bplusplus 0.1.0__py3-none-any.whl → 1.1.0__py3-none-any.whl

bplusplus/yolov5detect/models/common.py

@@ -0,0 +1,1109 @@
+# Ultralytics YOLOv5 🚀, AGPL-3.0 license
+"""Common modules."""
+
+import ast
+import contextlib
+import json
+import math
+import platform
+import warnings
+import zipfile
+from collections import OrderedDict, namedtuple
+from copy import copy
+from pathlib import Path
+from urllib.parse import urlparse
+
+import cv2
+import numpy as np
+import pandas as pd
+import requests
+import torch
+import torch.nn as nn
+from PIL import Image
+from torch.cuda import amp
+
+# Import 'ultralytics' package or install if missing
+try:
+    import ultralytics
+
+    assert hasattr(ultralytics, "__version__")  # verify package is not directory
+except (ImportError, AssertionError):
+    import os
+
+    os.system("pip install -U ultralytics")
+    import ultralytics
+
+from ultralytics.utils.plotting import Annotator, colors, save_one_box
+
+from utils import TryExcept
+from utils.dataloaders import exif_transpose, letterbox
+from utils.general import (
+    LOGGER,
+    ROOT,
+    Profile,
+    check_requirements,
+    check_suffix,
+    check_version,
+    colorstr,
+    increment_path,
+    is_jupyter,
+    make_divisible,
+    non_max_suppression,
+    scale_boxes,
+    xywh2xyxy,
+    xyxy2xywh,
+    yaml_load,
+)
+from utils.torch_utils import copy_attr, smart_inference_mode
+
+
+def autopad(k, p=None, d=1):
+    """
+    Pads kernel to 'same' output shape, adjusting for optional dilation; returns padding size.
+
+    `k`: kernel, `p`: padding, `d`: dilation.
+    """
+    if d > 1:
+        k = d * (k - 1) + 1 if isinstance(k, int) else [d * (x - 1) + 1 for x in k]  # actual kernel-size
+    if p is None:
+        p = k // 2 if isinstance(k, int) else [x // 2 for x in k]  # auto-pad
+    return p
+
+
+class Conv(nn.Module):
+    """Applies a convolution, batch normalization, and activation function to an input tensor in a neural network."""
+
+    default_act = nn.SiLU()  # default activation
+
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, d=1, act=True):
+        """Initializes a standard convolution layer with optional batch normalization and activation."""
+        super().__init__()
+        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p, d), groups=g, dilation=d, bias=False)
+        self.bn = nn.BatchNorm2d(c2)
+        self.act = self.default_act if act is True else act if isinstance(act, nn.Module) else nn.Identity()
+
+    def forward(self, x):
+        """Applies a convolution followed by batch normalization and an activation function to the input tensor `x`."""
+        return self.act(self.bn(self.conv(x)))
+
+    def forward_fuse(self, x):
+        """Applies a fused convolution and activation function to the input tensor `x`."""
+        return self.act(self.conv(x))
+
+
+class DWConv(Conv):
+    """Implements a depth-wise convolution layer with optional activation for efficient spatial filtering."""
+
+    def __init__(self, c1, c2, k=1, s=1, d=1, act=True):
+        """Initializes a depth-wise convolution layer with optional activation; args: input channels (c1), output
+        channels (c2), kernel size (k), stride (s), dilation (d), and activation flag (act).
+        """
+        super().__init__(c1, c2, k, s, g=math.gcd(c1, c2), d=d, act=act)
+
+
+class DWConvTranspose2d(nn.ConvTranspose2d):
+    """A depth-wise transpose convolutional layer for upsampling in neural networks, particularly in YOLOv5 models."""
+
+    def __init__(self, c1, c2, k=1, s=1, p1=0, p2=0):
+        """Initializes a depth-wise transpose convolutional layer for YOLOv5; args: input channels (c1), output channels
+        (c2), kernel size (k), stride (s), input padding (p1), output padding (p2).
+        """
+        super().__init__(c1, c2, k, s, p1, p2, groups=math.gcd(c1, c2))
+
+
+class TransformerLayer(nn.Module):
+    """Transformer layer with multihead attention and linear layers, optimized by removing LayerNorm."""
+
+    def __init__(self, c, num_heads):
+        """
+        Initializes a transformer layer, sans LayerNorm for performance, with multihead attention and linear layers.
+
+        See  as described in https://arxiv.org/abs/2010.11929.
+        """
+        super().__init__()
+        self.q = nn.Linear(c, c, bias=False)
+        self.k = nn.Linear(c, c, bias=False)
+        self.v = nn.Linear(c, c, bias=False)
+        self.ma = nn.MultiheadAttention(embed_dim=c, num_heads=num_heads)
+        self.fc1 = nn.Linear(c, c, bias=False)
+        self.fc2 = nn.Linear(c, c, bias=False)
+
+    def forward(self, x):
+        """Performs forward pass using MultiheadAttention and two linear transformations with residual connections."""
+        x = self.ma(self.q(x), self.k(x), self.v(x))[0] + x
+        x = self.fc2(self.fc1(x)) + x
+        return x
+
+
+class TransformerBlock(nn.Module):
+    """A Transformer block for vision tasks with convolution, position embeddings, and Transformer layers."""
+
+    def __init__(self, c1, c2, num_heads, num_layers):
+        """Initializes a Transformer block for vision tasks, adapting dimensions if necessary and stacking specified
+        layers.
+        """
+        super().__init__()
+        self.conv = None
+        if c1 != c2:
+            self.conv = Conv(c1, c2)
+        self.linear = nn.Linear(c2, c2)  # learnable position embedding
+        self.tr = nn.Sequential(*(TransformerLayer(c2, num_heads) for _ in range(num_layers)))
+        self.c2 = c2
+
+    def forward(self, x):
+        """Processes input through an optional convolution, followed by Transformer layers and position embeddings for
+        object detection.
+        """
+        if self.conv is not None:
+            x = self.conv(x)
+        b, _, w, h = x.shape
+        p = x.flatten(2).permute(2, 0, 1)
+        return self.tr(p + self.linear(p)).permute(1, 2, 0).reshape(b, self.c2, w, h)
+
+
+class Bottleneck(nn.Module):
+    """A bottleneck layer with optional shortcut and group convolution for efficient feature extraction."""
+
+    def __init__(self, c1, c2, shortcut=True, g=1, e=0.5):
+        """Initializes a standard bottleneck layer with optional shortcut and group convolution, supporting channel
+        expansion.
+        """
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_, c2, 3, 1, g=g)
+        self.add = shortcut and c1 == c2
+
+    def forward(self, x):
+        """Processes input through two convolutions, optionally adds shortcut if channel dimensions match; input is a
+        tensor.
+        """
+        return x + self.cv2(self.cv1(x)) if self.add else self.cv2(self.cv1(x))
+
+
+class BottleneckCSP(nn.Module):
+    """CSP bottleneck layer for feature extraction with cross-stage partial connections and optional shortcuts."""
+
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        """Initializes CSP bottleneck with optional shortcuts; args: ch_in, ch_out, number of repeats, shortcut bool,
+        groups, expansion.
+        """
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = nn.Conv2d(c1, c_, 1, 1, bias=False)
+        self.cv3 = nn.Conv2d(c_, c_, 1, 1, bias=False)
+        self.cv4 = Conv(2 * c_, c2, 1, 1)
+        self.bn = nn.BatchNorm2d(2 * c_)  # applied to cat(cv2, cv3)
+        self.act = nn.SiLU()
+        self.m = nn.Sequential(*(Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)))
+
+    def forward(self, x):
+        """Performs forward pass by applying layers, activation, and concatenation on input x, returning feature-
+        enhanced output.
+        """
+        y1 = self.cv3(self.m(self.cv1(x)))
+        y2 = self.cv2(x)
+        return self.cv4(self.act(self.bn(torch.cat((y1, y2), 1))))
+
+
+class CrossConv(nn.Module):
+    """Implements a cross convolution layer with downsampling, expansion, and optional shortcut."""
+
+    def __init__(self, c1, c2, k=3, s=1, g=1, e=1.0, shortcut=False):
+        """
+        Initializes CrossConv with downsampling, expanding, and optionally shortcutting; `c1` input, `c2` output
+        channels.
+
+        Inputs are ch_in, ch_out, kernel, stride, groups, expansion, shortcut.
+        """
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, (1, k), (1, s))
+        self.cv2 = Conv(c_, c2, (k, 1), (s, 1), g=g)
+        self.add = shortcut and c1 == c2
+
+    def forward(self, x):
+        """Performs feature sampling, expanding, and applies shortcut if channels match; expects `x` input tensor."""
+        return x + self.cv2(self.cv1(x)) if self.add else self.cv2(self.cv1(x))
+
+
+class C3(nn.Module):
+    """Implements a CSP Bottleneck module with three convolutions for enhanced feature extraction in neural networks."""
+
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        """Initializes C3 module with options for channel count, bottleneck repetition, shortcut usage, group
+        convolutions, and expansion.
+        """
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c1, c_, 1, 1)
+        self.cv3 = Conv(2 * c_, c2, 1)  # optional act=FReLU(c2)
+        self.m = nn.Sequential(*(Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)))
+
+    def forward(self, x):
+        """Performs forward propagation using concatenated outputs from two convolutions and a Bottleneck sequence."""
+        return self.cv3(torch.cat((self.m(self.cv1(x)), self.cv2(x)), 1))
+
+
+class C3x(C3):
+    """Extends the C3 module with cross-convolutions for enhanced feature extraction in neural networks."""
+
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        """Initializes C3x module with cross-convolutions, extending C3 with customizable channel dimensions, groups,
+        and expansion.
+        """
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = nn.Sequential(*(CrossConv(c_, c_, 3, 1, g, 1.0, shortcut) for _ in range(n)))
+
+
+class C3TR(C3):
+    """C3 module with TransformerBlock for enhanced feature extraction in object detection models."""
+
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        """Initializes C3 module with TransformerBlock for enhanced feature extraction, accepts channel sizes, shortcut
+        config, group, and expansion.
+        """
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = TransformerBlock(c_, c_, 4, n)
+
+
+class C3SPP(C3):
+    """Extends the C3 module with an SPP layer for enhanced spatial feature extraction and customizable channels."""
+
+    def __init__(self, c1, c2, k=(5, 9, 13), n=1, shortcut=True, g=1, e=0.5):
+        """Initializes a C3 module with SPP layer for advanced spatial feature extraction, given channel sizes, kernel
+        sizes, shortcut, group, and expansion ratio.
+        """
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = SPP(c_, c_, k)
+
+
+class C3Ghost(C3):
+    """Implements a C3 module with Ghost Bottlenecks for efficient feature extraction in YOLOv5."""
+
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        """Initializes YOLOv5's C3 module with Ghost Bottlenecks for efficient feature extraction."""
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)  # hidden channels
+        self.m = nn.Sequential(*(GhostBottleneck(c_, c_) for _ in range(n)))
+
+
+class SPP(nn.Module):
+    """Implements Spatial Pyramid Pooling (SPP) for feature extraction, ref: https://arxiv.org/abs/1406.4729."""
+
+    def __init__(self, c1, c2, k=(5, 9, 13)):
+        """Initializes SPP layer with Spatial Pyramid Pooling, ref: https://arxiv.org/abs/1406.4729, args: c1 (input channels), c2 (output channels), k (kernel sizes)."""
+        super().__init__()
+        c_ = c1 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_ * (len(k) + 1), c2, 1, 1)
+        self.m = nn.ModuleList([nn.MaxPool2d(kernel_size=x, stride=1, padding=x // 2) for x in k])
+
+    def forward(self, x):
+        """Applies convolution and max pooling layers to the input tensor `x`, concatenates results, and returns output
+        tensor.
+        """
+        x = self.cv1(x)
+        with warnings.catch_warnings():
+            warnings.simplefilter("ignore")  # suppress torch 1.9.0 max_pool2d() warning
+            return self.cv2(torch.cat([x] + [m(x) for m in self.m], 1))
+
+
+class SPPF(nn.Module):
+    """Implements a fast Spatial Pyramid Pooling (SPPF) layer for efficient feature extraction in YOLOv5 models."""
+
+    def __init__(self, c1, c2, k=5):
+        """
+        Initializes YOLOv5 SPPF layer with given channels and kernel size for YOLOv5 model, combining convolution and
+        max pooling.
+
+        Equivalent to SPP(k=(5, 9, 13)).
+        """
+        super().__init__()
+        c_ = c1 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_ * 4, c2, 1, 1)
+        self.m = nn.MaxPool2d(kernel_size=k, stride=1, padding=k // 2)
+
+    def forward(self, x):
+        """Processes input through a series of convolutions and max pooling operations for feature extraction."""
+        x = self.cv1(x)
+        with warnings.catch_warnings():
+            warnings.simplefilter("ignore")  # suppress torch 1.9.0 max_pool2d() warning
+            y1 = self.m(x)
+            y2 = self.m(y1)
+            return self.cv2(torch.cat((x, y1, y2, self.m(y2)), 1))
+
+
+class Focus(nn.Module):
+    """Focuses spatial information into channel space using slicing and convolution for efficient feature extraction."""
+
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):
+        """Initializes Focus module to concentrate width-height info into channel space with configurable convolution
+        parameters.
+        """
+        super().__init__()
+        self.conv = Conv(c1 * 4, c2, k, s, p, g, act=act)
+        # self.contract = Contract(gain=2)
+
+    def forward(self, x):
+        """Processes input through Focus mechanism, reshaping (b,c,w,h) to (b,4c,w/2,h/2) then applies convolution."""
+        return self.conv(torch.cat((x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]), 1))
+        # return self.conv(self.contract(x))
+
+
+class GhostConv(nn.Module):
+    """Implements Ghost Convolution for efficient feature extraction, see https://github.com/huawei-noah/ghostnet."""
+
+    def __init__(self, c1, c2, k=1, s=1, g=1, act=True):
+        """Initializes GhostConv with in/out channels, kernel size, stride, groups, and activation; halves out channels
+        for efficiency.
+        """
+        super().__init__()
+        c_ = c2 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, k, s, None, g, act=act)
+        self.cv2 = Conv(c_, c_, 5, 1, None, c_, act=act)
+
+    def forward(self, x):
+        """Performs forward pass, concatenating outputs of two convolutions on input `x`: shape (B,C,H,W)."""
+        y = self.cv1(x)
+        return torch.cat((y, self.cv2(y)), 1)
+
+
+class GhostBottleneck(nn.Module):
+    """Efficient bottleneck layer using Ghost Convolutions, see https://github.com/huawei-noah/ghostnet."""
+
+    def __init__(self, c1, c2, k=3, s=1):
+        """Initializes GhostBottleneck with ch_in `c1`, ch_out `c2`, kernel size `k`, stride `s`; see https://github.com/huawei-noah/ghostnet."""
+        super().__init__()
+        c_ = c2 // 2
+        self.conv = nn.Sequential(
+            GhostConv(c1, c_, 1, 1),  # pw
+            DWConv(c_, c_, k, s, act=False) if s == 2 else nn.Identity(),  # dw
+            GhostConv(c_, c2, 1, 1, act=False),
+        )  # pw-linear
+        self.shortcut = (
+            nn.Sequential(DWConv(c1, c1, k, s, act=False), Conv(c1, c2, 1, 1, act=False)) if s == 2 else nn.Identity()
+        )
+
+    def forward(self, x):
+        """Processes input through conv and shortcut layers, returning their summed output."""
+        return self.conv(x) + self.shortcut(x)
+
+
+class Contract(nn.Module):
+    """Contracts spatial dimensions into channel dimensions for efficient processing in neural networks."""
+
+    def __init__(self, gain=2):
+        """Initializes a layer to contract spatial dimensions (width-height) into channels, e.g., input shape
+        (1,64,80,80) to (1,256,40,40).
+        """
+        super().__init__()
+        self.gain = gain
+
+    def forward(self, x):
+        """Processes input tensor to expand channel dimensions by contracting spatial dimensions, yielding output shape
+        `(b, c*s*s, h//s, w//s)`.
+        """
+        b, c, h, w = x.size()  # assert (h / s == 0) and (W / s == 0), 'Indivisible gain'
+        s = self.gain
+        x = x.view(b, c, h // s, s, w // s, s)  # x(1,64,40,2,40,2)
+        x = x.permute(0, 3, 5, 1, 2, 4).contiguous()  # x(1,2,2,64,40,40)
+        return x.view(b, c * s * s, h // s, w // s)  # x(1,256,40,40)
+
+
+class Expand(nn.Module):
+    """Expands spatial dimensions by redistributing channels, e.g., from (1,64,80,80) to (1,16,160,160)."""
+
+    def __init__(self, gain=2):
+        """
+        Initializes the Expand module to increase spatial dimensions by redistributing channels, with an optional gain
+        factor.
+
+        Example: x(1,64,80,80) to x(1,16,160,160).
+        """
+        super().__init__()
+        self.gain = gain
+
+    def forward(self, x):
+        """Processes input tensor x to expand spatial dimensions by redistributing channels, requiring C / gain^2 ==
+        0.
+        """
+        b, c, h, w = x.size()  # assert C / s ** 2 == 0, 'Indivisible gain'
+        s = self.gain
+        x = x.view(b, s, s, c // s**2, h, w)  # x(1,2,2,16,80,80)
+        x = x.permute(0, 3, 4, 1, 5, 2).contiguous()  # x(1,16,80,2,80,2)
+        return x.view(b, c // s**2, h * s, w * s)  # x(1,16,160,160)
+
+
+class Concat(nn.Module):
+    """Concatenates tensors along a specified dimension for efficient tensor manipulation in neural networks."""
+
+    def __init__(self, dimension=1):
+        """Initializes a Concat module to concatenate tensors along a specified dimension."""
+        super().__init__()
+        self.d = dimension
+
+    def forward(self, x):
+        """Concatenates a list of tensors along a specified dimension; `x` is a list of tensors, `dimension` is an
+        int.
+        """
+        return torch.cat(x, self.d)
+
+
+class DetectMultiBackend(nn.Module):
+    """YOLOv5 MultiBackend class for inference on various backends including PyTorch, ONNX, TensorRT, and more."""
+
+    def __init__(self, weights="yolov5s.pt", device=torch.device("cpu"), dnn=False, data=None, fp16=False, fuse=True):
+        """Initializes DetectMultiBackend with support for various inference backends, including PyTorch and ONNX."""
+        #   PyTorch:              weights = *.pt
+        #   TorchScript:                    *.torchscript
+        #   ONNX Runtime:                   *.onnx
+        #   ONNX OpenCV DNN:                *.onnx --dnn
+        #   OpenVINO:                       *_openvino_model
+        #   CoreML:                         *.mlpackage
+        #   TensorRT:                       *.engine
+        #   TensorFlow SavedModel:          *_saved_model
+        #   TensorFlow GraphDef:            *.pb
+        #   TensorFlow Lite:                *.tflite
+        #   TensorFlow Edge TPU:            *_edgetpu.tflite
+        #   PaddlePaddle:                   *_paddle_model
+        from models.experimental import attempt_download, attempt_load  # scoped to avoid circular import
+
+        super().__init__()
+        w = str(weights[0] if isinstance(weights, list) else weights)
+        pt, jit, onnx, xml, engine, coreml, saved_model, pb, tflite, edgetpu, tfjs, paddle, triton = self._model_type(w)
+        fp16 &= pt or jit or onnx or engine or triton  # FP16
+        nhwc = coreml or saved_model or pb or tflite or edgetpu  # BHWC formats (vs torch BCWH)
+        stride = 32  # default stride
+        cuda = torch.cuda.is_available() and device.type != "cpu"  # use CUDA
+        if not (pt or triton):
+            w = attempt_download(w)  # download if not local
+
+        if pt:  # PyTorch
+            model = attempt_load(weights if isinstance(weights, list) else w, device=device, inplace=True, fuse=fuse)
+            stride = max(int(model.stride.max()), 32)  # model stride
+            names = model.module.names if hasattr(model, "module") else model.names  # get class names
+            model.half() if fp16 else model.float()
+            self.model = model  # explicitly assign for to(), cpu(), cuda(), half()
+        elif jit:  # TorchScript
+            LOGGER.info(f"Loading {w} for TorchScript inference...")
+            extra_files = {"config.txt": ""}  # model metadata
+            model = torch.jit.load(w, _extra_files=extra_files, map_location=device)
+            model.half() if fp16 else model.float()
+            if extra_files["config.txt"]:  # load metadata dict
+                d = json.loads(
+                    extra_files["config.txt"],
+                    object_hook=lambda d: {int(k) if k.isdigit() else k: v for k, v in d.items()},
+                )
+                stride, names = int(d["stride"]), d["names"]
+        elif dnn:  # ONNX OpenCV DNN
+            LOGGER.info(f"Loading {w} for ONNX OpenCV DNN inference...")
+            check_requirements("opencv-python>=4.5.4")
+            net = cv2.dnn.readNetFromONNX(w)
+        elif onnx:  # ONNX Runtime
+            LOGGER.info(f"Loading {w} for ONNX Runtime inference...")
+            check_requirements(("onnx", "onnxruntime-gpu" if cuda else "onnxruntime"))
+            import onnxruntime
+
+            providers = ["CUDAExecutionProvider", "CPUExecutionProvider"] if cuda else ["CPUExecutionProvider"]
+            session = onnxruntime.InferenceSession(w, providers=providers)
+            output_names = [x.name for x in session.get_outputs()]
+            meta = session.get_modelmeta().custom_metadata_map  # metadata
+            if "stride" in meta:
+                stride, names = int(meta["stride"]), eval(meta["names"])
+        elif xml:  # OpenVINO
+            LOGGER.info(f"Loading {w} for OpenVINO inference...")
+            check_requirements("openvino>=2023.0")  # requires openvino-dev: https://pypi.org/project/openvino-dev/
+            from openvino.runtime import Core, Layout, get_batch
+
+            core = Core()
+            if not Path(w).is_file():  # if not *.xml
+                w = next(Path(w).glob("*.xml"))  # get *.xml file from *_openvino_model dir
+            ov_model = core.read_model(model=w, weights=Path(w).with_suffix(".bin"))
+            if ov_model.get_parameters()[0].get_layout().empty:
+                ov_model.get_parameters()[0].set_layout(Layout("NCHW"))
+            batch_dim = get_batch(ov_model)
+            if batch_dim.is_static:
+                batch_size = batch_dim.get_length()
+            ov_compiled_model = core.compile_model(ov_model, device_name="AUTO")  # AUTO selects best available device
+            stride, names = self._load_metadata(Path(w).with_suffix(".yaml"))  # load metadata
+        elif engine:  # TensorRT
+            LOGGER.info(f"Loading {w} for TensorRT inference...")
+            import tensorrt as trt  # https://developer.nvidia.com/nvidia-tensorrt-download
+
+            check_version(trt.__version__, "7.0.0", hard=True)  # require tensorrt>=7.0.0
+            if device.type == "cpu":
+                device = torch.device("cuda:0")
+            Binding = namedtuple("Binding", ("name", "dtype", "shape", "data", "ptr"))
+            logger = trt.Logger(trt.Logger.INFO)
+            with open(w, "rb") as f, trt.Runtime(logger) as runtime:
+                model = runtime.deserialize_cuda_engine(f.read())
+            context = model.create_execution_context()
+            bindings = OrderedDict()
+            output_names = []
+            fp16 = False  # default updated below
+            dynamic = False
+            is_trt10 = not hasattr(model, "num_bindings")
+            num = range(model.num_io_tensors) if is_trt10 else range(model.num_bindings)
+            for i in num:
+                if is_trt10:
+                    name = model.get_tensor_name(i)
+                    dtype = trt.nptype(model.get_tensor_dtype(name))
+                    is_input = model.get_tensor_mode(name) == trt.TensorIOMode.INPUT
+                    if is_input:
+                        if -1 in tuple(model.get_tensor_shape(name)):  # dynamic
+                            dynamic = True
+                            context.set_input_shape(name, tuple(model.get_profile_shape(name, 0)[2]))
+                        if dtype == np.float16:
+                            fp16 = True
+                    else:  # output
+                        output_names.append(name)
+                    shape = tuple(context.get_tensor_shape(name))
+                else:
+                    name = model.get_binding_name(i)
+                    dtype = trt.nptype(model.get_binding_dtype(i))
+                    if model.binding_is_input(i):
+                        if -1 in tuple(model.get_binding_shape(i)):  # dynamic
+                            dynamic = True
+                            context.set_binding_shape(i, tuple(model.get_profile_shape(0, i)[2]))
+                        if dtype == np.float16:
+                            fp16 = True
+                    else:  # output
+                        output_names.append(name)
+                    shape = tuple(context.get_binding_shape(i))
+                im = torch.from_numpy(np.empty(shape, dtype=dtype)).to(device)
+                bindings[name] = Binding(name, dtype, shape, im, int(im.data_ptr()))
+            binding_addrs = OrderedDict((n, d.ptr) for n, d in bindings.items())
+            batch_size = bindings["images"].shape[0]  # if dynamic, this is instead max batch size
+        elif coreml:  # CoreML
+            LOGGER.info(f"Loading {w} for CoreML inference...")
+            import coremltools as ct
+
+            model = ct.models.MLModel(w)
+        elif saved_model:  # TF SavedModel
+            LOGGER.info(f"Loading {w} for TensorFlow SavedModel inference...")
+            import tensorflow as tf
+
+            keras = False  # assume TF1 saved_model
+            model = tf.keras.models.load_model(w) if keras else tf.saved_model.load(w)
+        elif pb:  # GraphDef https://www.tensorflow.org/guide/migrate#a_graphpb_or_graphpbtxt
+            LOGGER.info(f"Loading {w} for TensorFlow GraphDef inference...")
+            import tensorflow as tf
+
+            def wrap_frozen_graph(gd, inputs, outputs):
+                """Wraps a TensorFlow GraphDef for inference, returning a pruned function."""
+                x = tf.compat.v1.wrap_function(lambda: tf.compat.v1.import_graph_def(gd, name=""), [])  # wrapped
+                ge = x.graph.as_graph_element
+                return x.prune(tf.nest.map_structure(ge, inputs), tf.nest.map_structure(ge, outputs))
+
+            def gd_outputs(gd):
+                """Generates a sorted list of graph outputs excluding NoOp nodes and inputs, formatted as '<name>:0'."""
+                name_list, input_list = [], []
+                for node in gd.node:  # tensorflow.core.framework.node_def_pb2.NodeDef
+                    name_list.append(node.name)
+                    input_list.extend(node.input)
+                return sorted(f"{x}:0" for x in list(set(name_list) - set(input_list)) if not x.startswith("NoOp"))
+
+            gd = tf.Graph().as_graph_def()  # TF GraphDef
+            with open(w, "rb") as f:
+                gd.ParseFromString(f.read())
+            frozen_func = wrap_frozen_graph(gd, inputs="x:0", outputs=gd_outputs(gd))
+        elif tflite or edgetpu:  # https://www.tensorflow.org/lite/guide/python#install_tensorflow_lite_for_python
+            try:  # https://coral.ai/docs/edgetpu/tflite-python/#update-existing-tf-lite-code-for-the-edge-tpu
+                from tflite_runtime.interpreter import Interpreter, load_delegate
+            except ImportError:
+                import tensorflow as tf
+
+                Interpreter, load_delegate = (
+                    tf.lite.Interpreter,
+                    tf.lite.experimental.load_delegate,
+                )
+            if edgetpu:  # TF Edge TPU https://coral.ai/software/#edgetpu-runtime
+                LOGGER.info(f"Loading {w} for TensorFlow Lite Edge TPU inference...")
+                delegate = {"Linux": "libedgetpu.so.1", "Darwin": "libedgetpu.1.dylib", "Windows": "edgetpu.dll"}[
+                    platform.system()
+                ]
+                interpreter = Interpreter(model_path=w, experimental_delegates=[load_delegate(delegate)])
+            else:  # TFLite
+                LOGGER.info(f"Loading {w} for TensorFlow Lite inference...")
+                interpreter = Interpreter(model_path=w)  # load TFLite model
+            interpreter.allocate_tensors()  # allocate
+            input_details = interpreter.get_input_details()  # inputs
+            output_details = interpreter.get_output_details()  # outputs
+            # load metadata
+            with contextlib.suppress(zipfile.BadZipFile):
+                with zipfile.ZipFile(w, "r") as model:
+                    meta_file = model.namelist()[0]
+                    meta = ast.literal_eval(model.read(meta_file).decode("utf-8"))
+                    stride, names = int(meta["stride"]), meta["names"]
+        elif tfjs:  # TF.js
+            raise NotImplementedError("ERROR: YOLOv5 TF.js inference is not supported")
+        elif paddle:  # PaddlePaddle
+            LOGGER.info(f"Loading {w} for PaddlePaddle inference...")
+            check_requirements("paddlepaddle-gpu" if cuda else "paddlepaddle")
+            import paddle.inference as pdi
+
+            if not Path(w).is_file():  # if not *.pdmodel
+                w = next(Path(w).rglob("*.pdmodel"))  # get *.pdmodel file from *_paddle_model dir
+            weights = Path(w).with_suffix(".pdiparams")
+            config = pdi.Config(str(w), str(weights))
+            if cuda:
+                config.enable_use_gpu(memory_pool_init_size_mb=2048, device_id=0)
+            predictor = pdi.create_predictor(config)
+            input_handle = predictor.get_input_handle(predictor.get_input_names()[0])
+            output_names = predictor.get_output_names()
+        elif triton:  # NVIDIA Triton Inference Server
+            LOGGER.info(f"Using {w} as Triton Inference Server...")
+            check_requirements("tritonclient[all]")
+            from utils.triton import TritonRemoteModel
+
+            model = TritonRemoteModel(url=w)
+            nhwc = model.runtime.startswith("tensorflow")
+        else:
+            raise NotImplementedError(f"ERROR: {w} is not a supported format")
+
+        # class names
+        if "names" not in locals():
+            names = yaml_load(data)["names"] if data else {i: f"class{i}" for i in range(999)}
+        if names[0] == "n01440764" and len(names) == 1000:  # ImageNet
+            names = yaml_load(ROOT / "data/ImageNet.yaml")["names"]  # human-readable names
+
+        self.__dict__.update(locals())  # assign all variables to self
+
+    def forward(self, im, augment=False, visualize=False):
+        """Performs YOLOv5 inference on input images with options for augmentation and visualization."""
+        b, ch, h, w = im.shape  # batch, channel, height, width
+        if self.fp16 and im.dtype != torch.float16:
+            im = im.half()  # to FP16
+        if self.nhwc:
+            im = im.permute(0, 2, 3, 1)  # torch BCHW to numpy BHWC shape(1,320,192,3)
+
+        if self.pt:  # PyTorch
+            y = self.model(im, augment=augment, visualize=visualize) if augment or visualize else self.model(im)
+        elif self.jit:  # TorchScript
+            y = self.model(im)
+        elif self.dnn:  # ONNX OpenCV DNN
+            im = im.cpu().numpy()  # torch to numpy
+            self.net.setInput(im)
+            y = self.net.forward()
+        elif self.onnx:  # ONNX Runtime
+            im = im.cpu().numpy()  # torch to numpy
+            y = self.session.run(self.output_names, {self.session.get_inputs()[0].name: im})
+        elif self.xml:  # OpenVINO
+            im = im.cpu().numpy()  # FP32
+            y = list(self.ov_compiled_model(im).values())
+        elif self.engine:  # TensorRT
+            if self.dynamic and im.shape != self.bindings["images"].shape:
+                i = self.model.get_binding_index("images")
+                self.context.set_binding_shape(i, im.shape)  # reshape if dynamic
+                self.bindings["images"] = self.bindings["images"]._replace(shape=im.shape)
+                for name in self.output_names:
+                    i = self.model.get_binding_index(name)
+                    self.bindings[name].data.resize_(tuple(self.context.get_binding_shape(i)))
+            s = self.bindings["images"].shape
+            assert im.shape == s, f"input size {im.shape} {'>' if self.dynamic else 'not equal to'} max model size {s}"
+            self.binding_addrs["images"] = int(im.data_ptr())
+            self.context.execute_v2(list(self.binding_addrs.values()))
+            y = [self.bindings[x].data for x in sorted(self.output_names)]
+        elif self.coreml:  # CoreML
+            im = im.cpu().numpy()
+            im = Image.fromarray((im[0] * 255).astype("uint8"))
+            # im = im.resize((192, 320), Image.BILINEAR)
+            y = self.model.predict({"image": im})  # coordinates are xywh normalized
+            if "confidence" in y:
+                box = xywh2xyxy(y["coordinates"] * [[w, h, w, h]])  # xyxy pixels
+                conf, cls = y["confidence"].max(1), y["confidence"].argmax(1).astype(np.float)
+                y = np.concatenate((box, conf.reshape(-1, 1), cls.reshape(-1, 1)), 1)
+            else:
+                y = list(reversed(y.values()))  # reversed for segmentation models (pred, proto)
+        elif self.paddle:  # PaddlePaddle
+            im = im.cpu().numpy().astype(np.float32)
+            self.input_handle.copy_from_cpu(im)
+            self.predictor.run()
+            y = [self.predictor.get_output_handle(x).copy_to_cpu() for x in self.output_names]
+        elif self.triton:  # NVIDIA Triton Inference Server
+            y = self.model(im)
+        else:  # TensorFlow (SavedModel, GraphDef, Lite, Edge TPU)
+            im = im.cpu().numpy()
+            if self.saved_model:  # SavedModel
+                y = self.model(im, training=False) if self.keras else self.model(im)
+            elif self.pb:  # GraphDef
+                y = self.frozen_func(x=self.tf.constant(im))
+            else:  # Lite or Edge TPU
+                input = self.input_details[0]
+                int8 = input["dtype"] == np.uint8  # is TFLite quantized uint8 model
+                if int8:
+                    scale, zero_point = input["quantization"]
+                    im = (im / scale + zero_point).astype(np.uint8)  # de-scale
+                self.interpreter.set_tensor(input["index"], im)
+                self.interpreter.invoke()
+                y = []
+                for output in self.output_details:
+                    x = self.interpreter.get_tensor(output["index"])
+                    if int8:
+                        scale, zero_point = output["quantization"]
+                        x = (x.astype(np.float32) - zero_point) * scale  # re-scale
+                    y.append(x)
+            y = [x if isinstance(x, np.ndarray) else x.numpy() for x in y]
+            y[0][..., :4] *= [w, h, w, h]  # xywh normalized to pixels
+
+        if isinstance(y, (list, tuple)):
+            return self.from_numpy(y[0]) if len(y) == 1 else [self.from_numpy(x) for x in y]
+        else:
+            return self.from_numpy(y)
+
+    def from_numpy(self, x):
+        """Converts a NumPy array to a torch tensor, maintaining device compatibility."""
+        return torch.from_numpy(x).to(self.device) if isinstance(x, np.ndarray) else x
+
+    def warmup(self, imgsz=(1, 3, 640, 640)):
+        """Performs a single inference warmup to initialize model weights, accepting an `imgsz` tuple for image size."""
+        warmup_types = self.pt, self.jit, self.onnx, self.engine, self.saved_model, self.pb, self.triton
+        if any(warmup_types) and (self.device.type != "cpu" or self.triton):
+            im = torch.empty(*imgsz, dtype=torch.half if self.fp16 else torch.float, device=self.device)  # input
+            for _ in range(2 if self.jit else 1):  #
+                self.forward(im)  # warmup
+
+    @staticmethod
+    def _model_type(p="path/to/model.pt"):
+        """
+        Determines model type from file path or URL, supporting various export formats.
+
+        Example: path='path/to/model.onnx' -> type=onnx
+        """
+        # types = [pt, jit, onnx, xml, engine, coreml, saved_model, pb, tflite, edgetpu, tfjs, paddle]
+        from export import export_formats
+        from utils.downloads import is_url
+
+        sf = list(export_formats().Suffix)  # export suffixes
+        if not is_url(p, check=False):
+            check_suffix(p, sf)  # checks
+        url = urlparse(p)  # if url may be Triton inference server
+        types = [s in Path(p).name for s in sf]
+        types[8] &= not types[9]  # tflite &= not edgetpu
+        triton = not any(types) and all([any(s in url.scheme for s in ["http", "grpc"]), url.netloc])
+        return types + [triton]
+
+    @staticmethod
+    def _load_metadata(f=Path("path/to/meta.yaml")):
+        """Loads metadata from a YAML file, returning strides and names if the file exists, otherwise `None`."""
+        if f.exists():
+            d = yaml_load(f)
+            return d["stride"], d["names"]  # assign stride, names
+        return None, None
+
+
+class AutoShape(nn.Module):
+    """AutoShape class for robust YOLOv5 inference with preprocessing, NMS, and support for various input formats."""
+
+    conf = 0.25  # NMS confidence threshold
+    iou = 0.45  # NMS IoU threshold
+    agnostic = False  # NMS class-agnostic
+    multi_label = False  # NMS multiple labels per box
+    classes = None  # (optional list) filter by class, i.e. = [0, 15, 16] for COCO persons, cats and dogs
+    max_det = 1000  # maximum number of detections per image
+    amp = False  # Automatic Mixed Precision (AMP) inference
+
+    def __init__(self, model, verbose=True):
+        """Initializes YOLOv5 model for inference, setting up attributes and preparing model for evaluation."""
+        super().__init__()
+        if verbose:
+            LOGGER.info("Adding AutoShape... ")
+        copy_attr(self, model, include=("yaml", "nc", "hyp", "names", "stride", "abc"), exclude=())  # copy attributes
+        self.dmb = isinstance(model, DetectMultiBackend)  # DetectMultiBackend() instance
+        self.pt = not self.dmb or model.pt  # PyTorch model
+        self.model = model.eval()
+        if self.pt:
+            m = self.model.model.model[-1] if self.dmb else self.model.model[-1]  # Detect()
+            m.inplace = False  # Detect.inplace=False for safe multithread inference
+            m.export = True  # do not output loss values
+
+    def _apply(self, fn):
+        """
+        Applies to(), cpu(), cuda(), half() etc.
+
+        to model tensors excluding parameters or registered buffers.
+        """
+        self = super()._apply(fn)
+        if self.pt:
+            m = self.model.model.model[-1] if self.dmb else self.model.model[-1]  # Detect()
+            m.stride = fn(m.stride)
+            m.grid = list(map(fn, m.grid))
+            if isinstance(m.anchor_grid, list):
+                m.anchor_grid = list(map(fn, m.anchor_grid))
+        return self
+
+    @smart_inference_mode()
+    def forward(self, ims, size=640, augment=False, profile=False):
+        """
+        Performs inference on inputs with optional augment & profiling.
+
+        Supports various formats including file, URI, OpenCV, PIL, numpy, torch.
+        """
+        # For size(height=640, width=1280), RGB images example inputs are:
+        #   file:        ims = 'data/images/zidane.jpg'  # str or PosixPath
+        #   URI:             = 'https://ultralytics.com/images/zidane.jpg'
+        #   OpenCV:          = cv2.imread('image.jpg')[:,:,::-1]  # HWC BGR to RGB x(640,1280,3)
+        #   PIL:             = Image.open('image.jpg') or ImageGrab.grab()  # HWC x(640,1280,3)
+        #   numpy:           = np.zeros((640,1280,3))  # HWC
+        #   torch:           = torch.zeros(16,3,320,640)  # BCHW (scaled to size=640, 0-1 values)
+        #   multiple:        = [Image.open('image1.jpg'), Image.open('image2.jpg'), ...]  # list of images
+
+        dt = (Profile(), Profile(), Profile())
+        with dt[0]:
+            if isinstance(size, int):  # expand
+                size = (size, size)
+            p = next(self.model.parameters()) if self.pt else torch.empty(1, device=self.model.device)  # param
+            autocast = self.amp and (p.device.type != "cpu")  # Automatic Mixed Precision (AMP) inference
+            if isinstance(ims, torch.Tensor):  # torch
+                with amp.autocast(autocast):
+                    return self.model(ims.to(p.device).type_as(p), augment=augment)  # inference
+
+            # Pre-process
+            n, ims = (len(ims), list(ims)) if isinstance(ims, (list, tuple)) else (1, [ims])  # number, list of images
+            shape0, shape1, files = [], [], []  # image and inference shapes, filenames
+            for i, im in enumerate(ims):
+                f = f"image{i}"  # filename
+                if isinstance(im, (str, Path)):  # filename or uri
+                    im, f = Image.open(requests.get(im, stream=True).raw if str(im).startswith("http") else im), im
+                    im = np.asarray(exif_transpose(im))
+                elif isinstance(im, Image.Image):  # PIL Image
+                    im, f = np.asarray(exif_transpose(im)), getattr(im, "filename", f) or f
+                files.append(Path(f).with_suffix(".jpg").name)
+                if im.shape[0] < 5:  # image in CHW
+                    im = im.transpose((1, 2, 0))  # reverse dataloader .transpose(2, 0, 1)
+                im = im[..., :3] if im.ndim == 3 else cv2.cvtColor(im, cv2.COLOR_GRAY2BGR)  # enforce 3ch input
+                s = im.shape[:2]  # HWC
+                shape0.append(s)  # image shape
+                g = max(size) / max(s)  # gain
+                shape1.append([int(y * g) for y in s])
+                ims[i] = im if im.data.contiguous else np.ascontiguousarray(im)  # update
+            shape1 = [make_divisible(x, self.stride) for x in np.array(shape1).max(0)]  # inf shape
+            x = [letterbox(im, shape1, auto=False)[0] for im in ims]  # pad
+            x = np.ascontiguousarray(np.array(x).transpose((0, 3, 1, 2)))  # stack and BHWC to BCHW
+            x = torch.from_numpy(x).to(p.device).type_as(p) / 255  # uint8 to fp16/32
+
+        with amp.autocast(autocast):
+            # Inference
+            with dt[1]:
+                y = self.model(x, augment=augment)  # forward
+
+            # Post-process
+            with dt[2]:
+                y = non_max_suppression(
+                    y if self.dmb else y[0],
+                    self.conf,
+                    self.iou,
+                    self.classes,
+                    self.agnostic,
+                    self.multi_label,
+                    max_det=self.max_det,
+                )  # NMS
+                for i in range(n):
+                    scale_boxes(shape1, y[i][:, :4], shape0[i])
+
+            return Detections(ims, y, files, dt, self.names, x.shape)
+
+
+class Detections:
+    """Manages YOLOv5 detection results with methods for visualization, saving, cropping, and exporting detections."""
+
+    def __init__(self, ims, pred, files, times=(0, 0, 0), names=None, shape=None):
+        """Initializes the YOLOv5 Detections class with image info, predictions, filenames, timing and normalization."""
+        super().__init__()
+        d = pred[0].device  # device
+        gn = [torch.tensor([*(im.shape[i] for i in [1, 0, 1, 0]), 1, 1], device=d) for im in ims]  # normalizations
+        self.ims = ims  # list of images as numpy arrays
+        self.pred = pred  # list of tensors pred[0] = (xyxy, conf, cls)
+        self.names = names  # class names
+        self.files = files  # image filenames
+        self.times = times  # profiling times
+        self.xyxy = pred  # xyxy pixels
+        self.xywh = [xyxy2xywh(x) for x in pred]  # xywh pixels
+        self.xyxyn = [x / g for x, g in zip(self.xyxy, gn)]  # xyxy normalized
+        self.xywhn = [x / g for x, g in zip(self.xywh, gn)]  # xywh normalized
+        self.n = len(self.pred)  # number of images (batch size)
+        self.t = tuple(x.t / self.n * 1e3 for x in times)  # timestamps (ms)
+        self.s = tuple(shape)  # inference BCHW shape
+
+    def _run(self, pprint=False, show=False, save=False, crop=False, render=False, labels=True, save_dir=Path("")):
+        """Executes model predictions, displaying and/or saving outputs with optional crops and labels."""
+        s, crops = "", []
+        for i, (im, pred) in enumerate(zip(self.ims, self.pred)):
+            s += f"\nimage {i + 1}/{len(self.pred)}: {im.shape[0]}x{im.shape[1]} "  # string
+            if pred.shape[0]:
+                for c in pred[:, -1].unique():
+                    n = (pred[:, -1] == c).sum()  # detections per class
+                    s += f"{n} {self.names[int(c)]}{'s' * (n > 1)}, "  # add to string
+                s = s.rstrip(", ")
+                if show or save or render or crop:
+                    annotator = Annotator(im, example=str(self.names))
+                    for *box, conf, cls in reversed(pred):  # xyxy, confidence, class
+                        label = f"{self.names[int(cls)]} {conf:.2f}"
+                        if crop:
+                            file = save_dir / "crops" / self.names[int(cls)] / self.files[i] if save else None
+                            crops.append(
+                                {
+                                    "box": box,
+                                    "conf": conf,
+                                    "cls": cls,
+                                    "label": label,
+                                    "im": save_one_box(box, im, file=file, save=save),
+                                }
+                            )
+                        else:  # all others
+                            annotator.box_label(box, label if labels else "", color=colors(cls))
+                    im = annotator.im
+            else:
+                s += "(no detections)"
+
+            im = Image.fromarray(im.astype(np.uint8)) if isinstance(im, np.ndarray) else im  # from np
+            if show:
+                if is_jupyter():
+                    from IPython.display import display
+
+                    display(im)
+                else:
+                    im.show(self.files[i])
+            if save:
+                f = self.files[i]
+                im.save(save_dir / f)  # save
+                if i == self.n - 1:
+                    LOGGER.info(f"Saved {self.n} image{'s' * (self.n > 1)} to {colorstr('bold', save_dir)}")
+            if render:
+                self.ims[i] = np.asarray(im)
+        if pprint:
+            s = s.lstrip("\n")
+            return f"{s}\nSpeed: %.1fms pre-process, %.1fms inference, %.1fms NMS per image at shape {self.s}" % self.t
+        if crop:
+            if save:
+                LOGGER.info(f"Saved results to {save_dir}\n")
+            return crops
+
+    @TryExcept("Showing images is not supported in this environment")
+    def show(self, labels=True):
+        """
+        Displays detection results with optional labels.
+
+        Usage: show(labels=True)
+        """
+        self._run(show=True, labels=labels)  # show results
+
+    def save(self, labels=True, save_dir="runs/detect/exp", exist_ok=False):
+        """
+        Saves detection results with optional labels to a specified directory.
+
+        Usage: save(labels=True, save_dir='runs/detect/exp', exist_ok=False)
+        """
+        save_dir = increment_path(save_dir, exist_ok, mkdir=True)  # increment save_dir
+        self._run(save=True, labels=labels, save_dir=save_dir)  # save results
+
+    def crop(self, save=True, save_dir="runs/detect/exp", exist_ok=False):
+        """
+        Crops detection results, optionally saves them to a directory.
+
+        Args: save (bool), save_dir (str), exist_ok (bool).
+        """
+        save_dir = increment_path(save_dir, exist_ok, mkdir=True) if save else None
+        return self._run(crop=True, save=save, save_dir=save_dir)  # crop results
+
+    def render(self, labels=True):
+        """Renders detection results with optional labels on images; args: labels (bool) indicating label inclusion."""
+        self._run(render=True, labels=labels)  # render results
+        return self.ims
+
+    def pandas(self):
+        """
+        Returns detections as pandas DataFrames for various box formats (xyxy, xyxyn, xywh, xywhn).
+
+        Example: print(results.pandas().xyxy[0]).
+        """
+        new = copy(self)  # return copy
+        ca = "xmin", "ymin", "xmax", "ymax", "confidence", "class", "name"  # xyxy columns
+        cb = "xcenter", "ycenter", "width", "height", "confidence", "class", "name"  # xywh columns
+        for k, c in zip(["xyxy", "xyxyn", "xywh", "xywhn"], [ca, ca, cb, cb]):
+            a = [[x[:5] + [int(x[5]), self.names[int(x[5])]] for x in x.tolist()] for x in getattr(self, k)]  # update
+            setattr(new, k, [pd.DataFrame(x, columns=c) for x in a])
+        return new
+
+    def tolist(self):
+        """
+        Converts a Detections object into a list of individual detection results for iteration.
+
+        Example: for result in results.tolist():
+        """
+        r = range(self.n)  # iterable
+        return [
+            Detections(
+                [self.ims[i]],
+                [self.pred[i]],
+                [self.files[i]],
+                self.times,
+                self.names,
+                self.s,
+            )
+            for i in r
+        ]
+
+    def print(self):
+        """Logs the string representation of the current object's state via the LOGGER."""
+        LOGGER.info(self.__str__())
+
+    def __len__(self):
+        """Returns the number of results stored, overrides the default len(results)."""
+        return self.n
+
+    def __str__(self):
+        """Returns a string representation of the model's results, suitable for printing, overrides default
+        print(results).
+        """
+        return self._run(pprint=True)  # print results
+
+    def __repr__(self):
+        """Returns a string representation of the YOLOv5 object, including its class and formatted results."""
+        return f"YOLOv5 {self.__class__} instance\n" + self.__str__()
+
+
+class Proto(nn.Module):
+    """YOLOv5 mask Proto module for segmentation models, performing convolutions and upsampling on input tensors."""
+
+    def __init__(self, c1, c_=256, c2=32):
+        """Initializes YOLOv5 Proto module for segmentation with input, proto, and mask channels configuration."""
+        super().__init__()
+        self.cv1 = Conv(c1, c_, k=3)
+        self.upsample = nn.Upsample(scale_factor=2, mode="nearest")
+        self.cv2 = Conv(c_, c_, k=3)
+        self.cv3 = Conv(c_, c2)
+
+    def forward(self, x):
+        """Performs a forward pass using convolutional layers and upsampling on input tensor `x`."""
+        return self.cv3(self.cv2(self.upsample(self.cv1(x))))
+
+
+class Classify(nn.Module):
+    """YOLOv5 classification head with convolution, pooling, and dropout layers for channel transformation."""
+
+    def __init__(
+        self, c1, c2, k=1, s=1, p=None, g=1, dropout_p=0.0
+    ):  # ch_in, ch_out, kernel, stride, padding, groups, dropout probability
+        """Initializes YOLOv5 classification head with convolution, pooling, and dropout layers for input to output
+        channel transformation.
+        """
+        super().__init__()
+        c_ = 1280  # efficientnet_b0 size
+        self.conv = Conv(c1, c_, k, s, autopad(k, p), g)
+        self.pool = nn.AdaptiveAvgPool2d(1)  # to x(b,c_,1,1)
+        self.drop = nn.Dropout(p=dropout_p, inplace=True)
+        self.linear = nn.Linear(c_, c2)  # to x(b,c2)
+
+    def forward(self, x):
+        """Processes input through conv, pool, drop, and linear layers; supports list concatenation input."""
+        if isinstance(x, list):
+            x = torch.cat(x, 1)
+        return self.linear(self.drop(self.pool(self.conv(x)).flatten(1)))