From 9470f91c4d147aa28b6b874e7b439739b1315ace Mon Sep 17 00:00:00 2001 From: "dependabot[bot]" <49699333+dependabot[bot]@users.noreply.github.com> Date: Mon, 25 Nov 2024 08:42:04 +0100 Subject: [PATCH 01/16] Bump astral-sh/setup-uv from 3 to 4 in /.github/workflows (#17753) Signed-off-by: dependabot[bot] Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> --- .github/workflows/ci.yaml | 6 +++--- .github/workflows/docs.yml | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml index cd574204f5..3a65188e4c 100644 --- a/.github/workflows/ci.yaml +++ b/.github/workflows/ci.yaml @@ -52,7 +52,7 @@ jobs: - uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - - uses: astral-sh/setup-uv@v3 + - uses: astral-sh/setup-uv@v4 - name: Install requirements shell: bash # for Windows compatibility run: | @@ -172,7 +172,7 @@ jobs: - uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - - uses: astral-sh/setup-uv@v3 + - uses: astral-sh/setup-uv@v4 - name: Install requirements shell: bash # for Windows compatibility run: | @@ -212,7 +212,7 @@ jobs: runs-on: gpu-latest steps: - uses: actions/checkout@v4 - - uses: astral-sh/setup-uv@v3 + - uses: astral-sh/setup-uv@v4 - name: Install requirements run: uv pip install --system . pytest-cov - name: Check environment diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml index f2d440c6d3..5b0c7a96d3 100644 --- a/.github/workflows/docs.yml +++ b/.github/workflows/docs.yml @@ -46,7 +46,7 @@ jobs: uses: actions/setup-python@v5 with: python-version: "3.x" - - uses: astral-sh/setup-uv@v3 + - uses: astral-sh/setup-uv@v4 - name: Install Dependencies run: uv pip install --system ruff black tqdm mkdocs-material "mkdocstrings[python]" mkdocs-jupyter mkdocs-redirects mkdocs-ultralytics-plugin mkdocs-macros-plugin - name: Ruff fixes From 65c797a89881dc2f09979f7b592566b7e5bfa977 Mon Sep 17 00:00:00 2001 From: Muhammad Rizwan Munawar Date: Mon, 25 Nov 2024 14:57:28 +0500 Subject: [PATCH 02/16] Standardize default region points in docs (#17721) Co-authored-by: Glenn Jocher --- docs/en/guides/heatmaps.md | 8 ++++---- docs/en/guides/object-counting.md | 8 ++++---- docs/en/guides/queue-management.md | 8 ++++---- docs/en/guides/region-counting.md | 2 +- docs/en/guides/speed-estimation.md | 4 ++-- ultralytics/cfg/__init__.py | 4 ++-- 6 files changed, 17 insertions(+), 17 deletions(-) diff --git a/docs/en/guides/heatmaps.md b/docs/en/guides/heatmaps.md index 038929ccfd..8bc86b69eb 100644 --- a/docs/en/guides/heatmaps.md +++ b/docs/en/guides/heatmaps.md @@ -49,7 +49,7 @@ A heatmap generated with [Ultralytics YOLO11](https://github.com/ultralytics/ult yolo solutions heatmap colormap=cv2.COLORMAP_INFERNO # Heatmaps + object counting - yolo solutions heatmap region=[(20, 400), (1080, 404), (1080, 360), (20, 360)] + yolo solutions heatmap region=[(20, 400), (1080, 400), (1080, 360), (20, 360)] ``` === "Python" @@ -67,9 +67,9 @@ A heatmap generated with [Ultralytics YOLO11](https://github.com/ultralytics/ult video_writer = cv2.VideoWriter("heatmap_output.avi", cv2.VideoWriter_fourcc(*"mp4v"), fps, (w, h)) # In case you want to apply object counting + heatmaps, you can pass region points. - # region_points = [(20, 400), (1080, 404)] # Define line points - # region_points = [(20, 400), (1080, 404), (1080, 360), (20, 360)] # Define region points - # region_points = [(20, 400), (1080, 404), (1080, 360), (20, 360), (20, 400)] # Define polygon points + # region_points = [(20, 400), (1080, 400)] # Define line points + # region_points = [(20, 400), (1080, 400), (1080, 360), (20, 360)] # Define region points + # region_points = [(20, 400), (1080, 400), (1080, 360), (20, 360), (20, 400)] # Define polygon points # Init heatmap heatmap = solutions.Heatmap( diff --git a/docs/en/guides/object-counting.md b/docs/en/guides/object-counting.md index ba21ffac2b..a6ea9d923d 100644 --- a/docs/en/guides/object-counting.md +++ b/docs/en/guides/object-counting.md @@ -58,7 +58,7 @@ Object counting with [Ultralytics YOLO11](https://github.com/ultralytics/ultraly yolo solutions count source="path/to/video/file.mp4" # Pass region coordinates - yolo solutions count region=[(20, 400), (1080, 404), (1080, 360), (20, 360)] + yolo solutions count region=[(20, 400), (1080, 400), (1080, 360), (20, 360)] ``` === "Python" @@ -74,8 +74,8 @@ Object counting with [Ultralytics YOLO11](https://github.com/ultralytics/ultraly # Define region points # region_points = [(20, 400), (1080, 400)] # For line counting - region_points = [(20, 400), (1080, 404), (1080, 360), (20, 360)] # For rectangle region counting - # region_points = [(20, 400), (1080, 404), (1080, 360), (20, 360), (20, 400)] # For polygon region counting + region_points = [(20, 400), (1080, 400), (1080, 360), (20, 360)] # For rectangle region counting + # region_points = [(20, 400), (1080, 400), (1080, 360), (20, 360), (20, 400)] # For polygon region counting # Video writer video_writer = cv2.VideoWriter("object_counting_output.avi", cv2.VideoWriter_fourcc(*"mp4v"), fps, (w, h)) @@ -148,7 +148,7 @@ def count_objects_in_region(video_path, output_video_path, model_path): w, h, fps = (int(cap.get(x)) for x in (cv2.CAP_PROP_FRAME_WIDTH, cv2.CAP_PROP_FRAME_HEIGHT, cv2.CAP_PROP_FPS)) video_writer = cv2.VideoWriter(output_video_path, cv2.VideoWriter_fourcc(*"mp4v"), fps, (w, h)) - region_points = [(20, 400), (1080, 404), (1080, 360), (20, 360)] + region_points = [(20, 400), (1080, 400), (1080, 360), (20, 360)] counter = solutions.ObjectCounter(show=True, region=region_points, model=model_path) while cap.isOpened(): diff --git a/docs/en/guides/queue-management.md b/docs/en/guides/queue-management.md index 9ce6d874ae..1901916344 100644 --- a/docs/en/guides/queue-management.md +++ b/docs/en/guides/queue-management.md @@ -45,7 +45,7 @@ Queue management using [Ultralytics YOLO11](https://github.com/ultralytics/ultra yolo solutions queue source="path/to/video/file.mp4" # Pass queue coordinates - yolo solutions queue region=[(20, 400), (1080, 404), (1080, 360), (20, 360)] + yolo solutions queue region=[(20, 400), (1080, 400), (1080, 360), (20, 360)] ``` === "Python" @@ -64,8 +64,8 @@ Queue management using [Ultralytics YOLO11](https://github.com/ultralytics/ultra video_writer = cv2.VideoWriter("queue_management.avi", cv2.VideoWriter_fourcc(*"mp4v"), fps, (w, h)) # Define queue region points - queue_region = [(20, 400), (1080, 404), (1080, 360), (20, 360)] # Define queue region points - # queue_region = [(20, 400), (1080, 404), (1080, 360), (20, 360), (20, 400)] # Define queue polygon points + queue_region = [(20, 400), (1080, 400), (1080, 360), (20, 360)] # Define queue region points + # queue_region = [(20, 400), (1080, 400), (1080, 360), (20, 360), (20, 400)] # Define queue polygon points # Init Queue Manager queue = solutions.QueueManager( @@ -126,7 +126,7 @@ import cv2 from ultralytics import solutions cap = cv2.VideoCapture("path/to/video.mp4") -queue_region = [(20, 400), (1080, 404), (1080, 360), (20, 360)] +queue_region = [(20, 400), (1080, 400), (1080, 360), (20, 360)] queue = solutions.QueueManager( model="yolo11n.pt", diff --git a/docs/en/guides/region-counting.md b/docs/en/guides/region-counting.md index c8363d68d3..94120bcab6 100644 --- a/docs/en/guides/region-counting.md +++ b/docs/en/guides/region-counting.md @@ -47,7 +47,7 @@ keywords: object counting, regions, YOLOv8, computer vision, Ultralytics, effici w, h, fps = (int(cap.get(x)) for x in (cv2.CAP_PROP_FRAME_WIDTH, cv2.CAP_PROP_FRAME_HEIGHT, cv2.CAP_PROP_FPS)) # Define region points - # region_points = [(20, 400), (1080, 404), (1080, 360), (20, 360)] # Pass region as list + # region_points = [(20, 400), (1080, 400), (1080, 360), (20, 360)] # Pass region as list # pass region as dictionary region_points = { diff --git a/docs/en/guides/speed-estimation.md b/docs/en/guides/speed-estimation.md index 722e11b178..a885bcaa2b 100644 --- a/docs/en/guides/speed-estimation.md +++ b/docs/en/guides/speed-estimation.md @@ -50,7 +50,7 @@ keywords: Ultralytics YOLO11, speed estimation, object tracking, computer vision yolo solutions speed source="path/to/video/file.mp4" # Pass region coordinates - yolo solutions speed region=[(20, 400), (1080, 404), (1080, 360), (20, 360)] + yolo solutions speed region=[(20, 400), (1080, 400), (1080, 360), (20, 360)] ``` === "Python" @@ -68,7 +68,7 @@ keywords: Ultralytics YOLO11, speed estimation, object tracking, computer vision video_writer = cv2.VideoWriter("speed_management.avi", cv2.VideoWriter_fourcc(*"mp4v"), fps, (w, h)) # Define speed region points - speed_region = [(20, 400), (1080, 404), (1080, 360), (20, 360)] + speed_region = [(20, 400), (1080, 400), (1080, 360), (20, 360)] speed = solutions.SpeedEstimator( show=True, # Display the output diff --git a/ultralytics/cfg/__init__.py b/ultralytics/cfg/__init__.py index dff25f418c..40cf16a5ee 100644 --- a/ultralytics/cfg/__init__.py +++ b/ultralytics/cfg/__init__.py @@ -83,13 +83,13 @@ SOLUTIONS_HELP_MSG = f""" See all ARGS at https://docs.ultralytics.com/usage/cfg or with 'yolo cfg' 1. Call object counting solution - yolo solutions count source="path/to/video/file.mp4" region=[(20, 400), (1080, 404), (1080, 360), (20, 360)] + yolo solutions count source="path/to/video/file.mp4" region=[(20, 400), (1080, 400), (1080, 360), (20, 360)] 2. Call heatmaps solution yolo solutions heatmap colormap=cv2.COLORMAP_PARAULA model=yolo11n.pt 3. Call queue management solution - yolo solutions queue region=[(20, 400), (1080, 404), (1080, 360), (20, 360)] model=yolo11n.pt + yolo solutions queue region=[(20, 400), (1080, 400), (1080, 360), (20, 360)] model=yolo11n.pt 4. Call workouts monitoring solution for push-ups yolo solutions workout model=yolo11n-pose.pt kpts=[6, 8, 10] From 6a762564c80c2aa2855459c5b2e85846692b8ae8 Mon Sep 17 00:00:00 2001 From: Laughing <61612323+Laughing-q@users.noreply.github.com> Date: Mon, 25 Nov 2024 18:00:24 +0800 Subject: [PATCH 03/16] Enable model.eval() usage for `YOLO` class (#17754) --- ultralytics/engine/model.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/ultralytics/engine/model.py b/ultralytics/engine/model.py index 718176726f..667b54eba2 100644 --- a/ultralytics/engine/model.py +++ b/ultralytics/engine/model.py @@ -1126,3 +1126,20 @@ class Model(nn.Module): description of the expected behavior and structure. """ raise NotImplementedError("Please provide task map for your model!") + + def eval(self): + """ + Sets the model to evaluation mode. + + This method changes the model's mode to evaluation, which affects layers like dropout and batch normalization + that behave differently during training and evaluation. + + Returns: + (Model): The model instance with evaluation mode set. + + Examples: + >> model = YOLO("yolo11n.pt") + >> model.eval() + """ + self.model.eval() + return self From ee6fde0beb75e96c44fe6665c6296e81ea1f686a Mon Sep 17 00:00:00 2001 From: Burhan <62214284+Burhan-Q@users.noreply.github.com> Date: Mon, 25 Nov 2024 05:33:11 -0500 Subject: [PATCH 04/16] `ultralytics 8.3.37` TensorRT auto-workspace size (#17748) Co-authored-by: Glenn Jocher --- docs/en/integrations/tensorrt.md | 6 +++--- docs/en/macros/export-args.md | 30 +++++++++++++++--------------- ultralytics/__init__.py | 2 +- ultralytics/cfg/default.yaml | 2 +- ultralytics/engine/exporter.py | 8 ++++---- 5 files changed, 24 insertions(+), 24 deletions(-) diff --git a/docs/en/integrations/tensorrt.md b/docs/en/integrations/tensorrt.md index 1a8e5a9161..ec1cfc3c99 100644 --- a/docs/en/integrations/tensorrt.md +++ b/docs/en/integrations/tensorrt.md @@ -127,11 +127,11 @@ The arguments provided when using [export](../modes/export.md) for an Ultralytic - Adjust the `workspace` value according to your calibration needs and resource availability. While a larger `workspace` may increase calibration time, it allows TensorRT to explore a wider range of optimization tactics, potentially enhancing model performance and [accuracy](https://www.ultralytics.com/glossary/accuracy). Conversely, a smaller `workspace` can reduce calibration time but may limit the optimization strategies, affecting the quality of the quantized model. - - Default is `workspace=4` (GiB), this value may need to be increased if calibration crashes (exits without warning). + - Default is `workspace=None`, which will allow for TensorRT to automatically allocate memory, when configuring manually, this value may need to be increased if calibration crashes (exits without warning). - - TensorRT will report `UNSUPPORTED_STATE` during export if the value for `workspace` is larger than the memory available to the device, which means the value for `workspace` should be lowered. + - TensorRT will report `UNSUPPORTED_STATE` during export if the value for `workspace` is larger than the memory available to the device, which means the value for `workspace` should be lowered or set to `None`. - - If `workspace` is set to max value and calibration fails/crashes, consider reducing the values for `imgsz` and `batch` to reduce memory requirements. + - If `workspace` is set to max value and calibration fails/crashes, consider using `None` for auto-allocation or by reducing the values for `imgsz` and `batch` to reduce memory requirements. - Remember calibration for INT8 is specific to each device, borrowing a "high-end" GPU for calibration, might result in poor performance when inference is run on another device. diff --git a/docs/en/macros/export-args.md b/docs/en/macros/export-args.md index 242090d7c6..803ce14902 100644 --- a/docs/en/macros/export-args.md +++ b/docs/en/macros/export-args.md @@ -1,15 +1,15 @@ -| Argument | Type | Default | Description | -| ----------- | ---------------- | --------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| `format` | `str` | `'torchscript'` | Target format for the exported model, such as `'onnx'`, `'torchscript'`, `'tensorflow'`, or others, defining compatibility with various deployment environments. | -| `imgsz` | `int` or `tuple` | `640` | Desired image size for the model input. Can be an integer for square images or a tuple `(height, width)` for specific dimensions. | -| `keras` | `bool` | `False` | Enables export to Keras format for [TensorFlow](https://www.ultralytics.com/glossary/tensorflow) SavedModel, providing compatibility with TensorFlow serving and APIs. | -| `optimize` | `bool` | `False` | Applies optimization for mobile devices when exporting to TorchScript, potentially reducing model size and improving performance. | -| `half` | `bool` | `False` | Enables FP16 (half-precision) quantization, reducing model size and potentially speeding up inference on supported hardware. | -| `int8` | `bool` | `False` | Activates INT8 quantization, further compressing the model and speeding up inference with minimal [accuracy](https://www.ultralytics.com/glossary/accuracy) loss, primarily for edge devices. | -| `dynamic` | `bool` | `False` | Allows dynamic input sizes for ONNX, TensorRT and OpenVINO exports, enhancing flexibility in handling varying image dimensions. | -| `simplify` | `bool` | `True` | Simplifies the model graph for ONNX exports with `onnxslim`, potentially improving performance and compatibility. | -| `opset` | `int` | `None` | Specifies the ONNX opset version for compatibility with different ONNX parsers and runtimes. If not set, uses the latest supported version. | -| `workspace` | `float` | `4.0` | Sets the maximum workspace size in GiB for TensorRT optimizations, balancing memory usage and performance. | -| `nms` | `bool` | `False` | Adds Non-Maximum Suppression (NMS) to the CoreML export, essential for accurate and efficient detection post-processing. | -| `batch` | `int` | `1` | Specifies export model batch inference size or the max number of images the exported model will process concurrently in `predict` mode. | -| `device` | `str` | `None` | Specifies the device for exporting: GPU (`device=0`), CPU (`device=cpu`), MPS for Apple silicon (`device=mps`) or DLA for NVIDIA Jetson (`device=dla:0` or `device=dla:1`). | +| Argument | Type | Default | Description | +| ----------- | ----------------- | --------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| `format` | `str` | `'torchscript'` | Target format for the exported model, such as `'onnx'`, `'torchscript'`, `'tensorflow'`, or others, defining compatibility with various deployment environments. | +| `imgsz` | `int` or `tuple` | `640` | Desired image size for the model input. Can be an integer for square images or a tuple `(height, width)` for specific dimensions. | +| `keras` | `bool` | `False` | Enables export to Keras format for [TensorFlow](https://www.ultralytics.com/glossary/tensorflow) SavedModel, providing compatibility with TensorFlow serving and APIs. | +| `optimize` | `bool` | `False` | Applies optimization for mobile devices when exporting to TorchScript, potentially reducing model size and improving performance. | +| `half` | `bool` | `False` | Enables FP16 (half-precision) quantization, reducing model size and potentially speeding up inference on supported hardware. | +| `int8` | `bool` | `False` | Activates INT8 quantization, further compressing the model and speeding up inference with minimal [accuracy](https://www.ultralytics.com/glossary/accuracy) loss, primarily for edge devices. | +| `dynamic` | `bool` | `False` | Allows dynamic input sizes for ONNX, TensorRT and OpenVINO exports, enhancing flexibility in handling varying image dimensions. | +| `simplify` | `bool` | `True` | Simplifies the model graph for ONNX exports with `onnxslim`, potentially improving performance and compatibility. | +| `opset` | `int` | `None` | Specifies the ONNX opset version for compatibility with different ONNX parsers and runtimes. If not set, uses the latest supported version. | +| `workspace` | `float` or `None` | `None` | Sets the maximum workspace size in GiB for TensorRT optimizations, balancing memory usage and performance; use `None` for auto-allocation by TensorRT up to device maximum. | +| `nms` | `bool` | `False` | Adds Non-Maximum Suppression (NMS) to the CoreML export, essential for accurate and efficient detection post-processing. | +| `batch` | `int` | `1` | Specifies export model batch inference size or the max number of images the exported model will process concurrently in `predict` mode. | +| `device` | `str` | `None` | Specifies the device for exporting: GPU (`device=0`), CPU (`device=cpu`), MPS for Apple silicon (`device=mps`) or DLA for NVIDIA Jetson (`device=dla:0` or `device=dla:1`). | diff --git a/ultralytics/__init__.py b/ultralytics/__init__.py index 35c0630168..e17c6c7d12 100644 --- a/ultralytics/__init__.py +++ b/ultralytics/__init__.py @@ -1,6 +1,6 @@ # Ultralytics YOLO 🚀, AGPL-3.0 license -__version__ = "8.3.36" +__version__ = "8.3.37" import os diff --git a/ultralytics/cfg/default.yaml b/ultralytics/cfg/default.yaml index 2ef1f4284f..9f6eb51a42 100644 --- a/ultralytics/cfg/default.yaml +++ b/ultralytics/cfg/default.yaml @@ -83,7 +83,7 @@ int8: False # (bool) CoreML/TF INT8 quantization dynamic: False # (bool) ONNX/TF/TensorRT: dynamic axes simplify: True # (bool) ONNX: simplify model using `onnxslim` opset: # (int, optional) ONNX: opset version -workspace: 4 # (int) TensorRT: workspace size (GB) +workspace: None # (float, optional) TensorRT: workspace size (GiB), `None` will let TensorRT auto-allocate memory nms: False # (bool) CoreML: add NMS # Hyperparameters ------------------------------------------------------------------------------------------------------ diff --git a/ultralytics/engine/exporter.py b/ultralytics/engine/exporter.py index 77996f0f34..f24e792941 100644 --- a/ultralytics/engine/exporter.py +++ b/ultralytics/engine/exporter.py @@ -781,10 +781,10 @@ class Exporter: # Engine builder builder = trt.Builder(logger) config = builder.create_builder_config() - workspace = int(self.args.workspace * (1 << 30)) - if is_trt10: + workspace = int(self.args.workspace * (1 << 30)) if self.args.workspace is not None else 0 + if is_trt10 and workspace > 0: config.set_memory_pool_limit(trt.MemoryPoolType.WORKSPACE, workspace) - else: # TensorRT versions 7, 8 + elif workspace > 0 and not is_trt10: # TensorRT versions 7, 8 config.max_workspace_size = workspace flag = 1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH) network = builder.create_network(flag) @@ -823,7 +823,7 @@ class Exporter: LOGGER.warning(f"{prefix} WARNING ⚠️ 'dynamic=True' model requires max batch size, i.e. 'batch=16'") profile = builder.create_optimization_profile() min_shape = (1, shape[1], 32, 32) # minimum input shape - max_shape = (*shape[:2], *(int(max(1, self.args.workspace) * d) for d in shape[2:])) # max input shape + max_shape = (*shape[:2], *(int(max(1, workspace) * d) for d in shape[2:])) # max input shape for inp in inputs: profile.set_shape(inp.name, min=min_shape, opt=shape, max=max_shape) config.add_optimization_profile(profile) From 174a1e7a959da63687fd1b01ad5ee3884a02f05e Mon Sep 17 00:00:00 2001 From: Glenn Jocher Date: Mon, 25 Nov 2024 12:00:16 +0100 Subject: [PATCH 05/16] Delete .github/workflows/codeql.yaml (#17772) --- .github/workflows/codeql.yaml | 42 ----------------------------------- 1 file changed, 42 deletions(-) delete mode 100644 .github/workflows/codeql.yaml diff --git a/.github/workflows/codeql.yaml b/.github/workflows/codeql.yaml deleted file mode 100644 index e6e3e85d3c..0000000000 --- a/.github/workflows/codeql.yaml +++ /dev/null @@ -1,42 +0,0 @@ -# Ultralytics YOLO 🚀, AGPL-3.0 license - -name: "CodeQL" - -on: - schedule: - - cron: "0 0 1 * *" - workflow_dispatch: - -jobs: - analyze: - name: Analyze - runs-on: ${{ 'ubuntu-latest' }} - permissions: - actions: read - contents: read - security-events: write - - strategy: - fail-fast: false - matrix: - language: ["python"] - # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python', 'ruby' ] - - steps: - - name: Checkout repository - uses: actions/checkout@v4 - - # Initializes the CodeQL tools for scanning. - - name: Initialize CodeQL - uses: github/codeql-action/init@v3 - with: - languages: ${{ matrix.language }} - # If you wish to specify custom queries, you can do so here or in a config file. - # By default, queries listed here will override any specified in a config file. - # Prefix the list here with "+" to use these queries and those in the config file. - # queries: security-extended,security-and-quality - - - name: Perform CodeQL Analysis - uses: github/codeql-action/analyze@v3 - with: - category: "/language:${{matrix.language}}" From acec3d9c1c74f00b4c6937c64848494be8fa802f Mon Sep 17 00:00:00 2001 From: Andrew <945984093@qq.com> Date: Mon, 25 Nov 2024 23:35:17 +0800 Subject: [PATCH 06/16] Fix `RepC3` module for RT-DETR models (#17086) Co-authored-by: Ultralytics Assistant <135830346+UltralyticsAssistant@users.noreply.github.com> Co-authored-by: Laughing <61612323+Laughing-q@users.noreply.github.com> Co-authored-by: Glenn Jocher --- ultralytics/nn/modules/block.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ultralytics/nn/modules/block.py b/ultralytics/nn/modules/block.py index 08188b6e7a..ddb21a74de 100644 --- a/ultralytics/nn/modules/block.py +++ b/ultralytics/nn/modules/block.py @@ -280,8 +280,8 @@ class RepC3(nn.Module): """Initialize CSP Bottleneck with a single convolution using input channels, output channels, and number.""" super().__init__() c_ = int(c2 * e) # hidden channels - self.cv1 = Conv(c1, c2, 1, 1) - self.cv2 = Conv(c1, c2, 1, 1) + self.cv1 = Conv(c1, c_, 1, 1) + self.cv2 = Conv(c1, c_, 1, 1) self.m = nn.Sequential(*[RepConv(c_, c_) for _ in range(n)]) self.cv3 = Conv(c_, c2, 1, 1) if c_ != c2 else nn.Identity() From c5fd0bb48a741bc5dbe7bd258debc58071e0be3c Mon Sep 17 00:00:00 2001 From: Burhan <62214284+Burhan-Q@users.noreply.github.com> Date: Mon, 25 Nov 2024 10:37:07 -0500 Subject: [PATCH 07/16] Removes unused argument `label_smoothing` (#16014) Co-authored-by: UltralyticsAssistant Co-authored-by: Ultralytics Assistant <135830346+UltralyticsAssistant@users.noreply.github.com> Co-authored-by: Francesco Mattioli Co-authored-by: Laughing-q <1185102784@qq.com> Co-authored-by: Laughing <61612323+Laughing-q@users.noreply.github.com> Co-authored-by: Glenn Jocher --- docs/en/macros/train-args.md | 1 - ultralytics/cfg/__init__.py | 4 +++- ultralytics/cfg/default.yaml | 1 - ultralytics/utils/__init__.py | 7 +++++-- 4 files changed, 8 insertions(+), 5 deletions(-) diff --git a/docs/en/macros/train-args.md b/docs/en/macros/train-args.md index 0bc48f8117..924bd31345 100644 --- a/docs/en/macros/train-args.md +++ b/docs/en/macros/train-args.md @@ -40,7 +40,6 @@ | `dfl` | `1.5` | Weight of the distribution focal loss, used in certain YOLO versions for fine-grained classification. | | `pose` | `12.0` | Weight of the pose loss in models trained for pose estimation, influencing the emphasis on accurately predicting pose keypoints. | | `kobj` | `2.0` | Weight of the keypoint objectness loss in pose estimation models, balancing detection confidence with pose accuracy. | -| `label_smoothing` | `0.0` | Applies label smoothing, softening hard labels to a mix of the target label and a uniform distribution over labels, can improve generalization. | | `nbs` | `64` | Nominal batch size for normalization of loss. | | `overlap_mask` | `True` | Determines whether object masks should be merged into a single mask for training, or kept separate for each object. In case of overlap, the smaller mask is overlayed on top of the larger mask during merge. | | `mask_ratio` | `4` | Downsample ratio for segmentation masks, affecting the resolution of masks used during training. | diff --git a/ultralytics/cfg/__init__.py b/ultralytics/cfg/__init__.py index 40cf16a5ee..9bfd6a6000 100644 --- a/ultralytics/cfg/__init__.py +++ b/ultralytics/cfg/__init__.py @@ -160,7 +160,6 @@ CFG_FRACTION_KEYS = { # fractional float arguments with 0.0<=values<=1.0 "weight_decay", "warmup_momentum", "warmup_bias_lr", - "label_smoothing", "hsv_h", "hsv_s", "hsv_v", @@ -436,6 +435,9 @@ def _handle_deprecation(custom): if key == "line_thickness": deprecation_warn(key, "line_width") custom["line_width"] = custom.pop("line_thickness") + if key == "label_smoothing": + deprecation_warn(key) + custom.pop("label_smoothing") return custom diff --git a/ultralytics/cfg/default.yaml b/ultralytics/cfg/default.yaml index 9f6eb51a42..0423366f77 100644 --- a/ultralytics/cfg/default.yaml +++ b/ultralytics/cfg/default.yaml @@ -99,7 +99,6 @@ cls: 0.5 # (float) cls loss gain (scale with pixels) dfl: 1.5 # (float) dfl loss gain pose: 12.0 # (float) pose loss gain kobj: 1.0 # (float) keypoint obj loss gain -label_smoothing: 0.0 # (float) label smoothing (fraction) nbs: 64 # (int) nominal batch size hsv_h: 0.015 # (float) image HSV-Hue augmentation (fraction) hsv_s: 0.7 # (float) image HSV-Saturation augmentation (fraction) diff --git a/ultralytics/utils/__init__.py b/ultralytics/utils/__init__.py index a2540c6b85..b6d620fdb4 100644 --- a/ultralytics/utils/__init__.py +++ b/ultralytics/utils/__init__.py @@ -1255,9 +1255,12 @@ class SettingsManager(JSONDict): self.update(self.defaults) -def deprecation_warn(arg, new_arg): +def deprecation_warn(arg, new_arg=None): """Issue a deprecation warning when a deprecated argument is used, suggesting an updated argument.""" - LOGGER.warning(f"WARNING ⚠️ '{arg}' is deprecated and will be removed in in the future. Use '{new_arg}' instead.") + msg = f"WARNING ⚠️ '{arg}' is deprecated and will be removed in in the future." + if new_arg is not None: + msg += f" Use '{new_arg}' instead." + LOGGER.warning(msg) def clean_url(url): From 0727b43ca6f754e094f7206c4aefd96d208b1c2c Mon Sep 17 00:00:00 2001 From: Mohammed Yasin <32206511+Y-T-G@users.noreply.github.com> Date: Mon, 25 Nov 2024 23:39:14 +0800 Subject: [PATCH 08/16] Concat all segments by default for multi-part masks (#16826) Co-authored-by: Ultralytics Assistant <135830346+UltralyticsAssistant@users.noreply.github.com> Co-authored-by: Laughing-q <1185102784@qq.com> Co-authored-by: Laughing <61612323+Laughing-q@users.noreply.github.com> Co-authored-by: Glenn Jocher --- ultralytics/utils/ops.py | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) diff --git a/ultralytics/utils/ops.py b/ultralytics/utils/ops.py index b76168f95e..07b54b3e43 100644 --- a/ultralytics/utils/ops.py +++ b/ultralytics/utils/ops.py @@ -783,23 +783,29 @@ def regularize_rboxes(rboxes): return torch.stack([x, y, w_, h_, t], dim=-1) # regularized boxes -def masks2segments(masks, strategy="largest"): +def masks2segments(masks, strategy="all"): """ It takes a list of masks(n,h,w) and returns a list of segments(n,xy). Args: masks (torch.Tensor): the output of the model, which is a tensor of shape (batch_size, 160, 160) - strategy (str): 'concat' or 'largest'. Defaults to largest + strategy (str): 'all' or 'largest'. Defaults to all Returns: segments (List): list of segment masks """ + from ultralytics.data.converter import merge_multi_segment + segments = [] for x in masks.int().cpu().numpy().astype("uint8"): c = cv2.findContours(x, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[0] if c: - if strategy == "concat": # concatenate all segments - c = np.concatenate([x.reshape(-1, 2) for x in c]) + if strategy == "all": # merge and concatenate all segments + c = ( + np.concatenate(merge_multi_segment([x.reshape(-1, 2) for x in c])) + if len(c) > 1 + else c[0].reshape(-1, 2) + ) elif strategy == "largest": # select largest segment c = np.array(c[np.array([len(x) for x in c]).argmax()]).reshape(-1, 2) else: From cde7a9f5d7b835d6505b40cb5a91dcb66fd85f44 Mon Sep 17 00:00:00 2001 From: Lakshantha Dissanayake Date: Mon, 25 Nov 2024 07:45:19 -0800 Subject: [PATCH 09/16] Improve `is_jetson` to support more Jetson devices (#17770) Co-authored-by: UltralyticsAssistant Co-authored-by: Glenn Jocher --- ultralytics/utils/__init__.py | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/ultralytics/utils/__init__.py b/ultralytics/utils/__init__.py index b6d620fdb4..f02e148bf9 100644 --- a/ultralytics/utils/__init__.py +++ b/ultralytics/utils/__init__.py @@ -607,13 +607,12 @@ def is_raspberrypi() -> bool: def is_jetson() -> bool: """ - Determines if the Python environment is running on a Jetson Nano or Jetson Orin device by checking the device model - information. + Determines if the Python environment is running on an NVIDIA Jetson device by checking the device model information. Returns: - (bool): True if running on a Jetson Nano or Jetson Orin, False otherwise. + (bool): True if running on an NVIDIA Jetson device, False otherwise. """ - return "NVIDIA" in PROC_DEVICE_MODEL # i.e. "NVIDIA Jetson Nano" or "NVIDIA Orin NX" + return any(keyword in PROC_DEVICE_MODEL.lower() for keyword in ("nvidia", "jetson")) def is_online() -> bool: From e1adef7a1df1a198b026fcd3404c9315f465ea9b Mon Sep 17 00:00:00 2001 From: Laughing <61612323+Laughing-q@users.noreply.github.com> Date: Mon, 25 Nov 2024 23:46:14 +0800 Subject: [PATCH 10/16] Fix DLA export (#17765) Co-authored-by: UltralyticsAssistant Co-authored-by: Lakshantha Dissanayake Co-authored-by: Glenn Jocher --- ultralytics/engine/exporter.py | 1 + 1 file changed, 1 insertion(+) diff --git a/ultralytics/engine/exporter.py b/ultralytics/engine/exporter.py index f24e792941..c0e29e7e1c 100644 --- a/ultralytics/engine/exporter.py +++ b/ultralytics/engine/exporter.py @@ -220,6 +220,7 @@ class Exporter: self.args.device = "0" if fmt == "engine" and "dla" in str(self.args.device): # convert int/list to str first dla = self.args.device.split(":")[-1] + self.args.device = "0" # update device to "0" assert dla in {"0", "1"}, f"Expected self.args.device='dla:0' or 'dla:1, but got {self.args.device}." self.device = select_device("cpu" if self.args.device is None else self.args.device) From d3b53d34e5e618e2c002c433e2473abdb800b11f Mon Sep 17 00:00:00 2001 From: Glenn Jocher Date: Mon, 25 Nov 2024 19:10:33 +0100 Subject: [PATCH 11/16] Fix CI.md CodeQL badges (#17779) Co-authored-by: UltralyticsAssistant --- docs/en/help/CI.md | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/docs/en/help/CI.md b/docs/en/help/CI.md index 0f6b4c3a40..4879545167 100644 --- a/docs/en/help/CI.md +++ b/docs/en/help/CI.md @@ -22,18 +22,18 @@ Here's a brief description of our CI actions: Below is the table showing the status of these CI tests for our main repositories: -| Repository | CI | Docker Deployment | Broken Links | CodeQL | PyPI and Docs Publishing | -| --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -| [yolov3](https://github.com/ultralytics/yolov3) | [![YOLOv3 CI](https://github.com/ultralytics/yolov3/actions/workflows/ci-testing.yml/badge.svg)](https://github.com/ultralytics/yolov3/actions/workflows/ci-testing.yml) | [![Publish Docker Images](https://github.com/ultralytics/yolov3/actions/workflows/docker.yml/badge.svg)](https://github.com/ultralytics/yolov3/actions/workflows/docker.yml) | [![Check Broken links](https://github.com/ultralytics/yolov3/actions/workflows/links.yml/badge.svg)](https://github.com/ultralytics/yolov3/actions/workflows/links.yml) | [![CodeQL](https://github.com/ultralytics/yolov3/actions/workflows/codeql-analysis.yml/badge.svg)](https://github.com/ultralytics/yolov3/actions/workflows/codeql-analysis.yml) | | -| [yolov5](https://github.com/ultralytics/yolov5) | [![YOLOv5 CI](https://github.com/ultralytics/yolov5/actions/workflows/ci-testing.yml/badge.svg)](https://github.com/ultralytics/yolov5/actions/workflows/ci-testing.yml) | [![Publish Docker Images](https://github.com/ultralytics/yolov5/actions/workflows/docker.yml/badge.svg)](https://github.com/ultralytics/yolov5/actions/workflows/docker.yml) | [![Check Broken links](https://github.com/ultralytics/yolov5/actions/workflows/links.yml/badge.svg)](https://github.com/ultralytics/yolov5/actions/workflows/links.yml) | [![CodeQL](https://github.com/ultralytics/yolov5/actions/workflows/codeql-analysis.yml/badge.svg)](https://github.com/ultralytics/yolov5/actions/workflows/codeql-analysis.yml) | | -| [ultralytics](https://github.com/ultralytics/ultralytics) | [![ultralytics CI](https://github.com/ultralytics/ultralytics/actions/workflows/ci.yaml/badge.svg)](https://github.com/ultralytics/ultralytics/actions/workflows/ci.yaml) | [![Publish Docker 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Actions](https://github.com/ultralytics/mkdocs/actions/workflows/format.yml/badge.svg)](https://github.com/ultralytics/mkdocs/actions/workflows/format.yml) | | | [![CodeQL](https://github.com/ultralytics/mkdocs/actions/workflows/github-code-scanning/codeql/badge.svg)](https://github.com/ultralytics/mkdocs/actions/workflows/github-code-scanning/codeql) | [![Publish to PyPI](https://github.com/ultralytics/mkdocs/actions/workflows/publish.yml/badge.svg)](https://github.com/ultralytics/mkdocs/actions/workflows/publish.yml) | -| [thop](https://github.com/ultralytics/thop) | [![Ultralytics Actions](https://github.com/ultralytics/thop/actions/workflows/format.yml/badge.svg)](https://github.com/ultralytics/thop/actions/workflows/format.yml) | | | [![CodeQL](https://github.com/ultralytics/thop/actions/workflows/github-code-scanning/codeql/badge.svg)](https://github.com/ultralytics/thop/actions/workflows/github-code-scanning/codeql) | [![Publish to PyPI](https://github.com/ultralytics/thop/actions/workflows/publish.yml/badge.svg)](https://github.com/ultralytics/mkdocs/actions/workflows/publish.yml) | -| [actions](https://github.com/ultralytics/mkdocs) | [![Ultralytics Actions](https://github.com/ultralytics/actions/actions/workflows/format.yml/badge.svg)](https://github.com/ultralytics/actions/actions/workflows/format.yml) | | | [![CodeQL](https://github.com/ultralytics/actions/actions/workflows/github-code-scanning/codeql/badge.svg)](https://github.com/ultralytics/actions/actions/workflows/github-code-scanning/codeql) | [![Publish to PyPI](https://github.com/ultralytics/actions/actions/workflows/publish.yml/badge.svg)](https://github.com/ultralytics/actions/actions/workflows/publish.yml) | -| [docs](https://github.com/ultralytics/docs) | [![Ultralytics Actions](https://github.com/ultralytics/docs/actions/workflows/format.yml/badge.svg)](https://github.com/ultralytics/docs/actions/workflows/format.yml) | | [![Check Broken links](https://github.com/ultralytics/docs/actions/workflows/links.yml/badge.svg)](https://github.com/ultralytics/docs/actions/workflows/links.yml)[![Check Domains](https://github.com/ultralytics/docs/actions/workflows/check_domains.yml/badge.svg)](https://github.com/ultralytics/docs/actions/workflows/check_domains.yml) | | [![pages-build-deployment](https://github.com/ultralytics/docs/actions/workflows/pages/pages-build-deployment/badge.svg)](https://github.com/ultralytics/docs/actions/workflows/pages/pages-build-deployment) | -| [handbook](https://github.com/ultralytics/handbook) | [![Ultralytics Actions](https://github.com/ultralytics/handbook/actions/workflows/format.yml/badge.svg)](https://github.com/ultralytics/handbook/actions/workflows/format.yml) | | [![Check Broken links](https://github.com/ultralytics/handbook/actions/workflows/links.yml/badge.svg)](https://github.com/ultralytics/handbook/actions/workflows/links.yml) | | [![pages-build-deployment](https://github.com/ultralytics/handbook/actions/workflows/pages/pages-build-deployment/badge.svg)](https://github.com/ultralytics/handbook/actions/workflows/pages/pages-build-deployment) | +| Repository | CI | Docker Deployment | Broken Links | CodeQL | PyPI and Docs Publishing | +| --------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | +| [yolov3](https://github.com/ultralytics/yolov3) | [![YOLOv3 CI](https://github.com/ultralytics/yolov3/actions/workflows/ci-testing.yml/badge.svg)](https://github.com/ultralytics/yolov3/actions/workflows/ci-testing.yml) | [![Publish 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From de89616212bedb0f5a26e21e05b2c142c3ae6008 Mon Sep 17 00:00:00 2001 From: Glenn Jocher Date: Tue, 26 Nov 2024 10:58:49 +0100 Subject: [PATCH 12/16] Fix Prettier docs issues (#17798) Signed-off-by: UltralyticsAssistant Co-authored-by: UltralyticsAssistant --- docs/en/help/privacy.md | 3 ++- docs/en/help/security.md | 2 +- docs/en/integrations/kaggle.md | 3 ++- docs/en/models/yolo-nas.md | 3 ++- docs/en/models/yolov7.md | 3 ++- docs/en/modes/benchmark.md | 12 ++++++++---- docs/en/usage/cfg.md | 3 ++- 7 files changed, 19 insertions(+), 10 deletions(-) diff --git a/docs/en/help/privacy.md b/docs/en/help/privacy.md index 567a72aea5..fc669286d9 100644 --- a/docs/en/help/privacy.md +++ b/docs/en/help/privacy.md @@ -153,7 +153,8 @@ Ultralytics collects three primary types of data using Google Analytics: - **Usage Metrics**: These include how often and in what ways the YOLO Python package is used, preferred features, and typical command-line arguments. - **System Information**: General non-identifiable information about the computing environments where the package is run. - **Performance Data**: Metrics related to the performance of models during training, validation, and inference. - This data helps us enhance user experience and optimize software performance. Learn more in the [Anonymized Google Analytics](#anonymized-google-analytics) section. + +This data helps us enhance user experience and optimize software performance. Learn more in the [Anonymized Google Analytics](#anonymized-google-analytics) section. ### How can I disable data collection in the Ultralytics YOLO package? diff --git a/docs/en/help/security.md b/docs/en/help/security.md index 39fe3829ff..73d5e99c4d 100644 --- a/docs/en/help/security.md +++ b/docs/en/help/security.md @@ -17,7 +17,7 @@ We utilize [Snyk](https://snyk.io/advisor/python/ultralytics) to conduct compreh Our security strategy includes GitHub's [CodeQL](https://docs.github.com/en/code-security/code-scanning/introduction-to-code-scanning/about-code-scanning-with-codeql) scanning. CodeQL delves deep into our codebase, identifying complex vulnerabilities like SQL injection and XSS by analyzing the code's semantic structure. This advanced level of analysis ensures early detection and resolution of potential security risks. -[![CodeQL](https://github.com/ultralytics/ultralytics/actions/workflows/codeql.yaml/badge.svg)](https://github.com/ultralytics/ultralytics/actions/workflows/codeql.yaml) +[![CodeQL](https://github.com/ultralytics/ultralytics/actions/workflows/github-code-scanning/codeql/badge.svg)](https://github.com/ultralytics/ultralytics/actions/workflows/github-code-scanning/codeql) ## GitHub Dependabot Alerts diff --git a/docs/en/integrations/kaggle.md b/docs/en/integrations/kaggle.md index 920c5dbc84..cee6b847c9 100644 --- a/docs/en/integrations/kaggle.md +++ b/docs/en/integrations/kaggle.md @@ -127,7 +127,8 @@ Kaggle offers unique features that make it an excellent choice: - **Free Access to TPUs**: Speed up training with powerful TPUs without extra costs. - **Comprehensive History**: Track changes over time with a detailed history of notebook commits. - **Resource Availability**: Significant resources are provided for each notebook session, including 12 hours of execution time for CPU and GPU sessions. - For a comparison with Google Colab, refer to our [Google Colab guide](./google-colab.md). + +For a comparison with Google Colab, refer to our [Google Colab guide](./google-colab.md). ### How can I revert to a previous version of my Kaggle notebook? diff --git a/docs/en/models/yolo-nas.md b/docs/en/models/yolo-nas.md index 5523cb1b32..394bc83197 100644 --- a/docs/en/models/yolo-nas.md +++ b/docs/en/models/yolo-nas.md @@ -149,7 +149,8 @@ YOLO-NAS introduces several key features that make it a superior choice for obje - **Quantization-Friendly Basic Block:** Enhanced architecture that improves model performance with minimal [precision](https://www.ultralytics.com/glossary/precision) drop post quantization. - **Sophisticated Training and Quantization:** Employs advanced training schemes and post-training quantization techniques. - **AutoNAC Optimization and Pre-training:** Utilizes AutoNAC optimization and is pre-trained on prominent datasets like COCO, Objects365, and Roboflow 100. - These features contribute to its high accuracy, efficient performance, and suitability for deployment in production environments. Learn more in the [Key Features](#key-features) section. + +These features contribute to its high accuracy, efficient performance, and suitability for deployment in production environments. Learn more in the [Key Features](#key-features) section. ### Which tasks and modes are supported by YOLO-NAS models? diff --git a/docs/en/models/yolov7.md b/docs/en/models/yolov7.md index 1ba9dc271b..78fbbfa10c 100644 --- a/docs/en/models/yolov7.md +++ b/docs/en/models/yolov7.md @@ -151,4 +151,5 @@ YOLOv7 offers several key features that revolutionize real-time object detection - **Dynamic Label Assignment**: Uses a coarse-to-fine lead guided method to assign dynamic targets for outputs across different branches, improving accuracy. - **Extended and Compound Scaling**: Efficiently utilizes parameters and computation to scale the model for various real-time applications. - **Efficiency**: Reduces parameter count by 40% and computation by 50% compared to other state-of-the-art models while achieving faster inference speeds. - For further details on these features, see the [YOLOv7 Overview](#overview) section. + +For further details on these features, see the [YOLOv7 Overview](#overview) section. diff --git a/docs/en/modes/benchmark.md b/docs/en/modes/benchmark.md index 6680b8ce77..587462dfee 100644 --- a/docs/en/modes/benchmark.md +++ b/docs/en/modes/benchmark.md @@ -156,7 +156,8 @@ Exporting YOLO11 models to different formats such as ONNX, TensorRT, and OpenVIN - **ONNX:** Provides up to 3x CPU speedup. - **TensorRT:** Offers up to 5x GPU speedup. - **OpenVINO:** Specifically optimized for Intel hardware. - These formats enhance both the speed and accuracy of your models, making them more efficient for various real-world applications. Visit the [Export](../modes/export.md) page for complete details. + +These formats enhance both the speed and accuracy of your models, making them more efficient for various real-world applications. Visit the [Export](../modes/export.md) page for complete details. ### Why is benchmarking crucial in evaluating YOLO11 models? @@ -166,7 +167,8 @@ Benchmarking your YOLO11 models is essential for several reasons: - **Resource Allocation:** Gauge the performance across different hardware options. - **Optimization:** Determine which export format offers the best performance for specific use cases. - **Cost Efficiency:** Optimize hardware usage based on benchmark results. - Key metrics such as mAP50-95, Top-5 accuracy, and inference time help in making these evaluations. Refer to the [Key Metrics](#key-metrics-in-benchmark-mode) section for more information. + +Key metrics such as mAP50-95, Top-5 accuracy, and inference time help in making these evaluations. Refer to the [Key Metrics](#key-metrics-in-benchmark-mode) section for more information. ### Which export formats are supported by YOLO11, and what are their advantages? @@ -176,7 +178,8 @@ YOLO11 supports a variety of export formats, each tailored for specific hardware - **TensorRT:** Ideal for GPU efficiency. - **OpenVINO:** Optimized for Intel hardware. - **CoreML & [TensorFlow](https://www.ultralytics.com/glossary/tensorflow):** Useful for iOS and general ML applications. - For a complete list of supported formats and their respective advantages, check out the [Supported Export Formats](#supported-export-formats) section. + +For a complete list of supported formats and their respective advantages, check out the [Supported Export Formats](#supported-export-formats) section. ### What arguments can I use to fine-tune my YOLO11 benchmarks? @@ -189,4 +192,5 @@ When running benchmarks, several arguments can be customized to suit specific ne - **int8:** Activate INT8 quantization for edge devices. - **device:** Specify the computation device (e.g., "cpu", "cuda:0"). - **verbose:** Control the level of logging detail. - For a full list of arguments, refer to the [Arguments](#arguments) section. + +For a full list of arguments, refer to the [Arguments](#arguments) section. diff --git a/docs/en/usage/cfg.md b/docs/en/usage/cfg.md index a7fef9e2ac..95dc8b46f2 100644 --- a/docs/en/usage/cfg.md +++ b/docs/en/usage/cfg.md @@ -186,7 +186,8 @@ Default inference settings include: - **IoU Threshold (`iou=0.7`)**: For Non-Maximum Suppression (NMS). - **Image Size (`imgsz=640`)**: Resizes input images prior to inference. - **Device (`device=None`)**: Selects CPU or GPU for inference. - For a comprehensive overview, visit the [Predict Settings](#predict-settings) section and the [Predict Guide](../modes/predict.md). + +For a comprehensive overview, visit the [Predict Settings](#predict-settings) section and the [Predict Guide](../modes/predict.md). ### Why should I use mixed precision training with YOLO models? From 54d845baea257006cc21025f66881348345be1d1 Mon Sep 17 00:00:00 2001 From: Mohammed Yasin <32206511+Y-T-G@users.noreply.github.com> Date: Tue, 26 Nov 2024 18:01:54 +0800 Subject: [PATCH 13/16] Convert frames to RGB before SAHI inference (#17795) Co-authored-by: UltralyticsAssistant Co-authored-by: Glenn Jocher --- examples/YOLOv8-SAHI-Inference-Video/yolov8_sahi.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/YOLOv8-SAHI-Inference-Video/yolov8_sahi.py b/examples/YOLOv8-SAHI-Inference-Video/yolov8_sahi.py index 4243cc35bb..9e0ba13d9a 100644 --- a/examples/YOLOv8-SAHI-Inference-Video/yolov8_sahi.py +++ b/examples/YOLOv8-SAHI-Inference-Video/yolov8_sahi.py @@ -64,7 +64,7 @@ class SAHIInference: break annotator = Annotator(frame) # Initialize annotator for plotting detection and tracking results results = get_sliced_prediction( - frame, + frame[..., ::-1], self.detection_model, slice_height=512, slice_width=512, From 59aceffd055a7ba15b278aa52d587bd1b7ca65cb Mon Sep 17 00:00:00 2001 From: Muhammad Rizwan Munawar Date: Tue, 26 Nov 2024 15:02:31 +0500 Subject: [PATCH 14/16] Fix parking points annotator for macOS (#17797) Co-authored-by: UltralyticsAssistant Co-authored-by: Glenn Jocher --- ultralytics/solutions/parking_management.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ultralytics/solutions/parking_management.py b/ultralytics/solutions/parking_management.py index a62de99524..8b5d4922de 100644 --- a/ultralytics/solutions/parking_management.py +++ b/ultralytics/solutions/parking_management.py @@ -89,7 +89,7 @@ class ParkingPtsSelection: """Uploads and displays an image on the canvas, resizing it to fit within specified dimensions.""" from PIL import Image, ImageTk # scope because ImageTk requires tkinter package - self.image = Image.open(self.filedialog.askopenfilename(filetypes=[("Image Files", "*.png;*.jpg;*.jpeg")])) + self.image = Image.open(self.filedialog.askopenfilename(filetypes=[("Image Files", "*.png *.jpg *.jpeg")])) if not self.image: return From 407815cf9ec9607cb9e4d17a5efb3bfb7b49fd9b Mon Sep 17 00:00:00 2001 From: Arun Date: Tue, 26 Nov 2024 15:33:23 +0530 Subject: [PATCH 15/16] Fix `forward_fuse` comment (#17714) Co-authored-by: Glenn Jocher --- ultralytics/nn/modules/conv.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ultralytics/nn/modules/conv.py b/ultralytics/nn/modules/conv.py index aaa70f5745..94c5b6c6dd 100644 --- a/ultralytics/nn/modules/conv.py +++ b/ultralytics/nn/modules/conv.py @@ -50,7 +50,7 @@ class Conv(nn.Module): return self.act(self.bn(self.conv(x))) def forward_fuse(self, x): - """Perform transposed convolution of 2D data.""" + """Apply convolution and activation without batch normalization.""" return self.act(self.conv(x)) From dcc9bd536f37e0521d0f4cba56afcda37e5f15e5 Mon Sep 17 00:00:00 2001 From: Laughing <61612323+Laughing-q@users.noreply.github.com> Date: Tue, 26 Nov 2024 19:38:23 +0800 Subject: [PATCH 16/16] `ultralytics 8.3.38` SAM 2 video inference (#14851) Signed-off-by: Glenn Jocher Signed-off-by: UltralyticsAssistant Co-authored-by: UltralyticsAssistant Co-authored-by: Glenn Jocher Co-authored-by: Ultralytics Assistant <135830346+UltralyticsAssistant@users.noreply.github.com> --- docs/en/models/sam-2.md | 28 + docs/en/reference/models/sam/predict.md | 4 + ultralytics/__init__.py | 2 +- ultralytics/cfg/__init__.py | 5 +- ultralytics/data/augment.py | 7 +- ultralytics/data/loaders.py | 2 +- ultralytics/models/sam/__init__.py | 4 +- ultralytics/models/sam/model.py | 2 +- ultralytics/models/sam/modules/sam.py | 55 +- ultralytics/models/sam/predict.py | 845 +++++++++++++++++++++++- ultralytics/trackers/basetrack.py | 2 +- ultralytics/trackers/utils/matching.py | 7 +- ultralytics/utils/loss.py | 5 +- ultralytics/utils/metrics.py | 25 +- ultralytics/utils/ops.py | 20 +- ultralytics/utils/plotting.py | 28 +- 16 files changed, 917 insertions(+), 124 deletions(-) diff --git a/docs/en/models/sam-2.md b/docs/en/models/sam-2.md index 86059422da..983d8cdcd9 100644 --- a/docs/en/models/sam-2.md +++ b/docs/en/models/sam-2.md @@ -194,6 +194,34 @@ SAM 2 can be utilized across a broad spectrum of tasks, including real-time vide yolo predict model=sam2.1_b.pt source=path/to/video.mp4 ``` +#### Segment Video and Track objects + +!!! example "Segment Video" + + Segment the entire video content with specific prompts and track objects. + + === "Python" + + ```python + from ultralytics.models.sam import SAM2VideoPredictor + + # Create SAM2VideoPredictor + overrides = dict(conf=0.25, task="segment", mode="predict", imgsz=1024, model="sam2_b.pt") + predictor = SAM2VideoPredictor(overrides=overrides) + + # Run inference with single point + results = predictor(source="test.mp4", points=[920, 470], labels=1) + + # Run inference with multiple points + results = predictor(source="test.mp4", points=[[920, 470], [909, 138]], labels=[1, 1]) + + # Run inference with multiple points prompt per object + results = predictor(source="test.mp4", points=[[[920, 470], [909, 138]]], labels=[[1, 1]]) + + # Run inference with negative points prompt + results = predictor(source="test.mp4", points=[[[920, 470], [909, 138]]], labels=[[1, 0]]) + ``` + - This example demonstrates how SAM 2 can be used to segment the entire content of an image or video if no prompts (bboxes/points/masks) are provided. ## SAM 2 comparison vs YOLOv8 diff --git a/docs/en/reference/models/sam/predict.md b/docs/en/reference/models/sam/predict.md index e715225c64..17f8b472c4 100644 --- a/docs/en/reference/models/sam/predict.md +++ b/docs/en/reference/models/sam/predict.md @@ -17,4 +17,8 @@ keywords: Ultralytics, SAM, Segment Anything Model, SAM 2, Segment Anything Mode ## ::: ultralytics.models.sam.predict.SAM2Predictor +


+ +## ::: ultralytics.models.sam.predict.SAM2VideoPredictor +

diff --git a/ultralytics/__init__.py b/ultralytics/__init__.py index e17c6c7d12..fe22ab07a7 100644 --- a/ultralytics/__init__.py +++ b/ultralytics/__init__.py @@ -1,6 +1,6 @@ # Ultralytics YOLO 🚀, AGPL-3.0 license -__version__ = "8.3.37" +__version__ = "8.3.38" import os diff --git a/ultralytics/cfg/__init__.py b/ultralytics/cfg/__init__.py index 9bfd6a6000..de9ef96a17 100644 --- a/ultralytics/cfg/__init__.py +++ b/ultralytics/cfg/__init__.py @@ -740,9 +740,8 @@ def parse_key_value_pair(pair: str = "key=value"): pair (str): A string containing a key-value pair in the format "key=value". Returns: - (tuple): A tuple containing two elements: - - key (str): The parsed key. - - value (str): The parsed value. + key (str): The parsed key. + value (str): The parsed value. Raises: AssertionError: If the value is missing or empty. diff --git a/ultralytics/data/augment.py b/ultralytics/data/augment.py index bd821de28d..5ec011d890 100644 --- a/ultralytics/data/augment.py +++ b/ultralytics/data/augment.py @@ -2111,10 +2111,9 @@ class Format: h (int): Height of the image. Returns: - (tuple): Tuple containing: - masks (numpy.ndarray): Bitmap masks with shape (N, H, W) or (1, H, W) if mask_overlap is True. - instances (Instances): Updated instances object with sorted segments if mask_overlap is True. - cls (numpy.ndarray): Updated class labels, sorted if mask_overlap is True. + masks (numpy.ndarray): Bitmap masks with shape (N, H, W) or (1, H, W) if mask_overlap is True. + instances (Instances): Updated instances object with sorted segments if mask_overlap is True. + cls (numpy.ndarray): Updated class labels, sorted if mask_overlap is True. Notes: - If self.mask_overlap is True, masks are overlapped and sorted by area. diff --git a/ultralytics/data/loaders.py b/ultralytics/data/loaders.py index ead7d6138a..ae5677cc6d 100644 --- a/ultralytics/data/loaders.py +++ b/ultralytics/data/loaders.py @@ -354,7 +354,7 @@ class LoadImagesAndVideos: self.nf = ni + nv # number of files self.ni = ni # number of images self.video_flag = [False] * ni + [True] * nv - self.mode = "image" + self.mode = "video" if ni == 0 else "image" # default to video if no images self.vid_stride = vid_stride # video frame-rate stride self.bs = batch if any(videos): diff --git a/ultralytics/models/sam/__init__.py b/ultralytics/models/sam/__init__.py index a29f5cb3f3..30e34236a4 100644 --- a/ultralytics/models/sam/__init__.py +++ b/ultralytics/models/sam/__init__.py @@ -1,6 +1,6 @@ # Ultralytics YOLO 🚀, AGPL-3.0 license from .model import SAM -from .predict import Predictor, SAM2Predictor +from .predict import Predictor, SAM2Predictor, SAM2VideoPredictor -__all__ = "SAM", "Predictor", "SAM2Predictor" # tuple or list +__all__ = "SAM", "Predictor", "SAM2Predictor", "SAM2VideoPredictor" # tuple or list diff --git a/ultralytics/models/sam/model.py b/ultralytics/models/sam/model.py index e685dc4e4f..97349a665b 100644 --- a/ultralytics/models/sam/model.py +++ b/ultralytics/models/sam/model.py @@ -148,7 +148,7 @@ class SAM(Model): verbose (bool): If True, prints the information to the console. Returns: - (Tuple): A tuple containing the model's information (string representations of the model). + (tuple): A tuple containing the model's information (string representations of the model). Examples: >>> sam = SAM("sam_b.pt") diff --git a/ultralytics/models/sam/modules/sam.py b/ultralytics/models/sam/modules/sam.py index 7bfd716615..5d48ed1fa4 100644 --- a/ultralytics/models/sam/modules/sam.py +++ b/ultralytics/models/sam/modules/sam.py @@ -36,8 +36,6 @@ class SAMModel(nn.Module): image_encoder (ImageEncoderViT): Backbone for encoding images into embeddings. prompt_encoder (PromptEncoder): Encoder for various types of input prompts. mask_decoder (MaskDecoder): Predicts object masks from image and prompt embeddings. - pixel_mean (torch.Tensor): Mean pixel values for image normalization, shape (3, 1, 1). - pixel_std (torch.Tensor): Standard deviation values for image normalization, shape (3, 1, 1). Methods: __init__: Initializes the SAMModel with encoders, decoder, and normalization parameters. @@ -349,8 +347,7 @@ class SAM2Model(torch.nn.Module): self.sam_prompt_embed_dim = self.hidden_dim self.sam_image_embedding_size = self.image_size // self.backbone_stride - # build PromptEncoder and MaskDecoder from SAM - # (their hyperparameters like `mask_in_chans=16` are from SAM code) + # Build PromptEncoder and MaskDecoder from SAM (hyperparameters like `mask_in_chans=16` are from SAM code) self.sam_prompt_encoder = PromptEncoder( embed_dim=self.sam_prompt_embed_dim, image_embedding_size=( @@ -425,8 +422,8 @@ class SAM2Model(torch.nn.Module): low_res_multimasks: Tensor of shape (B, M, H*4, W*4) with SAM output mask logits. high_res_multimasks: Tensor of shape (B, M, H*16, W*16) with upsampled mask logits. ious: Tensor of shape (B, M) with estimated IoU for each output mask. - low_res_masks: Tensor of shape (B, 1, H*4, W*4) with best low-resolution mask. - high_res_masks: Tensor of shape (B, 1, H*16, W*16) with best high-resolution mask. + low_res_masks: Tensor of shape (B, 1, H*4, W*4) with the best low-resolution mask. + high_res_masks: Tensor of shape (B, 1, H*16, W*16) with the best high-resolution mask. obj_ptr: Tensor of shape (B, C) with object pointer vector for the output mask. object_score_logits: Tensor of shape (B,) with object score logits. @@ -488,12 +485,7 @@ class SAM2Model(torch.nn.Module): boxes=None, masks=sam_mask_prompt, ) - ( - low_res_multimasks, - ious, - sam_output_tokens, - object_score_logits, - ) = self.sam_mask_decoder( + low_res_multimasks, ious, sam_output_tokens, object_score_logits = self.sam_mask_decoder( image_embeddings=backbone_features, image_pe=self.sam_prompt_encoder.get_dense_pe(), sparse_prompt_embeddings=sparse_embeddings, @@ -505,13 +497,8 @@ class SAM2Model(torch.nn.Module): if self.pred_obj_scores: is_obj_appearing = object_score_logits > 0 - # Mask used for spatial memories is always a *hard* choice between obj and no obj, - # consistent with the actual mask prediction - low_res_multimasks = torch.where( - is_obj_appearing[:, None, None], - low_res_multimasks, - NO_OBJ_SCORE, - ) + # Spatial memory mask is a *hard* choice between obj and no obj, consistent with actual mask prediction + low_res_multimasks = torch.where(is_obj_appearing[:, None, None], low_res_multimasks, NO_OBJ_SCORE) # convert masks from possibly bfloat16 (or float16) to float32 # (older PyTorch versions before 2.1 don't support `interpolate` on bf16) @@ -617,7 +604,6 @@ class SAM2Model(torch.nn.Module): def _prepare_backbone_features(self, backbone_out): """Prepares and flattens visual features from the image backbone output for further processing.""" - backbone_out = backbone_out.copy() assert len(backbone_out["backbone_fpn"]) == len(backbone_out["vision_pos_enc"]) assert len(backbone_out["backbone_fpn"]) >= self.num_feature_levels @@ -826,11 +812,7 @@ class SAM2Model(torch.nn.Module): mask_for_mem = mask_for_mem * self.sigmoid_scale_for_mem_enc if self.sigmoid_bias_for_mem_enc != 0.0: mask_for_mem = mask_for_mem + self.sigmoid_bias_for_mem_enc - maskmem_out = self.memory_encoder( - pix_feat, - mask_for_mem, - skip_mask_sigmoid=True, # sigmoid already applied - ) + maskmem_out = self.memory_encoder(pix_feat, mask_for_mem, skip_mask_sigmoid=True) # sigmoid already applied maskmem_features = maskmem_out["vision_features"] maskmem_pos_enc = maskmem_out["vision_pos_enc"] # add a no-object embedding to the spatial memory to indicate that the frame @@ -965,16 +947,7 @@ class SAM2Model(torch.nn.Module): track_in_reverse, prev_sam_mask_logits, ) - - ( - _, - _, - _, - low_res_masks, - high_res_masks, - obj_ptr, - object_score_logits, - ) = sam_outputs + _, _, _, low_res_masks, high_res_masks, obj_ptr, object_score_logits = sam_outputs current_out["pred_masks"] = low_res_masks current_out["pred_masks_high_res"] = high_res_masks @@ -984,8 +957,7 @@ class SAM2Model(torch.nn.Module): # it's mainly used in the demo to encode spatial memories w/ consolidated masks) current_out["object_score_logits"] = object_score_logits - # Finally run the memory encoder on the predicted mask to encode - # it into a new memory feature (that can be used in future frames) + # Run memory encoder on the predicted mask to encode it into a new memory feature (for use in future frames) self._encode_memory_in_output( current_vision_feats, feat_sizes, @@ -1007,8 +979,9 @@ class SAM2Model(torch.nn.Module): and (self.multimask_min_pt_num <= num_pts <= self.multimask_max_pt_num) ) - def _apply_non_overlapping_constraints(self, pred_masks): - """Applies non-overlapping constraints to masks, keeping highest scoring object per location.""" + @staticmethod + def _apply_non_overlapping_constraints(pred_masks): + """Applies non-overlapping constraints to masks, keeping the highest scoring object per location.""" batch_size = pred_masks.size(0) if batch_size == 1: return pred_masks @@ -1024,6 +997,10 @@ class SAM2Model(torch.nn.Module): pred_masks = torch.where(keep, pred_masks, torch.clamp(pred_masks, max=-10.0)) return pred_masks + def set_binarize(self, binarize=False): + """Set binarize for VideoPredictor.""" + self.binarize_mask_from_pts_for_mem_enc = binarize + def set_imgsz(self, imgsz): """ Set image size to make model compatible with different image sizes. diff --git a/ultralytics/models/sam/predict.py b/ultralytics/models/sam/predict.py index a83159080f..540d1007a3 100644 --- a/ultralytics/models/sam/predict.py +++ b/ultralytics/models/sam/predict.py @@ -8,6 +8,8 @@ using SAM. It forms an integral part of the Ultralytics framework and is designe segmentation tasks. """ +from collections import OrderedDict + import numpy as np import torch import torch.nn.functional as F @@ -16,7 +18,7 @@ from ultralytics.data.augment import LetterBox from ultralytics.engine.predictor import BasePredictor from ultralytics.engine.results import Results from ultralytics.utils import DEFAULT_CFG, ops -from ultralytics.utils.torch_utils import select_device +from ultralytics.utils.torch_utils import select_device, smart_inference_mode from .amg import ( batch_iterator, @@ -95,7 +97,7 @@ class Predictor(BasePredictor): """ if overrides is None: overrides = {} - overrides.update(dict(task="segment", mode="predict")) + overrides.update(dict(task="segment", mode="predict", batch=1)) super().__init__(cfg, overrides, _callbacks) self.args.retina_masks = True self.im = None @@ -114,7 +116,7 @@ class Predictor(BasePredictor): im (torch.Tensor | List[np.ndarray]): Input image(s) in BCHW tensor format or list of HWC numpy arrays. Returns: - (torch.Tensor): The preprocessed image tensor, normalized and converted to the appropriate dtype. + im (torch.Tensor): The preprocessed image tensor, normalized and converted to the appropriate dtype. Examples: >>> predictor = Predictor() @@ -181,10 +183,9 @@ class Predictor(BasePredictor): **kwargs (Any): Additional keyword arguments. Returns: - (tuple): Contains the following three elements: - - np.ndarray: The output masks in shape (C, H, W), where C is the number of generated masks. - - np.ndarray: An array of length C containing quality scores predicted by the model for each mask. - - np.ndarray: Low-resolution logits of shape (C, H, W) for subsequent inference, where H=W=256. + (np.ndarray): The output masks in shape (C, H, W), where C is the number of generated masks. + (np.ndarray): An array of length C containing quality scores predicted by the model for each mask. + (np.ndarray): Low-resolution logits of shape (C, H, W) for subsequent inference, where H=W=256. Examples: >>> predictor = Predictor() @@ -222,10 +223,8 @@ class Predictor(BasePredictor): AssertionError: If the number of points don't match the number of labels, in case labels were passed. Returns: - (tuple): Tuple containing: - - np.ndarray: Output masks with shape (C, H, W), where C is the number of generated masks. - - np.ndarray: Quality scores predicted by the model for each mask, with length C. - - np.ndarray: Low-resolution logits with shape (C, H, W) for subsequent inference, where H=W=256. + (np.ndarray): Output masks with shape (C, H, W), where C is the number of generated masks. + (np.ndarray): Quality scores predicted by the model for each mask, with length C. Examples: >>> predictor = Predictor() @@ -329,10 +328,9 @@ class Predictor(BasePredictor): crop_nms_thresh (float): IoU cutoff for NMS to remove duplicate masks between crops. Returns: - (Tuple[torch.Tensor, torch.Tensor, torch.Tensor]): A tuple containing: - - pred_masks (torch.Tensor): Segmented masks with shape (N, H, W). - - pred_scores (torch.Tensor): Confidence scores for each mask with shape (N,). - - pred_bboxes (torch.Tensor): Bounding boxes for each mask with shape (N, 4). + pred_masks (torch.Tensor): Segmented masks with shape (N, H, W). + pred_scores (torch.Tensor): Confidence scores for each mask with shape (N,). + pred_bboxes (torch.Tensor): Bounding boxes for each mask with shape (N, 4). Examples: >>> predictor = Predictor() @@ -408,7 +406,7 @@ class Predictor(BasePredictor): return pred_masks, pred_scores, pred_bboxes - def setup_model(self, model, verbose=True): + def setup_model(self, model=None, verbose=True): """ Initializes the Segment Anything Model (SAM) for inference. @@ -416,7 +414,7 @@ class Predictor(BasePredictor): parameters for image normalization and other Ultralytics compatibility settings. Args: - model (torch.nn.Module): A pre-trained SAM model. If None, a model will be built based on configuration. + model (torch.nn.Module | None): A pretrained SAM model. If None, a new model is built based on config. verbose (bool): If True, prints selected device information. Examples: @@ -459,7 +457,7 @@ class Predictor(BasePredictor): orig_imgs (List[np.ndarray] | torch.Tensor): The original, unprocessed images. Returns: - (List[Results]): List of Results objects containing detection masks, bounding boxes, and other + results (List[Results]): List of Results objects containing detection masks, bounding boxes, and other metadata for each processed image. Examples: @@ -586,9 +584,8 @@ class Predictor(BasePredictor): nms_thresh (float): IoU threshold for the NMS algorithm to remove duplicate boxes. Returns: - (tuple): - - new_masks (torch.Tensor): Processed masks with small regions removed, shape (N, H, W). - - keep (List[int]): Indices of remaining masks after NMS, for filtering corresponding boxes. + new_masks (torch.Tensor): Processed masks with small regions removed, shape (N, H, W). + keep (List[int]): Indices of remaining masks after NMS, for filtering corresponding boxes. Examples: >>> masks = torch.rand(5, 640, 640) > 0.5 # 5 random binary masks @@ -690,10 +687,8 @@ class SAM2Predictor(Predictor): img_idx (int): Index of the image in the batch to process. Returns: - (tuple): Tuple containing: - - np.ndarray: Output masks with shape (C, H, W), where C is the number of generated masks. - - np.ndarray: Quality scores for each mask, with length C. - - np.ndarray: Low-resolution logits with shape (C, 256, 256) for subsequent inference. + (np.ndarray): Output masks with shape (C, H, W), where C is the number of generated masks. + (np.ndarray): Quality scores for each mask, with length C. Examples: >>> predictor = SAM2Predictor(cfg) @@ -712,7 +707,7 @@ class SAM2Predictor(Predictor): """ features = self.get_im_features(im) if self.features is None else self.features - bboxes, points, labels, masks = self._prepare_prompts(im.shape[2:], bboxes, points, labels, masks) + points, labels, masks = self._prepare_prompts(im.shape[2:], bboxes, points, labels, masks) points = (points, labels) if points is not None else None sparse_embeddings, dense_embeddings = self.model.sam_prompt_encoder( @@ -751,7 +746,7 @@ class SAM2Predictor(Predictor): AssertionError: If the number of points don't match the number of labels, in case labels were passed. Returns: - (tuple): A tuple containing transformed bounding boxes, points, labels, and masks. + (tuple): A tuple containing transformed points, labels, and masks. """ bboxes, points, labels, masks = super()._prepare_prompts(dst_shape, bboxes, points, labels, masks) if bboxes is not None: @@ -764,7 +759,7 @@ class SAM2Predictor(Predictor): labels = torch.cat([bbox_labels, labels], dim=1) else: points, labels = bboxes, bbox_labels - return bboxes, points, labels, masks + return points, labels, masks def set_image(self, image): """ @@ -815,3 +810,797 @@ class SAM2Predictor(Predictor): for feat, feat_size in zip(vision_feats[::-1], self._bb_feat_sizes[::-1]) ][::-1] return {"image_embed": feats[-1], "high_res_feats": feats[:-1]} + + +class SAM2VideoPredictor(SAM2Predictor): + """ + SAM2VideoPredictor to handle user interactions with videos and manage inference states. + + This class extends the functionality of SAM2Predictor to support video processing and maintains + the state of inference operations. It includes configurations for managing non-overlapping masks, + clearing memory for non-conditional inputs, and setting up callbacks for prediction events. + + Attributes: + inference_state (Dict): A dictionary to store the current state of inference operations. + non_overlap_masks (bool): A flag indicating whether masks should be non-overlapping. + clear_non_cond_mem_around_input (bool): A flag to control clearing non-conditional memory around inputs. + clear_non_cond_mem_for_multi_obj (bool): A flag to control clearing non-conditional memory for multi-object scenarios. + callbacks (Dict): A dictionary of callbacks for various prediction lifecycle events. + + Args: + cfg (Dict, Optional): Configuration settings for the predictor. Defaults to DEFAULT_CFG. + overrides (Dict, Optional): Additional configuration overrides. Defaults to None. + _callbacks (List, Optional): Custom callbacks to be added. Defaults to None. + + Note: + The `fill_hole_area` attribute is defined but not used in the current implementation. + """ + + # fill_hole_area = 8 # not used + + def __init__(self, cfg=DEFAULT_CFG, overrides=None, _callbacks=None): + """ + Initialize the predictor with configuration and optional overrides. + + This constructor initializes the SAM2VideoPredictor with a given configuration, applies any + specified overrides, and sets up the inference state along with certain flags + that control the behavior of the predictor. + + Args: + cfg (Dict): Configuration dictionary containing default settings. + overrides (Dict | None): Dictionary of values to override default configuration. + _callbacks (Dict | None): Dictionary of callback functions to customize behavior. + + Examples: + >>> predictor = SAM2VideoPredictor(cfg=DEFAULT_CFG) + >>> predictor = SAM2VideoPredictor(overrides={"imgsz": 640}) + >>> predictor = SAM2VideoPredictor(_callbacks={"on_predict_start": custom_callback}) + """ + super().__init__(cfg, overrides, _callbacks) + self.inference_state = {} + self.non_overlap_masks = True + self.clear_non_cond_mem_around_input = False + self.clear_non_cond_mem_for_multi_obj = False + self.callbacks["on_predict_start"].append(self.init_state) + + def get_model(self): + """ + Retrieves and configures the model with binarization enabled. + + Note: + This method overrides the base class implementation to set the binarize flag to True. + """ + model = super().get_model() + model.set_binarize(True) + return model + + def inference(self, im, bboxes=None, points=None, labels=None, masks=None): + """ + Perform image segmentation inference based on the given input cues, using the currently loaded image. This + method leverages SAM's (Segment Anything Model) architecture consisting of image encoder, prompt encoder, and + mask decoder for real-time and promptable segmentation tasks. + + Args: + im (torch.Tensor): The preprocessed input image in tensor format, with shape (N, C, H, W). + bboxes (np.ndarray | List, optional): Bounding boxes with shape (N, 4), in XYXY format. + points (np.ndarray | List, optional): Points indicating object locations with shape (N, 2), in pixels. + labels (np.ndarray | List, optional): Labels for point prompts, shape (N, ). 1 = foreground, 0 = background. + masks (np.ndarray, optional): Low-resolution masks from previous predictions shape (N,H,W). For SAM H=W=256. + + Returns: + (np.ndarray): The output masks in shape CxHxW, where C is the number of generated masks. + (np.ndarray): An array of length C containing quality scores predicted by the model for each mask. + """ + # Override prompts if any stored in self.prompts + bboxes = self.prompts.pop("bboxes", bboxes) + points = self.prompts.pop("points", points) + masks = self.prompts.pop("masks", masks) + + frame = self.dataset.frame + self.inference_state["im"] = im + output_dict = self.inference_state["output_dict"] + if len(output_dict["cond_frame_outputs"]) == 0: # initialize prompts + points, labels, masks = self._prepare_prompts(im.shape[2:], bboxes, points, labels, masks) + if points is not None: + for i in range(len(points)): + self.add_new_prompts(obj_id=i, points=points[[i]], labels=labels[[i]], frame_idx=frame) + elif masks is not None: + for i in range(len(masks)): + self.add_new_prompts(obj_id=i, masks=masks[[i]], frame_idx=frame) + self.propagate_in_video_preflight() + + consolidated_frame_inds = self.inference_state["consolidated_frame_inds"] + batch_size = len(self.inference_state["obj_idx_to_id"]) + if len(output_dict["cond_frame_outputs"]) == 0: + raise RuntimeError("No points are provided; please add points first") + + if frame in consolidated_frame_inds["cond_frame_outputs"]: + storage_key = "cond_frame_outputs" + current_out = output_dict[storage_key][frame] + if self.clear_non_cond_mem_around_input and (self.clear_non_cond_mem_for_multi_obj or batch_size <= 1): + # clear non-conditioning memory of the surrounding frames + self._clear_non_cond_mem_around_input(frame) + elif frame in consolidated_frame_inds["non_cond_frame_outputs"]: + storage_key = "non_cond_frame_outputs" + current_out = output_dict[storage_key][frame] + else: + storage_key = "non_cond_frame_outputs" + current_out = self._run_single_frame_inference( + output_dict=output_dict, + frame_idx=frame, + batch_size=batch_size, + is_init_cond_frame=False, + point_inputs=None, + mask_inputs=None, + reverse=False, + run_mem_encoder=True, + ) + output_dict[storage_key][frame] = current_out + # Create slices of per-object outputs for subsequent interaction with each + # individual object after tracking. + self._add_output_per_object(frame, current_out, storage_key) + self.inference_state["frames_already_tracked"].append(frame) + pred_masks = current_out["pred_masks"].flatten(0, 1) + pred_masks = pred_masks[(pred_masks > self.model.mask_threshold).sum((1, 2)) > 0] # filter blank masks + + return pred_masks, torch.ones(len(pred_masks), dtype=pred_masks.dtype, device=pred_masks.device) + + def postprocess(self, preds, img, orig_imgs): + """ + Post-processes the predictions to apply non-overlapping constraints if required. + + This method extends the post-processing functionality by applying non-overlapping constraints + to the predicted masks if the `non_overlap_masks` flag is set to True. This ensures that + the masks do not overlap, which can be useful for certain applications. + + Args: + preds (Tuple[torch.Tensor]): The predictions from the model. + img (torch.Tensor): The processed image tensor. + orig_imgs (List[np.ndarray]): The original images before processing. + + Returns: + results (list): The post-processed predictions. + + Note: + If `non_overlap_masks` is True, the method applies constraints to ensure non-overlapping masks. + """ + results = super().postprocess(preds, img, orig_imgs) + if self.non_overlap_masks: + for result in results: + if result.masks is None or len(result.masks) == 0: + continue + result.masks.data = self.model._apply_non_overlapping_constraints(result.masks.data.unsqueeze(0))[0] + return results + + @smart_inference_mode() + def add_new_prompts( + self, + obj_id, + points=None, + labels=None, + masks=None, + frame_idx=0, + ): + """ + Adds new points or masks to a specific frame for a given object ID. + + This method updates the inference state with new prompts (points or masks) for a specified + object and frame index. It ensures that the prompts are either points or masks, but not both, + and updates the internal state accordingly. It also handles the generation of new segmentations + based on the provided prompts and the existing state. + + Args: + obj_id (int): The ID of the object to which the prompts are associated. + points (torch.Tensor, Optional): The coordinates of the points of interest. Defaults to None. + labels (torch.Tensor, Optional): The labels corresponding to the points. Defaults to None. + masks (torch.Tensor, optional): Binary masks for the object. Defaults to None. + frame_idx (int, optional): The index of the frame to which the prompts are applied. Defaults to 0. + + Returns: + (tuple): A tuple containing the flattened predicted masks and a tensor of ones indicating the number of objects. + + Raises: + AssertionError: If both `masks` and `points` are provided, or neither is provided. + + Note: + - Only one type of prompt (either points or masks) can be added per call. + - If the frame is being tracked for the first time, it is treated as an initial conditioning frame. + - The method handles the consolidation of outputs and resizing of masks to the original video resolution. + """ + assert (masks is None) ^ (points is None), "'masks' and 'points' prompts are not compatible with each other." + obj_idx = self._obj_id_to_idx(obj_id) + + point_inputs = None + pop_key = "point_inputs_per_obj" + if points is not None: + point_inputs = {"point_coords": points, "point_labels": labels} + self.inference_state["point_inputs_per_obj"][obj_idx][frame_idx] = point_inputs + pop_key = "mask_inputs_per_obj" + self.inference_state["mask_inputs_per_obj"][obj_idx][frame_idx] = masks + self.inference_state[pop_key][obj_idx].pop(frame_idx, None) + # If this frame hasn't been tracked before, we treat it as an initial conditioning + # frame, meaning that the inputs points are to generate segments on this frame without + # using any memory from other frames, like in SAM. Otherwise (if it has been tracked), + # the input points will be used to correct the already tracked masks. + is_init_cond_frame = frame_idx not in self.inference_state["frames_already_tracked"] + obj_output_dict = self.inference_state["output_dict_per_obj"][obj_idx] + obj_temp_output_dict = self.inference_state["temp_output_dict_per_obj"][obj_idx] + # Add a frame to conditioning output if it's an initial conditioning frame or + # if the model sees all frames receiving clicks/mask as conditioning frames. + is_cond = is_init_cond_frame or self.model.add_all_frames_to_correct_as_cond + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + + # Get any previously predicted mask logits on this object and feed it along with + # the new clicks into the SAM mask decoder. + prev_sam_mask_logits = None + # lookup temporary output dict first, which contains the most recent output + # (if not found, then lookup conditioning and non-conditioning frame output) + if point_inputs is not None: + prev_out = ( + obj_temp_output_dict[storage_key].get(frame_idx) + or obj_output_dict["cond_frame_outputs"].get(frame_idx) + or obj_output_dict["non_cond_frame_outputs"].get(frame_idx) + ) + + if prev_out is not None and prev_out.get("pred_masks") is not None: + prev_sam_mask_logits = prev_out["pred_masks"].to(device=self.device, non_blocking=True) + # Clamp the scale of prev_sam_mask_logits to avoid rare numerical issues. + prev_sam_mask_logits.clamp_(-32.0, 32.0) + current_out = self._run_single_frame_inference( + output_dict=obj_output_dict, # run on the slice of a single object + frame_idx=frame_idx, + batch_size=1, # run on the slice of a single object + is_init_cond_frame=is_init_cond_frame, + point_inputs=point_inputs, + mask_inputs=masks, + reverse=False, + # Skip the memory encoder when adding clicks or mask. We execute the memory encoder + # at the beginning of `propagate_in_video` (after user finalize their clicks). This + # allows us to enforce non-overlapping constraints on all objects before encoding + # them into memory. + run_mem_encoder=False, + prev_sam_mask_logits=prev_sam_mask_logits, + ) + # Add the output to the output dict (to be used as future memory) + obj_temp_output_dict[storage_key][frame_idx] = current_out + + # Resize the output mask to the original video resolution + consolidated_out = self._consolidate_temp_output_across_obj( + frame_idx, + is_cond=is_cond, + run_mem_encoder=False, + ) + pred_masks = consolidated_out["pred_masks"].flatten(0, 1) + return pred_masks.flatten(0, 1), torch.ones(1, dtype=pred_masks.dtype, device=pred_masks.device) + + @smart_inference_mode() + def propagate_in_video_preflight(self): + """ + Prepare inference_state and consolidate temporary outputs before tracking. + + This method marks the start of tracking, disallowing the addition of new objects until the session is reset. + It consolidates temporary outputs from `temp_output_dict_per_obj` and merges them into `output_dict`. + Additionally, it clears non-conditioning memory around input frames and ensures that the state is consistent + with the provided inputs. + """ + # Tracking has started and we don't allow adding new objects until session is reset. + self.inference_state["tracking_has_started"] = True + batch_size = len(self.inference_state["obj_idx_to_id"]) + + # Consolidate per-object temporary outputs in "temp_output_dict_per_obj" and + # add them into "output_dict". + temp_output_dict_per_obj = self.inference_state["temp_output_dict_per_obj"] + output_dict = self.inference_state["output_dict"] + # "consolidated_frame_inds" contains indices of those frames where consolidated + # temporary outputs have been added (either in this call or any previous calls + # to `propagate_in_video_preflight`). + consolidated_frame_inds = self.inference_state["consolidated_frame_inds"] + for is_cond in {False, True}: + # Separately consolidate conditioning and non-conditioning temp outptus + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + # Find all the frames that contain temporary outputs for any objects + # (these should be the frames that have just received clicks for mask inputs + # via `add_new_points` or `add_new_mask`) + temp_frame_inds = set() + for obj_temp_output_dict in temp_output_dict_per_obj.values(): + temp_frame_inds.update(obj_temp_output_dict[storage_key].keys()) + consolidated_frame_inds[storage_key].update(temp_frame_inds) + # consolidate the temprary output across all objects on this frame + for frame_idx in temp_frame_inds: + consolidated_out = self._consolidate_temp_output_across_obj( + frame_idx, is_cond=is_cond, run_mem_encoder=True + ) + # merge them into "output_dict" and also create per-object slices + output_dict[storage_key][frame_idx] = consolidated_out + self._add_output_per_object(frame_idx, consolidated_out, storage_key) + if self.clear_non_cond_mem_around_input and (self.clear_non_cond_mem_for_multi_obj or batch_size <= 1): + # clear non-conditioning memory of the surrounding frames + self._clear_non_cond_mem_around_input(frame_idx) + + # clear temporary outputs in `temp_output_dict_per_obj` + for obj_temp_output_dict in temp_output_dict_per_obj.values(): + obj_temp_output_dict[storage_key].clear() + + # edge case: if an output is added to "cond_frame_outputs", we remove any prior + # output on the same frame in "non_cond_frame_outputs" + for frame_idx in output_dict["cond_frame_outputs"]: + output_dict["non_cond_frame_outputs"].pop(frame_idx, None) + for obj_output_dict in self.inference_state["output_dict_per_obj"].values(): + for frame_idx in obj_output_dict["cond_frame_outputs"]: + obj_output_dict["non_cond_frame_outputs"].pop(frame_idx, None) + for frame_idx in consolidated_frame_inds["cond_frame_outputs"]: + assert frame_idx in output_dict["cond_frame_outputs"] + consolidated_frame_inds["non_cond_frame_outputs"].discard(frame_idx) + + # Make sure that the frame indices in "consolidated_frame_inds" are exactly those frames + # with either points or mask inputs (which should be true under a correct workflow). + all_consolidated_frame_inds = ( + consolidated_frame_inds["cond_frame_outputs"] | consolidated_frame_inds["non_cond_frame_outputs"] + ) + input_frames_inds = set() + for point_inputs_per_frame in self.inference_state["point_inputs_per_obj"].values(): + input_frames_inds.update(point_inputs_per_frame.keys()) + for mask_inputs_per_frame in self.inference_state["mask_inputs_per_obj"].values(): + input_frames_inds.update(mask_inputs_per_frame.keys()) + assert all_consolidated_frame_inds == input_frames_inds + + @staticmethod + def init_state(predictor): + """ + Initialize an inference state for the predictor. + + This function sets up the initial state required for performing inference on video data. + It includes initializing various dictionaries and ordered dictionaries that will store + inputs, outputs, and other metadata relevant to the tracking process. + + Args: + predictor (SAM2VideoPredictor): The predictor object for which to initialize the state. + """ + if len(predictor.inference_state) > 0: # means initialized + return + assert predictor.dataset is not None + assert predictor.dataset.mode == "video" + + inference_state = {} + inference_state["num_frames"] = predictor.dataset.frames + # inputs on each frame + inference_state["point_inputs_per_obj"] = {} + inference_state["mask_inputs_per_obj"] = {} + # values that don't change across frames (so we only need to hold one copy of them) + inference_state["constants"] = {} + # mapping between client-side object id and model-side object index + inference_state["obj_id_to_idx"] = OrderedDict() + inference_state["obj_idx_to_id"] = OrderedDict() + inference_state["obj_ids"] = [] + # A storage to hold the model's tracking results and states on each frame + inference_state["output_dict"] = { + "cond_frame_outputs": {}, # dict containing {frame_idx: } + "non_cond_frame_outputs": {}, # dict containing {frame_idx: } + } + # Slice (view) of each object tracking results, sharing the same memory with "output_dict" + inference_state["output_dict_per_obj"] = {} + # A temporary storage to hold new outputs when user interact with a frame + # to add clicks or mask (it's merged into "output_dict" before propagation starts) + inference_state["temp_output_dict_per_obj"] = {} + # Frames that already holds consolidated outputs from click or mask inputs + # (we directly use their consolidated outputs during tracking) + inference_state["consolidated_frame_inds"] = { + "cond_frame_outputs": set(), # set containing frame indices + "non_cond_frame_outputs": set(), # set containing frame indices + } + # metadata for each tracking frame (e.g. which direction it's tracked) + inference_state["tracking_has_started"] = False + inference_state["frames_already_tracked"] = [] + predictor.inference_state = inference_state + + def get_im_features(self, im, batch=1): + """ + Extracts and processes image features using SAM2's image encoder for subsequent segmentation tasks. + + Args: + im (torch.Tensor): The input image tensor. + batch (int, optional): The batch size for expanding features if there are multiple prompts. Defaults to 1. + + Returns: + vis_feats (torch.Tensor): The visual features extracted from the image. + vis_pos_embed (torch.Tensor): The positional embeddings for the visual features. + feat_sizes (List(Tuple[int])): A list containing the sizes of the extracted features. + + Note: + - If `batch` is greater than 1, the features are expanded to fit the batch size. + - The method leverages the model's `_prepare_backbone_features` method to prepare the backbone features. + """ + backbone_out = self.model.forward_image(im) + if batch > 1: # expand features if there's more than one prompt + for i, feat in enumerate(backbone_out["backbone_fpn"]): + backbone_out["backbone_fpn"][i] = feat.expand(batch, -1, -1, -1) + for i, pos in enumerate(backbone_out["vision_pos_enc"]): + pos = pos.expand(batch, -1, -1, -1) + backbone_out["vision_pos_enc"][i] = pos + _, vis_feats, vis_pos_embed, feat_sizes = self.model._prepare_backbone_features(backbone_out) + return vis_feats, vis_pos_embed, feat_sizes + + def _obj_id_to_idx(self, obj_id): + """ + Map client-side object id to model-side object index. + + Args: + obj_id (int): The unique identifier of the object provided by the client side. + + Returns: + obj_idx (int): The index of the object on the model side. + + Raises: + RuntimeError: If an attempt is made to add a new object after tracking has started. + + Note: + - The method updates or retrieves mappings between object IDs and indices stored in + `inference_state`. + - It ensures that new objects can only be added before tracking commences. + - It maintains two-way mappings between IDs and indices (`obj_id_to_idx` and `obj_idx_to_id`). + - Additional data structures are initialized for the new object to store inputs and outputs. + """ + obj_idx = self.inference_state["obj_id_to_idx"].get(obj_id, None) + if obj_idx is not None: + return obj_idx + + # This is a new object id not sent to the server before. We only allow adding + # new objects *before* the tracking starts. + allow_new_object = not self.inference_state["tracking_has_started"] + if allow_new_object: + # get the next object slot + obj_idx = len(self.inference_state["obj_id_to_idx"]) + self.inference_state["obj_id_to_idx"][obj_id] = obj_idx + self.inference_state["obj_idx_to_id"][obj_idx] = obj_id + self.inference_state["obj_ids"] = list(self.inference_state["obj_id_to_idx"]) + # set up input and output structures for this object + self.inference_state["point_inputs_per_obj"][obj_idx] = {} + self.inference_state["mask_inputs_per_obj"][obj_idx] = {} + self.inference_state["output_dict_per_obj"][obj_idx] = { + "cond_frame_outputs": {}, # dict containing {frame_idx: } + "non_cond_frame_outputs": {}, # dict containing {frame_idx: } + } + self.inference_state["temp_output_dict_per_obj"][obj_idx] = { + "cond_frame_outputs": {}, # dict containing {frame_idx: } + "non_cond_frame_outputs": {}, # dict containing {frame_idx: } + } + return obj_idx + else: + raise RuntimeError( + f"Cannot add new object id {obj_id} after tracking starts. " + f"All existing object ids: {self.inference_state['obj_ids']}. " + f"Please call 'reset_state' to restart from scratch." + ) + + def _run_single_frame_inference( + self, + output_dict, + frame_idx, + batch_size, + is_init_cond_frame, + point_inputs, + mask_inputs, + reverse, + run_mem_encoder, + prev_sam_mask_logits=None, + ): + """ + Run tracking on a single frame based on current inputs and previous memory. + + Args: + output_dict (Dict): The dictionary containing the output states of the tracking process. + frame_idx (int): The index of the current frame. + batch_size (int): The batch size for processing the frame. + is_init_cond_frame (bool): Indicates if the current frame is an initial conditioning frame. + point_inputs (Dict, Optional): Input points and their labels. Defaults to None. + mask_inputs (torch.Tensor, Optional): Input binary masks. Defaults to None. + reverse (bool): Indicates if the tracking should be performed in reverse order. + run_mem_encoder (bool): Indicates if the memory encoder should be executed. + prev_sam_mask_logits (torch.Tensor, Optional): Previous mask logits for the current object. Defaults to None. + + Returns: + current_out (dict): A dictionary containing the output of the tracking step, including updated features and predictions. + + Raises: + AssertionError: If both `point_inputs` and `mask_inputs` are provided, or neither is provided. + + Note: + - The method assumes that `point_inputs` and `mask_inputs` are mutually exclusive. + - The method retrieves image features using the `get_im_features` method. + - The `maskmem_pos_enc` is assumed to be constant across frames, hence only one copy is stored. + - The `fill_holes_in_mask_scores` function is commented out and currently unsupported due to CUDA extension requirements. + """ + # Retrieve correct image features + current_vision_feats, current_vision_pos_embeds, feat_sizes = self.get_im_features( + self.inference_state["im"], batch_size + ) + + # point and mask should not appear as input simultaneously on the same frame + assert point_inputs is None or mask_inputs is None + current_out = self.model.track_step( + frame_idx=frame_idx, + is_init_cond_frame=is_init_cond_frame, + current_vision_feats=current_vision_feats, + current_vision_pos_embeds=current_vision_pos_embeds, + feat_sizes=feat_sizes, + point_inputs=point_inputs, + mask_inputs=mask_inputs, + output_dict=output_dict, + num_frames=self.inference_state["num_frames"], + track_in_reverse=reverse, + run_mem_encoder=run_mem_encoder, + prev_sam_mask_logits=prev_sam_mask_logits, + ) + + maskmem_features = current_out["maskmem_features"] + if maskmem_features is not None: + current_out["maskmem_features"] = maskmem_features.to( + dtype=torch.float16, device=self.device, non_blocking=True + ) + # NOTE: Do not support the `fill_holes_in_mask_scores` function since it needs cuda extensions + # potentially fill holes in the predicted masks + # if self.fill_hole_area > 0: + # pred_masks = current_out["pred_masks"].to(self.device, non_blocking=True) + # pred_masks = fill_holes_in_mask_scores(pred_masks, self.fill_hole_area) + + # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it + current_out["maskmem_pos_enc"] = self._get_maskmem_pos_enc(current_out["maskmem_pos_enc"]) + return current_out + + def _get_maskmem_pos_enc(self, out_maskmem_pos_enc): + """ + Caches and manages the positional encoding for mask memory across frames and objects. + + This method optimizes storage by caching the positional encoding (`maskmem_pos_enc`) for + mask memory, which is constant across frames and objects, thus reducing the amount of + redundant information stored during an inference session. It checks if the positional + encoding has already been cached; if not, it caches a slice of the provided encoding. + If the batch size is greater than one, it expands the cached positional encoding to match + the current batch size. + + Args: + out_maskmem_pos_enc (List[torch.Tensor] or None): The positional encoding for mask memory. + Should be a list of tensors or None. + + Returns: + out_maskmem_pos_enc (List[torch.Tensor]): The positional encoding for mask memory, either cached or expanded. + + Note: + - The method assumes that `out_maskmem_pos_enc` is a list of tensors or None. + - Only a single object's slice is cached since the encoding is the same across objects. + - The method checks if the positional encoding has already been cached in the session's constants. + - If the batch size is greater than one, the cached encoding is expanded to fit the batch size. + """ + model_constants = self.inference_state["constants"] + # "out_maskmem_pos_enc" should be either a list of tensors or None + if out_maskmem_pos_enc is not None: + if "maskmem_pos_enc" not in model_constants: + assert isinstance(out_maskmem_pos_enc, list) + # only take the slice for one object, since it's same across objects + maskmem_pos_enc = [x[0:1].clone() for x in out_maskmem_pos_enc] + model_constants["maskmem_pos_enc"] = maskmem_pos_enc + else: + maskmem_pos_enc = model_constants["maskmem_pos_enc"] + # expand the cached maskmem_pos_enc to the actual batch size + batch_size = out_maskmem_pos_enc[0].size(0) + if batch_size > 1: + out_maskmem_pos_enc = [x.expand(batch_size, -1, -1, -1) for x in maskmem_pos_enc] + return out_maskmem_pos_enc + + def _consolidate_temp_output_across_obj( + self, + frame_idx, + is_cond=False, + run_mem_encoder=False, + ): + """ + Consolidates per-object temporary outputs into a single output for all objects. + + This method combines the temporary outputs for each object on a given frame into a unified + output. It fills in any missing objects either from the main output dictionary or leaves + placeholders if they do not exist in the main output. Optionally, it can re-run the memory + encoder after applying non-overlapping constraints to the object scores. + + Args: + frame_idx (int): The index of the frame for which to consolidate outputs. + is_cond (bool, Optional): Indicates if the frame is considered a conditioning frame. + Defaults to False. + run_mem_encoder (bool, Optional): Specifies whether to run the memory encoder after + consolidating the outputs. Defaults to False. + + Returns: + consolidated_out (dict): A consolidated output dictionary containing the combined results for all objects. + + Note: + - The method initializes the consolidated output with placeholder values for missing objects. + - It searches for outputs in both the temporary and main output dictionaries. + - If `run_mem_encoder` is True, it applies non-overlapping constraints and re-runs the memory encoder. + - The `maskmem_features` and `maskmem_pos_enc` are only populated when `run_mem_encoder` is True. + """ + batch_size = len(self.inference_state["obj_idx_to_id"]) + storage_key = "cond_frame_outputs" if is_cond else "non_cond_frame_outputs" + + # Initialize `consolidated_out`. Its "maskmem_features" and "maskmem_pos_enc" + # will be added when rerunning the memory encoder after applying non-overlapping + # constraints to object scores. Its "pred_masks" are prefilled with a large + # negative value (NO_OBJ_SCORE) to represent missing objects. + consolidated_out = { + "maskmem_features": None, + "maskmem_pos_enc": None, + "pred_masks": torch.full( + size=(batch_size, 1, self.imgsz[0] // 4, self.imgsz[1] // 4), + fill_value=-1024.0, + dtype=torch.float32, + device=self.device, + ), + "obj_ptr": torch.full( + size=(batch_size, self.model.hidden_dim), + fill_value=-1024.0, + dtype=torch.float32, + device=self.device, + ), + "object_score_logits": torch.full( + size=(batch_size, 1), + # default to 10.0 for object_score_logits, i.e. assuming the object is + # present as sigmoid(10)=1, same as in `predict_masks` of `MaskDecoder` + fill_value=10.0, + dtype=torch.float32, + device=self.device, + ), + } + for obj_idx in range(batch_size): + obj_temp_output_dict = self.inference_state["temp_output_dict_per_obj"][obj_idx] + obj_output_dict = self.inference_state["output_dict_per_obj"][obj_idx] + out = ( + obj_temp_output_dict[storage_key].get(frame_idx) + # If the object doesn't appear in "temp_output_dict_per_obj" on this frame, + # we fall back and look up its previous output in "output_dict_per_obj". + # We look up both "cond_frame_outputs" and "non_cond_frame_outputs" in + # "output_dict_per_obj" to find a previous output for this object. + or obj_output_dict["cond_frame_outputs"].get(frame_idx) + or obj_output_dict["non_cond_frame_outputs"].get(frame_idx) + ) + # If the object doesn't appear in "output_dict_per_obj" either, we skip it + # and leave its mask scores to the default scores (i.e. the NO_OBJ_SCORE + # placeholder above) and set its object pointer to be a dummy pointer. + if out is None: + # Fill in dummy object pointers for those objects without any inputs or + # tracking outcomes on this frame (only do it under `run_mem_encoder=True`, + # i.e. when we need to build the memory for tracking). + if run_mem_encoder: + # fill object pointer with a dummy pointer (based on an empty mask) + consolidated_out["obj_ptr"][obj_idx : obj_idx + 1] = self._get_empty_mask_ptr(frame_idx) + continue + # Add the temporary object output mask to consolidated output mask + consolidated_out["pred_masks"][obj_idx : obj_idx + 1] = out["pred_masks"] + consolidated_out["obj_ptr"][obj_idx : obj_idx + 1] = out["obj_ptr"] + + # Optionally, apply non-overlapping constraints on the consolidated scores and rerun the memory encoder + if run_mem_encoder: + high_res_masks = F.interpolate( + consolidated_out["pred_masks"], + size=self.imgsz, + mode="bilinear", + align_corners=False, + ) + if self.model.non_overlap_masks_for_mem_enc: + high_res_masks = self.model._apply_non_overlapping_constraints(high_res_masks) + consolidated_out["maskmem_features"], consolidated_out["maskmem_pos_enc"] = self._run_memory_encoder( + batch_size=batch_size, + high_res_masks=high_res_masks, + is_mask_from_pts=True, # these frames are what the user interacted with + object_score_logits=consolidated_out["object_score_logits"], + ) + + return consolidated_out + + def _get_empty_mask_ptr(self, frame_idx): + """ + Get a dummy object pointer based on an empty mask on the current frame. + + Args: + frame_idx (int): The index of the current frame for which to generate the dummy object pointer. + + Returns: + (torch.Tensor): A tensor representing the dummy object pointer generated from the empty mask. + """ + # Retrieve correct image features + current_vision_feats, current_vision_pos_embeds, feat_sizes = self.get_im_features(self.inference_state["im"]) + + # Feed the empty mask and image feature above to get a dummy object pointer + current_out = self.model.track_step( + frame_idx=frame_idx, + is_init_cond_frame=True, + current_vision_feats=current_vision_feats, + current_vision_pos_embeds=current_vision_pos_embeds, + feat_sizes=feat_sizes, + point_inputs=None, + # A dummy (empty) mask with a single object + mask_inputs=torch.zeros((1, 1, *self.imgsz), dtype=torch.float32, device=self.device), + output_dict={}, + num_frames=self.inference_state["num_frames"], + track_in_reverse=False, + run_mem_encoder=False, + prev_sam_mask_logits=None, + ) + return current_out["obj_ptr"] + + def _run_memory_encoder(self, batch_size, high_res_masks, object_score_logits, is_mask_from_pts): + """ + Run the memory encoder on masks. + + This is usually after applying non-overlapping constraints to object scores. Since their scores changed, their + memory also needs to be computed again with the memory encoder. + + Args: + batch_size (int): The batch size for processing the frame. + high_res_masks (torch.Tensor): High-resolution masks for which to compute the memory. + object_score_logits (torch.Tensor): Logits representing the object scores. + is_mask_from_pts (bool): Indicates if the mask is derived from point interactions. + + Returns: + (tuple[torch.Tensor, torch.Tensor]): A tuple containing the encoded mask features and positional encoding. + """ + # Retrieve correct image features + current_vision_feats, _, feat_sizes = self.get_im_features(self.inference_state["im"], batch_size) + maskmem_features, maskmem_pos_enc = self.model._encode_new_memory( + current_vision_feats=current_vision_feats, + feat_sizes=feat_sizes, + pred_masks_high_res=high_res_masks, + is_mask_from_pts=is_mask_from_pts, + object_score_logits=object_score_logits, + ) + + # "maskmem_pos_enc" is the same across frames, so we only need to store one copy of it + maskmem_pos_enc = self._get_maskmem_pos_enc(maskmem_pos_enc) + return maskmem_features.to(dtype=torch.float16, device=self.device, non_blocking=True), maskmem_pos_enc + + def _add_output_per_object(self, frame_idx, current_out, storage_key): + """ + Split a multi-object output into per-object output slices and add them into Output_Dict_Per_Obj. + + The resulting slices share the same tensor storage. + + Args: + frame_idx (int): The index of the current frame. + current_out (Dict): The current output dictionary containing multi-object outputs. + storage_key (str): The key used to store the output in the per-object output dictionary. + """ + maskmem_features = current_out["maskmem_features"] + assert maskmem_features is None or isinstance(maskmem_features, torch.Tensor) + + maskmem_pos_enc = current_out["maskmem_pos_enc"] + assert maskmem_pos_enc is None or isinstance(maskmem_pos_enc, list) + + for obj_idx, obj_output_dict in self.inference_state["output_dict_per_obj"].items(): + obj_slice = slice(obj_idx, obj_idx + 1) + obj_out = { + "maskmem_features": None, + "maskmem_pos_enc": None, + "pred_masks": current_out["pred_masks"][obj_slice], + "obj_ptr": current_out["obj_ptr"][obj_slice], + } + if maskmem_features is not None: + obj_out["maskmem_features"] = maskmem_features[obj_slice] + if maskmem_pos_enc is not None: + obj_out["maskmem_pos_enc"] = [x[obj_slice] for x in maskmem_pos_enc] + obj_output_dict[storage_key][frame_idx] = obj_out + + def _clear_non_cond_mem_around_input(self, frame_idx): + """ + Remove the non-conditioning memory around the input frame. + + When users provide correction clicks, the surrounding frames' non-conditioning memories can still contain outdated + object appearance information and could confuse the model. This method clears those non-conditioning memories + surrounding the interacted frame to avoid giving the model both old and new information about the object. + + Args: + frame_idx (int): The index of the current frame where user interaction occurred. + """ + r = self.model.memory_temporal_stride_for_eval + frame_idx_begin = frame_idx - r * self.model.num_maskmem + frame_idx_end = frame_idx + r * self.model.num_maskmem + for t in range(frame_idx_begin, frame_idx_end + 1): + self.inference_state["output_dict"]["non_cond_frame_outputs"].pop(t, None) + for obj_output_dict in self.inference_state["output_dict_per_obj"].values(): + obj_output_dict["non_cond_frame_outputs"].pop(t, None) diff --git a/ultralytics/trackers/basetrack.py b/ultralytics/trackers/basetrack.py index f3baaf4e4b..c78ee3595c 100644 --- a/ultralytics/trackers/basetrack.py +++ b/ultralytics/trackers/basetrack.py @@ -44,7 +44,7 @@ class BaseTrack: start_frame (int): The frame number where tracking started. frame_id (int): The most recent frame ID processed by the track. time_since_update (int): Frames passed since the last update. - location (Tuple): The location of the object in the context of multi-camera tracking. + location (tuple): The location of the object in the context of multi-camera tracking. Methods: end_frame: Returns the ID of the last frame where the object was tracked. diff --git a/ultralytics/trackers/utils/matching.py b/ultralytics/trackers/utils/matching.py index f969f1126a..b062d938e5 100644 --- a/ultralytics/trackers/utils/matching.py +++ b/ultralytics/trackers/utils/matching.py @@ -27,10 +27,9 @@ def linear_assignment(cost_matrix: np.ndarray, thresh: float, use_lap: bool = Tr use_lap (bool): Use lap.lapjv for the assignment. If False, scipy.optimize.linear_sum_assignment is used. Returns: - (tuple): A tuple containing: - - matched_indices (np.ndarray): Array of matched indices of shape (K, 2), where K is the number of matches. - - unmatched_a (np.ndarray): Array of unmatched indices from the first set, with shape (L,). - - unmatched_b (np.ndarray): Array of unmatched indices from the second set, with shape (M,). + matched_indices (np.ndarray): Array of matched indices of shape (K, 2), where K is the number of matches. + unmatched_a (np.ndarray): Array of unmatched indices from the first set, with shape (L,). + unmatched_b (np.ndarray): Array of unmatched indices from the second set, with shape (M,). Examples: >>> cost_matrix = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9]]) diff --git a/ultralytics/utils/loss.py b/ultralytics/utils/loss.py index 94038aefec..7395286899 100644 --- a/ultralytics/utils/loss.py +++ b/ultralytics/utils/loss.py @@ -552,9 +552,8 @@ class v8PoseLoss(v8DetectionLoss): pred_kpts (torch.Tensor): Predicted keypoints, shape (BS, N_anchors, N_kpts_per_object, kpts_dim). Returns: - (tuple): Returns a tuple containing: - - kpts_loss (torch.Tensor): The keypoints loss. - - kpts_obj_loss (torch.Tensor): The keypoints object loss. + kpts_loss (torch.Tensor): The keypoints loss. + kpts_obj_loss (torch.Tensor): The keypoints object loss. """ batch_idx = batch_idx.flatten() batch_size = len(masks) diff --git a/ultralytics/utils/metrics.py b/ultralytics/utils/metrics.py index 2b80c02fe1..bb521f5c3c 100644 --- a/ultralytics/utils/metrics.py +++ b/ultralytics/utils/metrics.py @@ -549,19 +549,18 @@ def ap_per_class( prefix (str, optional): A prefix string for saving the plot files. Defaults to an empty string. Returns: - (tuple): A tuple of six arrays and one array of unique classes, where: - tp (np.ndarray): True positive counts at threshold given by max F1 metric for each class.Shape: (nc,). - fp (np.ndarray): False positive counts at threshold given by max F1 metric for each class. Shape: (nc,). - p (np.ndarray): Precision values at threshold given by max F1 metric for each class. Shape: (nc,). - r (np.ndarray): Recall values at threshold given by max F1 metric for each class. Shape: (nc,). - f1 (np.ndarray): F1-score values at threshold given by max F1 metric for each class. Shape: (nc,). - ap (np.ndarray): Average precision for each class at different IoU thresholds. Shape: (nc, 10). - unique_classes (np.ndarray): An array of unique classes that have data. Shape: (nc,). - p_curve (np.ndarray): Precision curves for each class. Shape: (nc, 1000). - r_curve (np.ndarray): Recall curves for each class. Shape: (nc, 1000). - f1_curve (np.ndarray): F1-score curves for each class. Shape: (nc, 1000). - x (np.ndarray): X-axis values for the curves. Shape: (1000,). - prec_values: Precision values at mAP@0.5 for each class. Shape: (nc, 1000). + tp (np.ndarray): True positive counts at threshold given by max F1 metric for each class.Shape: (nc,). + fp (np.ndarray): False positive counts at threshold given by max F1 metric for each class. Shape: (nc,). + p (np.ndarray): Precision values at threshold given by max F1 metric for each class. Shape: (nc,). + r (np.ndarray): Recall values at threshold given by max F1 metric for each class. Shape: (nc,). + f1 (np.ndarray): F1-score values at threshold given by max F1 metric for each class. Shape: (nc,). + ap (np.ndarray): Average precision for each class at different IoU thresholds. Shape: (nc, 10). + unique_classes (np.ndarray): An array of unique classes that have data. Shape: (nc,). + p_curve (np.ndarray): Precision curves for each class. Shape: (nc, 1000). + r_curve (np.ndarray): Recall curves for each class. Shape: (nc, 1000). + f1_curve (np.ndarray): F1-score curves for each class. Shape: (nc, 1000). + x (np.ndarray): X-axis values for the curves. Shape: (1000,). + prec_values (np.ndarray): Precision values at mAP@0.5 for each class. Shape: (nc, 1000). """ # Sort by objectness i = np.argsort(-conf) diff --git a/ultralytics/utils/ops.py b/ultralytics/utils/ops.py index 07b54b3e43..25e83c61c3 100644 --- a/ultralytics/utils/ops.py +++ b/ultralytics/utils/ops.py @@ -317,11 +317,11 @@ def clip_boxes(boxes, shape): Takes a list of bounding boxes and a shape (height, width) and clips the bounding boxes to the shape. Args: - boxes (torch.Tensor): the bounding boxes to clip - shape (tuple): the shape of the image + boxes (torch.Tensor): The bounding boxes to clip. + shape (tuple): The shape of the image. Returns: - (torch.Tensor | numpy.ndarray): Clipped boxes + (torch.Tensor | numpy.ndarray): The clipped boxes. """ if isinstance(boxes, torch.Tensor): # faster individually (WARNING: inplace .clamp_() Apple MPS bug) boxes[..., 0] = boxes[..., 0].clamp(0, shape[1]) # x1 @@ -359,9 +359,9 @@ def scale_image(masks, im0_shape, ratio_pad=None): Takes a mask, and resizes it to the original image size. Args: - masks (np.ndarray): resized and padded masks/images, [h, w, num]/[h, w, 3]. - im0_shape (tuple): the original image shape - ratio_pad (tuple): the ratio of the padding to the original image. + masks (np.ndarray): Resized and padded masks/images, [h, w, num]/[h, w, 3]. + im0_shape (tuple): The original image shape. + ratio_pad (tuple): The ratio of the padding to the original image. Returns: masks (np.ndarray): The masks that are being returned with shape [h, w, num]. @@ -692,12 +692,12 @@ def process_mask_native(protos, masks_in, bboxes, shape): Args: protos (torch.Tensor): [mask_dim, mask_h, mask_w] - masks_in (torch.Tensor): [n, mask_dim], n is number of masks after nms - bboxes (torch.Tensor): [n, 4], n is number of masks after nms - shape (tuple): the size of the input image (h,w) + masks_in (torch.Tensor): [n, mask_dim], n is number of masks after nms. + bboxes (torch.Tensor): [n, 4], n is number of masks after nms. + shape (tuple): The size of the input image (h,w). Returns: - masks (torch.Tensor): The returned masks with dimensions [h, w, n] + masks (torch.Tensor): The returned masks with dimensions [h, w, n]. """ c, mh, mw = protos.shape # CHW masks = (masks_in @ protos.float().view(c, -1)).view(-1, mh, mw) diff --git a/ultralytics/utils/plotting.py b/ultralytics/utils/plotting.py index 6e257634d7..f4514247cf 100644 --- a/ultralytics/utils/plotting.py +++ b/ultralytics/utils/plotting.py @@ -584,8 +584,8 @@ class Annotator: Displays queue counts on an image centered at the points with customizable font size and colors. Args: - label (str): queue counts label - points (tuple): region points for center point calculation to display text + label (str): Queue counts label. + points (tuple): Region points for center point calculation to display text. region_color (tuple): RGB queue region color. txt_color (tuple): RGB text display color. """ @@ -624,13 +624,13 @@ class Annotator: Display the bounding boxes labels in parking management app. Args: - im0 (ndarray): inference image - text (str): object/class name - txt_color (tuple): display color for text foreground - bg_color (tuple): display color for text background - x_center (float): x position center point for bounding box - y_center (float): y position center point for bounding box - margin (int): gap between text and rectangle for better display + im0 (ndarray): Inference image. + text (str): Object/class name. + txt_color (tuple): Display color for text foreground. + bg_color (tuple): Display color for text background. + x_center (float): The x position center point for bounding box. + y_center (float): The y position center point for bounding box. + margin (int): The gap between text and rectangle for better display. """ text_size = cv2.getTextSize(text, 0, fontScale=self.sf, thickness=self.tf)[0] text_x = x_center - text_size[0] // 2 @@ -648,11 +648,11 @@ class Annotator: Display the overall statistics for parking lots. Args: - im0 (ndarray): inference image - text (dict): labels dictionary - txt_color (tuple): display color for text foreground - bg_color (tuple): display color for text background - margin (int): gap between text and rectangle for better display + im0 (ndarray): Inference image. + text (dict): Labels dictionary. + txt_color (tuple): Display color for text foreground. + bg_color (tuple): Display color for text background. + margin (int): Gap between text and rectangle for better display. """ horizontal_gap = int(im0.shape[1] * 0.02) vertical_gap = int(im0.shape[0] * 0.01)