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GNU GENERAL PUBLIC LICENSE
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# MT-YOLOv6 [About Naming YOLOv6](./docs/About_naming_yolov6.md)
## Introduction
YOLOv6 is a single-stage object detection framework dedicated to industrial applications, with hardware-friendly efficient design and high performance.
<img src="assets/picture.png" width="800">
YOLOv6-nano achieves 35.0 mAP on COCO val2017 dataset with 1242 FPS on T4 using TensorRT FP16 for bs32 inference, and YOLOv6-s achieves 43.1 mAP on COCO val2017 dataset with 520 FPS on T4 using TensorRT FP16 for bs32 inference.
YOLOv6 is composed of the following methods:
- Hardware-friendly Design for Backbone and Neck
- Efficient Decoupled Head with SIoU Loss
## Coming soon
- [ ] YOLOv6 m/l/x model.
- [ ] Deployment for MNN/TNN/NCNN/CoreML...
- [ ] Quantization tools
## Quick Start
### Install
```shell
git clone https://github.com/meituan/YOLOv6
cd YOLOv6
pip install -r requirements.txt
```
### Inference
First, download a pretrained model from the YOLOv6 [release](https://github.com/meituan/YOLOv6/releases/tag/0.1.0)
Second, run inference with `tools/infer.py`
```shell
python tools/infer.py --weights yolov6s.pt --source img.jpg / imgdir
yolov6n.pt
```
### Training
Single GPU
```shell
python tools/train.py --batch 32 --conf configs/yolov6s.py --data data/coco.yaml --device 0
configs/yolov6n.py
```
Multi GPUs (DDP mode recommended)
```shell
python -m torch.distributed.launch --nproc_per_node 8 tools/train.py --batch 256 --conf configs/yolov6s.py --data data/coco.yaml --device 0,1,2,3,4,5,6,7
configs/yolov6n.py
```
- conf: select config file to specify network/optimizer/hyperparameters
- data: prepare [COCO](http://cocodataset.org) dataset and specify dataset paths in data.yaml
### Evaluation
Reproduce mAP on COCO val2017 dataset
```shell
python tools/eval.py --data data/coco.yaml --batch 32 --weights yolov6s.pt --task val
yolov6n.pt
```
### Deployment
* [ONNX](./deploy/ONNX)
* [OpenVINO](./deploy/OpenVINO)
### Tutorials
* [Train custom data](./docs/Train_custom_data.md)
* [Test speed](./docs/Test_speed.md)
## Benchmark
| Model | Size | mAP<sup>val<br/>0.5:0.95 | Speed<sup>V100<br/>fp16 b32 <br/>(ms) | Speed<sup>V100<br/>fp32 b32 <br/>(ms) | Speed<sup>T4<br/>trt fp16 b1 <br/>(fps) | Speed<sup>T4<br/>trt fp16 b32 <br/>(fps) | Params<br/><sup> (M) | Flops<br/><sup> (G) |
| :-------------- | ----------- | :----------------------- | :------------------------------------ | :------------------------------------ | ---------------------------------------- | ----------------------------------------- | --------------- | -------------- |
| [**YOLOv6-n**](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6n.pt) | 416<br/>640 | 30.8<br/>35.0 | 0.3<br/>0.5 | 0.4<br/>0.7 | 1100<br/>788 | 2716<br/>1242 | 4.3<br/>4.3 | 4.7<br/>11.1 |
| [**YOLOv6-tiny**](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6t.pt) | 640 | 41.3 | 0.9 | 1.5 | 425 | 602 | 15.0 | 36.7 |
| [**YOLOv6-s**](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6s.pt) | 640 | 43.1 | 1.0 | 1.7 | 373 | 520 | 17.2 | 44.2 |
- Comparisons of the mAP and speed of different object detectors are tested on [COCO val2017](https://cocodataset.org/#download) dataset.
- Refer to [Test speed](./docs/Test_speed.md) tutorial to reproduce the speed results of YOLOv6.
- Params and Flops of YOLOv6 are estimated on deployed model.
- Speed results of other methods are tested in our environment using official codebase and model if not found from the corresponding official release.
## Third-party resources
* YOLOv6 NCNN Android app demo: [ncnn-android-yolov6](https://github.com/FeiGeChuanShu/ncnn-android-yolov6) from [FeiGeChuanShu](https://github.com/FeiGeChuanShu)
* YOLOv6 ONNXRuntime/MNN/TNN C++: [YOLOv6-ORT](https://github.com/DefTruth/lite.ai.toolkit/blob/main/lite/ort/cv/yolov6.cpp), [YOLOv6-MNN](https://github.com/DefTruth/lite.ai.toolkit/blob/main/lite/mnn/cv/mnn_yolov6.cpp) and [YOLOv6-TNN](https://github.com/DefTruth/lite.ai.toolkit/blob/main/lite/tnn/cv/tnn_yolov6.cpp) from [DefTruth](https://github.com/DefTruth)
* YOLOv6 TensorRT Python: [yolov6-tensorrt-python](https://github.com/Linaom1214/tensorrt-python/blob/main/yolov6/trt.py) from [Linaom1214](https://github.com/Linaom1214)
* YOLOv6 TensorRT Windows C++: [yolort](https://github.com/zhiqwang/yolov5-rt-stack/tree/main/deployment/tensorrt-yolov6) from [Wei Zeng](https://github.com/Wulingtian)

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src/YOLOv6/configs/yolov6_tiny.py
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# YOLOv6t model
model = dict(
type='YOLOv6t',
pretrained=None,
depth_multiple=0.25,
width_multiple=0.50,
backbone=dict(
type='EfficientRep',
num_repeats=[1, 6, 12, 18, 6],
out_channels=[64, 128, 256, 512, 1024],
),
neck=dict(
type='RepPAN',
num_repeats=[12, 12, 12, 12],
out_channels=[256, 128, 128, 256, 256, 512],
),
head=dict(
type='EffiDeHead',
in_channels=[128, 256, 512],
num_layers=3,
begin_indices=24,
anchors=1,
out_indices=[17, 20, 23],
strides=[8, 16, 32],
iou_type='ciou'
)
)
solver = dict(
optim='SGD',
lr_scheduler='Cosine',
lr0=0.01,
lrf=0.01,
momentum=0.937,
weight_decay=0.0005,
warmup_epochs=3.0,
warmup_momentum=0.8,
warmup_bias_lr=0.1
)
data_aug = dict(
hsv_h=0.015,
hsv_s=0.7,
hsv_v=0.4,
degrees=0.0,
translate=0.1,
scale=0.5,
shear=0.0,
flipud=0.0,
fliplr=0.5,
mosaic=1.0,
mixup=0.0,
)

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src/YOLOv6/configs/yolov6_tiny_finetune.py
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# YOLOv6t model
model = dict(
type='YOLOv6t',
pretrained='./weights/yolov6t.pt',
depth_multiple=0.25,
width_multiple=0.50,
backbone=dict(
type='EfficientRep',
num_repeats=[1, 6, 12, 18, 6],
out_channels=[64, 128, 256, 512, 1024],
),
neck=dict(
type='RepPAN',
num_repeats=[12, 12, 12, 12],
out_channels=[256, 128, 128, 256, 256, 512],
),
head=dict(
type='EffiDeHead',
in_channels=[128, 256, 512],
num_layers=3,
begin_indices=24,
anchors=1,
out_indices=[17, 20, 23],
strides=[8, 16, 32],
iou_type='ciou'
)
)
solver = dict(
optim='SGD',
lr_scheduler='Cosine',
lr0=0.0032,
lrf=0.12,
momentum=0.843,
weight_decay=0.00036,
warmup_epochs=2.0,
warmup_momentum=0.5,
warmup_bias_lr=0.05
)
data_aug = dict(
hsv_h=0.0138,
hsv_s=0.664,
hsv_v=0.464,
degrees=0.373,
translate=0.245,
scale=0.898,
shear=0.602,
flipud=0.00856,
fliplr=0.5,
mosaic=1.0,
mixup=0.243,
)

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src/YOLOv6/configs/yolov6n.py
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# YOLOv6n model
model = dict(
type='YOLOv6n',
pretrained=None,
depth_multiple=0.33,
width_multiple=0.25,
backbone=dict(
type='EfficientRep',
num_repeats=[1, 6, 12, 18, 6],
out_channels=[64, 128, 256, 512, 1024],
),
neck=dict(
type='RepPAN',
num_repeats=[12, 12, 12, 12],
out_channels=[256, 128, 128, 256, 256, 512],
),
head=dict(
type='EffiDeHead',
in_channels=[128, 256, 512],
num_layers=3,
begin_indices=24,
anchors=1,
out_indices=[17, 20, 23],
strides=[8, 16, 32],
iou_type='ciou'
)
)
solver = dict(
optim='SGD',
lr_scheduler='Cosine',
lr0=0.01,
lrf=0.01,
momentum=0.937,
weight_decay=0.0005,
warmup_epochs=3.0,
warmup_momentum=0.8,
warmup_bias_lr=0.1
)
data_aug = dict(
hsv_h=0.015,
hsv_s=0.7,
hsv_v=0.4,
degrees=0.0,
translate=0.1,
scale=0.5,
shear=0.0,
flipud=0.0,
fliplr=0.5,
mosaic=1.0,
mixup=0.0,
)

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src/YOLOv6/configs/yolov6n_finetune.py
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# YOLOv6n model
model = dict(
type='YOLOv6n',
pretrained='./weights/yolov6n.pt',
depth_multiple=0.33,
width_multiple=0.25,
backbone=dict(
type='EfficientRep',
num_repeats=[1, 6, 12, 18, 6],
out_channels=[64, 128, 256, 512, 1024],
),
neck=dict(
type='RepPAN',
num_repeats=[12, 12, 12, 12],
out_channels=[256, 128, 128, 256, 256, 512],
),
head=dict(
type='EffiDeHead',
in_channels=[128, 256, 512],
num_layers=3,
begin_indices=24,
anchors=1,
out_indices=[17, 20, 23],
strides=[8, 16, 32],
iou_type='ciou'
)
)
solver = dict(
optim='SGD',
lr_scheduler='Cosine',
lr0=0.0032,
lrf=0.12,
momentum=0.843,
weight_decay=0.00036,
warmup_epochs=2.0,
warmup_momentum=0.5,
warmup_bias_lr=0.05
)
data_aug = dict(
hsv_h=0.0138,
hsv_s=0.664,
hsv_v=0.464,
degrees=0.373,
translate=0.245,
scale=0.898,
shear=0.602,
flipud=0.00856,
fliplr=0.5,
mosaic=1.0,
mixup=0.243
)

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src/YOLOv6/configs/yolov6s.py
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# YOLOv6s model
model = dict(
type='YOLOv6s',
pretrained=None,
depth_multiple=0.33,
width_multiple=0.50,
backbone=dict(
type='EfficientRep',
num_repeats=[1, 6, 12, 18, 6],
out_channels=[64, 128, 256, 512, 1024],
),
neck=dict(
type='RepPAN',
num_repeats=[12, 12, 12, 12],
out_channels=[256, 128, 128, 256, 256, 512],
),
head=dict(
type='EffiDeHead',
in_channels=[128, 256, 512],
num_layers=3,
begin_indices=24,
anchors=1,
out_indices=[17, 20, 23],
strides=[8, 16, 32],
iou_type='siou'
)
)
solver = dict(
optim='SGD',
lr_scheduler='Cosine',
lr0=0.01,
lrf=0.01,
momentum=0.937,
weight_decay=0.0005,
warmup_epochs=3.0,
warmup_momentum=0.8,
warmup_bias_lr=0.1
)
data_aug = dict(
hsv_h=0.015,
hsv_s=0.7,
hsv_v=0.4,
degrees=0.0,
translate=0.1,
scale=0.5,
shear=0.0,
flipud=0.0,
fliplr=0.5,
mosaic=1.0,
mixup=0.0,
)

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src/YOLOv6/configs/yolov6s_finetune.py
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# YOLOv6s model
model = dict(
type='YOLOv6s',
pretrained='./weights/yolov6s.pt',
depth_multiple=0.33,
width_multiple=0.50,
backbone=dict(
type='EfficientRep',
num_repeats=[1, 6, 12, 18, 6],
out_channels=[64, 128, 256, 512, 1024],
),
neck=dict(
type='RepPAN',
num_repeats=[12, 12, 12, 12],
out_channels=[256, 128, 128, 256, 256, 512],
),
head=dict(
type='EffiDeHead',
in_channels=[128, 256, 512],
num_layers=3,
begin_indices=24,
anchors=1,
out_indices=[17, 20, 23],
strides=[8, 16, 32],
iou_type='siou'
)
)
solver = dict(
optim='SGD',
lr_scheduler='Cosine',
lr0=0.0032,
lrf=0.12,
momentum=0.843,
weight_decay=0.00036,
warmup_epochs=2.0,
warmup_momentum=0.5,
warmup_bias_lr=0.05
)
data_aug = dict(
hsv_h=0.0138,
hsv_s=0.664,
hsv_v=0.464,
degrees=0.373,
translate=0.245,
scale=0.898,
shear=0.602,
flipud=0.00856,
fliplr=0.5,
mosaic=1.0,
mixup=0.243,
)

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src/YOLOv6/data/coco.yaml
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# COCO 2017 dataset http://cocodataset.org
train: ../coco/images/train2017 # 118287 images
val: ../coco/images/val2017 # 5000 images
test: ../coco/images/test2017
anno_path: ../coco/annotations/instances_val2017.json
# number of classes
nc: 80
# whether it is coco dataset, only coco dataset should be set to True.
is_coco: True
# class names
names: [ 'person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',
'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',
'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',
'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple',
'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch',
'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear',
'hair drier', 'toothbrush' ]

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src/YOLOv6/data/dataset.yaml
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# Please insure that your custom_dataset are put in same parent dir with YOLOv6_DIR
train: ../custom_dataset/images/train # train images
val: ../custom_dataset/images/val # val images
test: ../custom_dataset/images/test # test images (optional)
# whether it is coco dataset, only coco dataset should be set to True.
is_coco: False
# Classes
nc: 20 # number of classes
names: ['aeroplane', 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog',
'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names

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src/YOLOv6/deploy/ONNX/README.md
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# Export ONNX Model
## Check requirements
```shell
pip install onnx>=1.10.0
```
## Export script
```shell
python ./deploy/ONNX/export_onnx.py \
--weights yolov6s.pt \
--img 640 \
--batch 1
```
#### Description of all arguments
- `--weights` : The path of yolov6 model weights.
- `--img` : Image size of model inputs.
- `--batch` : Batch size of model inputs.
- `--half` : Whether to export half-precision model.
- `--inplace` : Whether to set Detect() inplace.
- `--simplify` : Whether to simplify onnx. Not support in end to end export.
- `--end2end` : Whether to export end to end onnx model. Only support onnxruntime and TensorRT >= 8.0.0 .
- `--max-wh` : Default is None for TensorRT backend. Set int for onnxruntime backend.
- `--topk-all` : Topk objects for every image.
- `--iou-thres` : IoU threshold for NMS algorithm.
- `--conf-thres` : Confidence threshold for NMS algorithm.
- `--device` : Export device. Cuda device : 0 or 0,1,2,3 ... , CPU : cpu .
## Download
* [YOLOv6-nano](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6n.onnx)
* [YOLOv6-tiny](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6t.onnx)
* [YOLOv6-s](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6s.onnx)
## End2End export
Now YOLOv6 supports end to end detect for onnxruntime and TensorRT !
If you want to deploy in TensorRT, make sure you have installed TensorRT >= 8.0.0 !
### onnxruntime backend
#### Usage
```bash
python ./deploy/ONNX/export_onnx.py \
--weights yolov6s.pt \
--img 640 \
--batch 1 \
--end2end \
--max-wh 7680
```
You will get an onnx with **NonMaxSuppression** operater .
The onnx outputs shape is ```nums x 7```.
```nums``` means the number of all objects which were detected.
```7``` means [`batch_index`,`x0`,`y0`,`x1`,` y1`,`classid`,`score`]
### TensorRT backend (TensorRT version>= 8.0.0)
#### Usage
```bash
python ./deploy/ONNX/export_onnx.py \
--weights yolov6s.pt \
--img 640 \
--batch 1 \
--end2end
```
You will get an onnx with **[EfficientNMS_TRT](https://github.com/NVIDIA/TensorRT/tree/main/plugin/efficientNMSPlugin)** plugin .
The onnx outputs are as shown :
<img src="https://user-images.githubusercontent.com/92794867/176650971-a4fa3d65-10d4-4b65-b8ef-00a2ff13406c.png" height="300px" />
```num_dets``` means the number of object in every image in its batch .
```det_boxes``` means topk(100) object's location about [`x0`,`y0`,`x1`,` y1`] .
```det_scores``` means the confidence score of every topk(100) objects .
```det_classes``` means the category of every topk(100) objects .
You can export TensorRT engine use [trtexec](https://docs.nvidia.com/deeplearning/tensorrt/developer-guide/index.html#trtexec-ovr) tools.
#### Usage
``` shell
/path/to/trtexec \
--onnx=yolov6s.onnx \
--saveEngine=yolov6s.engine \
--fp16 # if export TensorRT fp16 model
```

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src/YOLOv6/deploy/ONNX/export_onnx.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import argparse
import time
import sys
import os
import torch
import torch.nn as nn
import onnx
ROOT = os.getcwd()
if str(ROOT) not in sys.path:
sys.path.append(str(ROOT))
from yolov6.models.yolo import *
from yolov6.models.effidehead import Detect
from yolov6.layers.common import *
from yolov6.utils.events import LOGGER
from yolov6.utils.checkpoint import load_checkpoint
from io import BytesIO
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--weights', type=str, default='./yolov6s.pt', help='weights path')
parser.add_argument('--img-size', nargs='+', type=int, default=[640, 640], help='image size') # height, width
parser.add_argument('--batch-size', type=int, default=1, help='batch size')
parser.add_argument('--half', action='store_true', help='FP16 half-precision export')
parser.add_argument('--inplace', action='store_true', help='set Detect() inplace=True')
parser.add_argument('--simplify', action='store_true', help='simplify onnx model')
parser.add_argument('--end2end', action='store_true', help='export end2end onnx')
parser.add_argument('--max-wh', type=int, default=None, help='None for trt int for ort')
parser.add_argument('--topk-all', type=int, default=100, help='topk objects for every images')
parser.add_argument('--iou-thres', type=float, default=0.45, help='iou threshold for NMS')
parser.add_argument('--conf-thres', type=float, default=0.25, help='conf threshold for NMS')
parser.add_argument('--device', default='0', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
args = parser.parse_args()
args.img_size *= 2 if len(args.img_size) == 1 else 1 # expand
print(args)
t = time.time()
# Check device
cuda = args.device != 'cpu' and torch.cuda.is_available()
device = torch.device('cuda:0' if cuda else 'cpu')
assert not (device.type == 'cpu' and args.half), '--half only compatible with GPU export, i.e. use --device 0'
# Load PyTorch model
model = load_checkpoint(args.weights, map_location=device, inplace=True, fuse=True) # load FP32 model
for layer in model.modules():
if isinstance(layer, RepVGGBlock):
layer.switch_to_deploy()
# Input
img = torch.zeros(args.batch_size, 3, *args.img_size).to(device) # image size(1,3,320,192) iDetection
# Update model
if args.half:
img, model = img.half(), model.half() # to FP16
model.eval()
for k, m in model.named_modules():
if isinstance(m, Conv): # assign export-friendly activations
if isinstance(m.act, nn.SiLU):
m.act = SiLU()
elif isinstance(m, Detect):
m.inplace = args.inplace
if args.end2end:
from yolov6.models.end2end import End2End
model = End2End(model, max_obj=args.topk_all, iou_thres=args.iou_thres,
score_thres=args.conf_thres, max_wh=args.max_wh, device=device)
y = model(img) # dry run
# ONNX export
try:
LOGGER.info('\nStarting to export ONNX...')
export_file = args.weights.replace('.pt', '.onnx') # filename
with BytesIO() as f:
torch.onnx.export(model, img, f, verbose=False, opset_version=12,
training=torch.onnx.TrainingMode.EVAL,
do_constant_folding=True,
input_names=['image_arrays'],
output_names=['num_dets', 'det_boxes', 'det_scores', 'det_classes']
if args.end2end and args.max_wh is None else ['outputs'],)
f.seek(0)
# Checks
onnx_model = onnx.load(f) # load onnx model
onnx.checker.check_model(onnx_model) # check onnx model
# Fix output shape
if args.end2end and args.max_wh is None:
shapes = [args.batch_size, 1, args.batch_size, args.topk_all, 4,
args.batch_size, args.topk_all, args.batch_size, args.topk_all]
for i in onnx_model.graph.output:
for j in i.type.tensor_type.shape.dim:
j.dim_param = str(shapes.pop(0))
if args.simplify:
try:
import onnxsim
LOGGER.info('\nStarting to simplify ONNX...')
onnx_model, check = onnxsim.simplify(onnx_model)
assert check, 'assert check failed'
except Exception as e:
LOGGER.info(f'Simplifier failure: {e}')
onnx.save(onnx_model, export_file)
LOGGER.info(f'ONNX export success, saved as {export_file}')
except Exception as e:
LOGGER.info(f'ONNX export failure: {e}')
# Finish
LOGGER.info('\nExport complete (%.2fs)' % (time.time() - t))
if args.end2end:
if args.max_wh is None:
LOGGER.info('\nYou can export tensorrt engine use trtexec tools.\nCommand is:')
LOGGER.info(f'trtexec --onnx={export_file} --saveEngine={export_file.replace(".onnx",".engine")}')

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src/YOLOv6/deploy/OpenVINO/README.md
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## Export OpenVINO Model
### Check requirements
```shell
pip install --upgrade pip
pip install openvino-dev
```
### Export script
```shell
python deploy/OpenVINO/export_openvino.py --weights yolov6s.pt --img 640 --batch 1
```
### Download
* [YOLOv6-nano](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6n_openvino.tar.gz)
* [YOLOv6-tiny](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6n_openvino.tar.gz)
* [YOLOv6-s](https://github.com/meituan/YOLOv6/releases/download/0.1.0/yolov6n_openvino.tar.gz)
### Speed test
```shell
benchmark_app -m yolov6s_openvino/yolov6s.xml -i data/images/image1.jpg -d CPU -niter 100 -progress
```

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src/YOLOv6/deploy/OpenVINO/export_openvino.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import argparse
import time
import sys
import os
import torch
import torch.nn as nn
import onnx
import subprocess
ROOT = os.getcwd()
if str(ROOT) not in sys.path:
sys.path.append(str(ROOT))
from yolov6.models.yolo import *
from yolov6.models.effidehead import Detect
from yolov6.layers.common import *
from yolov6.utils.events import LOGGER
from yolov6.utils.checkpoint import load_checkpoint
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument('--weights', type=str, default='./yolov6s.pt', help='weights path')
parser.add_argument('--img-size', nargs='+', type=int, default=[640, 640], help='image size') # height, width
parser.add_argument('--batch-size', type=int, default=1, help='batch size')
parser.add_argument('--half', action='store_true', help='FP16 half-precision export')
parser.add_argument('--inplace', action='store_true', help='set Detect() inplace=True')
parser.add_argument('--device', default='0', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
args = parser.parse_args()
args.img_size *= 2 if len(args.img_size) == 1 else 1 # expand
print(args)
t = time.time()
# Check device
cuda = args.device != 'cpu' and torch.cuda.is_available()
device = torch.device('cuda:0' if cuda else 'cpu')
assert not (device.type == 'cpu' and args.half), '--half only compatible with GPU export, i.e. use --device 0'
# Load PyTorch model
model = load_checkpoint(args.weights, map_location=device, inplace=True, fuse=True) # load FP32 model
for layer in model.modules():
if isinstance(layer, RepVGGBlock):
layer.switch_to_deploy()
# Input
img = torch.zeros(args.batch_size, 3, *args.img_size).to(device) # image size(1,3,320,192) iDetection
# Update model
if args.half:
img, model = img.half(), model.half() # to FP16
model.eval()
for k, m in model.named_modules():
if isinstance(m, Conv): # assign export-friendly activations
if isinstance(m.act, nn.SiLU):
m.act = SiLU()
elif isinstance(m, Detect):
m.inplace = args.inplace
y = model(img) # dry run
# ONNX export
try:
LOGGER.info('\nStarting to export ONNX...')
export_file = args.weights.replace('.pt', '.onnx') # filename
torch.onnx.export(model, img, export_file, verbose=False, opset_version=12,
training=torch.onnx.TrainingMode.EVAL,
do_constant_folding=True,
input_names=['image_arrays'],
output_names=['outputs'],
)
# Checks
onnx_model = onnx.load(export_file) # load onnx model
onnx.checker.check_model(onnx_model) # check onnx model
LOGGER.info(f'ONNX export success, saved as {export_file}')
except Exception as e:
LOGGER.info(f'ONNX export failure: {e}')
# OpenVINO export
try:
LOGGER.info('\nStarting to export OpenVINO...')
import_file = args.weights.replace('.pt', '.onnx')
export_dir = str(import_file).replace('.onnx', '_openvino')
cmd = f"mo --input_model {import_file} --output_dir {export_dir} --data_type {'FP16' if args.half else 'FP32'}"
subprocess.check_output(cmd.split())
LOGGER.info(f'OpenVINO export success, saved as {export_dir}')
except Exception as e:
LOGGER.info(f'OpenVINO export failure: {e}')
# Finish
LOGGER.info('\nExport complete (%.2fs)' % (time.time() - t))

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src/YOLOv6/docs/About_naming_yolov6.md
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# About the naming of YOLOv6
### WHY named YOLOv6 ?
The full name is actually MT-YOLOv6, which is called YOLOv6 for brevity. Our work is majorly inspired by the original idea of the one-stage YOLO detection algorithm and the implementation has leveraged various techniques and tricks of former relevant work . Therefore, we named the project YOLOv6 to pay tribute to the work of YOLO series. Furthermore, we have indeed adopted some novel method and made solid engineering improvements to dedicate the algorithm to industrial applications.
As for the project, we'll continue to improve and maintain it, contributing more values for industrial applications.
P.S. We are contacting the authors of YOLO series about the naming of YOLOv6.
Thanks for your attention！

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src/YOLOv6/docs/Test_speed.md
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# Test speed
This guidence explains how to reproduce speed results of YOLOv6. For fair comparison, the speed results do not contain the time cost of data pre-processing and NMS post-processing.
## 0. Prepare model
Download the models you want to test from the latest release.
## 1. Prepare testing environment
Refer to README, install packages corresponding to CUDA, CUDNN and TensorRT version.
Here, we use Torch1.8.0 inference on V100 and TensorRT 7.2 on T4.
## 2. Reproduce speed
#### 2.1 Torch Inference on V100
To get inference speed without TensorRT on V100, you can run the following command:
```shell
python tools/eval.py --data data/coco.yaml --batch 32 --weights yolov6n.pt --task speed [--half]
```
- Speed results with batchsize = 1 are unstable in multiple runs, thus we do not provide the bs1 speed results.
#### 2.2 TensorRT Inference on T4
To get inference speed with TensorRT in FP16 mode on T4, you can follow the steps below:
First, export pytorch model as onnx format using the following command:
```shell
python deploy/ONNX/export_onnx.py --weights yolov6n.pt --device 0 --batch [1 or 32]
```
Second, generate an inference trt engine and test speed using `trtexec`:
```
trtexec --onnx=yolov6n.onnx --workspace=1024 --avgRuns=1000 --inputIOFormats=fp16:chw --outputIOFormats=fp16:chw
```

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src/YOLOv6/docs/Train_custom_data.md
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# Train Custom Data
This guidence explains how to train your own custom data with YOLOv6 (take fine-tuning YOLOv6-s model for example).
## 0. Before you start
Clone this repo and follow README.md to install requirements in a Python3.8 environment.
## 1. Prepare your own dataset
**Step 1** Prepare your own dataset with images. For labeling images, you can use tools like [Labelme](https://github.com/wkentaro/labelme).
**Step 2** Generate label files in YOLO format.
One image corresponds to one label file, and the label format example is presented as below.
```json
# class_id center_x center_y bbox_width bbox_height
0 0.300926 0.617063 0.601852 0.765873
1 0.575 0.319531 0.4 0.551562
```
- Each row represents one object.
- Class id starts from `0`.
- Boundingbox coordinates must be in normalized `xywh` format (from 0 - 1). If your boxes are in pixels, divide `center_x` and `bbox_width` by image width, and `center_y` and `bbox_height` by image height.
**Step 3** Organize directories.
Organize your directory of custom dataset as follows:
```shell
custom_dataset
├── images
│   ├── train
│   │   ├── train0.jpg
│   │   └── train1.jpg
│   ├── val
│   │   ├── val0.jpg
│   │   └── val1.jpg
│   └── test
│   ├── test0.jpg
│   └── test1.jpg
└── labels
├── train
│   ├── train0.txt
│   └── train1.txt
├── val
│   ├── val0.txt
│   └── val1.txt
└── test
├── test0.txt
└── test1.txt
```
**Step 4** Create `dataset.yaml` in `$YOLOv6_DIR/data`.
```yaml
# Please insure that your custom_dataset are put in same parent dir with YOLOv6_DIR
train: ../custom_dataset/images/train # train images
val: ../custom_dataset/images/val # val images
test: ../custom_dataset/images/test # test images (optional)
# whether it is coco dataset, only coco dataset should be set to True.
is_coco: False
# Classes
nc: 20 # number of classes
names: ['aeroplane', 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog',
'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor'] # class names
```
## 2. Create a config file
We use a config file to specify the network structure and training setting, including optimizer and data augmentation hyperparameters.
If you create a new config file, please put it under the configs directory.
Or just use the provided config file in `$YOLOV6_HOME/configs/*_finetune.py`.
```python
## YOLOv6s Model config file
model = dict(
type='YOLOv6s',
pretrained='./weights/yolov6s.pt', # download pretrain model from YOLOv6 github if use pretrained model
depth_multiple = 0.33,
width_multiple = 0.50,
...
)
solver=dict(
optim='SGD',
lr_scheduler='Cosine',
...
)
data_aug = dict(
hsv_h=0.015,
hsv_s=0.7,
hsv_v=0.4,
...
)
```
## 3. Train
Single GPU
```shell
python tools/train.py --batch 256 --conf configs/yolov6s_finetune.py --data data/data.yaml --device 0
```
Multi GPUs (DDP mode recommended)
```shell
python -m torch.distributed.launch --nproc_per_node 4 tools/train.py --batch 256 --conf configs/yolov6s_finetune.py --data data/data.yaml --device 0,1,2,3
```
## 4. Evaluation
```shell
python tools/eval.py --data data/data.yaml --weights output_dir/name/weights/best_ckpt.pt --device 0
```
## 5. Inference
```shell
python tools/infer.py --weights output_dir/name/weights/best_ckpt.pt --source img.jpg --device 0
```
## 6. Deployment
Export as ONNX Format
```shell
python deploy/ONNX/export_onnx.py --weights output_dir/name/weights/best_ckpt.pt --device 0
```

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src/YOLOv6/requirements.txt
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# pip install -r requirements.txt
# python3.8 environment
torch>=1.8.0
torchvision>=0.9.0
numpy>=1.18.5
opencv-python>=4.1.2
PyYAML>=5.3.1
scipy>=1.4.1
tqdm>=4.41.0
addict>=2.4.0
tensorboard>=2.7.0
pycocotools>=2.0
onnx>=1.10.0 # ONNX export
onnx-simplifier>=0.3.6 # ONNX simplifier
thop # FLOPs computation

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src/YOLOv6/tools/eval.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import argparse
import os
import os.path as osp
import sys
import torch
ROOT = os.getcwd()
if str(ROOT) not in sys.path:
sys.path.append(str(ROOT))
from yolov6.core.evaler import Evaler
from yolov6.utils.events import LOGGER
from yolov6.utils.general import increment_name
def get_args_parser(add_help=True):
parser = argparse.ArgumentParser(description='YOLOv6 PyTorch Evalating', add_help=add_help)
parser.add_argument('--data', type=str, default='./data/coco.yaml', help='dataset.yaml path')
parser.add_argument('--weights', type=str, default='./weights/yolov6s.pt', help='model.pt path(s)')
parser.add_argument('--batch-size', type=int, default=32, help='batch size')
parser.add_argument('--img-size', type=int, default=640, help='inference size (pixels)')
parser.add_argument('--conf-thres', type=float, default=0.001, help='confidence threshold')
parser.add_argument('--iou-thres', type=float, default=0.65, help='NMS IoU threshold')
parser.add_argument('--task', default='val', help='val, or speed')
parser.add_argument('--device', default='0', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
parser.add_argument('--half', default=False, action='store_true', help='whether to use fp16 infer')
parser.add_argument('--save_dir', type=str, default='runs/val/', help='evaluation save dir')
parser.add_argument('--name', type=str, default='exp', help='save evaluation results to save_dir/name')
args = parser.parse_args()
LOGGER.info(args)
return args
@torch.no_grad()
def run(data,
weights=None,
batch_size=32,
img_size=640,
conf_thres=0.001,
iou_thres=0.65,
task='val',
device='',
half=False,
model=None,
dataloader=None,
save_dir='',
name = ''
):
""" Run the evaluation process
This function is the main process of evaluataion, supporting image file and dir containing images.
It has tasks of 'val', 'train' and 'speed'. Task 'train' processes the evaluation during training phase.
Task 'val' processes the evaluation purely and return the mAP of model.pt. Task 'speed' precesses the
evaluation of inference speed of model.pt.
"""
# task
Evaler.check_task(task)
if task == 'train':
save_dir = save_dir
else:
save_dir = str(increment_name(osp.join(save_dir, name)))
os.makedirs(save_dir, exist_ok=True)
# reload thres/device/half/data according task
conf_thres, iou_thres = Evaler.reload_thres(conf_thres, iou_thres, task)
device = Evaler.reload_device(device, model, task)
half = device.type != 'cpu' and half
data = Evaler.reload_dataset(data) if isinstance(data, str) else data
# init
val = Evaler(data, batch_size, img_size, conf_thres, \
iou_thres, device, half, save_dir)
model = val.init_model(model, weights, task)
dataloader = val.init_data(dataloader, task)
# eval
model.eval()
pred_result = val.predict_model(model, dataloader, task)
eval_result = val.eval_model(pred_result, model, dataloader, task)
return eval_result
def main(args):
run(**vars(args))
if __name__ == "__main__":
args = get_args_parser()
main(args)

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src/YOLOv6/tools/infer.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import argparse
import os
import sys
import os.path as osp
import torch
ROOT = os.getcwd()
if str(ROOT) not in sys.path:
sys.path.append(str(ROOT))
from yolov6.utils.events import LOGGER
from yolov6.core.inferer import Inferer
def get_args_parser(add_help=True):
parser = argparse.ArgumentParser(description='YOLOv6 PyTorch Inference.', add_help=add_help)
parser.add_argument('--weights', type=str, default='weights/yolov6s.pt', help='model path(s) for inference.')
parser.add_argument('--source', type=str, default='data/images', help='the source path, e.g. image-file/dir.')
parser.add_argument('--yaml', type=str, default='data/coco.yaml', help='data yaml file.')
parser.add_argument('--img-size', type=int, default=640, help='the image-size(h,w) in inference size.')
parser.add_argument('--conf-thres', type=float, default=0.25, help='confidence threshold for inference.')
parser.add_argument('--iou-thres', type=float, default=0.45, help='NMS IoU threshold for inference.')
parser.add_argument('--max-det', type=int, default=1000, help='maximal inferences per image.')
parser.add_argument('--device', default='0', help='device to run our model i.e. 0 or 0,1,2,3 or cpu.')
parser.add_argument('--save-txt', action='store_true', help='save results to *.txt.')
parser.add_argument('--save-img', action='store_false', help='save visuallized inference results.')
parser.add_argument('--classes', nargs='+', type=int, help='filter by classes, e.g. --classes 0, or --classes 0 2 3.')
parser.add_argument('--agnostic-nms', action='store_true', help='class-agnostic NMS.')
parser.add_argument('--project', default='runs/inference', help='save inference results to project/name.')
parser.add_argument('--name', default='exp', help='save inference results to project/name.')
parser.add_argument('--hide-labels', default=False, action='store_true', help='hide labels.')
parser.add_argument('--hide-conf', default=False, action='store_true', help='hide confidences.')
parser.add_argument('--half', action='store_true', help='whether to use FP16 half-precision inference.')
args = parser.parse_args()
LOGGER.info(args)
return args
@torch.no_grad()
def run(weights=osp.join(ROOT, 'yolov6s.pt'),
source=osp.join(ROOT, 'data/images'),
yaml=None,
img_size=640,
conf_thres=0.25,
iou_thres=0.45,
max_det=1000,
device='',
save_txt=False,
save_img=True,
classes=None,
agnostic_nms=False,
project=osp.join(ROOT, 'runs/inference'),
name='exp',
hide_labels=False,
hide_conf=False,
half=False,
):
""" Inference process
This function is the main process of inference, supporting image files or dirs containing images.
Args:
weights: The path of model.pt, e.g. yolov6s.pt
source: Source path, supporting image files or dirs containing images.
yaml: Data yaml file, .
img_size: Inference image-size, e.g. 640
conf_thres: Confidence threshold in inference, e.g. 0.25
iou_thres: NMS IOU threshold in inference, e.g. 0.45
max_det: Maximal detections per image, e.g. 1000
device: Cuda device, e.e. 0, or 0,1,2,3 or cpu
save_txt: Save results to *.txt
save_img: Save visualized inference results
classes: Filter by class: --class 0, or --class 0 2 3
agnostic_nms: Class-agnostic NMS
project: Save results to project/name
name: Save results to project/name, e.g. 'exp'
line_thickness: Bounding box thickness (pixels), e.g. 3
hide_labels: Hide labels, e.g. False
hide_conf: Hide confidences
half: Use FP16 half-precision inference, e.g. False
"""
# create save dir
save_dir = osp.join(project, name)
if (save_img or save_txt) and not osp.exists(save_dir):
os.makedirs(save_dir)
else:
LOGGER.warning('Save directory already existed')
if save_txt:
os.mkdir(osp.join(save_dir, 'labels'))
# Inference
inferer = Inferer(source, weights, device, yaml, img_size, half)
inferer.infer(conf_thres, iou_thres, classes, agnostic_nms, max_det, save_dir, save_txt, save_img, hide_labels, hide_conf)
if save_txt or save_img:
LOGGER.info(f"Results saved to {save_dir}")
def main(args):
run(**vars(args))
if __name__ == "__main__":
args = get_args_parser()
main(args)

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# Coming soon

210
src/YOLOv6/tools/quantization/tensorrt/post_training/Calibrator.py
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#
# Modified by Meituan
# 2022.6.24
#
# Copyright 2019 NVIDIA Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import sys
import glob
import random
import logging
import cv2
import numpy as np
from PIL import Image
import tensorrt as trt
import pycuda.driver as cuda
import pycuda.autoinit
logging.basicConfig(level=logging.DEBUG,
format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
datefmt="%Y-%m-%d %H:%M:%S")
logger = logging.getLogger(__name__)
def preprocess_yolov6(image, channels=3, height=224, width=224):
"""Pre-processing for YOLOv6-based Object Detection Models
Parameters
----------
image: PIL.Image
The image resulting from PIL.Image.open(filename) to preprocess
channels: int
The number of channels the image has (Usually 1 or 3)
height: int
The desired height of the image (usually 640)
width: int
The desired width of the image (usually 640)
Returns
-------
img_data: numpy array
The preprocessed image data in the form of a numpy array
"""
# Get the image in CHW format
resized_image = image.resize((width, height), Image.BILINEAR)
img_data = np.asarray(resized_image).astype(np.float32)
if len(img_data.shape) == 2:
# For images without a channel dimension, we stack
img_data = np.stack([img_data] * 3)
logger.debug("Received grayscale image. Reshaped to {:}".format(img_data.shape))
else:
img_data = img_data.transpose([2, 0, 1])
mean_vec = np.array([0.0, 0.0, 0.0])
stddev_vec = np.array([1.0, 1.0, 1.0])
assert img_data.shape[0] == channels
for i in range(img_data.shape[0]):
# Scale each pixel to [0, 1] and normalize per channel.
img_data[i, :, :] = (img_data[i, :, :] / 255.0 - mean_vec[i]) / stddev_vec[i]
return img_data
def get_int8_calibrator(calib_cache, calib_data, max_calib_size, calib_batch_size):
# Use calibration cache if it exists
if os.path.exists(calib_cache):
logger.info("Skipping calibration files, using calibration cache: {:}".format(calib_cache))
calib_files = []
# Use calibration files from validation dataset if no cache exists
else:
if not calib_data:
raise ValueError("ERROR: Int8 mode requested, but no calibration data provided. Please provide --calibration-data /path/to/calibration/files")
calib_files = get_calibration_files(calib_data, max_calib_size)
# Choose pre-processing function for INT8 calibration
preprocess_func = preprocess_yolov6
int8_calibrator = ImageCalibrator(calibration_files=calib_files,
batch_size=calib_batch_size,
cache_file=calib_cache)
return int8_calibrator
def get_calibration_files(calibration_data, max_calibration_size=None, allowed_extensions=(".jpeg", ".jpg", ".png")):
"""Returns a list of all filenames ending with `allowed_extensions` found in the `calibration_data` directory.
Parameters
----------
calibration_data: str
Path to directory containing desired files.
max_calibration_size: int
Max number of files to use for calibration. If calibration_data contains more than this number,
a random sample of size max_calibration_size will be returned instead. If None, all samples will be used.
Returns
-------
calibration_files: List[str]
List of filenames contained in the `calibration_data` directory ending with `allowed_extensions`.
"""
logger.info("Collecting calibration files from: {:}".format(calibration_data))
calibration_files = [path for path in glob.iglob(os.path.join(calibration_data, "**"), recursive=True)
if os.path.isfile(path) and path.lower().endswith(allowed_extensions)]
logger.info("Number of Calibration Files found: {:}".format(len(calibration_files)))
if len(calibration_files) == 0:
raise Exception("ERROR: Calibration data path [{:}] contains no files!".format(calibration_data))
if max_calibration_size:
if len(calibration_files) > max_calibration_size:
logger.warning("Capping number of calibration images to max_calibration_size: {:}".format(max_calibration_size))
random.seed(42) # Set seed for reproducibility
calibration_files = random.sample(calibration_files, max_calibration_size)
return calibration_files
# https://docs.nvidia.com/deeplearning/sdk/tensorrt-api/python_api/infer/Int8/EntropyCalibrator2.html
class ImageCalibrator(trt.IInt8EntropyCalibrator2):
"""INT8 Calibrator Class for Imagenet-based Image Classification Models.
Parameters
----------
calibration_files: List[str]
List of image filenames to use for INT8 Calibration
batch_size: int
Number of images to pass through in one batch during calibration
input_shape: Tuple[int]
Tuple of integers defining the shape of input to the model (Default: (3, 224, 224))
cache_file: str
Name of file to read/write calibration cache from/to.
preprocess_func: function -> numpy.ndarray
Pre-processing function to run on calibration data. This should match the pre-processing
done at inference time. In general, this function should return a numpy array of
shape `input_shape`.
"""
def __init__(self, calibration_files=[], batch_size=32, input_shape=(3, 224, 224),
cache_file="calibration.cache", use_cv2=False):
super().__init__()
self.input_shape = input_shape
self.cache_file = cache_file
self.batch_size = batch_size
self.batch = np.zeros((self.batch_size, *self.input_shape), dtype=np.float32)
self.device_input = cuda.mem_alloc(self.batch.nbytes)
self.files = calibration_files
self.use_cv2 = use_cv2
# Pad the list so it is a multiple of batch_size
if len(self.files) % self.batch_size != 0:
logger.info("Padding # calibration files to be a multiple of batch_size {:}".format(self.batch_size))
self.files += calibration_files[(len(calibration_files) % self.batch_size):self.batch_size]
self.batches = self.load_batches()
self.preprocess_func = preprocess_yolov6
def load_batches(self):
# Populates a persistent self.batch buffer with images.
for index in range(0, len(self.files), self.batch_size):
for offset in range(self.batch_size):
if self.use_cv2:
image = cv2.imread(self.files[index + offset])
else:
image = Image.open(self.files[index + offset])
self.batch[offset] = self.preprocess_func(image, *self.input_shape)
logger.info("Calibration images pre-processed: {:}/{:}".format(index+self.batch_size, len(self.files)))
yield self.batch
def get_batch_size(self):
return self.batch_size
def get_batch(self, names):
try:
# Assume self.batches is a generator that provides batch data.
batch = next(self.batches)
# Assume that self.device_input is a device buffer allocated by the constructor.
cuda.memcpy_htod(self.device_input, batch)
return [int(self.device_input)]
except StopIteration:
# When we're out of batches, we return either [] or None.
# This signals to TensorRT that there is no calibration data remaining.
return None
def read_calibration_cache(self):
# If there is a cache, use it instead of calibrating again. Otherwise, implicitly return None.
if os.path.exists(self.cache_file):
with open(self.cache_file, "rb") as f:
logger.info("Using calibration cache to save time: {:}".format(self.cache_file))
return f.read()
def write_calibration_cache(self, cache):
with open(self.cache_file, "wb") as f:
logger.info("Caching calibration data for future use: {:}".format(self.cache_file))
f.write(cache)

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# ONNX -> TensorRT INT8
These scripts were last tested using the
[NGC TensorRT Container Version 20.06-py3](https://ngc.nvidia.com/catalog/containers/nvidia:tensorrt).
You can see the corresponding framework versions for this container [here](https://docs.nvidia.com/deeplearning/sdk/tensorrt-container-release-notes/rel_20.06.html#rel_20.06).
## Quickstart
> **NOTE**: This INT8 example is only valid for **fixed-shape** ONNX models at the moment.
>
INT8 Calibration on **dynamic-shape** models is now supported, however this example has not been updated
to reflect that yet. For more details on INT8 Calibration for **dynamic-shape** models, please
see the [documentation](https://docs.nvidia.com/deeplearning/tensorrt/developer-guide/index.html#int8-calib-dynamic-shapes).
### 1. Convert ONNX model to TensorRT INT8
See `./onnx_to_tensorrt.py -h` for full list of command line arguments.
```bash
./onnx_to_tensorrt.py --explicit-batch \
--onnx resnet50/model.onnx \
--fp16 \
--int8 \
--calibration-cache="caches/yolov6.cache" \
-o resnet50.int8.engine
```
See the [INT8 Calibration](#int8-calibration) section below for details on calibration
using your own model or different data, where you don't have an existing calibration cache
or want to create a new one.
## INT8 Calibration
See [ImagenetCalibrator.py](ImagenetCalibrator.py) for a reference implementation
of TensorRT's [IInt8EntropyCalibrator2](https://docs.nvidia.com/deeplearning/sdk/tensorrt-api/python_api/infer/Int8/EntropyCalibrator2.html).
This class can be tweaked to work for other kinds of models, inputs, etc.
In the [Quickstart](#quickstart) section above, we made use of a pre-existing cache,
[caches/yolov6.cache](caches/yolov6.cache), to save time for the sake of an example.
However, to calibrate using different data or a different model, you can do so with the `--calibration-data` argument.
* This requires that you've mounted a dataset, such as Imagenet, to use for calibration.
* Add something like `-v /imagenet:/imagenet` to your Docker command in Step (1)
to mount a dataset found locally at `/imagenet`.
* You can specify your own `preprocess_func` by defining it inside of `ImageCalibrator.py`
```bash
# Path to dataset to use for calibration.
# **Not necessary if you already have a calibration cache from a previous run.
CALIBRATION_DATA="/imagenet"
# Truncate calibration images to a random sample of this amount if more are found.
# **Not necessary if you already have a calibration cache from a previous run.
MAX_CALIBRATION_SIZE=512
# Calibration cache to be used instead of calibration data if it already exists,
# or the cache will be created from the calibration data if it doesn't exist.
CACHE_FILENAME="caches/yolov6.cache"
# Path to ONNX model
ONNX_MODEL="model/yolov6.onnx"
# Path to write TensorRT engine to
OUTPUT="yolov6.int8.engine"
# Creates an int8 engine from your ONNX model, creating ${CACHE_FILENAME} based
# on your ${CALIBRATION_DATA}, unless ${CACHE_FILENAME} already exists, then
# it will use simply use that instead.
python3 onnx_to_tensorrt.py --fp16 --int8 -v \
--max_calibration_size=${MAX_CALIBRATION_SIZE} \
--calibration-data=${CALIBRATION_DATA} \
--calibration-cache=${CACHE_FILENAME} \
--preprocess_func=${PREPROCESS_FUNC} \
--explicit-batch \
--onnx ${ONNX_MODEL} -o ${OUTPUT}
```
### Pre-processing
In order to calibrate your model correctly, you should `pre-process` your data the same way
that you would during inference.

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#!/usr/bin/env python3
#
# Modified by Meituan
# 2022.6.24
#
# Copyright 2019 NVIDIA Corporation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import os
import sys
import glob
import math
import logging
import argparse
import tensorrt as trt
#sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
TRT_LOGGER = trt.Logger()
logging.basicConfig(level=logging.DEBUG,
format="%(asctime)s - %(name)s - %(levelname)s - %(message)s",
datefmt="%Y-%m-%d %H:%M:%S")
logger = logging.getLogger(__name__)
def add_profiles(config, inputs, opt_profiles):
logger.debug("=== Optimization Profiles ===")
for i, profile in enumerate(opt_profiles):
for inp in inputs:
_min, _opt, _max = profile.get_shape(inp.name)
logger.debug("{} - OptProfile {} - Min {} Opt {} Max {}".format(inp.name, i, _min, _opt, _max))
config.add_optimization_profile(profile)
def mark_outputs(network):
# Mark last layer's outputs if not already marked
# NOTE: This may not be correct in all cases
last_layer = network.get_layer(network.num_layers-1)
if not last_layer.num_outputs:
logger.error("Last layer contains no outputs.")
return
for i in range(last_layer.num_outputs):
network.mark_output(last_layer.get_output(i))
def check_network(network):
if not network.num_outputs:
logger.warning("No output nodes found, marking last layer's outputs as network outputs. Correct this if wrong.")
mark_outputs(network)
inputs = [network.get_input(i) for i in range(network.num_inputs)]
outputs = [network.get_output(i) for i in range(network.num_outputs)]
max_len = max([len(inp.name) for inp in inputs] + [len(out.name) for out in outputs])
logger.debug("=== Network Description ===")
for i, inp in enumerate(inputs):
logger.debug("Input {0} | Name: {1:{2}} | Shape: {3}".format(i, inp.name, max_len, inp.shape))
for i, out in enumerate(outputs):
logger.debug("Output {0} | Name: {1:{2}} | Shape: {3}".format(i, out.name, max_len, out.shape))
def get_batch_sizes(max_batch_size):
# Returns powers of 2, up to and including max_batch_size
max_exponent = math.log2(max_batch_size)
for i in range(int(max_exponent)+1):
batch_size = 2**i
yield batch_size
if max_batch_size != batch_size:
yield max_batch_size
# TODO: This only covers dynamic shape for batch size, not dynamic shape for other dimensions
def create_optimization_profiles(builder, inputs, batch_sizes=[1,8,16,32,64]):
# Check if all inputs are fixed explicit batch to create a single profile and avoid duplicates
if all([inp.shape[0] > -1 for inp in inputs]):
profile = builder.create_optimization_profile()
for inp in inputs:
fbs, shape = inp.shape[0], inp.shape[1:]
profile.set_shape(inp.name, min=(fbs, *shape), opt=(fbs, *shape), max=(fbs, *shape))
return [profile]
# Otherwise for mixed fixed+dynamic explicit batch inputs, create several profiles
profiles = {}
for bs in batch_sizes:
if not profiles.get(bs):
profiles[bs] = builder.create_optimization_profile()
for inp in inputs:
shape = inp.shape[1:]
# Check if fixed explicit batch
if inp.shape[0] > -1:
bs = inp.shape[0]
profiles[bs].set_shape(inp.name, min=(bs, *shape), opt=(bs, *shape), max=(bs, *shape))
return list(profiles.values())
def main():
parser = argparse.ArgumentParser(description="Creates a TensorRT engine from the provided ONNX file.\n")
parser.add_argument("--onnx", required=True, help="The ONNX model file to convert to TensorRT")
parser.add_argument("-o", "--output", type=str, default="model.engine", help="The path at which to write the engine")
parser.add_argument("-b", "--max-batch-size", type=int, help="The max batch size for the TensorRT engine input")
parser.add_argument("-v", "--verbosity", action="count", help="Verbosity for logging. (None) for ERROR, (-v) for INFO/WARNING/ERROR, (-vv) for VERBOSE.")
parser.add_argument("--explicit-batch", action='store_true', help="Set trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH.")
parser.add_argument("--explicit-precision", action='store_true', help="Set trt.NetworkDefinitionCreationFlag.EXPLICIT_PRECISION.")
parser.add_argument("--gpu-fallback", action='store_true', help="Set trt.BuilderFlag.GPU_FALLBACK.")
parser.add_argument("--refittable", action='store_true', help="Set trt.BuilderFlag.REFIT.")
parser.add_argument("--debug", action='store_true', help="Set trt.BuilderFlag.DEBUG.")
parser.add_argument("--strict-types", action='store_true', help="Set trt.BuilderFlag.STRICT_TYPES.")
parser.add_argument("--fp16", action="store_true", help="Attempt to use FP16 kernels when possible.")
parser.add_argument("--int8", action="store_true", help="Attempt to use INT8 kernels when possible. This should generally be used in addition to the --fp16 flag. \
ONLY SUPPORTS RESNET-LIKE MODELS SUCH AS RESNET50/VGG16/INCEPTION/etc.")
parser.add_argument("--calibration-cache", help="(INT8 ONLY) The path to read/write from calibration cache.", default="calibration.cache")
parser.add_argument("--calibration-data", help="(INT8 ONLY) The directory containing {*.jpg, *.jpeg, *.png} files to use for calibration. (ex: Imagenet Validation Set)", default=None)
parser.add_argument("--calibration-batch-size", help="(INT8 ONLY) The batch size to use during calibration.", type=int, default=128)
parser.add_argument("--max-calibration-size", help="(INT8 ONLY) The max number of data to calibrate on from --calibration-data.", type=int, default=2048)
parser.add_argument("-s", "--simple", action="store_true", help="Use SimpleCalibrator with random data instead of ImagenetCalibrator for INT8 calibration.")
args, _ = parser.parse_known_args()
print(args)
# Adjust logging verbosity
if args.verbosity is None:
TRT_LOGGER.min_severity = trt.Logger.Severity.ERROR
# -v
elif args.verbosity == 1:
TRT_LOGGER.min_severity = trt.Logger.Severity.INFO
# -vv
else:
TRT_LOGGER.min_severity = trt.Logger.Severity.VERBOSE
logger.info("TRT_LOGGER Verbosity: {:}".format(TRT_LOGGER.min_severity))
# Network flags
network_flags = 0
if args.explicit_batch:
network_flags |= 1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH)
if args.explicit_precision:
network_flags |= 1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_PRECISION)
builder_flag_map = {
'gpu_fallback': trt.BuilderFlag.GPU_FALLBACK,
'refittable': trt.BuilderFlag.REFIT,
'debug': trt.BuilderFlag.DEBUG,
'strict_types': trt.BuilderFlag.STRICT_TYPES,
'fp16': trt.BuilderFlag.FP16,
'int8': trt.BuilderFlag.INT8,
}
# Building engine
with trt.Builder(TRT_LOGGER) as builder, \
builder.create_network(network_flags) as network, \
builder.create_builder_config() as config, \
trt.OnnxParser(network, TRT_LOGGER) as parser:
config.max_workspace_size = 2**30 # 1GiB
# Set Builder Config Flags
for flag in builder_flag_map:
if getattr(args, flag):
logger.info("Setting {}".format(builder_flag_map[flag]))
config.set_flag(builder_flag_map[flag])
# Fill network atrributes with information by parsing model
with open(args.onnx, "rb") as f:
if not parser.parse(f.read()):
print('ERROR: Failed to parse the ONNX file: {}'.format(args.onnx))
for error in range(parser.num_errors):
print(parser.get_error(error))
sys.exit(1)
# Display network info and check certain properties
check_network(network)
if args.explicit_batch:
# Add optimization profiles
batch_sizes = [1, 8, 16, 32, 64]
inputs = [network.get_input(i) for i in range(network.num_inputs)]
opt_profiles = create_optimization_profiles(builder, inputs, batch_sizes)
add_profiles(config, inputs, opt_profiles)
# Implicit Batch Network
else:
builder.max_batch_size = args.max_batch_size
opt_profiles = []
# Precision flags
if args.fp16 and not builder.platform_has_fast_fp16:
logger.warning("FP16 not supported on this platform.")
if args.int8 and not builder.platform_has_fast_int8:
logger.warning("INT8 not supported on this platform.")
if args.int8:
from Calibrator import ImageCalibrator, get_int8_calibrator # local module
config.int8_calibrator = get_int8_calibrator(args.calibration_cache,
args.calibration_data,
args.max_calibration_size,
args.calibration_batch_size)
logger.info("Building Engine...")
with builder.build_engine(network, config) as engine, open(args.output, "wb") as f:
logger.info("Serializing engine to file: {:}".format(args.output))
f.write(engine.serialize())
if __name__ == "__main__":
main()

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# Path to ONNX model
# ex: ../yolov6.onnx
ONNX_MODEL=$1
# Path to dataset to use for calibration.
# **Not necessary if you already have a calibration cache from a previous run.
CALIBRATION_DATA=$2
# Path to Cache file to Serving
# ex: ./caches/demo.cache
CACHE_FILENAME=$3
# Path to write TensorRT engine to
OUTPUT=$4
# Creates an int8 engine from your ONNX model, creating ${CACHE_FILENAME} based
# on your ${CALIBRATION_DATA}, unless ${CACHE_FILENAME} already exists, then
# it will use simply use that instead.
python3 onnx_to_tensorrt.py --fp16 --int8 -v \
--calibration-data=${CALIBRATION_DATA} \
--calibration-cache=${CACHE_FILENAME} \
--explicit-batch \
--onnx ${ONNX_MODEL} -o ${OUTPUT}

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src/YOLOv6/tools/quantization/tensorrt/requirements.txt
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# pip install -r requirements.txt
# python3.8 environment
tensorrt # TensorRT 8.0+
pycuda==2020.1 # CUDA 11.0
nvidia-pyindex
pytorch-quantization

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src/YOLOv6/tools/quantization/tensorrt/training_aware/QAT_quantizer.py
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#
# QAT_quantizer.py
# YOLOv6
#
# Created by Meituan on 2022/06/24.
# Copyright © 2022
#
from absl import logging
from pytorch_quantization import nn as quant_nn
from pytorch_quantization import quant_modules
# Call this function before defining the model
def tensorrt_official_qat():
# Quantization Aware Training is based on Straight Through Estimator (STE) derivative approximation.
# It is some time known as “quantization aware training”.
# PyTorch-Quantization is a toolkit for training and evaluating PyTorch models with simulated quantization.
# Quantization can be added to the model automatically, or manually, allowing the model to be tuned for accuracy and performance.
# Quantization is compatible with NVIDIAs high performance integer kernels which leverage integer Tensor Cores.
# The quantized model can be exported to ONNX and imported by TensorRT 8.0 and later.
# https://github.com/NVIDIA/TensorRT/blob/main/tools/pytorch-quantization/examples/finetune_quant_resnet50.ipynb
# The example to export the
# model.eval()
# quant_nn.TensorQuantizer.use_fb_fake_quant = True # We have to shift to pytorch's fake quant ops before exporting the model to ONNX
# opset_version = 13
# Export ONNX for multiple batch sizes
# print("Creating ONNX file: " + onnx_filename)
# dummy_input = torch.randn(batch_onnx, 3, 224, 224, device='cuda') #TODO: switch input dims by model
# torch.onnx.export(model, dummy_input, onnx_filename, verbose=False, opset_version=opset_version, enable_onnx_checker=False, do_constant_folding=True)
try:
quant_modules.initialize()
except NameError:
logging.info("initialzation error for quant_modules")
# def QAT_quantizer():
# coming soon

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src/YOLOv6/tools/train.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import argparse
import os
import os.path as osp
import torch
import torch.distributed as dist
import sys
ROOT = os.getcwd()
if str(ROOT) not in sys.path:
sys.path.append(str(ROOT))
from yolov6.core.engine import Trainer
from yolov6.utils.config import Config
from yolov6.utils.events import LOGGER, save_yaml
from yolov6.utils.envs import get_envs, select_device, set_random_seed
from yolov6.utils.general import increment_name
def get_args_parser(add_help=True):
parser = argparse.ArgumentParser(description='YOLOv6 PyTorch Training', add_help=add_help)
parser.add_argument('--data-path', default='./data/coco.yaml', type=str, help='path of dataset')
parser.add_argument('--conf-file', default='./configs/yolov6s.py', type=str, help='experiments description file')
parser.add_argument('--img-size', default=640, type=int, help='train, val image size (pixels)')
parser.add_argument('--batch-size', default=32, type=int, help='total batch size for all GPUs')
parser.add_argument('--epochs', default=400, type=int, help='number of total epochs to run')
parser.add_argument('--workers', default=8, type=int, help='number of data loading workers (default: 8)')
parser.add_argument('--device', default='0', type=str, help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
parser.add_argument('--eval-interval', default=20, type=int, help='evaluate at every interval epochs')
parser.add_argument('--eval-final-only', action='store_true', help='only evaluate at the final epoch')
parser.add_argument('--heavy-eval-range', default=50, type=int,
help='evaluating every epoch for last such epochs (can be jointly used with --eval-interval)')
parser.add_argument('--check-images', action='store_true', help='check images when initializing datasets')
parser.add_argument('--check-labels', action='store_true', help='check label files when initializing datasets')
parser.add_argument('--output-dir', default='./runs/train', type=str, help='path to save outputs')
parser.add_argument('--name', default='exp', type=str, help='experiment name, saved to output_dir/name')
parser.add_argument('--dist_url', default='env://', type=str, help='url used to set up distributed training')
parser.add_argument('--gpu_count', type=int, default=0)
parser.add_argument('--local_rank', type=int, default=-1, help='DDP parameter')
parser.add_argument('--resume', type=str, default=None, help='resume the corresponding ckpt')
return parser
def check_and_init(args):
'''check config files and device, and initialize '''
# check files
master_process = args.rank == 0 if args.world_size > 1 else args.rank == -1
args.save_dir = str(increment_name(osp.join(args.output_dir, args.name), master_process))
cfg = Config.fromfile(args.conf_file)
# check device
device = select_device(args.device)
# set random seed
set_random_seed(1+args.rank, deterministic=(args.rank == -1))
# save args
if master_process:
os.makedirs(args.save_dir)
save_yaml(vars(args), osp.join(args.save_dir, 'args.yaml'))
return cfg, device
def main(args):
'''main function of training'''
# Setup
args.rank, args.local_rank, args.world_size = get_envs()
LOGGER.info(f'training args are: {args}\n')
cfg, device = check_and_init(args)
if args.local_rank != -1: # if DDP mode
torch.cuda.set_device(args.local_rank)
device = torch.device('cuda', args.local_rank)
LOGGER.info('Initializing process group... ')
dist.init_process_group(backend="nccl" if dist.is_nccl_available() else "gloo", \
init_method=args.dist_url, rank=args.local_rank, world_size=args.world_size)
# Start
trainer = Trainer(args, cfg, device)
trainer.train()
# End
if args.world_size > 1 and args.rank == 0:
LOGGER.info('Destroying process group... ')
dist.destroy_process_group()
if __name__ == '__main__':
args = get_args_parser().parse_args()
main(args)

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src/YOLOv6/yolov6/core/engine.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import os
import time
from copy import deepcopy
import os.path as osp
from tqdm import tqdm
import numpy as np
import torch
from torch.cuda import amp
from torch.nn.parallel import DistributedDataParallel as DDP
from torch.utils.tensorboard import SummaryWriter
import tools.eval as eval
from yolov6.data.data_load import create_dataloader
from yolov6.models.yolo import build_model
from yolov6.models.loss import ComputeLoss
from yolov6.utils.events import LOGGER, NCOLS, load_yaml, write_tblog
from yolov6.utils.ema import ModelEMA, de_parallel
from yolov6.utils.checkpoint import load_state_dict, save_checkpoint, strip_optimizer
from yolov6.solver.build import build_optimizer, build_lr_scheduler
class Trainer:
def __init__(self, args, cfg, device):
self.args = args
self.cfg = cfg
self.device = device
self.rank = args.rank
self.local_rank = args.local_rank
self.world_size = args.world_size
self.main_process = self.rank in [-1, 0]
self.save_dir = args.save_dir
# get data loader
self.data_dict = load_yaml(args.data_path)
self.num_classes = self.data_dict['nc']
self.train_loader, self.val_loader = self.get_data_loader(args, cfg, self.data_dict)
# get model and optimizer
model = self.get_model(args, cfg, self.num_classes, device)
self.optimizer = self.get_optimizer(args, cfg, model)
self.scheduler, self.lf = self.get_lr_scheduler(args, cfg, self.optimizer)
self.ema = ModelEMA(model) if self.main_process else None
self.model = self.parallel_model(args, model, device)
self.model.nc, self.model.names = self.data_dict['nc'], self.data_dict['names']
# tensorboard
self.tblogger = SummaryWriter(self.save_dir) if self.main_process else None
self.start_epoch = 0
# resume ckpt from user-defined path
if args.resume:
assert os.path.isfile(args.resume), 'ERROR: --resume checkpoint does not exists'
self.ckpt = torch.load(args.resume, map_location='cpu')
self.start_epoch = self.ckpt['epoch'] + 1
self.max_epoch = args.epochs
self.max_stepnum = len(self.train_loader)
self.batch_size = args.batch_size
self.img_size = args.img_size
# Training Process
def train(self):
try:
self.train_before_loop()
for self.epoch in range(self.start_epoch, self.max_epoch):
self.train_in_loop()
except Exception as _:
LOGGER.error('ERROR in training loop or eval/save model.')
raise
finally:
self.train_after_loop()
# Training loop for each epoch
def train_in_loop(self):
try:
self.prepare_for_steps()
for self.step, self.batch_data in self.pbar:
self.train_in_steps()
self.print_details()
except Exception as _:
LOGGER.error('ERROR in training steps.')
raise
try:
self.eval_and_save()
except Exception as _:
LOGGER.error('ERROR in evaluate and save model.')
raise
# Training loop for batchdata
def train_in_steps(self):
images, targets = self.prepro_data(self.batch_data, self.device)
# forward
with amp.autocast(enabled=self.device != 'cpu'):
preds = self.model(images)
total_loss, loss_items = self.compute_loss(preds, targets)
if self.rank != -1:
total_loss *= self.world_size
# backward
self.scaler.scale(total_loss).backward()
self.loss_items = loss_items
self.update_optimizer()
def eval_and_save(self):
remaining_epochs = self.max_epoch - self.epoch
eval_interval = self.args.eval_interval if remaining_epochs > self.args.heavy_eval_range else 1
is_val_epoch = (not self.args.eval_final_only or (remaining_epochs == 1)) and (self.epoch % eval_interval == 0)
if self.main_process:
self.ema.update_attr(self.model, include=['nc', 'names', 'stride']) # update attributes for ema model
if is_val_epoch:
self.eval_model()
self.ap = self.evaluate_results[0] * 0.1 + self.evaluate_results[1] * 0.9
self.best_ap = max(self.ap, self.best_ap)
# save ckpt
ckpt = {
'model': deepcopy(de_parallel(self.model)).half(),
'ema': deepcopy(self.ema.ema).half(),
'updates': self.ema.updates,
'optimizer': self.optimizer.state_dict(),
'epoch': self.epoch,
}
save_ckpt_dir = osp.join(self.save_dir, 'weights')
save_checkpoint(ckpt, (is_val_epoch) and (self.ap == self.best_ap), save_ckpt_dir, model_name='last_ckpt')
del ckpt
# log for tensorboard
write_tblog(self.tblogger, self.epoch, self.evaluate_results, self.mean_loss)
def eval_model(self):
results = eval.run(self.data_dict,
batch_size=self.batch_size // self.world_size * 2,
img_size=self.img_size,
model=self.ema.ema,
dataloader=self.val_loader,
save_dir=self.save_dir,
task='train')
LOGGER.info(f"Epoch: {self.epoch} | mAP@0.5: {results[0]} | mAP@0.50:0.95: {results[1]}")
self.evaluate_results = results[:2]
def train_before_loop(self):
LOGGER.info('Training start...')
self.start_time = time.time()
self.warmup_stepnum = max(round(self.cfg.solver.warmup_epochs * self.max_stepnum), 1000)
self.scheduler.last_epoch = self.start_epoch - 1
self.last_opt_step = -1
self.scaler = amp.GradScaler(enabled=self.device != 'cpu')
self.best_ap, self.ap = 0.0, 0.0
self.evaluate_results = (0, 0) # AP50, AP50_95
self.compute_loss = ComputeLoss(iou_type=self.cfg.model.head.iou_type)
if hasattr(self, "ckpt"):
resume_state_dict = self.ckpt['model'].float().state_dict() # checkpoint's state_dict as FP32
self.model.load_state_dict(resume_state_dict, strict=True) # load model state dict
self.optimizer.load_state_dict(self.ckpt['optimizer']) # load optimizer
self.start_epoch = self.ckpt['epoch'] + 1
self.ema.ema.load_state_dict(self.ckpt['ema'].float().state_dict()) # load ema state dict
self.ema.updates = self.ckpt['updates']
def prepare_for_steps(self):
if self.epoch > self.start_epoch:
self.scheduler.step()
self.model.train()
if self.rank != -1:
self.train_loader.sampler.set_epoch(self.epoch)
self.mean_loss = torch.zeros(4, device=self.device)
self.optimizer.zero_grad()
LOGGER.info(('\n' + '%10s' * 5) % ('Epoch', 'iou_loss', 'l1_loss', 'obj_loss', 'cls_loss'))
self.pbar = enumerate(self.train_loader)
if self.main_process:
self.pbar = tqdm(self.pbar, total=self.max_stepnum, ncols=NCOLS, bar_format='{l_bar}{bar:10}{r_bar}{bar:-10b}')
# Print loss after each steps
def print_details(self):
if self.main_process:
self.mean_loss = (self.mean_loss * self.step + self.loss_items) / (self.step + 1)
self.pbar.set_description(('%10s' + '%10.4g' * 4) % (f'{self.epoch}/{self.max_epoch - 1}', \
*(self.mean_loss)))
# Empty cache if training finished
def train_after_loop(self):
if self.main_process:
LOGGER.info(f'\nTraining completed in {(time.time() - self.start_time) / 3600:.3f} hours.')
save_ckpt_dir = osp.join(self.save_dir, 'weights')
strip_optimizer(save_ckpt_dir, self.epoch) # strip optimizers for saved pt model
if self.device != 'cpu':
torch.cuda.empty_cache()
def update_optimizer(self):
curr_step = self.step + self.max_stepnum * self.epoch
self.accumulate = max(1, round(64 / self.batch_size))
if curr_step <= self.warmup_stepnum:
self.accumulate = max(1, np.interp(curr_step, [0, self.warmup_stepnum], [1, 64 / self.batch_size]).round())
for k, param in enumerate(self.optimizer.param_groups):
warmup_bias_lr = self.cfg.solver.warmup_bias_lr if k == 2 else 0.0
param['lr'] = np.interp(curr_step, [0, self.warmup_stepnum], [warmup_bias_lr, param['initial_lr'] * self.lf(self.epoch)])
if 'momentum' in param:
param['momentum'] = np.interp(curr_step, [0, self.warmup_stepnum], [self.cfg.solver.warmup_momentum, self.cfg.solver.momentum])
if curr_step - self.last_opt_step >= self.accumulate:
self.scaler.step(self.optimizer)
self.scaler.update()
self.optimizer.zero_grad()
if self.ema:
self.ema.update(self.model)
self.last_opt_step = curr_step
@staticmethod
def get_data_loader(args, cfg, data_dict):
train_path, val_path = data_dict['train'], data_dict['val']
# check data
nc = int(data_dict['nc'])
class_names = data_dict['names']
assert len(class_names) == nc, f'the length of class names does not match the number of classes defined'
grid_size = max(int(max(cfg.model.head.strides)), 32)
# create train dataloader
train_loader = create_dataloader(train_path, args.img_size, args.batch_size // args.world_size, grid_size,
hyp=dict(cfg.data_aug), augment=True, rect=False, rank=args.local_rank,
workers=args.workers, shuffle=True, check_images=args.check_images,
check_labels=args.check_labels, data_dict=data_dict, task='train')[0]
# create val dataloader
val_loader = None
if args.rank in [-1, 0]:
val_loader = create_dataloader(val_path, args.img_size, args.batch_size // args.world_size * 2, grid_size,
hyp=dict(cfg.data_aug), rect=True, rank=-1, pad=0.5,
workers=args.workers, check_images=args.check_images,
check_labels=args.check_labels, data_dict=data_dict, task='val')[0]
return train_loader, val_loader
@staticmethod
def prepro_data(batch_data, device):
images = batch_data[0].to(device, non_blocking=True).float() / 255
targets = batch_data[1].to(device)
return images, targets
def get_model(self, args, cfg, nc, device):
model = build_model(cfg, nc, device)
weights = cfg.model.pretrained
if weights: # finetune if pretrained model is set
LOGGER.info(f'Loading state_dict from {weights} for fine-tuning...')
model = load_state_dict(weights, model, map_location=device)
LOGGER.info('Model: {}'.format(model))
return model
@staticmethod
def parallel_model(args, model, device):
# If DP mode
dp_mode = device.type != 'cpu' and args.rank == -1
if dp_mode and torch.cuda.device_count() > 1:
LOGGER.warning('WARNING: DP not recommended, use DDP instead.\n')
model = torch.nn.DataParallel(model)
# If DDP mode
ddp_mode = device.type != 'cpu' and args.rank != -1
if ddp_mode:
model = DDP(model, device_ids=[args.local_rank], output_device=args.local_rank)
return model
def get_optimizer(self, args, cfg, model):
accumulate = max(1, round(64 / args.batch_size))
cfg.solver.weight_decay *= args.batch_size * accumulate / 64
optimizer = build_optimizer(cfg, model)
return optimizer
@staticmethod
def get_lr_scheduler(args, cfg, optimizer):
epochs = args.epochs
lr_scheduler, lf = build_lr_scheduler(cfg, optimizer, epochs)
return lr_scheduler, lf

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src/YOLOv6/yolov6/core/evaler.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import os
from tqdm import tqdm
import numpy as np
import json
import torch
import yaml
from pathlib import Path
from pycocotools.coco import COCO
from pycocotools.cocoeval import COCOeval
from yolov6.data.data_load import create_dataloader
from yolov6.utils.events import LOGGER, NCOLS
from yolov6.utils.nms import non_max_suppression
from yolov6.utils.checkpoint import load_checkpoint
from yolov6.utils.torch_utils import time_sync, get_model_info
'''
python tools/eval.py --task 'train'/'val'/'speed'
'''
class Evaler:
def __init__(self,
data,
batch_size=32,
img_size=640,
conf_thres=0.001,
iou_thres=0.65,
device='',
half=True,
save_dir=''):
self.data = data
self.batch_size = batch_size
self.img_size = img_size
self.conf_thres = conf_thres
self.iou_thres = iou_thres
self.device = device
self.half = half
self.save_dir = save_dir
def init_model(self, model, weights, task):
if task != 'train':
model = load_checkpoint(weights, map_location=self.device)
self.stride = int(model.stride.max())
if self.device.type != 'cpu':
model(torch.zeros(1, 3, self.img_size, self.img_size).to(self.device).type_as(next(model.parameters())))
# switch to deploy
from yolov6.layers.common import RepVGGBlock
for layer in model.modules():
if isinstance(layer, RepVGGBlock):
layer.switch_to_deploy()
LOGGER.info("Switch model to deploy modality.")
LOGGER.info("Model Summary: {}".format(get_model_info(model, self.img_size)))
model.half() if self.half else model.float()
return model
def init_data(self, dataloader, task):
'''Initialize dataloader.
Returns a dataloader for task val or speed.
'''
self.is_coco = self.data.get("is_coco", False)
self.ids = self.coco80_to_coco91_class() if self.is_coco else list(range(1000))
if task != 'train':
pad = 0.0 if task == 'speed' else 0.5
dataloader = create_dataloader(self.data[task if task in ('train', 'val', 'test') else 'val'],
self.img_size, self.batch_size, self.stride, check_labels=True, pad=pad, rect=True,
data_dict=self.data, task=task)[0]
return dataloader
def predict_model(self, model, dataloader, task):
'''Model prediction
Predicts the whole dataset and gets the prediced results and inference time.
'''
self.speed_result = torch.zeros(4, device=self.device)
pred_results = []
pbar = tqdm(dataloader, desc="Inferencing model in val datasets.", ncols=NCOLS)
for imgs, targets, paths, shapes in pbar:
# pre-process
t1 = time_sync()
imgs = imgs.to(self.device, non_blocking=True)
imgs = imgs.half() if self.half else imgs.float()
imgs /= 255
self.speed_result[1] += time_sync() - t1 # pre-process time
# Inference
t2 = time_sync()
outputs = model(imgs)
self.speed_result[2] += time_sync() - t2 # inference time
# post-process
t3 = time_sync()
outputs = non_max_suppression(outputs, self.conf_thres, self.iou_thres, multi_label=True)
self.speed_result[3] += time_sync() - t3 # post-process time
self.speed_result[0] += len(outputs)
# save result
pred_results.extend(self.convert_to_coco_format(outputs, imgs, paths, shapes, self.ids))
return pred_results
def eval_model(self, pred_results, model, dataloader, task):
'''Evaluate models
For task speed, this function only evaluates the speed of model and outputs inference time.
For task val, this function evaluates the speed and mAP by pycocotools, and returns
inference time and mAP value.
'''
LOGGER.info(f'\nEvaluating speed.')
self.eval_speed(task)
LOGGER.info(f'\nEvaluating mAP by pycocotools.')
if task != 'speed' and len(pred_results):
if 'anno_path' in self.data:
anno_json = self.data['anno_path']
else:
# generated coco format labels in dataset initialization
dataset_root = os.path.dirname(os.path.dirname(self.data['val']))
base_name = os.path.basename(self.data['val'])
anno_json = os.path.join(dataset_root, 'annotations', f'instances_{base_name}.json')
pred_json = os.path.join(self.save_dir, "predictions.json")
LOGGER.info(f'Saving {pred_json}...')
with open(pred_json, 'w') as f:
json.dump(pred_results, f)
anno = COCO(anno_json)
pred = anno.loadRes(pred_json)
cocoEval = COCOeval(anno, pred, 'bbox')
if self.is_coco:
imgIds = [int(os.path.basename(x).split(".")[0])
for x in dataloader.dataset.img_paths]
cocoEval.params.imgIds = imgIds
cocoEval.evaluate()
cocoEval.accumulate()
cocoEval.summarize()
map, map50 = cocoEval.stats[:2] # update results (mAP@0.5:0.95, mAP@0.5)
# Return results
model.float() # for training
if task != 'train':
LOGGER.info(f"Results saved to {self.save_dir}")
return (map50, map)
return (0.0, 0.0)
def eval_speed(self, task):
'''Evaluate model inference speed.'''
if task != 'train':
n_samples = self.speed_result[0].item()
pre_time, inf_time, nms_time = 1000 * self.speed_result[1:].cpu().numpy() / n_samples
for n, v in zip(["pre-process", "inference", "NMS"],[pre_time, inf_time, nms_time]):
LOGGER.info("Average {} time: {:.2f} ms".format(n, v))
def box_convert(self, x):
# Convert boxes with shape [n, 4] from [x1, y1, x2, y2] to [x, y, w, h] where x1y1=top-left, x2y2=bottom-right
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = (x[:, 0] + x[:, 2]) / 2 # x center
y[:, 1] = (x[:, 1] + x[:, 3]) / 2 # y center
y[:, 2] = x[:, 2] - x[:, 0] # width
y[:, 3] = x[:, 3] - x[:, 1] # height
return y
def scale_coords(self, img1_shape, coords, img0_shape, ratio_pad=None):
# Rescale coords (xyxy) from img1_shape to img0_shape
if ratio_pad is None: # calculate from img0_shape
gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1]) # gain = old / new
pad = (img1_shape[1] - img0_shape[1] * gain) / 2, (img1_shape[0] - img0_shape[0] * gain) / 2 # wh padding
else:
gain = ratio_pad[0][0]
pad = ratio_pad[1]
coords[:, [0, 2]] -= pad[0] # x padding
coords[:, [1, 3]] -= pad[1] # y padding
coords[:, :4] /= gain
if isinstance(coords, torch.Tensor): # faster individually
coords[:, 0].clamp_(0, img0_shape[1]) # x1
coords[:, 1].clamp_(0, img0_shape[0]) # y1
coords[:, 2].clamp_(0, img0_shape[1]) # x2
coords[:, 3].clamp_(0, img0_shape[0]) # y2
else: # np.array (faster grouped)
coords[:, [0, 2]] = coords[:, [0, 2]].clip(0, img0_shape[1]) # x1, x2
coords[:, [1, 3]] = coords[:, [1, 3]].clip(0, img0_shape[0]) # y1, y2
return coords
def convert_to_coco_format(self, outputs, imgs, paths, shapes, ids):
pred_results = []
for i, pred in enumerate(outputs):
if len(pred) == 0:
continue
path, shape = Path(paths[i]), shapes[i][0]
self.scale_coords(imgs[i].shape[1:], pred[:, :4], shape, shapes[i][1])
image_id = int(path.stem) if path.stem.isnumeric() else path.stem
bboxes = self.box_convert(pred[:, 0:4])
bboxes[:, :2] -= bboxes[:, 2:] / 2
cls = pred[:, 5]
scores = pred[:, 4]
for ind in range(pred.shape[0]):
category_id = ids[int(cls[ind])]
bbox = [round(x, 3) for x in bboxes[ind].tolist()]
score = round(scores[ind].item(), 5)
pred_data = {
"image_id": image_id,
"category_id": category_id,
"bbox": bbox,
"score": score
}
pred_results.append(pred_data)
return pred_results
@staticmethod
def check_task(task):
if task not in ['train','val','speed']:
raise Exception("task argument error: only support 'train' / 'val' / 'speed' task.")
@staticmethod
def reload_thres(conf_thres, iou_thres, task):
'''Sets conf and iou threshold for task val/speed'''
if task != 'train':
if task == 'val':
conf_thres = 0.001
if task == 'speed':
conf_thres = 0.25
iou_thres = 0.45
return conf_thres, iou_thres
@staticmethod
def reload_device(device, model, task):
# device = 'cpu' or '0' or '0,1,2,3'
if task == 'train':
device = next(model.parameters()).device
else:
if device == 'cpu':
os.environ['CUDA_VISIBLE_DEVICES'] = '-1'
elif device:
os.environ['CUDA_VISIBLE_DEVICES'] = device
assert torch.cuda.is_available()
cuda = device != 'cpu' and torch.cuda.is_available()
device = torch.device('cuda:0' if cuda else 'cpu')
return device
@staticmethod
def reload_dataset(data):
with open(data, errors='ignore') as yaml_file:
data = yaml.safe_load(yaml_file)
val = data.get('val')
if not os.path.exists(val):
raise Exception('Dataset not found.')
return data
@staticmethod
def coco80_to_coco91_class(): # converts 80-index (val2014) to 91-index (paper)
# https://tech.amikelive.com/node-718/what-object-categories-labels-are-in-coco-dataset/
x = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 15, 16, 17, 18, 19, 20,
21, 22, 23, 24, 25, 27, 28, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40,
41, 42, 43, 44, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58,
59, 60, 61, 62, 63, 64, 65, 67, 70, 72, 73, 74, 75, 76, 77, 78, 79,
80, 81, 82, 84, 85, 86, 87, 88, 89, 90]
return x

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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import os
import os.path as osp
import math
from tqdm import tqdm
import numpy as np
import cv2
import torch
from PIL import ImageFont
from yolov6.utils.events import LOGGER, load_yaml
from yolov6.layers.common import DetectBackend
from yolov6.data.data_augment import letterbox
from yolov6.utils.nms import non_max_suppression
class Inferer:
def __init__(self, source, weights, device, yaml, img_size, half):
import glob
from yolov6.data.datasets import IMG_FORMATS
self.__dict__.update(locals())
# Init model
self.device = device
self.img_size = img_size
cuda = self.device != 'cpu' and torch.cuda.is_available()
self.device = torch.device('cuda:0' if cuda else 'cpu')
self.model = DetectBackend(weights, device=self.device)
self.stride = self.model.stride
self.class_names = load_yaml(yaml)['names']
self.img_size = self.check_img_size(self.img_size, s=self.stride) # check image size
# Half precision
if half & (self.device.type != 'cpu'):
self.model.model.half()
else:
self.model.model.float()
half = False
if self.device.type != 'cpu':
self.model(torch.zeros(1, 3, *self.img_size).to(self.device).type_as(next(self.model.model.parameters()))) # warmup
# Load data
if os.path.isdir(source):
img_paths = sorted(glob.glob(os.path.join(source, '*.*'))) # dir
elif os.path.isfile(source):
img_paths = [source] # files
else:
raise Exception(f'Invalid path: {source}')
self.img_paths = [img_path for img_path in img_paths if img_path.split('.')[-1].lower() in IMG_FORMATS]
def infer(self, conf_thres, iou_thres, classes, agnostic_nms, max_det, save_dir, save_txt, save_img, hide_labels, hide_conf):
''' Model Inference and results visualization '''
for img_path in tqdm(self.img_paths):
img, img_src = self.precess_image(img_path, self.img_size, self.stride, self.half)
img = img.to(self.device)
if len(img.shape) == 3:
img = img[None]
# expand for batch dim
pred_results = self.model(img)
det = non_max_suppression(pred_results, conf_thres, iou_thres, classes, agnostic_nms, max_det=max_det)[0]
save_path = osp.join(save_dir, osp.basename(img_path)) # im.jpg
txt_path = osp.join(save_dir, 'labels', osp.splitext(osp.basename(img_path))[0])
gn = torch.tensor(img_src.shape)[[1, 0, 1, 0]] # normalization gain whwh
img_ori = img_src
# check image and font
assert img_ori.data.contiguous, 'Image needs to be contiguous. Please apply to input images with np.ascontiguousarray(im).'
self.font_check()
if len(det):
det[:, :4] = self.rescale(img.shape[2:], det[:, :4], img_src.shape).round()
for *xyxy, conf, cls in reversed(det):
if save_txt: # Write to file
xywh = (self.box_convert(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist() # normalized xywh
line = (cls, *xywh, conf)
with open(txt_path + '.txt', 'a') as f:
f.write(('%g ' * len(line)).rstrip() % line + '\n')
if save_img:
class_num = int(cls) # integer class
label = None if hide_labels else (self.class_names[class_num] if hide_conf else f'{self.class_names[class_num]} {conf:.2f}')
self.plot_box_and_label(img_ori, max(round(sum(img_ori.shape) / 2 * 0.003), 2), xyxy, label, color=self.generate_colors(class_num, True))
img_src = np.asarray(img_ori)
# Save results (image with detections)
if save_img:
cv2.imwrite(save_path, img_src)
@staticmethod
def precess_image(path, img_size, stride, half):
'''Process image before image inference.'''
try:
img_src = cv2.imread(path)
assert img_src is not None, f'Invalid image: {path}'
except Exception as e:
LOGGER.Warning(e)
image = letterbox(img_src, img_size, stride=stride)[0]
# Convert
image = image.transpose((2, 0, 1))[::-1] # HWC to CHW, BGR to RGB
image = torch.from_numpy(np.ascontiguousarray(image))
image = image.half() if half else image.float() # uint8 to fp16/32
image /= 255 # 0 - 255 to 0.0 - 1.0
return image, img_src
@staticmethod
def rescale(ori_shape, boxes, target_shape):
'''Rescale the output to the original image shape'''
ratio = min(ori_shape[0] / target_shape[0], ori_shape[1] / target_shape[1])
padding = (ori_shape[1] - target_shape[1] * ratio) / 2, (ori_shape[0] - target_shape[0] * ratio) / 2
boxes[:, [0, 2]] -= padding[0]
boxes[:, [1, 3]] -= padding[1]
boxes[:, :4] /= ratio
boxes[:, 0].clamp_(0, target_shape[1]) # x1
boxes[:, 1].clamp_(0, target_shape[0]) # y1
boxes[:, 2].clamp_(0, target_shape[1]) # x2
boxes[:, 3].clamp_(0, target_shape[0]) # y2
return boxes
def check_img_size(self, img_size, s=32, floor=0):
"""Make sure image size is a multiple of stride s in each dimension, and return a new shape list of image."""
if isinstance(img_size, int): # integer i.e. img_size=640
new_size = max(self.make_divisible(img_size, int(s)), floor)
elif isinstance(img_size, list): # list i.e. img_size=[640, 480]
new_size = [max(self.make_divisible(x, int(s)), floor) for x in img_size]
else:
raise Exception(f"Unsupported type of img_size: {type(img_size)}")
if new_size != img_size:
print(f'WARNING: --img-size {img_size} must be multiple of max stride {s}, updating to {new_size}')
return new_size if isinstance(img_size,list) else [new_size]*2
def make_divisible(self, x, divisor):
# Upward revision the value x to make it evenly divisible by the divisor.
return math.ceil(x / divisor) * divisor
@staticmethod
def plot_box_and_label(image, lw, box, label='', color=(128, 128, 128), txt_color=(255, 255, 255)):
# Add one xyxy box to image with label
p1, p2 = (int(box[0]), int(box[1])), (int(box[2]), int(box[3]))
cv2.rectangle(image, p1, p2, color, thickness=lw, lineType=cv2.LINE_AA)
if label:
tf = max(lw - 1, 1) # font thickness
w, h = cv2.getTextSize(label, 0, fontScale=lw / 3, thickness=tf)[0] # text width, height
outside = p1[1] - h - 3 >= 0 # label fits outside box
p2 = p1[0] + w, p1[1] - h - 3 if outside else p1[1] + h + 3
cv2.rectangle(image, p1, p2, color, -1, cv2.LINE_AA) # filled
cv2.putText(image, label, (p1[0], p1[1] - 2 if outside else p1[1] + h + 2), 0, lw / 3, txt_color,
thickness=tf, lineType=cv2.LINE_AA)
@staticmethod
def font_check(font='./yolov6/utils/Arial.ttf', size=10):
# Return a PIL TrueType Font, downloading to CONFIG_DIR if necessary
assert osp.exists(font), f'font path not exists: {font}'
try:
return ImageFont.truetype(str(font) if font.exists() else font.name, size)
except Exception as e: # download if missing
return ImageFont.truetype(str(font), size)
@staticmethod
def box_convert(x):
# Convert boxes with shape [n, 4] from [x1, y1, x2, y2] to [x, y, w, h] where x1y1=top-left, x2y2=bottom-right
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = (x[:, 0] + x[:, 2]) / 2 # x center
y[:, 1] = (x[:, 1] + x[:, 3]) / 2 # y center
y[:, 2] = x[:, 2] - x[:, 0] # width
y[:, 3] = x[:, 3] - x[:, 1] # height
return y
@staticmethod
def generate_colors(i, bgr=False):
hex = ('FF3838', 'FF9D97', 'FF701F', 'FFB21D', 'CFD231', '48F90A', '92CC17', '3DDB86', '1A9334', '00D4BB',
'2C99A8', '00C2FF', '344593', '6473FF', '0018EC', '8438FF', '520085', 'CB38FF', 'FF95C8', 'FF37C7')
palette = []
for iter in hex:
h = '#' + iter
palette.append(tuple(int(h[1 + i:1 + i + 2], 16) for i in (0, 2, 4)))
num = len(palette)
color = palette[int(i) % num]
return (color[2], color[1], color[0]) if bgr else color

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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
# This code is based on
# https://github.com/ultralytics/yolov5/blob/master/utils/dataloaders.py
import math
import random
import cv2
import numpy as np
def augment_hsv(im, hgain=0.5, sgain=0.5, vgain=0.5):
# HSV color-space augmentation
if hgain or sgain or vgain:
r = np.random.uniform(-1, 1, 3) * [hgain, sgain, vgain] + 1 # random gains
hue, sat, val = cv2.split(cv2.cvtColor(im, cv2.COLOR_BGR2HSV))
dtype = im.dtype # uint8
x = np.arange(0, 256, dtype=r.dtype)
lut_hue = ((x * r[0]) % 180).astype(dtype)
lut_sat = np.clip(x * r[1], 0, 255).astype(dtype)
lut_val = np.clip(x * r[2], 0, 255).astype(dtype)
im_hsv = cv2.merge((cv2.LUT(hue, lut_hue), cv2.LUT(sat, lut_sat), cv2.LUT(val, lut_val)))
cv2.cvtColor(im_hsv, cv2.COLOR_HSV2BGR, dst=im) # no return needed
def letterbox(im, new_shape=(640, 640), color=(114, 114, 114), auto=True, scaleup=True, stride=32):
# Resize and pad image while meeting stride-multiple constraints
shape = im.shape[:2] # current shape [height, width]
if isinstance(new_shape, int):
new_shape = (new_shape, new_shape)
# Scale ratio (new / old)
r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])
if not scaleup: # only scale down, do not scale up (for better val mAP)
r = min(r, 1.0)
# Compute padding
new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))
dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1] # wh padding
if auto: # minimum rectangle
dw, dh = np.mod(dw, stride), np.mod(dh, stride) # wh padding
dw /= 2 # divide padding into 2 sides
dh /= 2
if shape[::-1] != new_unpad: # resize
im = cv2.resize(im, new_unpad, interpolation=cv2.INTER_LINEAR)
top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))
left, right = int(round(dw - 0.1)), int(round(dw + 0.1))
im = cv2.copyMakeBorder(im, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add border
return im, r, (dw, dh)
def mixup(im, labels, im2, labels2):
# Applies MixUp augmentation https://arxiv.org/pdf/1710.09412.pdf
r = np.random.beta(32.0, 32.0) # mixup ratio, alpha=beta=32.0
im = (im * r + im2 * (1 - r)).astype(np.uint8)
labels = np.concatenate((labels, labels2), 0)
return im, labels
def box_candidates(box1, box2, wh_thr=2, ar_thr=20, area_thr=0.1, eps=1e-16): # box1(4,n), box2(4,n)
# Compute candidate boxes: box1 before augment, box2 after augment, wh_thr (pixels), aspect_ratio_thr, area_ratio
w1, h1 = box1[2] - box1[0], box1[3] - box1[1]
w2, h2 = box2[2] - box2[0], box2[3] - box2[1]
ar = np.maximum(w2 / (h2 + eps), h2 / (w2 + eps)) # aspect ratio
return (w2 > wh_thr) & (h2 > wh_thr) & (w2 * h2 / (w1 * h1 + eps) > area_thr) & (ar < ar_thr) # candidates
def random_affine(img, labels=(), degrees=10, translate=.1, scale=.1, shear=10,
new_shape=(640, 640)):
n = len(labels)
height, width = new_shape
M, s = get_transform_matrix(img.shape[:2], (height, width), degrees, scale, shear, translate)
if (M != np.eye(3)).any(): # image changed
img = cv2.warpAffine(img, M[:2], dsize=(width, height), borderValue=(114, 114, 114))
# Transform label coordinates
if n:
new = np.zeros((n, 4))
xy = np.ones((n * 4, 3))
xy[:, :2] = labels[:, [1, 2, 3, 4, 1, 4, 3, 2]].reshape(n * 4, 2) # x1y1, x2y2, x1y2, x2y1
xy = xy @ M.T # transform
xy = xy[:, :2].reshape(n, 8) # perspective rescale or affine
# create new boxes
x = xy[:, [0, 2, 4, 6]]
y = xy[:, [1, 3, 5, 7]]
new = np.concatenate((x.min(1), y.min(1), x.max(1), y.max(1))).reshape(4, n).T
# clip
new[:, [0, 2]] = new[:, [0, 2]].clip(0, width)
new[:, [1, 3]] = new[:, [1, 3]].clip(0, height)
# filter candidates
i = box_candidates(box1=labels[:, 1:5].T * s, box2=new.T, area_thr=0.1)
labels = labels[i]
labels[:, 1:5] = new[i]
return img, labels
def get_transform_matrix(img_shape, new_shape, degrees, scale, shear, translate):
new_height, new_width = new_shape
# Center
C = np.eye(3)
C[0, 2] = -img_shape[1] / 2 # x translation (pixels)
C[1, 2] = -img_shape[0] / 2 # y translation (pixels)
# Rotation and Scale
R = np.eye(3)
a = random.uniform(-degrees, degrees)
# a += random.choice([-180, -90, 0, 90]) # add 90deg rotations to small rotations
s = random.uniform(1 - scale, 1 + scale)
# s = 2 ** random.uniform(-scale, scale)
R[:2] = cv2.getRotationMatrix2D(angle=a, center=(0, 0), scale=s)
# Shear
S = np.eye(3)
S[0, 1] = math.tan(random.uniform(-shear, shear) * math.pi / 180) # x shear (deg)
S[1, 0] = math.tan(random.uniform(-shear, shear) * math.pi / 180) # y shear (deg)
# Translation
T = np.eye(3)
T[0, 2] = random.uniform(0.5 - translate, 0.5 + translate) * new_width # x translation (pixels)
T[1, 2] = random.uniform(0.5 - translate, 0.5 + translate) * new_height # y transla ion (pixels)
# Combined rotation matrix
M = T @ S @ R @ C # order of operations (right to left) is IMPORTANT
return M, s
def mosaic_augmentation(img_size, imgs, hs, ws, labels, hyp):
assert len(imgs) == 4, "Mosaic augmentation of current version only supports 4 images."
labels4 = []
s = img_size
yc, xc = (int(random.uniform(s//2, 3*s//2)) for _ in range(2)) # mosaic center x, y
for i in range(len(imgs)):
# Load image
img, h, w = imgs[i], hs[i], ws[i]
# place img in img4
if i == 0: # top left
img4 = np.full((s * 2, s * 2, img.shape[2]), 114, dtype=np.uint8) # base image with 4 tiles
x1a, y1a, x2a, y2a = max(xc - w, 0), max(yc - h, 0), xc, yc # xmin, ymin, xmax, ymax (large image)
x1b, y1b, x2b, y2b = w - (x2a - x1a), h - (y2a - y1a), w, h # xmin, ymin, xmax, ymax (small image)
elif i == 1: # top right
x1a, y1a, x2a, y2a = xc, max(yc - h, 0), min(xc + w, s * 2), yc
x1b, y1b, x2b, y2b = 0, h - (y2a - y1a), min(w, x2a - x1a), h
elif i == 2: # bottom left
x1a, y1a, x2a, y2a = max(xc - w, 0), yc, xc, min(s * 2, yc + h)
x1b, y1b, x2b, y2b = w - (x2a - x1a), 0, w, min(y2a - y1a, h)
elif i == 3: # bottom right
x1a, y1a, x2a, y2a = xc, yc, min(xc + w, s * 2), min(s * 2, yc + h)
x1b, y1b, x2b, y2b = 0, 0, min(w, x2a - x1a), min(y2a - y1a, h)
img4[y1a:y2a, x1a:x2a] = img[y1b:y2b, x1b:x2b] # img4[ymin:ymax, xmin:xmax]
padw = x1a - x1b
padh = y1a - y1b
# Labels
labels_per_img = labels[i].copy()
if labels_per_img.size:
boxes = np.copy(labels_per_img[:, 1:])
boxes[:, 0] = w * (labels_per_img[:, 1] - labels_per_img[:, 3] / 2) + padw # top left x
boxes[:, 1] = h * (labels_per_img[:, 2] - labels_per_img[:, 4] / 2) + padh # top left y
boxes[:, 2] = w * (labels_per_img[:, 1] + labels_per_img[:, 3] / 2) + padw # bottom right x
boxes[:, 3] = h * (labels_per_img[:, 2] + labels_per_img[:, 4] / 2) + padh # bottom right y
labels_per_img[:, 1:] = boxes
labels4.append(labels_per_img)
# Concat/clip labels
labels4 = np.concatenate(labels4, 0)
for x in (labels4[:, 1:]):
np.clip(x, 0, 2 * s, out=x)
# Augment
img4, labels4 = random_affine(img4, labels4,
degrees=hyp['degrees'],
translate=hyp['translate'],
scale=hyp['scale'],
shear=hyp['shear'])
return img4, labels4

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src/YOLOv6/yolov6/data/data_load.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
# This code is based on
# https://github.com/ultralytics/yolov5/blob/master/utils/dataloaders.py
import os
from torch.utils.data import dataloader, distributed
from .datasets import TrainValDataset
from yolov6.utils.events import LOGGER
from yolov6.utils.torch_utils import torch_distributed_zero_first
def create_dataloader(
path,
img_size,
batch_size,
stride,
hyp=None,
augment=False,
check_images=False,
check_labels=False,
pad=0.0,
rect=False,
rank=-1,
workers=8,
shuffle=False,
data_dict=None,
task="Train",
):
"""Create general dataloader.
Returns dataloader and dataset
"""
if rect and shuffle:
LOGGER.warning(
"WARNING: --rect is incompatible with DataLoader shuffle, setting shuffle=False"
)
shuffle = False
with torch_distributed_zero_first(rank):
dataset = TrainValDataset(
path,
img_size,
batch_size,
augment=augment,
hyp=hyp,
rect=rect,
check_images=check_images,
check_labels=check_labels,
stride=int(stride),
pad=pad,
rank=rank,
data_dict=data_dict,
task=task,
)
batch_size = min(batch_size, len(dataset))
workers = min(
[
os.cpu_count() // int(os.getenv("WORLD_SIZE", 1)),
batch_size if batch_size > 1 else 0,
workers,
]
) # number of workers
sampler = (
None if rank == -1 else distributed.DistributedSampler(dataset, shuffle=shuffle)
)
return (
TrainValDataLoader(
dataset,
batch_size=batch_size,
shuffle=shuffle and sampler is None,
num_workers=workers,
sampler=sampler,
pin_memory=True,
collate_fn=TrainValDataset.collate_fn,
),
dataset,
)
class TrainValDataLoader(dataloader.DataLoader):
"""Dataloader that reuses workers
Uses same syntax as vanilla DataLoader
"""
def __init__(self, *args, **kwargs):
super().__init__(*args, **kwargs)
object.__setattr__(self, "batch_sampler", _RepeatSampler(self.batch_sampler))
self.iterator = super().__iter__()
def __len__(self):
return len(self.batch_sampler.sampler)
def __iter__(self):
for i in range(len(self)):
yield next(self.iterator)
class _RepeatSampler:
"""Sampler that repeats forever
Args:
sampler (Sampler)
"""
def __init__(self, sampler):
self.sampler = sampler
def __iter__(self):
while True:
yield from iter(self.sampler)

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src/YOLOv6/yolov6/data/datasets.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import glob
import os
import os.path as osp
import random
import json
import time
import hashlib
from multiprocessing.pool import Pool
import cv2
import numpy as np
import torch
from PIL import ExifTags, Image, ImageOps
from torch.utils.data import Dataset
from tqdm import tqdm
from .data_augment import (
augment_hsv,
letterbox,
mixup,
random_affine,
mosaic_augmentation,
)
from yolov6.utils.events import LOGGER
# Parameters
IMG_FORMATS = ["bmp", "jpg", "jpeg", "png", "tif", "tiff", "dng", "webp", "mpo"]
# Get orientation exif tag
for k, v in ExifTags.TAGS.items():
if v == "Orientation":
ORIENTATION = k
break
class TrainValDataset(Dataset):
# YOLOv6 train_loader/val_loader, loads images and labels for training and validation
def __init__(
self,
img_dir,
img_size=640,
batch_size=16,
augment=False,
hyp=None,
rect=False,
check_images=False,
check_labels=False,
stride=32,
pad=0.0,
rank=-1,
data_dict=None,
task="train",
):
assert task.lower() in ("train", "val", "speed"), f"Not supported task: {task}"
t1 = time.time()
self.__dict__.update(locals())
self.main_process = self.rank in (-1, 0)
self.task = self.task.capitalize()
self.class_names = data_dict["names"]
self.img_paths, self.labels = self.get_imgs_labels(self.img_dir)
if self.rect:
shapes = [self.img_info[p]["shape"] for p in self.img_paths]
self.shapes = np.array(shapes, dtype=np.float64)
self.batch_indices = np.floor(
np.arange(len(shapes)) / self.batch_size
).astype(
np.int
) # batch indices of each image
self.sort_files_shapes()
t2 = time.time()
if self.main_process:
LOGGER.info(f"%.1fs for dataset initialization." % (t2 - t1))
def __len__(self):
"""Get the length of dataset"""
return len(self.img_paths)
def __getitem__(self, index):
"""Fetching a data sample for a given key.
This function applies mosaic and mixup augments during training.
During validation, letterbox augment is applied.
"""
# Mosaic Augmentation
if self.augment and random.random() < self.hyp["mosaic"]:
img, labels = self.get_mosaic(index)
shapes = None
# MixUp augmentation
if random.random() < self.hyp["mixup"]:
img_other, labels_other = self.get_mosaic(
random.randint(0, len(self.img_paths) - 1)
)
img, labels = mixup(img, labels, img_other, labels_other)
else:
# Load image
img, (h0, w0), (h, w) = self.load_image(index)
# Letterbox
shape = (
self.batch_shapes[self.batch_indices[index]]
if self.rect
else self.img_size
) # final letterboxed shape
img, ratio, pad = letterbox(img, shape, auto=False, scaleup=self.augment)
shapes = (h0, w0), ((h / h0, w / w0), pad) # for COCO mAP rescaling
labels = self.labels[index].copy()
if labels.size:
w *= ratio
h *= ratio
# new boxes
boxes = np.copy(labels[:, 1:])
boxes[:, 0] = (
w * (labels[:, 1] - labels[:, 3] / 2) + pad[0]
) # top left x
boxes[:, 1] = (
h * (labels[:, 2] - labels[:, 4] / 2) + pad[1]
) # top left y
boxes[:, 2] = (
w * (labels[:, 1] + labels[:, 3] / 2) + pad[0]
) # bottom right x
boxes[:, 3] = (
h * (labels[:, 2] + labels[:, 4] / 2) + pad[1]
) # bottom right y
labels[:, 1:] = boxes
if self.augment:
img, labels = random_affine(
img,
labels,
degrees=self.hyp["degrees"],
translate=self.hyp["translate"],
scale=self.hyp["scale"],
shear=self.hyp["shear"],
new_shape=(self.img_size, self.img_size),
)
if len(labels):
h, w = img.shape[:2]
labels[:, [1, 3]] = labels[:, [1, 3]].clip(0, w - 1e-3) # x1, x2
labels[:, [2, 4]] = labels[:, [2, 4]].clip(0, h - 1e-3) # y1, y2
boxes = np.copy(labels[:, 1:])
boxes[:, 0] = ((labels[:, 1] + labels[:, 3]) / 2) / w # x center
boxes[:, 1] = ((labels[:, 2] + labels[:, 4]) / 2) / h # y center
boxes[:, 2] = (labels[:, 3] - labels[:, 1]) / w # width
boxes[:, 3] = (labels[:, 4] - labels[:, 2]) / h # height
labels[:, 1:] = boxes
if self.augment:
img, labels = self.general_augment(img, labels)
labels_out = torch.zeros((len(labels), 6))
if len(labels):
labels_out[:, 1:] = torch.from_numpy(labels)
# Convert
img = img.transpose((2, 0, 1))[::-1] # HWC to CHW, BGR to RGB
img = np.ascontiguousarray(img)
return torch.from_numpy(img), labels_out, self.img_paths[index], shapes
def load_image(self, index):
"""Load image.
This function loads image by cv2, resize original image to target shape(img_size) with keeping ratio.
Returns:
Image, original shape of image, resized image shape
"""
path = self.img_paths[index]
im = cv2.imread(path)
assert im is not None, f"Image Not Found {path}, workdir: {os.getcwd()}"
h0, w0 = im.shape[:2] # origin shape
r = self.img_size / max(h0, w0)
if r != 1:
im = cv2.resize(
im,
(int(w0 * r), int(h0 * r)),
interpolation=cv2.INTER_AREA
if r < 1 and not self.augment
else cv2.INTER_LINEAR,
)
return im, (h0, w0), im.shape[:2]
@staticmethod
def collate_fn(batch):
"""Merges a list of samples to form a mini-batch of Tensor(s)"""
img, label, path, shapes = zip(*batch)
for i, l in enumerate(label):
l[:, 0] = i # add target image index for build_targets()
return torch.stack(img, 0), torch.cat(label, 0), path, shapes
def get_imgs_labels(self, img_dir):
assert osp.exists(img_dir), f"{img_dir} is an invalid directory path!"
valid_img_record = osp.join(
osp.dirname(img_dir), "." + osp.basename(img_dir) + ".json"
)
NUM_THREADS = min(8, os.cpu_count())
img_paths = glob.glob(osp.join(img_dir, "*"), recursive=True)
img_paths = sorted(
p for p in img_paths if p.split(".")[-1].lower() in IMG_FORMATS
)
assert img_paths, f"No images found in {img_dir}."
img_hash = self.get_hash(img_paths)
if osp.exists(valid_img_record):
with open(valid_img_record, "r") as f:
cache_info = json.load(f)
if "image_hash" in cache_info and cache_info["image_hash"] == img_hash:
img_info = cache_info["information"]
else:
self.check_images = True
else:
self.check_images = True
# check images
if self.check_images and self.main_process:
img_info = {}
nc, msgs = 0, [] # number corrupt, messages
LOGGER.info(
f"{self.task}: Checking formats of images with {NUM_THREADS} process(es): "
)
with Pool(NUM_THREADS) as pool:
pbar = tqdm(
pool.imap(TrainValDataset.check_image, img_paths),
total=len(img_paths),
)
for img_path, shape_per_img, nc_per_img, msg in pbar:
if nc_per_img == 0: # not corrupted
img_info[img_path] = {"shape": shape_per_img}
nc += nc_per_img
if msg:
msgs.append(msg)
pbar.desc = f"{nc} image(s) corrupted"
pbar.close()
if msgs:
LOGGER.info("\n".join(msgs))
cache_info = {"information": img_info, "image_hash": img_hash}
# save valid image paths.
with open(valid_img_record, "w") as f:
json.dump(cache_info, f)
# check and load anns
label_dir = osp.join(
osp.dirname(osp.dirname(img_dir)), "labels", osp.basename(img_dir)
)
assert osp.exists(label_dir), f"{label_dir} is an invalid directory path!"
img_paths = list(img_info.keys())
label_paths = sorted(
osp.join(label_dir, osp.splitext(osp.basename(p))[0] + ".txt")
for p in img_paths
)
label_hash = self.get_hash(label_paths)
if "label_hash" not in cache_info or cache_info["label_hash"] != label_hash:
self.check_labels = True
if self.check_labels:
cache_info["label_hash"] = label_hash
nm, nf, ne, nc, msgs = 0, 0, 0, 0, [] # number corrupt, messages
LOGGER.info(
f"{self.task}: Checking formats of labels with {NUM_THREADS} process(es): "
)
with Pool(NUM_THREADS) as pool:
pbar = pool.imap(
TrainValDataset.check_label_files, zip(img_paths, label_paths)
)
pbar = tqdm(pbar, total=len(label_paths)) if self.main_process else pbar
for (
img_path,
labels_per_file,
nc_per_file,
nm_per_file,
nf_per_file,
ne_per_file,
msg,
) in pbar:
if nc_per_file == 0:
img_info[img_path]["labels"] = labels_per_file
else:
img_info.pop(img_path)
nc += nc_per_file
nm += nm_per_file
nf += nf_per_file
ne += ne_per_file
if msg:
msgs.append(msg)
if self.main_process:
pbar.desc = f"{nf} label(s) found, {nm} label(s) missing, {ne} label(s) empty, {nc} invalid label files"
if self.main_process:
pbar.close()
with open(valid_img_record, "w") as f:
json.dump(cache_info, f)
if msgs:
LOGGER.info("\n".join(msgs))
if nf == 0:
LOGGER.warning(
f"WARNING: No labels found in {osp.dirname(self.img_paths[0])}. "
)
if self.task.lower() == "val":
if self.data_dict.get("is_coco", False): # use original json file when evaluating on coco dataset.
assert osp.exists(self.data_dict["anno_path"]), "Eval on coco dataset must provide valid path of the annotation file in config file: data/coco.yaml"
else:
assert (
self.class_names
), "Class names is required when converting labels to coco format for evaluating."
save_dir = osp.join(osp.dirname(osp.dirname(img_dir)), "annotations")
if not osp.exists(save_dir):
os.mkdir(save_dir)
save_path = osp.join(
save_dir, "instances_" + osp.basename(img_dir) + ".json"
)
TrainValDataset.generate_coco_format_labels(
img_info, self.class_names, save_path
)
img_paths, labels = list(
zip(
*[
(
img_path,
np.array(info["labels"], dtype=np.float32)
if info["labels"]
else np.zeros((0, 5), dtype=np.float32),
)
for img_path, info in img_info.items()
]
)
)
self.img_info = img_info
LOGGER.info(
f"{self.task}: Final numbers of valid images: {len(img_paths)}/ labels: {len(labels)}. "
)
return img_paths, labels
def get_mosaic(self, index):
"""Gets images and labels after mosaic augments"""
indices = [index] + random.choices(
range(0, len(self.img_paths)), k=3
) # 3 additional image indices
random.shuffle(indices)
imgs, hs, ws, labels = [], [], [], []
for index in indices:
img, _, (h, w) = self.load_image(index)
labels_per_img = self.labels[index]
imgs.append(img)
hs.append(h)
ws.append(w)
labels.append(labels_per_img)
img, labels = mosaic_augmentation(self.img_size, imgs, hs, ws, labels, self.hyp)
return img, labels
def general_augment(self, img, labels):
"""Gets images and labels after general augment
This function applies hsv, random ud-flip and random lr-flips augments.
"""
nl = len(labels)
# HSV color-space
augment_hsv(
img,
hgain=self.hyp["hsv_h"],
sgain=self.hyp["hsv_s"],
vgain=self.hyp["hsv_v"],
)
# Flip up-down
if random.random() < self.hyp["flipud"]:
img = np.flipud(img)
if nl:
labels[:, 2] = 1 - labels[:, 2]
# Flip left-right
if random.random() < self.hyp["fliplr"]:
img = np.fliplr(img)
if nl:
labels[:, 1] = 1 - labels[:, 1]
return img, labels
def sort_files_shapes(self):
# Sort by aspect ratio
batch_num = self.batch_indices[-1] + 1
s = self.shapes # wh
ar = s[:, 1] / s[:, 0] # aspect ratio
irect = ar.argsort()
self.img_paths = [self.img_paths[i] for i in irect]
self.labels = [self.labels[i] for i in irect]
self.shapes = s[irect] # wh
ar = ar[irect]
# Set training image shapes
shapes = [[1, 1]] * batch_num
for i in range(batch_num):
ari = ar[self.batch_indices == i]
mini, maxi = ari.min(), ari.max()
if maxi < 1:
shapes[i] = [maxi, 1]
elif mini > 1:
shapes[i] = [1, 1 / mini]
self.batch_shapes = (
np.ceil(np.array(shapes) * self.img_size / self.stride + self.pad).astype(
np.int
)
* self.stride
)
@staticmethod
def check_image(im_file):
# verify an image.
nc, msg = 0, ""
try:
im = Image.open(im_file)
im.verify() # PIL verify
shape = im.size # (width, height)
im_exif = im._getexif()
if im_exif and ORIENTATION in im_exif:
rotation = im_exif[ORIENTATION]
if rotation in (6, 8):
shape = (shape[1], shape[0])
assert (shape[0] > 9) & (shape[1] > 9), f"image size {shape} <10 pixels"
assert im.format.lower() in IMG_FORMATS, f"invalid image format {im.format}"
if im.format.lower() in ("jpg", "jpeg"):
with open(im_file, "rb") as f:
f.seek(-2, 2)
if f.read() != b"\xff\xd9": # corrupt JPEG
ImageOps.exif_transpose(Image.open(im_file)).save(
im_file, "JPEG", subsampling=0, quality=100
)
msg += f"WARNING: {im_file}: corrupt JPEG restored and saved"
return im_file, shape, nc, msg
except Exception as e:
nc = 1
msg = f"WARNING: {im_file}: ignoring corrupt image: {e}"
return im_file, None, nc, msg
@staticmethod
def check_label_files(args):
img_path, lb_path = args
nm, nf, ne, nc, msg = 0, 0, 0, 0, "" # number (missing, found, empty, message
try:
if osp.exists(lb_path):
nf = 1 # label found
with open(lb_path, "r") as f:
labels = [
x.split() for x in f.read().strip().splitlines() if len(x)
]
labels = np.array(labels, dtype=np.float32)
if len(labels):
assert all(
len(l) == 5 for l in labels
), f"{lb_path}: wrong label format."
assert (
labels >= 0
).all(), f"{lb_path}: Label values error: all values in label file must > 0"
assert (
labels[:, 1:] <= 1
).all(), f"{lb_path}: Label values error: all coordinates must be normalized"
_, indices = np.unique(labels, axis=0, return_index=True)
if len(indices) < len(labels): # duplicate row check
labels = labels[indices] # remove duplicates
msg += f"WARNING: {lb_path}: {len(labels) - len(indices)} duplicate labels removed"
labels = labels.tolist()
else:
ne = 1 # label empty
labels = []
else:
nm = 1 # label missing
labels = []
return img_path, labels, nc, nm, nf, ne, msg
except Exception as e:
nc = 1
msg = f"WARNING: {lb_path}: ignoring invalid labels: {e}"
return img_path, None, nc, nm, nf, ne, msg
@staticmethod
def generate_coco_format_labels(img_info, class_names, save_path):
# for evaluation with pycocotools
dataset = {"categories": [], "annotations": [], "images": []}
for i, class_name in enumerate(class_names):
dataset["categories"].append(
{"id": i, "name": class_name, "supercategory": ""}
)
ann_id = 0
LOGGER.info(f"Convert to COCO format")
for i, (img_path, info) in enumerate(tqdm(img_info.items())):
labels = info["labels"] if info["labels"] else []
img_id = osp.splitext(osp.basename(img_path))[0]
img_id = int(img_id) if img_id.isnumeric() else img_id
img_w, img_h = info["shape"]
dataset["images"].append(
{
"file_name": os.path.basename(img_path),
"id": img_id,
"width": img_w,
"height": img_h,
}
)
if labels:
for label in labels:
c, x, y, w, h = label[:5]
# convert x,y,w,h to x1,y1,x2,y2
x1 = (x - w / 2) * img_w
y1 = (y - h / 2) * img_h
x2 = (x + w / 2) * img_w
y2 = (y + h / 2) * img_h
# cls_id starts from 0
cls_id = int(c)
w = max(0, x2 - x1)
h = max(0, y2 - y1)
dataset["annotations"].append(
{
"area": h * w,
"bbox": [x1, y1, w, h],
"category_id": cls_id,
"id": ann_id,
"image_id": img_id,
"iscrowd": 0,
# mask
"segmentation": [],
}
)
ann_id += 1
with open(save_path, "w") as f:
json.dump(dataset, f)
LOGGER.info(
f"Convert to COCO format finished. Resutls saved in {save_path}"
)
@staticmethod
def get_hash(paths):
"""Get the hash value of paths"""
assert isinstance(paths, list), "Only support list currently."
h = hashlib.md5("".join(paths).encode())
return h.hexdigest()

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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import warnings
from pathlib import Path
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
from yolov6.layers.dbb_transforms import *
class SiLU(nn.Module):
'''Activation of SiLU'''
@staticmethod
def forward(x):
return x * torch.sigmoid(x)
class Conv(nn.Module):
'''Normal Conv with SiLU activation'''
def __init__(self, in_channels, out_channels, kernel_size, stride, groups=1, bias=False):
super().__init__()
padding = kernel_size // 2
self.conv = nn.Conv2d(
in_channels,
out_channels,
kernel_size=kernel_size,
stride=stride,
padding=padding,
groups=groups,
bias=bias,
)
self.bn = nn.BatchNorm2d(out_channels)
self.act = nn.SiLU()
def forward(self, x):
return self.act(self.bn(self.conv(x)))
def forward_fuse(self, x):
return self.act(self.conv(x))
class SimConv(nn.Module):
'''Normal Conv with ReLU activation'''
def __init__(self, in_channels, out_channels, kernel_size, stride, groups=1, bias=False):
super().__init__()
padding = kernel_size // 2
self.conv = nn.Conv2d(
in_channels,
out_channels,
kernel_size=kernel_size,
stride=stride,
padding=padding,
groups=groups,
bias=bias,
)
self.bn = nn.BatchNorm2d(out_channels)
self.act = nn.ReLU()
def forward(self, x):
return self.act(self.bn(self.conv(x)))
def forward_fuse(self, x):
return self.act(self.conv(x))
class SimSPPF(nn.Module):
'''Simplified SPPF with ReLU activation'''
def __init__(self, in_channels, out_channels, kernel_size=5):
super().__init__()
c_ = in_channels // 2 # hidden channels
self.cv1 = SimConv(in_channels, c_, 1, 1)
self.cv2 = SimConv(c_ * 4, out_channels, 1, 1)
self.m = nn.MaxPool2d(kernel_size=kernel_size, stride=1, padding=kernel_size // 2)
def forward(self, x):
x = self.cv1(x)
with warnings.catch_warnings():
warnings.simplefilter('ignore')
y1 = self.m(x)
y2 = self.m(y1)
return self.cv2(torch.cat([x, y1, y2, self.m(y2)], 1))
class Transpose(nn.Module):
'''Normal Transpose, default for upsampling'''
def __init__(self, in_channels, out_channels, kernel_size=2, stride=2):
super().__init__()
self.upsample_transpose = torch.nn.ConvTranspose2d(
in_channels=in_channels,
out_channels=out_channels,
kernel_size=kernel_size,
stride=stride,
bias=True
)
def forward(self, x):
return self.upsample_transpose(x)
class Concat(nn.Module):
def __init__(self, dimension=1):
super().__init__()
self.d = dimension
def forward(self, x):
return torch.cat(x, self.d)
def conv_bn(in_channels, out_channels, kernel_size, stride, padding, groups=1):
'''Basic cell for rep-style block, including conv and bn'''
result = nn.Sequential()
result.add_module('conv', nn.Conv2d(in_channels=in_channels, out_channels=out_channels,
kernel_size=kernel_size, stride=stride, padding=padding, groups=groups, bias=False))
result.add_module('bn', nn.BatchNorm2d(num_features=out_channels))
return result
class RepBlock(nn.Module):
'''
RepBlock is a stage block with rep-style basic block
'''
def __init__(self, in_channels, out_channels, n=1):
super().__init__()
self.conv1 = RepVGGBlock(in_channels, out_channels)
self.block = nn.Sequential(*(RepVGGBlock(out_channels, out_channels) for _ in range(n - 1))) if n > 1 else None
def forward(self, x):
x = self.conv1(x)
if self.block is not None:
x = self.block(x)
return x
class RepVGGBlock(nn.Module):
'''RepVGGBlock is a basic rep-style block, including training and deploy status
This code is based on https://github.com/DingXiaoH/RepVGG/blob/main/repvgg.py
'''
def __init__(self, in_channels, out_channels, kernel_size=3,
stride=1, padding=1, dilation=1, groups=1, padding_mode='zeros', deploy=False, use_se=False):
super(RepVGGBlock, self).__init__()
""" Initialization of the class.
Args:
in_channels (int): Number of channels in the input image
out_channels (int): Number of channels produced by the convolution
kernel_size (int or tuple): Size of the convolving kernel
stride (int or tuple, optional): Stride of the convolution. Default: 1
padding (int or tuple, optional): Zero-padding added to both sides of
the input. Default: 1
dilation (int or tuple, optional): Spacing between kernel elements. Default: 1
groups (int, optional): Number of blocked connections from input
channels to output channels. Default: 1
padding_mode (string, optional): Default: 'zeros'
deploy: Whether to be deploy status or training status. Default: False
use_se: Whether to use se. Default: False
"""
self.deploy = deploy
self.groups = groups
self.in_channels = in_channels
self.out_channels = out_channels
assert kernel_size == 3
assert padding == 1
padding_11 = padding - kernel_size // 2
self.nonlinearity = nn.ReLU()
if use_se:
raise NotImplementedError("se block not supported yet")
else:
self.se = nn.Identity()
if deploy:
self.rbr_reparam = nn.Conv2d(in_channels=in_channels, out_channels=out_channels, kernel_size=kernel_size, stride=stride,
padding=padding, dilation=dilation, groups=groups, bias=True, padding_mode=padding_mode)
else:
self.rbr_identity = nn.BatchNorm2d(num_features=in_channels) if out_channels == in_channels and stride == 1 else None
self.rbr_dense = conv_bn(in_channels=in_channels, out_channels=out_channels, kernel_size=kernel_size, stride=stride, padding=padding, groups=groups)
self.rbr_1x1 = conv_bn(in_channels=in_channels, out_channels=out_channels, kernel_size=1, stride=stride, padding=padding_11, groups=groups)
def forward(self, inputs):
'''Forward process'''
if hasattr(self, 'rbr_reparam'):
return self.nonlinearity(self.se(self.rbr_reparam(inputs)))
if self.rbr_identity is None:
id_out = 0
else:
id_out = self.rbr_identity(inputs)
return self.nonlinearity(self.se(self.rbr_dense(inputs) + self.rbr_1x1(inputs) + id_out))
def get_equivalent_kernel_bias(self):
kernel3x3, bias3x3 = self._fuse_bn_tensor(self.rbr_dense)
kernel1x1, bias1x1 = self._fuse_bn_tensor(self.rbr_1x1)
kernelid, biasid = self._fuse_bn_tensor(self.rbr_identity)
return kernel3x3 + self._pad_1x1_to_3x3_tensor(kernel1x1) + kernelid, bias3x3 + bias1x1 + biasid
def _pad_1x1_to_3x3_tensor(self, kernel1x1):
if kernel1x1 is None:
return 0
else:
return torch.nn.functional.pad(kernel1x1, [1, 1, 1, 1])
def _fuse_bn_tensor(self, branch):
if branch is None:
return 0, 0
if isinstance(branch, nn.Sequential):
kernel = branch.conv.weight
running_mean = branch.bn.running_mean
running_var = branch.bn.running_var
gamma = branch.bn.weight
beta = branch.bn.bias
eps = branch.bn.eps
else:
assert isinstance(branch, nn.BatchNorm2d)
if not hasattr(self, 'id_tensor'):
input_dim = self.in_channels // self.groups
kernel_value = np.zeros((self.in_channels, input_dim, 3, 3), dtype=np.float32)
for i in range(self.in_channels):
kernel_value[i, i % input_dim, 1, 1] = 1
self.id_tensor = torch.from_numpy(kernel_value).to(branch.weight.device)
kernel = self.id_tensor
running_mean = branch.running_mean
running_var = branch.running_var
gamma = branch.weight
beta = branch.bias
eps = branch.eps
std = (running_var + eps).sqrt()
t = (gamma / std).reshape(-1, 1, 1, 1)
return kernel * t, beta - running_mean * gamma / std
def switch_to_deploy(self):
if hasattr(self, 'rbr_reparam'):
return
kernel, bias = self.get_equivalent_kernel_bias()
self.rbr_reparam = nn.Conv2d(in_channels=self.rbr_dense.conv.in_channels, out_channels=self.rbr_dense.conv.out_channels,
kernel_size=self.rbr_dense.conv.kernel_size, stride=self.rbr_dense.conv.stride,
padding=self.rbr_dense.conv.padding, dilation=self.rbr_dense.conv.dilation, groups=self.rbr_dense.conv.groups, bias=True)
self.rbr_reparam.weight.data = kernel
self.rbr_reparam.bias.data = bias
for para in self.parameters():
para.detach_()
self.__delattr__('rbr_dense')
self.__delattr__('rbr_1x1')
if hasattr(self, 'rbr_identity'):
self.__delattr__('rbr_identity')
if hasattr(self, 'id_tensor'):
self.__delattr__('id_tensor')
self.deploy = True
def conv_bn_v2(in_channels, out_channels, kernel_size, stride=1, padding=0, dilation=1, groups=1,
padding_mode='zeros'):
conv_layer = nn.Conv2d(in_channels=in_channels, out_channels=out_channels, kernel_size=kernel_size,
stride=stride, padding=padding, dilation=dilation, groups=groups,
bias=False, padding_mode=padding_mode)
bn_layer = nn.BatchNorm2d(num_features=out_channels, affine=True)
se = nn.Sequential()
se.add_module('conv', conv_layer)
se.add_module('bn', bn_layer)
return se
class IdentityBasedConv1x1(nn.Conv2d):
def __init__(self, channels, groups=1):
super(IdentityBasedConv1x1, self).__init__(in_channels=channels, out_channels=channels, kernel_size=1, stride=1, padding=0, groups=groups, bias=False)
assert channels % groups == 0
input_dim = channels // groups
id_value = np.zeros((channels, input_dim, 1, 1))
for i in range(channels):
id_value[i, i % input_dim, 0, 0] = 1
self.id_tensor = torch.from_numpy(id_value).type_as(self.weight)
nn.init.zeros_(self.weight)
def forward(self, input):
kernel = self.weight + self.id_tensor.to(self.weight.device)
result = F.conv2d(input, kernel, None, stride=1, padding=0, dilation=self.dilation, groups=self.groups)
return result
def get_actual_kernel(self):
return self.weight + self.id_tensor.to(self.weight.device)
class BNAndPadLayer(nn.Module):
def __init__(self,
pad_pixels,
num_features,
eps=1e-5,
momentum=0.1,
affine=True,
track_running_stats=True):
super(BNAndPadLayer, self).__init__()
self.bn = nn.BatchNorm2d(num_features, eps, momentum, affine, track_running_stats)
self.pad_pixels = pad_pixels
def forward(self, input):
output = self.bn(input)
if self.pad_pixels > 0:
if self.bn.affine:
pad_values = self.bn.bias.detach() - self.bn.running_mean * self.bn.weight.detach() / torch.sqrt(self.bn.running_var + self.bn.eps)
else:
pad_values = - self.bn.running_mean / torch.sqrt(self.bn.running_var + self.bn.eps)
output = F.pad(output, [self.pad_pixels] * 4)
pad_values = pad_values.view(1, -1, 1, 1)
output[:, :, 0:self.pad_pixels, :] = pad_values
output[:, :, -self.pad_pixels:, :] = pad_values
output[:, :, :, 0:self.pad_pixels] = pad_values
output[:, :, :, -self.pad_pixels:] = pad_values
return output
@property
def bn_weight(self):
return self.bn.weight
@property
def bn_bias(self):
return self.bn.bias
@property
def running_mean(self):
return self.bn.running_mean
@property
def running_var(self):
return self.bn.running_var
@property
def eps(self):
return self.bn.eps
class DBBBlock(nn.Module):
'''
RepBlock is a stage block with rep-style basic block
'''
def __init__(self, in_channels, out_channels, n=1):
super().__init__()
self.conv1 = DiverseBranchBlock(in_channels, out_channels)
self.block = nn.Sequential(*(DiverseBranchBlock(out_channels, out_channels) for _ in range(n - 1))) if n > 1 else None
def forward(self, x):
x = self.conv1(x)
if self.block is not None:
x = self.block(x)
return x
class DiverseBranchBlock(nn.Module):
def __init__(self, in_channels, out_channels, kernel_size=3,
stride=1, padding=1, dilation=1, groups=1,
internal_channels_1x1_3x3=None,
deploy=False, nonlinear=nn.ReLU(), single_init=False):
super(DiverseBranchBlock, self).__init__()
self.deploy = deploy
if nonlinear is None:
self.nonlinear = nn.Identity()
else:
self.nonlinear = nonlinear
self.kernel_size = kernel_size
self.out_channels = out_channels
self.groups = groups
assert padding == kernel_size // 2
if deploy:
self.dbb_reparam = nn.Conv2d(in_channels=in_channels, out_channels=out_channels, kernel_size=kernel_size, stride=stride,
padding=padding, dilation=dilation, groups=groups, bias=True)
else:
self.dbb_origin = conv_bn_v2(in_channels=in_channels, out_channels=out_channels, kernel_size=kernel_size, stride=stride, padding=padding, dilation=dilation, groups=groups)
self.dbb_avg = nn.Sequential()
if groups < out_channels:
self.dbb_avg.add_module('conv',
nn.Conv2d(in_channels=in_channels, out_channels=out_channels, kernel_size=1,
stride=1, padding=0, groups=groups, bias=False))
self.dbb_avg.add_module('bn', BNAndPadLayer(pad_pixels=padding, num_features=out_channels))
self.dbb_avg.add_module('avg', nn.AvgPool2d(kernel_size=kernel_size, stride=stride, padding=0))
self.dbb_1x1 = conv_bn_v2(in_channels=in_channels, out_channels=out_channels, kernel_size=1, stride=stride,
padding=0, groups=groups)
else:
self.dbb_avg.add_module('avg', nn.AvgPool2d(kernel_size=kernel_size, stride=stride, padding=padding))
self.dbb_avg.add_module('avgbn', nn.BatchNorm2d(out_channels))
if internal_channels_1x1_3x3 is None:
internal_channels_1x1_3x3 = in_channels if groups < out_channels else 2 * in_channels # For mobilenet, it is better to have 2X internal channels
self.dbb_1x1_kxk = nn.Sequential()
if internal_channels_1x1_3x3 == in_channels:
self.dbb_1x1_kxk.add_module('idconv1', IdentityBasedConv1x1(channels=in_channels, groups=groups))
else:
self.dbb_1x1_kxk.add_module('conv1', nn.Conv2d(in_channels=in_channels, out_channels=internal_channels_1x1_3x3,
kernel_size=1, stride=1, padding=0, groups=groups, bias=False))
self.dbb_1x1_kxk.add_module('bn1', BNAndPadLayer(pad_pixels=padding, num_features=internal_channels_1x1_3x3, affine=True))
self.dbb_1x1_kxk.add_module('conv2', nn.Conv2d(in_channels=internal_channels_1x1_3x3, out_channels=out_channels,
kernel_size=kernel_size, stride=stride, padding=0, groups=groups, bias=False))
self.dbb_1x1_kxk.add_module('bn2', nn.BatchNorm2d(out_channels))
# The experiments reported in the paper used the default initialization of bn.weight (all as 1). But changing the initialization may be useful in some cases.
if single_init:
# Initialize the bn.weight of dbb_origin as 1 and others as 0. This is not the default setting.
self.single_init()
def get_equivalent_kernel_bias(self):
k_origin, b_origin = transI_fusebn(self.dbb_origin.conv.weight, self.dbb_origin.bn)
if hasattr(self, 'dbb_1x1'):
k_1x1, b_1x1 = transI_fusebn(self.dbb_1x1.conv.weight, self.dbb_1x1.bn)
k_1x1 = transVI_multiscale(k_1x1, self.kernel_size)
else:
k_1x1, b_1x1 = 0, 0
if hasattr(self.dbb_1x1_kxk, 'idconv1'):
k_1x1_kxk_first = self.dbb_1x1_kxk.idconv1.get_actual_kernel()
else:
k_1x1_kxk_first = self.dbb_1x1_kxk.conv1.weight
k_1x1_kxk_first, b_1x1_kxk_first = transI_fusebn(k_1x1_kxk_first, self.dbb_1x1_kxk.bn1)
k_1x1_kxk_second, b_1x1_kxk_second = transI_fusebn(self.dbb_1x1_kxk.conv2.weight, self.dbb_1x1_kxk.bn2)
k_1x1_kxk_merged, b_1x1_kxk_merged = transIII_1x1_kxk(k_1x1_kxk_first, b_1x1_kxk_first, k_1x1_kxk_second, b_1x1_kxk_second, groups=self.groups)
k_avg = transV_avg(self.out_channels, self.kernel_size, self.groups)
k_1x1_avg_second, b_1x1_avg_second = transI_fusebn(k_avg.to(self.dbb_avg.avgbn.weight.device), self.dbb_avg.avgbn)
if hasattr(self.dbb_avg, 'conv'):
k_1x1_avg_first, b_1x1_avg_first = transI_fusebn(self.dbb_avg.conv.weight, self.dbb_avg.bn)
k_1x1_avg_merged, b_1x1_avg_merged = transIII_1x1_kxk(k_1x1_avg_first, b_1x1_avg_first, k_1x1_avg_second, b_1x1_avg_second, groups=self.groups)
else:
k_1x1_avg_merged, b_1x1_avg_merged = k_1x1_avg_second, b_1x1_avg_second
return transII_addbranch((k_origin, k_1x1, k_1x1_kxk_merged, k_1x1_avg_merged), (b_origin, b_1x1, b_1x1_kxk_merged, b_1x1_avg_merged))
def switch_to_deploy(self):
if hasattr(self, 'dbb_reparam'):
return
kernel, bias = self.get_equivalent_kernel_bias()
self.dbb_reparam = nn.Conv2d(in_channels=self.dbb_origin.conv.in_channels, out_channels=self.dbb_origin.conv.out_channels,
kernel_size=self.dbb_origin.conv.kernel_size, stride=self.dbb_origin.conv.stride,
padding=self.dbb_origin.conv.padding, dilation=self.dbb_origin.conv.dilation, groups=self.dbb_origin.conv.groups, bias=True)
self.dbb_reparam.weight.data = kernel
self.dbb_reparam.bias.data = bias
for para in self.parameters():
para.detach_()
self.__delattr__('dbb_origin')
self.__delattr__('dbb_avg')
if hasattr(self, 'dbb_1x1'):
self.__delattr__('dbb_1x1')
self.__delattr__('dbb_1x1_kxk')
def forward(self, inputs):
if hasattr(self, 'dbb_reparam'):
return self.nonlinear(self.dbb_reparam(inputs))
out = self.dbb_origin(inputs)
if hasattr(self, 'dbb_1x1'):
out += self.dbb_1x1(inputs)
out += self.dbb_avg(inputs)
out += self.dbb_1x1_kxk(inputs)
return self.nonlinear(out)
def init_gamma(self, gamma_value):
if hasattr(self, "dbb_origin"):
torch.nn.init.constant_(self.dbb_origin.bn.weight, gamma_value)
if hasattr(self, "dbb_1x1"):
torch.nn.init.constant_(self.dbb_1x1.bn.weight, gamma_value)
if hasattr(self, "dbb_avg"):
torch.nn.init.constant_(self.dbb_avg.avgbn.weight, gamma_value)
if hasattr(self, "dbb_1x1_kxk"):
torch.nn.init.constant_(self.dbb_1x1_kxk.bn2.weight, gamma_value)
def single_init(self):
self.init_gamma(0.0)
if hasattr(self, "dbb_origin"):
torch.nn.init.constant_(self.dbb_origin.bn.weight, 1.0)
class DetectBackend(nn.Module):
def __init__(self, weights='yolov6s.pt', device=None, dnn=True):
super().__init__()
assert isinstance(weights, str) and Path(weights).suffix == '.pt', f'{Path(weights).suffix} format is not supported.'
from yolov6.utils.checkpoint import load_checkpoint
model = load_checkpoint(weights, map_location=device)
stride = int(model.stride.max())
self.__dict__.update(locals()) # assign all variables to self
def forward(self, im, val=False):
y = self.model(im)
if isinstance(y, np.ndarray):
y = torch.tensor(y, device=self.device)
return y

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src/YOLOv6/yolov6/layers/dbb_transforms.py
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import torch
import numpy as np
import torch.nn.functional as F
def transI_fusebn(kernel, bn):
gamma = bn.weight
std = (bn.running_var + bn.eps).sqrt()
return kernel * ((gamma / std).reshape(-1, 1, 1, 1)), bn.bias - bn.running_mean * gamma / std
def transII_addbranch(kernels, biases):
return sum(kernels), sum(biases)
def transIII_1x1_kxk(k1, b1, k2, b2, groups):
if groups == 1:
k = F.conv2d(k2, k1.permute(1, 0, 2, 3)) #
b_hat = (k2 * b1.reshape(1, -1, 1, 1)).sum((1, 2, 3))
else:
k_slices = []
b_slices = []
k1_T = k1.permute(1, 0, 2, 3)
k1_group_width = k1.size(0) // groups
k2_group_width = k2.size(0) // groups
for g in range(groups):
k1_T_slice = k1_T[:, g*k1_group_width:(g+1)*k1_group_width, :, :]
k2_slice = k2[g*k2_group_width:(g+1)*k2_group_width, :, :, :]
k_slices.append(F.conv2d(k2_slice, k1_T_slice))
b_slices.append((k2_slice * b1[g*k1_group_width:(g+1)*k1_group_width].reshape(1, -1, 1, 1)).sum((1, 2, 3)))
k, b_hat = transIV_depthconcat(k_slices, b_slices)
return k, b_hat + b2
def transIV_depthconcat(kernels, biases):
return torch.cat(kernels, dim=0), torch.cat(biases)
def transV_avg(channels, kernel_size, groups):
input_dim = channels // groups
k = torch.zeros((channels, input_dim, kernel_size, kernel_size))
k[np.arange(channels), np.tile(np.arange(input_dim), groups), :, :] = 1.0 / kernel_size ** 2
return k
# This has not been tested with non-square kernels (kernel.size(2) != kernel.size(3)) nor even-size kernels
def transVI_multiscale(kernel, target_kernel_size):
H_pixels_to_pad = (target_kernel_size - kernel.size(2)) // 2
W_pixels_to_pad = (target_kernel_size - kernel.size(3)) // 2
return F.pad(kernel, [H_pixels_to_pad, H_pixels_to_pad, W_pixels_to_pad, W_pixels_to_pad])

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src/YOLOv6/yolov6/models/efficientrep.py
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from torch import nn
from yolov6.layers.common import RepVGGBlock, RepBlock, SimSPPF
class EfficientRep(nn.Module):
'''EfficientRep Backbone
EfficientRep is handcrafted by hardware-aware neural network design.
With rep-style struct, EfficientRep is friendly to high-computation hardware(e.g. GPU).
'''
def __init__(
self,
in_channels=3,
channels_list=None,
num_repeats=None,
):
super().__init__()
assert channels_list is not None
assert num_repeats is not None
self.stem = RepVGGBlock(
in_channels=in_channels,
out_channels=channels_list[0],
kernel_size=3,
stride=2
)
self.ERBlock_2 = nn.Sequential(
RepVGGBlock(
in_channels=channels_list[0],
out_channels=channels_list[1],
kernel_size=3,
stride=2
),
RepBlock(
in_channels=channels_list[1],
out_channels=channels_list[1],
n=num_repeats[1]
)
)
self.ERBlock_3 = nn.Sequential(
RepVGGBlock(
in_channels=channels_list[1],
out_channels=channels_list[2],
kernel_size=3,
stride=2
),
RepBlock(
in_channels=channels_list[2],
out_channels=channels_list[2],
n=num_repeats[2]
)
)
self.ERBlock_4 = nn.Sequential(
RepVGGBlock(
in_channels=channels_list[2],
out_channels=channels_list[3],
kernel_size=3,
stride=2
),
RepBlock(
in_channels=channels_list[3],
out_channels=channels_list[3],
n=num_repeats[3]
)
)
self.ERBlock_5 = nn.Sequential(
RepVGGBlock(
in_channels=channels_list[3],
out_channels=channels_list[4],
kernel_size=3,
stride=2,
),
RepBlock(
in_channels=channels_list[4],
out_channels=channels_list[4],
n=num_repeats[4]
),
SimSPPF(
in_channels=channels_list[4],
out_channels=channels_list[4],
kernel_size=5
)
)
def forward(self, x):
outputs = []
x = self.stem(x)
x = self.ERBlock_2(x)
x = self.ERBlock_3(x)
outputs.append(x)
x = self.ERBlock_4(x)
outputs.append(x)
x = self.ERBlock_5(x)
outputs.append(x)
return tuple(outputs)

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src/YOLOv6/yolov6/models/effidehead.py
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import torch
import torch.nn as nn
import math
from yolov6.layers.common import *
class Detect(nn.Module):
'''Efficient Decoupled Head
With hardware-aware degisn, the decoupled head is optimized with
hybridchannels methods.
'''
def __init__(self, num_classes=80, anchors=1, num_layers=3, inplace=True, head_layers=None): # detection layer
super().__init__()
assert head_layers is not None
self.nc = num_classes # number of classes
self.no = num_classes + 5 # number of outputs per anchor
self.nl = num_layers # number of detection layers
if isinstance(anchors, (list, tuple)):
self.na = len(anchors[0]) // 2
else:
self.na = anchors
self.anchors = anchors
self.grid = [torch.zeros(1)] * num_layers
self.prior_prob = 1e-2
self.inplace = inplace
stride = [8, 16, 32] # strides computed during build
self.stride = torch.tensor(stride)
# Init decouple head
self.cls_convs = nn.ModuleList()
self.reg_convs = nn.ModuleList()
self.cls_preds = nn.ModuleList()
self.reg_preds = nn.ModuleList()
self.obj_preds = nn.ModuleList()
self.stems = nn.ModuleList()
# Efficient decoupled head layers
for i in range(num_layers):
idx = i*6
self.stems.append(head_layers[idx])
self.cls_convs.append(head_layers[idx+1])
self.reg_convs.append(head_layers[idx+2])
self.cls_preds.append(head_layers[idx+3])
self.reg_preds.append(head_layers[idx+4])
self.obj_preds.append(head_layers[idx+5])
def initialize_biases(self):
for conv in self.cls_preds:
b = conv.bias.view(self.na, -1)
b.data.fill_(-math.log((1 - self.prior_prob) / self.prior_prob))
conv.bias = torch.nn.Parameter(b.view(-1), requires_grad=True)
for conv in self.obj_preds:
b = conv.bias.view(self.na, -1)
b.data.fill_(-math.log((1 - self.prior_prob) / self.prior_prob))
conv.bias = torch.nn.Parameter(b.view(-1), requires_grad=True)
def forward(self, x):
z = []
for i in range(self.nl):
x[i] = self.stems[i](x[i])
cls_x = x[i]
reg_x = x[i]
cls_feat = self.cls_convs[i](cls_x)
cls_output = self.cls_preds[i](cls_feat)
reg_feat = self.reg_convs[i](reg_x)
reg_output = self.reg_preds[i](reg_feat)
obj_output = self.obj_preds[i](reg_feat)
if self.training:
x[i] = torch.cat([reg_output, obj_output, cls_output], 1)
bs, _, ny, nx = x[i].shape
x[i] = x[i].view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()
else:
y = torch.cat([reg_output, obj_output.sigmoid(), cls_output.sigmoid()], 1)
bs, _, ny, nx = y.shape
y = y.view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()
if self.grid[i].shape[2:4] != y.shape[2:4]:
d = self.stride.device
yv, xv = torch.meshgrid([torch.arange(ny).to(d), torch.arange(nx).to(d)])
self.grid[i] = torch.stack((xv, yv), 2).view(1, self.na, ny, nx, 2).float()
if self.inplace:
y[..., 0:2] = (y[..., 0:2] + self.grid[i]) * self.stride[i] # xy
y[..., 2:4] = torch.exp(y[..., 2:4]) * self.stride[i] # wh
else:
xy = (y[..., 0:2] + self.grid[i]) * self.stride[i] # xy
wh = torch.exp(y[..., 2:4]) * self.stride[i] # wh
y = torch.cat((xy, wh, y[..., 4:]), -1)
z.append(y.view(bs, -1, self.no))
return x if self.training else torch.cat(z, 1)
def build_effidehead_layer(channels_list, num_anchors, num_classes):
head_layers = nn.Sequential(
# stem0
Conv(
in_channels=channels_list[6],
out_channels=channels_list[6],
kernel_size=1,
stride=1
),
# cls_conv0
Conv(
in_channels=channels_list[6],
out_channels=channels_list[6],
kernel_size=3,
stride=1
),
# reg_conv0
Conv(
in_channels=channels_list[6],
out_channels=channels_list[6],
kernel_size=3,
stride=1
),
# cls_pred0
nn.Conv2d(
in_channels=channels_list[6],
out_channels=num_classes * num_anchors,
kernel_size=1
),
# reg_pred0
nn.Conv2d(
in_channels=channels_list[6],
out_channels=4 * num_anchors,
kernel_size=1
),
# obj_pred0
nn.Conv2d(
in_channels=channels_list[6],
out_channels=1 * num_anchors,
kernel_size=1
),
# stem1
Conv(
in_channels=channels_list[8],
out_channels=channels_list[8],
kernel_size=1,
stride=1
),
# cls_conv1
Conv(
in_channels=channels_list[8],
out_channels=channels_list[8],
kernel_size=3,
stride=1
),
# reg_conv1
Conv(
in_channels=channels_list[8],
out_channels=channels_list[8],
kernel_size=3,
stride=1
),
# cls_pred1
nn.Conv2d(
in_channels=channels_list[8],
out_channels=num_classes * num_anchors,
kernel_size=1
),
# reg_pred1
nn.Conv2d(
in_channels=channels_list[8],
out_channels=4 * num_anchors,
kernel_size=1
),
# obj_pred1
nn.Conv2d(
in_channels=channels_list[8],
out_channels=1 * num_anchors,
kernel_size=1
),
# stem2
Conv(
in_channels=channels_list[10],
out_channels=channels_list[10],
kernel_size=1,
stride=1
),
# cls_conv2
Conv(
in_channels=channels_list[10],
out_channels=channels_list[10],
kernel_size=3,
stride=1
),
# reg_conv2
Conv(
in_channels=channels_list[10],
out_channels=channels_list[10],
kernel_size=3,
stride=1
),
# cls_pred2
nn.Conv2d(
in_channels=channels_list[10],
out_channels=num_classes * num_anchors,
kernel_size=1
),
# reg_pred2
nn.Conv2d(
in_channels=channels_list[10],
out_channels=4 * num_anchors,
kernel_size=1
),
# obj_pred2
nn.Conv2d(
in_channels=channels_list[10],
out_channels=1 * num_anchors,
kernel_size=1
)
)
return head_layers

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src/YOLOv6/yolov6/models/end2end.py
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import torch
import torch.nn as nn
import random
class ORT_NMS(torch.autograd.Function):
@staticmethod
def forward(ctx,
boxes,
scores,
max_output_boxes_per_class=torch.tensor([100]),
iou_threshold=torch.tensor([0.45]),
score_threshold=torch.tensor([0.25])):
device = boxes.device
batch = scores.shape[0]
num_det = random.randint(0, 100)
batches = torch.randint(0, batch, (num_det,)).sort()[0].to(device)
idxs = torch.arange(100, 100 + num_det).to(device)
zeros = torch.zeros((num_det,), dtype=torch.int64).to(device)
selected_indices = torch.cat([batches[None], zeros[None], idxs[None]], 0).T.contiguous()
selected_indices = selected_indices.to(torch.int64)
return selected_indices
@staticmethod
def symbolic(g, boxes, scores, max_output_boxes_per_class, iou_threshold, score_threshold):
return g.op("NonMaxSuppression", boxes, scores, max_output_boxes_per_class, iou_threshold, score_threshold)
class TRT_NMS(torch.autograd.Function):
@staticmethod
def forward(
ctx,
boxes,
scores,
background_class=-1,
box_coding=0,
iou_threshold=0.45,
max_output_boxes=100,
plugin_version="1",
score_activation=0,
score_threshold=0.25,
):
batch_size, num_boxes, num_classes = scores.shape
num_det = torch.randint(0, max_output_boxes, (batch_size, 1), dtype=torch.int32)
det_boxes = torch.randn(batch_size, max_output_boxes, 4)
det_scores = torch.randn(batch_size, max_output_boxes)
det_classes = torch.randint(0, num_classes, (batch_size, max_output_boxes), dtype=torch.int32)
return num_det, det_boxes, det_scores, det_classes
@staticmethod
def symbolic(g,
boxes,
scores,
background_class=-1,
box_coding=0,
iou_threshold=0.45,
max_output_boxes=100,
plugin_version="1",
score_activation=0,
score_threshold=0.25):
out = g.op("TRT::EfficientNMS_TRT",
boxes,
scores,
background_class_i=background_class,
box_coding_i=box_coding,
iou_threshold_f=iou_threshold,
max_output_boxes_i=max_output_boxes,
plugin_version_s=plugin_version,
score_activation_i=score_activation,
score_threshold_f=score_threshold,
outputs=4)
nums, boxes, scores, classes = out
return nums,boxes,scores,classes
class ONNX_ORT(nn.Module):
def __init__(self, max_obj=100, iou_thres=0.45, score_thres=0.25, max_wh=640, device=None):
super().__init__()
self.device = device if device else torch.device("cpu")
self.max_obj = torch.tensor([max_obj]).to(device)
self.iou_threshold = torch.tensor([iou_thres]).to(device)
self.score_threshold = torch.tensor([score_thres]).to(device)
self.max_wh = max_wh
self.convert_matrix = torch.tensor([[1, 0, 1, 0], [0, 1, 0, 1], [-0.5, 0, 0.5, 0], [0, -0.5, 0, 0.5]],
dtype=torch.float32,
device=self.device)
def forward(self, x):
box = x[:, :, :4]
conf = x[:, :, 4:5]
score = x[:, :, 5:]
score *= conf
box @= self.convert_matrix
objScore, objCls = score.max(2, keepdim=True)
dis = objCls.float() * self.max_wh
nmsbox = box + dis
objScore1 = objScore.transpose(1, 2).contiguous()
selected_indices = ORT_NMS.apply(nmsbox, objScore1, self.max_obj, self.iou_threshold, self.score_threshold)
X, Y = selected_indices[:, 0], selected_indices[:, 2]
resBoxes = box[X, Y, :]
resClasses = objCls[X, Y, :].float()
resScores = objScore[X, Y, :]
X = X.unsqueeze(1).float()
return torch.concat([X, resBoxes, resClasses, resScores], 1)
class ONNX_TRT(nn.Module):
def __init__(self, max_obj=100, iou_thres=0.45, score_thres=0.25, max_wh=None ,device=None):
super().__init__()
assert max_wh is None
self.device = device if device else torch.device('cpu')
self.background_class = -1,
self.box_coding = 0,
self.iou_threshold = iou_thres
self.max_obj = max_obj
self.plugin_version = '1'
self.score_activation = 0
self.score_threshold = score_thres
self.convert_matrix = torch.tensor([[1, 0, 1, 0], [0, 1, 0, 1], [-0.5, 0, 0.5, 0], [0, -0.5, 0, 0.5]],
dtype=torch.float32,
device=self.device)
def forward(self, x):
box = x[:, :, :4]
conf = x[:, :, 4:5]
score = x[:, :, 5:]
score *= conf
box @= self.convert_matrix
num_det, det_boxes, det_scores, det_classes = TRT_NMS.apply(box, score, self.background_class, self.box_coding,
self.iou_threshold, self.max_obj,
self.plugin_version, self.score_activation,
self.score_threshold)
return num_det, det_boxes, det_scores, det_classes
class End2End(nn.Module):
def __init__(self, model, max_obj=100, iou_thres=0.45, score_thres=0.25, max_wh=None, device=None):
super().__init__()
device = device if device else torch.device('cpu')
self.model = model.to(device)
self.patch_model = ONNX_TRT if max_wh is None else ONNX_ORT
self.end2end = self.patch_model(max_obj, iou_thres, score_thres, max_wh, device)
self.end2end.eval()
def forward(self, x):
x = self.model(x)
x = self.end2end(x)
return x

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src/YOLOv6/yolov6/models/loss.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
# The code is based on
# https://github.com/Megvii-BaseDetection/YOLOX/blob/main/yolox/models/yolo_head.py
# Copyright (c) Megvii, Inc. and its affiliates.
import torch
import torch.nn as nn
import numpy as np
import torch.nn.functional as F
from yolov6.utils.figure_iou import IOUloss, pairwise_bbox_iou
class ComputeLoss:
'''Loss computation func.
This func contains SimOTA and siou loss.
'''
def __init__(self,
reg_weight=5.0,
iou_weight=3.0,
cls_weight=1.0,
center_radius=2.5,
eps=1e-7,
in_channels=[256, 512, 1024],
strides=[8, 16, 32],
n_anchors=1,
iou_type='ciou'
):
self.reg_weight = reg_weight
self.iou_weight = iou_weight
self.cls_weight = cls_weight
self.center_radius = center_radius
self.eps = eps
self.n_anchors = n_anchors
self.strides = strides
self.grids = [torch.zeros(1)] * len(in_channels)
# Define criteria
self.l1_loss = nn.L1Loss(reduction="none")
self.bcewithlog_loss = nn.BCEWithLogitsLoss(reduction="none")
self.iou_loss = IOUloss(iou_type=iou_type, reduction="none")
def __call__(
self,
outputs,
targets
):
dtype = outputs[0].type()
device = targets.device
loss_cls, loss_obj, loss_iou, loss_l1 = torch.zeros(1, device=device), torch.zeros(1, device=device), \
torch.zeros(1, device=device), torch.zeros(1, device=device)
num_classes = outputs[0].shape[-1] - 5
outputs, outputs_origin, gt_bboxes_scale, xy_shifts, expanded_strides = self.get_outputs_and_grids(
outputs, self.strides, dtype, device)
total_num_anchors = outputs.shape[1]
bbox_preds = outputs[:, :, :4] # [batch, n_anchors_all, 4]
bbox_preds_org = outputs_origin[:, :, :4] # [batch, n_anchors_all, 4]
obj_preds = outputs[:, :, 4].unsqueeze(-1) # [batch, n_anchors_all, 1]
cls_preds = outputs[:, :, 5:] # [batch, n_anchors_all, n_cls]
# targets
batch_size = bbox_preds.shape[0]
targets_list = np.zeros((batch_size, 1, 5)).tolist()
for i, item in enumerate(targets.cpu().numpy().tolist()):
targets_list[int(item[0])].append(item[1:])
max_len = max((len(l) for l in targets_list))
targets = torch.from_numpy(np.array(list(map(lambda l:l + [[-1,0,0,0,0]]*(max_len - len(l)), targets_list)))[:,1:,:]).to(targets.device)
num_targets_list = (targets.sum(dim=2) > 0).sum(dim=1) # number of objects
num_fg, num_gts = 0, 0
cls_targets, reg_targets, l1_targets, obj_targets, fg_masks = [], [], [], [], []
for batch_idx in range(batch_size):
num_gt = int(num_targets_list[batch_idx])
num_gts += num_gt
if num_gt == 0:
cls_target = outputs.new_zeros((0, num_classes))
reg_target = outputs.new_zeros((0, 4))
l1_target = outputs.new_zeros((0, 4))
obj_target = outputs.new_zeros((total_num_anchors, 1))
fg_mask = outputs.new_zeros(total_num_anchors).bool()
else:
gt_bboxes_per_image = targets[batch_idx, :num_gt, 1:5].mul_(gt_bboxes_scale)
gt_classes = targets[batch_idx, :num_gt, 0]
bboxes_preds_per_image = bbox_preds[batch_idx]
cls_preds_per_image = cls_preds[batch_idx]
obj_preds_per_image = obj_preds[batch_idx]
try:
(
gt_matched_classes,
fg_mask,
pred_ious_this_matching,
matched_gt_inds,
num_fg_img,
) = self.get_assignments(
batch_idx,
num_gt,
total_num_anchors,
gt_bboxes_per_image,
gt_classes,
bboxes_preds_per_image,
cls_preds_per_image,
obj_preds_per_image,
expanded_strides,
xy_shifts,
num_classes
)
except RuntimeError:
print(
"OOM RuntimeError is raised due to the huge memory cost during label assignment. \
CPU mode is applied in this batch. If you want to avoid this issue, \
try to reduce the batch size or image size."
)
torch.cuda.empty_cache()
print("------------CPU Mode for This Batch-------------")
_gt_bboxes_per_image = gt_bboxes_per_image.cpu().float()
_gt_classes = gt_classes.cpu().float()
_bboxes_preds_per_image = bboxes_preds_per_image.cpu().float()
_cls_preds_per_image = cls_preds_per_image.cpu().float()
_obj_preds_per_image = obj_preds_per_image.cpu().float()
_expanded_strides = expanded_strides.cpu().float()
_xy_shifts = xy_shifts.cpu()
(
gt_matched_classes,
fg_mask,
pred_ious_this_matching,
matched_gt_inds,
num_fg_img,
) = self.get_assignments(
batch_idx,
num_gt,
total_num_anchors,
_gt_bboxes_per_image,
_gt_classes,
_bboxes_preds_per_image,
_cls_preds_per_image,
_obj_preds_per_image,
_expanded_strides,
_xy_shifts,
num_classes
)
gt_matched_classes = gt_matched_classes.cuda()
fg_mask = fg_mask.cuda()
pred_ious_this_matching = pred_ious_this_matching.cuda()
matched_gt_inds = matched_gt_inds.cuda()
torch.cuda.empty_cache()
num_fg += num_fg_img
if num_fg_img > 0:
cls_target = F.one_hot(
gt_matched_classes.to(torch.int64), num_classes
) * pred_ious_this_matching.unsqueeze(-1)
obj_target = fg_mask.unsqueeze(-1)
reg_target = gt_bboxes_per_image[matched_gt_inds]
l1_target = self.get_l1_target(
outputs.new_zeros((num_fg_img, 4)),
gt_bboxes_per_image[matched_gt_inds],
expanded_strides[0][fg_mask],
xy_shifts=xy_shifts[0][fg_mask],
)
cls_targets.append(cls_target)
reg_targets.append(reg_target)
obj_targets.append(obj_target)
l1_targets.append(l1_target)
fg_masks.append(fg_mask)
cls_targets = torch.cat(cls_targets, 0)
reg_targets = torch.cat(reg_targets, 0)
obj_targets = torch.cat(obj_targets, 0)
l1_targets = torch.cat(l1_targets, 0)
fg_masks = torch.cat(fg_masks, 0)
num_fg = max(num_fg, 1)
# loss
loss_iou += (self.iou_loss(bbox_preds.view(-1, 4)[fg_masks].T, reg_targets)).sum() / num_fg
loss_l1 += (self.l1_loss(bbox_preds_org.view(-1, 4)[fg_masks], l1_targets)).sum() / num_fg
loss_obj += (self.bcewithlog_loss(obj_preds.view(-1, 1), obj_targets*1.0)).sum() / num_fg
loss_cls += (self.bcewithlog_loss(cls_preds.view(-1, num_classes)[fg_masks], cls_targets)).sum() / num_fg
total_losses = self.reg_weight * loss_iou + loss_l1 + loss_obj + loss_cls
return total_losses, torch.cat((self.reg_weight * loss_iou, loss_l1, loss_obj, loss_cls)).detach()
def decode_output(self, output, k, stride, dtype, device):
grid = self.grids[k].to(device)
batch_size = output.shape[0]
hsize, wsize = output.shape[2:4]
if grid.shape[2:4] != output.shape[2:4]:
yv, xv = torch.meshgrid([torch.arange(hsize), torch.arange(wsize)])
grid = torch.stack((xv, yv), 2).view(1, 1, hsize, wsize, 2).type(dtype).to(device)
self.grids[k] = grid
output = output.reshape(batch_size, self.n_anchors * hsize * wsize, -1)
output_origin = output.clone()
grid = grid.view(1, -1, 2)
output[..., :2] = (output[..., :2] + grid) * stride
output[..., 2:4] = torch.exp(output[..., 2:4]) * stride
return output, output_origin, grid, hsize, wsize
def get_outputs_and_grids(self, outputs, strides, dtype, device):
xy_shifts = []
expanded_strides = []
outputs_new = []
outputs_origin = []
for k, output in enumerate(outputs):
output, output_origin, grid, feat_h, feat_w = self.decode_output(
output, k, strides[k], dtype, device)
xy_shift = grid
expanded_stride = torch.full((1, grid.shape[1], 1), strides[k], dtype=grid.dtype, device=grid.device)
xy_shifts.append(xy_shift)
expanded_strides.append(expanded_stride)
outputs_new.append(output)
outputs_origin.append(output_origin)
xy_shifts = torch.cat(xy_shifts, 1) # [1, n_anchors_all, 2]
expanded_strides = torch.cat(expanded_strides, 1) # [1, n_anchors_all, 1]
outputs_origin = torch.cat(outputs_origin, 1)
outputs = torch.cat(outputs_new, 1)
feat_h *= strides[-1]
feat_w *= strides[-1]
gt_bboxes_scale = torch.Tensor([[feat_w, feat_h, feat_w, feat_h]]).type_as(outputs)
return outputs, outputs_origin, gt_bboxes_scale, xy_shifts, expanded_strides
def get_l1_target(self, l1_target, gt, stride, xy_shifts, eps=1e-8):
l1_target[:, 0:2] = gt[:, 0:2] / stride - xy_shifts
l1_target[:, 2:4] = torch.log(gt[:, 2:4] / stride + eps)
return l1_target
@torch.no_grad()
def get_assignments(
self,
batch_idx,
num_gt,
total_num_anchors,
gt_bboxes_per_image,
gt_classes,
bboxes_preds_per_image,
cls_preds_per_image,
obj_preds_per_image,
expanded_strides,
xy_shifts,
num_classes
):
fg_mask, is_in_boxes_and_center = self.get_in_boxes_info(
gt_bboxes_per_image,
expanded_strides,
xy_shifts,
total_num_anchors,
num_gt,
)
bboxes_preds_per_image = bboxes_preds_per_image[fg_mask]
cls_preds_ = cls_preds_per_image[fg_mask]
obj_preds_ = obj_preds_per_image[fg_mask]
num_in_boxes_anchor = bboxes_preds_per_image.shape[0]
# cost
pair_wise_ious = pairwise_bbox_iou(gt_bboxes_per_image, bboxes_preds_per_image, box_format='xywh')
pair_wise_ious_loss = -torch.log(pair_wise_ious + 1e-8)
gt_cls_per_image = (
F.one_hot(gt_classes.to(torch.int64), num_classes)
.float()
.unsqueeze(1)
.repeat(1, num_in_boxes_anchor, 1)
)
with torch.cuda.amp.autocast(enabled=False):
cls_preds_ = (
cls_preds_.float().sigmoid_().unsqueeze(0).repeat(num_gt, 1, 1)
* obj_preds_.float().sigmoid_().unsqueeze(0).repeat(num_gt, 1, 1)
)
pair_wise_cls_loss = F.binary_cross_entropy(
cls_preds_.sqrt_(), gt_cls_per_image, reduction="none"
).sum(-1)
del cls_preds_, obj_preds_
cost = (
self.cls_weight * pair_wise_cls_loss
+ self.iou_weight * pair_wise_ious_loss
+ 100000.0 * (~is_in_boxes_and_center)
)
(
num_fg,
gt_matched_classes,
pred_ious_this_matching,
matched_gt_inds,
) = self.dynamic_k_matching(cost, pair_wise_ious, gt_classes, num_gt, fg_mask)
del pair_wise_cls_loss, cost, pair_wise_ious, pair_wise_ious_loss
return (
gt_matched_classes,
fg_mask,
pred_ious_this_matching,
matched_gt_inds,
num_fg,
)
def get_in_boxes_info(
self,
gt_bboxes_per_image,
expanded_strides,
xy_shifts,
total_num_anchors,
num_gt,
):
expanded_strides_per_image = expanded_strides[0]
xy_shifts_per_image = xy_shifts[0] * expanded_strides_per_image
xy_centers_per_image = (
(xy_shifts_per_image + 0.5 * expanded_strides_per_image)
.unsqueeze(0)
.repeat(num_gt, 1, 1)
) # [n_anchor, 2] -> [n_gt, n_anchor, 2]
gt_bboxes_per_image_lt = (
(gt_bboxes_per_image[:, 0:2] - 0.5 * gt_bboxes_per_image[:, 2:4])
.unsqueeze(1)
.repeat(1, total_num_anchors, 1)
)
gt_bboxes_per_image_rb = (
(gt_bboxes_per_image[:, 0:2] + 0.5 * gt_bboxes_per_image[:, 2:4])
.unsqueeze(1)
.repeat(1, total_num_anchors, 1)
) # [n_gt, 2] -> [n_gt, n_anchor, 2]
b_lt = xy_centers_per_image - gt_bboxes_per_image_lt
b_rb = gt_bboxes_per_image_rb - xy_centers_per_image
bbox_deltas = torch.cat([b_lt, b_rb], 2)
is_in_boxes = bbox_deltas.min(dim=-1).values > 0.0
is_in_boxes_all = is_in_boxes.sum(dim=0) > 0
# in fixed center
gt_bboxes_per_image_lt = (gt_bboxes_per_image[:, 0:2]).unsqueeze(1).repeat(
1, total_num_anchors, 1
) - self.center_radius * expanded_strides_per_image.unsqueeze(0)
gt_bboxes_per_image_rb = (gt_bboxes_per_image[:, 0:2]).unsqueeze(1).repeat(
1, total_num_anchors, 1
) + self.center_radius * expanded_strides_per_image.unsqueeze(0)
c_lt = xy_centers_per_image - gt_bboxes_per_image_lt
c_rb = gt_bboxes_per_image_rb - xy_centers_per_image
center_deltas = torch.cat([c_lt, c_rb], 2)
is_in_centers = center_deltas.min(dim=-1).values > 0.0
is_in_centers_all = is_in_centers.sum(dim=0) > 0
# in boxes and in centers
is_in_boxes_anchor = is_in_boxes_all | is_in_centers_all
is_in_boxes_and_center = (
is_in_boxes[:, is_in_boxes_anchor] & is_in_centers[:, is_in_boxes_anchor]
)
return is_in_boxes_anchor, is_in_boxes_and_center
def dynamic_k_matching(self, cost, pair_wise_ious, gt_classes, num_gt, fg_mask):
matching_matrix = torch.zeros_like(cost, dtype=torch.uint8)
ious_in_boxes_matrix = pair_wise_ious
n_candidate_k = min(10, ious_in_boxes_matrix.size(1))
topk_ious, _ = torch.topk(ious_in_boxes_matrix, n_candidate_k, dim=1)
dynamic_ks = torch.clamp(topk_ious.sum(1).int(), min=1)
dynamic_ks = dynamic_ks.tolist()
for gt_idx in range(num_gt):
_, pos_idx = torch.topk(
cost[gt_idx], k=dynamic_ks[gt_idx], largest=False
)
matching_matrix[gt_idx][pos_idx] = 1
del topk_ious, dynamic_ks, pos_idx
anchor_matching_gt = matching_matrix.sum(0)
if (anchor_matching_gt > 1).sum() > 0:
_, cost_argmin = torch.min(cost[:, anchor_matching_gt > 1], dim=0)
matching_matrix[:, anchor_matching_gt > 1] *= 0
matching_matrix[cost_argmin, anchor_matching_gt > 1] = 1
fg_mask_inboxes = matching_matrix.sum(0) > 0
num_fg = fg_mask_inboxes.sum().item()
fg_mask[fg_mask.clone()] = fg_mask_inboxes
matched_gt_inds = matching_matrix[:, fg_mask_inboxes].argmax(0)
gt_matched_classes = gt_classes[matched_gt_inds]
pred_ious_this_matching = (matching_matrix * pair_wise_ious).sum(0)[
fg_mask_inboxes
]
return num_fg, gt_matched_classes, pred_ious_this_matching, matched_gt_inds

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src/YOLOv6/yolov6/models/reppan.py
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import torch
from torch import nn
from yolov6.layers.common import RepBlock, SimConv, Transpose
class RepPANNeck(nn.Module):
"""RepPANNeck Module
EfficientRep is the default backbone of this model.
RepPANNeck has the balance of feature fusion ability and hardware efficiency.
"""
def __init__(
self,
channels_list=None,
num_repeats=None
):
super().__init__()
assert channels_list is not None
assert num_repeats is not None
self.Rep_p4 = RepBlock(
in_channels=channels_list[3] + channels_list[5],
out_channels=channels_list[5],
n=num_repeats[5],
)
self.Rep_p3 = RepBlock(
in_channels=channels_list[2] + channels_list[6],
out_channels=channels_list[6],
n=num_repeats[6]
)
self.Rep_n3 = RepBlock(
in_channels=channels_list[6] + channels_list[7],
out_channels=channels_list[8],
n=num_repeats[7],
)
self.Rep_n4 = RepBlock(
in_channels=channels_list[5] + channels_list[9],
out_channels=channels_list[10],
n=num_repeats[8]
)
self.reduce_layer0 = SimConv(
in_channels=channels_list[4],
out_channels=channels_list[5],
kernel_size=1,
stride=1
)
self.upsample0 = Transpose(
in_channels=channels_list[5],
out_channels=channels_list[5],
)
self.reduce_layer1 = SimConv(
in_channels=channels_list[5],
out_channels=channels_list[6],
kernel_size=1,
stride=1
)
self.upsample1 = Transpose(
in_channels=channels_list[6],
out_channels=channels_list[6]
)
self.downsample2 = SimConv(
in_channels=channels_list[6],
out_channels=channels_list[7],
kernel_size=3,
stride=2
)
self.downsample1 = SimConv(
in_channels=channels_list[8],
out_channels=channels_list[9],
kernel_size=3,
stride=2
)
def forward(self, input):
(x2, x1, x0) = input
fpn_out0 = self.reduce_layer0(x0)
upsample_feat0 = self.upsample0(fpn_out0)
f_concat_layer0 = torch.cat([upsample_feat0, x1], 1)
f_out0 = self.Rep_p4(f_concat_layer0)
fpn_out1 = self.reduce_layer1(f_out0)
upsample_feat1 = self.upsample1(fpn_out1)
f_concat_layer1 = torch.cat([upsample_feat1, x2], 1)
pan_out2 = self.Rep_p3(f_concat_layer1)
down_feat1 = self.downsample2(pan_out2)
p_concat_layer1 = torch.cat([down_feat1, fpn_out1], 1)
pan_out1 = self.Rep_n3(p_concat_layer1)
down_feat0 = self.downsample1(pan_out1)
p_concat_layer2 = torch.cat([down_feat0, fpn_out0], 1)
pan_out0 = self.Rep_n4(p_concat_layer2)
outputs = [pan_out2, pan_out1, pan_out0]
return outputs

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src/YOLOv6/yolov6/models/yolo.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import math
import torch.nn as nn
from yolov6.layers.common import *
from yolov6.utils.torch_utils import initialize_weights
from yolov6.models.efficientrep import EfficientRep
from yolov6.models.reppan import RepPANNeck
from yolov6.models.effidehead import Detect, build_effidehead_layer
class Model(nn.Module):
'''YOLOv6 model with backbone, neck and head.
The default parts are EfficientRep Backbone, Rep-PAN and
Efficient Decoupled Head.
'''
def __init__(self, config, channels=3, num_classes=None, anchors=None): # model, input channels, number of classes
super().__init__()
# Build network
num_layers = config.model.head.num_layers
self.backbone, self.neck, self.detect = build_network(config, channels, num_classes, anchors, num_layers)
# Init Detect head
begin_indices = config.model.head.begin_indices
out_indices_head = config.model.head.out_indices
self.stride = self.detect.stride
self.detect.i = begin_indices
self.detect.f = out_indices_head
self.detect.initialize_biases()
# Init weights
initialize_weights(self)
def forward(self, x):
x = self.backbone(x)
x = self.neck(x)
x = self.detect(x)
return x
def _apply(self, fn):
self = super()._apply(fn)
self.detect.stride = fn(self.detect.stride)
self.detect.grid = list(map(fn, self.detect.grid))
return self
def make_divisible(x, divisor):
# Upward revision the value x to make it evenly divisible by the divisor.
return math.ceil(x / divisor) * divisor
def build_network(config, channels, num_classes, anchors, num_layers):
depth_mul = config.model.depth_multiple
width_mul = config.model.width_multiple
num_repeat_backbone = config.model.backbone.num_repeats
channels_list_backbone = config.model.backbone.out_channels
num_repeat_neck = config.model.neck.num_repeats
channels_list_neck = config.model.neck.out_channels
num_anchors = config.model.head.anchors
num_repeat = [(max(round(i * depth_mul), 1) if i > 1 else i) for i in (num_repeat_backbone + num_repeat_neck)]
channels_list = [make_divisible(i * width_mul, 8) for i in (channels_list_backbone + channels_list_neck)]
backbone = EfficientRep(
in_channels=channels,
channels_list=channels_list,
num_repeats=num_repeat
)
neck = RepPANNeck(
channels_list=channels_list,
num_repeats=num_repeat
)
head_layers = build_effidehead_layer(channels_list, num_anchors, num_classes)
head = Detect(num_classes, anchors, num_layers, head_layers=head_layers)
return backbone, neck, head
def build_model(cfg, num_classes, device):
model = Model(cfg, channels=3, num_classes=num_classes, anchors=cfg.model.head.anchors).to(device)
return model

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src/YOLOv6/yolov6/solver/build.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import os
import math
import torch
import torch.nn as nn
def build_optimizer(cfg, model):
""" Build optimizer from cfg file."""
g_bnw, g_w, g_b = [], [], []
for v in model.modules():
if hasattr(v, 'bias') and isinstance(v.bias, nn.Parameter):
g_b.append(v.bias)
if isinstance(v, nn.BatchNorm2d):
g_bnw.append(v.weight)
elif hasattr(v, 'weight') and isinstance(v.weight, nn.Parameter):
g_w.append(v.weight)
assert cfg.solver.optim == 'SGD' or 'Adam', 'ERROR: unknown optimizer, use SGD defaulted'
if cfg.solver.optim == 'SGD':
optimizer = torch.optim.SGD(g_bnw, lr=cfg.solver.lr0, momentum=cfg.solver.momentum, nesterov=True)
elif cfg.solver.optim == 'Adam':
optimizer = torch.optim.Adam(g_bnw, lr=cfg.solver.lr0, betas=(cfg.solver.momentum, 0.999))
optimizer.add_param_group({'params': g_w, 'weight_decay': cfg.solver.weight_decay})
optimizer.add_param_group({'params': g_b})
del g_bnw, g_w, g_b
return optimizer
def build_lr_scheduler(cfg, optimizer, epochs):
"""Build learning rate scheduler from cfg file."""
if cfg.solver.lr_scheduler == 'Cosine':
lf = lambda x: ((1 - math.cos(x * math.pi / epochs)) / 2) * (cfg.solver.lrf - 1) + 1
else:
LOGGER.error('unknown lr scheduler, use Cosine defaulted')
scheduler = torch.optim.lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)
return scheduler, lf

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src/YOLOv6/yolov6/utils/checkpoint.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import os
import shutil
import torch
import os.path as osp
from yolov6.utils.events import LOGGER
from yolov6.utils.torch_utils import fuse_model
def load_state_dict(weights, model, map_location=None):
"""Load weights from checkpoint file, only assign weights those layers' name and shape are match."""
ckpt = torch.load(weights, map_location=map_location)
state_dict = ckpt['model'].float().state_dict()
model_state_dict = model.state_dict()
state_dict = {k: v for k, v in state_dict.items() if k in model_state_dict and v.shape == model_state_dict[k].shape}
model.load_state_dict(state_dict, strict=False)
del ckpt, state_dict, model_state_dict
return model
def load_checkpoint(weights, map_location=None, inplace=True, fuse=True):
"""Load model from checkpoint file."""
LOGGER.info("Loading checkpoint from {}".format(weights))
ckpt = torch.load(weights, map_location=map_location) # load
model = ckpt['ema' if ckpt.get('ema') else 'model'].float()
if fuse:
LOGGER.info("\nFusing model...")
model = fuse_model(model).eval()
else:
model = model.eval()
return model
def save_checkpoint(ckpt, is_best, save_dir, model_name=""):
""" Save checkpoint to the disk."""
if not osp.exists(save_dir):
os.makedirs(save_dir)
filename = osp.join(save_dir, model_name + '.pt')
torch.save(ckpt, filename)
if is_best:
best_filename = osp.join(save_dir, 'best_ckpt.pt')
shutil.copyfile(filename, best_filename)
def strip_optimizer(ckpt_dir, epoch):
for s in ['best', 'last']:
ckpt_path = osp.join(ckpt_dir, '{}_ckpt.pt'.format(s))
if not osp.exists(ckpt_path):
continue
ckpt = torch.load(ckpt_path, map_location=torch.device('cpu'))
if ckpt.get('ema'):
ckpt['model'] = ckpt['ema'] # replace model with ema
for k in ['optimizer', 'ema', 'updates']: # keys
ckpt[k] = None
ckpt['epoch'] = epoch
ckpt['model'].half() # to FP16
for p in ckpt['model'].parameters():
p.requires_grad = False
torch.save(ckpt, ckpt_path)

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src/YOLOv6/yolov6/utils/config.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
# The code is based on
# https://github.com/open-mmlab/mmcv/blob/master/mmcv/utils/config.py
# Copyright (c) OpenMMLab.
import os.path as osp
import shutil
import sys
import tempfile
from importlib import import_module
from addict import Dict
class ConfigDict(Dict):
def __missing__(self, name):
raise KeyError(name)
def __getattr__(self, name):
try:
value = super(ConfigDict, self).__getattr__(name)
except KeyError:
ex = AttributeError("'{}' object has no attribute '{}'".format(
self.__class__.__name__, name))
except Exception as e:
ex = e
else:
return value
raise ex
class Config(object):
@staticmethod
def _file2dict(filename):
filename = str(filename)
if filename.endswith('.py'):
with tempfile.TemporaryDirectory() as temp_config_dir:
shutil.copyfile(filename,
osp.join(temp_config_dir, '_tempconfig.py'))
sys.path.insert(0, temp_config_dir)
mod = import_module('_tempconfig')
sys.path.pop(0)
cfg_dict = {
name: value
for name, value in mod.__dict__.items()
if not name.startswith('__')
}
# delete imported module
del sys.modules['_tempconfig']
else:
raise IOError('Only .py type are supported now!')
cfg_text = filename + '\n'
with open(filename, 'r') as f:
cfg_text += f.read()
return cfg_dict, cfg_text
@staticmethod
def fromfile(filename):
cfg_dict, cfg_text = Config._file2dict(filename)
return Config(cfg_dict, cfg_text=cfg_text, filename=filename)
def __init__(self, cfg_dict=None, cfg_text=None, filename=None):
if cfg_dict is None:
cfg_dict = dict()
elif not isinstance(cfg_dict, dict):
raise TypeError('cfg_dict must be a dict, but got {}'.format(
type(cfg_dict)))
super(Config, self).__setattr__('_cfg_dict', ConfigDict(cfg_dict))
super(Config, self).__setattr__('_filename', filename)
if cfg_text:
text = cfg_text
elif filename:
with open(filename, 'r') as f:
text = f.read()
else:
text = ''
super(Config, self).__setattr__('_text', text)
@property
def filename(self):
return self._filename
@property
def text(self):
return self._text
def __repr__(self):
return 'Config (path: {}): {}'.format(self.filename,
self._cfg_dict.__repr__())
def __getattr__(self, name):
return getattr(self._cfg_dict, name)
def __setattr__(self, name, value):
if isinstance(value, dict):
value = ConfigDict(value)
self._cfg_dict.__setattr__(name, value)

59
src/YOLOv6/yolov6/utils/ema.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
# The code is based on
# https://github.com/ultralytics/yolov5/blob/master/utils/torch_utils.py
import math
from copy import deepcopy
import torch
import torch.nn as nn
class ModelEMA:
""" Model Exponential Moving Average from https://github.com/rwightman/pytorch-image-models
Keep a moving average of everything in the model state_dict (parameters and buffers).
This is intended to allow functionality like
https://www.tensorflow.org/api_docs/python/tf/train/ExponentialMovingAverage
A smoothed version of the weights is necessary for some training schemes to perform well.
This class is sensitive where it is initialized in the sequence of model init,
GPU assignment and distributed training wrappers.
"""
def __init__(self, model, decay=0.9999, updates=0):
self.ema = deepcopy(model.module if is_parallel(model) else model).eval() # FP32 EMA
self.updates = updates
self.decay = lambda x: decay * (1 - math.exp(-x / 2000))
for param in self.ema.parameters():
param.requires_grad_(False)
def update(self, model):
with torch.no_grad():
self.updates += 1
decay = self.decay(self.updates)
state_dict = model.module.state_dict() if is_parallel(model) else model.state_dict() # model state_dict
for k, item in self.ema.state_dict().items():
if item.dtype.is_floating_point:
item *= decay
item += (1 - decay) * state_dict[k].detach()
def update_attr(self, model, include=(), exclude=('process_group', 'reducer')):
copy_attr(self.ema, model, include, exclude)
def copy_attr(a, b, include=(), exclude=()):
"""Copy attributes from one instance and set them to another instance."""
for k, item in b.__dict__.items():
if (len(include) and k not in include) or k.startswith('_') or k in exclude:
continue
else:
setattr(a, k, item)
def is_parallel(model):
# Return True if model's type is DP or DDP, else False.
return type(model) in (nn.parallel.DataParallel, nn.parallel.DistributedDataParallel)
def de_parallel(model):
# De-parallelize a model. Return single-GPU model if model's type is DP or DDP.
return model.module if is_parallel(model) else model

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src/YOLOv6/yolov6/utils/envs.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import os
import random
import numpy as np
import torch
import torch.backends.cudnn as cudnn
from yolov6.utils.events import LOGGER
def get_envs():
"""Get PyTorch needed environments from system envirionments."""
local_rank = int(os.getenv('LOCAL_RANK', -1))
rank = int(os.getenv('RANK', -1))
world_size = int(os.getenv('WORLD_SIZE', 1))
return local_rank, rank, world_size
def select_device(device):
"""Set devices' information to the program.
Args:
device: a string, like 'cpu' or '1,2,3,4'
Returns:
torch.device
"""
if device == 'cpu':
os.environ['CUDA_VISIBLE_DEVICES'] = '-1'
LOGGER.info('Using CPU for training... ')
elif device:
os.environ['CUDA_VISIBLE_DEVICES'] = device
assert torch.cuda.is_available()
nd = len(device.strip().split(','))
LOGGER.info(f'Using {nd} GPU for training... ')
cuda = device != 'cpu' and torch.cuda.is_available()
device = torch.device('cuda:0' if cuda else 'cpu')
return device
def set_random_seed(seed, deterministic=False):
""" Set random state to random libray, numpy, torch and cudnn.
Args:
seed: int value.
deterministic: bool value.
"""
random.seed(seed)
np.random.seed(seed)
torch.manual_seed(seed)
if deterministic:
cudnn.deterministic = True
cudnn.benchmark = False
else:
cudnn.deterministic = False
cudnn.benchmark = True

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src/YOLOv6/yolov6/utils/events.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import os
import yaml
import logging
import shutil
def set_logging(name=None):
rank = int(os.getenv('RANK', -1))
logging.basicConfig(format="%(message)s", level=logging.INFO if (rank in (-1, 0)) else logging.WARNING)
return logging.getLogger(name)
LOGGER = set_logging(__name__)
NCOLS = shutil.get_terminal_size().columns
def load_yaml(file_path):
"""Load data from yaml file."""
if isinstance(file_path, str):
with open(file_path, errors='ignore') as f:
data_dict = yaml.safe_load(f)
return data_dict
def save_yaml(data_dict, save_path):
"""Save data to yaml file"""
with open(save_path, 'w') as f:
yaml.safe_dump(data_dict, f, sort_keys=False)
def write_tblog(tblogger, epoch, results, losses):
"""Display mAP and loss information to log."""
tblogger.add_scalar("val/mAP@0.5", results[0], epoch + 1)
tblogger.add_scalar("val/mAP@0.50:0.95", results[1], epoch + 1)
tblogger.add_scalar("train/iou_loss", losses[0], epoch + 1)
tblogger.add_scalar("train/l1_loss", losses[1], epoch + 1)
tblogger.add_scalar("train/obj_loss", losses[2], epoch + 1)
tblogger.add_scalar("train/cls_loss", losses[3], epoch + 1)

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src/YOLOv6/yolov6/utils/figure_iou.py
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#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import math
import torch
class IOUloss:
""" Calculate IoU loss.
"""
def __init__(self, box_format='xywh', iou_type='ciou', reduction='none', eps=1e-7):
""" Setting of the class.
Args:
box_format: (string), must be one of 'xywh' or 'xyxy'.
iou_type: (string), can be one of 'ciou', 'diou', 'giou' or 'siou'
reduction: (string), specifies the reduction to apply to the output, must be one of 'none', 'mean','sum'.
eps: (float), a value to avoid divide by zero error.
"""
self.box_format = box_format
self.iou_type = iou_type.lower()
self.reduction = reduction
self.eps = eps
def __call__(self, box1, box2):
""" calculate iou. box1 and box2 are torch tensor with shape [M, 4] and [Nm 4].
"""
box2 = box2.T
if self.box_format == 'xyxy':
b1_x1, b1_y1, b1_x2, b1_y2 = box1[0], box1[1], box1[2], box1[3]
b2_x1, b2_y1, b2_x2, b2_y2 = box2[0], box2[1], box2[2], box2[3]
elif self.box_format == 'xywh':
b1_x1, b1_x2 = box1[0] - box1[2] / 2, box1[0] + box1[2] / 2
b1_y1, b1_y2 = box1[1] - box1[3] / 2, box1[1] + box1[3] / 2
b2_x1, b2_x2 = box2[0] - box2[2] / 2, box2[0] + box2[2] / 2
b2_y1, b2_y2 = box2[1] - box2[3] / 2, box2[1] + box2[3] / 2
# Intersection area
inter = (torch.min(b1_x2, b2_x2) - torch.max(b1_x1, b2_x1)).clamp(0) * \
(torch.min(b1_y2, b2_y2) - torch.max(b1_y1, b2_y1)).clamp(0)
# Union Area
w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + self.eps
w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + self.eps
union = w1 * h1 + w2 * h2 - inter + self.eps
iou = inter / union
cw = torch.max(b1_x2, b2_x2) - torch.min(b1_x1, b2_x1) # convex width
ch = torch.max(b1_y2, b2_y2) - torch.min(b1_y1, b2_y1) # convex height
if self.iou_type == 'giou':
c_area = cw * ch + self.eps # convex area
iou = iou - (c_area - union) / c_area
elif self.iou_type in ['diou', 'ciou']:
c2 = cw ** 2 + ch ** 2 + self.eps # convex diagonal squared
rho2 = ((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 +
(b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4 # center distance squared
if self.iou_type == 'diou':
iou = iou - rho2 / c2
elif self.iou_type == 'ciou':
v = (4 / math.pi ** 2) * torch.pow(torch.atan(w2 / h2) - torch.atan(w1 / h1), 2)
with torch.no_grad():
alpha = v / (v - iou + (1 + self.eps))
iou = iou - (rho2 / c2 + v * alpha)
elif self.iou_type == 'siou':
# SIoU Loss https://arxiv.org/pdf/2205.12740.pdf
s_cw = (b2_x1 + b2_x2 - b1_x1 - b1_x2) * 0.5
s_ch = (b2_y1 + b2_y2 - b1_y1 - b1_y2) * 0.5
sigma = torch.pow(s_cw ** 2 + s_ch ** 2, 0.5)
sin_alpha_1 = torch.abs(s_cw) / sigma
sin_alpha_2 = torch.abs(s_ch) / sigma
threshold = pow(2, 0.5) / 2
sin_alpha = torch.where(sin_alpha_1 > threshold, sin_alpha_2, sin_alpha_1)
angle_cost = torch.cos(torch.arcsin(sin_alpha) * 2 - math.pi / 2)
rho_x = (s_cw / cw) ** 2
rho_y = (s_ch / ch) ** 2
gamma = angle_cost - 2
distance_cost = 2 - torch.exp(gamma * rho_x) - torch.exp(gamma * rho_y)
omiga_w = torch.abs(w1 - w2) / torch.max(w1, w2)
omiga_h = torch.abs(h1 - h2) / torch.max(h1, h2)
shape_cost = torch.pow(1 - torch.exp(-1 * omiga_w), 4) + torch.pow(1 - torch.exp(-1 * omiga_h), 4)
iou = iou - 0.5 * (distance_cost + shape_cost)
loss = 1.0 - iou
if self.reduction == 'sum':
loss = loss.sum()
elif self.reduction == 'mean':
loss = loss.mean()
return loss
def pairwise_bbox_iou(box1, box2, box_format='xywh'):
"""Calculate iou.
This code is based on https://github.com/Megvii-BaseDetection/YOLOX/blob/main/yolox/utils/boxes.py
"""
if box_format == 'xyxy':
lt = torch.max(box1[:, None, :2], box2[:, :2])
rb = torch.min(box1[:, None, 2:], box2[:, 2:])
area_1 = torch.prod(box1[:, 2:] - box1[:, :2], 1)
area_2 = torch.prod(box2[:, 2:] - box2[:, :2], 1)
elif box_format == 'xywh':
lt = torch.max(
(box1[:, None, :2] - box1[:, None, 2:] / 2),
(box2[:, :2] - box2[:, 2:] / 2),
)
rb = torch.min(
(box1[:, None, :2] + box1[:, None, 2:] / 2),
(box2[:, :2] + box2[:, 2:] / 2),
)
area_1 = torch.prod(box1[:, 2:], 1)
area_2 = torch.prod(box2[:, 2:], 1)
valid = (lt < rb).type(lt.type()).prod(dim=2)
inter = torch.prod(rb - lt, 2) * valid
return inter / (area_1[:, None] + area_2 - inter)

17
src/YOLOv6/yolov6/utils/general.py
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@ -0,0 +1,17 @@
#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import os
from pathlib import Path
def increment_name(path, master_process):
"increase save directory's id"
path = Path(path)
sep = ''
if path.exists() and master_process:
path, suffix = (path.with_suffix(''), path.suffix) if path.is_file() else (path, '')
for n in range(1, 9999):
p = f'{path}{sep}{n}{suffix}'
if not os.path.exists(p):
break
path = Path(p)
return path

106
src/YOLOv6/yolov6/utils/nms.py
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@ -0,0 +1,106 @@
#!/usr/bin/env python3
# -*- coding:utf-8 -*-
# The code is based on
# https://github.com/ultralytics/yolov5/blob/master/utils/general.py
import os
import time
import numpy as np
import cv2
import torch
import torchvision
# Settings
torch.set_printoptions(linewidth=320, precision=5, profile='long')
np.set_printoptions(linewidth=320, formatter={'float_kind': '{:11.5g}'.format}) # format short g, %precision=5
cv2.setNumThreads(0) # prevent OpenCV from multithreading (incompatible with PyTorch DataLoader)
os.environ['NUMEXPR_MAX_THREADS'] = str(min(os.cpu_count(), 8)) # NumExpr max threads
def xywh2xyxy(x):
# Convert boxes with shape [n, 4] from [x, y, w, h] to [x1, y1, x2, y2] where x1y1 is top-left, x2y2=bottom-right
y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
y[:, 0] = x[:, 0] - x[:, 2] / 2 # top left x
y[:, 1] = x[:, 1] - x[:, 3] / 2 # top left y
y[:, 2] = x[:, 0] + x[:, 2] / 2 # bottom right x
y[:, 3] = x[:, 1] + x[:, 3] / 2 # bottom right y
return y
def non_max_suppression(prediction, conf_thres=0.25, iou_thres=0.45, classes=None, agnostic=False, multi_label=False, max_det=300):
"""Runs Non-Maximum Suppression (NMS) on inference results.
This code is borrowed from: https://github.com/ultralytics/yolov5/blob/47233e1698b89fc437a4fb9463c815e9171be955/utils/general.py#L775
Args:
prediction: (tensor), with shape [N, 5 + num_classes], N is the number of bboxes.
conf_thres: (float) confidence threshold.
iou_thres: (float) iou threshold.
classes: (None or list[int]), if a list is provided, nms only keep the classes you provide.
agnostic: (bool), when it is set to True, we do class-independent nms, otherwise, different class would do nms respectively.
multi_label: (bool), when it is set to True, one box can have multi labels, otherwise, one box only huave one label.
max_det:(int), max number of output bboxes.
Returns:
list of detections, echo item is one tensor with shape (num_boxes, 6), 6 is for [xyxy, conf, cls].
"""
num_classes = prediction.shape[2] - 5 # number of classes
pred_candidates = prediction[..., 4] > conf_thres # candidates
# Check the parameters.
assert 0 <= conf_thres <= 1, f'conf_thresh must be in 0.0 to 1.0, however {conf_thres} is provided.'
assert 0 <= iou_thres <= 1, f'iou_thres must be in 0.0 to 1.0, however {iou_thres} is provided.'
# Function settings.
max_wh = 4096 # maximum box width and height
max_nms = 30000 # maximum number of boxes put into torchvision.ops.nms()
time_limit = 10.0 # quit the function when nms cost time exceed the limit time.
multi_label &= num_classes > 1 # multiple labels per box
tik = time.time()
output = [torch.zeros((0, 6), device=prediction.device)] * prediction.shape[0]
for img_idx, x in enumerate(prediction): # image index, image inference
x = x[pred_candidates[img_idx]] # confidence
# If no box remains, skip the next process.
if not x.shape[0]:
continue
# confidence multiply the objectness
x[:, 5:] *= x[:, 4:5] # conf = obj_conf * cls_conf
# (center x, center y, width, height) to (x1, y1, x2, y2)
box = xywh2xyxy(x[:, :4])
# Detections matrix's shape is (n,6), each row represents (xyxy, conf, cls)
if multi_label:
box_idx, class_idx = (x[:, 5:] > conf_thres).nonzero(as_tuple=False).T
x = torch.cat((box[box_idx], x[box_idx, class_idx + 5, None], class_idx[:, None].float()), 1)
else: # Only keep the class with highest scores.
conf, class_idx = x[:, 5:].max(1, keepdim=True)
x = torch.cat((box, conf, class_idx.float()), 1)[conf.view(-1) > conf_thres]
# Filter by class, only keep boxes whose category is in classes.
if classes is not None:
x = x[(x[:, 5:6] == torch.tensor(classes, device=x.device)).any(1)]
# Check shape
num_box = x.shape[0] # number of boxes
if not num_box: # no boxes kept.
continue
elif num_box > max_nms: # excess max boxes' number.
x = x[x[:, 4].argsort(descending=True)[:max_nms]] # sort by confidence
# Batched NMS
class_offset = x[:, 5:6] * (0 if agnostic else max_wh) # classes
boxes, scores = x[:, :4] + class_offset, x[:, 4] # boxes (offset by class), scores
keep_box_idx = torchvision.ops.nms(boxes, scores, iou_thres) # NMS
if keep_box_idx.shape[0] > max_det: # limit detections
keep_box_idx = keep_box_idx[:max_det]
output[img_idx] = x[keep_box_idx]
if (time.time() - tik) > time_limit:
print(f'WARNING: NMS cost time exceed the limited {time_limit}s.')
break # time limit exceeded
return output

109
src/YOLOv6/yolov6/utils/torch_utils.py
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@ -0,0 +1,109 @@
#!/usr/bin/env python3
# -*- coding:utf-8 -*-
import time
from contextlib import contextmanager
from copy import deepcopy
import torch
import torch.distributed as dist
import torch.nn as nn
import torch.nn.functional as F
from yolov6.utils.events import LOGGER
try:
import thop # for FLOPs computation
except ImportError:
thop = None
@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 time_sync():
# Waits for all kernels in all streams on a CUDA device to complete if cuda is available.
if torch.cuda.is_available():
torch.cuda.synchronize()
return time.time()
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 fuse_conv_and_bn(conv, bn):
# Fuse convolution and batchnorm 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,
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 fuse_model(model):
from yolov6.layers.common import Conv
for m in model.modules():
if type(m) is Conv 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
return model
def get_model_info(model, img_size=640):
"""Get model Params and GFlops.
Code base on https://github.com/Megvii-BaseDetection/YOLOX/blob/main/yolox/utils/model_utils.py
"""
from thop import profile
stride = 32
img = torch.zeros((1, 3, stride, stride), device=next(model.parameters()).device)
flops, params = profile(deepcopy(model), inputs=(img,), verbose=False)
params /= 1e6
flops /= 1e9
img_size = img_size if isinstance(img_size, list) else [img_size, img_size]
flops *= img_size[0] * img_size[1] / stride / stride * 2 # Gflops
info = "Params: {:.2f}M, Gflops: {:.2f}".format(params, flops)
return info

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src/YOLOv6/yolov6n.pt
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29
src/include/Air_Ground_CEC/atr.h
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@ -0,0 +1,29 @@
#ifndef ATR_H
#define ATR_H
#include <iostream>
#include <stdlib.h>
#include <QImage>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <cv_bridge/cv_bridge.h>
#include <QObject>
#include <QThread>
#include <QStringListModel>
#include <QSettings>
class ATR : public QThread{
Q_OBJECT
public:
ATR();
void runCommand();
void getSolvedPic();
cv::Mat SolvedImg;
Q_SIGNALS:
void show_solvedImage(QImage solvedImage);
};
#endif // ATR_H

5
src/include/Air_Ground_CEC/mainwindow.hpp
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@ -11,6 +11,7 @@
#include "qnode.hpp"
#include "dashboard.h"
#include <sensor_msgs/BatteryState.h>
#include "atr.h"
using namespace cv;
namespace Ui {
@ -49,7 +50,8 @@ public slots:
void Slider_linear_valueChanged(int v);
void importFrame();//read video
void slot_show_image(const QImage& image);//added
void slot_show_solvedImage(const QImage& solvedImage);
void slot_get_slovedImage();
private slots:
void on_Stop_receive_clicked();
@ -62,6 +64,7 @@ private slots:
private:
Ui::MainWindow *ui;
QNode qnode;
ATR atr;
JoyStick *rock_widget;
DashBoard *m_DashBoard_x;
DashBoard *m_DashBoard_th;

29
src/main/atr.cpp
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@ -0,0 +1,29 @@
#include "../include/Air_Ground_CEC/atr.h"
using namespace std;
#include "stdlib.h"
char filename[100];
ATR::ATR()
{
}
void ATR::runCommand(){
string ws = "cd /home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6";
string CMD = "python3 ../YOLOv6/tools/infer.py --weights ../YOLOv6/yolov6n.pt --source ../YOLOv6/imgdir/";
string Pic = "x.jpg";
string Command = ws + "&&" + CMD + Pic;
std::cout<<Command<<endl;
system(Command.c_str());
}
void ATR::getSolvedPic(){
string Path = "/home/cyber/Study/Codes/catkin_ws/src/Air_Ground_CEC/src/YOLOv6/runs/inference/exp/";
string SolvedPicPath = Path + "x.jpg";
sprintf(filename, SolvedPicPath.c_str());
SolvedImg = cv::imread(filename);
QImage image = QImage(SolvedImg.data,SolvedImg.cols,SolvedImg.rows,SolvedImg.step[0],QImage::Format_RGB888);
std::cout<<"image"<<endl;
emit show_solvedImage(image);
}

1
src/main/main.cpp
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@ -10,7 +10,6 @@
int main(int argc, char** argv)
{
QApplication app(argc, argv);
MainWindow CEC(0,0,0);

18
src/main/mainwindow.cpp
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@ -187,6 +187,8 @@ void MainWindow::connections(){
connect(rock_widget, SIGNAL(keyNumchanged(int)), this,
SLOT(slot_rockKeyChange(int)));
connect(ui->getimage, SIGNAL(clicked()), this, SLOT(slot_get_slovedImage()));
//绑定slider的函数
connect(ui->horizontalSlider_raw, SIGNAL(valueChanged(int)), this,
SLOT(Slider_raw_valueChanged(int)));
@ -199,10 +201,17 @@ void MainWindow::connections(){
//电源的信号
connect(&qnode, SIGNAL(batteryState(sensor_msgs::BatteryState)), this,
SLOT(slot_batteryState(sensor_msgs::BatteryState)));
// image
connect(&qnode, SIGNAL(show_image(QImage)), this, SLOT(slot_show_image(QImage)));
// solvedimage
connect(&atr, SIGNAL(show_solvedImage(QImage)), this, SLOT(slot_show_solvedImage(QImage)));
}
void MainWindow::slot_get_slovedImage(){
atr.runCommand();
atr.getSolvedPic();
}
void MainWindow::slot_speed_x(double x) {
m_DashBoard_x->set_speed(abs(x * 100));
@ -255,6 +264,10 @@ void MainWindow::slot_show_image(const QImage& image)
//qimage_mutex_.unlock();
}
void MainWindow::slot_show_solvedImage(const QImage& solvedImage){
ui->label_2->setPixmap(QPixmap::fromImage(solvedImage));
ui->label_2->resize(ui->label_2->pixmap()->size());
}
void MainWindow::setBtnStyles(){
/*
@ -399,6 +412,7 @@ void MainWindow::on_Stop_receive_clicked()
void MainWindow::on_ConnectTello_clicked()
{
/*
Tello T("192.168.10.1");
int socket_fd, err;
@ -408,5 +422,7 @@ void MainWindow::on_ConnectTello_clicked()
cout << 0;
exit(TELLODISCONNECTION);
}
*/
}

1
src/main/qnode.cpp
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@ -31,7 +31,6 @@ bool QNode::init() {
SubAndPubTopic();
});
return true;
}

24
src/ui/mainwindow.ui
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@ -203,16 +203,16 @@ margin:0px 0px 0px 0px;
<item row="0" column="0">
<widget class="QStackedWidget" name="stackedWidget_main">
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="mainWidget">
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>780</x>
<y>200</y>
<width>311</width>
<height>151</height>
<x>240</x>
<y>10</y>
<width>851</width>
<height>491</height>
</rect>
</property>
<property name="text">
@ -577,7 +577,7 @@ QProgressBar::chunk
<item>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QLabel" name="label_9">
<widget class="QLabel" name="solvedimage">
<property name="minimumSize">
<size>
<width>270</width>
@ -585,7 +585,7 @@ QProgressBar::chunk
</size>
</property>
<property name="text">
<string>map</string>
<string>target</string>
</property>
</widget>
</item>
@ -603,15 +603,15 @@ QProgressBar::chunk
</spacer>
</item>
<item>
<widget class="QLabel" name="label_12">
<widget class="QPushButton" name="getimage">
<property name="minimumSize">
<size>
<width>270</width>
<height>200</height>
<width>180</width>
<height>40</height>
</size>
</property>
<property name="text">
<string>target</string>
<string>PushButton</string>
</property>
</widget>
</item>
@ -661,7 +661,7 @@ QProgressBar::chunk
<item>
<widget class="QStackedWidget" name="stackedWidget_ros_control">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="keyboard_control">
<layout class="QHBoxLayout" name="horizontalLayout_3">

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