ultralytics 8.1.37__py3-none-any.whl → 8.1.39__py3-none-any.whl

ultralytics/solutions/heatmap.py

@@ -24,6 +24,8 @@ class Heatmap:
         self.view_img = False
         self.shape = "circle"
 
+        self.names = None  # Classes names
+
         # Image information
         self.imw = None
         self.imh = None
@@ -52,10 +54,13 @@ class Heatmap:
         # Object Counting Information
         self.in_counts = 0
         self.out_counts = 0
-        self.counting_list = []
+        self.count_ids = []
+        self.class_wise_count = {}
         self.count_txt_thickness = 0
-        self.count_txt_color = (0, 0, 0)
-        self.count_color = (255, 255, 255)
+        self.count_txt_color = (255, 255, 255)
+        self.line_color = (255, 255, 255)
+        self.cls_txtdisplay_gap = 50
+        self.fontsize = 0.6
 
         # Decay factor
         self.decay_factor = 0.99
@@ -67,6 +72,7 @@ class Heatmap:
         self,
         imw,
         imh,
+        classes_names=None,
         colormap=cv2.COLORMAP_JET,
         heatmap_alpha=0.5,
         view_img=False,
@@ -74,13 +80,15 @@ class Heatmap:
         view_out_counts=True,
         count_reg_pts=None,
         count_txt_thickness=2,
-        count_txt_color=(0, 0, 0),
-        count_color=(255, 255, 255),
+        count_txt_color=(255, 255, 255),
+        fontsize=0.8,
+        line_color=(255, 255, 255),
         count_reg_color=(255, 0, 255),
         region_thickness=5,
         line_dist_thresh=15,
         decay_factor=0.99,
         shape="circle",
+        cls_txtdisplay_gap=50,
     ):
         """
         Configures the heatmap colormap, width, height and display parameters.
@@ -89,6 +97,7 @@ class Heatmap:
             colormap (cv2.COLORMAP): The colormap to be set.
             imw (int): The width of the frame.
             imh (int): The height of the frame.
+            classes_names (dict): Classes names
             heatmap_alpha (float): alpha value for heatmap display
             view_img (bool): Flag indicating frame display
             view_in_counts (bool): Flag to control whether to display the incounts on video stream.
@@ -96,13 +105,16 @@ class Heatmap:
             count_reg_pts (list): Object counting region points
             count_txt_thickness (int): Text thickness for object counting display
             count_txt_color (RGB color): count text color value
-            count_color (RGB color): count text background color value
+            fontsize (float): Text display font size
+            line_color (RGB color): count highlighter line color
             count_reg_color (RGB color): Color of object counting region
             region_thickness (int): Object counting Region thickness
             line_dist_thresh (int): Euclidean Distance threshold for line counter
             decay_factor (float): value for removing heatmap area after object passed
             shape (str): Heatmap shape, rect or circle shape supported
+            cls_txtdisplay_gap (int): Display gap between each class count
         """
+        self.names = classes_names
         self.imw = imw
         self.imh = imh
         self.heatmap_alpha = heatmap_alpha
@@ -116,29 +128,29 @@ class Heatmap:
             if len(count_reg_pts) == 2:
                 print("Line Counter Initiated.")
                 self.count_reg_pts = count_reg_pts
-                self.counting_region = LineString(count_reg_pts)
-
-            elif len(count_reg_pts) == 4:
-                print("Region Counter Initiated.")
+                self.counting_region = LineString(self.count_reg_pts)
+            elif len(count_reg_pts) >= 3:
+                print("Polygon Counter Initiated.")
                 self.count_reg_pts = count_reg_pts
                 self.counting_region = Polygon(self.count_reg_pts)
-
             else:
-                print("Region or line points Invalid, 2 or 4 points supported")
+                print("Invalid Region points provided, region_points must be 2 for lines or >= 3 for polygons.")
                 print("Using Line Counter Now")
-                self.counting_region = Polygon([(20, 400), (1260, 400)])  # dummy points
+                self.counting_region = LineString(self.count_reg_pts)
 
         # Heatmap new frame
         self.heatmap = np.zeros((int(self.imh), int(self.imw)), dtype=np.float32)
 
         self.count_txt_thickness = count_txt_thickness
         self.count_txt_color = count_txt_color
-        self.count_color = count_color
+        self.fontsize = fontsize
+        self.line_color = line_color
         self.region_color = count_reg_color
         self.region_thickness = region_thickness
         self.decay_factor = decay_factor
         self.line_dist_thresh = line_dist_thresh
         self.shape = shape
+        self.cls_txtdisplay_gap = cls_txtdisplay_gap
 
         # shape of heatmap, if not selected
         if self.shape not in ["circle", "rect"]:
@@ -183,6 +195,12 @@ class Heatmap:
                 )
 
             for box, cls, track_id in zip(self.boxes, self.clss, self.track_ids):
+                # Store class info
+                if self.names[cls] not in self.class_wise_count:
+                    if len(self.names[cls]) > 5:
+                        self.names[cls] = self.names[cls][:5]
+                    self.class_wise_count[self.names[cls]] = {"in": 0, "out": 0}
+
                 if self.shape == "circle":
                     center = (int((box[0] + box[2]) // 2), int((box[1] + box[3]) // 2))
                     radius = min(int(box[2]) - int(box[0]), int(box[3]) - int(box[1])) // 2
@@ -203,23 +221,39 @@ class Heatmap:
                 if len(track_line) > 30:
                     track_line.pop(0)
 
-                # Count objects
-                if len(self.count_reg_pts) == 4:
-                    if self.counting_region.contains(Point(track_line[-1])) and track_id not in self.counting_list:
-                        self.counting_list.append(track_id)
-                        if box[0] < self.counting_region.centroid.x:
-                            self.out_counts += 1
-                        else:
+                prev_position = self.track_history[track_id][-2] if len(self.track_history[track_id]) > 1 else None
+
+                # Count objects in any polygon
+                if len(self.count_reg_pts) >= 3:
+                    is_inside = self.counting_region.contains(Point(track_line[-1]))
+
+                    if prev_position is not None and is_inside and track_id not in self.count_ids:
+                        self.count_ids.append(track_id)
+
+                        if (box[0] - prev_position[0]) * (self.counting_region.centroid.x - prev_position[0]) > 0:
                             self.in_counts += 1
+                            self.class_wise_count[self.names[cls]]["in"] += 1
+                        else:
+                            self.out_counts += 1
+                            self.class_wise_count[self.names[cls]]["out"] += 1
 
+                # Count objects using line
                 elif len(self.count_reg_pts) == 2:
-                    distance = Point(track_line[-1]).distance(self.counting_region)
-                    if distance < self.line_dist_thresh and track_id not in self.counting_list:
-                        self.counting_list.append(track_id)
-                        if box[0] < self.counting_region.centroid.x:
-                            self.out_counts += 1
-                        else:
-                            self.in_counts += 1
+                    is_inside = (box[0] - prev_position[0]) * (self.counting_region.centroid.x - prev_position[0]) > 0
+
+                    if prev_position is not None and is_inside and track_id not in self.count_ids:
+                        distance = Point(track_line[-1]).distance(self.counting_region)
+
+                        if distance < self.line_dist_thresh and track_id not in self.count_ids:
+                            self.count_ids.append(track_id)
+
+                            if (box[0] - prev_position[0]) * (self.counting_region.centroid.x - prev_position[0]) > 0:
+                                self.in_counts += 1
+                                self.class_wise_count[self.names[cls]]["in"] += 1
+                            else:
+                                self.out_counts += 1
+                                self.class_wise_count[self.names[cls]]["out"] += 1
+
         else:
             for box, cls in zip(self.boxes, self.clss):
                 if self.shape == "circle":
@@ -240,26 +274,30 @@ class Heatmap:
         heatmap_normalized = cv2.normalize(self.heatmap, None, 0, 255, cv2.NORM_MINMAX)
         heatmap_colored = cv2.applyColorMap(heatmap_normalized.astype(np.uint8), self.colormap)
 
-        incount_label = f"In Count : {self.in_counts}"
-        outcount_label = f"OutCount : {self.out_counts}"
-
-        # Display counts based on user choice
-        counts_label = None
-        if not self.view_in_counts and not self.view_out_counts:
-            counts_label = None
-        elif not self.view_in_counts:
-            counts_label = outcount_label
-        elif not self.view_out_counts:
-            counts_label = incount_label
-        else:
-            counts_label = f"{incount_label} {outcount_label}"
+        label = "Ultralytics Analytics \t"
+
+        for key, value in self.class_wise_count.items():
+            if value["in"] != 0 or value["out"] != 0:
+                if not self.view_in_counts and not self.view_out_counts:
+                    label = None
+                elif not self.view_in_counts:
+                    label += f"{str.capitalize(key)}: IN {value['in']} \t"
+                elif not self.view_out_counts:
+                    label += f"{str.capitalize(key)}: OUT {value['out']} \t"
+                else:
+                    label += f"{str.capitalize(key)}: IN {value['in']} OUT {value['out']} \t"
+
+        label = label.rstrip()
+        label = label.split("\t")
 
-        if self.count_reg_pts is not None and counts_label is not None:
-            self.annotator.count_labels(
-                counts=counts_label,
-                count_txt_size=self.count_txt_thickness,
+        if self.count_reg_pts is not None and label is not None:
+            self.annotator.display_counts(
+                counts=label,
+                tf=self.count_txt_thickness,
+                fontScale=self.fontsize,
                 txt_color=self.count_txt_color,
-                color=self.count_color,
+                line_color=self.line_color,
+                classwise_txtgap=self.cls_txtdisplay_gap,
             )
 
         self.im0 = cv2.addWeighted(self.im0, 1 - self.heatmap_alpha, heatmap_colored, self.heatmap_alpha, 0)

ultralytics/solutions/object_counter.py

@@ -43,16 +43,19 @@ class ObjectCounter:
         # Object counting Information
         self.in_counts = 0
         self.out_counts = 0
-        self.counting_dict = {}
+        self.count_ids = []
+        self.class_wise_count = {}
         self.count_txt_thickness = 0
-        self.count_txt_color = (0, 0, 0)
-        self.count_color = (255, 255, 255)
+        self.count_txt_color = (255, 255, 255)
+        self.line_color = (255, 255, 255)
+        self.cls_txtdisplay_gap = 50
+        self.fontsize = 0.6
 
         # Tracks info
         self.track_history = defaultdict(list)
         self.track_thickness = 2
         self.draw_tracks = False
-        self.track_color = (0, 255, 0)
+        self.track_color = None
 
         # Check if environment support imshow
         self.env_check = check_imshow(warn=True)
@@ -68,12 +71,14 @@ class ObjectCounter:
         view_in_counts=True,
         view_out_counts=True,
         draw_tracks=False,
-        count_txt_thickness=2,
-        count_txt_color=(0, 0, 0),
-        count_color=(255, 255, 255),
-        track_color=(0, 255, 0),
+        count_txt_thickness=3,
+        count_txt_color=(255, 255, 255),
+        fontsize=0.8,
+        line_color=(255, 255, 255),
+        track_color=None,
         region_thickness=5,
         line_dist_thresh=15,
+        cls_txtdisplay_gap=50,
     ):
         """
         Configures the Counter's image, bounding box line thickness, and counting region points.
@@ -89,11 +94,13 @@ class ObjectCounter:
             draw_tracks (Bool): draw tracks
             count_txt_thickness (int): Text thickness for object counting display
             count_txt_color (RGB color): count text color value
-            count_color (RGB color): count text background color value
+            fontsize (float): Text display font size
+            line_color (RGB color): count highlighter line color
             count_reg_color (RGB color): Color of object counting region
             track_color (RGB color): color for tracks
             region_thickness (int): Object counting Region thickness
             line_dist_thresh (int): Euclidean Distance threshold for line counter
+            cls_txtdisplay_gap (int): Display gap between each class count
         """
         self.tf = line_thickness
         self.view_img = view_img
@@ -108,7 +115,7 @@ class ObjectCounter:
             self.reg_pts = reg_pts
             self.counting_region = LineString(self.reg_pts)
         elif len(reg_pts) >= 3:
-            print("Region Counter Initiated.")
+            print("Polygon Counter Initiated.")
             self.reg_pts = reg_pts
             self.counting_region = Polygon(self.reg_pts)
         else:
@@ -120,10 +127,12 @@ class ObjectCounter:
         self.track_color = track_color
         self.count_txt_thickness = count_txt_thickness
         self.count_txt_color = count_txt_color
-        self.count_color = count_color
+        self.fontsize = fontsize
+        self.line_color = line_color
         self.region_color = count_reg_color
         self.region_thickness = region_thickness
         self.line_dist_thresh = line_dist_thresh
+        self.cls_txtdisplay_gap = cls_txtdisplay_gap
 
     def mouse_event_for_region(self, event, x, y, flags, params):
         """
@@ -171,7 +180,13 @@ class ObjectCounter:
             # Extract tracks
             for box, track_id, cls in zip(boxes, track_ids, clss):
                 # Draw bounding box
-                self.annotator.box_label(box, label=f"{track_id}:{self.names[cls]}", color=colors(int(track_id), True))
+                self.annotator.box_label(box, label=f"{self.names[cls]}#{track_id}", color=colors(int(track_id), True))
+
+                # Store class info
+                if self.names[cls] not in self.class_wise_count:
+                    if len(self.names[cls]) > 5:
+                        self.names[cls] = self.names[cls][:5]
+                    self.class_wise_count[self.names[cls]] = {"in": 0, "out": 0}
 
                 # Draw Tracks
                 track_line = self.track_history[track_id]
@@ -182,68 +197,68 @@ class ObjectCounter:
                 # Draw track trails
                 if self.draw_tracks:
                     self.annotator.draw_centroid_and_tracks(
-                        track_line, color=self.track_color, track_thickness=self.track_thickness
+                        track_line,
+                        color=self.track_color if self.track_color else colors(int(track_id), True),
+                        track_thickness=self.track_thickness,
                     )
 
                 prev_position = self.track_history[track_id][-2] if len(self.track_history[track_id]) > 1 else None
-                centroid = Point((box[:2] + box[2:]) / 2)
-
-                # Count objects
-                if len(self.reg_pts) >= 3:  # any polygon
-                    is_inside = self.counting_region.contains(centroid)
-                    current_position = "in" if is_inside else "out"
 
-                    if prev_position is not None:
-                        if self.counting_dict[track_id] != current_position and is_inside:
-                            self.in_counts += 1
-                            self.counting_dict[track_id] = "in"
-                        elif self.counting_dict[track_id] != current_position and not is_inside:
-                            self.out_counts += 1
-                            self.counting_dict[track_id] = "out"
-                        else:
-                            self.counting_dict[track_id] = current_position
+                # Count objects in any polygon
+                if len(self.reg_pts) >= 3:
+                    is_inside = self.counting_region.contains(Point(track_line[-1]))
 
-                    else:
-                        self.counting_dict[track_id] = current_position
+                    if prev_position is not None and is_inside and track_id not in self.count_ids:
+                        self.count_ids.append(track_id)
 
-                elif len(self.reg_pts) == 2:
-                    if prev_position is not None:
-                        is_inside = (box[0] - prev_position[0]) * (
-                            self.counting_region.centroid.x - prev_position[0]
-                        ) > 0
-                        current_position = "in" if is_inside else "out"
-
-                        if self.counting_dict[track_id] != current_position and is_inside:
+                        if (box[0] - prev_position[0]) * (self.counting_region.centroid.x - prev_position[0]) > 0:
                             self.in_counts += 1
-                            self.counting_dict[track_id] = "in"
-                        elif self.counting_dict[track_id] != current_position and not is_inside:
-                            self.out_counts += 1
-                            self.counting_dict[track_id] = "out"
+                            self.class_wise_count[self.names[cls]]["in"] += 1
                         else:
-                            self.counting_dict[track_id] = current_position
-                    else:
-                        self.counting_dict[track_id] = None
-
-        incount_label = f"In Count : {self.in_counts}"
-        outcount_label = f"OutCount : {self.out_counts}"
-
-        # Display counts based on user choice
-        counts_label = None
-        if not self.view_in_counts and not self.view_out_counts:
-            counts_label = None
-        elif not self.view_in_counts:
-            counts_label = outcount_label
-        elif not self.view_out_counts:
-            counts_label = incount_label
-        else:
-            counts_label = f"{incount_label} {outcount_label}"
+                            self.out_counts += 1
+                            self.class_wise_count[self.names[cls]]["out"] += 1
 
-        if counts_label is not None:
-            self.annotator.count_labels(
-                counts=counts_label,
-                count_txt_size=self.count_txt_thickness,
+                # Count objects using line
+                elif len(self.reg_pts) == 2:
+                    is_inside = (box[0] - prev_position[0]) * (self.counting_region.centroid.x - prev_position[0]) > 0
+
+                    if prev_position is not None and is_inside and track_id not in self.count_ids:
+                        distance = Point(track_line[-1]).distance(self.counting_region)
+
+                        if distance < self.line_dist_thresh and track_id not in self.count_ids:
+                            self.count_ids.append(track_id)
+
+                            if (box[0] - prev_position[0]) * (self.counting_region.centroid.x - prev_position[0]) > 0:
+                                self.in_counts += 1
+                                self.class_wise_count[self.names[cls]]["in"] += 1
+                            else:
+                                self.out_counts += 1
+                                self.class_wise_count[self.names[cls]]["out"] += 1
+
+        label = "Ultralytics Analytics \t"
+
+        for key, value in self.class_wise_count.items():
+            if value["in"] != 0 or value["out"] != 0:
+                if not self.view_in_counts and not self.view_out_counts:
+                    label = None
+                elif not self.view_in_counts:
+                    label += f"{str.capitalize(key)}: IN {value['in']} \t"
+                elif not self.view_out_counts:
+                    label += f"{str.capitalize(key)}: OUT {value['out']} \t"
+                else:
+                    label += f"{str.capitalize(key)}: IN {value['in']} OUT {value['out']} \t"
+
+        label = label.rstrip()
+        label = label.split("\t")
+
+        if label is not None:
+            self.annotator.display_counts(
+                counts=label,
+                tf=self.count_txt_thickness,
+                fontScale=self.fontsize,
                 txt_color=self.count_txt_color,
-                color=self.count_color,
+                line_color=self.line_color,
+                classwise_txtgap=self.cls_txtdisplay_gap,
             )
 
     def display_frames(self):

ultralytics/trackers/utils/gmc.py

@@ -319,7 +319,7 @@ class GMC:
         keypoints = cv2.goodFeaturesToTrack(frame, mask=None, **self.feature_params)
 
         # Handle first frame
-        if not self.initializedFirstFrame:
+        if not self.initializedFirstFrame or self.prevKeyPoints is None:
             self.prevFrame = frame.copy()
             self.prevKeyPoints = copy.copy(keypoints)
             self.initializedFirstFrame = True

ultralytics/utils/callbacks/raytune.py

@@ -14,7 +14,7 @@ except (ImportError, AssertionError):
 
 def on_fit_epoch_end(trainer):
     """Sends training metrics to Ray Tune at end of each epoch."""
-    if ray.tune.is_session_enabled():
+    if ray.train._internal.session._get_session():  # replacement for deprecated ray.tune.is_session_enabled()
         metrics = trainer.metrics
         metrics["epoch"] = trainer.epoch
         session.report(metrics)

ultralytics/utils/loss.py

@@ -157,7 +157,7 @@ class v8DetectionLoss:
         self.hyp = h
         self.stride = m.stride  # model strides
         self.nc = m.nc  # number of classes
-        self.no = m.no
+        self.no = m.nc + m.reg_max * 4
         self.reg_max = m.reg_max
         self.device = device
 

ultralytics/utils/plotting.py

@@ -363,35 +363,49 @@ class Annotator:
         cv2.polylines(self.im, [points], isClosed=False, color=color, thickness=track_thickness)
         cv2.circle(self.im, (int(track[-1][0]), int(track[-1][1])), track_thickness * 2, color, -1)
 
-    def count_labels(self, counts=0, count_txt_size=2, color=(255, 255, 255), txt_color=(0, 0, 0)):
+    def display_counts(
+        self, counts=None, tf=2, fontScale=0.6, line_color=(0, 0, 0), txt_color=(255, 255, 255), classwise_txtgap=55
+    ):
         """
-        Plot counts for object counter.
+        Display counts on im0.
 
         Args:
-            counts (int): objects counts value
-            count_txt_size (int): text size for counts display
-            color (tuple): background color of counts display
-            txt_color (tuple): text color of counts display
+            counts (str): objects count data
+            tf (int): text thickness for display
+            fontScale (float): text fontsize for display
+            line_color (RGB Color): counts highlighter color
+            txt_color (RGB Color): counts display color
+            classwise_txtgap (int): Gap between each class count data
         """
-        self.tf = count_txt_size
-        tl = self.tf or round(0.002 * (self.im.shape[0] + self.im.shape[1]) / 2) + 1
+
+        tl = tf or round(0.002 * (self.im.shape[0] + self.im.shape[1]) / 2) + 1
         tf = max(tl - 1, 1)
 
-        # Get text size for in_count and out_count
-        t_size_in = cv2.getTextSize(str(counts), 0, fontScale=tl / 2, thickness=tf)[0]
+        t_sizes = [cv2.getTextSize(str(count), 0, fontScale=0.8, thickness=tf)[0] for count in counts]
 
-        # Calculate positions for counts label
-        text_width = t_size_in[0]
-        text_x = (self.im.shape[1] - text_width) // 2  # Center x-coordinate
-        text_y = t_size_in[1]
+        max_text_width = max([size[0] for size in t_sizes])
+        max_text_height = max([size[1] for size in t_sizes])
 
-        # Create a rounded rectangle for in_count
-        cv2.rectangle(
-            self.im, (text_x - 5, text_y - 5), (text_x + text_width + 7, text_y + t_size_in[1] + 7), color, -1
-        )
-        cv2.putText(
-            self.im, str(counts), (text_x, text_y + t_size_in[1]), 0, tl / 2, txt_color, self.tf, lineType=cv2.LINE_AA
-        )
+        text_x = self.im.shape[1] - max_text_width - 20
+        text_y = classwise_txtgap
+
+        for i, count in enumerate(counts):
+            text_x_pos = text_x
+            text_y_pos = text_y + i * classwise_txtgap
+
+            cv2.putText(
+                self.im,
+                str(count),
+                (text_x_pos, text_y_pos),
+                cv2.FONT_HERSHEY_SIMPLEX,
+                fontScale=fontScale,
+                color=txt_color,
+                thickness=tf,
+                lineType=cv2.LINE_AA,
+            )
+
+            line_y_pos = text_y_pos + max_text_height + 5
+            cv2.line(self.im, (text_x_pos, line_y_pos), (text_x_pos + max_text_width, line_y_pos), line_color, tf)
 
     @staticmethod
     def estimate_pose_angle(a, b, c):

ultralytics/utils/torch_utils.py

@@ -505,6 +505,20 @@ def strip_optimizer(f: Union[str, Path] = "best.pt", s: str = "") -> None:
     LOGGER.info(f"Optimizer stripped from {f},{f' saved as {s},' if s else ''} {mb:.1f}MB")
 
 
+def convert_optimizer_state_dict_to_fp16(state_dict):
+    """
+    Converts the state_dict of a given optimizer to FP16, focusing on the 'state' key for tensor conversions.
+
+    This method aims to reduce storage size without altering 'param_groups' as they contain non-tensor data.
+    """
+    for state in state_dict["state"].values():
+        for k, v in state.items():
+            if isinstance(v, torch.Tensor) and v.dtype is torch.float32:
+                state[k] = v.half()
+
+    return state_dict
+
+
 def profile(input, ops, n=10, device=None):
     """
     Ultralytics speed, memory and FLOPs profiler.

ultralytics/utils/tuner.py

@@ -40,7 +40,7 @@ def run_ray_tune(
         train_args = {}
 
     try:
-        subprocess.run("pip install ray[tune]<=2.9.3".split(), check=True)  # do not add single quotes here
+        subprocess.run("pip install ray[tune]".split(), check=True)  # do not add single quotes here
 
         import ray
         from ray import tune
@@ -48,7 +48,7 @@ def run_ray_tune(
         from ray.air.integrations.wandb import WandbLoggerCallback
         from ray.tune.schedulers import ASHAScheduler
     except ImportError:
-        raise ModuleNotFoundError('Ray Tune required but not found. To install run: pip install "ray[tune]<=2.9.3"')
+        raise ModuleNotFoundError('Ray Tune required but not found. To install run: pip install "ray[tune]"')
 
     try:
         import wandb

{ultralytics-8.1.37.dist-info → ultralytics-8.1.39.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: ultralytics
-Version: 8.1.37
+Version: 8.1.39
 Summary: Ultralytics YOLOv8 for SOTA object detection, multi-object tracking, instance segmentation, pose estimation and image classification.
 Author: Glenn Jocher, Ayush Chaurasia, Jing Qiu
 Maintainer: Glenn Jocher, Ayush Chaurasia, Jing Qiu