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210 lines
9.7 KiB
210 lines
9.7 KiB
import os
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import hydra
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import numpy as np
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import torch
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from ultralytics.yolo.data import build_dataloader
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from ultralytics.yolo.engine.trainer import DEFAULT_CONFIG
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from ultralytics.yolo.engine.validator import BaseValidator
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from ultralytics.yolo.utils import ops
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from ultralytics.yolo.utils.checks import check_file
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from ultralytics.yolo.utils.files import yaml_load
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from ultralytics.yolo.utils.metrics import ConfusionMatrix, DetMetrics, box_iou
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from ultralytics.yolo.utils.plotting import output_to_target, plot_images
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from ultralytics.yolo.utils.torch_utils import de_parallel
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class DetectionValidator(BaseValidator):
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def __init__(self, dataloader=None, save_dir=None, pbar=None, logger=None, args=None):
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super().__init__(dataloader, save_dir, pbar, logger, args)
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self.data_dict = yaml_load(check_file(self.args.data)) if self.args.data else None
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self.is_coco = False
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self.class_map = None
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self.targets = None
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self.metrics = DetMetrics(save_dir=self.save_dir, plot=self.args.plots)
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self.iouv = torch.linspace(0.5, 0.95, 10) # iou vector for mAP@0.5:0.95
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self.niou = self.iouv.numel()
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def preprocess(self, batch):
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batch["img"] = batch["img"].to(self.device, non_blocking=True)
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batch["img"] = (batch["img"].half() if self.args.half else batch["img"].float()) / 255
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self.nb, _, self.height, self.width = batch["img"].shape # batch size, channels, height, width
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self.targets = torch.cat((batch["batch_idx"].view(-1, 1), batch["cls"].view(-1, 1), batch["bboxes"]), 1)
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self.targets = self.targets.to(self.device)
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height, width = batch["img"].shape[2:]
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self.targets[:, 2:] *= torch.tensor((width, height, width, height), device=self.device) # to pixels
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self.lb = [self.targets[self.targets[:, 0] == i, 1:]
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for i in range(self.nb)] if self.args.save_hybrid else [] # for autolabelling
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return batch
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def init_metrics(self, model):
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head = model.model[-1] if self.training else model.model.model[-1]
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if self.data:
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self.is_coco = isinstance(self.data.get('val'),
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str) and self.data['val'].endswith(f'coco{os.sep}val2017.txt')
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self.class_map = ops.coco80_to_coco91_class() if self.is_coco else list(range(1000))
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self.nc = head.nc
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self.names = model.names
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if isinstance(self.names, (list, tuple)): # old format
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self.names = dict(enumerate(self.names))
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self.metrics.names = self.names
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self.confusion_matrix = ConfusionMatrix(nc=self.nc)
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self.seen = 0
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self.jdict = []
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self.stats = []
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def get_desc(self):
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return ('%22s' + '%11s' * 6) % ('Class', 'Images', 'Instances', 'Box(P', "R", "mAP50", "mAP50-95)")
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def postprocess(self, preds):
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preds = ops.non_max_suppression(preds,
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self.args.conf_thres,
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self.args.iou_thres,
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labels=self.lb,
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multi_label=True,
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agnostic=self.args.single_cls,
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max_det=self.args.max_det)
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return preds
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def update_metrics(self, preds, batch):
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# Metrics
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for si, (pred) in enumerate(preds):
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labels = self.targets[self.targets[:, 0] == si, 1:]
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nl, npr = labels.shape[0], pred.shape[0] # number of labels, predictions
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shape = batch["ori_shape"][si]
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# path = batch["shape"][si][0]
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correct_bboxes = torch.zeros(npr, self.niou, dtype=torch.bool, device=self.device) # init
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self.seen += 1
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if npr == 0:
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if nl:
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self.stats.append((correct_bboxes, *torch.zeros((2, 0), device=self.device), labels[:, 0]))
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if self.args.plots:
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self.confusion_matrix.process_batch(detections=None, labels=labels[:, 0])
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continue
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# Predictions
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if self.args.single_cls:
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pred[:, 5] = 0
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predn = pred.clone()
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ops.scale_boxes(batch["img"][si].shape[1:], predn[:, :4], shape) # native-space pred
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# Evaluate
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if nl:
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tbox = ops.xywh2xyxy(labels[:, 1:5]) # target boxes
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ops.scale_boxes(batch["img"][si].shape[1:], tbox, shape) # native-space labels
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labelsn = torch.cat((labels[:, 0:1], tbox), 1) # native-space labels
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correct_bboxes = self._process_batch(predn, labelsn)
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# TODO: maybe remove these `self.` arguments as they already are member variable
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if self.args.plots:
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self.confusion_matrix.process_batch(predn, labelsn)
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self.stats.append((correct_bboxes, pred[:, 4], pred[:, 5], labels[:, 0])) # (conf, pcls, tcls)
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# TODO: Save/log
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'''
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if self.args.save_txt:
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save_one_txt(predn, save_conf, shape, file=save_dir / 'labels' / f'{path.stem}.txt')
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if self.args.save_json:
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pred_masks = scale_image(im[si].shape[1:],
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pred_masks.permute(1, 2, 0).contiguous().cpu().numpy(), shape, shapes[si][1])
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save_one_json(predn, jdict, path, class_map, pred_masks) # append to COCO-JSON dictionary
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# callbacks.run('on_val_image_end', pred, predn, path, names, im[si])
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'''
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def get_stats(self):
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stats = [torch.cat(x, 0).cpu().numpy() for x in zip(*self.stats)] # to numpy
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if len(stats) and stats[0].any():
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self.metrics.process(*stats)
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self.nt_per_class = np.bincount(stats[-1].astype(int), minlength=self.nc) # number of targets per class
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metrics = {"fitness": self.metrics.fitness()}
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metrics |= zip(self.metric_keys, self.metrics.mean_results())
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return metrics
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def print_results(self):
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pf = '%22s' + '%11i' * 2 + '%11.3g' * len(self.metric_keys) # print format
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self.logger.info(pf % ("all", self.seen, self.nt_per_class.sum(), *self.metrics.mean_results()))
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if self.nt_per_class.sum() == 0:
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self.logger.warning(
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f'WARNING ⚠️ no labels found in {self.args.task} set, can not compute metrics without labels')
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# Print results per class
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if (self.args.verbose or (self.nc < 50 and not self.training)) and self.nc > 1 and len(self.stats):
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for i, c in enumerate(self.metrics.ap_class_index):
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self.logger.info(pf % (self.names[c], self.seen, self.nt_per_class[c], *self.metrics.class_result(i)))
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if self.args.plots:
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self.confusion_matrix.plot(save_dir=self.save_dir, names=list(self.names.values()))
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def _process_batch(self, detections, labels):
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"""
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Return correct prediction matrix
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Arguments:
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detections (array[N, 6]), x1, y1, x2, y2, conf, class
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labels (array[M, 5]), class, x1, y1, x2, y2
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Returns:
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correct (array[N, 10]), for 10 IoU levels
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"""
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iou = box_iou(labels[:, 1:], detections[:, :4])
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correct = np.zeros((detections.shape[0], self.iouv.shape[0])).astype(bool)
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correct_class = labels[:, 0:1] == detections[:, 5]
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for i in range(len(self.iouv)):
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x = torch.where((iou >= self.iouv[i]) & correct_class) # IoU > threshold and classes match
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if x[0].shape[0]:
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matches = torch.cat((torch.stack(x, 1), iou[x[0], x[1]][:, None]),
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1).cpu().numpy() # [label, detect, iou]
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if x[0].shape[0] > 1:
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matches = matches[matches[:, 2].argsort()[::-1]]
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matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
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# matches = matches[matches[:, 2].argsort()[::-1]]
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matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
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correct[matches[:, 1].astype(int), i] = True
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return torch.tensor(correct, dtype=torch.bool, device=detections.device)
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def get_dataloader(self, dataset_path, batch_size):
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# TODO: manage splits differently
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# calculate stride - check if model is initialized
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gs = max(int(de_parallel(self.model).stride if self.model else 0), 32)
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return build_dataloader(self.args, batch_size, img_path=dataset_path, stride=gs, mode="val")[0]
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# TODO: align with train loss metrics
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@property
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def metric_keys(self):
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return ["metrics/precision(B)", "metrics/recall(B)", "metrics/mAP50(B)", "metrics/mAP50-95(B)"]
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def plot_val_samples(self, batch, ni):
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images = batch["img"]
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cls = batch["cls"].squeeze(-1)
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bboxes = batch["bboxes"]
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paths = batch["im_file"]
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batch_idx = batch["batch_idx"]
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plot_images(images,
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batch_idx,
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cls,
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bboxes,
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paths=paths,
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fname=self.save_dir / f"val_batch{ni}_labels.jpg",
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names=self.names)
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def plot_predictions(self, batch, preds, ni):
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images = batch["img"]
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paths = batch["im_file"]
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plot_images(images,
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*output_to_target(preds, max_det=15),
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paths=paths,
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fname=self.save_dir / f'val_batch{ni}_pred.jpg',
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names=self.names) # pred
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@hydra.main(version_base=None, config_path=DEFAULT_CONFIG.parent, config_name=DEFAULT_CONFIG.name)
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def val(cfg):
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cfg.data = cfg.data or "coco128.yaml"
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validator = DetectionValidator(args=cfg)
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validator(model=cfg.model)
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if __name__ == "__main__":
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val()
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