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Revert loss head PR (#2873)
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Glenn Jocher <glenn.jocher@ultralytics.com>
This commit is contained in:
Ayush Chaurasia
GitHub
parent
6391c60089
commit
527a97759b
@ -13,7 +13,6 @@ from ultralytics.nn.modules import (AIFI, C1, C2, C3, C3TR, SPP, SPPF, Bottlenec
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RTDETRDecoder, Segment)
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from ultralytics.yolo.utils import DEFAULT_CFG_DICT, DEFAULT_CFG_KEYS, LOGGER, colorstr, emojis, yaml_load
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from ultralytics.yolo.utils.checks import check_requirements, check_suffix, check_yaml
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from ultralytics.yolo.utils.loss import v8ClassificationLoss, v8DetectionLoss, v8PoseLoss, v8SegmentationLoss
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from ultralytics.yolo.utils.plotting import feature_visualization
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from ultralytics.yolo.utils.torch_utils import (fuse_conv_and_bn, fuse_deconv_and_bn, initialize_weights,
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intersect_dicts, make_divisible, model_info, scale_img, time_sync)
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@ -176,23 +175,6 @@ class BaseModel(nn.Module):
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if verbose:
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LOGGER.info(f'Transferred {len(csd)}/{len(self.model.state_dict())} items from pretrained weights')
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def loss(self, batch, preds=None):
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"""
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Compute loss
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Args:
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batch (dict): Batch to compute loss on
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pred (torch.Tensor | List[torch.Tensor]): Predictions.
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"""
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if not hasattr(self, 'criterion'):
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self.criterion = self.init_criterion()
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preds = self.forward(batch['img']) if preds is None else preds
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return self.criterion(preds, batch)
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def init_criterion(self):
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raise NotImplementedError('compute_loss() needs to be implemented by task heads')
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class DetectionModel(BaseModel):
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"""YOLOv8 detection model."""
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@ -269,9 +251,6 @@ class DetectionModel(BaseModel):
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y[-1] = y[-1][..., i:] # small
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return y
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def init_criterion(self):
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return v8DetectionLoss(self)
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class SegmentationModel(DetectionModel):
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"""YOLOv8 segmentation model."""
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@ -284,9 +263,6 @@ class SegmentationModel(DetectionModel):
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"""Undocumented function."""
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raise NotImplementedError(emojis('WARNING ⚠️ SegmentationModel has not supported augment inference yet!'))
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def init_criterion(self):
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return v8SegmentationLoss(self)
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class PoseModel(DetectionModel):
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"""YOLOv8 pose model."""
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@ -300,9 +276,6 @@ class PoseModel(DetectionModel):
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cfg['kpt_shape'] = data_kpt_shape
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super().__init__(cfg=cfg, ch=ch, nc=nc, verbose=verbose)
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def init_criterion(self):
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return v8PoseLoss(self)
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class ClassificationModel(BaseModel):
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"""YOLOv8 classification model."""
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@ -370,10 +343,6 @@ class ClassificationModel(BaseModel):
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if m[i].out_channels != nc:
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m[i] = nn.Conv2d(m[i].in_channels, nc, m[i].kernel_size, m[i].stride, bias=m[i].bias is not None)
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def init_criterion(self):
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"""Compute the classification loss between predictions and true labels."""
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return v8ClassificationLoss()
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class Ensemble(nn.ModuleList):
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"""Ensemble of models."""
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@ -325,7 +325,8 @@ class BaseTrainer:
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# Forward
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with torch.cuda.amp.autocast(self.amp):
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batch = self.preprocess_batch(batch)
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self.loss, self.loss_items = de_parallel(self.model).loss(batch)
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preds = self.model(batch['img'])
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self.loss, self.loss_items = self.criterion(preds, batch)
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if RANK != -1:
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self.loss *= world_size
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self.tloss = (self.tloss * i + self.loss_items) / (i + 1) if self.tloss is not None \
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@ -495,6 +496,12 @@ class BaseTrainer:
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"""Build dataset"""
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raise NotImplementedError('build_dataset function not implemented in trainer')
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def criterion(self, preds, batch):
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"""
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Returns loss and individual loss items as Tensor.
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"""
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raise NotImplementedError('criterion function not implemented in trainer')
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def label_loss_items(self, loss_items=None, prefix='train'):
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"""
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Returns a loss dict with labelled training loss items tensor
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@ -162,8 +162,7 @@ class BaseValidator:
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# Loss
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with dt[2]:
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if self.training:
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loss_items = model.loss(batch, preds)
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self.loss += loss_items[1]
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self.loss += trainer.criterion(preds, batch)[1]
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# Postprocess
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with dt[3]:
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@ -4,10 +4,6 @@ import torch
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import torch.nn as nn
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import torch.nn.functional as F
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from ultralytics.yolo.utils.metrics import OKS_SIGMA
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from ultralytics.yolo.utils.ops import crop_mask, xywh2xyxy, xyxy2xywh
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from ultralytics.yolo.utils.tal import TaskAlignedAssigner, dist2bbox, make_anchors
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from .metrics import bbox_iou
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from .tal import bbox2dist
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@ -77,292 +73,3 @@ class KeypointLoss(nn.Module):
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# e = d / (2 * (area * self.sigmas) ** 2 + 1e-9) # from formula
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e = d / (2 * self.sigmas) ** 2 / (area + 1e-9) / 2 # from cocoeval
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return kpt_loss_factor * ((1 - torch.exp(-e)) * kpt_mask).mean()
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# Criterion class for computing Detection training losses
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class v8DetectionLoss:
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def __init__(self, model): # model must be de-paralleled
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device = next(model.parameters()).device # get model device
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h = model.args # hyperparameters
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m = model.model[-1] # Detect() module
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self.bce = nn.BCEWithLogitsLoss(reduction='none')
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self.hyp = h
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self.stride = m.stride # model strides
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self.nc = m.nc # number of classes
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self.no = m.no
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self.reg_max = m.reg_max
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self.device = device
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self.use_dfl = m.reg_max > 1
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self.assigner = TaskAlignedAssigner(topk=10, num_classes=self.nc, alpha=0.5, beta=6.0)
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self.bbox_loss = BboxLoss(m.reg_max - 1, use_dfl=self.use_dfl).to(device)
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self.proj = torch.arange(m.reg_max, dtype=torch.float, device=device)
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def preprocess(self, targets, batch_size, scale_tensor):
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"""Preprocesses the target counts and matches with the input batch size to output a tensor."""
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if targets.shape[0] == 0:
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out = torch.zeros(batch_size, 0, 5, device=self.device)
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else:
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i = targets[:, 0] # image index
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_, counts = i.unique(return_counts=True)
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counts = counts.to(dtype=torch.int32)
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out = torch.zeros(batch_size, counts.max(), 5, device=self.device)
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for j in range(batch_size):
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matches = i == j
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n = matches.sum()
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if n:
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out[j, :n] = targets[matches, 1:]
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out[..., 1:5] = xywh2xyxy(out[..., 1:5].mul_(scale_tensor))
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return out
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def bbox_decode(self, anchor_points, pred_dist):
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"""Decode predicted object bounding box coordinates from anchor points and distribution."""
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if self.use_dfl:
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b, a, c = pred_dist.shape # batch, anchors, channels
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pred_dist = pred_dist.view(b, a, 4, c // 4).softmax(3).matmul(self.proj.type(pred_dist.dtype))
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# pred_dist = pred_dist.view(b, a, c // 4, 4).transpose(2,3).softmax(3).matmul(self.proj.type(pred_dist.dtype))
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# pred_dist = (pred_dist.view(b, a, c // 4, 4).softmax(2) * self.proj.type(pred_dist.dtype).view(1, 1, -1, 1)).sum(2)
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return dist2bbox(pred_dist, anchor_points, xywh=False)
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def __call__(self, preds, batch):
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"""Calculate the sum of the loss for box, cls and dfl multiplied by batch size."""
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loss = torch.zeros(3, device=self.device) # box, cls, dfl
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feats = preds[1] if isinstance(preds, tuple) else preds
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pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
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(self.reg_max * 4, self.nc), 1)
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pred_scores = pred_scores.permute(0, 2, 1).contiguous()
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pred_distri = pred_distri.permute(0, 2, 1).contiguous()
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dtype = pred_scores.dtype
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batch_size = pred_scores.shape[0]
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imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
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anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
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# targets
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targets = torch.cat((batch['batch_idx'].view(-1, 1), batch['cls'].view(-1, 1), batch['bboxes']), 1)
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targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
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gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
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mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
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# pboxes
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pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
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_, target_bboxes, target_scores, fg_mask, _ = self.assigner(
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pred_scores.detach().sigmoid(), (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
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anchor_points * stride_tensor, gt_labels, gt_bboxes, mask_gt)
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target_scores_sum = max(target_scores.sum(), 1)
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# cls loss
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# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
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loss[1] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
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# bbox loss
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if fg_mask.sum():
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target_bboxes /= stride_tensor
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loss[0], loss[2] = self.bbox_loss(pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores,
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target_scores_sum, fg_mask)
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loss[0] *= self.hyp.box # box gain
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loss[1] *= self.hyp.cls # cls gain
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loss[2] *= self.hyp.dfl # dfl gain
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return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
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# Criterion class for computing training losses
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class v8SegmentationLoss(v8DetectionLoss):
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def __init__(self, model, overlap=True): # model must be de-paralleled
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super().__init__(model)
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self.nm = model.model[-1].nm # number of masks
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self.overlap = overlap
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def __call__(self, preds, batch):
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"""Calculate and return the loss for the YOLO model."""
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loss = torch.zeros(4, device=self.device) # box, cls, dfl
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feats, pred_masks, proto = preds if len(preds) == 3 else preds[1]
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batch_size, _, mask_h, mask_w = proto.shape # batch size, number of masks, mask height, mask width
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pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
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(self.reg_max * 4, self.nc), 1)
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# b, grids, ..
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pred_scores = pred_scores.permute(0, 2, 1).contiguous()
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pred_distri = pred_distri.permute(0, 2, 1).contiguous()
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pred_masks = pred_masks.permute(0, 2, 1).contiguous()
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dtype = pred_scores.dtype
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imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
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anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
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# targets
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try:
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batch_idx = batch['batch_idx'].view(-1, 1)
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targets = torch.cat((batch_idx, batch['cls'].view(-1, 1), batch['bboxes']), 1)
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targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
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gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
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mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
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except RuntimeError as e:
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raise TypeError('ERROR ❌ segment dataset incorrectly formatted or not a segment dataset.\n'
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"This error can occur when incorrectly training a 'segment' model on a 'detect' dataset, "
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"i.e. 'yolo train model=yolov8n-seg.pt data=coco128.yaml'.\nVerify your dataset is a "
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"correctly formatted 'segment' dataset using 'data=coco128-seg.yaml' "
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'as an example.\nSee https://docs.ultralytics.com/tasks/segment/ for help.') from e
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# pboxes
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pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
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_, target_bboxes, target_scores, fg_mask, target_gt_idx = self.assigner(
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pred_scores.detach().sigmoid(), (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
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anchor_points * stride_tensor, gt_labels, gt_bboxes, mask_gt)
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target_scores_sum = max(target_scores.sum(), 1)
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# cls loss
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# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
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loss[2] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
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if fg_mask.sum():
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# bbox loss
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loss[0], loss[3] = self.bbox_loss(pred_distri, pred_bboxes, anchor_points, target_bboxes / stride_tensor,
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target_scores, target_scores_sum, fg_mask)
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# masks loss
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masks = batch['masks'].to(self.device).float()
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if tuple(masks.shape[-2:]) != (mask_h, mask_w): # downsample
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masks = F.interpolate(masks[None], (mask_h, mask_w), mode='nearest')[0]
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for i in range(batch_size):
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if fg_mask[i].sum():
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mask_idx = target_gt_idx[i][fg_mask[i]]
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if self.overlap:
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gt_mask = torch.where(masks[[i]] == (mask_idx + 1).view(-1, 1, 1), 1.0, 0.0)
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else:
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gt_mask = masks[batch_idx.view(-1) == i][mask_idx]
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xyxyn = target_bboxes[i][fg_mask[i]] / imgsz[[1, 0, 1, 0]]
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marea = xyxy2xywh(xyxyn)[:, 2:].prod(1)
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mxyxy = xyxyn * torch.tensor([mask_w, mask_h, mask_w, mask_h], device=self.device)
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loss[1] += self.single_mask_loss(gt_mask, pred_masks[i][fg_mask[i]], proto[i], mxyxy, marea) # seg
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# WARNING: lines below prevents Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
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else:
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loss[1] += (proto * 0).sum() + (pred_masks * 0).sum() # inf sums may lead to nan loss
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# WARNING: lines below prevent Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
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else:
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loss[1] += (proto * 0).sum() + (pred_masks * 0).sum() # inf sums may lead to nan loss
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loss[0] *= self.hyp.box # box gain
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loss[1] *= self.hyp.box / batch_size # seg gain
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loss[2] *= self.hyp.cls # cls gain
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loss[3] *= self.hyp.dfl # dfl gain
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return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
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def single_mask_loss(self, gt_mask, pred, proto, xyxy, area):
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"""Mask loss for one image."""
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pred_mask = (pred @ proto.view(self.nm, -1)).view(-1, *proto.shape[1:]) # (n, 32) @ (32,80,80) -> (n,80,80)
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loss = F.binary_cross_entropy_with_logits(pred_mask, gt_mask, reduction='none')
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return (crop_mask(loss, xyxy).mean(dim=(1, 2)) / area).mean()
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# Criterion class for computing training losses
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class v8PoseLoss(v8DetectionLoss):
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def __init__(self, model): # model must be de-paralleled
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super().__init__(model)
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self.kpt_shape = model.model[-1].kpt_shape
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self.bce_pose = nn.BCEWithLogitsLoss()
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is_pose = self.kpt_shape == [17, 3]
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nkpt = self.kpt_shape[0] # number of keypoints
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sigmas = torch.from_numpy(OKS_SIGMA).to(self.device) if is_pose else torch.ones(nkpt, device=self.device) / nkpt
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self.keypoint_loss = KeypointLoss(sigmas=sigmas)
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def __call__(self, preds, batch):
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"""Calculate the total loss and detach it."""
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loss = torch.zeros(5, device=self.device) # box, cls, dfl, kpt_location, kpt_visibility
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feats, pred_kpts = preds if isinstance(preds[0], list) else preds[1]
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pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
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(self.reg_max * 4, self.nc), 1)
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# b, grids, ..
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pred_scores = pred_scores.permute(0, 2, 1).contiguous()
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pred_distri = pred_distri.permute(0, 2, 1).contiguous()
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pred_kpts = pred_kpts.permute(0, 2, 1).contiguous()
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dtype = pred_scores.dtype
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imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
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anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
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# targets
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batch_size = pred_scores.shape[0]
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batch_idx = batch['batch_idx'].view(-1, 1)
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targets = torch.cat((batch_idx, batch['cls'].view(-1, 1), batch['bboxes']), 1)
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targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
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gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
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mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
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# pboxes
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pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
|
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pred_kpts = self.kpts_decode(anchor_points, pred_kpts.view(batch_size, -1, *self.kpt_shape)) # (b, h*w, 17, 3)
|
||||
|
||||
_, target_bboxes, target_scores, fg_mask, target_gt_idx = self.assigner(
|
||||
pred_scores.detach().sigmoid(), (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
|
||||
anchor_points * stride_tensor, gt_labels, gt_bboxes, mask_gt)
|
||||
|
||||
target_scores_sum = max(target_scores.sum(), 1)
|
||||
|
||||
# cls loss
|
||||
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
|
||||
loss[3] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
|
||||
|
||||
# bbox loss
|
||||
if fg_mask.sum():
|
||||
target_bboxes /= stride_tensor
|
||||
loss[0], loss[4] = self.bbox_loss(pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores,
|
||||
target_scores_sum, fg_mask)
|
||||
keypoints = batch['keypoints'].to(self.device).float().clone()
|
||||
keypoints[..., 0] *= imgsz[1]
|
||||
keypoints[..., 1] *= imgsz[0]
|
||||
for i in range(batch_size):
|
||||
if fg_mask[i].sum():
|
||||
idx = target_gt_idx[i][fg_mask[i]]
|
||||
gt_kpt = keypoints[batch_idx.view(-1) == i][idx] # (n, 51)
|
||||
gt_kpt[..., 0] /= stride_tensor[fg_mask[i]]
|
||||
gt_kpt[..., 1] /= stride_tensor[fg_mask[i]]
|
||||
area = xyxy2xywh(target_bboxes[i][fg_mask[i]])[:, 2:].prod(1, keepdim=True)
|
||||
pred_kpt = pred_kpts[i][fg_mask[i]]
|
||||
kpt_mask = gt_kpt[..., 2] != 0
|
||||
loss[1] += self.keypoint_loss(pred_kpt, gt_kpt, kpt_mask, area) # pose loss
|
||||
# kpt_score loss
|
||||
if pred_kpt.shape[-1] == 3:
|
||||
loss[2] += self.bce_pose(pred_kpt[..., 2], kpt_mask.float()) # keypoint obj loss
|
||||
|
||||
loss[0] *= self.hyp.box # box gain
|
||||
loss[1] *= self.hyp.pose / batch_size # pose gain
|
||||
loss[2] *= self.hyp.kobj / batch_size # kobj gain
|
||||
loss[3] *= self.hyp.cls # cls gain
|
||||
loss[4] *= self.hyp.dfl # dfl gain
|
||||
|
||||
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
|
||||
|
||||
def kpts_decode(self, anchor_points, pred_kpts):
|
||||
"""Decodes predicted keypoints to image coordinates."""
|
||||
y = pred_kpts.clone()
|
||||
y[..., :2] *= 2.0
|
||||
y[..., 0] += anchor_points[:, [0]] - 0.5
|
||||
y[..., 1] += anchor_points[:, [1]] - 0.5
|
||||
return y
|
||||
|
||||
|
||||
class v8ClassificationLoss:
|
||||
|
||||
def __call__(self, preds, batch):
|
||||
"""Compute the classification loss between predictions and true labels."""
|
||||
loss = torch.nn.functional.cross_entropy(preds, batch['cls'], reduction='sum') / 64 # TODO: remove hardcoding
|
||||
loss_items = loss.detach()
|
||||
return loss, loss_items
|
||||
|
||||
@ -41,6 +41,7 @@ class ClassificationTrainer(BaseTrainer):
|
||||
m.p = self.args.dropout # set dropout
|
||||
for p in model.parameters():
|
||||
p.requires_grad = True # for training
|
||||
|
||||
return model
|
||||
|
||||
def setup_model(self):
|
||||
@ -102,6 +103,12 @@ class ClassificationTrainer(BaseTrainer):
|
||||
self.loss_names = ['loss']
|
||||
return v8.classify.ClassificationValidator(self.test_loader, self.save_dir)
|
||||
|
||||
def criterion(self, preds, batch):
|
||||
"""Compute the classification loss between predictions and true labels."""
|
||||
loss = torch.nn.functional.cross_entropy(preds, batch['cls'], reduction='sum') / self.args.nbs
|
||||
loss_items = loss.detach()
|
||||
return loss, loss_items
|
||||
|
||||
def label_loss_items(self, loss_items=None, prefix='train'):
|
||||
"""
|
||||
Returns a loss dict with labelled training loss items tensor
|
||||
|
||||
@ -2,6 +2,8 @@
|
||||
from copy import copy
|
||||
|
||||
import numpy as np
|
||||
import torch
|
||||
import torch.nn as nn
|
||||
|
||||
from ultralytics.nn.tasks import DetectionModel
|
||||
from ultralytics.yolo import v8
|
||||
@ -9,7 +11,10 @@ from ultralytics.yolo.data import build_dataloader, build_yolo_dataset
|
||||
from ultralytics.yolo.data.dataloaders.v5loader import create_dataloader
|
||||
from ultralytics.yolo.engine.trainer import BaseTrainer
|
||||
from ultralytics.yolo.utils import DEFAULT_CFG, LOGGER, RANK, colorstr
|
||||
from ultralytics.yolo.utils.loss import BboxLoss
|
||||
from ultralytics.yolo.utils.ops import xywh2xyxy
|
||||
from ultralytics.yolo.utils.plotting import plot_images, plot_labels, plot_results
|
||||
from ultralytics.yolo.utils.tal import TaskAlignedAssigner, dist2bbox, make_anchors
|
||||
from ultralytics.yolo.utils.torch_utils import de_parallel, torch_distributed_zero_first
|
||||
|
||||
|
||||
@ -86,6 +91,12 @@ class DetectionTrainer(BaseTrainer):
|
||||
self.loss_names = 'box_loss', 'cls_loss', 'dfl_loss'
|
||||
return v8.detect.DetectionValidator(self.test_loader, save_dir=self.save_dir, args=copy(self.args))
|
||||
|
||||
def criterion(self, preds, batch):
|
||||
"""Compute loss for YOLO prediction and ground-truth."""
|
||||
if not hasattr(self, 'compute_loss'):
|
||||
self.compute_loss = Loss(de_parallel(self.model))
|
||||
return self.compute_loss(preds, batch)
|
||||
|
||||
def label_loss_items(self, loss_items=None, prefix='train'):
|
||||
"""
|
||||
Returns a loss dict with labelled training loss items tensor
|
||||
@ -124,6 +135,102 @@ class DetectionTrainer(BaseTrainer):
|
||||
plot_labels(boxes, cls.squeeze(), names=self.data['names'], save_dir=self.save_dir, on_plot=self.on_plot)
|
||||
|
||||
|
||||
# Criterion class for computing training losses
|
||||
class Loss:
|
||||
|
||||
def __init__(self, model): # model must be de-paralleled
|
||||
|
||||
device = next(model.parameters()).device # get model device
|
||||
h = model.args # hyperparameters
|
||||
|
||||
m = model.model[-1] # Detect() module
|
||||
self.bce = nn.BCEWithLogitsLoss(reduction='none')
|
||||
self.hyp = h
|
||||
self.stride = m.stride # model strides
|
||||
self.nc = m.nc # number of classes
|
||||
self.no = m.no
|
||||
self.reg_max = m.reg_max
|
||||
self.device = device
|
||||
|
||||
self.use_dfl = m.reg_max > 1
|
||||
|
||||
self.assigner = TaskAlignedAssigner(topk=10, num_classes=self.nc, alpha=0.5, beta=6.0)
|
||||
self.bbox_loss = BboxLoss(m.reg_max - 1, use_dfl=self.use_dfl).to(device)
|
||||
self.proj = torch.arange(m.reg_max, dtype=torch.float, device=device)
|
||||
|
||||
def preprocess(self, targets, batch_size, scale_tensor):
|
||||
"""Preprocesses the target counts and matches with the input batch size to output a tensor."""
|
||||
if targets.shape[0] == 0:
|
||||
out = torch.zeros(batch_size, 0, 5, device=self.device)
|
||||
else:
|
||||
i = targets[:, 0] # image index
|
||||
_, counts = i.unique(return_counts=True)
|
||||
counts = counts.to(dtype=torch.int32)
|
||||
out = torch.zeros(batch_size, counts.max(), 5, device=self.device)
|
||||
for j in range(batch_size):
|
||||
matches = i == j
|
||||
n = matches.sum()
|
||||
if n:
|
||||
out[j, :n] = targets[matches, 1:]
|
||||
out[..., 1:5] = xywh2xyxy(out[..., 1:5].mul_(scale_tensor))
|
||||
return out
|
||||
|
||||
def bbox_decode(self, anchor_points, pred_dist):
|
||||
"""Decode predicted object bounding box coordinates from anchor points and distribution."""
|
||||
if self.use_dfl:
|
||||
b, a, c = pred_dist.shape # batch, anchors, channels
|
||||
pred_dist = pred_dist.view(b, a, 4, c // 4).softmax(3).matmul(self.proj.type(pred_dist.dtype))
|
||||
# pred_dist = pred_dist.view(b, a, c // 4, 4).transpose(2,3).softmax(3).matmul(self.proj.type(pred_dist.dtype))
|
||||
# pred_dist = (pred_dist.view(b, a, c // 4, 4).softmax(2) * self.proj.type(pred_dist.dtype).view(1, 1, -1, 1)).sum(2)
|
||||
return dist2bbox(pred_dist, anchor_points, xywh=False)
|
||||
|
||||
def __call__(self, preds, batch):
|
||||
"""Calculate the sum of the loss for box, cls and dfl multiplied by batch size."""
|
||||
loss = torch.zeros(3, device=self.device) # box, cls, dfl
|
||||
feats = preds[1] if isinstance(preds, tuple) else preds
|
||||
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
|
||||
(self.reg_max * 4, self.nc), 1)
|
||||
|
||||
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
|
||||
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
|
||||
|
||||
dtype = pred_scores.dtype
|
||||
batch_size = pred_scores.shape[0]
|
||||
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
|
||||
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
|
||||
|
||||
# targets
|
||||
targets = torch.cat((batch['batch_idx'].view(-1, 1), batch['cls'].view(-1, 1), batch['bboxes']), 1)
|
||||
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
|
||||
gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
|
||||
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
|
||||
|
||||
# pboxes
|
||||
pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
|
||||
|
||||
_, target_bboxes, target_scores, fg_mask, _ = self.assigner(
|
||||
pred_scores.detach().sigmoid(), (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
|
||||
anchor_points * stride_tensor, gt_labels, gt_bboxes, mask_gt)
|
||||
|
||||
target_scores_sum = max(target_scores.sum(), 1)
|
||||
|
||||
# cls loss
|
||||
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
|
||||
loss[1] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
|
||||
|
||||
# bbox loss
|
||||
if fg_mask.sum():
|
||||
target_bboxes /= stride_tensor
|
||||
loss[0], loss[2] = self.bbox_loss(pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores,
|
||||
target_scores_sum, fg_mask)
|
||||
|
||||
loss[0] *= self.hyp.box # box gain
|
||||
loss[1] *= self.hyp.cls # cls gain
|
||||
loss[2] *= self.hyp.dfl # dfl gain
|
||||
|
||||
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
|
||||
|
||||
|
||||
def train(cfg=DEFAULT_CFG, use_python=False):
|
||||
"""Train and optimize YOLO model given training data and device."""
|
||||
model = cfg.model or 'yolov8n.pt'
|
||||
|
||||
@ -2,10 +2,19 @@
|
||||
|
||||
from copy import copy
|
||||
|
||||
import torch
|
||||
import torch.nn as nn
|
||||
|
||||
from ultralytics.nn.tasks import PoseModel
|
||||
from ultralytics.yolo import v8
|
||||
from ultralytics.yolo.utils import DEFAULT_CFG
|
||||
from ultralytics.yolo.utils.loss import KeypointLoss
|
||||
from ultralytics.yolo.utils.metrics import OKS_SIGMA
|
||||
from ultralytics.yolo.utils.ops import xyxy2xywh
|
||||
from ultralytics.yolo.utils.plotting import plot_images, plot_results
|
||||
from ultralytics.yolo.utils.tal import make_anchors
|
||||
from ultralytics.yolo.utils.torch_utils import de_parallel
|
||||
from ultralytics.yolo.v8.detect.train import Loss
|
||||
|
||||
|
||||
# BaseTrainer python usage
|
||||
@ -36,6 +45,12 @@ class PoseTrainer(v8.detect.DetectionTrainer):
|
||||
self.loss_names = 'box_loss', 'pose_loss', 'kobj_loss', 'cls_loss', 'dfl_loss'
|
||||
return v8.pose.PoseValidator(self.test_loader, save_dir=self.save_dir, args=copy(self.args))
|
||||
|
||||
def criterion(self, preds, batch):
|
||||
"""Computes pose loss for the YOLO model."""
|
||||
if not hasattr(self, 'compute_loss'):
|
||||
self.compute_loss = PoseLoss(de_parallel(self.model))
|
||||
return self.compute_loss(preds, batch)
|
||||
|
||||
def plot_training_samples(self, batch, ni):
|
||||
"""Plot a batch of training samples with annotated class labels, bounding boxes, and keypoints."""
|
||||
images = batch['img']
|
||||
@ -58,6 +73,95 @@ class PoseTrainer(v8.detect.DetectionTrainer):
|
||||
plot_results(file=self.csv, pose=True, on_plot=self.on_plot) # save results.png
|
||||
|
||||
|
||||
# Criterion class for computing training losses
|
||||
class PoseLoss(Loss):
|
||||
|
||||
def __init__(self, model): # model must be de-paralleled
|
||||
super().__init__(model)
|
||||
self.kpt_shape = model.model[-1].kpt_shape
|
||||
self.bce_pose = nn.BCEWithLogitsLoss()
|
||||
is_pose = self.kpt_shape == [17, 3]
|
||||
nkpt = self.kpt_shape[0] # number of keypoints
|
||||
sigmas = torch.from_numpy(OKS_SIGMA).to(self.device) if is_pose else torch.ones(nkpt, device=self.device) / nkpt
|
||||
self.keypoint_loss = KeypointLoss(sigmas=sigmas)
|
||||
|
||||
def __call__(self, preds, batch):
|
||||
"""Calculate the total loss and detach it."""
|
||||
loss = torch.zeros(5, device=self.device) # box, cls, dfl, kpt_location, kpt_visibility
|
||||
feats, pred_kpts = preds if isinstance(preds[0], list) else preds[1]
|
||||
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
|
||||
(self.reg_max * 4, self.nc), 1)
|
||||
|
||||
# b, grids, ..
|
||||
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
|
||||
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
|
||||
pred_kpts = pred_kpts.permute(0, 2, 1).contiguous()
|
||||
|
||||
dtype = pred_scores.dtype
|
||||
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
|
||||
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
|
||||
|
||||
# targets
|
||||
batch_size = pred_scores.shape[0]
|
||||
batch_idx = batch['batch_idx'].view(-1, 1)
|
||||
targets = torch.cat((batch_idx, batch['cls'].view(-1, 1), batch['bboxes']), 1)
|
||||
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
|
||||
gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
|
||||
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
|
||||
|
||||
# pboxes
|
||||
pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
|
||||
pred_kpts = self.kpts_decode(anchor_points, pred_kpts.view(batch_size, -1, *self.kpt_shape)) # (b, h*w, 17, 3)
|
||||
|
||||
_, target_bboxes, target_scores, fg_mask, target_gt_idx = self.assigner(
|
||||
pred_scores.detach().sigmoid(), (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
|
||||
anchor_points * stride_tensor, gt_labels, gt_bboxes, mask_gt)
|
||||
|
||||
target_scores_sum = max(target_scores.sum(), 1)
|
||||
|
||||
# cls loss
|
||||
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
|
||||
loss[3] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
|
||||
|
||||
# bbox loss
|
||||
if fg_mask.sum():
|
||||
target_bboxes /= stride_tensor
|
||||
loss[0], loss[4] = self.bbox_loss(pred_distri, pred_bboxes, anchor_points, target_bboxes, target_scores,
|
||||
target_scores_sum, fg_mask)
|
||||
keypoints = batch['keypoints'].to(self.device).float().clone()
|
||||
keypoints[..., 0] *= imgsz[1]
|
||||
keypoints[..., 1] *= imgsz[0]
|
||||
for i in range(batch_size):
|
||||
if fg_mask[i].sum():
|
||||
idx = target_gt_idx[i][fg_mask[i]]
|
||||
gt_kpt = keypoints[batch_idx.view(-1) == i][idx] # (n, 51)
|
||||
gt_kpt[..., 0] /= stride_tensor[fg_mask[i]]
|
||||
gt_kpt[..., 1] /= stride_tensor[fg_mask[i]]
|
||||
area = xyxy2xywh(target_bboxes[i][fg_mask[i]])[:, 2:].prod(1, keepdim=True)
|
||||
pred_kpt = pred_kpts[i][fg_mask[i]]
|
||||
kpt_mask = gt_kpt[..., 2] != 0
|
||||
loss[1] += self.keypoint_loss(pred_kpt, gt_kpt, kpt_mask, area) # pose loss
|
||||
# kpt_score loss
|
||||
if pred_kpt.shape[-1] == 3:
|
||||
loss[2] += self.bce_pose(pred_kpt[..., 2], kpt_mask.float()) # keypoint obj loss
|
||||
|
||||
loss[0] *= self.hyp.box # box gain
|
||||
loss[1] *= self.hyp.pose / batch_size # pose gain
|
||||
loss[2] *= self.hyp.kobj / batch_size # kobj gain
|
||||
loss[3] *= self.hyp.cls # cls gain
|
||||
loss[4] *= self.hyp.dfl # dfl gain
|
||||
|
||||
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
|
||||
|
||||
def kpts_decode(self, anchor_points, pred_kpts):
|
||||
"""Decodes predicted keypoints to image coordinates."""
|
||||
y = pred_kpts.clone()
|
||||
y[..., :2] *= 2.0
|
||||
y[..., 0] += anchor_points[:, [0]] - 0.5
|
||||
y[..., 1] += anchor_points[:, [1]] - 0.5
|
||||
return y
|
||||
|
||||
|
||||
def train(cfg=DEFAULT_CFG, use_python=False):
|
||||
"""Train the YOLO model on the given data and device."""
|
||||
model = cfg.model or 'yolov8n-pose.yaml'
|
||||
|
||||
@ -1,10 +1,17 @@
|
||||
# Ultralytics YOLO 🚀, AGPL-3.0 license
|
||||
from copy import copy
|
||||
|
||||
import torch
|
||||
import torch.nn.functional as F
|
||||
|
||||
from ultralytics.nn.tasks import SegmentationModel
|
||||
from ultralytics.yolo import v8
|
||||
from ultralytics.yolo.utils import DEFAULT_CFG, RANK
|
||||
from ultralytics.yolo.utils.ops import crop_mask, xyxy2xywh
|
||||
from ultralytics.yolo.utils.plotting import plot_images, plot_results
|
||||
from ultralytics.yolo.utils.tal import make_anchors
|
||||
from ultralytics.yolo.utils.torch_utils import de_parallel
|
||||
from ultralytics.yolo.v8.detect.train import Loss
|
||||
|
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# BaseTrainer python usage
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@ -30,6 +37,12 @@ class SegmentationTrainer(v8.detect.DetectionTrainer):
|
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self.loss_names = 'box_loss', 'seg_loss', 'cls_loss', 'dfl_loss'
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return v8.segment.SegmentationValidator(self.test_loader, save_dir=self.save_dir, args=copy(self.args))
|
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def criterion(self, preds, batch):
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"""Returns the computed loss using the SegLoss class on the given predictions and batch."""
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if not hasattr(self, 'compute_loss'):
|
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self.compute_loss = SegLoss(de_parallel(self.model), overlap=self.args.overlap_mask)
|
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return self.compute_loss(preds, batch)
|
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def plot_training_samples(self, batch, ni):
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"""Creates a plot of training sample images with labels and box coordinates."""
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plot_images(batch['img'],
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@ -46,6 +59,101 @@ class SegmentationTrainer(v8.detect.DetectionTrainer):
|
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plot_results(file=self.csv, segment=True, on_plot=self.on_plot) # save results.png
|
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|
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# Criterion class for computing training losses
|
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class SegLoss(Loss):
|
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|
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def __init__(self, model, overlap=True): # model must be de-paralleled
|
||||
super().__init__(model)
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self.nm = model.model[-1].nm # number of masks
|
||||
self.overlap = overlap
|
||||
|
||||
def __call__(self, preds, batch):
|
||||
"""Calculate and return the loss for the YOLO model."""
|
||||
loss = torch.zeros(4, device=self.device) # box, cls, dfl
|
||||
feats, pred_masks, proto = preds if len(preds) == 3 else preds[1]
|
||||
batch_size, _, mask_h, mask_w = proto.shape # batch size, number of masks, mask height, mask width
|
||||
pred_distri, pred_scores = torch.cat([xi.view(feats[0].shape[0], self.no, -1) for xi in feats], 2).split(
|
||||
(self.reg_max * 4, self.nc), 1)
|
||||
|
||||
# b, grids, ..
|
||||
pred_scores = pred_scores.permute(0, 2, 1).contiguous()
|
||||
pred_distri = pred_distri.permute(0, 2, 1).contiguous()
|
||||
pred_masks = pred_masks.permute(0, 2, 1).contiguous()
|
||||
|
||||
dtype = pred_scores.dtype
|
||||
imgsz = torch.tensor(feats[0].shape[2:], device=self.device, dtype=dtype) * self.stride[0] # image size (h,w)
|
||||
anchor_points, stride_tensor = make_anchors(feats, self.stride, 0.5)
|
||||
|
||||
# targets
|
||||
try:
|
||||
batch_idx = batch['batch_idx'].view(-1, 1)
|
||||
targets = torch.cat((batch_idx, batch['cls'].view(-1, 1), batch['bboxes']), 1)
|
||||
targets = self.preprocess(targets.to(self.device), batch_size, scale_tensor=imgsz[[1, 0, 1, 0]])
|
||||
gt_labels, gt_bboxes = targets.split((1, 4), 2) # cls, xyxy
|
||||
mask_gt = gt_bboxes.sum(2, keepdim=True).gt_(0)
|
||||
except RuntimeError as e:
|
||||
raise TypeError('ERROR ❌ segment dataset incorrectly formatted or not a segment dataset.\n'
|
||||
"This error can occur when incorrectly training a 'segment' model on a 'detect' dataset, "
|
||||
"i.e. 'yolo train model=yolov8n-seg.pt data=coco128.yaml'.\nVerify your dataset is a "
|
||||
"correctly formatted 'segment' dataset using 'data=coco128-seg.yaml' "
|
||||
'as an example.\nSee https://docs.ultralytics.com/tasks/segment/ for help.') from e
|
||||
|
||||
# pboxes
|
||||
pred_bboxes = self.bbox_decode(anchor_points, pred_distri) # xyxy, (b, h*w, 4)
|
||||
|
||||
_, target_bboxes, target_scores, fg_mask, target_gt_idx = self.assigner(
|
||||
pred_scores.detach().sigmoid(), (pred_bboxes.detach() * stride_tensor).type(gt_bboxes.dtype),
|
||||
anchor_points * stride_tensor, gt_labels, gt_bboxes, mask_gt)
|
||||
|
||||
target_scores_sum = max(target_scores.sum(), 1)
|
||||
|
||||
# cls loss
|
||||
# loss[1] = self.varifocal_loss(pred_scores, target_scores, target_labels) / target_scores_sum # VFL way
|
||||
loss[2] = self.bce(pred_scores, target_scores.to(dtype)).sum() / target_scores_sum # BCE
|
||||
|
||||
if fg_mask.sum():
|
||||
# bbox loss
|
||||
loss[0], loss[3] = self.bbox_loss(pred_distri, pred_bboxes, anchor_points, target_bboxes / stride_tensor,
|
||||
target_scores, target_scores_sum, fg_mask)
|
||||
# masks loss
|
||||
masks = batch['masks'].to(self.device).float()
|
||||
if tuple(masks.shape[-2:]) != (mask_h, mask_w): # downsample
|
||||
masks = F.interpolate(masks[None], (mask_h, mask_w), mode='nearest')[0]
|
||||
|
||||
for i in range(batch_size):
|
||||
if fg_mask[i].sum():
|
||||
mask_idx = target_gt_idx[i][fg_mask[i]]
|
||||
if self.overlap:
|
||||
gt_mask = torch.where(masks[[i]] == (mask_idx + 1).view(-1, 1, 1), 1.0, 0.0)
|
||||
else:
|
||||
gt_mask = masks[batch_idx.view(-1) == i][mask_idx]
|
||||
xyxyn = target_bboxes[i][fg_mask[i]] / imgsz[[1, 0, 1, 0]]
|
||||
marea = xyxy2xywh(xyxyn)[:, 2:].prod(1)
|
||||
mxyxy = xyxyn * torch.tensor([mask_w, mask_h, mask_w, mask_h], device=self.device)
|
||||
loss[1] += self.single_mask_loss(gt_mask, pred_masks[i][fg_mask[i]], proto[i], mxyxy, marea) # seg
|
||||
|
||||
# WARNING: lines below prevents Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
|
||||
else:
|
||||
loss[1] += (proto * 0).sum() + (pred_masks * 0).sum() # inf sums may lead to nan loss
|
||||
|
||||
# WARNING: lines below prevent Multi-GPU DDP 'unused gradient' PyTorch errors, do not remove
|
||||
else:
|
||||
loss[1] += (proto * 0).sum() + (pred_masks * 0).sum() # inf sums may lead to nan loss
|
||||
|
||||
loss[0] *= self.hyp.box # box gain
|
||||
loss[1] *= self.hyp.box / batch_size # seg gain
|
||||
loss[2] *= self.hyp.cls # cls gain
|
||||
loss[3] *= self.hyp.dfl # dfl gain
|
||||
|
||||
return loss.sum() * batch_size, loss.detach() # loss(box, cls, dfl)
|
||||
|
||||
def single_mask_loss(self, gt_mask, pred, proto, xyxy, area):
|
||||
"""Mask loss for one image."""
|
||||
pred_mask = (pred @ proto.view(self.nm, -1)).view(-1, *proto.shape[1:]) # (n, 32) @ (32,80,80) -> (n,80,80)
|
||||
loss = F.binary_cross_entropy_with_logits(pred_mask, gt_mask, reduction='none')
|
||||
return (crop_mask(loss, xyxy).mean(dim=(1, 2)) / area).mean()
|
||||
|
||||
|
||||
def train(cfg=DEFAULT_CFG, use_python=False):
|
||||
"""Train a YOLO segmentation model based on passed arguments."""
|
||||
model = cfg.model or 'yolov8n-seg.pt'
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user