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

ultralytics/utils/export/engine.py

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+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
+
+from __future__ import annotations
+
+import json
+from pathlib import Path
+
+import torch
+
+from ultralytics.utils import IS_JETSON, LOGGER
+from ultralytics.utils.torch_utils import TORCH_2_4
+
+
+def torch2onnx(
+    torch_model: torch.nn.Module,
+    im: torch.Tensor,
+    onnx_file: str,
+    opset: int = 14,
+    input_names: list[str] = ["images"],
+    output_names: list[str] = ["output0"],
+    dynamic: bool | dict = False,
+) -> None:
+    """Export a PyTorch model to ONNX format.
+
+    Args:
+        torch_model (torch.nn.Module): The PyTorch model to export.
+        im (torch.Tensor): Example input tensor for the model.
+        onnx_file (str): Path to save the exported ONNX file.
+        opset (int): ONNX opset version to use for export.
+        input_names (list[str]): List of input tensor names.
+        output_names (list[str]): List of output tensor names.
+        dynamic (bool | dict, optional): Whether to enable dynamic axes.
+
+    Notes:
+        Setting `do_constant_folding=True` may cause issues with DNN inference for torch>=1.12.
+    """
+    kwargs = {"dynamo": False} if TORCH_2_4 else {}
+    torch.onnx.export(
+        torch_model,
+        im,
+        onnx_file,
+        verbose=False,
+        opset_version=opset,
+        do_constant_folding=True,  # WARNING: DNN inference with torch>=1.12 may require do_constant_folding=False
+        input_names=input_names,
+        output_names=output_names,
+        dynamic_axes=dynamic or None,
+        **kwargs,
+    )
+
+
+def onnx2engine(
+    onnx_file: str,
+    engine_file: str | None = None,
+    workspace: int | None = None,
+    half: bool = False,
+    int8: bool = False,
+    dynamic: bool = False,
+    shape: tuple[int, int, int, int] = (1, 3, 640, 640),
+    dla: int | None = None,
+    dataset=None,
+    metadata: dict | None = None,
+    verbose: bool = False,
+    prefix: str = "",
+) -> None:
+    """Export a YOLO model to TensorRT engine format.
+
+    Args:
+        onnx_file (str): Path to the ONNX file to be converted.
+        engine_file (str, optional): Path to save the generated TensorRT engine file.
+        workspace (int, optional): Workspace size in GB for TensorRT.
+        half (bool, optional): Enable FP16 precision.
+        int8 (bool, optional): Enable INT8 precision.
+        dynamic (bool, optional): Enable dynamic input shapes.
+        shape (tuple[int, int, int, int], optional): Input shape (batch, channels, height, width).
+        dla (int, optional): DLA core to use (Jetson devices only).
+        dataset (ultralytics.data.build.InfiniteDataLoader, optional): Dataset for INT8 calibration.
+        metadata (dict, optional): Metadata to include in the engine file.
+        verbose (bool, optional): Enable verbose logging.
+        prefix (str, optional): Prefix for log messages.
+
+    Raises:
+        ValueError: If DLA is enabled on non-Jetson devices or required precision is not set.
+        RuntimeError: If the ONNX file cannot be parsed.
+
+    Notes:
+        TensorRT version compatibility is handled for workspace size and engine building.
+        INT8 calibration requires a dataset and generates a calibration cache.
+        Metadata is serialized and written to the engine file if provided.
+    """
+    import tensorrt as trt
+
+    engine_file = engine_file or Path(onnx_file).with_suffix(".engine")
+
+    logger = trt.Logger(trt.Logger.INFO)
+    if verbose:
+        logger.min_severity = trt.Logger.Severity.VERBOSE
+
+    # Engine builder
+    builder = trt.Builder(logger)
+    config = builder.create_builder_config()
+    workspace_bytes = int((workspace or 0) * (1 << 30))
+    is_trt10 = int(trt.__version__.split(".", 1)[0]) >= 10  # is TensorRT >= 10
+    if is_trt10 and workspace_bytes > 0:
+        config.set_memory_pool_limit(trt.MemoryPoolType.WORKSPACE, workspace_bytes)
+    elif workspace_bytes > 0:  # TensorRT versions 7, 8
+        config.max_workspace_size = workspace_bytes
+    flag = 1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH)
+    network = builder.create_network(flag)
+    half = builder.platform_has_fast_fp16 and half
+    int8 = builder.platform_has_fast_int8 and int8
+
+    # Optionally switch to DLA if enabled
+    if dla is not None:
+        if not IS_JETSON:
+            raise ValueError("DLA is only available on NVIDIA Jetson devices")
+        LOGGER.info(f"{prefix} enabling DLA on core {dla}...")
+        if not half and not int8:
+            raise ValueError(
+                "DLA requires either 'half=True' (FP16) or 'int8=True' (INT8) to be enabled. Please enable one of them and try again."
+            )
+        config.default_device_type = trt.DeviceType.DLA
+        config.DLA_core = int(dla)
+        config.set_flag(trt.BuilderFlag.GPU_FALLBACK)
+
+    # Read ONNX file
+    parser = trt.OnnxParser(network, logger)
+    if not parser.parse_from_file(onnx_file):
+        raise RuntimeError(f"failed to load ONNX file: {onnx_file}")
+
+    # Network inputs
+    inputs = [network.get_input(i) for i in range(network.num_inputs)]
+    outputs = [network.get_output(i) for i in range(network.num_outputs)]
+    for inp in inputs:
+        LOGGER.info(f'{prefix} input "{inp.name}" with shape{inp.shape} {inp.dtype}')
+    for out in outputs:
+        LOGGER.info(f'{prefix} output "{out.name}" with shape{out.shape} {out.dtype}')
+
+    if dynamic:
+        profile = builder.create_optimization_profile()
+        min_shape = (1, shape[1], 32, 32)  # minimum input shape
+        max_shape = (*shape[:2], *(int(max(2, workspace or 2) * d) for d in shape[2:]))  # max input shape
+        for inp in inputs:
+            profile.set_shape(inp.name, min=min_shape, opt=shape, max=max_shape)
+        config.add_optimization_profile(profile)
+        if int8:
+            config.set_calibration_profile(profile)
+
+    LOGGER.info(f"{prefix} building {'INT8' if int8 else 'FP' + ('16' if half else '32')} engine as {engine_file}")
+    if int8:
+        config.set_flag(trt.BuilderFlag.INT8)
+        config.profiling_verbosity = trt.ProfilingVerbosity.DETAILED
+
+        class EngineCalibrator(trt.IInt8Calibrator):
+            """Custom INT8 calibrator for TensorRT engine optimization.
+
+            This calibrator provides the necessary interface for TensorRT to perform INT8 quantization calibration using
+            a dataset. It handles batch generation, caching, and calibration algorithm selection.
+
+            Attributes:
+                dataset: Dataset for calibration.
+                data_iter: Iterator over the calibration dataset.
+                algo (trt.CalibrationAlgoType): Calibration algorithm type.
+                batch (int): Batch size for calibration.
+                cache (Path): Path to save the calibration cache.
+
+            Methods:
+                get_algorithm: Get the calibration algorithm to use.
+                get_batch_size: Get the batch size to use for calibration.
+                get_batch: Get the next batch to use for calibration.
+                read_calibration_cache: Use existing cache instead of calibrating again.
+                write_calibration_cache: Write calibration cache to disk.
+            """
+
+            def __init__(
+                self,
+                dataset,  # ultralytics.data.build.InfiniteDataLoader
+                cache: str = "",
+            ) -> None:
+                """Initialize the INT8 calibrator with dataset and cache path."""
+                trt.IInt8Calibrator.__init__(self)
+                self.dataset = dataset
+                self.data_iter = iter(dataset)
+                self.algo = (
+                    trt.CalibrationAlgoType.ENTROPY_CALIBRATION_2  # DLA quantization needs ENTROPY_CALIBRATION_2
+                    if dla is not None
+                    else trt.CalibrationAlgoType.MINMAX_CALIBRATION
+                )
+                self.batch = dataset.batch_size
+                self.cache = Path(cache)
+
+            def get_algorithm(self) -> trt.CalibrationAlgoType:
+                """Get the calibration algorithm to use."""
+                return self.algo
+
+            def get_batch_size(self) -> int:
+                """Get the batch size to use for calibration."""
+                return self.batch or 1
+
+            def get_batch(self, names) -> list[int] | None:
+                """Get the next batch to use for calibration, as a list of device memory pointers."""
+                try:
+                    im0s = next(self.data_iter)["img"] / 255.0
+                    im0s = im0s.to("cuda") if im0s.device.type == "cpu" else im0s
+                    return [int(im0s.data_ptr())]
+                except StopIteration:
+                    # Return None to signal to TensorRT there is no calibration data remaining
+                    return None
+
+            def read_calibration_cache(self) -> bytes | None:
+                """Use existing cache instead of calibrating again, otherwise, implicitly return None."""
+                if self.cache.exists() and self.cache.suffix == ".cache":
+                    return self.cache.read_bytes()
+
+            def write_calibration_cache(self, cache: bytes) -> None:
+                """Write calibration cache to disk."""
+                _ = self.cache.write_bytes(cache)
+
+        # Load dataset w/ builder (for batching) and calibrate
+        config.int8_calibrator = EngineCalibrator(
+            dataset=dataset,
+            cache=str(Path(onnx_file).with_suffix(".cache")),
+        )
+
+    elif half:
+        config.set_flag(trt.BuilderFlag.FP16)
+
+    # Write file
+    build = builder.build_serialized_network if is_trt10 else builder.build_engine
+    with build(network, config) as engine, open(engine_file, "wb") as t:
+        # Metadata
+        if metadata is not None:
+            meta = json.dumps(metadata)
+            t.write(len(meta).to_bytes(4, byteorder="little", signed=True))
+            t.write(meta.encode())
+        # Model
+        t.write(engine if is_trt10 else engine.serialize())

ultralytics/utils/export/imx.py

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+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
+
+from __future__ import annotations
+
+import subprocess
+import types
+from pathlib import Path
+
+import numpy as np
+import torch
+
+from ultralytics.nn.modules import Detect, Pose, Segment
+from ultralytics.utils import LOGGER
+from ultralytics.utils.patches import onnx_export_patch
+from ultralytics.utils.tal import make_anchors
+from ultralytics.utils.torch_utils import copy_attr
+
+# Configuration for Model Compression Toolkit (MCT) quantization
+MCT_CONFIG = {
+    "YOLO11": {
+        "detect": {
+            "layer_names": ["sub", "mul_2", "add_14", "cat_21"],
+            "weights_memory": 2585350.2439,
+            "n_layers": 238,
+        },
+        "pose": {
+            "layer_names": ["sub", "mul_2", "add_14", "cat_22", "cat_23", "mul_4", "add_15"],
+            "weights_memory": 2437771.67,
+            "n_layers": 257,
+        },
+        "classify": {"layer_names": [], "weights_memory": np.inf, "n_layers": 112},
+        "segment": {"layer_names": ["sub", "mul_2", "add_14", "cat_22"], "weights_memory": 2466604.8, "n_layers": 265},
+    },
+    "YOLOv8": {
+        "detect": {"layer_names": ["sub", "mul", "add_6", "cat_17"], "weights_memory": 2550540.8, "n_layers": 168},
+        "pose": {
+            "layer_names": ["add_7", "mul_2", "cat_19", "mul", "sub", "add_6", "cat_18"],
+            "weights_memory": 2482451.85,
+            "n_layers": 187,
+        },
+        "classify": {"layer_names": [], "weights_memory": np.inf, "n_layers": 73},
+        "segment": {"layer_names": ["sub", "mul", "add_6", "cat_18"], "weights_memory": 2580060.0, "n_layers": 195},
+    },
+}
+
+
+class FXModel(torch.nn.Module):
+    """A custom model class for torch.fx compatibility.
+
+    This class extends `torch.nn.Module` and is designed to ensure compatibility with torch.fx for tracing and graph
+    manipulation. It copies attributes from an existing model and explicitly sets the model attribute to ensure proper
+    copying.
+
+    Attributes:
+        model (nn.Module): The original model's layers.
+    """
+
+    def __init__(self, model, imgsz=(640, 640)):
+        """Initialize the FXModel.
+
+        Args:
+            model (nn.Module): The original model to wrap for torch.fx compatibility.
+            imgsz (tuple[int, int]): The input image size (height, width). Default is (640, 640).
+        """
+        super().__init__()
+        copy_attr(self, model)
+        # Explicitly set `model` since `copy_attr` somehow does not copy it.
+        self.model = model.model
+        self.imgsz = imgsz
+
+    def forward(self, x):
+        """Forward pass through the model.
+
+        This method performs the forward pass through the model, handling the dependencies between layers and saving
+        intermediate outputs.
+
+        Args:
+            x (torch.Tensor): The input tensor to the model.
+
+        Returns:
+            (torch.Tensor): The output tensor from the model.
+        """
+        y = []  # outputs
+        for m in self.model:
+            if m.f != -1:  # if not from previous layer
+                # from earlier layers
+                x = y[m.f] if isinstance(m.f, int) else [x if j == -1 else y[j] for j in m.f]
+            if isinstance(m, Detect):
+                m._inference = types.MethodType(_inference, m)  # bind method to Detect
+                m.anchors, m.strides = (
+                    x.transpose(0, 1)
+                    for x in make_anchors(
+                        torch.cat([s / m.stride.unsqueeze(-1) for s in self.imgsz], dim=1), m.stride, 0.5
+                    )
+                )
+            if type(m) is Pose:
+                m.forward = types.MethodType(pose_forward, m)  # bind method to Detect
+            if type(m) is Segment:
+                m.forward = types.MethodType(segment_forward, m)  # bind method to Detect
+            x = m(x)  # run
+            y.append(x)  # save output
+        return x
+
+
+def _inference(self, x: list[torch.Tensor]) -> tuple[torch.Tensor]:
+    """Decode boxes and cls scores for imx object detection."""
+    x_cat = torch.cat([xi.view(x[0].shape[0], self.no, -1) for xi in x], 2)
+    box, cls = x_cat.split((self.reg_max * 4, self.nc), 1)
+    dbox = self.decode_bboxes(self.dfl(box), self.anchors.unsqueeze(0)) * self.strides
+    return dbox.transpose(1, 2), cls.sigmoid().permute(0, 2, 1)
+
+
+def pose_forward(self, x: list[torch.Tensor]) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
+    """Forward pass for imx pose estimation, including keypoint decoding."""
+    bs = x[0].shape[0]  # batch size
+    kpt = torch.cat([self.cv4[i](x[i]).view(bs, self.nk, -1) for i in range(self.nl)], -1)  # (bs, 17*3, h*w)
+    x = Detect.forward(self, x)
+    pred_kpt = self.kpts_decode(bs, kpt)
+    return *x, pred_kpt.permute(0, 2, 1)
+
+
+def segment_forward(self, x: list[torch.Tensor]) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor, torch.Tensor]:
+    """Forward pass for imx segmentation."""
+    p = self.proto(x[0])  # mask protos
+    bs = p.shape[0]  # batch size
+    mc = torch.cat([self.cv4[i](x[i]).view(bs, self.nm, -1) for i in range(self.nl)], 2)  # mask coefficients
+    x = Detect.forward(self, x)
+    return *x, mc.transpose(1, 2), p
+
+
+class NMSWrapper(torch.nn.Module):
+    """Wrap PyTorch Module with multiclass_nms layer from edge-mdt-cl."""
+
+    def __init__(
+        self,
+        model: torch.nn.Module,
+        score_threshold: float = 0.001,
+        iou_threshold: float = 0.7,
+        max_detections: int = 300,
+        task: str = "detect",
+    ):
+        """Initialize NMSWrapper with PyTorch Module and NMS parameters.
+
+        Args:
+            model (torch.nn.Module): Model instance.
+            score_threshold (float): Score threshold for non-maximum suppression.
+            iou_threshold (float): Intersection over union threshold for non-maximum suppression.
+            max_detections (int): The number of detections to return.
+            task (str): Task type, either 'detect' or 'pose'.
+        """
+        super().__init__()
+        self.model = model
+        self.score_threshold = score_threshold
+        self.iou_threshold = iou_threshold
+        self.max_detections = max_detections
+        self.task = task
+
+    def forward(self, images):
+        """Forward pass with model inference and NMS post-processing."""
+        from edgemdt_cl.pytorch.nms.nms_with_indices import multiclass_nms_with_indices
+
+        # model inference
+        outputs = self.model(images)
+        boxes, scores = outputs[0], outputs[1]
+        nms_outputs = multiclass_nms_with_indices(
+            boxes=boxes,
+            scores=scores,
+            score_threshold=self.score_threshold,
+            iou_threshold=self.iou_threshold,
+            max_detections=self.max_detections,
+        )
+        if self.task == "pose":
+            kpts = outputs[2]  # (bs, max_detections, kpts 17*3)
+            out_kpts = torch.gather(kpts, 1, nms_outputs.indices.unsqueeze(-1).expand(-1, -1, kpts.size(-1)))
+            return nms_outputs.boxes, nms_outputs.scores, nms_outputs.labels, out_kpts
+        if self.task == "segment":
+            mc, proto = outputs[2], outputs[3]
+            out_mc = torch.gather(mc, 1, nms_outputs.indices.unsqueeze(-1).expand(-1, -1, mc.size(-1)))
+            return nms_outputs.boxes, nms_outputs.scores, nms_outputs.labels, out_mc, proto
+        return nms_outputs.boxes, nms_outputs.scores, nms_outputs.labels, nms_outputs.n_valid
+
+
+def torch2imx(
+    model: torch.nn.Module,
+    file: Path | str,
+    conf: float,
+    iou: float,
+    max_det: int,
+    metadata: dict | None = None,
+    gptq: bool = False,
+    dataset=None,
+    prefix: str = "",
+):
+    """Export YOLO model to IMX format for deployment on Sony IMX500 devices.
+
+    This function quantizes a YOLO model using Model Compression Toolkit (MCT) and exports it to IMX format compatible
+    with Sony IMX500 edge devices. It supports both YOLOv8n and YOLO11n models for detection and pose estimation tasks.
+
+    Args:
+        model (torch.nn.Module): The YOLO model to export. Must be YOLOv8n or YOLO11n.
+        file (Path | str): Output file path for the exported model.
+        conf (float): Confidence threshold for NMS post-processing.
+        iou (float): IoU threshold for NMS post-processing.
+        max_det (int): Maximum number of detections to return.
+        metadata (dict | None, optional): Metadata to embed in the ONNX model. Defaults to None.
+        gptq (bool, optional): Whether to use Gradient-Based Post Training Quantization. If False, uses standard Post
+            Training Quantization. Defaults to False.
+        dataset (optional): Representative dataset for quantization calibration. Defaults to None.
+        prefix (str, optional): Logging prefix string. Defaults to "".
+
+    Returns:
+        f (Path): Path to the exported IMX model directory
+
+    Raises:
+        ValueError: If the model is not a supported YOLOv8n or YOLO11n variant.
+
+    Examples:
+        >>> from ultralytics import YOLO
+        >>> model = YOLO("yolo11n.pt")
+        >>> path, _ = export_imx(model, "model.imx", conf=0.25, iou=0.45, max_det=300)
+
+    Notes:
+        - Requires model_compression_toolkit, onnx, edgemdt_tpc, and edge-mdt-cl packages
+        - Only supports YOLOv8n and YOLO11n models (detection and pose tasks)
+        - Output includes quantized ONNX model, IMX binary, and labels.txt file
+    """
+    import model_compression_toolkit as mct
+    import onnx
+    from edgemdt_tpc import get_target_platform_capabilities
+
+    LOGGER.info(f"\n{prefix} starting export with model_compression_toolkit {mct.__version__}...")
+
+    def representative_dataset_gen(dataloader=dataset):
+        for batch in dataloader:
+            img = batch["img"]
+            img = img / 255.0
+            yield [img]
+
+    # NOTE: need tpc_version to be "4.0" for IMX500 Pose estimation models
+    tpc = get_target_platform_capabilities(tpc_version="4.0", device_type="imx500")
+
+    bit_cfg = mct.core.BitWidthConfig()
+    mct_config = MCT_CONFIG["YOLO11" if "C2PSA" in model.__str__() else "YOLOv8"][model.task]
+
+    # Check if the model has the expected number of layers
+    if len(list(model.modules())) != mct_config["n_layers"]:
+        raise ValueError("IMX export only supported for YOLOv8n and YOLO11n models.")
+
+    for layer_name in mct_config["layer_names"]:
+        bit_cfg.set_manual_activation_bit_width([mct.core.common.network_editors.NodeNameFilter(layer_name)], 16)
+
+    config = mct.core.CoreConfig(
+        mixed_precision_config=mct.core.MixedPrecisionQuantizationConfig(num_of_images=10),
+        quantization_config=mct.core.QuantizationConfig(concat_threshold_update=True),
+        bit_width_config=bit_cfg,
+    )
+
+    resource_utilization = mct.core.ResourceUtilization(weights_memory=mct_config["weights_memory"])
+
+    quant_model = (
+        mct.gptq.pytorch_gradient_post_training_quantization(  # Perform Gradient-Based Post Training Quantization
+            model=model,
+            representative_data_gen=representative_dataset_gen,
+            target_resource_utilization=resource_utilization,
+            gptq_config=mct.gptq.get_pytorch_gptq_config(
+                n_epochs=1000, use_hessian_based_weights=False, use_hessian_sample_attention=False
+            ),
+            core_config=config,
+            target_platform_capabilities=tpc,
+        )[0]
+        if gptq
+        else mct.ptq.pytorch_post_training_quantization(  # Perform post training quantization
+            in_module=model,
+            representative_data_gen=representative_dataset_gen,
+            target_resource_utilization=resource_utilization,
+            core_config=config,
+            target_platform_capabilities=tpc,
+        )[0]
+    )
+
+    if model.task != "classify":
+        quant_model = NMSWrapper(
+            model=quant_model,
+            score_threshold=conf or 0.001,
+            iou_threshold=iou,
+            max_detections=max_det,
+            task=model.task,
+        )
+
+    f = Path(str(file).replace(file.suffix, "_imx_model"))
+    f.mkdir(exist_ok=True)
+    onnx_model = f / Path(str(file.name).replace(file.suffix, "_imx.onnx"))  # js dir
+
+    with onnx_export_patch():
+        mct.exporter.pytorch_export_model(
+            model=quant_model, save_model_path=onnx_model, repr_dataset=representative_dataset_gen
+        )
+
+    model_onnx = onnx.load(onnx_model)  # load onnx model
+    for k, v in metadata.items():
+        meta = model_onnx.metadata_props.add()
+        meta.key, meta.value = k, str(v)
+
+    onnx.save(model_onnx, onnx_model)
+
+    subprocess.run(
+        ["imxconv-pt", "-i", str(onnx_model), "-o", str(f), "--no-input-persistency", "--overwrite-output"],
+        check=True,
+    )
+
+    # Needed for imx models.
+    with open(f / "labels.txt", "w", encoding="utf-8") as file:
+        file.writelines([f"{name}\n" for _, name in model.names.items()])
+
+    return f