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

ultralytics/utils/metrics.py

@@ -0,0 +1,1560 @@
+# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
+"""Model validation metrics."""
+
+from __future__ import annotations
+
+import math
+import warnings
+from collections import defaultdict
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+import torch
+
+from ultralytics.utils import LOGGER, DataExportMixin, SimpleClass, TryExcept, checks, plt_settings
+
+OKS_SIGMA = (
+    np.array(
+        [0.26, 0.25, 0.25, 0.35, 0.35, 0.79, 0.79, 0.72, 0.72, 0.62, 0.62, 1.07, 1.07, 0.87, 0.87, 0.89, 0.89],
+        dtype=np.float32,
+    )
+    / 10.0
+)
+
+
+def bbox_ioa(box1: np.ndarray, box2: np.ndarray, iou: bool = False, eps: float = 1e-7) -> np.ndarray:
+    """Calculate the intersection over box2 area given box1 and box2.
+
+    Args:
+        box1 (np.ndarray): A numpy array of shape (N, 4) representing N bounding boxes in x1y1x2y2 format.
+        box2 (np.ndarray): A numpy array of shape (M, 4) representing M bounding boxes in x1y1x2y2 format.
+        iou (bool, optional): Calculate the standard IoU if True else return inter_area/box2_area.
+        eps (float, optional): A small value to avoid division by zero.
+
+    Returns:
+        (np.ndarray): A numpy array of shape (N, M) representing the intersection over box2 area.
+    """
+    # Get the coordinates of bounding boxes
+    b1_x1, b1_y1, b1_x2, b1_y2 = box1.T
+    b2_x1, b2_y1, b2_x2, b2_y2 = box2.T
+
+    # Intersection area
+    inter_area = (np.minimum(b1_x2[:, None], b2_x2) - np.maximum(b1_x1[:, None], b2_x1)).clip(0) * (
+        np.minimum(b1_y2[:, None], b2_y2) - np.maximum(b1_y1[:, None], b2_y1)
+    ).clip(0)
+
+    # Box2 area
+    area = (b2_x2 - b2_x1) * (b2_y2 - b2_y1)
+    if iou:
+        box1_area = (b1_x2 - b1_x1) * (b1_y2 - b1_y1)
+        area = area + box1_area[:, None] - inter_area
+
+    # Intersection over box2 area
+    return inter_area / (area + eps)
+
+
+def box_iou(box1: torch.Tensor, box2: torch.Tensor, eps: float = 1e-7) -> torch.Tensor:
+    """Calculate intersection-over-union (IoU) of boxes.
+
+    Args:
+        box1 (torch.Tensor): A tensor of shape (N, 4) representing N bounding boxes in (x1, y1, x2, y2) format.
+        box2 (torch.Tensor): A tensor of shape (M, 4) representing M bounding boxes in (x1, y1, x2, y2) format.
+        eps (float, optional): A small value to avoid division by zero.
+
+    Returns:
+        (torch.Tensor): An NxM tensor containing the pairwise IoU values for every element in box1 and box2.
+
+    References:
+        https://github.com/pytorch/vision/blob/main/torchvision/ops/boxes.py
+    """
+    # NOTE: Need .float() to get accurate iou values
+    # inter(N,M) = (rb(N,M,2) - lt(N,M,2)).clamp(0).prod(2)
+    (a1, a2), (b1, b2) = box1.float().unsqueeze(1).chunk(2, 2), box2.float().unsqueeze(0).chunk(2, 2)
+    inter = (torch.min(a2, b2) - torch.max(a1, b1)).clamp_(0).prod(2)
+
+    # IoU = inter / (area1 + area2 - inter)
+    return inter / ((a2 - a1).prod(2) + (b2 - b1).prod(2) - inter + eps)
+
+
+def bbox_iou(
+    box1: torch.Tensor,
+    box2: torch.Tensor,
+    xywh: bool = True,
+    GIoU: bool = False,
+    DIoU: bool = False,
+    CIoU: bool = False,
+    eps: float = 1e-7,
+) -> torch.Tensor:
+    """Calculate the Intersection over Union (IoU) between bounding boxes.
+
+    This function supports various shapes for `box1` and `box2` as long as the last dimension is 4. For instance, you
+    may pass tensors shaped like (4,), (N, 4), (B, N, 4), or (B, N, 1, 4). Internally, the code will split the last
+    dimension into (x, y, w, h) if `xywh=True`, or (x1, y1, x2, y2) if `xywh=False`.
+
+    Args:
+        box1 (torch.Tensor): A tensor representing one or more bounding boxes, with the last dimension being 4.
+        box2 (torch.Tensor): A tensor representing one or more bounding boxes, with the last dimension being 4.
+        xywh (bool, optional): If True, input boxes are in (x, y, w, h) format. If False, input boxes are in (x1, y1,
+            x2, y2) format.
+        GIoU (bool, optional): If True, calculate Generalized IoU.
+        DIoU (bool, optional): If True, calculate Distance IoU.
+        CIoU (bool, optional): If True, calculate Complete IoU.
+        eps (float, optional): A small value to avoid division by zero.
+
+    Returns:
+        (torch.Tensor): IoU, GIoU, DIoU, or CIoU values depending on the specified flags.
+    """
+    # Get the coordinates of bounding boxes
+    if xywh:  # transform from xywh to xyxy
+        (x1, y1, w1, h1), (x2, y2, w2, h2) = box1.chunk(4, -1), box2.chunk(4, -1)
+        w1_, h1_, w2_, h2_ = w1 / 2, h1 / 2, w2 / 2, h2 / 2
+        b1_x1, b1_x2, b1_y1, b1_y2 = x1 - w1_, x1 + w1_, y1 - h1_, y1 + h1_
+        b2_x1, b2_x2, b2_y1, b2_y2 = x2 - w2_, x2 + w2_, y2 - h2_, y2 + h2_
+    else:  # x1, y1, x2, y2 = box1
+        b1_x1, b1_y1, b1_x2, b1_y2 = box1.chunk(4, -1)
+        b2_x1, b2_y1, b2_x2, b2_y2 = box2.chunk(4, -1)
+        w1, h1 = b1_x2 - b1_x1, b1_y2 - b1_y1 + eps
+        w2, h2 = b2_x2 - b2_x1, b2_y2 - b2_y1 + eps
+
+    # Intersection area
+    inter = (b1_x2.minimum(b2_x2) - b1_x1.maximum(b2_x1)).clamp_(0) * (
+        b1_y2.minimum(b2_y2) - b1_y1.maximum(b2_y1)
+    ).clamp_(0)
+
+    # Union Area
+    union = w1 * h1 + w2 * h2 - inter + eps
+
+    # IoU
+    iou = inter / union
+    if CIoU or DIoU or GIoU:
+        cw = b1_x2.maximum(b2_x2) - b1_x1.minimum(b2_x1)  # convex (smallest enclosing box) width
+        ch = b1_y2.maximum(b2_y2) - b1_y1.minimum(b2_y1)  # convex height
+        if CIoU or DIoU:  # Distance or Complete IoU https://arxiv.org/abs/1911.08287v1
+            c2 = cw.pow(2) + ch.pow(2) + eps  # convex diagonal squared
+            rho2 = (
+                (b2_x1 + b2_x2 - b1_x1 - b1_x2).pow(2) + (b2_y1 + b2_y2 - b1_y1 - b1_y2).pow(2)
+            ) / 4  # center dist**2
+            if CIoU:  # https://github.com/Zzh-tju/DIoU-SSD-pytorch/blob/master/utils/box/box_utils.py#L47
+                v = (4 / math.pi**2) * ((w2 / h2).atan() - (w1 / h1).atan()).pow(2)
+                with torch.no_grad():
+                    alpha = v / (v - iou + (1 + eps))
+                return iou - (rho2 / c2 + v * alpha)  # CIoU
+            return iou - rho2 / c2  # DIoU
+        c_area = cw * ch + eps  # convex area
+        return iou - (c_area - union) / c_area  # GIoU https://arxiv.org/pdf/1902.09630.pdf
+    return iou  # IoU
+
+
+def mask_iou(mask1: torch.Tensor, mask2: torch.Tensor, eps: float = 1e-7) -> torch.Tensor:
+    """Calculate masks IoU.
+
+    Args:
+        mask1 (torch.Tensor): A tensor of shape (N, n) where N is the number of ground truth objects and n is the
+            product of image width and height.
+        mask2 (torch.Tensor): A tensor of shape (M, n) where M is the number of predicted objects and n is the product
+            of image width and height.
+        eps (float, optional): A small value to avoid division by zero.
+
+    Returns:
+        (torch.Tensor): A tensor of shape (N, M) representing masks IoU.
+    """
+    intersection = torch.matmul(mask1, mask2.T).clamp_(0)
+    union = (mask1.sum(1)[:, None] + mask2.sum(1)[None]) - intersection  # (area1 + area2) - intersection
+    return intersection / (union + eps)
+
+
+def kpt_iou(
+    kpt1: torch.Tensor, kpt2: torch.Tensor, area: torch.Tensor, sigma: list[float], eps: float = 1e-7
+) -> torch.Tensor:
+    """Calculate Object Keypoint Similarity (OKS).
+
+    Args:
+        kpt1 (torch.Tensor): A tensor of shape (N, 17, 3) representing ground truth keypoints.
+        kpt2 (torch.Tensor): A tensor of shape (M, 17, 3) representing predicted keypoints.
+        area (torch.Tensor): A tensor of shape (N,) representing areas from ground truth.
+        sigma (list): A list containing 17 values representing keypoint scales.
+        eps (float, optional): A small value to avoid division by zero.
+
+    Returns:
+        (torch.Tensor): A tensor of shape (N, M) representing keypoint similarities.
+    """
+    d = (kpt1[:, None, :, 0] - kpt2[..., 0]).pow(2) + (kpt1[:, None, :, 1] - kpt2[..., 1]).pow(2)  # (N, M, 17)
+    sigma = torch.tensor(sigma, device=kpt1.device, dtype=kpt1.dtype)  # (17, )
+    kpt_mask = kpt1[..., 2] != 0  # (N, 17)
+    e = d / ((2 * sigma).pow(2) * (area[:, None, None] + eps) * 2)  # from cocoeval
+    # e = d / ((area[None, :, None] + eps) * sigma) ** 2 / 2  # from formula
+    return ((-e).exp() * kpt_mask[:, None]).sum(-1) / (kpt_mask.sum(-1)[:, None] + eps)
+
+
+def _get_covariance_matrix(boxes: torch.Tensor) -> tuple[torch.Tensor, torch.Tensor, torch.Tensor]:
+    """Generate covariance matrix from oriented bounding boxes.
+
+    Args:
+        boxes (torch.Tensor): A tensor of shape (N, 5) representing rotated bounding boxes, with xywhr format.
+
+    Returns:
+        (tuple[torch.Tensor, torch.Tensor, torch.Tensor]): Covariance matrix components (a, b, c) where the covariance
+            matrix is [[a, c], [c, b]], each of shape (N, 1).
+    """
+    # Gaussian bounding boxes, ignore the center points (the first two columns) because they are not needed here.
+    gbbs = torch.cat((boxes[:, 2:4].pow(2) / 12, boxes[:, 4:]), dim=-1)
+    a, b, c = gbbs.split(1, dim=-1)
+    cos = c.cos()
+    sin = c.sin()
+    cos2 = cos.pow(2)
+    sin2 = sin.pow(2)
+    return a * cos2 + b * sin2, a * sin2 + b * cos2, (a - b) * cos * sin
+
+
+def probiou(obb1: torch.Tensor, obb2: torch.Tensor, CIoU: bool = False, eps: float = 1e-7) -> torch.Tensor:
+    """Calculate probabilistic IoU between oriented bounding boxes.
+
+    Args:
+        obb1 (torch.Tensor): Ground truth OBBs, shape (N, 5), format xywhr.
+        obb2 (torch.Tensor): Predicted OBBs, shape (N, 5), format xywhr.
+        CIoU (bool, optional): If True, calculate CIoU.
+        eps (float, optional): Small value to avoid division by zero.
+
+    Returns:
+        (torch.Tensor): OBB similarities, shape (N,).
+
+    Notes:
+        OBB format: [center_x, center_y, width, height, rotation_angle].
+
+    References:
+        https://arxiv.org/pdf/2106.06072v1.pdf
+    """
+    x1, y1 = obb1[..., :2].split(1, dim=-1)
+    x2, y2 = obb2[..., :2].split(1, dim=-1)
+    a1, b1, c1 = _get_covariance_matrix(obb1)
+    a2, b2, c2 = _get_covariance_matrix(obb2)
+
+    t1 = (
+        ((a1 + a2) * (y1 - y2).pow(2) + (b1 + b2) * (x1 - x2).pow(2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)
+    ) * 0.25
+    t2 = (((c1 + c2) * (x2 - x1) * (y1 - y2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)) * 0.5
+    t3 = (
+        ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2))
+        / (4 * ((a1 * b1 - c1.pow(2)).clamp_(0) * (a2 * b2 - c2.pow(2)).clamp_(0)).sqrt() + eps)
+        + eps
+    ).log() * 0.5
+    bd = (t1 + t2 + t3).clamp(eps, 100.0)
+    hd = (1.0 - (-bd).exp() + eps).sqrt()
+    iou = 1 - hd
+    if CIoU:  # only include the wh aspect ratio part
+        w1, h1 = obb1[..., 2:4].split(1, dim=-1)
+        w2, h2 = obb2[..., 2:4].split(1, dim=-1)
+        v = (4 / math.pi**2) * ((w2 / h2).atan() - (w1 / h1).atan()).pow(2)
+        with torch.no_grad():
+            alpha = v / (v - iou + (1 + eps))
+        return iou - v * alpha  # CIoU
+    return iou
+
+
+def batch_probiou(obb1: torch.Tensor | np.ndarray, obb2: torch.Tensor | np.ndarray, eps: float = 1e-7) -> torch.Tensor:
+    """Calculate the probabilistic IoU between oriented bounding boxes.
+
+    Args:
+        obb1 (torch.Tensor | np.ndarray): A tensor of shape (N, 5) representing ground truth obbs, with xywhr format.
+        obb2 (torch.Tensor | np.ndarray): A tensor of shape (M, 5) representing predicted obbs, with xywhr format.
+        eps (float, optional): A small value to avoid division by zero.
+
+    Returns:
+        (torch.Tensor): A tensor of shape (N, M) representing obb similarities.
+
+    References:
+        https://arxiv.org/pdf/2106.06072v1.pdf
+    """
+    obb1 = torch.from_numpy(obb1) if isinstance(obb1, np.ndarray) else obb1
+    obb2 = torch.from_numpy(obb2) if isinstance(obb2, np.ndarray) else obb2
+
+    x1, y1 = obb1[..., :2].split(1, dim=-1)
+    x2, y2 = (x.squeeze(-1)[None] for x in obb2[..., :2].split(1, dim=-1))
+    a1, b1, c1 = _get_covariance_matrix(obb1)
+    a2, b2, c2 = (x.squeeze(-1)[None] for x in _get_covariance_matrix(obb2))
+
+    t1 = (
+        ((a1 + a2) * (y1 - y2).pow(2) + (b1 + b2) * (x1 - x2).pow(2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)
+    ) * 0.25
+    t2 = (((c1 + c2) * (x2 - x1) * (y1 - y2)) / ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2) + eps)) * 0.5
+    t3 = (
+        ((a1 + a2) * (b1 + b2) - (c1 + c2).pow(2))
+        / (4 * ((a1 * b1 - c1.pow(2)).clamp_(0) * (a2 * b2 - c2.pow(2)).clamp_(0)).sqrt() + eps)
+        + eps
+    ).log() * 0.5
+    bd = (t1 + t2 + t3).clamp(eps, 100.0)
+    hd = (1.0 - (-bd).exp() + eps).sqrt()
+    return 1 - hd
+
+
+def smooth_bce(eps: float = 0.1) -> tuple[float, float]:
+    """Compute smoothed positive and negative Binary Cross-Entropy targets.
+
+    Args:
+        eps (float, optional): The epsilon value for label smoothing.
+
+    Returns:
+        pos (float): Positive label smoothing BCE target.
+        neg (float): Negative label smoothing BCE target.
+
+    References:
+        https://github.com/ultralytics/yolov3/issues/238#issuecomment-598028441
+    """
+    return 1.0 - 0.5 * eps, 0.5 * eps
+
+
+class ConfusionMatrix(DataExportMixin):
+    """A class for calculating and updating a confusion matrix for object detection and classification tasks.
+
+    Attributes:
+        task (str): The type of task, either 'detect' or 'classify'.
+        matrix (np.ndarray): The confusion matrix, with dimensions depending on the task.
+        nc (int): The number of classes.
+        names (list[str]): The names of the classes, used as labels on the plot.
+        matches (dict): Contains the indices of ground truths and predictions categorized into TP, FP and FN.
+    """
+
+    def __init__(self, names: dict[int, str] = [], task: str = "detect", save_matches: bool = False):
+        """Initialize a ConfusionMatrix instance.
+
+        Args:
+            names (dict[int, str], optional): Names of classes, used as labels on the plot.
+            task (str, optional): Type of task, either 'detect' or 'classify'.
+            save_matches (bool, optional): Save the indices of GTs, TPs, FPs, FNs for visualization.
+        """
+        self.task = task
+        self.nc = len(names)  # number of classes
+        self.matrix = np.zeros((self.nc, self.nc)) if self.task == "classify" else np.zeros((self.nc + 1, self.nc + 1))
+        self.names = names  # name of classes
+        self.matches = {} if save_matches else None
+
+    def _append_matches(self, mtype: str, batch: dict[str, Any], idx: int) -> None:
+        """Append the matches to TP, FP, FN or GT list for the last batch.
+
+        This method updates the matches dictionary by appending specific batch data to the appropriate match type (True
+        Positive, False Positive, or False Negative).
+
+        Args:
+            mtype (str): Match type identifier ('TP', 'FP', 'FN' or 'GT').
+            batch (dict[str, Any]): Batch data containing detection results with keys like 'bboxes', 'cls', 'conf',
+                'keypoints', 'masks'.
+            idx (int): Index of the specific detection to append from the batch.
+
+        Notes:
+            For masks, handles both overlap and non-overlap cases. When masks.max() > 1.0, it indicates
+            overlap_mask=True with shape (1, H, W), otherwise uses direct indexing.
+        """
+        if self.matches is None:
+            return
+        for k, v in batch.items():
+            if k in {"bboxes", "cls", "conf", "keypoints"}:
+                self.matches[mtype][k] += v[[idx]]
+            elif k == "masks":
+                # NOTE: masks.max() > 1.0 means overlap_mask=True with (1, H, W) shape
+                self.matches[mtype][k] += [v[0] == idx + 1] if v.max() > 1.0 else [v[idx]]
+
+    def process_cls_preds(self, preds: list[torch.Tensor], targets: list[torch.Tensor]) -> None:
+        """Update confusion matrix for classification task.
+
+        Args:
+            preds (list[N, min(nc,5)]): Predicted class labels.
+            targets (list[N, 1]): Ground truth class labels.
+        """
+        preds, targets = torch.cat(preds)[:, 0], torch.cat(targets)
+        for p, t in zip(preds.cpu().numpy(), targets.cpu().numpy()):
+            self.matrix[p][t] += 1
+
+    def process_batch(
+        self,
+        detections: dict[str, torch.Tensor],
+        batch: dict[str, Any],
+        conf: float = 0.25,
+        iou_thres: float = 0.45,
+    ) -> None:
+        """Update confusion matrix for object detection task.
+
+        Args:
+            detections (dict[str, torch.Tensor]): Dictionary containing detected bounding boxes and their associated
+                information. Should contain 'cls', 'conf', and 'bboxes' keys, where 'bboxes' can be Array[N, 4] for
+                regular boxes or Array[N, 5] for OBB with angle.
+            batch (dict[str, Any]): Batch dictionary containing ground truth data with 'bboxes' (Array[M, 4]| Array[M,
+                5]) and 'cls' (Array[M]) keys, where M is the number of ground truth objects.
+            conf (float, optional): Confidence threshold for detections.
+            iou_thres (float, optional): IoU threshold for matching detections to ground truth.
+        """
+        gt_cls, gt_bboxes = batch["cls"], batch["bboxes"]
+        if self.matches is not None:  # only if visualization is enabled
+            self.matches = {k: defaultdict(list) for k in {"TP", "FP", "FN", "GT"}}
+            for i in range(gt_cls.shape[0]):
+                self._append_matches("GT", batch, i)  # store GT
+        is_obb = gt_bboxes.shape[1] == 5  # check if boxes contains angle for OBB
+        conf = 0.25 if conf in {None, 0.01 if is_obb else 0.001} else conf  # apply 0.25 if default val conf is passed
+        no_pred = detections["cls"].shape[0] == 0
+        if gt_cls.shape[0] == 0:  # Check if labels is empty
+            if not no_pred:
+                detections = {k: detections[k][detections["conf"] > conf] for k in detections}
+                detection_classes = detections["cls"].int().tolist()
+                for i, dc in enumerate(detection_classes):
+                    self.matrix[dc, self.nc] += 1  # FP
+                    self._append_matches("FP", detections, i)
+            return
+        if no_pred:
+            gt_classes = gt_cls.int().tolist()
+            for i, gc in enumerate(gt_classes):
+                self.matrix[self.nc, gc] += 1  # FN
+                self._append_matches("FN", batch, i)
+            return
+
+        detections = {k: detections[k][detections["conf"] > conf] for k in detections}
+        gt_classes = gt_cls.int().tolist()
+        detection_classes = detections["cls"].int().tolist()
+        bboxes = detections["bboxes"]
+        iou = batch_probiou(gt_bboxes, bboxes) if is_obb else box_iou(gt_bboxes, bboxes)
+
+        x = torch.where(iou > iou_thres)
+        if x[0].shape[0]:
+            matches = torch.cat((torch.stack(x, 1), iou[x[0], x[1]][:, None]), 1).cpu().numpy()
+            if x[0].shape[0] > 1:
+                matches = matches[matches[:, 2].argsort()[::-1]]
+                matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
+                matches = matches[matches[:, 2].argsort()[::-1]]
+                matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
+        else:
+            matches = np.zeros((0, 3))
+
+        n = matches.shape[0] > 0
+        m0, m1, _ = matches.transpose().astype(int)
+        for i, gc in enumerate(gt_classes):
+            j = m0 == i
+            if n and sum(j) == 1:
+                dc = detection_classes[m1[j].item()]
+                self.matrix[dc, gc] += 1  # TP if class is correct else both an FP and an FN
+                if dc == gc:
+                    self._append_matches("TP", detections, m1[j].item())
+                else:
+                    self._append_matches("FP", detections, m1[j].item())
+                    self._append_matches("FN", batch, i)
+            else:
+                self.matrix[self.nc, gc] += 1  # FN
+                self._append_matches("FN", batch, i)
+
+        for i, dc in enumerate(detection_classes):
+            if not any(m1 == i):
+                self.matrix[dc, self.nc] += 1  # FP
+                self._append_matches("FP", detections, i)
+
+    def matrix(self):
+        """Return the confusion matrix."""
+        return self.matrix
+
+    def tp_fp(self) -> tuple[np.ndarray, np.ndarray]:
+        """Return true positives and false positives.
+
+        Returns:
+            tp (np.ndarray): True positives.
+            fp (np.ndarray): False positives.
+        """
+        tp = self.matrix.diagonal()  # true positives
+        fp = self.matrix.sum(1) - tp  # false positives
+        # fn = self.matrix.sum(0) - tp  # false negatives (missed detections)
+        return (tp, fp) if self.task == "classify" else (tp[:-1], fp[:-1])  # remove background class if task=detect
+
+    def plot_matches(self, img: torch.Tensor, im_file: str, save_dir: Path) -> None:
+        """Plot grid of GT, TP, FP, FN for each image.
+
+        Args:
+            img (torch.Tensor): Image to plot onto.
+            im_file (str): Image filename to save visualizations.
+            save_dir (Path): Location to save the visualizations to.
+        """
+        if not self.matches:
+            return
+        from .ops import xyxy2xywh
+        from .plotting import plot_images
+
+        # Create batch of 4 (GT, TP, FP, FN)
+        labels = defaultdict(list)
+        for i, mtype in enumerate(["GT", "FP", "TP", "FN"]):
+            mbatch = self.matches[mtype]
+            if "conf" not in mbatch:
+                mbatch["conf"] = torch.tensor([1.0] * len(mbatch["bboxes"]), device=img.device)
+            mbatch["batch_idx"] = torch.ones(len(mbatch["bboxes"]), device=img.device) * i
+            for k in mbatch.keys():
+                labels[k] += mbatch[k]
+
+        labels = {k: torch.stack(v, 0) if len(v) else torch.empty(0) for k, v in labels.items()}
+        if self.task != "obb" and labels["bboxes"].shape[0]:
+            labels["bboxes"] = xyxy2xywh(labels["bboxes"])
+        (save_dir / "visualizations").mkdir(parents=True, exist_ok=True)
+        plot_images(
+            labels,
+            img.repeat(4, 1, 1, 1),
+            paths=["Ground Truth", "False Positives", "True Positives", "False Negatives"],
+            fname=save_dir / "visualizations" / Path(im_file).name,
+            names=self.names,
+            max_subplots=4,
+            conf_thres=0.001,
+        )
+
+    @TryExcept(msg="ConfusionMatrix plot failure")
+    @plt_settings()
+    def plot(self, normalize: bool = True, save_dir: str = "", on_plot=None):
+        """Plot the confusion matrix using matplotlib and save it to a file.
+
+        Args:
+            normalize (bool, optional): Whether to normalize the confusion matrix.
+            save_dir (str, optional): Directory where the plot will be saved.
+            on_plot (callable, optional): An optional callback to pass plots path and data when they are rendered.
+        """
+        import matplotlib.pyplot as plt  # scope for faster 'import ultralytics'
+
+        array = self.matrix / ((self.matrix.sum(0).reshape(1, -1) + 1e-9) if normalize else 1)  # normalize columns
+        array[array < 0.005] = np.nan  # don't annotate (would appear as 0.00)
+
+        fig, ax = plt.subplots(1, 1, figsize=(12, 9))
+        names, n = list(self.names.values()), self.nc
+        if self.nc >= 100:  # downsample for large class count
+            k = max(2, self.nc // 60)  # step size for downsampling, always > 1
+            keep_idx = slice(None, None, k)  # create slice instead of array
+            names = names[keep_idx]  # slice class names
+            array = array[keep_idx, :][:, keep_idx]  # slice matrix rows and cols
+            n = (self.nc + k - 1) // k  # number of retained classes
+        nc = nn = n if self.task == "classify" else n + 1  # adjust for background if needed
+        ticklabels = ([*names, "background"]) if (0 < nn < 99) and (nn == nc) else "auto"
+        xy_ticks = np.arange(len(ticklabels))
+        tick_fontsize = max(6, 15 - 0.1 * nc)  # Minimum size is 6
+        label_fontsize = max(6, 12 - 0.1 * nc)
+        title_fontsize = max(6, 12 - 0.1 * nc)
+        btm = max(0.1, 0.25 - 0.001 * nc)  # Minimum value is 0.1
+        with warnings.catch_warnings():
+            warnings.simplefilter("ignore")  # suppress empty matrix RuntimeWarning: All-NaN slice encountered
+            im = ax.imshow(array, cmap="Blues", vmin=0.0, interpolation="none")
+            ax.xaxis.set_label_position("bottom")
+            if nc < 30:  # Add score for each cell of confusion matrix
+                color_threshold = 0.45 * (1 if normalize else np.nanmax(array))  # text color threshold
+                for i, row in enumerate(array[:nc]):
+                    for j, val in enumerate(row[:nc]):
+                        val = array[i, j]
+                        if np.isnan(val):
+                            continue
+                        ax.text(
+                            j,
+                            i,
+                            f"{val:.2f}" if normalize else f"{int(val)}",
+                            ha="center",
+                            va="center",
+                            fontsize=10,
+                            color="white" if val > color_threshold else "black",
+                        )
+            cbar = fig.colorbar(im, ax=ax, fraction=0.046, pad=0.05)
+        title = "Confusion Matrix" + " Normalized" * normalize
+        ax.set_xlabel("True", fontsize=label_fontsize, labelpad=10)
+        ax.set_ylabel("Predicted", fontsize=label_fontsize, labelpad=10)
+        ax.set_title(title, fontsize=title_fontsize, pad=20)
+        ax.set_xticks(xy_ticks)
+        ax.set_yticks(xy_ticks)
+        ax.tick_params(axis="x", bottom=True, top=False, labelbottom=True, labeltop=False)
+        ax.tick_params(axis="y", left=True, right=False, labelleft=True, labelright=False)
+        if ticklabels != "auto":
+            ax.set_xticklabels(ticklabels, fontsize=tick_fontsize, rotation=90, ha="center")
+            ax.set_yticklabels(ticklabels, fontsize=tick_fontsize)
+        for s in {"left", "right", "bottom", "top", "outline"}:
+            if s != "outline":
+                ax.spines[s].set_visible(False)  # Confusion matrix plot don't have outline
+            cbar.ax.spines[s].set_visible(False)
+        fig.subplots_adjust(left=0, right=0.84, top=0.94, bottom=btm)  # Adjust layout to ensure equal margins
+        plot_fname = Path(save_dir) / f"{title.lower().replace(' ', '_')}.png"
+        fig.savefig(plot_fname, dpi=250)
+        plt.close(fig)
+        if on_plot:
+            on_plot(plot_fname)
+
+    def print(self):
+        """Print the confusion matrix to the console."""
+        for i in range(self.matrix.shape[0]):
+            LOGGER.info(" ".join(map(str, self.matrix[i])))
+
+    def summary(self, normalize: bool = False, decimals: int = 5) -> list[dict[str, float]]:
+        """Generate a summarized representation of the confusion matrix as a list of dictionaries, with optional
+        normalization. This is useful for exporting the matrix to various formats such as CSV, XML, HTML, JSON,
+        or SQL.
+
+        Args:
+            normalize (bool): Whether to normalize the confusion matrix values.
+            decimals (int): Number of decimal places to round the output values to.
+
+        Returns:
+            (list[dict[str, float]]): A list of dictionaries, each representing one predicted class with corresponding
+                values for all actual classes.
+
+        Examples:
+            >>> results = model.val(data="coco8.yaml", plots=True)
+            >>> cm_dict = results.confusion_matrix.summary(normalize=True, decimals=5)
+            >>> print(cm_dict)
+        """
+        import re
+
+        names = list(self.names.values()) if self.task == "classify" else [*list(self.names.values()), "background"]
+        clean_names, seen = [], set()
+        for name in names:
+            clean_name = re.sub(r"[^a-zA-Z0-9_]", "_", name)
+            original_clean = clean_name
+            counter = 1
+            while clean_name.lower() in seen:
+                clean_name = f"{original_clean}_{counter}"
+                counter += 1
+            seen.add(clean_name.lower())
+            clean_names.append(clean_name)
+        array = (self.matrix / ((self.matrix.sum(0).reshape(1, -1) + 1e-9) if normalize else 1)).round(decimals)
+        return [
+            dict({"Predicted": clean_names[i]}, **{clean_names[j]: array[i, j] for j in range(len(clean_names))})
+            for i in range(len(clean_names))
+        ]
+
+
+def smooth(y: np.ndarray, f: float = 0.05) -> np.ndarray:
+    """Box filter of fraction f."""
+    nf = round(len(y) * f * 2) // 2 + 1  # number of filter elements (must be odd)
+    p = np.ones(nf // 2)  # ones padding
+    yp = np.concatenate((p * y[0], y, p * y[-1]), 0)  # y padded
+    return np.convolve(yp, np.ones(nf) / nf, mode="valid")  # y-smoothed
+
+
+@plt_settings()
+def plot_pr_curve(
+    px: np.ndarray,
+    py: np.ndarray,
+    ap: np.ndarray,
+    save_dir: Path = Path("pr_curve.png"),
+    names: dict[int, str] = {},
+    on_plot=None,
+):
+    """Plot precision-recall curve.
+
+    Args:
+        px (np.ndarray): X values for the PR curve.
+        py (np.ndarray): Y values for the PR curve.
+        ap (np.ndarray): Average precision values.
+        save_dir (Path, optional): Path to save the plot.
+        names (dict[int, str], optional): Dictionary mapping class indices to class names.
+        on_plot (callable, optional): Function to call after plot is saved.
+    """
+    import matplotlib.pyplot as plt  # scope for faster 'import ultralytics'
+
+    fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
+    py = np.stack(py, axis=1)
+
+    if 0 < len(names) < 21:  # display per-class legend if < 21 classes
+        for i, y in enumerate(py.T):
+            ax.plot(px, y, linewidth=1, label=f"{names[i]} {ap[i, 0]:.3f}")  # plot(recall, precision)
+    else:
+        ax.plot(px, py, linewidth=1, color="gray")  # plot(recall, precision)
+
+    ax.plot(px, py.mean(1), linewidth=3, color="blue", label=f"all classes {ap[:, 0].mean():.3f} mAP@0.5")
+    ax.set_xlabel("Recall")
+    ax.set_ylabel("Precision")
+    ax.set_xlim(0, 1)
+    ax.set_ylim(0, 1)
+    ax.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
+    ax.set_title("Precision-Recall Curve")
+    fig.savefig(save_dir, dpi=250)
+    plt.close(fig)
+    if on_plot:
+        on_plot(save_dir)
+
+
+@plt_settings()
+def plot_mc_curve(
+    px: np.ndarray,
+    py: np.ndarray,
+    save_dir: Path = Path("mc_curve.png"),
+    names: dict[int, str] = {},
+    xlabel: str = "Confidence",
+    ylabel: str = "Metric",
+    on_plot=None,
+):
+    """Plot metric-confidence curve.
+
+    Args:
+        px (np.ndarray): X values for the metric-confidence curve.
+        py (np.ndarray): Y values for the metric-confidence curve.
+        save_dir (Path, optional): Path to save the plot.
+        names (dict[int, str], optional): Dictionary mapping class indices to class names.
+        xlabel (str, optional): X-axis label.
+        ylabel (str, optional): Y-axis label.
+        on_plot (callable, optional): Function to call after plot is saved.
+    """
+    import matplotlib.pyplot as plt  # scope for faster 'import ultralytics'
+
+    fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
+
+    if 0 < len(names) < 21:  # display per-class legend if < 21 classes
+        for i, y in enumerate(py):
+            ax.plot(px, y, linewidth=1, label=f"{names[i]}")  # plot(confidence, metric)
+    else:
+        ax.plot(px, py.T, linewidth=1, color="gray")  # plot(confidence, metric)
+
+    y = smooth(py.mean(0), 0.1)
+    ax.plot(px, y, linewidth=3, color="blue", label=f"all classes {y.max():.2f} at {px[y.argmax()]:.3f}")
+    ax.set_xlabel(xlabel)
+    ax.set_ylabel(ylabel)
+    ax.set_xlim(0, 1)
+    ax.set_ylim(0, 1)
+    ax.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
+    ax.set_title(f"{ylabel}-Confidence Curve")
+    fig.savefig(save_dir, dpi=250)
+    plt.close(fig)
+    if on_plot:
+        on_plot(save_dir)
+
+
+def compute_ap(recall: list[float], precision: list[float]) -> tuple[float, np.ndarray, np.ndarray]:
+    """Compute the average precision (AP) given the recall and precision curves.
+
+    Args:
+        recall (list): The recall curve.
+        precision (list): The precision curve.
+
+    Returns:
+        ap (float): Average precision.
+        mpre (np.ndarray): Precision envelope curve.
+        mrec (np.ndarray): Modified recall curve with sentinel values added at the beginning and end.
+    """
+    # Append sentinel values to beginning and end
+    mrec = np.concatenate(([0.0], recall, [1.0]))
+    mpre = np.concatenate(([1.0], precision, [0.0]))
+
+    # Compute the precision envelope
+    mpre = np.flip(np.maximum.accumulate(np.flip(mpre)))
+
+    # Integrate area under curve
+    method = "interp"  # methods: 'continuous', 'interp'
+    if method == "interp":
+        x = np.linspace(0, 1, 101)  # 101-point interp (COCO)
+        func = np.trapezoid if checks.check_version(np.__version__, ">=2.0") else np.trapz  # np.trapz deprecated
+        ap = func(np.interp(x, mrec, mpre), x)  # integrate
+    else:  # 'continuous'
+        i = np.where(mrec[1:] != mrec[:-1])[0]  # points where x-axis (recall) changes
+        ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])  # area under curve
+
+    return ap, mpre, mrec
+
+
+def ap_per_class(
+    tp: np.ndarray,
+    conf: np.ndarray,
+    pred_cls: np.ndarray,
+    target_cls: np.ndarray,
+    plot: bool = False,
+    on_plot=None,
+    save_dir: Path = Path(),
+    names: dict[int, str] = {},
+    eps: float = 1e-16,
+    prefix: str = "",
+) -> tuple:
+    """Compute the average precision per class for object detection evaluation.
+
+    Args:
+        tp (np.ndarray): Binary array indicating whether the detection is correct (True) or not (False).
+        conf (np.ndarray): Array of confidence scores of the detections.
+        pred_cls (np.ndarray): Array of predicted classes of the detections.
+        target_cls (np.ndarray): Array of true classes of the detections.
+        plot (bool, optional): Whether to plot PR curves or not.
+        on_plot (callable, optional): A callback to pass plots path and data when they are rendered.
+        save_dir (Path, optional): Directory to save the PR curves.
+        names (dict[int, str], optional): Dictionary of class names to plot PR curves.
+        eps (float, optional): A small value to avoid division by zero.
+        prefix (str, optional): A prefix string for saving the plot files.
+
+    Returns:
+        tp (np.ndarray): True positive counts at threshold given by max F1 metric for each class.
+        fp (np.ndarray): False positive counts at threshold given by max F1 metric for each class.
+        p (np.ndarray): Precision values at threshold given by max F1 metric for each class.
+        r (np.ndarray): Recall values at threshold given by max F1 metric for each class.
+        f1 (np.ndarray): F1-score values at threshold given by max F1 metric for each class.
+        ap (np.ndarray): Average precision for each class at different IoU thresholds.
+        unique_classes (np.ndarray): An array of unique classes that have data.
+        p_curve (np.ndarray): Precision curves for each class.
+        r_curve (np.ndarray): Recall curves for each class.
+        f1_curve (np.ndarray): F1-score curves for each class.
+        x (np.ndarray): X-axis values for the curves.
+        prec_values (np.ndarray): Precision values at mAP@0.5 for each class.
+    """
+    # Sort by objectness
+    i = np.argsort(-conf)
+    tp, conf, pred_cls = tp[i], conf[i], pred_cls[i]
+
+    # Find unique classes
+    unique_classes, nt = np.unique(target_cls, return_counts=True)
+    nc = unique_classes.shape[0]  # number of classes, number of detections
+
+    # Create Precision-Recall curve and compute AP for each class
+    x, prec_values = np.linspace(0, 1, 1000), []
+
+    # Average precision, precision and recall curves
+    ap, p_curve, r_curve = np.zeros((nc, tp.shape[1])), np.zeros((nc, 1000)), np.zeros((nc, 1000))
+    for ci, c in enumerate(unique_classes):
+        i = pred_cls == c
+        n_l = nt[ci]  # number of labels
+        n_p = i.sum()  # number of predictions
+        if n_p == 0 or n_l == 0:
+            continue
+
+        # Accumulate FPs and TPs
+        fpc = (1 - tp[i]).cumsum(0)
+        tpc = tp[i].cumsum(0)
+
+        # Recall
+        recall = tpc / (n_l + eps)  # recall curve
+        r_curve[ci] = np.interp(-x, -conf[i], recall[:, 0], left=0)  # negative x, xp because xp decreases
+
+        # Precision
+        precision = tpc / (tpc + fpc)  # precision curve
+        p_curve[ci] = np.interp(-x, -conf[i], precision[:, 0], left=1)  # p at pr_score
+
+        # AP from recall-precision curve
+        for j in range(tp.shape[1]):
+            ap[ci, j], mpre, mrec = compute_ap(recall[:, j], precision[:, j])
+            if j == 0:
+                prec_values.append(np.interp(x, mrec, mpre))  # precision at mAP@0.5
+
+    prec_values = np.array(prec_values) if prec_values else np.zeros((1, 1000))  # (nc, 1000)
+
+    # Compute F1 (harmonic mean of precision and recall)
+    f1_curve = 2 * p_curve * r_curve / (p_curve + r_curve + eps)
+    names = {i: names[k] for i, k in enumerate(unique_classes) if k in names}  # dict: only classes that have data
+    if plot:
+        plot_pr_curve(x, prec_values, ap, save_dir / f"{prefix}PR_curve.png", names, on_plot=on_plot)
+        plot_mc_curve(x, f1_curve, save_dir / f"{prefix}F1_curve.png", names, ylabel="F1", on_plot=on_plot)
+        plot_mc_curve(x, p_curve, save_dir / f"{prefix}P_curve.png", names, ylabel="Precision", on_plot=on_plot)
+        plot_mc_curve(x, r_curve, save_dir / f"{prefix}R_curve.png", names, ylabel="Recall", on_plot=on_plot)
+
+    i = smooth(f1_curve.mean(0), 0.1).argmax()  # max F1 index
+    p, r, f1 = p_curve[:, i], r_curve[:, i], f1_curve[:, i]  # max-F1 precision, recall, F1 values
+    tp = (r * nt).round()  # true positives
+    fp = (tp / (p + eps) - tp).round()  # false positives
+    return tp, fp, p, r, f1, ap, unique_classes.astype(int), p_curve, r_curve, f1_curve, x, prec_values
+
+
+class Metric(SimpleClass):
+    """Class for computing evaluation metrics for Ultralytics YOLO models.
+
+    Attributes:
+        p (list): Precision for each class. Shape: (nc,).
+        r (list): Recall for each class. Shape: (nc,).
+        f1 (list): F1 score for each class. Shape: (nc,).
+        all_ap (list): AP scores for all classes and all IoU thresholds. Shape: (nc, 10).
+        ap_class_index (list): Index of class for each AP score. Shape: (nc,).
+        nc (int): Number of classes.
+
+    Methods:
+        ap50: AP at IoU threshold of 0.5 for all classes.
+        ap: AP at IoU thresholds from 0.5 to 0.95 for all classes.
+        mp: Mean precision of all classes.
+        mr: Mean recall of all classes.
+        map50: Mean AP at IoU threshold of 0.5 for all classes.
+        map75: Mean AP at IoU threshold of 0.75 for all classes.
+        map: Mean AP at IoU thresholds from 0.5 to 0.95 for all classes.
+        mean_results: Mean of results, returns mp, mr, map50, map.
+        class_result: Class-aware result, returns p[i], r[i], ap50[i], ap[i].
+        maps: mAP of each class.
+        fitness: Model fitness as a weighted combination of metrics.
+        update: Update metric attributes with new evaluation results.
+        curves: Provides a list of curves for accessing specific metrics like precision, recall, F1, etc.
+        curves_results: Provide a list of results for accessing specific metrics like precision, recall, F1, etc.
+    """
+
+    def __init__(self) -> None:
+        """Initialize a Metric instance for computing evaluation metrics for the YOLOv8 model."""
+        self.p = []  # (nc, )
+        self.r = []  # (nc, )
+        self.f1 = []  # (nc, )
+        self.all_ap = []  # (nc, 10)
+        self.ap_class_index = []  # (nc, )
+        self.nc = 0
+
+    @property
+    def ap50(self) -> np.ndarray | list:
+        """Return the Average Precision (AP) at an IoU threshold of 0.5 for all classes.
+
+        Returns:
+            (np.ndarray | list): Array of shape (nc,) with AP50 values per class, or an empty list if not available.
+        """
+        return self.all_ap[:, 0] if len(self.all_ap) else []
+
+    @property
+    def ap(self) -> np.ndarray | list:
+        """Return the Average Precision (AP) at an IoU threshold of 0.5-0.95 for all classes.
+
+        Returns:
+            (np.ndarray | list): Array of shape (nc,) with AP50-95 values per class, or an empty list if not available.
+        """
+        return self.all_ap.mean(1) if len(self.all_ap) else []
+
+    @property
+    def mp(self) -> float:
+        """Return the Mean Precision of all classes.
+
+        Returns:
+            (float): The mean precision of all classes.
+        """
+        return self.p.mean() if len(self.p) else 0.0
+
+    @property
+    def mr(self) -> float:
+        """Return the Mean Recall of all classes.
+
+        Returns:
+            (float): The mean recall of all classes.
+        """
+        return self.r.mean() if len(self.r) else 0.0
+
+    @property
+    def map50(self) -> float:
+        """Return the mean Average Precision (mAP) at an IoU threshold of 0.5.
+
+        Returns:
+            (float): The mAP at an IoU threshold of 0.5.
+        """
+        return self.all_ap[:, 0].mean() if len(self.all_ap) else 0.0
+
+    @property
+    def map75(self) -> float:
+        """Return the mean Average Precision (mAP) at an IoU threshold of 0.75.
+
+        Returns:
+            (float): The mAP at an IoU threshold of 0.75.
+        """
+        return self.all_ap[:, 5].mean() if len(self.all_ap) else 0.0
+
+    @property
+    def map(self) -> float:
+        """Return the mean Average Precision (mAP) over IoU thresholds of 0.5 - 0.95 in steps of 0.05.
+
+        Returns:
+            (float): The mAP over IoU thresholds of 0.5 - 0.95 in steps of 0.05.
+        """
+        return self.all_ap.mean() if len(self.all_ap) else 0.0
+
+    def mean_results(self) -> list[float]:
+        """Return mean of results, mp, mr, map50, map."""
+        return [self.mp, self.mr, self.map50, self.map]
+
+    def class_result(self, i: int) -> tuple[float, float, float, float]:
+        """Return class-aware result, p[i], r[i], ap50[i], ap[i]."""
+        return self.p[i], self.r[i], self.ap50[i], self.ap[i]
+
+    @property
+    def maps(self) -> np.ndarray:
+        """Return mAP of each class."""
+        maps = np.zeros(self.nc) + self.map
+        for i, c in enumerate(self.ap_class_index):
+            maps[c] = self.ap[i]
+        return maps
+
+    def fitness(self) -> float:
+        """Return model fitness as a weighted combination of metrics."""
+        w = [0.0, 0.0, 0.0, 1.0]  # weights for [P, R, mAP@0.5, mAP@0.5:0.95]
+        return (np.nan_to_num(np.array(self.mean_results())) * w).sum()
+
+    def update(self, results: tuple):
+        """Update the evaluation metrics with a new set of results.
+
+        Args:
+            results (tuple): A tuple containing evaluation metrics:
+                - p (list): Precision for each class.
+                - r (list): Recall for each class.
+                - f1 (list): F1 score for each class.
+                - all_ap (list): AP scores for all classes and all IoU thresholds.
+                - ap_class_index (list): Index of class for each AP score.
+                - p_curve (list): Precision curve for each class.
+                - r_curve (list): Recall curve for each class.
+                - f1_curve (list): F1 curve for each class.
+                - px (list): X values for the curves.
+                - prec_values (list): Precision values for each class.
+        """
+        (
+            self.p,
+            self.r,
+            self.f1,
+            self.all_ap,
+            self.ap_class_index,
+            self.p_curve,
+            self.r_curve,
+            self.f1_curve,
+            self.px,
+            self.prec_values,
+        ) = results
+
+    @property
+    def curves(self) -> list:
+        """Return a list of curves for accessing specific metrics curves."""
+        return []
+
+    @property
+    def curves_results(self) -> list[list]:
+        """Return a list of curves for accessing specific metrics curves."""
+        return [
+            [self.px, self.prec_values, "Recall", "Precision"],
+            [self.px, self.f1_curve, "Confidence", "F1"],
+            [self.px, self.p_curve, "Confidence", "Precision"],
+            [self.px, self.r_curve, "Confidence", "Recall"],
+        ]
+
+
+class DetMetrics(SimpleClass, DataExportMixin):
+    """Utility class for computing detection metrics such as precision, recall, and mean average precision (mAP).
+
+    Attributes:
+        names (dict[int, str]): A dictionary of class names.
+        box (Metric): An instance of the Metric class for storing detection results.
+        speed (dict[str, float]): A dictionary for storing execution times of different parts of the detection process.
+        task (str): The task type, set to 'detect'.
+        stats (dict[str, list]): A dictionary containing lists for true positives, confidence scores, predicted classes,
+            target classes, and target images.
+        nt_per_class: Number of targets per class.
+        nt_per_image: Number of targets per image.
+
+    Methods:
+        update_stats: Update statistics by appending new values to existing stat collections.
+        process: Process predicted results for object detection and update metrics.
+        clear_stats: Clear the stored statistics.
+        keys: Return a list of keys for accessing specific metrics.
+        mean_results: Calculate mean of detected objects & return precision, recall, mAP50, and mAP50-95.
+        class_result: Return the result of evaluating the performance of an object detection model on a specific class.
+        maps: Return mean Average Precision (mAP) scores per class.
+        fitness: Return the fitness of box object.
+        ap_class_index: Return the average precision index per class.
+        results_dict: Return dictionary of computed performance metrics and statistics.
+        curves: Return a list of curves for accessing specific metrics curves.
+        curves_results: Return a list of computed performance metrics and statistics.
+        summary: Generate a summarized representation of per-class detection metrics as a list of dictionaries.
+    """
+
+    def __init__(self, names: dict[int, str] = {}) -> None:
+        """Initialize a DetMetrics instance with a save directory, plot flag, and class names.
+
+        Args:
+            names (dict[int, str], optional): Dictionary of class names.
+        """
+        self.names = names
+        self.box = Metric()
+        self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
+        self.task = "detect"
+        self.stats = dict(tp=[], conf=[], pred_cls=[], target_cls=[], target_img=[])
+        self.nt_per_class = None
+        self.nt_per_image = None
+
+    def update_stats(self, stat: dict[str, Any]) -> None:
+        """Update statistics by appending new values to existing stat collections.
+
+        Args:
+            stat (dict[str, any]): Dictionary containing new statistical values to append. Keys should match existing
+                keys in self.stats.
+        """
+        for k in self.stats.keys():
+            self.stats[k].append(stat[k])
+
+    def process(self, save_dir: Path = Path("."), plot: bool = False, on_plot=None) -> dict[str, np.ndarray]:
+        """Process predicted results for object detection and update metrics.
+
+        Args:
+            save_dir (Path): Directory to save plots. Defaults to Path(".").
+            plot (bool): Whether to plot precision-recall curves. Defaults to False.
+            on_plot (callable, optional): Function to call after plots are generated. Defaults to None.
+
+        Returns:
+            (dict[str, np.ndarray]): Dictionary containing concatenated statistics arrays.
+        """
+        stats = {k: np.concatenate(v, 0) for k, v in self.stats.items()}  # to numpy
+        if not stats:
+            return stats
+        results = ap_per_class(
+            stats["tp"],
+            stats["conf"],
+            stats["pred_cls"],
+            stats["target_cls"],
+            plot=plot,
+            save_dir=save_dir,
+            names=self.names,
+            on_plot=on_plot,
+            prefix="Box",
+        )[2:]
+        self.box.nc = len(self.names)
+        self.box.update(results)
+        self.nt_per_class = np.bincount(stats["target_cls"].astype(int), minlength=len(self.names))
+        self.nt_per_image = np.bincount(stats["target_img"].astype(int), minlength=len(self.names))
+        return stats
+
+    def clear_stats(self):
+        """Clear the stored statistics."""
+        for v in self.stats.values():
+            v.clear()
+
+    @property
+    def keys(self) -> list[str]:
+        """Return a list of keys for accessing specific metrics."""
+        return ["metrics/precision(B)", "metrics/recall(B)", "metrics/mAP50(B)", "metrics/mAP50-95(B)"]
+
+    def mean_results(self) -> list[float]:
+        """Calculate mean of detected objects & return precision, recall, mAP50, and mAP50-95."""
+        return self.box.mean_results()
+
+    def class_result(self, i: int) -> tuple[float, float, float, float]:
+        """Return the result of evaluating the performance of an object detection model on a specific class."""
+        return self.box.class_result(i)
+
+    @property
+    def maps(self) -> np.ndarray:
+        """Return mean Average Precision (mAP) scores per class."""
+        return self.box.maps
+
+    @property
+    def fitness(self) -> float:
+        """Return the fitness of box object."""
+        return self.box.fitness()
+
+    @property
+    def ap_class_index(self) -> list:
+        """Return the average precision index per class."""
+        return self.box.ap_class_index
+
+    @property
+    def results_dict(self) -> dict[str, float]:
+        """Return dictionary of computed performance metrics and statistics."""
+        keys = [*self.keys, "fitness"]
+        values = ((float(x) if hasattr(x, "item") else x) for x in ([*self.mean_results(), self.fitness]))
+        return dict(zip(keys, values))
+
+    @property
+    def curves(self) -> list[str]:
+        """Return a list of curves for accessing specific metrics curves."""
+        return ["Precision-Recall(B)", "F1-Confidence(B)", "Precision-Confidence(B)", "Recall-Confidence(B)"]
+
+    @property
+    def curves_results(self) -> list[list]:
+        """Return a list of computed performance metrics and statistics."""
+        return self.box.curves_results
+
+    def summary(self, normalize: bool = True, decimals: int = 5) -> list[dict[str, Any]]:
+        """Generate a summarized representation of per-class detection metrics as a list of dictionaries. Includes
+        shared scalar metrics (mAP, mAP50, mAP75) alongside precision, recall, and F1-score for each class.
+
+        Args:
+            normalize (bool): For Detect metrics, everything is normalized by default [0-1].
+            decimals (int): Number of decimal places to round the metrics values to.
+
+        Returns:
+            (list[dict[str, Any]]): A list of dictionaries, each representing one class with corresponding metric
+                values.
+
+        Examples:
+           >>> results = model.val(data="coco8.yaml")
+           >>> detection_summary = results.summary()
+           >>> print(detection_summary)
+        """
+        per_class = {
+            "Box-P": self.box.p,
+            "Box-R": self.box.r,
+            "Box-F1": self.box.f1,
+        }
+        return [
+            {
+                "Class": self.names[self.ap_class_index[i]],
+                "Images": self.nt_per_image[self.ap_class_index[i]],
+                "Instances": self.nt_per_class[self.ap_class_index[i]],
+                **{k: round(v[i], decimals) for k, v in per_class.items()},
+                "mAP50": round(self.class_result(i)[2], decimals),
+                "mAP50-95": round(self.class_result(i)[3], decimals),
+            }
+            for i in range(len(per_class["Box-P"]))
+        ]
+
+
+class SegmentMetrics(DetMetrics):
+    """Calculate and aggregate detection and segmentation metrics over a given set of classes.
+
+    Attributes:
+        names (dict[int, str]): Dictionary of class names.
+        box (Metric): An instance of the Metric class for storing detection results.
+        seg (Metric): An instance of the Metric class to calculate mask segmentation metrics.
+        speed (dict[str, float]): A dictionary for storing execution times of different parts of the detection process.
+        task (str): The task type, set to 'segment'.
+        stats (dict[str, list]): A dictionary containing lists for true positives, confidence scores, predicted classes,
+            target classes, and target images.
+        nt_per_class: Number of targets per class.
+        nt_per_image: Number of targets per image.
+
+    Methods:
+        process: Process the detection and segmentation metrics over the given set of predictions.
+        keys: Return a list of keys for accessing metrics.
+        mean_results: Return the mean metrics for bounding box and segmentation results.
+        class_result: Return classification results for a specified class index.
+        maps: Return mAP scores for object detection and semantic segmentation models.
+        fitness: Return the fitness score for both segmentation and bounding box models.
+        curves: Return a list of curves for accessing specific metrics curves.
+        curves_results: Provide a list of computed performance metrics and statistics.
+        summary: Generate a summarized representation of per-class segmentation metrics as a list of dictionaries.
+    """
+
+    def __init__(self, names: dict[int, str] = {}) -> None:
+        """Initialize a SegmentMetrics instance with a save directory, plot flag, and class names.
+
+        Args:
+            names (dict[int, str], optional): Dictionary of class names.
+        """
+        DetMetrics.__init__(self, names)
+        self.seg = Metric()
+        self.task = "segment"
+        self.stats["tp_m"] = []  # add additional stats for masks
+
+    def process(self, save_dir: Path = Path("."), plot: bool = False, on_plot=None) -> dict[str, np.ndarray]:
+        """Process the detection and segmentation metrics over the given set of predictions.
+
+        Args:
+            save_dir (Path): Directory to save plots. Defaults to Path(".").
+            plot (bool): Whether to plot precision-recall curves. Defaults to False.
+            on_plot (callable, optional): Function to call after plots are generated. Defaults to None.
+
+        Returns:
+            (dict[str, np.ndarray]): Dictionary containing concatenated statistics arrays.
+        """
+        stats = DetMetrics.process(self, save_dir, plot, on_plot=on_plot)  # process box stats
+        results_mask = ap_per_class(
+            stats["tp_m"],
+            stats["conf"],
+            stats["pred_cls"],
+            stats["target_cls"],
+            plot=plot,
+            on_plot=on_plot,
+            save_dir=save_dir,
+            names=self.names,
+            prefix="Mask",
+        )[2:]
+        self.seg.nc = len(self.names)
+        self.seg.update(results_mask)
+        return stats
+
+    @property
+    def keys(self) -> list[str]:
+        """Return a list of keys for accessing metrics."""
+        return [
+            *DetMetrics.keys.fget(self),
+            "metrics/precision(M)",
+            "metrics/recall(M)",
+            "metrics/mAP50(M)",
+            "metrics/mAP50-95(M)",
+        ]
+
+    def mean_results(self) -> list[float]:
+        """Return the mean metrics for bounding box and segmentation results."""
+        return DetMetrics.mean_results(self) + self.seg.mean_results()
+
+    def class_result(self, i: int) -> list[float]:
+        """Return classification results for a specified class index."""
+        return DetMetrics.class_result(self, i) + self.seg.class_result(i)
+
+    @property
+    def maps(self) -> np.ndarray:
+        """Return mAP scores for object detection and semantic segmentation models."""
+        return DetMetrics.maps.fget(self) + self.seg.maps
+
+    @property
+    def fitness(self) -> float:
+        """Return the fitness score for both segmentation and bounding box models."""
+        return self.seg.fitness() + DetMetrics.fitness.fget(self)
+
+    @property
+    def curves(self) -> list[str]:
+        """Return a list of curves for accessing specific metrics curves."""
+        return [
+            *DetMetrics.curves.fget(self),
+            "Precision-Recall(M)",
+            "F1-Confidence(M)",
+            "Precision-Confidence(M)",
+            "Recall-Confidence(M)",
+        ]
+
+    @property
+    def curves_results(self) -> list[list]:
+        """Return a list of computed performance metrics and statistics."""
+        return DetMetrics.curves_results.fget(self) + self.seg.curves_results
+
+    def summary(self, normalize: bool = True, decimals: int = 5) -> list[dict[str, Any]]:
+        """Generate a summarized representation of per-class segmentation metrics as a list of dictionaries. Includes
+        both box and mask scalar metrics (mAP, mAP50, mAP75) alongside precision, recall, and F1-score for
+        each class.
+
+        Args:
+            normalize (bool): For Segment metrics, everything is normalized by default [0-1].
+            decimals (int): Number of decimal places to round the metrics values to.
+
+        Returns:
+            (list[dict[str, Any]]): A list of dictionaries, each representing one class with corresponding metric
+                values.
+
+        Examples:
+            >>> results = model.val(data="coco8-seg.yaml")
+            >>> seg_summary = results.summary(decimals=4)
+            >>> print(seg_summary)
+        """
+        per_class = {
+            "Mask-P": self.seg.p,
+            "Mask-R": self.seg.r,
+            "Mask-F1": self.seg.f1,
+        }
+        summary = DetMetrics.summary(self, normalize, decimals)  # get box summary
+        for i, s in enumerate(summary):
+            s.update({**{k: round(v[i], decimals) for k, v in per_class.items()}})
+        return summary
+
+
+class PoseMetrics(DetMetrics):
+    """Calculate and aggregate detection and pose metrics over a given set of classes.
+
+    Attributes:
+        names (dict[int, str]): Dictionary of class names.
+        pose (Metric): An instance of the Metric class to calculate pose metrics.
+        box (Metric): An instance of the Metric class for storing detection results.
+        speed (dict[str, float]): A dictionary for storing execution times of different parts of the detection process.
+        task (str): The task type, set to 'pose'.
+        stats (dict[str, list]): A dictionary containing lists for true positives, confidence scores, predicted classes,
+            target classes, and target images.
+        nt_per_class: Number of targets per class.
+        nt_per_image: Number of targets per image.
+
+    Methods:
+        process: Process the detection and pose metrics over the given set of predictions. R
+        keys: Return a list of keys for accessing metrics.
+        mean_results: Return the mean results of box and pose.
+        class_result: Return the class-wise detection results for a specific class i.
+        maps: Return the mean average precision (mAP) per class for both box and pose detections.
+        fitness: Return combined fitness score for pose and box detection.
+        curves: Return a list of curves for accessing specific metrics curves.
+        curves_results: Provide a list of computed performance metrics and statistics.
+        summary: Generate a summarized representation of per-class pose metrics as a list of dictionaries.
+    """
+
+    def __init__(self, names: dict[int, str] = {}) -> None:
+        """Initialize the PoseMetrics class with directory path, class names, and plotting options.
+
+        Args:
+            names (dict[int, str], optional): Dictionary of class names.
+        """
+        super().__init__(names)
+        self.pose = Metric()
+        self.task = "pose"
+        self.stats["tp_p"] = []  # add additional stats for pose
+
+    def process(self, save_dir: Path = Path("."), plot: bool = False, on_plot=None) -> dict[str, np.ndarray]:
+        """Process the detection and pose metrics over the given set of predictions.
+
+        Args:
+            save_dir (Path): Directory to save plots. Defaults to Path(".").
+            plot (bool): Whether to plot precision-recall curves. Defaults to False.
+            on_plot (callable, optional): Function to call after plots are generated.
+
+        Returns:
+            (dict[str, np.ndarray]): Dictionary containing concatenated statistics arrays.
+        """
+        stats = DetMetrics.process(self, save_dir, plot, on_plot=on_plot)  # process box stats
+        results_pose = ap_per_class(
+            stats["tp_p"],
+            stats["conf"],
+            stats["pred_cls"],
+            stats["target_cls"],
+            plot=plot,
+            on_plot=on_plot,
+            save_dir=save_dir,
+            names=self.names,
+            prefix="Pose",
+        )[2:]
+        self.pose.nc = len(self.names)
+        self.pose.update(results_pose)
+        return stats
+
+    @property
+    def keys(self) -> list[str]:
+        """Return a list of evaluation metric keys."""
+        return [
+            *DetMetrics.keys.fget(self),
+            "metrics/precision(P)",
+            "metrics/recall(P)",
+            "metrics/mAP50(P)",
+            "metrics/mAP50-95(P)",
+        ]
+
+    def mean_results(self) -> list[float]:
+        """Return the mean results of box and pose."""
+        return DetMetrics.mean_results(self) + self.pose.mean_results()
+
+    def class_result(self, i: int) -> list[float]:
+        """Return the class-wise detection results for a specific class i."""
+        return DetMetrics.class_result(self, i) + self.pose.class_result(i)
+
+    @property
+    def maps(self) -> np.ndarray:
+        """Return the mean average precision (mAP) per class for both box and pose detections."""
+        return DetMetrics.maps.fget(self) + self.pose.maps
+
+    @property
+    def fitness(self) -> float:
+        """Return combined fitness score for pose and box detection."""
+        return self.pose.fitness() + DetMetrics.fitness.fget(self)
+
+    @property
+    def curves(self) -> list[str]:
+        """Return a list of curves for accessing specific metrics curves."""
+        return [
+            *DetMetrics.curves.fget(self),
+            "Precision-Recall(B)",
+            "F1-Confidence(B)",
+            "Precision-Confidence(B)",
+            "Recall-Confidence(B)",
+            "Precision-Recall(P)",
+            "F1-Confidence(P)",
+            "Precision-Confidence(P)",
+            "Recall-Confidence(P)",
+        ]
+
+    @property
+    def curves_results(self) -> list[list]:
+        """Return a list of computed performance metrics and statistics."""
+        return DetMetrics.curves_results.fget(self) + self.pose.curves_results
+
+    def summary(self, normalize: bool = True, decimals: int = 5) -> list[dict[str, Any]]:
+        """Generate a summarized representation of per-class pose metrics as a list of dictionaries. Includes both box
+        and pose scalar metrics (mAP, mAP50, mAP75) alongside precision, recall, and F1-score for each class.
+
+        Args:
+            normalize (bool): For Pose metrics, everything is normalized by default [0-1].
+            decimals (int): Number of decimal places to round the metrics values to.
+
+        Returns:
+            (list[dict[str, Any]]): A list of dictionaries, each representing one class with corresponding metric
+                values.
+
+        Examples:
+            >>> results = model.val(data="coco8-pose.yaml")
+            >>> pose_summary = results.summary(decimals=4)
+            >>> print(pose_summary)
+        """
+        per_class = {
+            "Pose-P": self.pose.p,
+            "Pose-R": self.pose.r,
+            "Pose-F1": self.pose.f1,
+        }
+        summary = DetMetrics.summary(self, normalize, decimals)  # get box summary
+        for i, s in enumerate(summary):
+            s.update({**{k: round(v[i], decimals) for k, v in per_class.items()}})
+        return summary
+
+
+class ClassifyMetrics(SimpleClass, DataExportMixin):
+    """Class for computing classification metrics including top-1 and top-5 accuracy.
+
+    Attributes:
+        top1 (float): The top-1 accuracy.
+        top5 (float): The top-5 accuracy.
+        speed (dict): A dictionary containing the time taken for each step in the pipeline.
+        task (str): The task type, set to 'classify'.
+
+    Methods:
+        process: Process target classes and predicted classes to compute metrics.
+        fitness: Return mean of top-1 and top-5 accuracies as fitness score.
+        results_dict: Return a dictionary with model's performance metrics and fitness score.
+        keys: Return a list of keys for the results_dict property.
+        curves: Return a list of curves for accessing specific metrics curves.
+        curves_results: Provide a list of computed performance metrics and statistics.
+        summary: Generate a single-row summary of classification metrics (Top-1 and Top-5 accuracy).
+    """
+
+    def __init__(self) -> None:
+        """Initialize a ClassifyMetrics instance."""
+        self.top1 = 0
+        self.top5 = 0
+        self.speed = {"preprocess": 0.0, "inference": 0.0, "loss": 0.0, "postprocess": 0.0}
+        self.task = "classify"
+
+    def process(self, targets: torch.Tensor, pred: torch.Tensor):
+        """Process target classes and predicted classes to compute metrics.
+
+        Args:
+            targets (torch.Tensor): Target classes.
+            pred (torch.Tensor): Predicted classes.
+        """
+        pred, targets = torch.cat(pred), torch.cat(targets)
+        correct = (targets[:, None] == pred).float()
+        acc = torch.stack((correct[:, 0], correct.max(1).values), dim=1)  # (top1, top5) accuracy
+        self.top1, self.top5 = acc.mean(0).tolist()
+
+    @property
+    def fitness(self) -> float:
+        """Return mean of top-1 and top-5 accuracies as fitness score."""
+        return (self.top1 + self.top5) / 2
+
+    @property
+    def results_dict(self) -> dict[str, float]:
+        """Return a dictionary with model's performance metrics and fitness score."""
+        return dict(zip([*self.keys, "fitness"], [self.top1, self.top5, self.fitness]))
+
+    @property
+    def keys(self) -> list[str]:
+        """Return a list of keys for the results_dict property."""
+        return ["metrics/accuracy_top1", "metrics/accuracy_top5"]
+
+    @property
+    def curves(self) -> list:
+        """Return a list of curves for accessing specific metrics curves."""
+        return []
+
+    @property
+    def curves_results(self) -> list:
+        """Return a list of curves for accessing specific metrics curves."""
+        return []
+
+    def summary(self, normalize: bool = True, decimals: int = 5) -> list[dict[str, float]]:
+        """Generate a single-row summary of classification metrics (Top-1 and Top-5 accuracy).
+
+        Args:
+            normalize (bool): For Classify metrics, everything is normalized by default [0-1].
+            decimals (int): Number of decimal places to round the metrics values to.
+
+        Returns:
+            (list[dict[str, float]]): A list with one dictionary containing Top-1 and Top-5 classification accuracy.
+
+        Examples:
+            >>> results = model.val(data="imagenet10")
+            >>> classify_summary = results.summary(decimals=4)
+            >>> print(classify_summary)
+        """
+        return [{"top1_acc": round(self.top1, decimals), "top5_acc": round(self.top5, decimals)}]
+
+
+class OBBMetrics(DetMetrics):
+    """Metrics for evaluating oriented bounding box (OBB) detection.
+
+    Attributes:
+        names (dict[int, str]): Dictionary of class names.
+        box (Metric): An instance of the Metric class for storing detection results.
+        speed (dict[str, float]): A dictionary for storing execution times of different parts of the detection process.
+        task (str): The task type, set to 'obb'.
+        stats (dict[str, list]): A dictionary containing lists for true positives, confidence scores, predicted classes,
+            target classes, and target images.
+        nt_per_class: Number of targets per class.
+        nt_per_image: Number of targets per image.
+
+    References:
+        https://arxiv.org/pdf/2106.06072.pdf
+    """
+
+    def __init__(self, names: dict[int, str] = {}) -> None:
+        """Initialize an OBBMetrics instance with directory, plotting, and class names.
+
+        Args:
+            names (dict[int, str], optional): Dictionary of class names.
+        """
+        DetMetrics.__init__(self, names)
+        # TODO: probably remove task as well
+        self.task = "obb"