dgenerate-ultralytics-headless 8.3.196__py3-none-any.whl → 8.3.248__py3-none-any.whl

ultralytics/utils/nms.py

@@ -27,11 +27,10 @@ def non_max_suppression(
     end2end: bool = False,
     return_idxs: bool = False,
 ):
-    """
-    Perform non-maximum suppression (NMS) on prediction results.
+    """Perform non-maximum suppression (NMS) on prediction results.
 
-    Applies NMS to filter overlapping bounding boxes based on confidence and IoU thresholds. Supports multiple
-    detection formats including standard boxes, rotated boxes, and masks.
+    Applies NMS to filter overlapping bounding boxes based on confidence and IoU thresholds. Supports multiple detection
+    formats including standard boxes, rotated boxes, and masks.
 
     Args:
         prediction (torch.Tensor): Predictions with shape (batch_size, num_classes + 4 + num_masks, num_boxes)
@@ -52,8 +51,8 @@ def non_max_suppression(
         return_idxs (bool): Whether to return the indices of kept detections.
 
     Returns:
-        output (list[torch.Tensor]): List of detections per image with shape (num_boxes, 6 + num_masks)
-            containing (x1, y1, x2, y2, confidence, class, mask1, mask2, ...).
+        output (list[torch.Tensor]): List of detections per image with shape (num_boxes, 6 + num_masks) containing (x1,
+            y1, x2, y2, confidence, class, mask1, mask2, ...).
         keepi (list[torch.Tensor]): Indices of kept detections if return_idxs=True.
     """
     # Checks
@@ -168,8 +167,7 @@ def non_max_suppression(
 
 
 class TorchNMS:
-    """
-    Ultralytics custom NMS implementation optimized for YOLO.
+    """Ultralytics custom NMS implementation optimized for YOLO.
 
     This class provides static methods for performing non-maximum suppression (NMS) operations on bounding boxes,
     including both standard NMS and batched NMS for multi-class scenarios.
@@ -192,9 +190,9 @@ class TorchNMS:
         iou_threshold: float,
         use_triu: bool = True,
         iou_func=box_iou,
+        exit_early: bool = True,
     ) -> torch.Tensor:
-        """
-        Fast-NMS implementation from https://arxiv.org/pdf/1904.02689 using upper triangular matrix operations.
+        """Fast-NMS implementation from https://arxiv.org/pdf/1904.02689 using upper triangular matrix operations.
 
         Args:
             boxes (torch.Tensor): Bounding boxes with shape (N, 4) in xyxy format.
@@ -202,6 +200,7 @@ class TorchNMS:
             iou_threshold (float): IoU threshold for suppression.
             use_triu (bool): Whether to use torch.triu operator for upper triangular matrix operations.
             iou_func (callable): Function to compute IoU between boxes.
+            exit_early (bool): Whether to exit early if there are no boxes.
 
         Returns:
             (torch.Tensor): Indices of boxes to keep after NMS.
@@ -212,7 +211,7 @@ class TorchNMS:
             >>> scores = torch.tensor([0.9, 0.8])
             >>> keep = TorchNMS.nms(boxes, scores, 0.5)
         """
-        if boxes.numel() == 0:
+        if boxes.numel() == 0 and exit_early:
             return torch.empty((0,), dtype=torch.int64, device=boxes.device)
 
         sorted_idx = torch.argsort(scores, descending=True)
@@ -229,15 +228,16 @@ class TorchNMS:
             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 >= iou_threshold).sum(0) <= 0)] = 0
+            scores_ = scores[sorted_idx]
+            scores_[~((ious >= iou_threshold).sum(0) <= 0)] = 0
+            scores[sorted_idx] = scores_  # update original tensor for NMSModel
             # NOTE: return indices with fixed length to avoid TFLite reshape error
-            pick = torch.topk(scores, scores.shape[0]).indices
+            pick = torch.topk(scores_, scores_.shape[0]).indices
         return sorted_idx[pick]
 
     @staticmethod
     def nms(boxes: torch.Tensor, scores: torch.Tensor, iou_threshold: float) -> torch.Tensor:
-        """
-        Optimized NMS with early termination that matches torchvision behavior exactly.
+        """Optimized NMS with early termination that matches torchvision behavior exactly.
 
         Args:
             boxes (torch.Tensor): Bounding boxes with shape (N, 4) in xyxy format.
@@ -261,12 +261,11 @@ class TorchNMS:
         areas = (x2 - x1) * (y2 - y1)
 
         # Sort by scores descending
-        _, order = scores.sort(0, descending=True)
+        order = scores.argsort(0, descending=True)
 
         # Pre-allocate keep list with maximum possible size
         keep = torch.zeros(order.numel(), dtype=torch.int64, device=boxes.device)
         keep_idx = 0
-
         while order.numel() > 0:
             i = order[0]
             keep[keep_idx] = i
@@ -274,7 +273,6 @@ class TorchNMS:
 
             if order.numel() == 1:
                 break
-
             # Vectorized IoU calculation for remaining boxes
             rest = order[1:]
             xx1 = torch.maximum(x1[i], x1[rest])
@@ -286,20 +284,14 @@ class TorchNMS:
             w = (xx2 - xx1).clamp_(min=0)
             h = (yy2 - yy1).clamp_(min=0)
             inter = w * h
-
-            # Early termination: skip IoU calculation if no intersection
+            # Early exit: skip IoU calculation if no intersection
             if inter.sum() == 0:
                 # No overlaps with current box, keep all remaining boxes
-                remaining_count = rest.numel()
-                keep[keep_idx : keep_idx + remaining_count] = rest
-                keep_idx += remaining_count
-                break
-
+                order = rest
+                continue
             iou = inter / (areas[i] + areas[rest] - inter)
-
             # Keep boxes with IoU <= threshold
-            mask = iou <= iou_threshold
-            order = rest[mask]
+            order = rest[iou <= iou_threshold]
 
         return keep[:keep_idx]
 
@@ -311,8 +303,7 @@ class TorchNMS:
         iou_threshold: float,
         use_fast_nms: bool = False,
     ) -> torch.Tensor:
-        """
-        Batched NMS for class-aware suppression.
+        """Batched NMS for class-aware suppression.
 
         Args:
             boxes (torch.Tensor): Bounding boxes with shape (N, 4) in xyxy format.

ultralytics/utils/ops.py

@@ -16,8 +16,7 @@ from ultralytics.utils import NOT_MACOS14
 
 
 class Profile(contextlib.ContextDecorator):
-    """
-    Ultralytics Profile class for timing code execution.
+    """Ultralytics Profile class for timing code execution.
 
     Use as a decorator with @Profile() or as a context manager with 'with Profile():'. Provides accurate timing
     measurements with CUDA synchronization support for GPU operations.
@@ -40,8 +39,7 @@ class Profile(contextlib.ContextDecorator):
     """
 
     def __init__(self, t: float = 0.0, device: torch.device | None = None):
-        """
-        Initialize the Profile class.
+        """Initialize the Profile class.
 
         Args:
             t (float): Initial accumulated time in seconds.
@@ -56,7 +54,7 @@ class Profile(contextlib.ContextDecorator):
         self.start = self.time()
         return self
 
-    def __exit__(self, type, value, traceback):  # noqa
+    def __exit__(self, type, value, traceback):
         """Stop timing."""
         self.dt = self.time() - self.start  # delta-time
         self.t += self.dt  # accumulate dt
@@ -73,11 +71,10 @@ class Profile(contextlib.ContextDecorator):
 
 
 def segment2box(segment, width: int = 640, height: int = 640):
-    """
-    Convert segment coordinates to bounding box coordinates.
+    """Convert segment coordinates to bounding box coordinates.
 
-    Converts a single segment label to a box label by finding the minimum and maximum x and y coordinates.
-    Applies inside-image constraint and clips coordinates when necessary.
+    Converts a single segment label to a box label by finding the minimum and maximum x and y coordinates. Applies
+    inside-image constraint and clips coordinates when necessary.
 
     Args:
         segment (torch.Tensor): Segment coordinates in format (N, 2) where N is number of points.
@@ -103,11 +100,10 @@ def segment2box(segment, width: int = 640, height: int = 640):
 
 
 def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None, padding: bool = True, xywh: bool = False):
-    """
-    Rescale bounding boxes from one image shape to another.
+    """Rescale bounding boxes from one image shape to another.
 
-    Rescales bounding boxes from img1_shape to img0_shape, accounting for padding and aspect ratio changes.
-    Supports both xyxy and xywh box formats.
+    Rescales bounding boxes from img1_shape to img0_shape, accounting for padding and aspect ratio changes. Supports
+    both xyxy and xywh box formats.
 
     Args:
         img1_shape (tuple): Shape of the source image (height, width).
@@ -139,8 +135,7 @@ def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None, padding: bool = T
 
 
 def make_divisible(x: int, divisor):
-    """
-    Return the nearest number that is divisible by the given divisor.
+    """Return the nearest number that is divisible by the given divisor.
 
     Args:
         x (int): The number to make divisible.
@@ -155,8 +150,7 @@ def make_divisible(x: int, divisor):
 
 
 def clip_boxes(boxes, shape):
-    """
-    Clip bounding boxes to image boundaries.
+    """Clip bounding boxes to image boundaries.
 
     Args:
         boxes (torch.Tensor | np.ndarray): Bounding boxes to clip.
@@ -184,8 +178,7 @@ def clip_boxes(boxes, shape):
 
 
 def clip_coords(coords, shape):
-    """
-    Clip line coordinates to image boundaries.
+    """Clip line coordinates to image boundaries.
 
     Args:
         coords (torch.Tensor | np.ndarray): Line coordinates to clip.
@@ -208,55 +201,9 @@ def clip_coords(coords, shape):
     return coords
 
 
-def scale_image(masks, im0_shape, ratio_pad=None):
-    """
-    Rescale masks to original image size.
-
-    Takes resized and padded masks and rescales them back to the original image dimensions, removing any padding
-    that was applied during preprocessing.
-
-    Args:
-        masks (np.ndarray): Resized and padded masks with shape [H, W, N] or [H, W, 3].
-        im0_shape (tuple): Original image shape as HWC or HW (supports both).
-        ratio_pad (tuple, optional): Ratio and padding values as ((ratio_h, ratio_w), (pad_h, pad_w)).
-
-    Returns:
-        (np.ndarray): Rescaled masks with shape [H, W, N] matching original image dimensions.
-    """
-    # Rescale coordinates (xyxy) from im1_shape to im0_shape
-    im0_h, im0_w = im0_shape[:2]  # supports both HWC or HW shapes
-    im1_h, im1_w, _ = masks.shape
-    if im1_h == im0_h and im1_w == im0_w:
-        return masks
-
-    if ratio_pad is None:  # calculate from im0_shape
-        gain = min(im1_h / im0_h, im1_w / im0_w)  # gain  = old / new
-        pad = (im1_w - im0_w * gain) / 2, (im1_h - im0_h * gain) / 2  # wh padding
-    else:
-        pad = ratio_pad[1]
-
-    pad_w, pad_h = pad
-    top = int(round(pad_h - 0.1))
-    left = int(round(pad_w - 0.1))
-    bottom = im1_h - int(round(pad_h + 0.1))
-    right = im1_w - int(round(pad_w + 0.1))
-
-    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]
-    # handle the cv2.resize 512 channels limitation: https://github.com/ultralytics/ultralytics/pull/21947
-    masks = [cv2.resize(array, (im0_w, im0_h)) for array in np.array_split(masks, masks.shape[-1] // 512 + 1, axis=-1)]
-    masks = np.concatenate(masks, axis=-1) if len(masks) > 1 else masks[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.
+    """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): Input bounding box coordinates in (x1, y1, x2, y2) format.
@@ -275,9 +222,8 @@ def xyxy2xywh(x):
 
 
 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.
+    """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): Input bounding box coordinates in (x, y, width, height) format.
@@ -295,8 +241,7 @@ def xywh2xyxy(x):
 
 
 def xywhn2xyxy(x, w: int = 640, h: int = 640, padw: int = 0, padh: int = 0):
-    """
-    Convert normalized bounding box coordinates to pixel coordinates.
+    """Convert normalized bounding box coordinates to pixel coordinates.
 
     Args:
         x (np.ndarray | torch.Tensor): Normalized bounding box coordinates in (x, y, w, h) format.
@@ -306,8 +251,8 @@ def xywhn2xyxy(x, w: int = 640, h: int = 640, padw: int = 0, padh: int = 0):
         padh (int): Padding height in pixels.
 
     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.
+        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
@@ -321,8 +266,7 @@ def xywhn2xyxy(x, w: int = 640, h: int = 640, padw: int = 0, padh: int = 0):
 
 
 def xyxy2xywhn(x, w: int = 640, h: int = 640, clip: bool = False, eps: float = 0.0):
-    """
-    Convert bounding box coordinates from (x1, y1, x2, y2) format to (x, y, width, height, normalized) format. x, y,
+    """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:
@@ -348,14 +292,13 @@ def xyxy2xywhn(x, w: int = 640, h: int = 640, clip: bool = False, eps: float = 0
 
 
 def xywh2ltwh(x):
-    """
-    Convert bounding box format from [x, y, w, h] to [x1, y1, w, h] where x1, y1 are top-left coordinates.
+    """Convert bounding box format from [x, y, w, h] to [x1, y1, w, h] where x1, y1 are top-left coordinates.
 
     Args:
         x (np.ndarray | torch.Tensor): Input bounding box coordinates in xywh format.
 
     Returns:
-        (np.ndarray | torch.Tensor): Bounding box coordinates in xyltwh format.
+        (np.ndarray | torch.Tensor): Bounding box coordinates in ltwh format.
     """
     y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
     y[..., 0] = x[..., 0] - x[..., 2] / 2  # top left x
@@ -364,14 +307,13 @@ def xywh2ltwh(x):
 
 
 def xyxy2ltwh(x):
-    """
-    Convert bounding boxes from [x1, y1, x2, y2] to [x1, y1, w, h] format.
+    """Convert bounding boxes from [x1, y1, x2, y2] to [x1, y1, w, h] format.
 
     Args:
         x (np.ndarray | torch.Tensor): Input bounding box coordinates in xyxy format.
 
     Returns:
-        (np.ndarray | torch.Tensor): Bounding box coordinates in xyltwh format.
+        (np.ndarray | torch.Tensor): Bounding box coordinates in ltwh format.
     """
     y = x.clone() if isinstance(x, torch.Tensor) else np.copy(x)
     y[..., 2] = x[..., 2] - x[..., 0]  # width
@@ -380,11 +322,10 @@ def xyxy2ltwh(x):
 
 
 def ltwh2xywh(x):
-    """
-    Convert bounding boxes from [x1, y1, w, h] to [x, y, w, h] where xy1=top-left, xy=center.
+    """Convert bounding boxes from [x1, y1, w, h] to [x, y, w, h] where xy1=top-left, xy=center.
 
     Args:
-        x (torch.Tensor): Input bounding box coordinates.
+        x (np.ndarray | torch.Tensor): Input bounding box coordinates.
 
     Returns:
         (np.ndarray | torch.Tensor): Bounding box coordinates in xywh format.
@@ -396,15 +337,14 @@ def ltwh2xywh(x):
 
 
 def xyxyxyxy2xywhr(x):
-    """
-    Convert batched Oriented Bounding Boxes (OBB) from [xy1, xy2, xy3, xy4] to [xywh, rotation] format.
+    """Convert batched Oriented Bounding Boxes (OBB) from [xy1, xy2, xy3, xy4] to [xywh, rotation] format.
 
     Args:
         x (np.ndarray | torch.Tensor): Input box corners with shape (N, 8) in [xy1, xy2, xy3, xy4] format.
 
     Returns:
-        (np.ndarray | torch.Tensor): Converted data in [cx, cy, w, h, rotation] format with shape (N, 5).
-            Rotation values are in radians from 0 to pi/2.
+        (np.ndarray | torch.Tensor): Converted data in [cx, cy, w, h, rotation] format with shape (N, 5). Rotation
+            values are in radians from 0 to pi/2.
     """
     is_torch = isinstance(x, torch.Tensor)
     points = x.cpu().numpy() if is_torch else x
@@ -419,12 +359,11 @@ def xyxyxyxy2xywhr(x):
 
 
 def xywhr2xyxyxyxy(x):
-    """
-    Convert batched Oriented Bounding Boxes (OBB) from [xywh, rotation] to [xy1, xy2, xy3, xy4] format.
+    """Convert batched Oriented Bounding Boxes (OBB) from [xywh, rotation] to [xy1, xy2, xy3, xy4] format.
 
     Args:
-        x (np.ndarray | torch.Tensor): Boxes in [cx, cy, w, h, rotation] format with shape (N, 5) or (B, N, 5).
-            Rotation values should be in radians from 0 to pi/2.
+        x (np.ndarray | torch.Tensor): Boxes in [cx, cy, w, h, rotation] format with shape (N, 5) or (B, N, 5). Rotation
+            values should be in radians from 0 to pi/2.
 
     Returns:
         (np.ndarray | torch.Tensor): Converted corner points with shape (N, 4, 2) or (B, N, 4, 2).
@@ -450,8 +389,7 @@ def xywhr2xyxyxyxy(x):
 
 
 def ltwh2xyxy(x):
-    """
-    Convert bounding box from [x1, y1, w, h] to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right.
+    """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): Input bounding box coordinates.
@@ -460,14 +398,13 @@ def ltwh2xyxy(x):
         (np.ndarray | torch.Tensor): Bounding box coordinates in xyxy 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
+    y[..., 2] = x[..., 2] + x[..., 0]  # x2
+    y[..., 3] = x[..., 3] + x[..., 1]  # y2
     return y
 
 
 def segments2boxes(segments):
-    """
-    Convert segment labels to box labels, i.e. (cls, xy1, xy2, ...) to (cls, xywh).
+    """Convert segment labels to box labels, i.e. (cls, xy1, xy2, ...) to (cls, xywh).
 
     Args:
         segments (list): List of segments where each segment is a list of points, each point is [x, y] coordinates.
@@ -483,8 +420,7 @@ def segments2boxes(segments):
 
 
 def resample_segments(segments, n: int = 1000):
-    """
-    Resample segments to n points each using linear interpolation.
+    """Resample segments to n points each using linear interpolation.
 
     Args:
         segments (list): List of (N, 2) arrays where N is the number of points in each segment.
@@ -506,9 +442,8 @@ def resample_segments(segments, n: int = 1000):
     return segments
 
 
-def crop_mask(masks, boxes):
-    """
-    Crop masks to bounding box regions.
+def crop_mask(masks: torch.Tensor, boxes: torch.Tensor) -> torch.Tensor:
+    """Crop masks to bounding box regions.
 
     Args:
         masks (torch.Tensor): Masks with shape (N, H, W).
@@ -517,17 +452,25 @@ def crop_mask(masks, boxes):
     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))
+    if boxes.device != masks.device:
+        boxes = boxes.to(masks.device)
+    n, h, w = masks.shape
+    if n < 50 and not masks.is_cuda:  # faster for fewer masks (predict)
+        for i, (x1, y1, x2, y2) in enumerate(boxes.round().int()):
+            masks[i, :y1] = 0
+            masks[i, y2:] = 0
+            masks[i, :, :x1] = 0
+            masks[i, :, x2:] = 0
+        return masks
+    else:  # faster for more masks (val)
+        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: bool = False):
-    """
-    Apply masks to bounding boxes using mask head output.
+    """Apply masks to bounding boxes using mask head output.
 
     Args:
         protos (torch.Tensor): Mask prototypes with shape (mask_dim, mask_h, mask_w).
@@ -541,26 +484,20 @@ def process_mask(protos, masks_in, bboxes, shape, upsample: bool = False):
             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
+    masks = (masks_in @ protos.float().view(c, -1)).view(-1, mh, mw)  # NHW
+
+    width_ratio = mw / shape[1]
+    height_ratio = mh / shape[0]
+    ratios = torch.tensor([[width_ratio, height_ratio, width_ratio, height_ratio]], device=bboxes.device)
+
+    masks = crop_mask(masks, boxes=bboxes * ratios)  # NHW
     if upsample:
-        masks = F.interpolate(masks[None], shape, mode="bilinear", align_corners=False)[0]  # CHW
-    return masks.gt_(0.0)
+        masks = F.interpolate(masks[None], shape, mode="bilinear")[0]  # NHW
+    return masks.gt_(0.0).byte()
 
 
 def process_mask_native(protos, masks_in, bboxes, shape):
-    """
-    Apply masks to bounding boxes using mask head output with native upsampling.
+    """Apply masks to bounding boxes using mask head output with native upsampling.
 
     Args:
         protos (torch.Tensor): Mask prototypes with shape (mask_dim, mask_h, mask_w).
@@ -569,43 +506,53 @@ def process_mask_native(protos, masks_in, bboxes, shape):
         shape (tuple): Input image size as (height, width).
 
     Returns:
-        (torch.Tensor): Binary mask tensor with shape (H, W, N).
+        (torch.Tensor): Binary mask tensor with shape (N, H, W).
     """
     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)
+    masks = scale_masks(masks[None], shape)[0]  # NHW
+    masks = crop_mask(masks, bboxes)  # NHW
+    return masks.gt_(0.0).byte()
 
 
-def scale_masks(masks, shape, padding: bool = True):
-    """
-    Rescale segment masks to target shape.
+def scale_masks(
+    masks: torch.Tensor,
+    shape: tuple[int, int],
+    ratio_pad: tuple[tuple[int, int], tuple[int, int]] | None = None,
+    padding: bool = True,
+) -> torch.Tensor:
+    """Rescale segment masks to target shape.
 
     Args:
         masks (torch.Tensor): Masks with shape (N, C, H, W).
-        shape (tuple): Target height and width as (height, width).
+        shape (tuple[int, int]): Target height and width as (height, width).
+        ratio_pad (tuple, optional): Ratio and padding values as ((ratio_h, ratio_w), (pad_h, pad_w)).
         padding (bool): Whether masks are based on YOLO-style augmented images with padding.
 
     Returns:
         (torch.Tensor): Rescaled masks.
     """
-    mh, mw = masks.shape[2:]
-    gain = min(mh / shape[0], mw / shape[1])  # gain  = old / new
-    pad_w = mw - shape[1] * gain
-    pad_h = mh - shape[0] * gain
-    if padding:
-        pad_w /= 2
-        pad_h /= 2
-    top, left = (int(round(pad_h - 0.1)), int(round(pad_w - 0.1))) if padding else (0, 0)
-    bottom = mh - int(round(pad_h + 0.1))
-    right = mw - int(round(pad_w + 0.1))
-    return F.interpolate(masks[..., top:bottom, left:right], shape, mode="bilinear", align_corners=False)  # NCHW masks
+    im1_h, im1_w = masks.shape[2:]
+    im0_h, im0_w = shape[:2]
+    if im1_h == im0_h and im1_w == im0_w:
+        return masks
+
+    if ratio_pad is None:  # calculate from im0_shape
+        gain = min(im1_h / im0_h, im1_w / im0_w)  # gain  = old / new
+        pad_w, pad_h = (im1_w - im0_w * gain), (im1_h - im0_h * gain)  # wh padding
+        if padding:
+            pad_w /= 2
+            pad_h /= 2
+    else:
+        pad_w, pad_h = ratio_pad[1]
+    top, left = (round(pad_h - 0.1), round(pad_w - 0.1)) if padding else (0, 0)
+    bottom = im1_h - round(pad_h + 0.1)
+    right = im1_w - round(pad_w + 0.1)
+    return F.interpolate(masks[..., top:bottom, left:right].float(), shape, mode="bilinear")  # NCHW masks
 
 
 def scale_coords(img1_shape, coords, img0_shape, ratio_pad=None, normalize: bool = False, padding: bool = True):
-    """
-    Rescale segment coordinates from img1_shape to img0_shape.
+    """Rescale segment coordinates from img1_shape to img0_shape.
 
     Args:
         img1_shape (tuple): Source image shape as HWC or HW (supports both).
@@ -640,8 +587,7 @@ def scale_coords(img1_shape, coords, img0_shape, ratio_pad=None, normalize: bool
 
 
 def regularize_rboxes(rboxes):
-    """
-    Regularize rotated bounding boxes to range [0, pi/2].
+    """Regularize rotated bounding boxes to range [0, pi/2].
 
     Args:
         rboxes (torch.Tensor): Input rotated boxes with shape (N, 5) in xywhr format.
@@ -658,12 +604,11 @@ def regularize_rboxes(rboxes):
     return torch.stack([x, y, w_, h_, t], dim=-1)  # regularized boxes
 
 
-def masks2segments(masks, strategy: str = "all"):
-    """
-    Convert masks to segments using contour detection.
+def masks2segments(masks: np.ndarray | torch.Tensor, strategy: str = "all") -> list[np.ndarray]:
+    """Convert masks to segments using contour detection.
 
     Args:
-        masks (torch.Tensor): Binary masks with shape (batch_size, 160, 160).
+        masks (np.ndarray | torch.Tensor): Binary masks with shape (batch_size, 160, 160).
         strategy (str): Segmentation strategy, either 'all' or 'largest'.
 
     Returns:
@@ -671,8 +616,9 @@ def masks2segments(masks, strategy: str = "all"):
     """
     from ultralytics.data.converter import merge_multi_segment
 
+    masks = masks.astype("uint8") if isinstance(masks, np.ndarray) else masks.byte().cpu().numpy()
     segments = []
-    for x in masks.int().cpu().numpy().astype("uint8"):
+    for x in np.ascontiguousarray(masks):
         c = cv2.findContours(x, cv2.RETR_EXTERNAL, cv2.CHAIN_APPROX_SIMPLE)[0]
         if c:
             if strategy == "all":  # merge and concatenate all segments
@@ -690,8 +636,7 @@ def masks2segments(masks, strategy: str = "all"):
 
 
 def convert_torch2numpy_batch(batch: torch.Tensor) -> np.ndarray:
-    """
-    Convert a batch of FP32 torch tensors to NumPy uint8 arrays, changing from BCHW to BHWC layout.
+    """Convert a batch of FP32 torch tensors to NumPy uint8 arrays, changing from BCHW to BHWC layout.
 
     Args:
         batch (torch.Tensor): Input tensor batch with shape (Batch, Channels, Height, Width) and dtype torch.float32.
@@ -699,12 +644,11 @@ def convert_torch2numpy_batch(batch: torch.Tensor) -> np.ndarray:
     Returns:
         (np.ndarray): Output NumPy array batch with 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()
+    return (batch.permute(0, 2, 3, 1).contiguous() * 255).clamp(0, 255).byte().cpu().numpy()
 
 
 def clean_str(s):
-    """
-    Clean a string by replacing special characters with '_' character.
+    """Clean a string by replacing special characters with '_' character.
 
     Args:
         s (str): A string needing special characters replaced.
@@ -712,11 +656,9 @@ def clean_str(s):
     Returns:
         (str): A string with special characters replaced by an underscore _.
     """
-    return re.sub(pattern="[|@#!¡·$€%&()=?¿^*;:,¨´><+]", repl="_", string=s)
+    return re.sub(pattern="[|@#!¡·$€%&()=?¿^*;:,¨`><+]", repl="_", string=s)
 
 
 def empty_like(x):
     """Create 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)
-    )
+    return torch.empty_like(x, dtype=x.dtype) if isinstance(x, torch.Tensor) else np.empty_like(x, dtype=x.dtype)