ultralytics-opencv-headless 8.3.242__py3-none-any.whl

ultralytics/nn/autobackend.py

@@ -0,0 +1,958 @@
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
+
+from __future__ import annotations
+
+import ast
+import json
+import platform
+import zipfile
+from collections import OrderedDict, namedtuple
+from pathlib import Path
+from typing import Any
+
+import cv2
+import numpy as np
+import torch
+import torch.nn as nn
+from PIL import Image
+
+from ultralytics.utils import ARM64, IS_JETSON, LINUX, LOGGER, PYTHON_VERSION, ROOT, YAML, is_jetson
+from ultralytics.utils.checks import check_requirements, check_suffix, check_version, check_yaml, is_rockchip
+from ultralytics.utils.downloads import attempt_download_asset, is_url
+from ultralytics.utils.nms import non_max_suppression
+
+
+def check_class_names(names: list | dict) -> dict[int, str]:
+    """Check class names and convert to dict format if needed.
+
+    Args:
+        names (list | dict): Class names as list or dict format.
+
+    Returns:
+        (dict): Class names in dict format with integer keys and string values.
+
+    Raises:
+        KeyError: If class indices are invalid for the dataset size.
+    """
+    if isinstance(names, list):  # names is a list
+        names = dict(enumerate(names))  # convert to dict
+    if isinstance(names, dict):
+        # Convert 1) string keys to int, i.e. '0' to 0, and non-string values to strings, i.e. True to 'True'
+        names = {int(k): str(v) for k, v in names.items()}
+        n = len(names)
+        if max(names.keys()) >= n:
+            raise KeyError(
+                f"{n}-class dataset requires class indices 0-{n - 1}, but you have invalid class indices "
+                f"{min(names.keys())}-{max(names.keys())} defined in your dataset YAML."
+            )
+        if isinstance(names[0], str) and names[0].startswith("n0"):  # imagenet class codes, i.e. 'n01440764'
+            names_map = YAML.load(ROOT / "cfg/datasets/ImageNet.yaml")["map"]  # human-readable names
+            names = {k: names_map[v] for k, v in names.items()}
+    return names
+
+
+def default_class_names(data: str | Path | None = None) -> dict[int, str]:
+    """Apply default class names to an input YAML file or return numerical class names.
+
+    Args:
+        data (str | Path, optional): Path to YAML file containing class names.
+
+    Returns:
+        (dict): Dictionary mapping class indices to class names.
+    """
+    if data:
+        try:
+            return YAML.load(check_yaml(data))["names"]
+        except Exception:
+            pass
+    return {i: f"class{i}" for i in range(999)}  # return default if above errors
+
+
+class AutoBackend(nn.Module):
+    """Handle dynamic backend selection for running inference using Ultralytics YOLO models.
+
+    The AutoBackend class is designed to provide an abstraction layer for various inference engines. It supports a wide
+    range of formats, each with specific naming conventions as outlined below:
+
+        Supported Formats and Naming Conventions:
+            | Format                | File Suffix       |
+            | --------------------- | ----------------- |
+            | PyTorch               | *.pt              |
+            | TorchScript           | *.torchscript     |
+            | ONNX Runtime          | *.onnx            |
+            | ONNX OpenCV DNN       | *.onnx (dnn=True) |
+            | OpenVINO              | *openvino_model/  |
+            | CoreML                | *.mlpackage       |
+            | TensorRT              | *.engine          |
+            | TensorFlow SavedModel | *_saved_model/    |
+            | TensorFlow GraphDef   | *.pb              |
+            | TensorFlow Lite       | *.tflite          |
+            | TensorFlow Edge TPU   | *_edgetpu.tflite  |
+            | PaddlePaddle          | *_paddle_model/   |
+            | MNN                   | *.mnn             |
+            | NCNN                  | *_ncnn_model/     |
+            | IMX                   | *_imx_model/      |
+            | RKNN                  | *_rknn_model/     |
+            | Triton Inference      | triton://model    |
+            | ExecuTorch            | *.pte             |
+            | Axelera               | *_axelera_model/  |
+
+    Attributes:
+        model (torch.nn.Module): The loaded YOLO model.
+        device (torch.device): The device (CPU or GPU) on which the model is loaded.
+        task (str): The type of task the model performs (detect, segment, classify, pose).
+        names (dict): A dictionary of class names that the model can detect.
+        stride (int): The model stride, typically 32 for YOLO models.
+        fp16 (bool): Whether the model uses half-precision (FP16) inference.
+        nhwc (bool): Whether the model expects NHWC input format instead of NCHW.
+        pt (bool): Whether the model is a PyTorch model.
+        jit (bool): Whether the model is a TorchScript model.
+        onnx (bool): Whether the model is an ONNX model.
+        xml (bool): Whether the model is an OpenVINO model.
+        engine (bool): Whether the model is a TensorRT engine.
+        coreml (bool): Whether the model is a CoreML model.
+        saved_model (bool): Whether the model is a TensorFlow SavedModel.
+        pb (bool): Whether the model is a TensorFlow GraphDef.
+        tflite (bool): Whether the model is a TensorFlow Lite model.
+        edgetpu (bool): Whether the model is a TensorFlow Edge TPU model.
+        tfjs (bool): Whether the model is a TensorFlow.js model.
+        paddle (bool): Whether the model is a PaddlePaddle model.
+        mnn (bool): Whether the model is an MNN model.
+        ncnn (bool): Whether the model is an NCNN model.
+        imx (bool): Whether the model is an IMX model.
+        rknn (bool): Whether the model is an RKNN model.
+        triton (bool): Whether the model is a Triton Inference Server model.
+        pte (bool): Whether the model is a PyTorch ExecuTorch model.
+        axelera (bool): Whether the model is an Axelera model.
+
+    Methods:
+        forward: Run inference on an input image.
+        from_numpy: Convert NumPy arrays to tensors on the model device.
+        warmup: Warm up the model with a dummy input.
+        _model_type: Determine the model type from file path.
+
+    Examples:
+        >>> model = AutoBackend(model="yolo11n.pt", device="cuda")
+        >>> results = model(img)
+    """
+
+    @torch.no_grad()
+    def __init__(
+        self,
+        model: str | torch.nn.Module = "yolo11n.pt",
+        device: torch.device = torch.device("cpu"),
+        dnn: bool = False,
+        data: str | Path | None = None,
+        fp16: bool = False,
+        fuse: bool = True,
+        verbose: bool = True,
+    ):
+        """Initialize the AutoBackend for inference.
+
+        Args:
+            model (str | torch.nn.Module): Path to the model weights file or a module instance.
+            device (torch.device): Device to run the model on.
+            dnn (bool): Use OpenCV DNN module for ONNX inference.
+            data (str | Path, optional): Path to the additional data.yaml file containing class names.
+            fp16 (bool): Enable half-precision inference. Supported only on specific backends.
+            fuse (bool): Fuse Conv2D + BatchNorm layers for optimization.
+            verbose (bool): Enable verbose logging.
+        """
+        super().__init__()
+        nn_module = isinstance(model, torch.nn.Module)
+        (
+            pt,
+            jit,
+            onnx,
+            xml,
+            engine,
+            coreml,
+            saved_model,
+            pb,
+            tflite,
+            edgetpu,
+            tfjs,
+            paddle,
+            mnn,
+            ncnn,
+            imx,
+            rknn,
+            pte,
+            axelera,
+            triton,
+        ) = self._model_type("" if nn_module else model)
+        fp16 &= pt or jit or onnx or xml or engine or nn_module or triton  # FP16
+        nhwc = coreml or saved_model or pb or tflite or edgetpu or rknn  # BHWC formats (vs torch BCHW)
+        stride, ch = 32, 3  # default stride and channels
+        end2end, dynamic = False, False
+        metadata, task = None, None
+
+        # Set device
+        cuda = isinstance(device, torch.device) and torch.cuda.is_available() and device.type != "cpu"  # use CUDA
+        if cuda and not any([nn_module, pt, jit, engine, onnx, paddle]):  # GPU dataloader formats
+            device = torch.device("cpu")
+            cuda = False
+
+        # Download if not local
+        w = attempt_download_asset(model) if pt else model  # weights path
+
+        # PyTorch (in-memory or file)
+        if nn_module or pt:
+            if nn_module:
+                pt = True
+                if fuse:
+                    if IS_JETSON and is_jetson(jetpack=5):
+                        # Jetson Jetpack5 requires device before fuse https://github.com/ultralytics/ultralytics/pull/21028
+                        model = model.to(device)
+                    model = model.fuse(verbose=verbose)
+                model = model.to(device)
+            else:  # pt file
+                from ultralytics.nn.tasks import load_checkpoint
+
+                model, _ = load_checkpoint(model, device=device, fuse=fuse)  # load model, ckpt
+
+            # Common PyTorch model processing
+            if hasattr(model, "kpt_shape"):
+                kpt_shape = model.kpt_shape  # pose-only
+            stride = max(int(model.stride.max()), 32)  # model stride
+            names = model.module.names if hasattr(model, "module") else model.names  # get class names
+            model.half() if fp16 else model.float()
+            ch = model.yaml.get("channels", 3)
+            for p in model.parameters():
+                p.requires_grad = False
+            self.model = model  # explicitly assign for to(), cpu(), cuda(), half()
+
+        # TorchScript
+        elif jit:
+            import torchvision  # noqa - https://github.com/ultralytics/ultralytics/pull/19747
+
+            LOGGER.info(f"Loading {w} for TorchScript inference...")
+            extra_files = {"config.txt": ""}  # model metadata
+            model = torch.jit.load(w, _extra_files=extra_files, map_location=device)
+            model.half() if fp16 else model.float()
+            if extra_files["config.txt"]:  # load metadata dict
+                metadata = json.loads(extra_files["config.txt"], object_hook=lambda x: dict(x.items()))
+
+        # ONNX OpenCV DNN
+        elif dnn:
+            LOGGER.info(f"Loading {w} for ONNX OpenCV DNN inference...")
+            check_requirements("opencv-python>=4.5.4")
+            net = cv2.dnn.readNetFromONNX(w)
+
+        # ONNX Runtime and IMX
+        elif onnx or imx:
+            LOGGER.info(f"Loading {w} for ONNX Runtime inference...")
+            check_requirements(("onnx", "onnxruntime-gpu" if cuda else "onnxruntime"))
+            import onnxruntime
+
+            # Select execution provider: CUDA > CoreML (mps) > CPU
+            available = onnxruntime.get_available_providers()
+            if cuda and "CUDAExecutionProvider" in available:
+                providers = [("CUDAExecutionProvider", {"device_id": device.index}), "CPUExecutionProvider"]
+            elif device.type == "mps" and "CoreMLExecutionProvider" in available:
+                providers = ["CoreMLExecutionProvider", "CPUExecutionProvider"]
+            else:
+                providers = ["CPUExecutionProvider"]
+                if cuda:
+                    LOGGER.warning("CUDA requested but CUDAExecutionProvider not available. Using CPU...")
+                    device, cuda = torch.device("cpu"), False
+            LOGGER.info(
+                f"Using ONNX Runtime {onnxruntime.__version__} with {providers[0] if isinstance(providers[0], str) else providers[0][0]}"
+            )
+            if onnx:
+                session = onnxruntime.InferenceSession(w, providers=providers)
+            else:
+                check_requirements(("model-compression-toolkit>=2.4.1", "edge-mdt-cl<1.1.0", "onnxruntime-extensions"))
+                w = next(Path(w).glob("*.onnx"))
+                LOGGER.info(f"Loading {w} for ONNX IMX inference...")
+                import mct_quantizers as mctq
+                from edgemdt_cl.pytorch.nms import nms_ort  # noqa - register custom NMS ops
+
+                session_options = mctq.get_ort_session_options()
+                session_options.enable_mem_reuse = False  # fix the shape mismatch from onnxruntime
+                session = onnxruntime.InferenceSession(w, session_options, providers=["CPUExecutionProvider"])
+
+            output_names = [x.name for x in session.get_outputs()]
+            metadata = session.get_modelmeta().custom_metadata_map
+            dynamic = isinstance(session.get_outputs()[0].shape[0], str)
+            fp16 = "float16" in session.get_inputs()[0].type
+
+            # Setup IO binding for optimized inference (CUDA only, not supported for CoreML)
+            use_io_binding = not dynamic and cuda
+            if use_io_binding:
+                io = session.io_binding()
+                bindings = []
+                for output in session.get_outputs():
+                    out_fp16 = "float16" in output.type
+                    y_tensor = torch.empty(output.shape, dtype=torch.float16 if out_fp16 else torch.float32).to(device)
+                    io.bind_output(
+                        name=output.name,
+                        device_type=device.type,
+                        device_id=device.index if cuda else 0,
+                        element_type=np.float16 if out_fp16 else np.float32,
+                        shape=tuple(y_tensor.shape),
+                        buffer_ptr=y_tensor.data_ptr(),
+                    )
+                    bindings.append(y_tensor)
+
+        # OpenVINO
+        elif xml:
+            LOGGER.info(f"Loading {w} for OpenVINO inference...")
+            check_requirements("openvino>=2024.0.0")
+            import openvino as ov
+
+            core = ov.Core()
+            device_name = "AUTO"
+            if isinstance(device, str) and device.startswith("intel"):
+                device_name = device.split(":")[1].upper()  # Intel OpenVINO device
+                device = torch.device("cpu")
+                if device_name not in core.available_devices:
+                    LOGGER.warning(f"OpenVINO device '{device_name}' not available. Using 'AUTO' instead.")
+                    device_name = "AUTO"
+            w = Path(w)
+            if not w.is_file():  # if not *.xml
+                w = next(w.glob("*.xml"))  # get *.xml file from *_openvino_model dir
+            ov_model = core.read_model(model=str(w), weights=w.with_suffix(".bin"))
+            if ov_model.get_parameters()[0].get_layout().empty:
+                ov_model.get_parameters()[0].set_layout(ov.Layout("NCHW"))
+
+            metadata = w.parent / "metadata.yaml"
+            if metadata.exists():
+                metadata = YAML.load(metadata)
+                batch = metadata["batch"]
+                dynamic = metadata.get("args", {}).get("dynamic", dynamic)
+            # OpenVINO inference modes are 'LATENCY', 'THROUGHPUT' (not recommended), or 'CUMULATIVE_THROUGHPUT'
+            inference_mode = "CUMULATIVE_THROUGHPUT" if batch > 1 and dynamic else "LATENCY"
+            ov_compiled_model = core.compile_model(
+                ov_model,
+                device_name=device_name,
+                config={"PERFORMANCE_HINT": inference_mode},
+            )
+            LOGGER.info(
+                f"Using OpenVINO {inference_mode} mode for batch={batch} inference on {', '.join(ov_compiled_model.get_property('EXECUTION_DEVICES'))}..."
+            )
+            input_name = ov_compiled_model.input().get_any_name()
+
+        # TensorRT
+        elif engine:
+            LOGGER.info(f"Loading {w} for TensorRT inference...")
+
+            if IS_JETSON and check_version(PYTHON_VERSION, "<=3.8.10"):
+                # fix error: `np.bool` was a deprecated alias for the builtin `bool` for JetPack 4 and JetPack 5 with Python <= 3.8.10
+                check_requirements("numpy==1.23.5")
+
+            try:  # https://developer.nvidia.com/nvidia-tensorrt-download
+                import tensorrt as trt
+            except ImportError:
+                if LINUX:
+                    check_requirements("tensorrt>7.0.0,!=10.1.0")
+                import tensorrt as trt
+            check_version(trt.__version__, ">=7.0.0", hard=True)
+            check_version(trt.__version__, "!=10.1.0", msg="https://github.com/ultralytics/ultralytics/pull/14239")
+            if device.type == "cpu":
+                device = torch.device("cuda:0")
+            Binding = namedtuple("Binding", ("name", "dtype", "shape", "data", "ptr"))
+            logger = trt.Logger(trt.Logger.INFO)
+            # Read file
+            with open(w, "rb") as f, trt.Runtime(logger) as runtime:
+                try:
+                    meta_len = int.from_bytes(f.read(4), byteorder="little")  # read metadata length
+                    metadata = json.loads(f.read(meta_len).decode("utf-8"))  # read metadata
+                    dla = metadata.get("dla", None)
+                    if dla is not None:
+                        runtime.DLA_core = int(dla)
+                except UnicodeDecodeError:
+                    f.seek(0)  # engine file may lack embedded Ultralytics metadata
+                model = runtime.deserialize_cuda_engine(f.read())  # read engine
+
+            # Model context
+            try:
+                context = model.create_execution_context()
+            except Exception as e:  # model is None
+                LOGGER.error(f"TensorRT model exported with a different version than {trt.__version__}\n")
+                raise e
+
+            bindings = OrderedDict()
+            output_names = []
+            fp16 = False  # default updated below
+            dynamic = False
+            is_trt10 = not hasattr(model, "num_bindings")
+            num = range(model.num_io_tensors) if is_trt10 else range(model.num_bindings)
+            for i in num:
+                # Get tensor info using TRT10+ or legacy API
+                if is_trt10:
+                    name = model.get_tensor_name(i)
+                    dtype = trt.nptype(model.get_tensor_dtype(name))
+                    is_input = model.get_tensor_mode(name) == trt.TensorIOMode.INPUT
+                    shape = tuple(model.get_tensor_shape(name))
+                    profile_shape = tuple(model.get_tensor_profile_shape(name, 0)[2]) if is_input else None
+                else:
+                    name = model.get_binding_name(i)
+                    dtype = trt.nptype(model.get_binding_dtype(i))
+                    is_input = model.binding_is_input(i)
+                    shape = tuple(model.get_binding_shape(i))
+                    profile_shape = tuple(model.get_profile_shape(0, i)[1]) if is_input else None
+
+                # Process input/output tensors
+                if is_input:
+                    if -1 in shape:
+                        dynamic = True
+                        if is_trt10:
+                            context.set_input_shape(name, profile_shape)
+                        else:
+                            context.set_binding_shape(i, profile_shape)
+                    if dtype == np.float16:
+                        fp16 = True
+                else:
+                    output_names.append(name)
+                shape = tuple(context.get_tensor_shape(name)) if is_trt10 else tuple(context.get_binding_shape(i))
+                im = torch.from_numpy(np.empty(shape, dtype=dtype)).to(device)
+                bindings[name] = Binding(name, dtype, shape, im, int(im.data_ptr()))
+            binding_addrs = OrderedDict((n, d.ptr) for n, d in bindings.items())
+
+        # CoreML
+        elif coreml:
+            check_requirements(
+                ["coremltools>=9.0", "numpy>=1.14.5,<=2.3.5"]
+            )  # latest numpy 2.4.0rc1 breaks coremltools exports
+            LOGGER.info(f"Loading {w} for CoreML inference...")
+            import coremltools as ct
+
+            model = ct.models.MLModel(w)
+            dynamic = model.get_spec().description.input[0].type.HasField("multiArrayType")
+            metadata = dict(model.user_defined_metadata)
+
+        # TF SavedModel
+        elif saved_model:
+            LOGGER.info(f"Loading {w} for TensorFlow SavedModel inference...")
+            import tensorflow as tf
+
+            model = tf.saved_model.load(w)
+            metadata = Path(w) / "metadata.yaml"
+
+        # TF GraphDef
+        elif pb:  # https://www.tensorflow.org/guide/migrate#a_graphpb_or_graphpbtxt
+            LOGGER.info(f"Loading {w} for TensorFlow GraphDef inference...")
+            import tensorflow as tf
+
+            from ultralytics.utils.export.tensorflow import gd_outputs
+
+            def wrap_frozen_graph(gd, inputs, outputs):
+                """Wrap frozen graphs for deployment."""
+                x = tf.compat.v1.wrap_function(lambda: tf.compat.v1.import_graph_def(gd, name=""), [])  # wrapped
+                ge = x.graph.as_graph_element
+                return x.prune(tf.nest.map_structure(ge, inputs), tf.nest.map_structure(ge, outputs))
+
+            gd = tf.Graph().as_graph_def()  # TF GraphDef
+            with open(w, "rb") as f:
+                gd.ParseFromString(f.read())
+            frozen_func = wrap_frozen_graph(gd, inputs="x:0", outputs=gd_outputs(gd))
+            try:  # find metadata in SavedModel alongside GraphDef
+                metadata = next(Path(w).resolve().parent.rglob(f"{Path(w).stem}_saved_model*/metadata.yaml"))
+            except StopIteration:
+                pass
+
+        # TFLite or TFLite Edge TPU
+        elif tflite or edgetpu:  # https://ai.google.dev/edge/litert/microcontrollers/python
+            try:  # https://coral.ai/docs/edgetpu/tflite-python/#update-existing-tf-lite-code-for-the-edge-tpu
+                from tflite_runtime.interpreter import Interpreter, load_delegate
+            except ImportError:
+                import tensorflow as tf
+
+                Interpreter, load_delegate = tf.lite.Interpreter, tf.lite.experimental.load_delegate
+            if edgetpu:  # TF Edge TPU https://coral.ai/software/#edgetpu-runtime
+                device = device[3:] if str(device).startswith("tpu") else ":0"
+                LOGGER.info(f"Loading {w} on device {device[1:]} for TensorFlow Lite Edge TPU inference...")
+                delegate = {"Linux": "libedgetpu.so.1", "Darwin": "libedgetpu.1.dylib", "Windows": "edgetpu.dll"}[
+                    platform.system()
+                ]
+                interpreter = Interpreter(
+                    model_path=w,
+                    experimental_delegates=[load_delegate(delegate, options={"device": device})],
+                )
+                device = "cpu"  # Required, otherwise PyTorch will try to use the wrong device
+            else:  # TFLite
+                LOGGER.info(f"Loading {w} for TensorFlow Lite inference...")
+                interpreter = Interpreter(model_path=w)  # load TFLite model
+            interpreter.allocate_tensors()  # allocate
+            input_details = interpreter.get_input_details()  # inputs
+            output_details = interpreter.get_output_details()  # outputs
+            # Load metadata
+            try:
+                with zipfile.ZipFile(w, "r") as zf:
+                    name = zf.namelist()[0]
+                    contents = zf.read(name).decode("utf-8")
+                    if name == "metadata.json":  # Custom Ultralytics metadata dict for Python>=3.12
+                        metadata = json.loads(contents)
+                    else:
+                        metadata = ast.literal_eval(contents)  # Default tflite-support metadata for Python<=3.11
+            except (zipfile.BadZipFile, SyntaxError, ValueError, json.JSONDecodeError):
+                pass
+
+        # TF.js
+        elif tfjs:
+            raise NotImplementedError("Ultralytics TF.js inference is not currently supported.")
+
+        # PaddlePaddle
+        elif paddle:
+            LOGGER.info(f"Loading {w} for PaddlePaddle inference...")
+            check_requirements(
+                "paddlepaddle-gpu"
+                if torch.cuda.is_available()
+                else "paddlepaddle==3.0.0"  # pin 3.0.0 for ARM64
+                if ARM64
+                else "paddlepaddle>=3.0.0"
+            )
+            import paddle.inference as pdi
+
+            w = Path(w)
+            model_file, params_file = None, None
+            if w.is_dir():
+                model_file = next(w.rglob("*.json"), None)
+                params_file = next(w.rglob("*.pdiparams"), None)
+            elif w.suffix == ".pdiparams":
+                model_file = w.with_name("model.json")
+                params_file = w
+
+            if not (model_file and params_file and model_file.is_file() and params_file.is_file()):
+                raise FileNotFoundError(f"Paddle model not found in {w}. Both .json and .pdiparams files are required.")
+
+            config = pdi.Config(str(model_file), str(params_file))
+            if cuda:
+                config.enable_use_gpu(memory_pool_init_size_mb=2048, device_id=0)
+            predictor = pdi.create_predictor(config)
+            input_handle = predictor.get_input_handle(predictor.get_input_names()[0])
+            output_names = predictor.get_output_names()
+            metadata = w / "metadata.yaml"
+
+        # MNN
+        elif mnn:
+            LOGGER.info(f"Loading {w} for MNN inference...")
+            check_requirements("MNN")  # requires MNN
+            import os
+
+            import MNN
+
+            config = {"precision": "low", "backend": "CPU", "numThread": (os.cpu_count() + 1) // 2}
+            rt = MNN.nn.create_runtime_manager((config,))
+            net = MNN.nn.load_module_from_file(w, [], [], runtime_manager=rt, rearrange=True)
+
+            def torch_to_mnn(x):
+                return MNN.expr.const(x.data_ptr(), x.shape)
+
+            metadata = json.loads(net.get_info()["bizCode"])
+
+        # NCNN
+        elif ncnn:
+            LOGGER.info(f"Loading {w} for NCNN inference...")
+            check_requirements("git+https://github.com/Tencent/ncnn.git" if ARM64 else "ncnn", cmds="--no-deps")
+            import ncnn as pyncnn
+
+            net = pyncnn.Net()
+            net.opt.use_vulkan_compute = cuda
+            w = Path(w)
+            if not w.is_file():  # if not *.param
+                w = next(w.glob("*.param"))  # get *.param file from *_ncnn_model dir
+            net.load_param(str(w))
+            net.load_model(str(w.with_suffix(".bin")))
+            metadata = w.parent / "metadata.yaml"
+
+        # NVIDIA Triton Inference Server
+        elif triton:
+            check_requirements("tritonclient[all]")
+            from ultralytics.utils.triton import TritonRemoteModel
+
+            model = TritonRemoteModel(w)
+            metadata = model.metadata
+
+        # RKNN
+        elif rknn:
+            if not is_rockchip():
+                raise OSError("RKNN inference is only supported on Rockchip devices.")
+            LOGGER.info(f"Loading {w} for RKNN inference...")
+            check_requirements("rknn-toolkit-lite2")
+            from rknnlite.api import RKNNLite
+
+            w = Path(w)
+            if not w.is_file():  # if not *.rknn
+                w = next(w.rglob("*.rknn"))  # get *.rknn file from *_rknn_model dir
+            rknn_model = RKNNLite()
+            rknn_model.load_rknn(str(w))
+            rknn_model.init_runtime()
+            metadata = w.parent / "metadata.yaml"
+
+        # Axelera
+        elif axelera:
+            import os
+
+            if not os.environ.get("AXELERA_RUNTIME_DIR"):
+                LOGGER.warning(
+                    "Axelera runtime environment is not activated."
+                    "\nPlease run: source /opt/axelera/sdk/latest/axelera_activate.sh"
+                    "\n\nIf this fails, verify driver installation: https://docs.ultralytics.com/integrations/axelera/#axelera-driver-installation"
+                )
+            try:
+                from axelera.runtime import op
+            except ImportError:
+                check_requirements(
+                    "axelera_runtime2==0.1.2",
+                    cmds="--extra-index-url https://software.axelera.ai/artifactory/axelera-runtime-pypi",
+                )
+            from axelera.runtime import op
+
+            w = Path(w)
+            if (found := next(w.rglob("*.axm"), None)) is None:
+                raise FileNotFoundError(f"No .axm file found in: {w}")
+
+            ax_model = op.load(str(found))
+            metadata = found.parent / "metadata.yaml"
+
+        # ExecuTorch
+        elif pte:
+            LOGGER.info(f"Loading {w} for ExecuTorch inference...")
+            # TorchAO release compatibility table bug https://github.com/pytorch/ao/issues/2919
+            check_requirements("setuptools<71.0.0")  # Setuptools bug: https://github.com/pypa/setuptools/issues/4483
+            check_requirements(("executorch==1.0.1", "flatbuffers"))
+            from executorch.runtime import Runtime
+
+            w = Path(w)
+            if w.is_dir():
+                model_file = next(w.rglob("*.pte"))
+                metadata = w / "metadata.yaml"
+            else:
+                model_file = w
+                metadata = w.parent / "metadata.yaml"
+
+            program = Runtime.get().load_program(str(model_file))
+            model = program.load_method("forward")
+
+        # Any other format (unsupported)
+        else:
+            from ultralytics.engine.exporter import export_formats
+
+            raise TypeError(
+                f"model='{w}' is not a supported model format. Ultralytics supports: {export_formats()['Format']}\n"
+                f"See https://docs.ultralytics.com/modes/predict for help."
+            )
+
+        # Load external metadata YAML
+        if isinstance(metadata, (str, Path)) and Path(metadata).exists():
+            metadata = YAML.load(metadata)
+        if metadata and isinstance(metadata, dict):
+            for k, v in metadata.items():
+                if k in {"stride", "batch", "channels"}:
+                    metadata[k] = int(v)
+                elif k in {"imgsz", "names", "kpt_shape", "kpt_names", "args"} and isinstance(v, str):
+                    metadata[k] = ast.literal_eval(v)
+            stride = metadata["stride"]
+            task = metadata["task"]
+            batch = metadata["batch"]
+            imgsz = metadata["imgsz"]
+            names = metadata["names"]
+            kpt_shape = metadata.get("kpt_shape")
+            kpt_names = metadata.get("kpt_names")
+            end2end = metadata.get("args", {}).get("nms", False)
+            dynamic = metadata.get("args", {}).get("dynamic", dynamic)
+            ch = metadata.get("channels", 3)
+        elif not (pt or triton or nn_module):
+            LOGGER.warning(f"Metadata not found for 'model={w}'")
+
+        # Check names
+        if "names" not in locals():  # names missing
+            names = default_class_names(data)
+        names = check_class_names(names)
+
+        self.__dict__.update(locals())  # assign all variables to self
+
+    def forward(
+        self,
+        im: torch.Tensor,
+        augment: bool = False,
+        visualize: bool = False,
+        embed: list | None = None,
+        **kwargs: Any,
+    ) -> torch.Tensor | list[torch.Tensor]:
+        """Run inference on an AutoBackend model.
+
+        Args:
+            im (torch.Tensor): The image tensor to perform inference on.
+            augment (bool): Whether to perform data augmentation during inference.
+            visualize (bool): Whether to visualize the output predictions.
+            embed (list, optional): A list of feature vectors/embeddings to return.
+            **kwargs (Any): Additional keyword arguments for model configuration.
+
+        Returns:
+            (torch.Tensor | list[torch.Tensor]): The raw output tensor(s) from the model.
+        """
+        _b, _ch, h, w = im.shape  # batch, channel, height, width
+        if self.fp16 and im.dtype != torch.float16:
+            im = im.half()  # to FP16
+        if self.nhwc:
+            im = im.permute(0, 2, 3, 1)  # torch BCHW to numpy BHWC shape(1,320,192,3)
+
+        # PyTorch
+        if self.pt or self.nn_module:
+            y = self.model(im, augment=augment, visualize=visualize, embed=embed, **kwargs)
+
+        # TorchScript
+        elif self.jit:
+            y = self.model(im)
+
+        # ONNX OpenCV DNN
+        elif self.dnn:
+            im = im.cpu().numpy()  # torch to numpy
+            self.net.setInput(im)
+            y = self.net.forward()
+
+        # ONNX Runtime
+        elif self.onnx or self.imx:
+            if self.use_io_binding:
+                if not self.cuda:
+                    im = im.cpu()
+                self.io.bind_input(
+                    name="images",
+                    device_type=im.device.type,
+                    device_id=im.device.index if im.device.type == "cuda" else 0,
+                    element_type=np.float16 if self.fp16 else np.float32,
+                    shape=tuple(im.shape),
+                    buffer_ptr=im.data_ptr(),
+                )
+                self.session.run_with_iobinding(self.io)
+                y = self.bindings
+            else:
+                im = im.cpu().numpy()  # torch to numpy
+                y = self.session.run(self.output_names, {self.session.get_inputs()[0].name: im})
+            if self.imx:
+                if self.task == "detect":
+                    # boxes, conf, cls
+                    y = np.concatenate([y[0], y[1][:, :, None], y[2][:, :, None]], axis=-1)
+                elif self.task == "pose":
+                    # boxes, conf, kpts
+                    y = np.concatenate([y[0], y[1][:, :, None], y[2][:, :, None], y[3]], axis=-1, dtype=y[0].dtype)
+                elif self.task == "segment":
+                    y = (
+                        np.concatenate([y[0], y[1][:, :, None], y[2][:, :, None], y[3]], axis=-1, dtype=y[0].dtype),
+                        y[4],
+                    )
+
+        # OpenVINO
+        elif self.xml:
+            im = im.cpu().numpy()  # FP32
+
+            if self.inference_mode in {"THROUGHPUT", "CUMULATIVE_THROUGHPUT"}:  # optimized for larger batch-sizes
+                n = im.shape[0]  # number of images in batch
+                results = [None] * n  # preallocate list with None to match the number of images
+
+                def callback(request, userdata):
+                    """Place result in preallocated list using userdata index."""
+                    results[userdata] = request.results
+
+                # Create AsyncInferQueue, set the callback and start asynchronous inference for each input image
+                async_queue = self.ov.AsyncInferQueue(self.ov_compiled_model)
+                async_queue.set_callback(callback)
+                for i in range(n):
+                    # Start async inference with userdata=i to specify the position in results list
+                    async_queue.start_async(inputs={self.input_name: im[i : i + 1]}, userdata=i)  # keep image as BCHW
+                async_queue.wait_all()  # wait for all inference requests to complete
+                y = [list(r.values()) for r in results]
+                y = [np.concatenate(x) for x in zip(*y)]
+            else:  # inference_mode = "LATENCY", optimized for fastest first result at batch-size 1
+                y = list(self.ov_compiled_model(im).values())
+
+        # TensorRT
+        elif self.engine:
+            if self.dynamic and im.shape != self.bindings["images"].shape:
+                if self.is_trt10:
+                    self.context.set_input_shape("images", im.shape)
+                    self.bindings["images"] = self.bindings["images"]._replace(shape=im.shape)
+                    for name in self.output_names:
+                        self.bindings[name].data.resize_(tuple(self.context.get_tensor_shape(name)))
+                else:
+                    i = self.model.get_binding_index("images")
+                    self.context.set_binding_shape(i, im.shape)
+                    self.bindings["images"] = self.bindings["images"]._replace(shape=im.shape)
+                    for name in self.output_names:
+                        i = self.model.get_binding_index(name)
+                        self.bindings[name].data.resize_(tuple(self.context.get_binding_shape(i)))
+
+            s = self.bindings["images"].shape
+            assert im.shape == s, f"input size {im.shape} {'>' if self.dynamic else 'not equal to'} max model size {s}"
+            self.binding_addrs["images"] = int(im.data_ptr())
+            self.context.execute_v2(list(self.binding_addrs.values()))
+            y = [self.bindings[x].data for x in sorted(self.output_names)]
+
+        # CoreML
+        elif self.coreml:
+            im = im.cpu().numpy()
+            if self.dynamic:
+                im = im.transpose(0, 3, 1, 2)
+            else:
+                im = Image.fromarray((im[0] * 255).astype("uint8"))
+            # im = im.resize((192, 320), Image.BILINEAR)
+            y = self.model.predict({"image": im})  # coordinates are xywh normalized
+            if "confidence" in y:  # NMS included
+                from ultralytics.utils.ops import xywh2xyxy
+
+                box = xywh2xyxy(y["coordinates"] * [[w, h, w, h]])  # xyxy pixels
+                cls = y["confidence"].argmax(1, keepdims=True)
+                y = np.concatenate((box, np.take_along_axis(y["confidence"], cls, axis=1), cls), 1)[None]
+            else:
+                y = list(y.values())
+            if len(y) == 2 and len(y[1].shape) != 4:  # segmentation model
+                y = list(reversed(y))  # reversed for segmentation models (pred, proto)
+
+        # PaddlePaddle
+        elif self.paddle:
+            im = im.cpu().numpy().astype(np.float32)
+            self.input_handle.copy_from_cpu(im)
+            self.predictor.run()
+            y = [self.predictor.get_output_handle(x).copy_to_cpu() for x in self.output_names]
+
+        # MNN
+        elif self.mnn:
+            input_var = self.torch_to_mnn(im)
+            output_var = self.net.onForward([input_var])
+            y = [x.read() for x in output_var]
+
+        # NCNN
+        elif self.ncnn:
+            mat_in = self.pyncnn.Mat(im[0].cpu().numpy())
+            with self.net.create_extractor() as ex:
+                ex.input(self.net.input_names()[0], mat_in)
+                # WARNING: 'output_names' sorted as a temporary fix for https://github.com/pnnx/pnnx/issues/130
+                y = [np.array(ex.extract(x)[1])[None] for x in sorted(self.net.output_names())]
+
+        # NVIDIA Triton Inference Server
+        elif self.triton:
+            im = im.cpu().numpy()  # torch to numpy
+            y = self.model(im)
+
+        # RKNN
+        elif self.rknn:
+            im = (im.cpu().numpy() * 255).astype("uint8")
+            im = im if isinstance(im, (list, tuple)) else [im]
+            y = self.rknn_model.inference(inputs=im)
+
+        # Axelera
+        elif self.axelera:
+            y = self.ax_model(im.cpu())
+
+        # ExecuTorch
+        elif self.pte:
+            y = self.model.execute([im])
+
+        # TensorFlow (SavedModel, GraphDef, Lite, Edge TPU)
+        else:
+            im = im.cpu().numpy()
+            if self.saved_model:  # SavedModel
+                y = self.model.serving_default(im)
+                if not isinstance(y, list):
+                    y = [y]
+            elif self.pb:  # GraphDef
+                y = self.frozen_func(x=self.tf.constant(im))
+            else:  # Lite or Edge TPU
+                details = self.input_details[0]
+                is_int = details["dtype"] in {np.int8, np.int16}  # is TFLite quantized int8 or int16 model
+                if is_int:
+                    scale, zero_point = details["quantization"]
+                    im = (im / scale + zero_point).astype(details["dtype"])  # de-scale
+                self.interpreter.set_tensor(details["index"], im)
+                self.interpreter.invoke()
+                y = []
+                for output in self.output_details:
+                    x = self.interpreter.get_tensor(output["index"])
+                    if is_int:
+                        scale, zero_point = output["quantization"]
+                        x = (x.astype(np.float32) - zero_point) * scale  # re-scale
+                    if x.ndim == 3:  # if task is not classification, excluding masks (ndim=4) as well
+                        # Denormalize xywh by image size. See https://github.com/ultralytics/ultralytics/pull/1695
+                        # xywh are normalized in TFLite/EdgeTPU to mitigate quantization error of integer models
+                        if x.shape[-1] == 6 or self.end2end:  # end-to-end model
+                            x[:, :, [0, 2]] *= w
+                            x[:, :, [1, 3]] *= h
+                            if self.task == "pose":
+                                x[:, :, 6::3] *= w
+                                x[:, :, 7::3] *= h
+                        else:
+                            x[:, [0, 2]] *= w
+                            x[:, [1, 3]] *= h
+                            if self.task == "pose":
+                                x[:, 5::3] *= w
+                                x[:, 6::3] *= h
+                    y.append(x)
+            # TF segment fixes: export is reversed vs ONNX export and protos are transposed
+            if len(y) == 2:  # segment with (det, proto) output order reversed
+                if len(y[1].shape) != 4:
+                    y = list(reversed(y))  # should be y = (1, 116, 8400), (1, 160, 160, 32)
+                if y[1].shape[-1] == 6:  # end-to-end model
+                    y = [y[1]]
+                else:
+                    y[1] = np.transpose(y[1], (0, 3, 1, 2))  # should be y = (1, 116, 8400), (1, 32, 160, 160)
+            y = [x if isinstance(x, np.ndarray) else x.numpy() for x in y]
+
+        if isinstance(y, (list, tuple)):
+            if len(self.names) == 999 and (self.task == "segment" or len(y) == 2):  # segments and names not defined
+                nc = y[0].shape[1] - y[1].shape[1] - 4  # y = (1, 32, 160, 160), (1, 116, 8400)
+                self.names = {i: f"class{i}" for i in range(nc)}
+            return self.from_numpy(y[0]) if len(y) == 1 else [self.from_numpy(x) for x in y]
+        else:
+            return self.from_numpy(y)
+
+    def from_numpy(self, x: np.ndarray | torch.Tensor) -> torch.Tensor:
+        """Convert a NumPy array to a torch tensor on the model device.
+
+        Args:
+            x (np.ndarray | torch.Tensor): Input array or tensor.
+
+        Returns:
+            (torch.Tensor): Tensor on `self.device`.
+        """
+        return torch.tensor(x).to(self.device) if isinstance(x, np.ndarray) else x
+
+    def warmup(self, imgsz: tuple[int, int, int, int] = (1, 3, 640, 640)) -> None:
+        """Warm up the model by running one forward pass with a dummy input.
+
+        Args:
+            imgsz (tuple[int, int, int, int]): Dummy input shape in (batch, channels, height, width) format.
+        """
+        warmup_types = self.pt, self.jit, self.onnx, self.engine, self.saved_model, self.pb, self.triton, self.nn_module
+        if any(warmup_types) and (self.device.type != "cpu" or self.triton):
+            im = torch.empty(*imgsz, dtype=torch.half if self.fp16 else torch.float, device=self.device)  # input
+            for _ in range(2 if self.jit else 1):
+                self.forward(im)  # warmup model
+                warmup_boxes = torch.rand(1, 84, 16, device=self.device)  # 16 boxes works best empirically
+                warmup_boxes[:, :4] *= imgsz[-1]
+                non_max_suppression(warmup_boxes)  # warmup NMS
+
+    @staticmethod
+    def _model_type(p: str = "path/to/model.pt") -> list[bool]:
+        """Take a path to a model file and return the model type.
+
+        Args:
+            p (str): Path to the model file.
+
+        Returns:
+            (list[bool]): List of booleans indicating the model type.
+
+        Examples:
+            >>> types = AutoBackend._model_type("path/to/model.onnx")
+            >>> assert types[2]  # onnx
+        """
+        from ultralytics.engine.exporter import export_formats
+
+        sf = export_formats()["Suffix"]  # export suffixes
+        if not is_url(p) and not isinstance(p, str):
+            check_suffix(p, sf)  # checks
+        name = Path(p).name
+        types = [s in name for s in sf]
+        types[5] |= name.endswith(".mlmodel")  # retain support for older Apple CoreML *.mlmodel formats
+        types[8] &= not types[9]  # tflite &= not edgetpu
+        if any(types):
+            triton = False
+        else:
+            from urllib.parse import urlsplit
+
+            url = urlsplit(p)
+            triton = bool(url.netloc) and bool(url.path) and url.scheme in {"http", "grpc"}
+
+        return [*types, triton]