# Ultralytics YOLO 🚀, AGPL-3.0 license
"""
Benchmark a YOLO model formats for speed and accuracy.
Usage:
from ultralytics.utils.benchmarks import ProfileModels, benchmark
ProfileModels(['yolov8n.yaml', 'yolov8s.yaml']).profile()
benchmark(model='yolov8n.pt', imgsz=160)
Format | `format=argument` | Model
--- | --- | ---
PyTorch | - | yolov8n.pt
TorchScript | `torchscript` | yolov8n.torchscript
ONNX | `onnx` | yolov8n.onnx
OpenVINO | `openvino` | yolov8n_openvino_model/
TensorRT | `engine` | yolov8n.engine
CoreML | `coreml` | yolov8n.mlpackage
TensorFlow SavedModel | `saved_model` | yolov8n_saved_model/
TensorFlow GraphDef | `pb` | yolov8n.pb
TensorFlow Lite | `tflite` | yolov8n.tflite
TensorFlow Edge TPU | `edgetpu` | yolov8n_edgetpu.tflite
TensorFlow.js | `tfjs` | yolov8n_web_model/
PaddlePaddle | `paddle` | yolov8n_paddle_model/
NCNN | `ncnn` | yolov8n_ncnn_model/
"""
import glob
import platform
import time
from pathlib import Path
import numpy as np
import torch.cuda
from ultralytics import YOLO, YOLOWorld
from ultralytics.cfg import TASK2DATA, TASK2METRIC
from ultralytics.engine.exporter import export_formats
from ultralytics.utils import ASSETS, LINUX, LOGGER, MACOS, TQDM, WEIGHTS_DIR
from ultralytics.utils.checks import IS_PYTHON_3_12, check_requirements, check_yolo
from ultralytics.utils.files import file_size
from ultralytics.utils.torch_utils import select_device
def benchmark(
model=WEIGHTS_DIR / "yolov8n.pt", data=None, imgsz=160, half=False, int8=False, device="cpu", verbose=False
):
"""
Benchmark a YOLO model across different formats for speed and accuracy.
Args:
model (str | Path | optional): Path to the model file or directory. Default is
Path(SETTINGS['weights_dir']) / 'yolov8n.pt'.
data (str, optional): Dataset to evaluate on, inherited from TASK2DATA if not passed. Default is None.
imgsz (int, optional): Image size for the benchmark. Default is 160.
half (bool, optional): Use half-precision for the model if True. Default is False.
int8 (bool, optional): Use int8-precision for the model if True. Default is False.
device (str, optional): Device to run the benchmark on, either 'cpu' or 'cuda'. Default is 'cpu'.
verbose (bool | float | optional): If True or a float, assert benchmarks pass with given metric.
Default is False.
Returns:
df (pandas.DataFrame): A pandas DataFrame with benchmark results for each format, including file size,
metric, and inference time.
Example:
```python
from ultralytics.utils.benchmarks import benchmark
benchmark(model='yolov8n.pt', imgsz=640)
```
"""
import pandas as pd
pd.options.display.max_columns = 10
pd.options.display.width = 120
device = select_device(device, verbose=False)
if isinstance(model, (str, Path)):
model = YOLO(model)
y = []
t0 = time.time()
for i, (name, format, suffix, cpu, gpu) in export_formats().iterrows(): # index, (name, format, suffix, CPU, GPU)
emoji, filename = "❌", None # export defaults
try:
# Checks
if i == 9: # Edge TPU
assert LINUX, "Edge TPU export only supported on Linux"
elif i == 7: # TF GraphDef
assert model.task != "obb", "TensorFlow GraphDef not supported for OBB task"
elif i in {5, 10}: # CoreML and TF.js
assert MACOS or LINUX, "export only supported on macOS and Linux"
if i in {3, 5}: # CoreML and OpenVINO
assert not IS_PYTHON_3_12, "CoreML and OpenVINO not supported on Python 3.12"
if i in {6, 7, 8, 9, 10}: # All TF formats
assert not isinstance(model, YOLOWorld), "YOLOWorldv2 TensorFlow exports not supported by onnx2tf yet"
if i in {11}: # Paddle
assert not isinstance(model, YOLOWorld), "YOLOWorldv2 Paddle exports not supported yet"
if i in {12}: # NCNN
assert not isinstance(model, YOLOWorld), "YOLOWorldv2 NCNN exports not supported yet"
if "cpu" in device.type:
assert cpu, "inference not supported on CPU"
if "cuda" in device.type:
assert gpu, "inference not supported on GPU"
# Export
if format == "-":
filename = model.ckpt_path or model.cfg
exported_model = model # PyTorch format
else:
filename = model.export(imgsz=imgsz, format=format, half=half, int8=int8, device=device, verbose=False)
exported_model = YOLO(filename, task=model.task)
assert suffix in str(filename), "export failed"
emoji = "❎" # indicates export succeeded
# Predict
assert model.task != "pose" or i != 7, "GraphDef Pose inference is not supported"
assert i not in (9, 10), "inference not supported" # Edge TPU and TF.js are unsupported
assert i != 5 or platform.system() == "Darwin", "inference only supported on macOS>=10.13" # CoreML
exported_model.predict(ASSETS / "bus.jpg", imgsz=imgsz, device=device, half=half)
# Validate
data = data or TASK2DATA[model.task] # task to dataset, i.e. coco8.yaml for task=detect
key = TASK2METRIC[model.task] # task to metric, i.e. metrics/mAP50-95(B) for task=detect
results = exported_model.val(
data=data, batch=1, imgsz=imgsz, plots=False, device=device, half=half, int8=int8, verbose=False
)
metric, speed = results.results_dict[key], results.speed["inference"]
y.append([name, "✅", round(file_size(filename), 1), round(metric, 4), round(speed, 2)])
except Exception as e:
if verbose:
assert type(e) is AssertionError, f"Benchmark failure for {name}: {e}"
LOGGER.warning(f"ERROR ❌️ Benchmark failure for {name}: {e}")
y.append([name, emoji, round(file_size(filename), 1), None, None]) # mAP, t_inference
# Print results
check_yolo(device=device) # print system info
df = pd.DataFrame(y, columns=["Format", "Status❔", "Size (MB)", key, "Inference time (ms/im)"])
name = Path(model.ckpt_path).name
s = f"\nBenchmarks complete for {name} on {data} at imgsz={imgsz} ({time.time() - t0:.2f}s)\n{df}\n"
LOGGER.info(s)
with open("benchmarks.log", "a", errors="ignore", encoding="utf-8") as f:
f.write(s)
if verbose and isinstance(verbose, float):
metrics = df[key].array # values to compare to floor
floor = verbose # minimum metric floor to pass, i.e. = 0.29 mAP for YOLOv5n
assert all(x > floor for x in metrics if pd.notna(x)), f"Benchmark failure: metric(s) < floor {floor}"
return df
class ProfileModels:
"""
ProfileModels class for profiling different models on ONNX and TensorRT.
This class profiles the performance of different models, returning results such as model speed and FLOPs.
Attributes:
paths (list): Paths of the models to profile.
num_timed_runs (int): Number of timed runs for the profiling. Default is 100.
num_warmup_runs (int): Number of warmup runs before profiling. Default is 10.
min_time (float): Minimum number of seconds to profile for. Default is 60.
imgsz (int): Image size used in the models. Default is 640.
Methods:
profile(): Profiles the models and prints the result.
Example:
```python
from ultralytics.utils.benchmarks import ProfileModels
ProfileModels(['yolov8n.yaml', 'yolov8s.yaml'], imgsz=640).profile()
```
"""
def __init__(
self,
paths: list,
num_timed_runs=100,
num_warmup_runs=10,
min_time=60,
imgsz=640,
half=True,
trt=True,
device=None,
):
"""
Initialize the ProfileModels class for profiling models.
Args:
paths (list): List of paths of the models to be profiled.
num_timed_runs (int, optional): Number of timed runs for the profiling. Default is 100.
num_warmup_runs (int, optional): Number of warmup runs before the actual profiling starts. Default is 10.
min_time (float, optional): Minimum time in seconds for profiling a model. Default is 60.
imgsz (int, optional): Size of the image used during profiling. Default is 640.
half (bool, optional): Flag to indicate whether to use half-precision floating point for profiling.
trt (bool, optional): Flag to indicate whether to profile using TensorRT. Default is True.
device (torch.device, optional): Device used for profiling. If None, it is determined automatically.
"""
self.paths = paths
self.num_timed_runs = num_timed_runs
self.num_warmup_runs = num_warmup_runs
self.min_time = min_time
self.imgsz = imgsz
self.half = half
self.trt = trt # run TensorRT profiling
self.device = device or torch.device(0 if torch.cuda.is_available() else "cpu")
def profile(self):
"""Logs the benchmarking results of a model, checks metrics against floor and returns the results."""
files = self.get_files()
if not files:
print("No matching *.pt or *.onnx files found.")
return
table_rows = []
output = []
for file in files:
engine_file = file.with_suffix(".engine")
if file.suffix in (".pt", ".yaml", ".yml"):
model = YOLO(str(file))
model.fuse() # to report correct params and GFLOPs in model.info()
model_info = model.info()
if self.trt and self.device.type != "cpu" and not engine_file.is_file():
engine_file = model.export(
format="engine", half=self.half, imgsz=self.imgsz, device=self.device, verbose=False
)
onnx_file = model.export(
format="onnx", half=self.half, imgsz=self.imgsz, simplify=True, device=self.device, verbose=False
)
elif file.suffix == ".onnx":
model_info = self.get_onnx_model_info(file)
onnx_file = file
else:
continue
t_engine = self.profile_tensorrt_model(str(engine_file))
t_onnx = self.profile_onnx_model(str(onnx_file))
table_rows.append(self.generate_table_row(file.stem, t_onnx, t_engine, model_info))
output.append(self.generate_results_dict(file.stem, t_onnx, t_engine, model_info))
self.print_table(table_rows)
return output
def get_files(self):
"""Returns a list of paths for all relevant model files given by the user."""
files = []
for path in self.paths:
path = Path(path)
if path.is_dir():
extensions = ["*.pt", "*.onnx", "*.yaml"]
files.extend([file for ext in extensions for file in glob.glob(str(path / ext))])
elif path.suffix in {".pt", ".yaml", ".yml"}: # add non-existing
files.append(str(path))
else:
files.extend(glob.glob(str(path)))
print(f"Profiling: {sorted(files)}")
return [Path(file) for file in sorted(files)]
def get_onnx_model_info(self, onnx_file: str):
"""Retrieves the information including number of layers, parameters, gradients and FLOPs for an ONNX model
file.
"""
return 0.0, 0.0, 0.0, 0.0 # return (num_layers, num_params, num_gradients, num_flops)
@staticmethod
def iterative_sigma_clipping(data, sigma=2, max_iters=3):
"""Applies an iterative sigma clipping algorithm to the given data times number of iterations."""
data = np.array(data)
for _ in range(max_iters):
mean, std = np.mean(data), np.std(data)
clipped_data = data[(data > mean - sigma * std) & (data < mean + sigma * std)]
if len(clipped_data) == len(data):
break
data = clipped_data
return data
def profile_tensorrt_model(self, engine_file: str, eps: float = 1e-3):
"""Profiles the TensorRT model, measuring average run time and standard deviation among runs."""
if not self.trt or not Path(engine_file).is_file():
return 0.0, 0.0
# Model and input
model = YOLO(engine_file)
input_data = np.random.rand(self.imgsz, self.imgsz, 3).astype(np.float32) # must be FP32
# Warmup runs
elapsed = 0.0
for _ in range(3):
start_time = time.time()
for _ in range(self.num_warmup_runs):
model(input_data, imgsz=self.imgsz, verbose=False)
elapsed = time.time() - start_time
# Compute number of runs as higher of min_time or num_timed_runs
num_runs = max(round(self.min_time / (elapsed + eps) * self.num_warmup_runs), self.num_timed_runs * 50)
# Timed runs
run_times = []
for _ in TQDM(range(num_runs), desc=engine_file):
results = model(input_data, imgsz=self.imgsz, verbose=False)
run_times.append(results[0].speed["inference"]) # Convert to milliseconds
run_times = self.iterative_sigma_clipping(np.array(run_times), sigma=2, max_iters=3) # sigma clipping
return np.mean(run_times), np.std(run_times)
def profile_onnx_model(self, onnx_file: str, eps: float = 1e-3):
"""Profiles an ONNX model by executing it multiple times and returns the mean and standard deviation of run
times.
"""
check_requirements("onnxruntime")
import onnxruntime as ort
# Session with either 'TensorrtExecutionProvider', 'CUDAExecutionProvider', 'CPUExecutionProvider'
sess_options = ort.SessionOptions()
sess_options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
sess_options.intra_op_num_threads = 8 # Limit the number of threads
sess = ort.InferenceSession(onnx_file, sess_options, providers=["CPUExecutionProvider"])
input_tensor = sess.get_inputs()[0]
input_type = input_tensor.type
# Mapping ONNX datatype to numpy datatype
if "float16" in input_type:
input_dtype = np.float16
elif "float" in input_type:
input_dtype = np.float32
elif "double" in input_type:
input_dtype = np.float64
elif "int64" in input_type:
input_dtype = np.int64
elif "int32" in input_type:
input_dtype = np.int32
else:
raise ValueError(f"Unsupported ONNX datatype {input_type}")
input_data = np.random.rand(*input_tensor.shape).astype(input_dtype)
input_name = input_tensor.name
output_name = sess.get_outputs()[0].name
# Warmup runs
elapsed = 0.0
for _ in range(3):
start_time = time.time()
for _ in range(self.num_warmup_runs):
sess.run([output_name], {input_name: input_data})
elapsed = time.time() - start_time
# Compute number of runs as higher of min_time or num_timed_runs
num_runs = max(round(self.min_time / (elapsed + eps) * self.num_warmup_runs), self.num_timed_runs)
# Timed runs
run_times = []
for _ in TQDM(range(num_runs), desc=onnx_file):
start_time = time.time()
sess.run([output_name], {input_name: input_data})
run_times.append((time.time() - start_time) * 1000) # Convert to milliseconds
run_times = self.iterative_sigma_clipping(np.array(run_times), sigma=2, max_iters=5) # sigma clipping
return np.mean(run_times), np.std(run_times)
def generate_table_row(self, model_name, t_onnx, t_engine, model_info):
"""Generates a formatted string for a table row that includes model performance and metric details."""
layers, params, gradients, flops = model_info
return (
f"| {model_name:18s} | {self.imgsz} | - | {t_onnx[0]:.2f} ± {t_onnx[1]:.2f} ms | {t_engine[0]:.2f} ± "
f"{t_engine[1]:.2f} ms | {params / 1e6:.1f} | {flops:.1f} |"
)
@staticmethod
def generate_results_dict(model_name, t_onnx, t_engine, model_info):
"""Generates a dictionary of model details including name, parameters, GFLOPS and speed metrics."""
layers, params, gradients, flops = model_info
return {
"model/name": model_name,
"model/parameters": params,
"model/GFLOPs": round(flops, 3),
"model/speed_ONNX(ms)": round(t_onnx[0], 3),
"model/speed_TensorRT(ms)": round(t_engine[0], 3),
}
@staticmethod
def print_table(table_rows):
"""Formats and prints a comparison table for different models with given statistics and performance data."""
gpu = torch.cuda.get_device_name(0) if torch.cuda.is_available() else "GPU"
header = (
f"| Model | size<br><sup>(pixels) | mAP<sup>val<br>50-95 | Speed<br><sup>CPU ONNX<br>(ms) | "
f"Speed<br><sup>{gpu} TensorRT<br>(ms) | params<br><sup>(M) | FLOPs<br><sup>(B) |"
)
separator = (
"|-------------|---------------------|--------------------|------------------------------|"
"-----------------------------------|------------------|-----------------|"
)
print(f"\n\n{header}")
print(separator)
for row in table_rows:
print(row)