dgenerate-ultralytics-headless 8.3.134__py3-none-any.whl

ultralytics/utils/ops.py

@@ -0,0 +1,885 @@
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
+
+import contextlib
+import math
+import re
+import time
+
+import cv2
+import numpy as np
+import torch
+import torch.nn.functional as F
+
+from ultralytics.utils import LOGGER
+from ultralytics.utils.metrics import batch_probiou
+
+
+class Profile(contextlib.ContextDecorator):
+    """
+    YOLOv8 Profile class. Use as a decorator with @Profile() or as a context manager with 'with Profile():'.
+
+    Attributes:
+        t (float): Accumulated time.
+        device (torch.device): Device used for model inference.
+        cuda (bool): Whether CUDA is being used.
+
+    Examples:
+        >>> from ultralytics.utils.ops import Profile
+        >>> with Profile(device=device) as dt:
+        ...     pass  # slow operation here
+        >>> print(dt)  # prints "Elapsed time is 9.5367431640625e-07 s"
+    """
+
+    def __init__(self, t=0.0, device: torch.device = None):
+        """
+        Initialize the Profile class.
+
+        Args:
+            t (float): Initial time.
+            device (torch.device): Device used for model inference.
+        """
+        self.t = t
+        self.device = device
+        self.cuda = bool(device and str(device).startswith("cuda"))
+
+    def __enter__(self):
+        """Start timing."""
+        self.start = self.time()
+        return self
+
+    def __exit__(self, type, value, traceback):  # noqa
+        """Stop timing."""
+        self.dt = self.time() - self.start  # delta-time
+        self.t += self.dt  # accumulate dt
+
+    def __str__(self):
+        """Returns a human-readable string representing the accumulated elapsed time in the profiler."""
+        return f"Elapsed time is {self.t} s"
+
+    def time(self):
+        """Get current time."""
+        if self.cuda:
+            torch.cuda.synchronize(self.device)
+        return time.perf_counter()
+
+
+def segment2box(segment, width=640, height=640):
+    """
+    Convert 1 segment label to 1 box label, applying inside-image constraint, i.e. (xy1, xy2, ...) to (xyxy).
+
+    Args:
+        segment (torch.Tensor): The segment label.
+        width (int): The width of the image.
+        height (int): The height of the image.
+
+    Returns:
+        (np.ndarray): The minimum and maximum x and y values of the segment.
+    """
+    x, y = segment.T  # segment xy
+    # any 3 out of 4 sides are outside the image, clip coordinates first, https://github.com/ultralytics/ultralytics/pull/18294
+    if np.array([x.min() < 0, y.min() < 0, x.max() > width, y.max() > height]).sum() >= 3:
+        x = x.clip(0, width)
+        y = y.clip(0, height)
+    inside = (x >= 0) & (y >= 0) & (x <= width) & (y <= height)
+    x = x[inside]
+    y = y[inside]
+    return (
+        np.array([x.min(), y.min(), x.max(), y.max()], dtype=segment.dtype)
+        if any(x)
+        else np.zeros(4, dtype=segment.dtype)
+    )  # xyxy
+
+
+def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None, padding=True, xywh=False):
+    """
+    Rescale bounding boxes from img1_shape to img0_shape.
+
+    Args:
+        img1_shape (tuple): The shape of the image that the bounding boxes are for, in the format of (height, width).
+        boxes (torch.Tensor): The bounding boxes of the objects in the image, in the format of (x1, y1, x2, y2).
+        img0_shape (tuple): The shape of the target image, in the format of (height, width).
+        ratio_pad (tuple): A tuple of (ratio, pad) for scaling the boxes. If not provided, the ratio and pad will be
+            calculated based on the size difference between the two images.
+        padding (bool): If True, assuming the boxes is based on image augmented by yolo style. If False then do regular
+            rescaling.
+        xywh (bool): The box format is xywh or not.
+
+    Returns:
+        (torch.Tensor): The scaled bounding boxes, in the format of (x1, y1, x2, y2).
+    """
+    if ratio_pad is None:  # calculate from img0_shape
+        gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1])  # gain  = old / new
+        pad = (
+            round((img1_shape[1] - img0_shape[1] * gain) / 2 - 0.1),
+            round((img1_shape[0] - img0_shape[0] * gain) / 2 - 0.1),
+        )  # wh padding
+    else:
+        gain = ratio_pad[0][0]
+        pad = ratio_pad[1]
+
+    if padding:
+        boxes[..., 0] -= pad[0]  # x padding
+        boxes[..., 1] -= pad[1]  # y padding
+        if not xywh:
+            boxes[..., 2] -= pad[0]  # x padding
+            boxes[..., 3] -= pad[1]  # y padding
+    boxes[..., :4] /= gain
+    return clip_boxes(boxes, img0_shape)
+
+
+def make_divisible(x, divisor):
+    """
+    Returns the nearest number that is divisible by the given divisor.
+
+    Args:
+        x (int): The number to make divisible.
+        divisor (int | torch.Tensor): The divisor.
+
+    Returns:
+        (int): The nearest number divisible by the divisor.
+    """
+    if isinstance(divisor, torch.Tensor):
+        divisor = int(divisor.max())  # to int
+    return math.ceil(x / divisor) * divisor
+
+
+def nms_rotated(boxes, scores, threshold=0.45, use_triu=True):
+    """
+    NMS for oriented bounding boxes using probiou and fast-nms.
+
+    Args:
+        boxes (torch.Tensor): Rotated bounding boxes, shape (N, 5), format xywhr.
+        scores (torch.Tensor): Confidence scores, shape (N,).
+        threshold (float): IoU threshold.
+        use_triu (bool): Whether to use `torch.triu` operator. It'd be useful for disable it
+            when exporting obb models to some formats that do not support `torch.triu`.
+
+    Returns:
+        (torch.Tensor): Indices of boxes to keep after NMS.
+    """
+    sorted_idx = torch.argsort(scores, descending=True)
+    boxes = boxes[sorted_idx]
+    ious = batch_probiou(boxes, boxes)
+    if use_triu:
+        ious = ious.triu_(diagonal=1)
+        # pick = torch.nonzero(ious.max(dim=0)[0] < threshold).squeeze_(-1)
+        # NOTE: handle the case when len(boxes) hence exportable by eliminating if-else condition
+        pick = torch.nonzero((ious >= threshold).sum(0) <= 0).squeeze_(-1)
+    else:
+        n = boxes.shape[0]
+        row_idx = torch.arange(n, device=boxes.device).view(-1, 1).expand(-1, n)
+        col_idx = torch.arange(n, device=boxes.device).view(1, -1).expand(n, -1)
+        upper_mask = row_idx < col_idx
+        ious = ious * upper_mask
+        # Zeroing these scores ensures the additional indices would not affect the final results
+        scores[~((ious >= threshold).sum(0) <= 0)] = 0
+        # NOTE: return indices with fixed length to avoid TFLite reshape error
+        pick = torch.topk(scores, scores.shape[0]).indices
+    return sorted_idx[pick]
+
+
+def non_max_suppression(
+    prediction,
+    conf_thres=0.25,
+    iou_thres=0.45,
+    classes=None,
+    agnostic=False,
+    multi_label=False,
+    labels=(),
+    max_det=300,
+    nc=0,  # number of classes (optional)
+    max_time_img=0.05,
+    max_nms=30000,
+    max_wh=7680,
+    in_place=True,
+    rotated=False,
+    end2end=False,
+    return_idxs=False,
+):
+    """
+    Perform non-maximum suppression (NMS) on a set of boxes, with support for masks and multiple labels per box.
+
+    Args:
+        prediction (torch.Tensor): A tensor of shape (batch_size, num_classes + 4 + num_masks, num_boxes)
+            containing the predicted boxes, classes, and masks. The tensor should be in the format
+            output by a model, such as YOLO.
+        conf_thres (float): The confidence threshold below which boxes will be filtered out.
+            Valid values are between 0.0 and 1.0.
+        iou_thres (float): The IoU threshold below which boxes will be filtered out during NMS.
+            Valid values are between 0.0 and 1.0.
+        classes (List[int]): A list of class indices to consider. If None, all classes will be considered.
+        agnostic (bool): If True, the model is agnostic to the number of classes, and all
+            classes will be considered as one.
+        multi_label (bool): If True, each box may have multiple labels.
+        labels (List[List[Union[int, float, torch.Tensor]]]): A list of lists, where each inner
+            list contains the apriori labels for a given image. The list should be in the format
+            output by a dataloader, with each label being a tuple of (class_index, x, y, w, h).
+        max_det (int): The maximum number of boxes to keep after NMS.
+        nc (int): The number of classes output by the model. Any indices after this will be considered masks.
+        max_time_img (float): The maximum time (seconds) for processing one image.
+        max_nms (int): The maximum number of boxes into torchvision.ops.nms().
+        max_wh (int): The maximum box width and height in pixels.
+        in_place (bool): If True, the input prediction tensor will be modified in place.
+        rotated (bool): If Oriented Bounding Boxes (OBB) are being passed for NMS.
+        end2end (bool): If the model doesn't require NMS.
+        return_idxs (bool): Return the indices of the detections that were kept.
+
+    Returns:
+        (List[torch.Tensor]): A list of length batch_size, where each element is a tensor of
+            shape (num_boxes, 6 + num_masks) containing the kept boxes, with columns
+            (x1, y1, x2, y2, confidence, class, mask1, mask2, ...).
+    """
+    import torchvision  # scope for faster 'import ultralytics'
+
+    # Checks
+    assert 0 <= conf_thres <= 1, f"Invalid Confidence threshold {conf_thres}, valid values are between 0.0 and 1.0"
+    assert 0 <= iou_thres <= 1, f"Invalid IoU {iou_thres}, valid values are between 0.0 and 1.0"
+    if isinstance(prediction, (list, tuple)):  # YOLOv8 model in validation model, output = (inference_out, loss_out)
+        prediction = prediction[0]  # select only inference output
+    if classes is not None:
+        classes = torch.tensor(classes, device=prediction.device)
+
+    if prediction.shape[-1] == 6 or end2end:  # end-to-end model (BNC, i.e. 1,300,6)
+        output = [pred[pred[:, 4] > conf_thres][:max_det] for pred in prediction]
+        if classes is not None:
+            output = [pred[(pred[:, 5:6] == classes).any(1)] for pred in output]
+        return output
+
+    bs = prediction.shape[0]  # batch size (BCN, i.e. 1,84,6300)
+    nc = nc or (prediction.shape[1] - 4)  # number of classes
+    nm = prediction.shape[1] - nc - 4  # number of masks
+    mi = 4 + nc  # mask start index
+    xc = prediction[:, 4:mi].amax(1) > conf_thres  # candidates
+    xinds = torch.stack([torch.arange(len(i), device=prediction.device) for i in xc])[..., None]  # to track idxs
+
+    # Settings
+    # min_wh = 2  # (pixels) minimum box width and height
+    time_limit = 2.0 + max_time_img * bs  # seconds to quit after
+    multi_label &= nc > 1  # multiple labels per box (adds 0.5ms/img)
+
+    prediction = prediction.transpose(-1, -2)  # shape(1,84,6300) to shape(1,6300,84)
+    if not rotated:
+        if in_place:
+            prediction[..., :4] = xywh2xyxy(prediction[..., :4])  # xywh to xyxy
+        else:
+            prediction = torch.cat((xywh2xyxy(prediction[..., :4]), prediction[..., 4:]), dim=-1)  # xywh to xyxy
+
+    t = time.time()
+    output = [torch.zeros((0, 6 + nm), device=prediction.device)] * bs
+    keepi = [torch.zeros((0, 1), device=prediction.device)] * bs  # to store the kept idxs
+    for xi, (x, xk) in enumerate(zip(prediction, xinds)):  # image index, (preds, preds indices)
+        # Apply constraints
+        # x[((x[:, 2:4] < min_wh) | (x[:, 2:4] > max_wh)).any(1), 4] = 0  # width-height
+        filt = xc[xi]  # confidence
+        x, xk = x[filt], xk[filt]
+
+        # Cat apriori labels if autolabelling
+        if labels and len(labels[xi]) and not rotated:
+            lb = labels[xi]
+            v = torch.zeros((len(lb), nc + nm + 4), device=x.device)
+            v[:, :4] = xywh2xyxy(lb[:, 1:5])  # box
+            v[range(len(lb)), lb[:, 0].long() + 4] = 1.0  # cls
+            x = torch.cat((x, v), 0)
+
+        # If none remain process next image
+        if not x.shape[0]:
+            continue
+
+        # Detections matrix nx6 (xyxy, conf, cls)
+        box, cls, mask = x.split((4, nc, nm), 1)
+
+        if multi_label:
+            i, j = torch.where(cls > conf_thres)
+            x = torch.cat((box[i], x[i, 4 + j, None], j[:, None].float(), mask[i]), 1)
+            xk = xk[i]
+        else:  # best class only
+            conf, j = cls.max(1, keepdim=True)
+            filt = conf.view(-1) > conf_thres
+            x = torch.cat((box, conf, j.float(), mask), 1)[filt]
+            xk = xk[filt]
+
+        # Filter by class
+        if classes is not None:
+            filt = (x[:, 5:6] == classes).any(1)
+            x, xk = x[filt], xk[filt]
+
+        # Check shape
+        n = x.shape[0]  # number of boxes
+        if not n:  # no boxes
+            continue
+        if n > max_nms:  # excess boxes
+            filt = x[:, 4].argsort(descending=True)[:max_nms]  # sort by confidence and remove excess boxes
+            x, xk = x[filt], xk[filt]
+
+        # Batched NMS
+        c = x[:, 5:6] * (0 if agnostic else max_wh)  # classes
+        scores = x[:, 4]  # scores
+        if rotated:
+            boxes = torch.cat((x[:, :2] + c, x[:, 2:4], x[:, -1:]), dim=-1)  # xywhr
+            i = nms_rotated(boxes, scores, iou_thres)
+        else:
+            boxes = x[:, :4] + c  # boxes (offset by class)
+            i = torchvision.ops.nms(boxes, scores, iou_thres)  # NMS
+        i = i[:max_det]  # limit detections
+
+        # # Experimental
+        # merge = False  # use merge-NMS
+        # if merge and (1 < n < 3E3):  # Merge NMS (boxes merged using weighted mean)
+        #     # Update boxes as boxes(i,4) = weights(i,n) * boxes(n,4)
+        #     from .metrics import box_iou
+        #     iou = box_iou(boxes[i], boxes) > iou_thres  # IoU matrix
+        #     weights = iou * scores[None]  # box weights
+        #     x[i, :4] = torch.mm(weights, x[:, :4]).float() / weights.sum(1, keepdim=True)  # merged boxes
+        #     redundant = True  # require redundant detections
+        #     if redundant:
+        #         i = i[iou.sum(1) > 1]  # require redundancy
+
+        output[xi], keepi[xi] = x[i], xk[i].reshape(-1)
+        if (time.time() - t) > time_limit:
+            LOGGER.warning(f"NMS time limit {time_limit:.3f}s exceeded")
+            break  # time limit exceeded
+
+    return (output, keepi) if return_idxs else output
+
+
+def clip_boxes(boxes, shape):
+    """
+    Takes a list of bounding boxes and a shape (height, width) and clips the bounding boxes to the shape.
+
+    Args:
+        boxes (torch.Tensor | numpy.ndarray): The bounding boxes to clip.
+        shape (tuple): The shape of the image.
+
+    Returns:
+        (torch.Tensor | numpy.ndarray): The clipped boxes.
+    """
+    if isinstance(boxes, torch.Tensor):  # faster individually (WARNING: inplace .clamp_() Apple MPS bug)
+        boxes[..., 0] = boxes[..., 0].clamp(0, shape[1])  # x1
+        boxes[..., 1] = boxes[..., 1].clamp(0, shape[0])  # y1
+        boxes[..., 2] = boxes[..., 2].clamp(0, shape[1])  # x2
+        boxes[..., 3] = boxes[..., 3].clamp(0, shape[0])  # y2
+    else:  # np.array (faster grouped)
+        boxes[..., [0, 2]] = boxes[..., [0, 2]].clip(0, shape[1])  # x1, x2
+        boxes[..., [1, 3]] = boxes[..., [1, 3]].clip(0, shape[0])  # y1, y2
+    return boxes
+
+
+def clip_coords(coords, shape):
+    """
+    Clip line coordinates to the image boundaries.
+
+    Args:
+        coords (torch.Tensor | numpy.ndarray): A list of line coordinates.
+        shape (tuple): A tuple of integers representing the size of the image in the format (height, width).
+
+    Returns:
+        (torch.Tensor | numpy.ndarray): Clipped coordinates.
+    """
+    if isinstance(coords, torch.Tensor):  # faster individually (WARNING: inplace .clamp_() Apple MPS bug)
+        coords[..., 0] = coords[..., 0].clamp(0, shape[1])  # x
+        coords[..., 1] = coords[..., 1].clamp(0, shape[0])  # y
+    else:  # np.array (faster grouped)
+        coords[..., 0] = coords[..., 0].clip(0, shape[1])  # x
+        coords[..., 1] = coords[..., 1].clip(0, shape[0])  # y
+    return coords
+
+
+def scale_image(masks, im0_shape, ratio_pad=None):
+    """
+    Takes a mask, and resizes it to the original image size.
+
+    Args:
+        masks (np.ndarray): Resized and padded masks/images, [h, w, num]/[h, w, 3].
+        im0_shape (tuple): The original image shape.
+        ratio_pad (tuple): The ratio of the padding to the original image.
+
+    Returns:
+        masks (np.ndarray): The masks that are being returned with shape [h, w, num].
+    """
+    # Rescale coordinates (xyxy) from im1_shape to im0_shape
+    im1_shape = masks.shape
+    if im1_shape[:2] == im0_shape[:2]:
+        return masks
+    if ratio_pad is None:  # calculate from im0_shape
+        gain = min(im1_shape[0] / im0_shape[0], im1_shape[1] / im0_shape[1])  # gain  = old / new
+        pad = (im1_shape[1] - im0_shape[1] * gain) / 2, (im1_shape[0] - im0_shape[0] * gain) / 2  # wh padding
+    else:
+        # gain = ratio_pad[0][0]
+        pad = ratio_pad[1]
+    top, left = int(pad[1]), int(pad[0])  # y, x
+    bottom, right = int(im1_shape[0] - pad[1]), int(im1_shape[1] - pad[0])
+
+    if len(masks.shape) < 2:
+        raise ValueError(f'"len of masks shape" should be 2 or 3, but got {len(masks.shape)}')
+    masks = masks[top:bottom, left:right]
+    masks = cv2.resize(masks, (im0_shape[1], im0_shape[0]))
+    if len(masks.shape) == 2:
+        masks = masks[:, :, None]
+
+    return masks
+
+
+def xyxy2xywh(x):
+    """
+    Convert bounding box coordinates from (x1, y1, x2, y2) format to (x, y, width, height) format where (x1, y1) is the
+    top-left corner and (x2, y2) is the bottom-right corner.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The input bounding box coordinates in (x1, y1, x2, y2) format.
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The bounding box coordinates in (x, y, width, height) format.
+    """
+    assert x.shape[-1] == 4, f"input shape last dimension expected 4 but input shape is {x.shape}"
+    y = empty_like(x)  # faster than clone/copy
+    y[..., 0] = (x[..., 0] + x[..., 2]) / 2  # x center
+    y[..., 1] = (x[..., 1] + x[..., 3]) / 2  # y center
+    y[..., 2] = x[..., 2] - x[..., 0]  # width
+    y[..., 3] = x[..., 3] - x[..., 1]  # height
+    return y
+
+
+def xywh2xyxy(x):
+    """
+    Convert bounding box coordinates from (x, y, width, height) format to (x1, y1, x2, y2) format where (x1, y1) is the
+    top-left corner and (x2, y2) is the bottom-right corner. Note: ops per 2 channels faster than per channel.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The input bounding box coordinates in (x, y, width, height) format.
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The bounding box coordinates in (x1, y1, x2, y2) format.
+    """
+    assert x.shape[-1] == 4, f"input shape last dimension expected 4 but input shape is {x.shape}"
+    y = empty_like(x)  # faster than clone/copy
+    xy = x[..., :2]  # centers
+    wh = x[..., 2:] / 2  # half width-height
+    y[..., :2] = xy - wh  # top left xy
+    y[..., 2:] = xy + wh  # bottom right xy
+    return y
+
+
+def xywhn2xyxy(x, w=640, h=640, padw=0, padh=0):
+    """
+    Convert normalized bounding box coordinates to pixel coordinates.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The bounding box coordinates.
+        w (int): Width of the image.
+        h (int): Height of the image.
+        padw (int): Padding width.
+        padh (int): Padding height.
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The coordinates of the bounding box in the format [x1, y1, x2, y2] where
+            x1,y1 is the top-left corner, x2,y2 is the bottom-right corner of the bounding box.
+    """
+    assert x.shape[-1] == 4, f"input shape last dimension expected 4 but input shape is {x.shape}"
+    y = empty_like(x)  # faster than clone/copy
+    y[..., 0] = w * (x[..., 0] - x[..., 2] / 2) + padw  # top left x
+    y[..., 1] = h * (x[..., 1] - x[..., 3] / 2) + padh  # top left y
+    y[..., 2] = w * (x[..., 0] + x[..., 2] / 2) + padw  # bottom right x
+    y[..., 3] = h * (x[..., 1] + x[..., 3] / 2) + padh  # bottom right y
+    return y
+
+
+def xyxy2xywhn(x, w=640, h=640, clip=False, eps=0.0):
+    """
+    Convert bounding box coordinates from (x1, y1, x2, y2) format to (x, y, width, height, normalized) format. x, y,
+    width and height are normalized to image dimensions.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The input bounding box coordinates in (x1, y1, x2, y2) format.
+        w (int): The width of the image.
+        h (int): The height of the image.
+        clip (bool): If True, the boxes will be clipped to the image boundaries.
+        eps (float): The minimum value of the box's width and height.
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The bounding box coordinates in (x, y, width, height, normalized) format
+    """
+    if clip:
+        x = clip_boxes(x, (h - eps, w - eps))
+    assert x.shape[-1] == 4, f"input shape last dimension expected 4 but input shape is {x.shape}"
+    y = empty_like(x)  # faster than clone/copy
+    y[..., 0] = ((x[..., 0] + x[..., 2]) / 2) / w  # x center
+    y[..., 1] = ((x[..., 1] + x[..., 3]) / 2) / h  # y center
+    y[..., 2] = (x[..., 2] - x[..., 0]) / w  # width
+    y[..., 3] = (x[..., 3] - x[..., 1]) / h  # height
+    return y
+
+
+def xywh2ltwh(x):
+    """
+    Convert the bounding box format from [x, y, w, h] to [x1, y1, w, h], where x1, y1 are the top-left coordinates.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The input tensor with the bounding box coordinates in the xywh format
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The bounding box coordinates in the xyltwh format
+    """
+    y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
+    y[..., 0] = x[..., 0] - x[..., 2] / 2  # top left x
+    y[..., 1] = x[..., 1] - x[..., 3] / 2  # top left y
+    return y
+
+
+def xyxy2ltwh(x):
+    """
+    Convert nx4 bounding boxes from [x1, y1, x2, y2] to [x1, y1, w, h], where xy1=top-left, xy2=bottom-right.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The input tensor with the bounding boxes coordinates in the xyxy format
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The bounding box coordinates in the xyltwh format.
+    """
+    y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
+    y[..., 2] = x[..., 2] - x[..., 0]  # width
+    y[..., 3] = x[..., 3] - x[..., 1]  # height
+    return y
+
+
+def ltwh2xywh(x):
+    """
+    Convert nx4 boxes from [x1, y1, w, h] to [x, y, w, h] where xy1=top-left, xy=center.
+
+    Args:
+        x (torch.Tensor): the input tensor
+
+    Returns:
+        y (np.ndarray | torch.Tensor): The bounding box coordinates in the xywh format.
+    """
+    y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
+    y[..., 0] = x[..., 0] + x[..., 2] / 2  # center x
+    y[..., 1] = x[..., 1] + x[..., 3] / 2  # center y
+    return y
+
+
+def xyxyxyxy2xywhr(x):
+    """
+    Convert batched Oriented Bounding Boxes (OBB) from [xy1, xy2, xy3, xy4] to [xywh, rotation]. Rotation values are
+    returned in radians from 0 to pi/2.
+
+    Args:
+        x (numpy.ndarray | torch.Tensor): Input box corners [xy1, xy2, xy3, xy4] of shape (n, 8).
+
+    Returns:
+        (numpy.ndarray | torch.Tensor): Converted data in [cx, cy, w, h, rotation] format of shape (n, 5).
+    """
+    is_torch = isinstance(x, torch.Tensor)
+    points = x.cpu().numpy() if is_torch else x
+    points = points.reshape(len(x), -1, 2)
+    rboxes = []
+    for pts in points:
+        # NOTE: Use cv2.minAreaRect to get accurate xywhr,
+        # especially some objects are cut off by augmentations in dataloader.
+        (cx, cy), (w, h), angle = cv2.minAreaRect(pts)
+        rboxes.append([cx, cy, w, h, angle / 180 * np.pi])
+    return torch.tensor(rboxes, device=x.device, dtype=x.dtype) if is_torch else np.asarray(rboxes)
+
+
+def xywhr2xyxyxyxy(x):
+    """
+    Convert batched Oriented Bounding Boxes (OBB) from [xywh, rotation] to [xy1, xy2, xy3, xy4]. Rotation values should
+    be in radians from 0 to pi/2.
+
+    Args:
+        x (numpy.ndarray | torch.Tensor): Boxes in [cx, cy, w, h, rotation] format of shape (n, 5) or (b, n, 5).
+
+    Returns:
+        (numpy.ndarray | torch.Tensor): Converted corner points of shape (n, 4, 2) or (b, n, 4, 2).
+    """
+    cos, sin, cat, stack = (
+        (torch.cos, torch.sin, torch.cat, torch.stack)
+        if isinstance(x, torch.Tensor)
+        else (np.cos, np.sin, np.concatenate, np.stack)
+    )
+
+    ctr = x[..., :2]
+    w, h, angle = (x[..., i : i + 1] for i in range(2, 5))
+    cos_value, sin_value = cos(angle), sin(angle)
+    vec1 = [w / 2 * cos_value, w / 2 * sin_value]
+    vec2 = [-h / 2 * sin_value, h / 2 * cos_value]
+    vec1 = cat(vec1, -1)
+    vec2 = cat(vec2, -1)
+    pt1 = ctr + vec1 + vec2
+    pt2 = ctr + vec1 - vec2
+    pt3 = ctr - vec1 - vec2
+    pt4 = ctr - vec1 + vec2
+    return stack([pt1, pt2, pt3, pt4], -2)
+
+
+def ltwh2xyxy(x):
+    """
+    Convert bounding box from [x1, y1, w, h] to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right.
+
+    Args:
+        x (np.ndarray | torch.Tensor): The input image.
+
+    Returns:
+        (np.ndarray | torch.Tensor): The xyxy coordinates of the bounding boxes.
+    """
+    y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
+    y[..., 2] = x[..., 2] + x[..., 0]  # width
+    y[..., 3] = x[..., 3] + x[..., 1]  # height
+    return y
+
+
+def segments2boxes(segments):
+    """
+    Convert segment labels to box labels, i.e. (cls, xy1, xy2, ...) to (cls, xywh).
+
+    Args:
+        segments (list): List of segments, each segment is a list of points, each point is a list of x, y coordinates.
+
+    Returns:
+        (np.ndarray): The xywh coordinates of the bounding boxes.
+    """
+    boxes = []
+    for s in segments:
+        x, y = s.T  # segment xy
+        boxes.append([x.min(), y.min(), x.max(), y.max()])  # cls, xyxy
+    return xyxy2xywh(np.array(boxes))  # cls, xywh
+
+
+def resample_segments(segments, n=1000):
+    """
+    Inputs a list of segments (n,2) and returns a list of segments (n,2) up-sampled to n points each.
+
+    Args:
+        segments (list): A list of (n,2) arrays, where n is the number of points in the segment.
+        n (int): Number of points to resample the segment to.
+
+    Returns:
+        segments (list): The resampled segments.
+    """
+    for i, s in enumerate(segments):
+        if len(s) == n:
+            continue
+        s = np.concatenate((s, s[0:1, :]), axis=0)
+        x = np.linspace(0, len(s) - 1, n - len(s) if len(s) < n else n)
+        xp = np.arange(len(s))
+        x = np.insert(x, np.searchsorted(x, xp), xp) if len(s) < n else x
+        segments[i] = (
+            np.concatenate([np.interp(x, xp, s[:, i]) for i in range(2)], dtype=np.float32).reshape(2, -1).T
+        )  # segment xy
+    return segments
+
+
+def crop_mask(masks, boxes):
+    """
+    Crop masks to bounding boxes.
+
+    Args:
+        masks (torch.Tensor): [n, h, w] tensor of masks.
+        boxes (torch.Tensor): [n, 4] tensor of bbox coordinates in relative point form.
+
+    Returns:
+        (torch.Tensor): Cropped masks.
+    """
+    _, h, w = masks.shape
+    x1, y1, x2, y2 = torch.chunk(boxes[:, :, None], 4, 1)  # x1 shape(n,1,1)
+    r = torch.arange(w, device=masks.device, dtype=x1.dtype)[None, None, :]  # rows shape(1,1,w)
+    c = torch.arange(h, device=masks.device, dtype=x1.dtype)[None, :, None]  # cols shape(1,h,1)
+
+    return masks * ((r >= x1) * (r < x2) * (c >= y1) * (c < y2))
+
+
+def process_mask(protos, masks_in, bboxes, shape, upsample=False):
+    """
+    Apply masks to bounding boxes using the output of the mask head.
+
+    Args:
+        protos (torch.Tensor): A tensor of shape [mask_dim, mask_h, mask_w].
+        masks_in (torch.Tensor): A tensor of shape [n, mask_dim], where n is the number of masks after NMS.
+        bboxes (torch.Tensor): A tensor of shape [n, 4], where n is the number of masks after NMS.
+        shape (tuple): A tuple of integers representing the size of the input image in the format (h, w).
+        upsample (bool): A flag to indicate whether to upsample the mask to the original image size.
+
+    Returns:
+        (torch.Tensor): A binary mask tensor of shape [n, h, w], where n is the number of masks after NMS, and h and w
+            are the height and width of the input image. The mask is applied to the bounding boxes.
+    """
+    c, mh, mw = protos.shape  # CHW
+    ih, iw = shape
+    masks = (masks_in @ protos.float().view(c, -1)).view(-1, mh, mw)  # CHW
+    width_ratio = mw / iw
+    height_ratio = mh / ih
+
+    downsampled_bboxes = bboxes.clone()
+    downsampled_bboxes[:, 0] *= width_ratio
+    downsampled_bboxes[:, 2] *= width_ratio
+    downsampled_bboxes[:, 3] *= height_ratio
+    downsampled_bboxes[:, 1] *= height_ratio
+
+    masks = crop_mask(masks, downsampled_bboxes)  # CHW
+    if upsample:
+        masks = F.interpolate(masks[None], shape, mode="bilinear", align_corners=False)[0]  # CHW
+    return masks.gt_(0.0)
+
+
+def process_mask_native(protos, masks_in, bboxes, shape):
+    """
+    Apply masks to bounding boxes using the output of the mask head with native upsampling.
+
+    Args:
+        protos (torch.Tensor): [mask_dim, mask_h, mask_w].
+        masks_in (torch.Tensor): [n, mask_dim], n is number of masks after nms.
+        bboxes (torch.Tensor): [n, 4], n is number of masks after nms.
+        shape (tuple): The size of the input image (h,w).
+
+    Returns:
+        (torch.Tensor): The returned masks with dimensions [h, w, n].
+    """
+    c, mh, mw = protos.shape  # CHW
+    masks = (masks_in @ protos.float().view(c, -1)).view(-1, mh, mw)
+    masks = scale_masks(masks[None], shape)[0]  # CHW
+    masks = crop_mask(masks, bboxes)  # CHW
+    return masks.gt_(0.0)
+
+
+def scale_masks(masks, shape, padding=True):
+    """
+    Rescale segment masks to shape.
+
+    Args:
+        masks (torch.Tensor): (N, C, H, W).
+        shape (tuple): Height and width.
+        padding (bool): If True, assuming the boxes is based on image augmented by yolo style. If False then do regular
+            rescaling.
+
+    Returns:
+        (torch.Tensor): Rescaled masks.
+    """
+    mh, mw = masks.shape[2:]
+    gain = min(mh / shape[0], mw / shape[1])  # gain  = old / new
+    pad = [mw - shape[1] * gain, mh - shape[0] * gain]  # wh padding
+    if padding:
+        pad[0] /= 2
+        pad[1] /= 2
+    top, left = (int(pad[1]), int(pad[0])) if padding else (0, 0)  # y, x
+    bottom, right = (int(mh - pad[1]), int(mw - pad[0]))
+    masks = masks[..., top:bottom, left:right]
+
+    masks = F.interpolate(masks, shape, mode="bilinear", align_corners=False)  # NCHW
+    return masks
+
+
+def scale_coords(img1_shape, coords, img0_shape, ratio_pad=None, normalize=False, padding=True):
+    """
+    Rescale segment coordinates (xy) from img1_shape to img0_shape.
+
+    Args:
+        img1_shape (tuple): The shape of the image that the coords are from.
+        coords (torch.Tensor): The coords to be scaled of shape n,2.
+        img0_shape (tuple): The shape of the image that the segmentation is being applied to.
+        ratio_pad (tuple): The ratio of the image size to the padded image size.
+        normalize (bool): If True, the coordinates will be normalized to the range [0, 1].
+        padding (bool): If True, assuming the boxes is based on image augmented by yolo style. If False then do regular
+            rescaling.
+
+    Returns:
+        coords (torch.Tensor): The scaled coordinates.
+    """
+    if ratio_pad is None:  # calculate from img0_shape
+        gain = min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1])  # gain  = old / new
+        pad = (img1_shape[1] - img0_shape[1] * gain) / 2, (img1_shape[0] - img0_shape[0] * gain) / 2  # wh padding
+    else:
+        gain = ratio_pad[0][0]
+        pad = ratio_pad[1]
+
+    if padding:
+        coords[..., 0] -= pad[0]  # x padding
+        coords[..., 1] -= pad[1]  # y padding
+    coords[..., 0] /= gain
+    coords[..., 1] /= gain
+    coords = clip_coords(coords, img0_shape)
+    if normalize:
+        coords[..., 0] /= img0_shape[1]  # width
+        coords[..., 1] /= img0_shape[0]  # height
+    return coords
+
+
+def regularize_rboxes(rboxes):
+    """
+    Regularize rotated boxes in range [0, pi/2].
+
+    Args:
+        rboxes (torch.Tensor): Input boxes of shape(N, 5) in xywhr format.
+
+    Returns:
+        (torch.Tensor): The regularized boxes.
+    """
+    x, y, w, h, t = rboxes.unbind(dim=-1)
+    # Swap edge if t >= pi/2 while not being symmetrically opposite
+    swap = t % math.pi >= math.pi / 2
+    w_ = torch.where(swap, h, w)
+    h_ = torch.where(swap, w, h)
+    t = t % (math.pi / 2)
+    return torch.stack([x, y, w_, h_, t], dim=-1)  # regularized boxes
+
+
+def masks2segments(masks, strategy="all"):
+    """
+    Convert masks to segments.
+
+    Args:
+        masks (torch.Tensor): The output of the model, which is a tensor of shape (batch_size, 160, 160).
+        strategy (str): 'all' or 'largest'.
+
+    Returns:
+        (list): List of segment masks.
+    """
+    from ultralytics.data.converter import merge_multi_segment
+
+    segments = []
+    for x in masks.int().cpu().numpy().astype("uint8"):
+        c = cv2.findContours(x, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[0]
+        if c:
+            if strategy == "all":  # merge and concatenate all segments
+                c = (
+                    np.concatenate(merge_multi_segment([x.reshape(-1, 2) for x in c]))
+                    if len(c) > 1
+                    else c[0].reshape(-1, 2)
+                )
+            elif strategy == "largest":  # select largest segment
+                c = np.array(c[np.array([len(x) for x in c]).argmax()]).reshape(-1, 2)
+        else:
+            c = np.zeros((0, 2))  # no segments found
+        segments.append(c.astype("float32"))
+    return segments
+
+
+def convert_torch2numpy_batch(batch: torch.Tensor) -> np.ndarray:
+    """
+    Convert a batch of FP32 torch tensors (0.0-1.0) to a NumPy uint8 array (0-255), changing from BCHW to BHWC layout.
+
+    Args:
+        batch (torch.Tensor): Input tensor batch of shape (Batch, Channels, Height, Width) and dtype torch.float32.
+
+    Returns:
+        (np.ndarray): Output NumPy array batch of shape (Batch, Height, Width, Channels) and dtype uint8.
+    """
+    return (batch.permute(0, 2, 3, 1).contiguous() * 255).clamp(0, 255).to(torch.uint8).cpu().numpy()
+
+
+def clean_str(s):
+    """
+    Cleans a string by replacing special characters with '_' character.
+
+    Args:
+        s (str): A string needing special characters replaced.
+
+    Returns:
+        (str): A string with special characters replaced by an underscore _.
+    """
+    return re.sub(pattern="[|@#!¡·$€%&()=?¿^*;:,¨´><+]", repl="_", string=s)
+
+
+def empty_like(x):
+    """Creates empty torch.Tensor or np.ndarray with same shape as input and float32 dtype."""
+    return (
+        torch.empty_like(x, dtype=torch.float32) if isinstance(x, torch.Tensor) else np.empty_like(x, dtype=np.float32)
+    )