).to(gt_bboxes.dtype)
|
||||||
|
return bbox_deltas.amin(3).gt_(eps)
|
||||||
|
|
||||||
|
|
||||||
|
def select_highest_overlaps(mask_pos, overlaps, n_max_boxes):
|
||||||
|
"""if an anchor box is assigned to multiple gts,
|
||||||
|
the one with the highest iou will be selected.
|
||||||
|
|
||||||
|
Args:
|
||||||
|
mask_pos (Tensor): shape(b, n_max_boxes, h*w)
|
||||||
|
overlaps (Tensor): shape(b, n_max_boxes, h*w)
|
||||||
|
Return:
|
||||||
|
target_gt_idx (Tensor): shape(b, h*w)
|
||||||
|
fg_mask (Tensor): shape(b, h*w)
|
||||||
|
mask_pos (Tensor): shape(b, n_max_boxes, h*w)
|
||||||
|
"""
|
||||||
|
# (b, n_max_boxes, h*w) -> (b, h*w)
|
||||||
|
fg_mask = mask_pos.sum(-2)
|
||||||
|
if fg_mask.max() > 1: # one anchor is assigned to multiple gt_bboxes
|
||||||
|
mask_multi_gts = (fg_mask.unsqueeze(1) > 1).repeat([1, n_max_boxes, 1]) # (b, n_max_boxes, h*w)
|
||||||
|
max_overlaps_idx = overlaps.argmax(1) # (b, h*w)
|
||||||
|
is_max_overlaps = F.one_hot(max_overlaps_idx, n_max_boxes) # (b, h*w, n_max_boxes)
|
||||||
|
is_max_overlaps = is_max_overlaps.permute(0, 2, 1).to(overlaps.dtype) # (b, n_max_boxes, h*w)
|
||||||
|
mask_pos = torch.where(mask_multi_gts, is_max_overlaps, mask_pos) # (b, n_max_boxes, h*w)
|
||||||
|
fg_mask = mask_pos.sum(-2)
|
||||||
|
# find each grid serve which gt(index)
|
||||||
|
target_gt_idx = mask_pos.argmax(-2) # (b, h*w)
|
||||||
|
return target_gt_idx, fg_mask, mask_pos
|
||||||
|
|
||||||
|
|
||||||
|
class TaskAlignedAssigner(nn.Module):
|
||||||
|
|
||||||
|
def __init__(self, topk=13, num_classes=80, alpha=1.0, beta=6.0, eps=1e-9):
|
||||||
|
super().__init__()
|
||||||
|
self.topk = topk
|
||||||
|
self.num_classes = num_classes
|
||||||
|
self.bg_idx = num_classes
|
||||||
|
self.alpha = alpha
|
||||||
|
self.beta = beta
|
||||||
|
self.eps = eps
|
||||||
|
|
||||||
|
@torch.no_grad()
|
||||||
|
def forward(self, pd_scores, pd_bboxes, anc_points, gt_labels, gt_bboxes, mask_gt):
|
||||||
|
"""This code referenced to
|
||||||
|
https://github.com/Nioolek/PPYOLOE_pytorch/blob/master/ppyoloe/assigner/tal_assigner.py
|
||||||
|
|
||||||
|
Args:
|
||||||
|
pd_scores (Tensor): shape(bs, num_total_anchors, num_classes)
|
||||||
|
pd_bboxes (Tensor): shape(bs, num_total_anchors, 4)
|
||||||
|
anc_points (Tensor): shape(num_total_anchors, 2)
|
||||||
|
gt_labels (Tensor): shape(bs, n_max_boxes, 1)
|
||||||
|
gt_bboxes (Tensor): shape(bs, n_max_boxes, 4)
|
||||||
|
mask_gt (Tensor): shape(bs, n_max_boxes, 1)
|
||||||
|
Returns:
|
||||||
|
target_labels (Tensor): shape(bs, num_total_anchors)
|
||||||
|
target_bboxes (Tensor): shape(bs, num_total_anchors, 4)
|
||||||
|
target_scores (Tensor): shape(bs, num_total_anchors, num_classes)
|
||||||
|
fg_mask (Tensor): shape(bs, num_total_anchors)
|
||||||
|
"""
|
||||||
|
self.bs = pd_scores.size(0)
|
||||||
|
self.n_max_boxes = gt_bboxes.size(1)
|
||||||
|
|
||||||
|
if self.n_max_boxes == 0:
|
||||||
|
device = gt_bboxes.device
|
||||||
|
return (torch.full_like(pd_scores[..., 0], self.bg_idx).to(device), torch.zeros_like(pd_bboxes).to(device),
|
||||||
|
torch.zeros_like(pd_scores).to(device), torch.zeros_like(pd_scores[..., 0]).to(device))
|
||||||
|
|
||||||
|
mask_pos, align_metric, overlaps = self.get_pos_mask(pd_scores, pd_bboxes, gt_labels, gt_bboxes, anc_points,
|
||||||
|
mask_gt)
|
||||||
|
|
||||||
|
target_gt_idx, fg_mask, mask_pos = select_highest_overlaps(mask_pos, overlaps, self.n_max_boxes)
|
||||||
|
|
||||||
|
# assigned target
|
||||||
|
target_labels, target_bboxes, target_scores = self.get_targets(gt_labels, gt_bboxes, target_gt_idx, fg_mask)
|
||||||
|
|
||||||
|
# normalize
|
||||||
|
align_metric *= mask_pos
|
||||||
|
pos_align_metrics = align_metric.amax(axis=-1, keepdim=True) # b, max_num_obj
|
||||||
|
pos_overlaps = (overlaps * mask_pos).amax(axis=-1, keepdim=True) # b, max_num_obj
|
||||||
|
norm_align_metric = (align_metric * pos_overlaps / (pos_align_metrics + self.eps)).amax(-2).unsqueeze(-1)
|
||||||
|
target_scores = target_scores * norm_align_metric
|
||||||
|
|
||||||
|
return target_labels, target_bboxes, target_scores, fg_mask.bool()
|
||||||
|
|
||||||
|
def get_pos_mask(self, pd_scores, pd_bboxes, gt_labels, gt_bboxes, anc_points, mask_gt):
|
||||||
|
# get anchor_align metric, (b, max_num_obj, h*w)
|
||||||
|
align_metric, overlaps = self.get_box_metrics(pd_scores, pd_bboxes, gt_labels, gt_bboxes)
|
||||||
|
# get in_gts mask, (b, max_num_obj, h*w)
|
||||||
|
mask_in_gts = select_candidates_in_gts(anc_points, gt_bboxes)
|
||||||
|
# get topk_metric mask, (b, max_num_obj, h*w)
|
||||||
|
mask_topk = self.select_topk_candidates(align_metric * mask_in_gts,
|
||||||
|
topk_mask=mask_gt.repeat([1, 1, self.topk]).bool())
|
||||||
|
# merge all mask to a final mask, (b, max_num_obj, h*w)
|
||||||
|
mask_pos = mask_topk * mask_in_gts * mask_gt
|
||||||
|
|
||||||
|
return mask_pos, align_metric, overlaps
|
||||||
|
|
||||||
|
def get_box_metrics(self, pd_scores, pd_bboxes, gt_labels, gt_bboxes):
|
||||||
|
ind = torch.zeros([2, self.bs, self.n_max_boxes], dtype=torch.long) # 2, b, max_num_obj
|
||||||
|
ind[0] = torch.arange(end=self.bs).view(-1, 1).repeat(1, self.n_max_boxes) # b, max_num_obj
|
||||||
|
ind[1] = gt_labels.long().squeeze(-1) # b, max_num_obj
|
||||||
|
# get the scores of each grid for each gt cls
|
||||||
|
bbox_scores = pd_scores[ind[0], :, ind[1]] # b, max_num_obj, h*w
|
||||||
|
|
||||||
|
overlaps = bbox_iou(gt_bboxes.unsqueeze(2), pd_bboxes.unsqueeze(1), xywh=False, CIoU=True).squeeze(3).clamp(0)
|
||||||
|
align_metric = bbox_scores.pow(self.alpha) * overlaps.pow(self.beta)
|
||||||
|
return align_metric, overlaps
|
||||||
|
|
||||||
|
def select_topk_candidates(self, metrics, largest=True, topk_mask=None):
|
||||||
|
"""
|
||||||
|
Args:
|
||||||
|
metrics: (b, max_num_obj, h*w).
|
||||||
|
topk_mask: (b, max_num_obj, topk) or None
|
||||||
|
"""
|
||||||
|
|
||||||
|
num_anchors = metrics.shape[-1] # h*w
|
||||||
|
# (b, max_num_obj, topk)
|
||||||
|
topk_metrics, topk_idxs = torch.topk(metrics, self.topk, dim=-1, largest=largest)
|
||||||
|
if topk_mask is None:
|
||||||
|
topk_mask = (topk_metrics.max(-1, keepdim=True) > self.eps).tile([1, 1, self.topk])
|
||||||
|
# (b, max_num_obj, topk)
|
||||||
|
topk_idxs = torch.where(topk_mask, topk_idxs, 0)
|
||||||
|
# (b, max_num_obj, topk, h*w) -> (b, max_num_obj, h*w)
|
||||||
|
is_in_topk = F.one_hot(topk_idxs, num_anchors).sum(-2)
|
||||||
|
# filter invalid bboxes
|
||||||
|
# assigned topk should be unique, this is for dealing with empty labels
|
||||||
|
# since empty labels will generate index `0` through `F.one_hot`
|
||||||
|
# NOTE: but what if the topk_idxs include `0`?
|
||||||
|
is_in_topk = torch.where(is_in_topk > 1, 0, is_in_topk)
|
||||||
|
return is_in_topk.to(metrics.dtype)
|
||||||
|
|
||||||
|
def get_targets(self, gt_labels, gt_bboxes, target_gt_idx, fg_mask):
|
||||||
|
"""
|
||||||
|
Args:
|
||||||
|
gt_labels: (b, max_num_obj, 1)
|
||||||
|
gt_bboxes: (b, max_num_obj, 4)
|
||||||
|
target_gt_idx: (b, h*w)
|
||||||
|
fg_mask: (b, h*w)
|
||||||
|
"""
|
||||||
|
|
||||||
|
# assigned target labels, (b, 1)
|
||||||
|
batch_ind = torch.arange(end=self.bs, dtype=torch.int64, device=gt_labels.device)[..., None]
|
||||||
|
target_gt_idx = target_gt_idx + batch_ind * self.n_max_boxes # (b, h*w)
|
||||||
|
target_labels = gt_labels.long().flatten()[target_gt_idx] # (b, h*w)
|
||||||
|
|
||||||
|
# assigned target boxes, (b, max_num_obj, 4) -> (b, h*w)
|
||||||
|
target_bboxes = gt_bboxes.view(-1, 4)[target_gt_idx]
|
||||||
|
|
||||||
|
# assigned target scores
|
||||||
|
target_labels.clamp(0)
|
||||||
|
target_scores = F.one_hot(target_labels, self.num_classes) # (b, h*w, 80)
|
||||||
|
fg_scores_mask = fg_mask[:, :, None].repeat(1, 1, self.num_classes) # (b, h*w, 80)
|
||||||
|
target_scores = torch.where(fg_scores_mask > 0, target_scores, 0)
|
||||||
|
|
||||||
|
return target_labels, target_bboxes, target_scores
|
||||||
|
|
||||||
|
|
||||||
|
def make_anchors(feats, strides, grid_cell_offset=0.5):
|
||||||
|
"""Generate anchors from features."""
|
||||||
|
anchor_points, stride_tensor = [], []
|
||||||
|
assert feats is not None
|
||||||
|
dtype, device = feats[0].dtype, feats[0].device
|
||||||
|
for i, stride in enumerate(strides):
|
||||||
|
_, _, h, w = feats[i].shape
|
||||||
|
sx = torch.arange(end=w, device=device, dtype=dtype) + grid_cell_offset # shift x
|
||||||
|
sy = torch.arange(end=h, device=device, dtype=dtype) + grid_cell_offset # shift y
|
||||||
|
sy, sx = torch.meshgrid(sy, sx, indexing='ij') if TORCH_1_10 else torch.meshgrid(sy, sx)
|
||||||
|
anchor_points.append(torch.stack((sx, sy), -1).view(-1, 2))
|
||||||
|
stride_tensor.append(torch.full((h * w, 1), stride, dtype=dtype, device=device))
|
||||||
|
return torch.cat(anchor_points), torch.cat(stride_tensor)
|
||||||
|
|
||||||
|
|
||||||
|
def dist2bbox(distance, anchor_points, xywh=True, dim=-1):
|
||||||
|
"""Transform distance(ltrb) to box(xywh or xyxy)."""
|
||||||
|
lt, rb = torch.split(distance, 2, dim)
|
||||||
|
x1y1 = anchor_points - lt
|
||||||
|
x2y2 = anchor_points + rb
|
||||||
|
if xywh:
|
||||||
|
c_xy = (x1y1 + x2y2) / 2
|
||||||
|
wh = x2y2 - x1y1
|
||||||
|
return torch.cat((c_xy, wh), dim) # xywh bbox
|
||||||
|
return torch.cat((x1y1, x2y2), dim) # xyxy bbox
|
||||||
|
|
||||||
|
|
||||||
|
def bbox2dist(anchor_points, bbox, reg_max):
|
||||||
|
"""Transform bbox(xyxy) to dist(ltrb)."""
|
||||||
|
x1y1, x2y2 = torch.split(bbox, 2, -1)
|
||||||
|
return torch.cat((anchor_points - x1y1, x2y2 - anchor_points), -1).clamp(0, reg_max - 0.01) # dist (lt, rb)
|
||||||
@ -1,48 +0,0 @@
|
|||||||
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
|
|
||||||
|
|
||||||
# Parameters
|
|
||||||
nc: 80 # number of classes
|
|
||||||
depth_multiple: 0.33 # model depth multiple
|
|
||||||
width_multiple: 0.25 # layer channel multiple
|
|
||||||
anchors:
|
|
||||||
- [10,13, 16,30, 33,23] # P3/8
|
|
||||||
- [30,61, 62,45, 59,119] # P4/16
|
|
||||||
- [116,90, 156,198, 373,326] # P5/32
|
|
||||||
|
|
||||||
# YOLOv5 v6.0 backbone
|
|
||||||
backbone:
|
|
||||||
# [from, number, module, args]
|
|
||||||
[[-1, 1, Conv, [64, 6, 2, 2]], # 0-P1/2
|
|
||||||
[-1, 1, Conv, [128, 3, 2]], # 1-P2/4
|
|
||||||
[-1, 3, C3, [128]],
|
|
||||||
[-1, 1, Conv, [256, 3, 2]], # 3-P3/8
|
|
||||||
[-1, 6, C3, [256]],
|
|
||||||
[-1, 1, Conv, [512, 3, 2]], # 5-P4/16
|
|
||||||
[-1, 9, C3, [512]],
|
|
||||||
[-1, 1, Conv, [1024, 3, 2]], # 7-P5/32
|
|
||||||
[-1, 3, C3, [1024]],
|
|
||||||
[-1, 1, SPPF, [1024, 5]], # 9
|
|
||||||
]
|
|
||||||
|
|
||||||
# YOLOv5 v6.0 head
|
|
||||||
head:
|
|
||||||
[[-1, 1, Conv, [512, 1, 1]],
|
|
||||||
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
|
||||||
[[-1, 6], 1, Concat, [1]], # cat backbone P4
|
|
||||||
[-1, 3, C3, [512, False]], # 13
|
|
||||||
|
|
||||||
[-1, 1, Conv, [256, 1, 1]],
|
|
||||||
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
|
||||||
[[-1, 4], 1, Concat, [1]], # cat backbone P3
|
|
||||||
[-1, 3, C3, [256, False]], # 17 (P3/8-small)
|
|
||||||
|
|
||||||
[-1, 1, Conv, [256, 3, 2]],
|
|
||||||
[[-1, 14], 1, Concat, [1]], # cat head P4
|
|
||||||
[-1, 3, C3, [512, False]], # 20 (P4/16-medium)
|
|
||||||
|
|
||||||
[-1, 1, Conv, [512, 3, 2]],
|
|
||||||
[[-1, 10], 1, Concat, [1]], # cat head P5
|
|
||||||
[-1, 3, C3, [1024, False]], # 23 (P5/32-large)
|
|
||||||
|
|
||||||
[[17, 20, 23], 1, Segment, [nc, anchors, 32, 256]], # Detect(P3, P4, P5)
|
|
||||||
]
|
|
||||||
@ -1,48 +0,0 @@
|
|||||||
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
|
|
||||||
|
|
||||||
# Parameters
|
|
||||||
nc: 80 # number of classes
|
|
||||||
depth_multiple: 0.33 # model depth multiple
|
|
||||||
width_multiple: 0.25 # layer channel multiple
|
|
||||||
anchors:
|
|
||||||
- [10,13, 16,30, 33,23] # P3/8
|
|
||||||
- [30,61, 62,45, 59,119] # P4/16
|
|
||||||
- [116,90, 156,198, 373,326] # P5/32
|
|
||||||
|
|
||||||
# YOLOv5 v6.0 backbone
|
|
||||||
backbone:
|
|
||||||
# [from, number, module, args]
|
|
||||||
[[-1, 1, Conv, [64, 6, 2, 2]], # 0-P1/2
|
|
||||||
[-1, 1, Conv, [128, 3, 2]], # 1-P2/4
|
|
||||||
[-1, 3, C3, [128]],
|
|
||||||
[-1, 1, Conv, [256, 3, 2]], # 3-P3/8
|
|
||||||
[-1, 6, C3, [256]],
|
|
||||||
[-1, 1, Conv, [512, 3, 2]], # 5-P4/16
|
|
||||||
[-1, 9, C3, [512]],
|
|
||||||
[-1, 1, Conv, [1024, 3, 2]], # 7-P5/32
|
|
||||||
[-1, 3, C3, [1024]],
|
|
||||||
[-1, 1, SPPF, [1024, 5]], # 9
|
|
||||||
]
|
|
||||||
|
|
||||||
# YOLOv5 v6.0 head
|
|
||||||
head:
|
|
||||||
[[-1, 1, Conv, [512, 1, 1]],
|
|
||||||
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
|
||||||
[[-1, 6], 1, Concat, [1]], # cat backbone P4
|
|
||||||
[-1, 3, C3, [512, False]], # 13
|
|
||||||
|
|
||||||
[-1, 1, Conv, [256, 1, 1]],
|
|
||||||
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
|
||||||
[[-1, 4], 1, Concat, [1]], # cat backbone P3
|
|
||||||
[-1, 3, C3, [256, False]], # 17 (P3/8-small)
|
|
||||||
|
|
||||||
[-1, 1, Conv, [256, 3, 2]],
|
|
||||||
[[-1, 14], 1, Concat, [1]], # cat head P4
|
|
||||||
[-1, 3, C3, [512, False]], # 20 (P4/16-medium)
|
|
||||||
|
|
||||||
[-1, 1, Conv, [512, 3, 2]],
|
|
||||||
[[-1, 10], 1, Concat, [1]], # cat head P5
|
|
||||||
[-1, 3, C3, [1024, False]], # 23 (P5/32-large)
|
|
||||||
|
|
||||||
[[17, 20, 23], 1, Detect, [nc, anchors]], # Detect(P3, P4, P5)
|
|
||||||
]
|
|
||||||
@ -0,0 +1,43 @@
|
|||||||
|
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
|
||||||
|
|
||||||
|
# Parameters
|
||||||
|
nc: 80 # number of classes
|
||||||
|
depth_multiple: 0.33 # model depth multiple
|
||||||
|
width_multiple: 0.25 # layer channel multiple
|
||||||
|
anchors: [[16,19], [55,65], [178,192]]
|
||||||
|
|
||||||
|
# YOLOv8n v0.0 backbone
|
||||||
|
backbone:
|
||||||
|
# [from, number, module, args]
|
||||||
|
[[-1, 1, Conv, [64, 3, 2]], # 0-P1/2
|
||||||
|
[-1, 1, Conv, [128, 3, 2]], # 1-P2/4
|
||||||
|
[-1, 3, C2f, [128, True]],
|
||||||
|
[-1, 1, Conv, [256, 3, 2]], # 3-P3/8
|
||||||
|
[-1, 6, C2f, [256, True]],
|
||||||
|
[-1, 1, Conv, [512, 3, 2]], # 5-P4/16
|
||||||
|
[-1, 6, C2f, [512, True]],
|
||||||
|
[-1, 1, Conv, [1024, 3, 2]], # 7-P5/32
|
||||||
|
[-1, 3, C2f, [1024, True]],
|
||||||
|
[-1, 1, SPPF, [1024, 5]], # 9
|
||||||
|
]
|
||||||
|
|
||||||
|
# YOLOv8n v0.0 head
|
||||||
|
head:
|
||||||
|
[[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
||||||
|
[[-1, 6], 1, Concat, [1]], # cat backbone P4
|
||||||
|
[-1, 3, C2f, [512]], # 13
|
||||||
|
|
||||||
|
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
||||||
|
[[-1, 4], 1, Concat, [1]], # cat backbone P3
|
||||||
|
[-1, 3, C2f, [256]], # 17 (P3/8-small)
|
||||||
|
|
||||||
|
[-1, 1, Conv, [256, 3, 2]],
|
||||||
|
[[-1, 12], 1, Concat, [1]], # cat head P4
|
||||||
|
[-1, 3, C2f, [512]], # 20 (P4/16-medium)
|
||||||
|
|
||||||
|
[-1, 1, Conv, [512, 3, 2]],
|
||||||
|
[[-1, 9], 1, Concat, [1]], # cat head P5
|
||||||
|
[-1, 3, C2f, [1024]], # 23 (P5/32-large)
|
||||||
|
|
||||||
|
[[15, 18, 21], 1, Segment, [nc, 32, 256]], # Detect(P3, P4, P5)
|
||||||
|
]
|
||||||
@ -0,0 +1,42 @@
|
|||||||
|
# YOLOv5 🚀 by Ultralytics, GPL-3.0 license
|
||||||
|
|
||||||
|
# Parameters
|
||||||
|
nc: 80 # number of classes
|
||||||
|
depth_multiple: 0.33 # model depth multiple
|
||||||
|
width_multiple: 0.25 # layer channel multiple
|
||||||
|
|
||||||
|
# YOLOv8.0n backbone
|
||||||
|
backbone:
|
||||||
|
# [from, number, module, args]
|
||||||
|
[[-1, 1, Conv, [64, 3, 2]], # 0-P1/2
|
||||||
|
[-1, 1, Conv, [128, 3, 2]], # 1-P2/4
|
||||||
|
[-1, 3, C2f, [128, True]],
|
||||||
|
[-1, 1, Conv, [256, 3, 2]], # 3-P3/8
|
||||||
|
[-1, 6, C2f, [256, True]],
|
||||||
|
[-1, 1, Conv, [512, 3, 2]], # 5-P4/16
|
||||||
|
[-1, 6, C2f, [512, True]],
|
||||||
|
[-1, 1, Conv, [1024, 3, 2]], # 7-P5/32
|
||||||
|
[-1, 3, C2f, [1024, True]],
|
||||||
|
[-1, 1, SPPF, [1024, 5]], # 9
|
||||||
|
]
|
||||||
|
|
||||||
|
# YOLOv8.0n head
|
||||||
|
head:
|
||||||
|
[[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
||||||
|
[[-1, 6], 1, Concat, [1]], # cat backbone P4
|
||||||
|
[-1, 3, C2f, [512]], # 13
|
||||||
|
|
||||||
|
[-1, 1, nn.Upsample, [None, 2, 'nearest']],
|
||||||
|
[[-1, 4], 1, Concat, [1]], # cat backbone P3
|
||||||
|
[-1, 3, C2f, [256]], # 17 (P3/8-small)
|
||||||
|
|
||||||
|
[-1, 1, Conv, [256, 3, 2]],
|
||||||
|
[[-1, 12], 1, Concat, [1]], # cat head P4
|
||||||
|
[-1, 3, C2f, [512]], # 20 (P4/16-medium)
|
||||||
|
|
||||||
|
[-1, 1, Conv, [512, 3, 2]],
|
||||||
|
[[-1, 9], 1, Concat, [1]], # cat head P5
|
||||||
|
[-1, 3, C2f, [1024]], # 23 (P5/32-large)
|
||||||
|
|
||||||
|
[[15, 18, 21], 1, Detect, [nc]], # Detect(P3, P4, P5)
|
||||||
|
]
|
||||||
Loading…
Reference in new issue