update

README.md

@@ -58,15 +58,23 @@ yolo predict model=yolov10n/s/m/b/l/x.pt
 ```
 
 ## Export
+```
+# End-to-End ONNX
+yolo export model=yolov10n/s/m/b/l/x.pt format=onnx opset=13 simplify
+# Predict with ONNX
+yolo predict model=yolov10n/s/m/b/l/x.onnx
 
-
-## Latency Measurement 
-
-
+# End-to-End TensorRT
+yolo export model=yolov10n/s/m/b/l/x.pt format=engine half=True simplify opset=13 workspace=16
+# Or
+trtexec --onnx=onnxs/yolov10n/s/m/b/l/x.onnx --saveEngine=engines/yolov10n/s/m/b/l/x.engine --fp16
+# Predict with TensorRT
+yolo predict model=yolov10n/s/m/b/l/x.engine
+```
 
 ## Acknowledgement
 
-The code base is built with [ultralytics](https://github.com/ultralytics/ultralytics)
+The code base is built with [ultralytics](https://github.com/ultralytics/ultralytics) and [RT-DETR](https://github.com/lyuwenyu/RT-DETR)
 
 Thanks for the great implementations! 
 

requirements.txt

@@ -4,4 +4,6 @@ onnx
 onnxruntime
 pycocotools
 PyYAML
-scipy
+scipy
+onnxsim
+onnxruntime-gpu

ultralytics/engine/exporter.py

@@ -67,7 +67,7 @@ from ultralytics.cfg import get_cfg
 from ultralytics.data.dataset import YOLODataset
 from ultralytics.data.utils import check_det_dataset
 from ultralytics.nn.autobackend import check_class_names, default_class_names
-from ultralytics.nn.modules import C2f, Detect, RTDETRDecoder
+from ultralytics.nn.modules import C2f, Detect, RTDETRDecoder, v10Detect
 from ultralytics.nn.tasks import DetectionModel, SegmentationModel, WorldModel
 from ultralytics.utils import (
     ARM64,
@@ -229,6 +229,9 @@ class Exporter:
                 m.dynamic = self.args.dynamic
                 m.export = True
                 m.format = self.args.format
+                if isinstance(m, v10Detect):
+                    m.max_det = self.args.max_det
+
             elif isinstance(m, C2f) and not any((saved_model, pb, tflite, edgetpu, tfjs)):
                 # EdgeTPU does not support FlexSplitV while split provides cleaner ONNX graph
                 m.forward = m.forward_split

ultralytics/models/yolov10/predict.py

@@ -9,10 +9,13 @@ class YOLOv10DetectionPredictor(DetectionPredictor):
         if isinstance(preds, (list, tuple)):
             preds = preds[0]
         
-        preds = preds.transpose(-1, -2)
-        bboxes, scores, labels = ops.v10postprocess(preds, self.args.max_det)
-        bboxes = ops.xywh2xyxy(bboxes)
-        preds = torch.cat([bboxes, scores.unsqueeze(-1), labels.unsqueeze(-1)], dim=-1)
+        if preds.shape[-1] == 6:
+            pass
+        else:
+            preds = preds.transpose(-1, -2)
+            bboxes, scores, labels = ops.v10postprocess(preds, self.args.max_det)
+            bboxes = ops.xywh2xyxy(bboxes)
+            preds = torch.cat([bboxes, scores.unsqueeze(-1), labels.unsqueeze(-1)], dim=-1)
 
         mask = preds[..., 4] > self.args.conf
 

ultralytics/nn/modules/head.py

@@ -13,6 +13,7 @@ from .conv import Conv
 from .transformer import MLP, DeformableTransformerDecoder, DeformableTransformerDecoderLayer
 from .utils import bias_init_with_prob, linear_init
 import copy
+from ultralytics.utils import ops
 
 __all__ = "Detect", "Segment", "Pose", "Classify", "OBB", "RTDETRDecoder"
 
@@ -51,7 +52,6 @@ class Detect(nn.Module):
         shape = x[0].shape  # BCHW
         x_cat = torch.cat([xi.view(shape[0], self.no, -1) for xi in x], 2)
         if self.dynamic or self.shape != shape:
-            assert(not self.export)
             self.anchors, self.strides = (x.transpose(0, 1) for x in make_anchors(x, self.stride, 0.5))
             self.shape = shape
 
@@ -501,6 +501,8 @@ class RTDETRDecoder(nn.Module):
 
 class v10Detect(Detect):
 
+    max_det = -1
+
     def __init__(self, nc=80, ch=()):
         super().__init__(nc, ch)
         c3 = max(ch[0], min(self.nc, 100))  # channels
@@ -515,7 +517,12 @@ class v10Detect(Detect):
         one2one = self.forward_feat([xi.detach() for xi in x], self.one2one_cv2, self.one2one_cv3)
         if not self.training:
             one2one = self.inference(one2one)
-            return one2one
+            if not self.export:
+                return one2one
+            else:
+                assert(self.max_det != -1)
+                boxes, scores, labels = ops.v10postprocess(one2one.permute(0, 2, 1), self.max_det)
+                return torch.cat([boxes, scores.unsqueeze(-1), labels.unsqueeze(-1)], dim=-1)
         else:
             one2many = super().forward(x)
             return {"one2many": one2many, "one2one": one2one}

ultralytics/utils/ops.py

@@ -848,8 +848,8 @@ def clean_str(s):
     """
     return re.sub(pattern="[|@#!¡·$€%&()=?¿^*;:,¨´><+]", repl="_", string=s)
 
-def v10postprocess(preds, max_det):
-    nc = preds.shape[-1] - 4
+def v10postprocess(preds, max_det, nc=80):
+    assert(4 + nc == preds.shape[-1])
     boxes, scores = preds.split([4, nc], dim=-1)
     max_scores = scores.amax(dim=-1)
     max_scores, index = torch.topk(max_scores, max_det, axis=-1)