成都网站优化推广方案,网站建设规范,电子商务网站栏目,山西做网站多少钱文章目录 YOLOv5代码解读[02] models/yolov5l.yaml文件解析yolov5l.yaml文件检测头1---耦合头检测头2---解耦头检测头3---ASFF检测头Model类解析parse_model函数 YOLOv5代码解读[02] models/yolov5l.yaml文件解析
yolov5l.yaml文件 # YOLOv5 #x1f680; by Ult… 文章目录 YOLOv5代码解读[02] models/yolov5l.yaml文件解析yolov5l.yaml文件检测头1---耦合头检测头2---解耦头检测头3---ASFF检测头Model类解析parse_model函数 YOLOv5代码解读[02] models/yolov5l.yaml文件解析
yolov5l.yaml文件 # YOLOv5 by Ultralytics, GPL-3.0 license# Parameters
nc: 27 # number of classes
depth_multiple: 1.0 # model depth multiple
width_multiple: 1.0 # layer channel multiple
anchors:- [10,13, 16,30, 33,23] # P3/8- [30,61, 62,45, 59,119] # P4/16- [116,90, 156,198, 373,326] # P5/32# YOLOv5 v6.0 backbone
backbone:# [from, number, module, args][[-1, 1, Conv, [64, 6, 2, 2]], # 0-P1/2[-1, 1, Conv, [128, 3, 2]], # 1-P2/4[-1, 3, C3, [128]],[-1, 1, Conv, [256, 3, 2]], # 3-P3/8[-1, 6, C3, [256]],[-1, 1, Conv, [512, 3, 2]], # 5-P4/16[-1, 9, C3, [512]],[-1, 1, Conv, [1024, 3, 2]], # 7-P5/32[-1, 3, C3, [1024]],[-1, 1, SPPF, [1024, 5]], # 9]# YOLOv5 v6.0 head
head:[[-1, 1, Conv, [512, 1, 1]],[-1, 1, nn.Upsample, [None, 2, nearest]],[[-1, 6], 1, Concat, [1]], # cat backbone P4[-1, 3, C3, [512, False]], # 13[-1, 1, Conv, [256, 1, 1]],[-1, 1, nn.Upsample, [None, 2, nearest]],[[-1, 4], 1, Concat, [1]], # cat backbone P3[-1, 3, C3, [256, False]], # 17 (P3/8-small)[-1, 1, Conv, [256, 3, 2]],[[-1, 14], 1, Concat, [1]], # cat head P4[-1, 3, C3, [512, False]], # 20 (P4/16-medium)[-1, 1, Conv, [512, 3, 2]],[[-1, 10], 1, Concat, [1]], # cat head P5[-1, 3, C3, [1024, False]], # 23 (P5/32-large)[[17, 20, 23], 1, Detect, [nc, anchors, False]], # Detect(P3, P4, P5)]检测头1—耦合头
class Detect(nn.Module):stride None onnx_dynamic Falseexport Falsedef __init__(self, nc80, anchors(), DecoupledFalse, ch(), inplaceTrue): super().__init__()# 是否解耦头self.decoupled Decoupled# 类别数目self.nc nc # 每个anchor输出维度 self.no nc 5 # 检测层的输出数量不同尺度个数 self.nl len(anchors) # 每个尺度特征图的anchor数量self.na len(anchors[0]) // 2 # 初始化步长init gridself.grid [torch.zeros(1)] * self.nl # 初始化anchor gridself.anchor_grid [torch.zeros(1)] * self.nl # self.register_buffer(a, torch.ones(2,3)) # register_buffer的作用是将torch.ones(2,3)这个tensor注册到模型的buffers()属性中并命名为a# 这代表a对应的是一个持久态不会有梯度传播给它但是能被模型的state_dict记录下来可以理解为模型的常数。self.register_buffer(anchors, torch.tensor(anchors).float().view(self.nl, -1, 2)) # (3,3,2) (nl,na,2)# 检测头head输出卷积# 如果是解耦头if self.decoupled:self.m nn.ModuleList(DecoupledHead(x, self.nc, anchors) for x in ch) # 如果是耦合头else:self.m nn.ModuleList(nn.Conv2d(x, self.no*self.na, 1) for x in ch) # use in-place ops (e.g. slice assignment)self.inplace inplace def forward(self, x):# inference outputz []# 对于每个尺度的特征图来说for i in range(self.nl):# conv# P3: [1, 128, 80, 80]-[1, 3*(nc5), 80, 80]# P4: [1, 256, 40, 40]-[1, 3*(nc5), 40, 40]# P5: [1, 512, 20, 20]-[1, 3*(nc5), 20, 20]x[i] self.m[i](x[i])# 以coco数据集为例x(bs,255,20,20) - x(bs,3,20,20,85) (x,y,w,h,c,c1,c2,.........)bs, _, ny, nx x[i].shapex[i] x[i].view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()# 推断过程inferenceif not self.training:# self.grid: [tensor([0.]), tensor([0.]), tensor([0.])]if self.onnx_dynamic or self.grid[i].shape[2:4] ! x[i].shape[2:4]:self.grid[i], self.anchor_grid[i] self._make_grid(nx, ny, i)y x[i].sigmoid()if self.inplace:# 中心点xy 网格gridy[..., 0:2] (y[..., 0:2] * 2 - 0.5 self.grid[i]) * self.stride[i]# 长宽wh 锚anchor_gridy[..., 2:4] (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i]else:xy (y[..., 0:2] * 2 - 0.5 self.grid[i]) * self.stride[i]wh (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i]y torch.cat((xy, wh, y[..., 4:]), -1)z.append(y.view(bs, -1, self.no))return x if self.training else (torch.cat(z, 1),) if self.export else (torch.cat(z, 1), x)# # 转成caffe时候的代码# def forward(self, x):# # inference output# z []# # 对于每个尺度的特征图来说# for i in range(self.nl):# # conv# # P3: [1, 128, 80, 80]-[1, 3*(nc5), 80, 80]# # P4: [1, 256, 40, 40]-[1, 3*(nc5), 40, 40]# # P5: [1, 512, 20, 20]-[1, 3*(nc5), 20, 20]# x[i] self.m[i](x[i])# # y x[i]# y x[i].sigmoid()# z.append(y)# return zdef _make_grid(self, nx20, ny20, i0, torch_1_10check_version(torch.__version__, 1.10.0)):d self.anchors[i].devicet self.anchors[i].dtypey, x torch.arange(ny, deviced, dtypet), torch.arange(nx, deviced, dtypet)# torch1.10.0 meshgrid workaround for torch0.7 compatibilityif torch_1_10:yv, xv torch.meshgrid(y, x, indexingij)else:yv, xv torch.meshgrid(y, x)# 网格grid (x, y)# x[i] -- (bs,3,ny,nx,85)# grid -- (1,3,ny,nx,2)grid torch.stack((xv, yv), 2).expand((1, self.na, ny, nx, 2))# 锚anchor (w, h)# x[i] -- (bs,3,ny,nx,85)# anchor_grid -- (1,3,ny,nx,2)# self.stride: tensor([ 8., 16., 32.])anchor_grid (self.anchors[i].clone() * self.stride[i]).view((1, self.na, 1, 1, 2)).expand((1, self.na, ny, nx, 2))return grid, anchor_grid检测头2—解耦头
class DecoupledHead(nn.Module):def __init__(self, ch256, nc80, anchors()):super().__init__()# 类别个数self.nc nc# 检测层的数量self.nl len(anchors)# 每一层anchor个数self.na len(anchors[0]) // 2self.merge Conv(ch, 128 , 1, 1) # 默认256self.cls_convs1 Conv(128, 64, 3, 1, 1)self.cls_convs2 Conv(64, 64, 3, 1, 1)self.reg_convs1 Conv(128, 64, 3, 1, 1)self.reg_convs2 Conv(64, 64, 3, 1, 1)self.cls_preds nn.Conv2d(64 , self.nc*self.na, 1)self.reg_preds nn.Conv2d(64 , 4*self.na, 1)self.obj_preds nn.Conv2d(64 , 1*self.na, 1)def forward(self, x):x self.merge(x)x1 self.cls_convs1(x)x1 self.cls_convs2(x1)x1 self.cls_preds(x1)x2 self.reg_convs1(x)x2 self.reg_convs2(x2)x21 self.reg_preds(x2)x22 self.obj_preds(x2)out torch.cat([x21, x22, x1], 1)return out检测头3—ASFF检测头
class ASFF_Detect(nn.Module): stride None onnx_dynamic False def __init__(self, nc80, anchors(), ch(), multiplier0.5, rfbFalse, inplaceTrue): super().__init__()# 类别数目self.nc nc # 每个anchor输出维度self.no nc 5 # 检测层的输出数量不同尺度个数 self.nl len(anchors) # 每个尺度特征图的anchor数量self.na len(anchors[0]) // 2 # 初始化步长init gridself.grid [torch.zeros(1)] * self.nl # init anchor gridself.anchor_grid [torch.zeros(1)] * self.nl# self.register_buffer(a, torch.ones(2,3)) # register_buffer的作用是将torch.ones(2,3)这个tensor注册到模型的buffers()属性中并命名为a# 这代表a对应的是一个持久态不会有梯度传播给它但是能被模型的state_dict记录下来可以理解为模型的常数。self.register_buffer(anchors, torch.tensor(anchors).float().view(self.nl, -1, 2)) # (3,3,2) (nl,na,2)# ASFF模块self.l0_fusion ASFFV5(level0, multipliermultiplier, rfbrfb)self.l1_fusion ASFFV5(level1, multipliermultiplier, rfbrfb)self.l2_fusion ASFFV5(level2, multipliermultiplier, rfbrfb)# 检测头head输出卷积self.m nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch) # use in-place ops (e.g. slice assignment)self.inplace inplace def forward(self, x):# inference outputz [] result []result.append(self.l2_fusion(x))result.append(self.l1_fusion(x))result.append(self.l0_fusion(x))x result # 对于每个尺度的特征图来说for i in range(self.nl):# conv # P3: [1, 128, 80, 80]-[1, 3*(nc5), 80, 80]# P4: [1, 256, 40, 40]-[1, 3*(nc5), 40, 40]# P5: [1, 512, 20, 20]-[1, 3*(nc5), 20, 20]x[i] self.m[i](x[i]) # 以coco数据集为例x(bs,255,20,20) - x(bs,3,20,20,85) (x,y,w,h,c,c1,c2,.........)bs, _, ny, nx x[i].shape x[i] x[i].view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()# 推断过程inference if not self.training: # self.grid: [tensor([0.]), tensor([0.]), tensor([0.])]if self.onnx_dynamic or self.grid[i].shape[2:4] ! x[i].shape[2:4]:self.grid[i], self.anchor_grid[i] self._make_grid(nx, ny, i)y x[i].sigmoid()# 这块xy的计算存在大量疑惑if self.inplace:# 中心点xy 网格gridy[..., 0:2] (y[..., 0:2] * 2 - 0.5 self.grid[i]) * self.stride[i] # 长宽wh 锚anchor_gridy[..., 2:4] (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i] else: # for YOLOv5 on AWS Inferentia https://github.com/ultralytics/yolov5/pull/2953xy (y[..., 0:2] * 2 - 0.5 self.grid[i]) * self.stride[i] wh (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i] y torch.cat((xy, wh, y[..., 4:]), -1)z.append(y.view(bs, -1, self.no))return x if self.training else (torch.cat(z, 1), x)def _make_grid(self, nx20, ny20, i0):d self.anchors[i].deviceif check_version(torch.__version__, 1.10.0): # torch1.10.0 meshgrid workaround for torch0.7 compatibilityyv, xv torch.meshgrid([torch.arange(ny, deviced), torch.arange(nx, deviced)], indexingij)else:yv, xv torch.meshgrid([torch.arange(ny, deviced), torch.arange(nx, deviced)])# 网格grid (x, y)# x[i] -- (bs,3,ny,nx,85)# grid -- (1,3,ny,nx,2)grid torch.stack((xv, yv), 2).expand((1, self.na, ny, nx, 2)).float()# 锚anchor (w, h)# x[i] -- (bs,3,ny,nx,85)# anchor_grid -- (1,3,ny,nx,2)# self.stride: tensor([ 8., 16., 32.])anchor_grid (self.anchors[i].clone() * self.stride[i]).view((1, self.na, 1, 1, 2)).expand((1, self.na, ny, nx, 2)).float()return grid, anchor_gridModel类解析
class Model(nn.Module):def __init__(self, cfgyolov5s.yaml, ch3, ncNone, anchorsNone): super().__init__()# 字典dict类型if isinstance(cfg, dict):self.yaml cfg # yaml文件else: self.yaml_file Path(cfg).name# 用ascii编码忽略错误的形式打开文件cfgwith open(cfg, encodingascii, errorsignore) as f:self.yaml yaml.safe_load(f) # 输入通道ch self.yaml[ch] self.yaml.get(ch, ch) # 重写yaml文件中的ncif nc and nc ! self.yaml[nc]:LOGGER.info(fOverriding model.yaml nc{self.yaml[nc]} with nc{nc})self.yaml[nc] nc # 重写yaml文件中的anchors if anchors:LOGGER.info(fOverriding model.yaml anchors with anchors{anchors})self.yaml[anchors] round(anchors) # 根据yaml文件的model_dict解析模型self.model, self.save parse_model(deepcopy(self.yaml), ch[ch]) # 默认类别名字 从0到nc-1self.names [str(i) for i in range(self.yaml[nc])] self.inplace self.yaml.get(inplace, True)# 设置Detect()中的inplace, stride, anchorsm self.model[-1] if isinstance(m, Detect) or isinstance(m, ASFF_Detect):s 256m.inplace self.inplace# 根据前向传播forward 计算步长stridem.stride torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))])# 把anchors放缩到了3个不同的尺度# 这块的形状为什么这样变化m.anchors / m.stride.view(-1, 1, 1)# 根据YOLOv5 Detect()模块m的步幅顺序检查给定锚框顺序必要时进行纠正。check_anchor_order(m)self.stride m.strideif m.decoupled:LOGGER.info(decoupled done)pass else:self._initialize_biases() # only run once # 初始化权重weights和偏置biasesinitialize_weights(self)self.info()LOGGER.info()def forward(self, x, augmentFalse, profileFalse, visualizeFalse):# 推断时增强augmented inferenceif augment:return self._forward_augment(x) # 单尺度推断single-scale inference 或者训练trainreturn self._forward_once(x, profile, visualize) def _forward_augment(self, x):# height, widthimg_size x.shape[-2:] s [1, 0.83, 0.67] # scalesf [None, 3, None] # flips (2-ud, 3-lr)y [] # outputsfor si, fi in zip(s, f):xi scale_img(x.flip(fi) if fi else x, si, gsint(self.stride.max()))yi self._forward_once(xi)[0] # forward# cv2.imwrite(fimg_{si}.jpg, 255 * xi[0].cpu().numpy().transpose((1, 2, 0))[:, :, ::-1]) # saveyi self._descale_pred(yi, fi, si, img_size)y.append(yi)y self._clip_augmented(y) # clip augmented tailsreturn torch.cat(y, 1), None # augmented inference, traindef _forward_once(self, x, profileFalse, visualizeFalse):y, dt [], [] for m in self.model:# 输入不是来自于上一个层的输出if m.f ! -1: x y[m.f] if isinstance(m.f, int) else [x if j -1 else y[j] for j in m.f]if profile:self._profile_one_layer(m, x, dt)# 计算输出x m(x)y.append(x if m.i in self.save else None) # 特征可视化if visualize:feature_visualization(x, m.type, m.i, save_dirvisualize)return xdef _descale_pred(self, p, flips, scale, img_size):# de-scale predictions following augmented inference (inverse operation)if self.inplace:p[..., :4] / scale # de-scaleif flips 2:p[..., 1] img_size[0] - p[..., 1] # de-flip udelif flips 3:p[..., 0] img_size[1] - p[..., 0] # de-flip lrelse:x, y, wh p[..., 0:1] / scale, p[..., 1:2] / scale, p[..., 2:4] / scale # de-scaleif flips 2:y img_size[0] - y # de-flip udelif flips 3:x img_size[1] - x # de-flip lrp torch.cat((x, y, wh, p[..., 4:]), -1)return pdef _clip_augmented(self, y):# Clip YOLOv5 augmented inference tailsnl self.model[-1].nl # number of detection layers (P3-P5)g sum(4 ** x for x in range(nl)) # grid pointse 1 # exclude layer counti (y[0].shape[1] // g) * sum(4 ** x for x in range(e)) # indicesy[0] y[0][:, :-i] # largei (y[-1].shape[1] // g) * sum(4 ** (nl - 1 - x) for x in range(e)) # indicesy[-1] y[-1][:, i:] # smallreturn ydef _profile_one_layer(self, m, x, dt):c isinstance(m, Detect) or isinstance(m, ASFF_Detect) # is final layer, copy input as inplace fixo thop.profile(m, inputs(x.copy() if c else x,), verboseFalse)[0] / 1E9 * 2 if thop else 0 # FLOPst time_sync()for _ in range(10):m(x.copy() if c else x)dt.append((time_sync() - t) * 100)if m self.model[0]:LOGGER.info(f{time (ms):10s} {GFLOPs:10s} {params:10s} {module})LOGGER.info(f{dt[-1]:10.2f} {o:10.2f} {m.np:10.0f} {m.type})if c:LOGGER.info(f{sum(dt):10.2f} {-:10s} {-:10s} Total)def _initialize_biases(self, cfNone): # initialize biases into Detect(), cf is class frequency# https://arxiv.org/abs/1708.02002 section 3.3# cf torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlengthnc) 1.m self.model[-1] # mi-- Conv2d(128, 255, kernel_size(1, 1), stride(1, 1)) # s -- tensor(8.)for mi, s in zip(m.m, m.stride): # conv.bias(255) to (3,85)b mi.bias.view(m.na, -1) b.data[:, 4] math.log(8 / (640 / s) ** 2) # obj (8 objects per 640 image)b.data[:, 5:] math.log(0.6 / (m.nc - 0.999999)) if cf is None else torch.log(cf / cf.sum()) # clsmi.bias torch.nn.Parameter(b.view(-1), requires_gradTrue)def _print_biases(self):m self.model[-1] for mi in m.m: b mi.bias.detach().view(m.na, -1).T LOGGER.info((%6g Conv2d.bias: %10.3g * 6) % (mi.weight.shape[1], *b[:5].mean(1).tolist(), b[5:].mean()))def _print_weights(self):for m in self.model.modules():if type(m) is Bottleneck:LOGGER.info(%10.3g % (m.w.detach().sigmoid() * 2)) # shortcut weightsdef fuse(self): # fuse model Conv2d() BatchNorm2d() layersLOGGER.info(Fusing layers... )for m in self.model.modules():if isinstance(m, (Conv, DWConv)) and hasattr(m, bn):m.conv fuse_conv_and_bn(m.conv, m.bn) # update convdelattr(m, bn) # remove batchnormm.forward m.forward_fuse # update forwardself.info()return selfdef info(self, verboseFalse, img_size640): # 打印模型信息model_info(self, verbose, img_size)def _apply(self, fn):# Apply to(), cpu(), cuda(), half() to model tensors that are not parameters or registered buffersself super()._apply(fn)m self.model[-1] # Detect()if isinstance(m, Detect) or isinstance(m, ASFF_Detect) or isinstance(m, Decoupled_Detect):m.stride fn(m.stride)m.grid list(map(fn, m.grid))if isinstance(m.anchor_grid, list):m.anchor_grid list(map(fn, m.anchor_grid))return selfparse_model函数
def parse_model(d, ch): # model_dict, input_channels(3)LOGGER.info(f\n{:3}{from:18}{n:3}{params:10} {module:40}{arguments:30})# nc:类别数; gd:depth_multiple; gw:width_multipleanchors, nc, gd, gw d[anchors], d[nc], d[depth_multiple], d[width_multiple]# anchor数目, 每层为3na (len(anchors[0]) // 2) if isinstance(anchors, list) else anchors # 每层的输出na*(classes5)no na * (nc 5) # layers, savelist, ch_outlayers, save, c2 [], [], ch[-1] # from, number, module, args# 以[-1, 1, Conv, [64, 6, 2, 2]为例, ch[3], f-1, n1, mConv, args[64, 6, 2, 2]# [-1, 1, Conv, [128, 3, 2]# [-1, 3, C3, [128]]# [-1, 1, SPPF, [1024, 5]]# [-1, 1, nn.Upsample, [None, 2, nearest]]# [[-1, 6], 1, Concat, [1]]# [-1, 3, C3, [512, False]]for i, (f, n, m, args) in enumerate(d[backbone] d[head]):# 把strings转为本身的类型m eval(m) if isinstance(m, str) else m for j, a in enumerate(args):try:# 列表形式args[j] eval(a) if isinstance(a, str) else a except NameError:pass# depth_gain 深度缩放因子n n_ max(round(n*gd), 1) if n 1 else n # 对于不同类型的卷积模块 if m in [Conv, DWConv, CrossConv, GhostConv, Bottleneck, GhostBottleneck,BottleneckCSP, MobileBottleneck, SPP, SPPF, MixConv2d, Focus,InvertedResidual, ConvBNReLU, C3, C3TR, C3SPP, C3Ghost, CoordAtt,CoordAttv2, OSA_Stage]:# i0, c13, c264; # i1, c132, c2128; # i2, c164, c2128;# c1输入通道c2输出通道c1, c2 ch[f], args[0]# width_gain 宽度缩放因子# 说明不是输出if c2 ! no: # 输出通道数必须为8的倍数c2 make_divisible(c2*gw, 8)# i0, [3, 32, 6, 2, 2]# i1, [32, 64, 3, 2]# i2, [64, 64]args [c1, c2, *args[1:]]# 堆叠次数number of repeats# 注意网络设计理念stage --- block --- layerif m in [BottleneckCSP, C3, C3TR, C3Ghost]:args.insert(2, n) n 1elif m is nn.BatchNorm2d:args [ch[f]]elif m is Concat:c2 sum(ch[x] for x in f)elif m is Detect:args.append([ch[x] for x in f])if isinstance(args[1], int): # number of anchorsargs[1] [list(range(args[1] * 2))] * len(f)elif m is ASFF_Detect :args.append([ch[x] for x in f])if isinstance(args[1], int): # number of anchorsargs[1] [list(range(args[1] * 2))] * len(f) elif m is Contract:c2 ch[f] * args[0] ** 2elif m is Expand:c2 ch[f] // args[0] ** 2elif m is ConvNeXt_Block:c2 args[0]args args[1:]else:c2 ch[f]# module# Conv(3, 32, 6, 2, 2]m_ nn.Sequential(*(m(*args) for _ in range(n))) if n 1 else m(*args) # m class models.common.Conv# str(m)[8:-2] models.common.Convt str(m)[8:-2].replace(__main__., ) # 参数(parameters)/模型参数, 由模型通过学习得到的变量比如权重和偏置.# m_.parameters(): generator object Module.parameters at 0x7fcf4c2059d0np sum(x.numel() for x in m_.parameters()) # attach index, from index, type, number paramsm_.i, m_.f, m_.type, m_.np i, f, t, np LOGGER.info(f{i:3}{str(f):18}{n_:3}{np:10.0f} {t:40}{str(args):30}) # savelist [6, 4, 14, 10, 17, 20, 23]save.extend(x % i for x in ([f] if isinstance(f, int) else f) if x ! -1) # layers列表layers.append(m_)if i 0:ch []# ch列表ch.append(c2)return nn.Sequential(*layers), sorted(save)
