bplusplus 1.1.0__py3-none-any.whl → 1.2.1__py3-none-any.whl

bplusplus/yolov5detect/utils/loss.py

@@ -1,259 +0,0 @@
-# Ultralytics YOLOv5 🚀, AGPL-3.0 license
-"""Loss functions."""
-
-import torch
-import torch.nn as nn
-
-from utils.metrics import bbox_iou
-from utils.torch_utils import de_parallel
-
-
-def smooth_BCE(eps=0.1):
-    """Returns label smoothing BCE targets for reducing overfitting; pos: `1.0 - 0.5*eps`, neg: `0.5*eps`. For details see https://github.com/ultralytics/yolov3/issues/238#issuecomment-598028441."""
-    return 1.0 - 0.5 * eps, 0.5 * eps
-
-
-class BCEBlurWithLogitsLoss(nn.Module):
-    """Modified BCEWithLogitsLoss to reduce missing label effects in YOLOv5 training with optional alpha smoothing."""
-
-    def __init__(self, alpha=0.05):
-        """Initializes a modified BCEWithLogitsLoss with reduced missing label effects, taking optional alpha smoothing
-        parameter.
-        """
-        super().__init__()
-        self.loss_fcn = nn.BCEWithLogitsLoss(reduction="none")  # must be nn.BCEWithLogitsLoss()
-        self.alpha = alpha
-
-    def forward(self, pred, true):
-        """Computes modified BCE loss for YOLOv5 with reduced missing label effects, taking pred and true tensors,
-        returns mean loss.
-        """
-        loss = self.loss_fcn(pred, true)
-        pred = torch.sigmoid(pred)  # prob from logits
-        dx = pred - true  # reduce only missing label effects
-        # dx = (pred - true).abs()  # reduce missing label and false label effects
-        alpha_factor = 1 - torch.exp((dx - 1) / (self.alpha + 1e-4))
-        loss *= alpha_factor
-        return loss.mean()
-
-
-class FocalLoss(nn.Module):
-    """Applies focal loss to address class imbalance by modifying BCEWithLogitsLoss with gamma and alpha parameters."""
-
-    def __init__(self, loss_fcn, gamma=1.5, alpha=0.25):
-        """Initializes FocalLoss with specified loss function, gamma, and alpha values; modifies loss reduction to
-        'none'.
-        """
-        super().__init__()
-        self.loss_fcn = loss_fcn  # must be nn.BCEWithLogitsLoss()
-        self.gamma = gamma
-        self.alpha = alpha
-        self.reduction = loss_fcn.reduction
-        self.loss_fcn.reduction = "none"  # required to apply FL to each element
-
-    def forward(self, pred, true):
-        """Calculates the focal loss between predicted and true labels using a modified BCEWithLogitsLoss."""
-        loss = self.loss_fcn(pred, true)
-        # p_t = torch.exp(-loss)
-        # loss *= self.alpha * (1.000001 - p_t) ** self.gamma  # non-zero power for gradient stability
-
-        # TF implementation https://github.com/tensorflow/addons/blob/v0.7.1/tensorflow_addons/losses/focal_loss.py
-        pred_prob = torch.sigmoid(pred)  # prob from logits
-        p_t = true * pred_prob + (1 - true) * (1 - pred_prob)
-        alpha_factor = true * self.alpha + (1 - true) * (1 - self.alpha)
-        modulating_factor = (1.0 - p_t) ** self.gamma
-        loss *= alpha_factor * modulating_factor
-
-        if self.reduction == "mean":
-            return loss.mean()
-        elif self.reduction == "sum":
-            return loss.sum()
-        else:  # 'none'
-            return loss
-
-
-class QFocalLoss(nn.Module):
-    """Implements Quality Focal Loss to address class imbalance by modulating loss based on prediction confidence."""
-
-    def __init__(self, loss_fcn, gamma=1.5, alpha=0.25):
-        """Initializes Quality Focal Loss with given loss function, gamma, alpha; modifies reduction to 'none'."""
-        super().__init__()
-        self.loss_fcn = loss_fcn  # must be nn.BCEWithLogitsLoss()
-        self.gamma = gamma
-        self.alpha = alpha
-        self.reduction = loss_fcn.reduction
-        self.loss_fcn.reduction = "none"  # required to apply FL to each element
-
-    def forward(self, pred, true):
-        """Computes the focal loss between `pred` and `true` using BCEWithLogitsLoss, adjusting for imbalance with
-        `gamma` and `alpha`.
-        """
-        loss = self.loss_fcn(pred, true)
-
-        pred_prob = torch.sigmoid(pred)  # prob from logits
-        alpha_factor = true * self.alpha + (1 - true) * (1 - self.alpha)
-        modulating_factor = torch.abs(true - pred_prob) ** self.gamma
-        loss *= alpha_factor * modulating_factor
-
-        if self.reduction == "mean":
-            return loss.mean()
-        elif self.reduction == "sum":
-            return loss.sum()
-        else:  # 'none'
-            return loss
-
-
-class ComputeLoss:
-    """Computes the total loss for YOLOv5 model predictions, including classification, box, and objectness losses."""
-
-    sort_obj_iou = False
-
-    # Compute losses
-    def __init__(self, model, autobalance=False):
-        """Initializes ComputeLoss with model and autobalance option, autobalances losses if True."""
-        device = next(model.parameters()).device  # get model device
-        h = model.hyp  # hyperparameters
-
-        # Define criteria
-        BCEcls = nn.BCEWithLogitsLoss(pos_weight=torch.tensor([h["cls_pw"]], device=device))
-        BCEobj = nn.BCEWithLogitsLoss(pos_weight=torch.tensor([h["obj_pw"]], device=device))
-
-        # Class label smoothing https://arxiv.org/pdf/1902.04103.pdf eqn 3
-        self.cp, self.cn = smooth_BCE(eps=h.get("label_smoothing", 0.0))  # positive, negative BCE targets
-
-        # Focal loss
-        g = h["fl_gamma"]  # focal loss gamma
-        if g > 0:
-            BCEcls, BCEobj = FocalLoss(BCEcls, g), FocalLoss(BCEobj, g)
-
-        m = de_parallel(model).model[-1]  # Detect() module
-        self.balance = {3: [4.0, 1.0, 0.4]}.get(m.nl, [4.0, 1.0, 0.25, 0.06, 0.02])  # P3-P7
-        self.ssi = list(m.stride).index(16) if autobalance else 0  # stride 16 index
-        self.BCEcls, self.BCEobj, self.gr, self.hyp, self.autobalance = BCEcls, BCEobj, 1.0, h, autobalance
-        self.na = m.na  # number of anchors
-        self.nc = m.nc  # number of classes
-        self.nl = m.nl  # number of layers
-        self.anchors = m.anchors
-        self.device = device
-
-    def __call__(self, p, targets):  # predictions, targets
-        """Performs forward pass, calculating class, box, and object loss for given predictions and targets."""
-        lcls = torch.zeros(1, device=self.device)  # class loss
-        lbox = torch.zeros(1, device=self.device)  # box loss
-        lobj = torch.zeros(1, device=self.device)  # object loss
-        tcls, tbox, indices, anchors = self.build_targets(p, targets)  # targets
-
-        # Losses
-        for i, pi in enumerate(p):  # layer index, layer predictions
-            b, a, gj, gi = indices[i]  # image, anchor, gridy, gridx
-            tobj = torch.zeros(pi.shape[:4], dtype=pi.dtype, device=self.device)  # target obj
-
-            n = b.shape[0]  # number of targets
-            if n:
-                # pxy, pwh, _, pcls = pi[b, a, gj, gi].tensor_split((2, 4, 5), dim=1)  # faster, requires torch 1.8.0
-                pxy, pwh, _, pcls = pi[b, a, gj, gi].split((2, 2, 1, self.nc), 1)  # target-subset of predictions
-
-                # Regression
-                pxy = pxy.sigmoid() * 2 - 0.5
-                pwh = (pwh.sigmoid() * 2) ** 2 * anchors[i]
-                pbox = torch.cat((pxy, pwh), 1)  # predicted box
-                iou = bbox_iou(pbox, tbox[i], CIoU=True).squeeze()  # iou(prediction, target)
-                lbox += (1.0 - iou).mean()  # iou loss
-
-                # Objectness
-                iou = iou.detach().clamp(0).type(tobj.dtype)
-                if self.sort_obj_iou:
-                    j = iou.argsort()
-                    b, a, gj, gi, iou = b[j], a[j], gj[j], gi[j], iou[j]
-                if self.gr < 1:
-                    iou = (1.0 - self.gr) + self.gr * iou
-                tobj[b, a, gj, gi] = iou  # iou ratio
-
-                # Classification
-                if self.nc > 1:  # cls loss (only if multiple classes)
-                    t = torch.full_like(pcls, self.cn, device=self.device)  # targets
-                    t[range(n), tcls[i]] = self.cp
-                    lcls += self.BCEcls(pcls, t)  # BCE
-
-                # Append targets to text file
-                # with open('targets.txt', 'a') as file:
-                #     [file.write('%11.5g ' * 4 % tuple(x) + '\n') for x in torch.cat((txy[i], twh[i]), 1)]
-
-            obji = self.BCEobj(pi[..., 4], tobj)
-            lobj += obji * self.balance[i]  # obj loss
-            if self.autobalance:
-                self.balance[i] = self.balance[i] * 0.9999 + 0.0001 / obji.detach().item()
-
-        if self.autobalance:
-            self.balance = [x / self.balance[self.ssi] for x in self.balance]
-        lbox *= self.hyp["box"]
-        lobj *= self.hyp["obj"]
-        lcls *= self.hyp["cls"]
-        bs = tobj.shape[0]  # batch size
-
-        return (lbox + lobj + lcls) * bs, torch.cat((lbox, lobj, lcls)).detach()
-
-    def build_targets(self, p, targets):
-        """Prepares model targets from input targets (image,class,x,y,w,h) for loss computation, returning class, box,
-        indices, and anchors.
-        """
-        na, nt = self.na, targets.shape[0]  # number of anchors, targets
-        tcls, tbox, indices, anch = [], [], [], []
-        gain = torch.ones(7, device=self.device)  # normalized to gridspace gain
-        ai = torch.arange(na, device=self.device).float().view(na, 1).repeat(1, nt)  # same as .repeat_interleave(nt)
-        targets = torch.cat((targets.repeat(na, 1, 1), ai[..., None]), 2)  # append anchor indices
-
-        g = 0.5  # bias
-        off = (
-            torch.tensor(
-                [
-                    [0, 0],
-                    [1, 0],
-                    [0, 1],
-                    [-1, 0],
-                    [0, -1],  # j,k,l,m
-                    # [1, 1], [1, -1], [-1, 1], [-1, -1],  # jk,jm,lk,lm
-                ],
-                device=self.device,
-            ).float()
-            * g
-        )  # offsets
-
-        for i in range(self.nl):
-            anchors, shape = self.anchors[i], p[i].shape
-            gain[2:6] = torch.tensor(shape)[[3, 2, 3, 2]]  # xyxy gain
-
-            # Match targets to anchors
-            t = targets * gain  # shape(3,n,7)
-            if nt:
-                # Matches
-                r = t[..., 4:6] / anchors[:, None]  # wh ratio
-                j = torch.max(r, 1 / r).max(2)[0] < self.hyp["anchor_t"]  # compare
-                # j = wh_iou(anchors, t[:, 4:6]) > model.hyp['iou_t']  # iou(3,n)=wh_iou(anchors(3,2), gwh(n,2))
-                t = t[j]  # filter
-
-                # Offsets
-                gxy = t[:, 2:4]  # grid xy
-                gxi = gain[[2, 3]] - gxy  # inverse
-                j, k = ((gxy % 1 < g) & (gxy > 1)).T
-                l, m = ((gxi % 1 < g) & (gxi > 1)).T
-                j = torch.stack((torch.ones_like(j), j, k, l, m))
-                t = t.repeat((5, 1, 1))[j]
-                offsets = (torch.zeros_like(gxy)[None] + off[:, None])[j]
-            else:
-                t = targets[0]
-                offsets = 0
-
-            # Define
-            bc, gxy, gwh, a = t.chunk(4, 1)  # (image, class), grid xy, grid wh, anchors
-            a, (b, c) = a.long().view(-1), bc.long().T  # anchors, image, class
-            gij = (gxy - offsets).long()
-            gi, gj = gij.T  # grid indices
-
-            # Append
-            indices.append((b, a, gj.clamp_(0, shape[2] - 1), gi.clamp_(0, shape[3] - 1)))  # image, anchor, grid
-            tbox.append(torch.cat((gxy - gij, gwh), 1))  # box
-            anch.append(anchors[a])  # anchors
-            tcls.append(c)  # class
-
-        return tcls, tbox, indices, anch

bplusplus/yolov5detect/utils/metrics.py

@@ -1,381 +0,0 @@
-# Ultralytics YOLOv5 🚀, AGPL-3.0 license
-"""Model validation metrics."""
-
-import math
-import warnings
-from pathlib import Path
-
-import matplotlib.pyplot as plt
-import numpy as np
-import torch
-
-from utils import TryExcept, threaded
-
-
-def fitness(x):
-    """Calculates fitness of a model using weighted sum of metrics P, R, mAP@0.5, mAP@0.5:0.95."""
-    w = [0.0, 0.0, 0.1, 0.9]  # weights for [P, R, mAP@0.5, mAP@0.5:0.95]
-    return (x[:, :4] * w).sum(1)
-
-
-def smooth(y, f=0.05):
-    """Applies box filter smoothing to array `y` with fraction `f`, yielding a smoothed array."""
-    nf = round(len(y) * f * 2) // 2 + 1  # number of filter elements (must be odd)
-    p = np.ones(nf // 2)  # ones padding
-    yp = np.concatenate((p * y[0], y, p * y[-1]), 0)  # y padded
-    return np.convolve(yp, np.ones(nf) / nf, mode="valid")  # y-smoothed
-
-
-def ap_per_class(tp, conf, pred_cls, target_cls, plot=False, save_dir=".", names=(), eps=1e-16, prefix=""):
-    """
-    Compute the average precision, given the recall and precision curves.
-
-    Source: https://github.com/rafaelpadilla/Object-Detection-Metrics.
-    # Arguments
-        tp:  True positives (nparray, nx1 or nx10).
-        conf:  Objectness value from 0-1 (nparray).
-        pred_cls:  Predicted object classes (nparray).
-        target_cls:  True object classes (nparray).
-        plot:  Plot precision-recall curve at mAP@0.5
-        save_dir:  Plot save directory
-    # Returns
-        The average precision as computed in py-faster-rcnn.
-    """
-    # Sort by objectness
-    i = np.argsort(-conf)
-    tp, conf, pred_cls = tp[i], conf[i], pred_cls[i]
-
-    # Find unique classes
-    unique_classes, nt = np.unique(target_cls, return_counts=True)
-    nc = unique_classes.shape[0]  # number of classes, number of detections
-
-    # Create Precision-Recall curve and compute AP for each class
-    px, py = np.linspace(0, 1, 1000), []  # for plotting
-    ap, p, r = np.zeros((nc, tp.shape[1])), np.zeros((nc, 1000)), np.zeros((nc, 1000))
-    for ci, c in enumerate(unique_classes):
-        i = pred_cls == c
-        n_l = nt[ci]  # number of labels
-        n_p = i.sum()  # number of predictions
-        if n_p == 0 or n_l == 0:
-            continue
-
-        # Accumulate FPs and TPs
-        fpc = (1 - tp[i]).cumsum(0)
-        tpc = tp[i].cumsum(0)
-
-        # Recall
-        recall = tpc / (n_l + eps)  # recall curve
-        r[ci] = np.interp(-px, -conf[i], recall[:, 0], left=0)  # negative x, xp because xp decreases
-
-        # Precision
-        precision = tpc / (tpc + fpc)  # precision curve
-        p[ci] = np.interp(-px, -conf[i], precision[:, 0], left=1)  # p at pr_score
-
-        # AP from recall-precision curve
-        for j in range(tp.shape[1]):
-            ap[ci, j], mpre, mrec = compute_ap(recall[:, j], precision[:, j])
-            if plot and j == 0:
-                py.append(np.interp(px, mrec, mpre))  # precision at mAP@0.5
-
-    # Compute F1 (harmonic mean of precision and recall)
-    f1 = 2 * p * r / (p + r + eps)
-    names = [v for k, v in names.items() if k in unique_classes]  # list: only classes that have data
-    names = dict(enumerate(names))  # to dict
-    if plot:
-        plot_pr_curve(px, py, ap, Path(save_dir) / f"{prefix}PR_curve.png", names)
-        plot_mc_curve(px, f1, Path(save_dir) / f"{prefix}F1_curve.png", names, ylabel="F1")
-        plot_mc_curve(px, p, Path(save_dir) / f"{prefix}P_curve.png", names, ylabel="Precision")
-        plot_mc_curve(px, r, Path(save_dir) / f"{prefix}R_curve.png", names, ylabel="Recall")
-
-    i = smooth(f1.mean(0), 0.1).argmax()  # max F1 index
-    p, r, f1 = p[:, i], r[:, i], f1[:, i]
-    tp = (r * nt).round()  # true positives
-    fp = (tp / (p + eps) - tp).round()  # false positives
-    return tp, fp, p, r, f1, ap, unique_classes.astype(int)
-
-
-def compute_ap(recall, precision):
-    """Compute the average precision, given the recall and precision curves
-    # Arguments
-        recall:    The recall curve (list)
-        precision: The precision curve (list)
-    # Returns
-        Average precision, precision curve, recall curve.
-    """
-    # Append sentinel values to beginning and end
-    mrec = np.concatenate(([0.0], recall, [1.0]))
-    mpre = np.concatenate(([1.0], precision, [0.0]))
-
-    # Compute the precision envelope
-    mpre = np.flip(np.maximum.accumulate(np.flip(mpre)))
-
-    # Integrate area under curve
-    method = "interp"  # methods: 'continuous', 'interp'
-    if method == "interp":
-        x = np.linspace(0, 1, 101)  # 101-point interp (COCO)
-        ap = np.trapz(np.interp(x, mrec, mpre), x)  # integrate
-    else:  # 'continuous'
-        i = np.where(mrec[1:] != mrec[:-1])[0]  # points where x axis (recall) changes
-        ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])  # area under curve
-
-    return ap, mpre, mrec
-
-
-class ConfusionMatrix:
-    """Generates and visualizes a confusion matrix for evaluating object detection classification performance."""
-
-    def __init__(self, nc, conf=0.25, iou_thres=0.45):
-        """Initializes ConfusionMatrix with given number of classes, confidence, and IoU threshold."""
-        self.matrix = np.zeros((nc + 1, nc + 1))
-        self.nc = nc  # number of classes
-        self.conf = conf
-        self.iou_thres = iou_thres
-
-    def process_batch(self, detections, labels):
-        """
-        Return intersection-over-union (Jaccard index) of boxes.
-
-        Both sets of boxes are expected to be in (x1, y1, x2, y2) format.
-
-        Arguments:
-            detections (Array[N, 6]), x1, y1, x2, y2, conf, class
-            labels (Array[M, 5]), class, x1, y1, x2, y2
-        Returns:
-            None, updates confusion matrix accordingly
-        """
-        if detections is None:
-            gt_classes = labels.int()
-            for gc in gt_classes:
-                self.matrix[self.nc, gc] += 1  # background FN
-            return
-
-        detections = detections[detections[:, 4] > self.conf]
-        gt_classes = labels[:, 0].int()
-        detection_classes = detections[:, 5].int()
-        iou = box_iou(labels[:, 1:], detections[:, :4])
-
-        x = torch.where(iou > self.iou_thres)
-        if x[0].shape[0]:
-            matches = torch.cat((torch.stack(x, 1), iou[x[0], x[1]][:, None]), 1).cpu().numpy()
-            if x[0].shape[0] > 1:
-                matches = matches[matches[:, 2].argsort()[::-1]]
-                matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
-                matches = matches[matches[:, 2].argsort()[::-1]]
-                matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
-        else:
-            matches = np.zeros((0, 3))
-
-        n = matches.shape[0] > 0
-        m0, m1, _ = matches.transpose().astype(int)
-        for i, gc in enumerate(gt_classes):
-            j = m0 == i
-            if n and sum(j) == 1:
-                self.matrix[detection_classes[m1[j]], gc] += 1  # correct
-            else:
-                self.matrix[self.nc, gc] += 1  # true background
-
-        if n:
-            for i, dc in enumerate(detection_classes):
-                if not any(m1 == i):
-                    self.matrix[dc, self.nc] += 1  # predicted background
-
-    def tp_fp(self):
-        """Calculates true positives (tp) and false positives (fp) excluding the background class from the confusion
-        matrix.
-        """
-        tp = self.matrix.diagonal()  # true positives
-        fp = self.matrix.sum(1) - tp  # false positives
-        # fn = self.matrix.sum(0) - tp  # false negatives (missed detections)
-        return tp[:-1], fp[:-1]  # remove background class
-
-    @TryExcept("WARNING ⚠️ ConfusionMatrix plot failure")
-    def plot(self, normalize=True, save_dir="", names=()):
-        """Plots confusion matrix using seaborn, optional normalization; can save plot to specified directory."""
-        import seaborn as sn
-
-        array = self.matrix / ((self.matrix.sum(0).reshape(1, -1) + 1e-9) if normalize else 1)  # normalize columns
-        array[array < 0.005] = np.nan  # don't annotate (would appear as 0.00)
-
-        fig, ax = plt.subplots(1, 1, figsize=(12, 9), tight_layout=True)
-        nc, nn = self.nc, len(names)  # number of classes, names
-        sn.set(font_scale=1.0 if nc < 50 else 0.8)  # for label size
-        labels = (0 < nn < 99) and (nn == nc)  # apply names to ticklabels
-        ticklabels = (names + ["background"]) if labels else "auto"
-        with warnings.catch_warnings():
-            warnings.simplefilter("ignore")  # suppress empty matrix RuntimeWarning: All-NaN slice encountered
-            sn.heatmap(
-                array,
-                ax=ax,
-                annot=nc < 30,
-                annot_kws={"size": 8},
-                cmap="Blues",
-                fmt=".2f",
-                square=True,
-                vmin=0.0,
-                xticklabels=ticklabels,
-                yticklabels=ticklabels,
-            ).set_facecolor((1, 1, 1))
-        ax.set_xlabel("True")
-        ax.set_ylabel("Predicted")
-        ax.set_title("Confusion Matrix")
-        fig.savefig(Path(save_dir) / "confusion_matrix.png", dpi=250)
-        plt.close(fig)
-
-    def print(self):
-        """Prints the confusion matrix row-wise, with each class and its predictions separated by spaces."""
-        for i in range(self.nc + 1):
-            print(" ".join(map(str, self.matrix[i])))
-
-
-def bbox_iou(box1, box2, xywh=True, GIoU=False, DIoU=False, CIoU=False, eps=1e-7):
-    """
-    Calculates IoU, GIoU, DIoU, or CIoU between two boxes, supporting xywh/xyxy formats.
-
-    Input shapes are box1(1,4) to box2(n,4).
-    """
-    # Get the coordinates of bounding boxes
-    if xywh:  # transform from xywh to xyxy
-        (x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
-        w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
-        b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
-        b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
-    else:  # x1, y1, x2, y2 = box1
-        b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
-        b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
-        w1, h1 = b1_x2 - b1_x1, (b1_y2 - b1_y1).clamp(eps)
-        w2, h2 = b2_x2 - b2_x1, (b2_y2 - b2_y1).clamp(eps)
-
-    # Intersection area
-    inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp(0) * (
-        b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)
-    ).clamp(0)
-
-    # Union Area
-    union = w1 * h1 + w2 * h2 - inter + eps
-
-    # IoU
-    iou = inter / union
-    if CIoU or DIoU or GIoU:
-        cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1)  # convex (smallest enclosing box) width
-        ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1)  # convex height
-        if CIoU or DIoU:  # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
-            c2 = cw**2 + ch**2 + eps  # convex diagonal squared
-            rho2 = ((b2_x1 + b2_x2 - b1_x1 - b1_x2) ** 2 + (b2_y1 + b2_y2 - b1_y1 - b1_y2) ** 2) / 4  # center dist ** 2
-            if CIoU:  # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
-                v = (4 / math.pi**2) * (torch.atan(w2 / h2) - torch.atan(w1 / h1)).pow(2)
-                with torch.no_grad():
-                    alpha = v / (v - iou + (1 + eps))
-                return iou - (rho2 / c2 + v * alpha)  # CIoU
-            return iou - rho2 / c2  # DIoU
-        c_area = cw * ch + eps  # convex area
-        return iou - (c_area - union) / c_area  # GIoU https://arxiv.org/pdf/1902.09630.pdf
-    return iou  # IoU
-
-
-def box_iou(box1, box2, eps=1e-7):
-    # https://github.com/pytorch/vision/blob/master/torchvision/ops/boxes.py
-    """
-    Return intersection-over-union (Jaccard index) of boxes.
-
-    Both sets of boxes are expected to be in (x1, y1, x2, y2) format.
-
-    Arguments:
-        box1 (Tensor[N, 4])
-        box2 (Tensor[M, 4])
-
-    Returns:
-        iou (Tensor[N, M]): the NxM matrix containing the pairwise
-            IoU values for every element in boxes1 and boxes2
-    """
-    # inter(N,M) = (rb(N,M,2) - lt(N,M,2)).clamp(0).prod(2)
-    (a1, a2), (b1, b2) = box1.unsqueeze(1).chunk(2, 2), box2.unsqueeze(0).chunk(2, 2)
-    inter = (torch.min(a2, b2) - torch.max(a1, b1)).clamp(0).prod(2)
-
-    # IoU = inter / (area1 + area2 - inter)
-    return inter / ((a2 - a1).prod(2) + (b2 - b1).prod(2) - inter + eps)
-
-
-def bbox_ioa(box1, box2, eps=1e-7):
-    """
-    Returns the intersection over box2 area given box1, box2.
-
-    Boxes are x1y1x2y2
-    box1:       np.array of shape(4)
-    box2:       np.array of shape(nx4)
-    returns:    np.array of shape(n)
-    """
-    # Get the coordinates of bounding boxes
-    b1_x1, b1_y1, b1_x2, b1_y2 = box1
-    b2_x1, b2_y1, b2_x2, b2_y2 = box2.T
-
-    # Intersection area
-    inter_area = (np.minimum(b1_x2, b2_x2) - np.maximum(b1_x1, b2_x1)).clip(0) * (
-        np.minimum(b1_y2, b2_y2) - np.maximum(b1_y1, b2_y1)
-    ).clip(0)
-
-    # box2 area
-    box2_area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1) + eps
-
-    # Intersection over box2 area
-    return inter_area / box2_area
-
-
-def wh_iou(wh1, wh2, eps=1e-7):
-    """Calculates the Intersection over Union (IoU) for two sets of widths and heights; `wh1` and `wh2` should be nx2
-    and mx2 tensors.
-    """
-    wh1 = wh1[:, None]  # [N,1,2]
-    wh2 = wh2[None]  # [1,M,2]
-    inter = torch.min(wh1, wh2).prod(2)  # [N,M]
-    return inter / (wh1.prod(2) + wh2.prod(2) - inter + eps)  # iou = inter / (area1 + area2 - inter)
-
-
-# Plots ----------------------------------------------------------------------------------------------------------------
-
-
-@threaded
-def plot_pr_curve(px, py, ap, save_dir=Path("pr_curve.png"), names=()):
-    """Plots precision-recall curve, optionally per class, saving to `save_dir`; `px`, `py` are lists, `ap` is Nx2
-    array, `names` optional.
-    """
-    fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
-    py = np.stack(py, axis=1)
-
-    if 0 < len(names) < 21:  # display per-class legend if < 21 classes
-        for i, y in enumerate(py.T):
-            ax.plot(px, y, linewidth=1, label=f"{names[i]} {ap[i, 0]:.3f}")  # plot(recall, precision)
-    else:
-        ax.plot(px, py, linewidth=1, color="grey")  # plot(recall, precision)
-
-    ax.plot(px, py.mean(1), linewidth=3, color="blue", label=f"all classes {ap[:, 0].mean():.3f} mAP@0.5")
-    ax.set_xlabel("Recall")
-    ax.set_ylabel("Precision")
-    ax.set_xlim(0, 1)
-    ax.set_ylim(0, 1)
-    ax.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
-    ax.set_title("Precision-Recall Curve")
-    fig.savefig(save_dir, dpi=250)
-    plt.close(fig)
-
-
-@threaded
-def plot_mc_curve(px, py, save_dir=Path("mc_curve.png"), names=(), xlabel="Confidence", ylabel="Metric"):
-    """Plots a metric-confidence curve for model predictions, supporting per-class visualization and smoothing."""
-    fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
-
-    if 0 < len(names) < 21:  # display per-class legend if < 21 classes
-        for i, y in enumerate(py):
-            ax.plot(px, y, linewidth=1, label=f"{names[i]}")  # plot(confidence, metric)
-    else:
-        ax.plot(px, py.T, linewidth=1, color="grey")  # plot(confidence, metric)
-
-    y = smooth(py.mean(0), 0.05)
-    ax.plot(px, y, linewidth=3, color="blue", label=f"all classes {y.max():.2f} at {px[y.argmax()]:.3f}")
-    ax.set_xlabel(xlabel)
-    ax.set_ylabel(ylabel)
-    ax.set_xlim(0, 1)
-    ax.set_ylim(0, 1)
-    ax.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
-    ax.set_title(f"{ylabel}-Confidence Curve")
-    fig.savefig(save_dir, dpi=250)
-    plt.close(fig)