def test(data,
weights=None,
batch_size=16,
imgsz=640,
conf_thres=0.001,
iou_thres=0.6, # for NMS
save_json=False,
single_cls=False,
augment=False,
verbose=False,
model=None,
dataloader=None,
save_dir=Path(''), # for saving images
save_txt=False, # for auto-labelling
plots=True):
# Initialize/load model and set device
# 判断是否在训练时调用test，如果是则获取训练时的设备
training = model is not None
if training: # called by train.py
device = next(model.parameters()).device # get model device
else: # called directly
set_logging()
device = select_device(opt.device, batch_size=batch_size)
save_txt = opt.save_txt # save *.txt labels
if save_txt:
out = Path('inference/output')
if os.path.exists(out):
shutil.rmtree(out) # delete output folder
os.makedirs(out) # make new output folder
# Remove previous
# 删除之前的test_batch0_gt.jpg和test_batch0_pred.jpg
for f in glob.glob(str(save_dir / 'test_batch*.jpg')):
os.remove(f)
# Load model
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)
# Half
# 如果设备不是cpu，则将模型由Float32转为Float16，提高前向传播的速度
half = device.type != 'cpu' # half precision only supported on CUDA
if half:
model.half()
# Configure
# 将模型字符串转变为函数
model.eval()
with open(data) as f:
data = yaml.load(f, Loader=yaml.FullLoader) # model dict
check_dataset(data) # check
nc = 1 if single_cls else int(data['nc']) # number of classes
# 设置iou阈值，从0.5~0.95，每间隔0.05取一次
iouv = torch.linspace(0.5, 0.95, 10).to(device) # iou vector for [email protected]:0.95
# iou个数
niou = iouv.numel()
# Dataloader
if not training:
# 创建一个全0数组测试一下前向传播是否正常运行
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
# 获取图片路径
path = data['test'] if opt.task == 'test' else data['val'] # path to val/test images
# 创建dataloader
# 注意这里rect参数为True，yolov5的测试评估是基于矩形推理的
dataloader = create_dataloader(path, imgsz, batch_size, model.stride.max(), opt,
hyp=None, augment=False, cache=False, pad=0.5, rect=True)[0]
# 初始化测试的图片数量
seen = 0
# 获取类别的名字
names = model.names if hasattr(model, 'names') else model.module.names
"""
获取coco数据集的类别索引
这里要说明一下，coco数据集有80个类别(索引范围应该为0~79)，
但是他的索引却属于0~90(笔者是通过查看coco数据测试集的json文件发现的，具体原因不知)
coco80_to_coco91_class()就是为了与上述索引对应起来，返回一个范围在0~90的索引数组
"""
coco91class = coco80_to_coco91_class()
# 设置tqdm进度条的显示信息
s = ('%20s' + '%12s' * 6) % ('Class', 'Images', 'Targets', 'P', 'R', '[email protected]', '[email protected]:.95')
# 初始化指标，时间
p, r, f1, mp, mr, map50, map, t0, t1 = 0., 0., 0., 0., 0., 0., 0., 0., 0.
# 初始化测试集的损失
loss = torch.zeros(4, device=device)
# 初始化json文件的字典，统计信息，ap
jdict, stats, ap, ap_class = [], [], [], []
for batch_i, (img, targets, paths, shapes) in enumerate(tqdm(dataloader, desc=s)):
'''
i: batch_index, 第i个batch
imgs : torch.Size([batch_size, 3, weights, heights])
targets : torch.Size = (该batch中的目标数量, [该image属于该batch的第几个图片, class, xywh, Θ])
paths : List['img1_path','img2_path',......,'img-1_path'] len(paths)=batch_size
shape :
'''
img = img.to(device, non_blocking=True)
# 图片也由Float32->Float16
img = img.half() if half else img.float() # uint8 to fp16/32
img /= 255.0 # 0 - 255 to 0.0 - 1.0
targets = targets.to(device)
nb, _, height, width = img.shape # batch size, channels, height, width
whwh = torch.Tensor([width, height, width, height]).to(device)
# Disable gradients
with torch.no_grad():
# Run model
t = time_synchronized()
'''
Detect层在的输出：(z,x)
if training :
x list: [small_forward, medium_forward, large_forward] eg:small_forward.size=( batch_size, 3种scale框, size1, size2, no)
else :
(z,x)
z tensor: [small+medium+large_inference] size=(batch_size, 3 * (small_size1*small_size2 + medium_size1*medium_size2 + large_size1*large_size2), no) 真实坐标
x list: [small_forward, medium_forward, large_forward] eg:small_forward.size=( batch_size, 3种scale框, size1, size2, no)
'''
inf_out, train_out = model(img, augment=augment) # inference and training outputs
t0 += time_synchronized() - t
# Compute loss
if training: # if model has loss hyperparameters
loss += compute_loss([x.float() for x in train_out], targets, model)[1][:4] # box, obj, cls, angle
# Run NMS
t = time_synchronized()
# output : size = (batch_size, num_conf_nms, [xywhθ,conf,classid]) θ∈[0,179]
#output = non_max_suppression(inf_out, conf_thres=conf_thres, iou_thres=iou_thres)
output = rotate_non_max_suppression(inf_out, conf_thres=conf_thres, iou_thres=iou_thres)
t1 += time_synchronized() - t
# Statistics per image
for si, pred in enumerate(output):
'''
targets : torch.Size = (该batch中的目标数量, [该image属于该batch的第几个图片, class, xywh, θ]) θ∈[0,179]
pred : shape=(num_conf_nms, [xywhθ,conf,classid]) θ∈[0,179]
si : 该batch中的第几张图
'''
# labels: shape= (num, [class, xywh, θ])
labels = targets[targets[:, 0] == si, 1:]
nl = len(labels)
tcls = labels[:, 0].tolist() if nl else [] # target class
seen += 1
if pred is None:
if nl:
stats.append((torch.zeros(0, niou, dtype=torch.bool), torch.Tensor(), torch.Tensor(), tcls))
continue
# # Append to text file
# if save_txt:
# gn = torch.tensor(shapes[si][0])[[1, 0, 1, 0]] # normalization gain whwh
# x = pred.clone()
# x[:, :4] = scale_coords(img[si].shape[1:], x[:, :4], shapes[si][0], shapes[si][1]) # to original
# for *xyxy, conf, cls in x:
# xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist() # normalized xywh
# with open(str(out / Path(paths[si]).stem) + '.txt', 'a') as f:
# f.write(('%g ' * 5 + '\n') % (cls, *xywh)) # label format
# Clip boxes to image bounds
# clip_coords(pred, (height, width))
# Append to pycocotools JSON dictionary
# if save_json:
# # [{"image_id": 42, "category_id": 18, "bbox": [258.15, 41.29, 348.26, 243.78], "score": 0.236}, ...
# image_id = Path(paths[si]).stem
# box = pred[:, :4].clone() # xyxy
# scale_coords(img[si].shape[1:], box, shapes[si][0], shapes[si][1]) # to original shape
# box = xyxy2xywh(box) # xywh
# box[:, :2] -= box[:, 2:] / 2 # xy center to top-left corner
# for p, b in zip(pred.tolist(), box.tolist()):
# jdict.append({'image_id': int(image_id) if image_id.isnumeric() else image_id,
# 'category_id': coco91class[int(p[5])],
# 'bbox': [round(x, 3) for x in b],
# 'score': round(p[4], 5)})
# Assign all predictions as incorrect
correct = torch.zeros(pred.shape[0], niou, dtype=torch.bool, device=device)
# pred : shape=(num_conf_nms, [xywhθ,conf,classid]) θ∈[0,179]
# labels: shape= (num, [class, xywh, θ])
if nl:
detected = [] # target indices
tcls_tensor = labels[:, 0] # torch.size(num)
# target boxes -> orignal shape
tbox = labels[:, 1:5] * whwh # torch.size(num,[xywh]) 1024*1024 无所谓顺序
#ttheta = labels[:, 5] # torch.size(num,[Θ])
# Per target class
for cls in torch.unique(tcls_tensor): # unique函数去除其中重复的元素，并按元素（类别）由大到小返回一个新的无元素重复的元组或者列表
ti = (cls == tcls_tensor).nonzero(as_tuple=False).view(-1) # target indices
pi = (cls == pred[:, 6]).nonzero(as_tuple=False).view(-1) # prediction indices
# Search for detections
if pi.shape[0]:
# Prediction to target ious
ious, i = box_iou(pred[pi, :4], tbox[ti]).max(1) # best ious, indices
#rious, i = rbox_iou(pred[:, :4], pred[:, 4].unsqueeze(1), tbox, ttheta.unsqueeze(1)).max(1) # best rious, indices
# Append detections
detected_set = set()
for j in (ious > iouv[0]).nonzero(as_tuple=False):
d = ti[i[j]] # detected target
if d.item() not in detected_set:
detected_set.add(d.item())
detected.append(d)
correct[pi[j]] = ious[j] > iouv # iou_thres is 1xn
if len(detected) == nl: # all targets already located in image
break
# Append statistics (correct, conf, pcls, tcls)
stats.append((correct.cpu(), pred[:, 5].cpu(), pred[:, 6].cpu(), tcls))
# Plot images
if plots and batch_i < 1:
f = save_dir / ('test_batch%g_gt.jpg' % batch_i) # filename
plot_images(img, targets, paths, str(f), names) # ground truth
f = save_dir / ('test_batch%g_pred.jpg' % batch_i)
plot_images(img, output_to_target(output, width, height), paths, str(f), names) # predictions
# Compute statistics
stats = [np.concatenate(x, 0) for x in zip(*stats)] # to numpy
if len(stats) and stats[0].any():
p, r, ap, f1, ap_class = ap_per_class(*stats, plot=plots, fname=save_dir / 'precision-recall_curve.png')
p, r, ap50, ap = p[:, 0], r[:, 0], ap[:, 0], ap.mean(1) # [P, R, [email protected], [email protected]:0.95]
mp, mr, map50, map = p.mean(), r.mean(), ap50.mean(), ap.mean()
nt = np.bincount(stats[3].astype(np.int64), minlength=nc) # number of targets per class
else:
nt = torch.zeros(1)
# Print results
pf = '%20s' + '%12.3g' * 6 # print format
print(pf % ('all', seen, nt.sum(), mp, mr, map50, map))
# Print results per class
if verbose and nc > 1 and len(stats):
for i, c in enumerate(ap_class):
print(pf % (names[c], seen, nt[c], p[i], r[i], ap50[i], ap[i]))
# Print speeds
t = tuple(x / seen * 1E3 for x in (t0, t1, t0 + t1)) + (imgsz, imgsz, batch_size) # tuple
if not training:
print('Speed: %.1f/%.1f/%.1f ms inference/NMS/total per %gx%g image at batch-size %g' % t)
# Save JSON
if save_json and len(jdict):
f = 'detections_val2017_%s_results.json' % \
(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)
try: # https://github.com/cocodataset/cocoapi/blob/master/PythonAPI/pycocoEvalDemo.ipynb
from pycocotools.coco import COCO
from pycocotools.cocoeval import COCOeval
imgIds = [int(Path(x).stem) for x in dataloader.dataset.img_files]
cocoGt = COCO(glob.glob('../coco/annotations/instances_val*.json')[0]) # initialize COCO ground truth api
cocoDt = cocoGt.loadRes(f) # initialize COCO pred api
cocoEval = COCOeval(cocoGt, cocoDt, 'bbox')
cocoEval.params.imgIds = imgIds # image IDs to evaluate
cocoEval.evaluate()
cocoEval.accumulate()
cocoEval.summarize()
map, map50 = cocoEval.stats[:2] # update results ([email protected]:0.95, [email protected])
except Exception as e:
print('ERROR: pycocotools unable to run: %s' % e)
# Return results
model.float() # for training
maps = np.zeros(nc) + map
for i, c in enumerate(ap_class):
maps[c] = ap[i]
return (mp, mr, map50, map, *(loss.cpu() / len(dataloader)).tolist()), maps, t
def test(
data,
weights=None,
batch_size=16,
imgsz=640,
conf_thres=0.001,
iou_thres=0.6, # for NMS
save_json=False,
single_cls=False,
augment=False,
verbose=False,
model=None,
dataloader=None,
save_dir='',
merge=False,
save_txt=False):
# Initialize/load model and set device
training = model is not None
if training: # called by train.py
device = next(model.parameters()).device # get model device
else: # called directly
set_logging()
device = select_device(opt.device, batch_size=batch_size)
merge, save_txt = opt.merge, opt.save_txt # use Merge NMS, save *.txt labels
if save_txt:
out = Path('inference/output')
if os.path.exists(out):
shutil.rmtree(out) # delete output folder
os.makedirs(out) # make new output folder
# Remove previous
for f in glob.glob(str(Path(save_dir) / 'test_batch*.jpg')):
os.remove(f)
# Load model
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)
# Half
half = device.type != 'cpu' # half precision only supported on CUDA
if half:
model.half()
# Configure
model.eval()
with open(data) as f:
data = yaml.load(f, Loader=yaml.FullLoader) # model dict
check_dataset(data) # check
nc = 1 if single_cls else int(data['nc']) # number of classes
iouv = torch.linspace(0.5, 0.95,
10).to(device) # iou vector for [email protected]:0.95
niou = iouv.numel()
# Dataloader
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,
model.stride.max(),
opt,
hyp=None,
augment=False,
cache=False,
pad=0.5,
rect=True)[0]
seen = 0
names = model.names if hasattr(model, 'names') else model.module.names
coco91class = coco80_to_coco91_class()
s = ('%20s' + '%12s' * 6) % ('Class', 'Images', 'Targets', 'P', 'R',
'[email protected]', '[email protected]:.95')
p, r, f1, mp, mr, map50, map, t0, t1 = 0., 0., 0., 0., 0., 0., 0., 0., 0.
loss = torch.zeros(3, device=device)
jdict, stats, ap, ap_class = [], [], [], []
for batch_i, (img, targets, paths,
shapes) in enumerate(tqdm(dataloader, desc=s)):
img = img.to(device, non_blocking=True)
img = img.half() if half else img.float() # uint8 to fp16/32
img /= 255.0 # 0 - 255 to 0.0 - 1.0
targets = targets.to(device)
nb, _, height, width = img.shape # batch size, channels, height, width
whwh = torch.Tensor([width, height, width, height]).to(device)
# Disable gradients
with torch.no_grad():
# Run model
t = time_synchronized()
inf_out, train_out = model(
img, augment=augment) # inference and training outputs
t0 += time_synchronized() - t
# Compute loss
if training: # if model has loss hyperparameters
loss += compute_loss([x.float() for x in train_out], targets,
model)[1][:3] # GIoU, obj, cls
# Run NMS
t = time_synchronized()
output = non_max_suppression(inf_out,
conf_thres=conf_thres,
iou_thres=iou_thres,
merge=merge)
t1 += time_synchronized() - t
# Statistics per image
for si, pred in enumerate(output):
labels = targets[targets[:, 0] == si, 1:]
nl = len(labels)
tcls = labels[:, 0].tolist() if nl else [] # target class
seen += 1
if pred is None:
if nl:
stats.append((torch.zeros(0, niou, dtype=torch.bool),
torch.Tensor(), torch.Tensor(), tcls))
continue
# Append to text file
if save_txt:
gn = torch.tensor(shapes[si][0])[[1, 0, 1, 0
]] # normalization gain whwh
x = pred.clone()
x[:, :4] = scale_coords(img[si].shape[1:], x[:, :4],
shapes[si][0],
shapes[si][1]) # to original
for *xyxy, conf, cls in x:
xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) /
gn).view(-1).tolist() # normalized xywh
with open(str(out / Path(paths[si]).stem) + '.txt',
'a') as f:
f.write(
('%g ' * 5 + '\n') % (cls, *xywh)) # label format
# Clip boxes to image bounds
clip_coords(pred, (height, width))
# Append to pycocotools JSON dictionary
if save_json:
# [{"image_id": 42, "category_id": 18, "bbox": [258.15, 41.29, 348.26, 243.78], "score": 0.236}, ...
image_id = Path(paths[si]).stem
box = pred[:, :4].clone() # xyxy
scale_coords(img[si].shape[1:], box, shapes[si][0],
shapes[si][1]) # to original shape
box = xyxy2xywh(box) # xywh
box[:, :2] -= box[:, 2:] / 2 # xy center to top-left corner
for p, b in zip(pred.tolist(), box.tolist()):
jdict.append({
'image_id':
int(image_id) if image_id.isnumeric() else image_id,
'category_id':
coco91class[int(p[5])],
'bbox': [round(x, 3) for x in b],
'score':
round(p[4], 5)
})
# Assign all predictions as incorrect
correct = torch.zeros(pred.shape[0],
niou,
dtype=torch.bool,
device=device)
if nl:
detected = [] # target indices
tcls_tensor = labels[:, 0]
# target boxes
tbox = xywh2xyxy(labels[:, 1:5]) * whwh
# Per target class
for cls in torch.unique(tcls_tensor):
ti = (cls == tcls_tensor).nonzero(as_tuple=False).view(
-1) # prediction indices
pi = (cls == pred[:, 5]).nonzero(as_tuple=False).view(
-1) # target indices
# Search for detections
if pi.shape[0]:
# Prediction to target ious
ious, i = box_iou(pred[pi, :4], tbox[ti]).max(
1) # best ious, indices
# Append detections
detected_set = set()
for j in (ious > iouv[0]).nonzero(as_tuple=False):
d = ti[i[j]] # detected target
if d.item() not in detected_set:
detected_set.add(d.item())
detected.append(d)
correct[
pi[j]] = ious[j] > iouv # iou_thres is 1xn
if len(
detected
) == nl: # all targets already located in image
break
# Append statistics (correct, conf, pcls, tcls)
stats.append(
(correct.cpu(), pred[:, 4].cpu(), pred[:, 5].cpu(), tcls))
# Plot images
if batch_i < 1:
f = Path(save_dir) / ('test_batch%g_gt.jpg' % batch_i) # filename
plot_images(img, targets, paths, str(f), names) # ground truth
f = Path(save_dir) / ('test_batch%g_pred.jpg' % batch_i)
plot_images(img, output_to_target(output, width, height), paths,
str(f), names) # predictions
# Compute statistics
stats = [np.concatenate(x, 0) for x in zip(*stats)] # to numpy
if len(stats) and stats[0].any():
p, r, ap, f1, ap_class = ap_per_class(*stats)
p, r, ap50, ap = p[:, 0], r[:, 0], ap[:, 0], ap.mean(
1) # [P, R, [email protected], [email protected]:0.95]
mp, mr, map50, map = p.mean(), r.mean(), ap50.mean(), ap.mean()
nt = np.bincount(stats[3].astype(np.int64),
minlength=nc) # number of targets per class
else:
nt = torch.zeros(1)
# Print results
pf = '%20s' + '%12.3g' * 6 # print format
print(pf % ('all', seen, nt.sum(), mp, mr, map50, map))
# Print results per class
if verbose and nc > 1 and len(stats):
for i, c in enumerate(ap_class):
print(pf % (names[c], seen, nt[c], p[i], r[i], ap50[i], ap[i]))
# Print speeds
t = tuple(x / seen * 1E3
for x in (t0, t1, t0 + t1)) + (imgsz, imgsz, batch_size) # tuple
if not training:
print(
'Speed: %.1f/%.1f/%.1f ms inference/NMS/total per %gx%g image at batch-size %g'
% t)
# Save JSON
if save_json and len(jdict):
f = 'detections_val2017_%s_results.json' % \
(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)
try: # https://github.com/cocodataset/cocoapi/blob/master/PythonAPI/pycocoEvalDemo.ipynb
from pycocotools.coco import COCO
from pycocotools.cocoeval import COCOeval
imgIds = [int(Path(x).stem) for x in dataloader.dataset.img_files]
cocoGt = COCO(
glob.glob('../coco/annotations/instances_val*.json')
[0]) # initialize COCO ground truth api
cocoDt = cocoGt.loadRes(f) # initialize COCO pred api
cocoEval = COCOeval(cocoGt, cocoDt, 'bbox')
cocoEval.params.imgIds = imgIds # image IDs to evaluate
cocoEval.evaluate()
cocoEval.accumulate()
cocoEval.summarize()
map, map50 = cocoEval.stats[:
2] # update results ([email protected]:0.95, [email protected])
except Exception as e:
print('ERROR: pycocotools unable to run: %s' % e)
# Return results
model.float() # for training
maps = np.zeros(nc) + map
for i, c in enumerate(ap_class):
maps[c] = ap[i]
return (mp, mr, map50, map,
*(loss.cpu() / len(dataloader)).tolist()), maps, t
def test(self, img_raw): # number of logged images
try:
#found objects
found = np.zeros((4, 3))
try:
img_resize = cv2.resize(
img_raw, (self.detection_width, self.detection_height))
img = cv2.cvtColor(img_resize, cv2.COLOR_BGR2RGB)
img = img.transpose(2, 0, 1)
img = torch.tensor(
img.reshape(
(1, 3, self.detection_height,
self.detection_width))).float().to(self.device)
except:
traceback.print_exc()
img /= 255.0 # 0 - 255 to 0.0 - 1.0
nb, _, height, width = img.shape # batch size, channels, height, width
# Run model
inf_out, train_out = self.model(
img) # inference and training outputs
# Run NMS
output = non_max_suppression(inf_out, conf_thres=0.8)
if output[0] == None:
return img_raw
out = output[0].cpu().numpy()
#sort last column
out[out[:, -1].argsort()]
out_filter = []
for i in range(len(out)):
obj = out[i]
#filter out extremely small detections
# if abs(obj[3]-obj[1])<2 or abs(obj[2]-obj[0])<2 or obj[0]<0 or obj[1]<0 or obj[2]<0 or obj[3]<0:
# out_filter.append(i)
# continue
#filter out obj not in region
if obj[-1] == 0 and (obj[0] < .45 * width
or obj[1] > 0.3 * height):
out_filter.append(i)
continue
if obj[-1] == 1 and (obj[0] > .45 * width
or obj[1] > 0.3 * height):
out_filter.append(i)
continue
if obj[-1] == 2 and (obj[0] < .5 * width
or obj[1] < 0.6 * height):
out_filter.append(i)
continue
if obj[-1] == 3 and (obj[0] > .5 * width
or obj[1] < 0.6 * height):
out_filter.append(i)
continue
#if object already found
if found[int(obj[-1])][0]:
continue
#check orientation except for bottle
if obj[-1] != 3:
img_crop = img_resize[int(obj[1]):int(obj[3]),
int(obj[0]):int(obj[2]), :]
try:
angle = self.orientation(
self.gt_dict[obj[-1]],
self.square(
cv2.cvtColor(img_crop, cv2.COLOR_BGR2GRAY),
self.max_size)) - 90.
except:
continue
else:
angle = 0
found[int(obj[-1])] = np.array([(obj[0] + obj[2]) / 2,
(obj[1] + obj[3]) / 2, angle])
out = np.delete(out, out_filter, axis=0)
img_out = cv2.cvtColor(
plot_images(img,
output_to_target([torch.tensor(out)], width,
height),
fname=None,
names=self.names), cv2.COLOR_RGB2BGR)
for i in range(4):
if found[i][0]:
img_out = cv2.putText(
img_out,
str(int(found[i][-1])),
(int(found[i][0]), int(found[i][1])),
fontFace=cv2.FONT_HERSHEY_COMPLEX_SMALL,
fontScale=.5,
color=(0, 0, 0))
#my type
kinect_cood_c = (
(found[i][0] *
(self.detection_end_c - self.detection_start_c) /
self.detection_width + self.detection_start_c) -
self.center_c) / self.f
kinect_cood_r = -(
(found[i][1] *
(self.detection_end_r - self.detection_start_r) /
self.detection_height + self.detection_start_r) -
self.center_r) / self.f
trans = np.dot(
self.H,
np.array([[kinect_cood_c], [kinect_cood_r], [1]]))
list(self.detection_objects.values())[i].x = trans[0][0]
list(self.detection_objects.values())[i].y = trans[1][0]
list(self.detection_objects.values()
)[i].angle = found[i][-1]
list(self.detection_objects.values())[i].detected = True
else:
list(self.detection_objects.values())[i].detected = False
found[:, 0] *= (self.detection_end_c -
self.detection_start_c) / self.detection_width
found[:, 1] *= (self.detection_end_r -
self.detection_start_r) / self.detection_height
found += self.offset
#pass to RR wire
self.detection_wire.OutValue = self.detection_objects
except AttributeError:
pass
return img_out
def test(
data,
weights=None,
batch_size=16,
imgsz=640,
conf_thres=0.3,
iou_thres=0.5, # for NMS
save_json=False,
single_cls=False,
augment=False,
verbose=False,
model=None,
dataloader=None,
save_dir='',
merge=False,
emb_dim=256,
save_txt=False):
# Initialize/load model and set device
training = model is not None
if training: # called by train.py
device = next(model.parameters()).device # get model device
else: # called directly
device = select_device(opt.device, batch_size=batch_size)
merge, save_txt = opt.merge, opt.save_txt # use Merge NMS, save *.txt labels
if save_txt:
out = Path('inference/output')
if os.path.exists(out):
shutil.rmtree(out) # delete output folder
os.makedirs(out) # make new output folder
# Remove previous
for f in glob.glob(str(Path(save_dir) / 'test_batch*.jpg')):
os.remove(f)
# Load model
model = attempt_load(weights, map_location=device) # load FP32 model
imgsz = [check_img_size(x, model.stride.max()) for x in imgsz]
# Half
half = device.type != 'cpu' # half precision only supported on CUDA
if half:
model.half()
# Configure
model.eval()
with open(data) as f:
data = yaml.load(f, Loader=yaml.FullLoader) # model dict
nc = 1 if single_cls else int(data['nc']) # number of classes
iouv = torch.linspace(0.5, 0.95,
10).to(device) # iou vector for [email protected]:0.95
niou = iouv.numel()
# Dataloader
if not training:
if len(imgsz) == 1:
img = torch.zeros((1, 3, imgsz, imgsz), device=device) # init img
else:
img = torch.zeros((1, 3, imgsz[1], imgsz[0]), device=device)
_ = model(img.half() if half else img
) if device.type != 'cpu' else None # run once
root = data['root']
path = data['test'] if opt.task == 'test' else data[
'test_emb'] # path to val/test images
dataloader = create_dataloader(root,
path,
imgsz,
batch_size,
model.stride.max(),
opt,
hyp=None,
augment=False,
cache=False,
pad=0.5,
rect=False)[0]
seen = 0
names = model.names if hasattr(model, 'names') else model.module.names
s = ('%20s' + '%12s' * 6) % ('Class', 'Images', 'Targets', 'P', 'R',
'[email protected]', '[email protected]:.95')
p, r, f1, mp, mr, map50, map, t0, t1 = 0., 0., 0., 0., 0., 0., 0., 0., 0.
jdict, stats, ap, ap_class = [], [], [], []
loss = torch.zeros(4, device=device)
for batch_i, (img, targets, paths,
shapes) in enumerate(tqdm(dataloader, desc=s)):
img = img.to(device, non_blocking=True)
img = img.half() if half else img.float() # uint8 to fp16/32
img /= 255.0 # 0 - 255 to 0.0 - 1.0
targets = targets.to(device)
nb, _, height, width = img.shape # batch size, channels, height, width
whwh = torch.Tensor([width, height, width, height]).to(device)
# Disable gradients
with torch.no_grad():
# Run model
t = time_synchronized()
inf_out, train_out_p, train_out_pemb = model(
img, augment=augment) # inference and training outputs
t0 += time_synchronized() - t
# Compute loss
if training: # if model has loss hyperparameters
loss += compute_loss([x.float() for x in train_out_p],
[x.float()
for x in train_out_pemb], targets,
model)[1][:4] # GIoU, obj, cls, lid
# Run NMS
t = time_synchronized()
output = non_max_suppression(inf_out,
conf_thres=conf_thres,
iou_thres=iou_thres,
merge=merge,
emb_dim=emb_dim)
t1 += time_synchronized() - t
'''
images = letterbox(cv2.imread(paths[1]), [608,1088], auto=False, scaleup=False)[0]
d = output[1]
if d is None:
continue
for i in range(len(d)):
cv2.rectangle(images, (int(d[i][0]), int(d[i][1])), (int(d[i][2]), int(d[i][3])), (0, 0, 255), 2)
cv2.imshow("image", images)
cv2.waitKey(0)
'''
# Statistics per image
for si, pred in enumerate(output):
labels = targets[targets[:, 0] == si, 1:]
nl = len(labels)
tcls = labels[:, 0].tolist() if nl else [] # target class
seen += 1
if pred is None:
if nl:
stats.append((torch.zeros(0, niou, dtype=torch.bool),
torch.Tensor(), torch.Tensor(), tcls))
continue
# Clip boxes to image bounds
clip_coords(pred, (height, width))
# Assign all predictions as incorrect
correct = torch.zeros(pred.shape[0],
niou,
dtype=torch.bool,
device=device)
if nl:
detected = [] # target indices
tcls_tensor = labels[:, 0]
# target boxes
tbox = xywh2xyxy(labels[:, 2:6]) * whwh
# Per target class
for cls in torch.unique(tcls_tensor):
ti = (cls == tcls_tensor).nonzero(as_tuple=False).view(
-1) # prediction indices
pi = (cls == pred[:, 5]).nonzero(as_tuple=False).view(
-1) # target indices
# Search for detections
if pi.shape[0]:
# Prediction to target ious
ious, i = box_iou(pred[pi, :4], tbox[ti]).max(
1) # best ious, indices
# Append detections
for j in (ious > iouv[0]).nonzero(as_tuple=False):
d = ti[i[j]] # detected target
if d not in detected:
detected.append(d)
correct[
pi[j]] = ious[j] > iouv # iou_thres is 1xn
if len(
detected
) == nl: # all targets already located in image
break
# Append statistics (correct, conf, pcls, tcls)
stats.append(
(correct.cpu(), pred[:, 4].cpu(), pred[:, 5].cpu(), tcls))
# Plot images
if batch_i < 1:
f = Path(save_dir) / ('test_batch%g_gt.jpg' % batch_i) # filename
plot_images(img, targets, paths, str(f), names) # ground truth
f = Path(save_dir) / ('test_batch%g_pred.jpg' % batch_i)
plot_test_images(img, output_to_target(output, width, height),
paths, str(f), names) # predictions
# Compute statistics
stats = [np.concatenate(x, 0) for x in zip(*stats)] # to numpy
if len(stats) and stats[0].any():
p, r, ap, f1, ap_class = ap_per_class(*stats)
p, r, ap50, ap = p[:, 0], r[:, 0], ap[:, 0], ap.mean(
1) # [P, R, [email protected], [email protected]:0.95]
mp, mr, map50, map = p.mean(), r.mean(), ap50.mean(), ap.mean()
nt = np.bincount(stats[3].astype(np.int64),
minlength=nc) # number of targets per class
else:
nt = torch.zeros(1)
# Print results
pf = '%20s' + '%12.3g' * 6 # print format
print(pf % ('all', seen, nt.sum(), mp, mr, map50, map))
# Print results per class
if verbose and nc > 1 and len(stats):
for i, c in enumerate(ap_class):
print(pf % (names[c], seen, nt[c], p[i], r[i], ap50[i], ap[i]))
# Print speeds
t = tuple(x / seen * 1E3
for x in (t0, t1, t0 + t1)) + (imgsz[0], imgsz[1], batch_size)
if not training:
print(
'Speed: %.1f/%.1f/%.1f ms inference/NMS/total per %gx%g image at batch-size %g'
% t)
# Return results
model.float() # for training
maps = np.zeros(nc) + map
for i, c in enumerate(ap_class):
maps[c] = ap[i]
return (mp, mr, map50, map,
*(loss.cpu() / len(dataloader)).tolist()), maps, t
def test(data,
weights=None,
batch_size=16,
imgsz=640,
conf_thres=0.001,
iou_thres=0.6, # for NMS
save_json=False,
single_cls=False,
augment=False,
verbose=False,
model=None,
dataloader=None,
save_dir=Path(''), # for saving images
save_txt=False, # for auto-labelling
save_conf=False,
plots=True,
log_imgs=0): # number of logged images
# Initialize/load model and set device
training = model is not None
if training: # called by train.py
device = next(model.parameters()).device # get model device
else: # called directly
set_logging()
device = select_device(opt.device, batch_size=batch_size)
save_txt = opt.save_txt # save *.txt labels
# Directories
if save_dir == Path('runs/test'): # if default
save_dir.mkdir(parents=True, exist_ok=True) # make base
save_dir = Path(increment_dir(save_dir / 'exp', opt.name)) # increment run
(save_dir / 'labels' if save_txt else save_dir).mkdir(parents=True, exist_ok=True) # make new dir
# Load model
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)
# Half
half = device.type != 'cpu' # half precision only supported on CUDA
if half:
model.half()
# Configure
model.eval()
with open(data) as f:
data = yaml.load(f, Loader=yaml.FullLoader) # model dict
check_dataset(data) # check
nc = 1 if single_cls else int(data['nc']) # number of classes
iouv = torch.linspace(0.5, 0.95, 10).to(device) # iou vector for [email protected]:0.95
niou = iouv.numel()
# Logging
log_imgs = min(log_imgs, 100) # ceil
try:
import wandb # Weights & Biases
except ImportError:
log_imgs = 0
# Dataloader
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, model.stride.max(), opt,
hyp=None, augment=False, cache=False, pad=0.5, rect=True)[0]
seen = 0
names = {k: v for k, v in enumerate(model.names if hasattr(model, 'names') else model.module.names)}
coco91class = coco80_to_coco91_class()
s = ('%20s' + '%12s' * 6) % ('Class', 'Images', 'Targets', 'P', 'R', '[email protected]', '[email protected]:.95')
p, r, f1, mp, mr, map50, map, t0, t1 = 0., 0., 0., 0., 0., 0., 0., 0., 0.
loss = torch.zeros(3, device=device)
jdict, stats, ap, ap_class, wandb_images = [], [], [], [], []
for batch_i, (img, targets, paths, shapes) in enumerate(tqdm(dataloader, desc=s)):
img = img.to(device, non_blocking=True)
img = img.half() if half else img.float() # uint8 to fp16/32
img /= 255.0 # 0 - 255 to 0.0 - 1.0
targets = targets.to(device)
nb, _, height, width = img.shape # batch size, channels, height, width
whwh = torch.Tensor([width, height, width, height]).to(device)
# Disable gradients
with torch.no_grad():
# Run model
t = time_synchronized()
inf_out, train_out = model(img, augment=augment) # inference and training outputs
# print('shape')
# print(inf_out.shape)
# print('ceterx, cetery, w, h')
# print(inf_out[0][..., 0:4]) # ceterx, cetery, w, h
# print('cls_conf')
# print(inf_out[0][..., 4]) # cls_conf
# print('obj_conf')
# print(inf_out[0][..., 5:]) # obj_conf
t0 += time_synchronized() - t
# Compute loss
if training: # if model has loss hyperparameters
loss += compute_loss([x.float() for x in train_out], targets, model)[1][:3] # box, obj, cls
# Run NMS
t = time_synchronized()
output = non_max_suppression(inf_out, conf_thres=conf_thres, iou_thres=iou_thres)
t1 += time_synchronized() - t
# Statistics per image
for si, pred in enumerate(output):
labels = targets[targets[:, 0] == si, 1:]
nl = len(labels)
tcls = labels[:, 0].tolist() if nl else [] # target class
seen += 1
if pred is None:
if nl:
stats.append((torch.zeros(0, niou, dtype=torch.bool), torch.Tensor(), torch.Tensor(), tcls))
continue
# Append to text file
if save_txt:
gn = torch.tensor(shapes[si][0])[[1, 0, 1, 0]] # gain whwh
x = pred.clone()
x[:, :4] = scale_coords(img[si].shape[1:], x[:, :4], shapes[si][0], shapes[si][1]) # to original
for *xyxy, conf, cls in x:
xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist() # normalized xywh
line = (cls, *xywh, conf) if save_conf else (cls, *xywh) # label format
with open(str(save_dir / 'labels' / Path(paths[si]).stem) + '.txt', 'a') as f:
f.write(('%g ' * len(line) + '\n') % line)
# W&B logging
if len(wandb_images) < log_imgs:
box_data = [{"position": {"minX": xyxy[0], "minY": xyxy[1], "maxX": xyxy[2], "maxY": xyxy[3]},
"class_id": int(cls),
"box_caption": "%s %.3f" % (names[cls], conf),
"scores": {"class_score": conf},
"domain": "pixel"} for *xyxy, conf, cls in pred.clone().tolist()]
boxes = {"predictions": {"box_data": box_data, "class_labels": names}}
wandb_images.append(wandb.Image(img[si], boxes=boxes))
# Clip boxes to image bounds
clip_coords(pred, (height, width))
# Append to pycocotools JSON dictionary
if save_json:
# [{"image_id": 42, "category_id": 18, "bbox": [258.15, 41.29, 348.26, 243.78], "score": 0.236}, ...
image_id = Path(paths[si]).stem
box = pred[:, :4].clone() # xyxy
scale_coords(img[si].shape[1:], box, shapes[si][0], shapes[si][1]) # to original shape
box = xyxy2xywh(box) # xywh
box[:, :2] -= box[:, 2:] / 2 # xy center to top-left corner
for p, b in zip(pred.tolist(), box.tolist()):
jdict.append({'image_id': int(image_id) if image_id.isnumeric() else image_id,
'category_id': coco91class[int(p[5])],
'bbox': [round(x, 3) for x in b],
'score': round(p[4], 5)})
# Assign all predictions as incorrect
correct = torch.zeros(pred.shape[0], niou, dtype=torch.bool, device=device)
if nl:
detected = [] # target indices
tcls_tensor = labels[:, 0]
# target boxes
tbox = xywh2xyxy(labels[:, 1:5]) * whwh
# Per target class
for cls in torch.unique(tcls_tensor):
ti = (cls == tcls_tensor).nonzero(as_tuple=False).view(-1) # target indices 1xn
pi = (cls == pred[:, 5]).nonzero(as_tuple=False).view(-1) # prediction indices
# Search for detections
if pi.shape[0]:
# Prediction to target ious
ious, i = box_iou(pred[pi, :4], tbox[ti]).max(1) # best ious, indices
# Append detections
detected_set = set()
for j in (ious > iouv[0]).nonzero(as_tuple=False):
d = ti[i[j]] # detected target
if d.item() not in detected_set:
detected_set.add(d.item())
detected.append(d)
correct[pi[j]] = ious[j] > iouv # iou_thres is 1xn
if len(detected) == nl: # all targets already located in image
break
# Append statistics (correct, conf, pcls, tcls)
stats.append((correct.cpu(), pred[:, 4].cpu(), pred[:, 5].cpu(), tcls))
# Plot images
if plots and batch_i < 1:
f = save_dir / f'test_batch{batch_i}_labels.jpg' # filename
plot_images(img, targets, paths, str(f), names) # labels
f = save_dir / f'test_batch{batch_i}_pred.jpg'
plot_images(img, output_to_target(output, width, height), paths, str(f), names) # predictions
# W&B logging
if wandb_images:
wandb.log({"outputs": wandb_images})
# Compute statistics
stats = [np.concatenate(x, 0) for x in zip(*stats)] # to numpy
if len(stats) and stats[0].any():
p, r, ap, f1, ap_class = ap_per_class(*stats, plot=plots, fname=save_dir / 'precision-recall_curve.png')
p, r, ap50, ap = p[:, 0], r[:, 0], ap[:, 0], ap.mean(1) # [P, R, [email protected], [email protected]:0.95]
mp, mr, map50, map = p.mean(), r.mean(), ap50.mean(), ap.mean()
nt = np.bincount(stats[3].astype(np.int64), minlength=nc) # number of targets per class
else:
nt = torch.zeros(1)
# Print results
pf = '%20s' + '%12.3g' * 6 # print format
print(pf % ('all', seen, nt.sum(), mp, mr, map50, map))
# Print results per class
if verbose and nc > 1 and len(stats):
for i, c in enumerate(ap_class):
print(pf % (names[c], seen, nt[c], p[i], r[i], ap50[i], ap[i]))
# Print speeds
t = tuple(x / seen * 1E3 for x in (t0, t1, t0 + t1)) + (imgsz, imgsz, batch_size) # tuple
if not training:
print('Speed: %.1f/%.1f/%.1f ms inference/NMS/total per %gx%g image at batch-size %g' % t)
# Save JSON
if save_json and len(jdict):
w = Path(weights[0] if isinstance(weights, list) else weights).stem if weights is not None else '' # weights
file = save_dir / f"detections_val2017_{w}_results.json" # predicted annotations file
print('\nCOCO mAP with pycocotools... saving %s...' % file)
with open(file, 'w') as f:
json.dump(jdict, f)
try: # https://github.com/cocodataset/cocoapi/blob/master/PythonAPI/pycocoEvalDemo.ipynb
from pycocotools.coco import COCO
from pycocotools.cocoeval import COCOeval
imgIds = [int(Path(x).stem) for x in dataloader.dataset.img_files]
cocoAnno = COCO(glob.glob('../coco/annotations/instances_val*.json')[0]) # initialize COCO annotations api
cocoPred = cocoAnno.loadRes(str(file)) # initialize COCO pred api
cocoEval = COCOeval(cocoAnno, cocoPred, 'bbox')
cocoEval.params.imgIds = imgIds # image IDs to evaluate
cocoEval.evaluate()
cocoEval.accumulate()
cocoEval.summarize()
map, map50 = cocoEval.stats[:2] # update results ([email protected]:0.95, [email protected])
except Exception as e:
print('ERROR: pycocotools unable to run: %s' % e)
# Return results
if not training:
print('Results saved to %s' % save_dir)
model.float() # for training
maps = np.zeros(nc) + map
for i, c in enumerate(ap_class):
maps[c] = ap[i]
return (mp, mr, map50, map, *(loss.cpu() / len(dataloader)).tolist()), maps, t
def process_image(img, processing_model):
(model, names) = processing_model
# Disable gradients
with torch.no_grad():
# Run model
t = time_synchronized()
inf_out, train_out = model(
img, augment=augment) # inference and training outputs
t0 += time_synchronized() - t
# Compute loss
if training: # if model has loss hyperparameters
loss += compute_loss([x.float() for x in train_out], targets,
model)[1][:3] # GIoU, obj, cls
# Run NMS
t = time_synchronized()
output = non_max_suppression(inf_out,
conf_thres=conf_thres,
iou_thres=iou_thres,
merge=merge)
t1 += time_synchronized() - t
# Statistics per image
for si, pred in enumerate(output):
labels = targets[targets[:, 0] == si, 1:]
nl = len(labels)
tcls = labels[:, 0].tolist() if nl else [] # target class
seen += 1
if pred is None:
if nl:
stats.append((torch.zeros(0, niou, dtype=torch.bool),
torch.Tensor(), torch.Tensor(), tcls))
continue
# Append to text file
if save_txt:
gn = torch.tensor(shapes[si][0])[[1, 0, 1,
0]] # normalization gain whwh
txt_path = str(out / Path(paths[si]).stem)
pred[:, :4] = scale_coords(img[si].shape[1:], pred[:, :4],
shapes[si][0],
shapes[si][1]) # to original
for *xyxy, conf, cls in pred:
xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) /
gn).view(-1).tolist() # normalized xywh
with open(txt_path + '.txt', 'a') as f:
f.write(('%g ' * 5 + '\n') % (cls, *xywh)) # label format
# Clip boxes to image bounds
clip_coords(pred, (height, width))
# Append to pycocotools JSON dictionary
if save_json:
# [{"image_id": 42, "category_id": 18, "bbox": [258.15, 41.29, 348.26, 243.78], "score": 0.236}, ...
image_id = Path(paths[si]).stem
box = pred[:, :4].clone() # xyxy
scale_coords(img[si].shape[1:], box, shapes[si][0],
shapes[si][1]) # to original shape
box = xyxy2xywh(box) # xywh
box[:, :2] -= box[:, 2:] / 2 # xy center to top-left corner
for p, b in zip(pred.tolist(), box.tolist()):
jdict.append({
'image_id':
int(image_id) if image_id.isnumeric() else image_id,
'category_id':
coco91class[int(p[5])],
'bbox': [round(x, 3) for x in b],
'score':
round(p[4], 5)
})
# Assign all predictions as incorrect
correct = torch.zeros(pred.shape[0],
niou,
dtype=torch.bool,
device=device)
if nl:
detected = [] # target indices
tcls_tensor = labels[:, 0]
# target boxes
tbox = xywh2xyxy(labels[:, 1:5]) * whwh
# Per target class
for cls in torch.unique(tcls_tensor):
ti = (cls == tcls_tensor).nonzero(as_tuple=False).view(
-1) # prediction indices
pi = (cls == pred[:, 5]).nonzero(as_tuple=False).view(
-1) # target indices
# Search for detections
if pi.shape[0]:
# Prediction to target ious
ious, i = box_iou(pred[pi, :4],
tbox[ti]).max(1) # best ious, indices
# Append detections
for j in (ious > iouv[0]).nonzero(as_tuple=False):
d = ti[i[j]] # detected target
if d not in detected:
detected.append(d)
correct[pi[j]] = ious[j] > iouv # iou_thres is 1xn
if len(
detected
) == nl: # all targets already located in image
break
# Append statistics (correct, conf, pcls, tcls)
stats.append((correct.cpu(), pred[:, 4].cpu(), pred[:, 5].cpu(), tcls))
# Plot images
if batch_i < 1:
f = Path(save_dir) / ('test_batch%g_gt.jpg' % batch_i) # filename
plot_images(img, targets, paths, str(f), names) # ground truth
f = Path(save_dir) / ('test_batch%g_pred.jpg' % batch_i)
plot_images(img, output_to_target(output, width, height), paths,
str(f), names) # predictions
return img
def test(
data,
weights=None,
batch_size=16,
imgsz=640,
conf_thres=0.001,
iou_thres=0.6, # for NMS
single_cls=False,
augment=False,
verbose=False,
model=None,
dataloader=None,
save_dir=Path(''), # for saving images
save_txt=False, # for auto-labelling
plots=True):
# Initialize/load model and set device
training = model is not None
if training: # called by train.py
device = next(model.parameters()).device # get model device
else: # called directly
set_logging()
device = select_device(opt.device, batch_size=batch_size)
save_txt = opt.save_txt # save *.txt labels
if save_txt:
out = Path('inference/output')
if os.path.exists(out):
shutil.rmtree(out) # delete output folder
os.makedirs(out) # make new output folder
# Remove previous
for f in glob.glob(str(save_dir / 'test_batch*.jpg')):
os.remove(f)
# Load model
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)
# Half
half = device.type != 'cpu' # half precision only supported on CUDA
if half:
model.half()
# Configure
model.eval()
with open(data) as f:
data = yaml.load(f, Loader=yaml.FullLoader) # model dict
check_dataset(data) # check
nc = 1 if single_cls else int(data['nc']) # number of classes
iouv = torch.linspace(0.5, 0.95,
10).to(device) # iou vector for [email protected]:0.95
niou = iouv.numel()
# Dataloader
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,
model.stride.max(),
opt,
hyp=None,
augment=False,
cache=False,
pad=0.5,
rect=True)[0]
seen = 0
names = model.names if hasattr(model, 'names') else model.module.names
coco91class = coco80_to_coco91_class()
s = ('%20s' + '%12s' * 6) % ('Class', 'Images', 'Targets', 'P', 'R',
'[email protected]', '[email protected]:.95')
p, r, f1, mp, mr, map50, map, t0, t1 = 0., 0., 0., 0., 0., 0., 0., 0., 0.
loss = torch.zeros(3, device=device)
jdict, stats, ap, ap_class = [], [], [], []
for batch_i, (img, targets, paths,
shapes) in enumerate(tqdm(dataloader, desc=s)):
img = img.to(device, non_blocking=True)
img = img.half() if half else img.float() # uint8 to fp16/32
img /= 255.0 # 0 - 255 to 0.0 - 1.0
targets = targets.to(device)
nb, _, height, width = img.shape # batch size, channels, height, width
whwh = torch.Tensor([width, height, width, height]).to(device)
# Disable gradients
with torch.no_grad():
# Run model
t = time_synchronized()
inf_out, train_out = model(
img, augment=augment) # inference and training outputs
t0 += time_synchronized() - t
# Compute loss
if training: # if model has loss hyperparameters
loss += compute_loss([x.float() for x in train_out], targets,
model)[1][:3] # box, obj, cls
# Run NMS
t = time_synchronized()
output = non_max_suppression(inf_out,
conf_thres=conf_thres,
iou_thres=iou_thres)
t1 += time_synchronized() - t
# Statistics per image
for si, pred in enumerate(output):
labels = targets[targets[:, 0] == si, 1:]
nl = len(labels)
tcls = labels[:, 0].tolist() if nl else [] # target class
seen += 1
if pred is None:
if nl:
stats.append((torch.zeros(0, niou, dtype=torch.bool),
torch.Tensor(), torch.Tensor(), tcls))
continue
# Append to text file
if save_txt:
gn = torch.tensor(shapes[si][0])[[1, 0, 1, 0
]] # normalization gain whwh
x = pred.clone()
x[:, :4] = scale_coords(img[si].shape[1:], x[:, :4],
shapes[si][0],
shapes[si][1]) # to original
for *xyxy, conf, cls in x:
xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) /
gn).view(-1).tolist() # normalized xywh
with open(str(out / Path(paths[si]).stem) + '.txt',
'a') as f:
f.write(
('%g ' * 5 + '\n') % (cls, *xywh)) # label format
# Clip boxes to image bounds
clip_coords(pred, (height, width))
# Assign all predictions as incorrect
correct = torch.zeros(pred.shape[0],
niou,
dtype=torch.bool,
device=device)
if nl:
detected = [] # target indices
tcls_tensor = labels[:, 0]
# target boxes
tbox = xywh2xyxy(labels[:, 1:5]) * whwh
# Per target class
for cls in torch.unique(tcls_tensor):
ti = (cls == tcls_tensor).nonzero(as_tuple=False).view(
-1) # prediction indices
pi = (cls == pred[:, 5]).nonzero(as_tuple=False).view(
-1) # target indices
# Search for detections
if pi.shape[0]:
# Prediction to target ious
ious, i = box_iou(pred[pi, :4], tbox[ti]).max(
1) # best ious, indices
# Append detections
detected_set = set()
for j in (ious > iouv[0]).nonzero(as_tuple=False):
d = ti[i[j]] # detected target
if d.item() not in detected_set:
detected_set.add(d.item())
detected.append(d)
correct[
pi[j]] = ious[j] > iouv # iou_thres is 1xn
if len(
detected
) == nl: # all targets already located in image
break
# Append statistics (correct, conf, pcls, tcls)
stats.append(
(correct.cpu(), pred[:, 4].cpu(), pred[:, 5].cpu(), tcls))
# Plot images
if plots and batch_i < 1:
f = save_dir / ('test_batch%g_gt.jpg' % batch_i) # filename
plot_images(img, targets, paths, str(f), names) # ground truth
f = save_dir / ('test_batch%g_pred.jpg' % batch_i)
plot_images(img, output_to_target(output, width, height), paths,
str(f), names) # predictions
# Compute statistics
stats = [np.concatenate(x, 0) for x in zip(*stats)] # to numpy
if len(stats) and stats[0].any():
p, r, ap, f1, ap_class = ap_per_class(*stats,
plot=plots,
fname=save_dir /
'precision-recall_curve.png')
p, r, ap50, ap = p[:, 0], r[:, 0], ap[:, 0], ap.mean(
1) # [P, R, [email protected], [email protected]:0.95]
mp, mr, map50, map = p.mean(), r.mean(), ap50.mean(), ap.mean()
nt = np.bincount(stats[3].astype(np.int64),
minlength=nc) # number of targets per class
else:
nt = torch.zeros(1)
# Print results
pf = '%20s' + '%12.3g' * 6 # print format
print(pf % ('all', seen, nt.sum(), mp, mr, map50, map))
# Print results per class
if verbose and nc > 1 and len(stats):
for i, c in enumerate(ap_class):
print(pf % (names[c], seen, nt[c], p[i], r[i], ap50[i], ap[i]))
# Print speeds
t = tuple(x / seen * 1E3
for x in (t0, t1, t0 + t1)) + (imgsz, imgsz, batch_size) # tuple
if not training:
print(
'Speed: %.1f/%.1f/%.1f ms inference/NMS/total per %gx%g image at batch-size %g'
% t)
# Return results
model.float() # for training
maps = np.zeros(nc) + map
for i, c in enumerate(ap_class):
maps[c] = ap[i]
return (mp, mr, map50, map,
*(loss.cpu() / len(dataloader)).tolist()), maps, t
