Merge branch 'master' into advanced_logging

detect.py

@@ -2,7 +2,7 @@ import argparse
 
 import torch.backends.cudnn as cudnn
 
-from utils import google_utils
+from models.experimental import *
 from utils.datasets import *
 from utils.utils import *
 
@@ -20,8 +20,7 @@ def detect(save_img=False):
     half = device.type != 'cpu'  # half precision only supported on CUDA
 
     # Load model
-    google_utils.attempt_download(weights)
-    model = torch.load(weights, map_location=device)['model'].float().eval()  # load FP32 model
+    model = attempt_load(weights, map_location=device)  # load FP32 model
     imgsz = check_img_size(imgsz, s=model.stride.max())  # check img_size
     if half:
         model.half()  # to FP16
@@ -137,7 +136,7 @@ def detect(save_img=False):
 
 if __name__ == '__main__':
     parser = argparse.ArgumentParser()
-    parser.add_argument('--weights', type=str, default='weights/yolov5s.pt', help='model.pt path')
+    parser.add_argument('--weights', nargs='+', type=str, default='yolov5s.pt', help='model.pt path(s)')
     parser.add_argument('--source', type=str, default='inference/images', help='source')  # file/folder, 0 for webcam
     parser.add_argument('--output', type=str, default='inference/output', help='output folder')  # output folder
     parser.add_argument('--img-size', type=int, default=640, help='inference size (pixels)')

models/experimental.py

 # This file contains experimental modules
 
 from models.common import *
+from utils import google_utils
 
 
 class CrossConv(nn.Module):
@@ -118,4 +119,23 @@ class Ensemble(nn.ModuleList):
         y = []
         for module in self:
             y.append(module(x, augment)[0])
-        return torch.cat(y, 1), None  # ensembled inference output, train output
+        # y = torch.stack(y).max(0)[0]  # max ensemble
+        # y = torch.cat(y, 1)  # nms ensemble
+        y = torch.stack(y).mean(0)  # mean ensemble
+        return y, None  # inference, train output
+
+
+def attempt_load(weights, map_location=None):
+    # Loads an ensemble of models weights=[a,b,c] or a single model weights=[a] or weights=a
+    model = Ensemble()
+    for w in weights if isinstance(weights, list) else [weights]:
+        google_utils.attempt_download(w)
+        model.append(torch.load(w, map_location=map_location)['model'].float().fuse().eval())  # load FP32 model
+
+    if len(model) == 1:
+        return model[-1]  # return model
+    else:
+        print('Ensemble created with %s\n' % weights)
+        for k in ['names', 'stride']:
+            setattr(model, k, getattr(model[-1], k))
+        return model  # return ensemble

models/export.py

@@ -61,7 +61,8 @@ if __name__ == '__main__':
         import coremltools as ct
 
         print('\nStarting CoreML export with coremltools %s...' % ct.__version__)
-        model = ct.convert(ts, inputs=[ct.ImageType(name='images', shape=img.shape)])  # convert
+        # convert model from torchscript and apply pixel scaling as per detect.py
+        model = ct.convert(ts, inputs=[ct.ImageType(name='images', shape=img.shape, scale=1/255.0, bias=[0, 0, 0])])
         f = opt.weights.replace('.pt', '.mlmodel')  # filename
         model.save(f)
         print('CoreML export success, saved as %s' % f)

requirements.txt

@@ -2,7 +2,7 @@
 Cython
 numpy==1.17
 opencv-python
-torch>=1.4
+torch>=1.5.1
 matplotlib
 pillow
 tensorboard

test.py

 import argparse
 import json
 
-from utils import google_utils
+from models.experimental import *
 from utils.datasets import *
-from utils.utils import *
 
 
 def test(data,
@@ -22,28 +21,26 @@ def test(data,
          merge=False):
 
     # Initialize/load model and set device
-    if model is None:
-        training = False
-        merge = opt.merge  # use Merge NMS
+    training = model is not None
+    if training:  # called by train.py
+        device = next(model.parameters()).device  # get model device
+
+    else:  # called directly
         device = torch_utils.select_device(opt.device, batch_size=batch_size)
+        merge = opt.merge  # use Merge NMS
 
         # Remove previous
         for f in glob.glob(str(Path(save_dir) / 'test_batch*.jpg')):
             os.remove(f)
 
         # Load model
-        google_utils.attempt_download(weights)
-        model = torch.load(weights, map_location=device)['model'].float().fuse().to(device)  # load to FP32
+        model = attempt_load(weights, map_location=device)  # load FP32 model
         imgsz = check_img_size(imgsz, s=model.stride.max())  # check img_size
 
         # Multi-GPU disabled, incompatible with .half() https://github.com/ultralytics/yolov5/issues/99
         # if device.type != 'cpu' and torch.cuda.device_count() > 1:
         #     model = nn.DataParallel(model)
 
-    else:  # called by train.py
-        training = True
-        device = next(model.parameters()).device  # get model device
-
     # Half
     half = device.type != 'cpu' and torch.cuda.device_count() == 1  # half precision only supported on single-GPU
     if half:
@@ -58,11 +55,11 @@ def test(data,
     niou = iouv.numel()
 
     # Dataloader
-    if dataloader is None:  # not training
+    if not training:
         img = torch.zeros((1, 3, imgsz, imgsz), device=device)  # init img
         _ = model(img.half() if half else img) if device.type != 'cpu' else None  # run once
         path = data['test'] if opt.task == 'test' else data['val']  # path to val/test images
-        dataloader = create_dataloader(path, imgsz, batch_size, int(max(model.stride)), opt,
+        dataloader = create_dataloader(path, imgsz, batch_size, model.stride.max(), opt,
                                        hyp=None, augment=False, cache=False, pad=0.5, rect=True)[0]
 
     seen = 0
@@ -195,7 +192,7 @@ def test(data,
     if save_json and map50 and len(jdict):
         imgIds = [int(Path(x).stem.split('_')[-1]) for x in dataloader.dataset.img_files]
         f = 'detections_val2017_%s_results.json' % \
-            (weights.split(os.sep)[-1].replace('.pt', '') if weights else '')  # filename
+            (weights.split(os.sep)[-1].replace('.pt', '') if isinstance(weights, str) else '')  # filename
         print('\nCOCO mAP with pycocotools... saving %s...' % f)
         with open(f, 'w') as file:
             json.dump(jdict, file)
@@ -228,7 +225,7 @@ def test(data,
 
 if __name__ == '__main__':
     parser = argparse.ArgumentParser(prog='test.py')
-    parser.add_argument('--weights', type=str, default='weights/yolov5s.pt', help='model.pt path')
+    parser.add_argument('--weights', nargs='+', type=str, default='yolov5s.pt', help='model.pt path(s)')
     parser.add_argument('--data', type=str, default='data/coco128.yaml', help='*.data path')
     parser.add_argument('--batch-size', type=int, default=32, help='size of each image batch')
     parser.add_argument('--img-size', type=int, default=640, help='inference size (pixels)')

train.py

@@ -96,11 +96,13 @@ def train(hyp):
 
     optimizer.add_param_group({'params': pg1, 'weight_decay': hyp['weight_decay']})  # add pg1 with weight_decay
     optimizer.add_param_group({'params': pg2})  # add pg2 (biases)
+    print('Optimizer groups: %g .bias, %g conv.weight, %g other' % (len(pg2), len(pg1), len(pg0)))
+    del pg0, pg1, pg2
+
     # Scheduler https://arxiv.org/pdf/1812.01187.pdf
     lf = lambda x: (((1 + math.cos(x * math.pi / epochs)) / 2) ** 1.0) * 0.9 + 0.1  # cosine
     scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)
-    print('Optimizer groups: %g .bias, %g conv.weight, %g other' % (len(pg2), len(pg1), len(pg0)))
-    del pg0, pg1, pg2
+    plot_lr_scheduler(optimizer, scheduler, epochs, save_dir=log_dir)
 
     # Load Model
     google_utils.attempt_download(weights)
@@ -142,12 +144,7 @@ def train(hyp):
     if mixed_precision:
         model, optimizer = amp.initialize(model, optimizer, opt_level='O1', verbosity=0)
 
-
-    scheduler.last_epoch = start_epoch - 1  # do not move
-    # https://discuss.pytorch.org/t/a-problem-occured-when-resuming-an-optimizer/28822
-    plot_lr_scheduler(optimizer, scheduler, epochs, save_dir=log_dir)
-
-    # Initialize distributed training
+    # Distributed training
     if device.type != 'cpu' and torch.cuda.device_count() > 1 and torch.distributed.is_available():
         dist.init_process_group(backend='nccl',  # distributed backend
                                 init_method='tcp://127.0.0.1:9999',  # init method
@@ -199,9 +196,10 @@ def train(hyp):
     # Start training
     t0 = time.time()
     nb = len(dataloader)  # number of batches
-    n_burn = max(3 * nb, 1e3)  # burn-in iterations, max(3 epochs, 1k iterations)
+    nw = max(3 * nb, 1e3)  # number of warmup iterations, max(3 epochs, 1k iterations)
     maps = np.zeros(nc)  # mAP per class
     results = (0, 0, 0, 0, 0, 0, 0)  # 'P', 'R', 'mAP', 'F1', 'val GIoU', 'val Objectness', 'val Classification'
+    scheduler.last_epoch = start_epoch - 1  # do not move
     print('Image sizes %g train, %g test' % (imgsz, imgsz_test))
     print('Using %g dataloader workers' % dataloader.num_workers)
     print('Starting training for %g epochs...' % epochs)
@@ -226,9 +224,9 @@ def train(hyp):
             ni = i + nb * epoch  # number integrated batches (since train start)
             imgs = imgs.to(device).float() / 255.0  # uint8 to float32, 0 - 255 to 0.0 - 1.0
 
-            # Burn-in
-            if ni <= n_burn:
-                xi = [0, n_burn]  # x interp
+            # Warmup
+            if ni <= nw:
+                xi = [0, nw]  # x interp
                 # model.gr = np.interp(ni, xi, [0.0, 1.0])  # giou loss ratio (obj_loss = 1.0 or giou)
                 accumulate = max(1, np.interp(ni, xi, [1, nbs / batch_size]).round())
                 for j, x in enumerate(optimizer.param_groups):

utils/datasets.py

@@ -48,7 +48,7 @@ def create_dataloader(path, imgsz, batch_size, stride, opt, hyp=None, augment=Fa
                                   rect=rect,  # rectangular training
                                   cache_images=cache,
                                   single_cls=opt.single_cls,
-                                  stride=stride,
+                                  stride=int(stride),
                                   pad=pad)
 
     batch_size = min(batch_size, len(dataset))
@@ -679,8 +679,8 @@ def letterbox(img, new_shape=(640, 640), color=(114, 114, 114), auto=True, scale
         dw, dh = np.mod(dw, 64), np.mod(dh, 64)  # wh padding
     elif scaleFill:  # stretch
         dw, dh = 0.0, 0.0
-        new_unpad = new_shape
-        ratio = new_shape[0] / shape[1], new_shape[1] / shape[0]  # width, height ratios
+        new_unpad = (new_shape[1], new_shape[0])
+        ratio = new_shape[1] / shape[1], new_shape[0] / shape[0]  # width, height ratios
 
     dw /= 2  # divide padding into 2 sides
     dh /= 2

utils/utils.py

@@ -179,7 +179,7 @@ def xywh2xyxy(x):
 def scale_coords(img1_shape, coords, img0_shape, ratio_pad=None):
     # Rescale coords (xyxy) from img1_shape to img0_shape
     if ratio_pad is None:  # calculate from img0_shape
-        gain = max(img1_shape) / max(img0_shape)  # gain  = old / new
+        gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1])  # gain  = old / new
         pad = (img1_shape[1] - img0_shape[1] * gain) / 2, (img1_shape[0] - img0_shape[0] * gain) / 2  # wh padding
     else:
         gain = ratio_pad[0][0]