YOLOv8-16bit/ultralytics/yolo/utils/torch_utils.py

import math
import os
import time
from contextlib import contextmanager
from copy import deepcopy
from pathlib import Path

import thop
import torch
import torch.distributed as dist
import torch.nn as nn
import torch.nn.functional as F
from torch.nn.parallel import DistributedDataParallel as DDP

from ultralytics.yolo.utils import LOGGER

from .checks import check_version

LOCAL_RANK = int(os.getenv('LOCAL_RANK', -1))  # https://pytorch.org/docs/stable/elastic/run.html
RANK = int(os.getenv('RANK', -1))
WORLD_SIZE = int(os.getenv('WORLD_SIZE', 1))


@contextmanager
def torch_distributed_zero_first(local_rank: int):
    # Decorator to make all processes in distributed training wait for each local_master to do something
    if local_rank not in [-1, 0]:
        dist.barrier(device_ids=[local_rank])
    yield
    if local_rank == 0:
        dist.barrier(device_ids=[0])


def DDP_model(model):
    # Model DDP creation with checks
    assert not check_version(torch.__version__, '1.12.0', pinned=True), \
        'torch==1.12.0 torchvision==0.13.0 DDP training is not supported due to a known issue. ' \
        'Please upgrade or downgrade torch to use DDP. See https://github.com/ultralytics/yolov5/issues/8395'
    if check_version(torch.__version__, '1.11.0'):
        return DDP(model, device_ids=[LOCAL_RANK], output_device=LOCAL_RANK, static_graph=True)
    else:
        return DDP(model, device_ids=[LOCAL_RANK], output_device=LOCAL_RANK)


def select_device(device='', batch_size=0, newline=True):
    # device = None or 'cpu' or 0 or '0' or '0,1,2,3'
    # s = f'YOLOv5 🚀 {git_describe() or file_date()} Python-{platform.python_version()} torch-{torch.__version__} '
    s = f'YOLOv5 🚀 torch-{torch.__version__} '
    device = str(device).strip().lower().replace('cuda:', '').replace('none', '')  # to string, 'cuda:0' to '0'
    cpu = device == 'cpu'
    mps = device == 'mps'  # Apple Metal Performance Shaders (MPS)
    if cpu or mps:
        os.environ['CUDA_VISIBLE_DEVICES'] = '-1'  # force torch.cuda.is_available() = False
    elif device:  # non-cpu device requested
        os.environ['CUDA_VISIBLE_DEVICES'] = device  # set environment variable - must be before assert is_available()
        assert torch.cuda.is_available() and torch.cuda.device_count() >= len(device.replace(',', '')), \
            f"Invalid CUDA '--device {device}' requested, use '--device cpu' or pass valid CUDA device(s)"

    if not cpu and not mps and torch.cuda.is_available():  # prefer GPU if available
        devices = device.split(',') if device else '0'  # range(torch.cuda.device_count())  # i.e. 0,1,6,7
        n = len(devices)  # device count
        if n > 1 and batch_size > 0:  # check batch_size is divisible by device_count
            assert batch_size % n == 0, f'batch-size {batch_size} not multiple of GPU count {n}'
        space = ' ' * (len(s) + 1)
        for i, d in enumerate(devices):
            p = torch.cuda.get_device_properties(i)
            s += f"{'' if i == 0 else space}CUDA:{d} ({p.name}, {p.total_memory / (1 << 20):.0f}MiB)\n"  # bytes to MB
        arg = 'cuda:0'
    elif mps and getattr(torch, 'has_mps', False) and torch.backends.mps.is_available():  # prefer MPS if available
        s += 'MPS\n'
        arg = 'mps'
    else:  # revert to CPU
        s += 'CPU\n'
        arg = 'cpu'

    if not newline:
        s = s.rstrip()
    print(s)
    return torch.device(arg)


def time_sync():
    # PyTorch-accurate time
    if torch.cuda.is_available():
        torch.cuda.synchronize()
    return time.time()


def fuse_conv_and_bn(conv, bn):
    # Fuse Conv2d() and BatchNorm2d() layers https://tehnokv.com/posts/fusing-batchnorm-and-conv/
    fusedconv = nn.Conv2d(conv.in_channels,
                          conv.out_channels,
                          kernel_size=conv.kernel_size,
                          stride=conv.stride,
                          padding=conv.padding,
                          dilation=conv.dilation,
                          groups=conv.groups,
                          bias=True).requires_grad_(False).to(conv.weight.device)

    # Prepare filters
    w_conv = conv.weight.clone().view(conv.out_channels, -1)
    w_bn = torch.diag(bn.weight.div(torch.sqrt(bn.eps + bn.running_var)))
    fusedconv.weight.copy_(torch.mm(w_bn, w_conv).view(fusedconv.weight.shape))

    # Prepare spatial bias
    b_conv = torch.zeros(conv.weight.size(0), device=conv.weight.device) if conv.bias is None else conv.bias
    b_bn = bn.bias - bn.weight.mul(bn.running_mean).div(torch.sqrt(bn.running_var + bn.eps))
    fusedconv.bias.copy_(torch.mm(w_bn, b_conv.reshape(-1, 1)).reshape(-1) + b_bn)

    return fusedconv


def model_info(model, verbose=False, imgsz=640):
    # Model information. img_size may be int or list, i.e. img_size=640 or img_size=[640, 320]
    n_p = sum(x.numel() for x in model.parameters())  # number parameters
    n_g = sum(x.numel() for x in model.parameters() if x.requires_grad)  # number gradients
    if verbose:
        print(f"{'layer':>5} {'name':>40} {'gradient':>9} {'parameters':>12} {'shape':>20} {'mu':>10} {'sigma':>10}")
        for i, (name, p) in enumerate(model.named_parameters()):
            name = name.replace('module_list.', '')
            print('%5g %40s %9s %12g %20s %10.3g %10.3g' %
                  (i, name, p.requires_grad, p.numel(), list(p.shape), p.mean(), p.std()))

    try:  # FLOPs
        p = next(model.parameters())
        stride = max(int(model.stride.max()), 32) if hasattr(model, 'stride') else 32  # max stride
        im = torch.empty((1, p.shape[1], stride, stride), device=p.device)  # input image in BCHW format
        flops = thop.profile(deepcopy(model), inputs=(im,), verbose=False)[0] / 1E9 * 2  # stride GFLOPs
        imgsz = imgsz if isinstance(imgsz, list) else [imgsz, imgsz]  # expand if int/float
        fs = f', {flops * imgsz[0] / stride * imgsz[1] / stride:.1f} GFLOPs'  # 640x640 GFLOPs
    except Exception:
        fs = ''

    name = Path(model.yaml_file).stem.replace('yolov5', 'YOLOv5') if hasattr(model, 'yaml_file') else 'Model'
    LOGGER.info(f"{name} summary: {len(list(model.modules()))} layers, {n_p} parameters, {n_g} gradients{fs}")


def initialize_weights(model):
    for m in model.modules():
        t = type(m)
        if t is nn.Conv2d:
            pass  # nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')
        elif t is nn.BatchNorm2d:
            m.eps = 1e-3
            m.momentum = 0.03
        elif t in [nn.Hardswish, nn.LeakyReLU, nn.ReLU, nn.ReLU6, nn.SiLU]:
            m.inplace = True


def scale_img(img, ratio=1.0, same_shape=False, gs=32):  # img(16,3,256,416)
    # Scales img(bs,3,y,x) by ratio constrained to gs-multiple
    if ratio == 1.0:
        return img
    h, w = img.shape[2:]
    s = (int(h * ratio), int(w * ratio))  # new size
    img = F.interpolate(img, size=s, mode='bilinear', align_corners=False)  # resize
    if not same_shape:  # pad/crop img
        h, w = (math.ceil(x * ratio / gs) * gs for x in (h, w))
    return F.pad(img, [0, w - s[1], 0, h - s[0]], value=0.447)  # value = imagenet mean


def copy_attr(a, b, include=(), exclude=()):
    # Copy attributes from b to a, options to only include [...] and to exclude [...]
    for k, v in b.__dict__.items():
        if (len(include) and k not in include) or k.startswith('_') or k in exclude:
            continue
        else:
            setattr(a, k, v)


def smart_inference_mode(torch_1_9=check_version(torch.__version__, '1.9.0')):
    # Applies torch.inference_mode() decorator if torch>=1.9.0 else torch.no_grad() decorator
    def decorate(fn):
        return (torch.inference_mode if torch_1_9 else torch.no_grad)()(fn)

    return decorate


def intersect_state_dicts(da, db, exclude=()):
    # Dictionary intersection of matching keys and shapes, omitting 'exclude' keys, using da values
    return {k: v for k, v in da.items() if k in db and all(x not in k for x in exclude) and v.shape == db[k].shape}


def is_parallel(model):
    # Returns True if model is of type DP or DDP
    return type(model) in (nn.parallel.DataParallel, nn.parallel.DistributedDataParallel)


def de_parallel(model):
    # De-parallelize a model: returns single-GPU model if model is of type DP or DDP
    return model.module if is_parallel(model) else model