534 lines
23 KiB
Python
534 lines
23 KiB
Python
# Ultralytics YOLO 🚀, AGPL-3.0 license
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"""
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Benchmark a YOLO model formats for speed and accuracy.
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Usage:
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from ultralytics.utils.benchmarks import ProfileModels, benchmark
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ProfileModels(['yolov8n.yaml', 'yolov8s.yaml']).profile()
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benchmark(model='yolov8n.pt', imgsz=160)
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Format | `format=argument` | Model
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--- | --- | ---
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PyTorch | - | yolov8n.pt
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TorchScript | `torchscript` | yolov8n.torchscript
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ONNX | `onnx` | yolov8n.onnx
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OpenVINO | `openvino` | yolov8n_openvino_model/
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TensorRT | `engine` | yolov8n.engine
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CoreML | `coreml` | yolov8n.mlpackage
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TensorFlow SavedModel | `saved_model` | yolov8n_saved_model/
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TensorFlow GraphDef | `pb` | yolov8n.pb
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TensorFlow Lite | `tflite` | yolov8n.tflite
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TensorFlow Edge TPU | `edgetpu` | yolov8n_edgetpu.tflite
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TensorFlow.js | `tfjs` | yolov8n_web_model/
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PaddlePaddle | `paddle` | yolov8n_paddle_model/
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NCNN | `ncnn` | yolov8n_ncnn_model/
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"""
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import glob
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import os
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import platform
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import re
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import shutil
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import time
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from pathlib import Path
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import numpy as np
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import torch.cuda
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import yaml
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from ultralytics import YOLO, YOLOWorld
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from ultralytics.cfg import TASK2DATA, TASK2METRIC
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from ultralytics.engine.exporter import export_formats
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from ultralytics.utils import ARM64, ASSETS, IS_JETSON, IS_RASPBERRYPI, LINUX, LOGGER, MACOS, TQDM, WEIGHTS_DIR
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from ultralytics.utils.checks import IS_PYTHON_3_12, check_requirements, check_yolo
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from ultralytics.utils.downloads import safe_download
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from ultralytics.utils.files import file_size
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from ultralytics.utils.torch_utils import select_device
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def benchmark(
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model=WEIGHTS_DIR / "yolov8n.pt", data=None, imgsz=160, half=False, int8=False, device="cpu", verbose=False
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):
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"""
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Benchmark a YOLO model across different formats for speed and accuracy.
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Args:
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model (str | Path | optional): Path to the model file or directory. Default is
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Path(SETTINGS['weights_dir']) / 'yolov8n.pt'.
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data (str, optional): Dataset to evaluate on, inherited from TASK2DATA if not passed. Default is None.
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imgsz (int, optional): Image size for the benchmark. Default is 160.
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half (bool, optional): Use half-precision for the model if True. Default is False.
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int8 (bool, optional): Use int8-precision for the model if True. Default is False.
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device (str, optional): Device to run the benchmark on, either 'cpu' or 'cuda'. Default is 'cpu'.
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verbose (bool | float | optional): If True or a float, assert benchmarks pass with given metric.
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Default is False.
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Returns:
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df (pandas.DataFrame): A pandas DataFrame with benchmark results for each format, including file size,
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metric, and inference time.
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Example:
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```python
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from ultralytics.utils.benchmarks import benchmark
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benchmark(model='yolov8n.pt', imgsz=640)
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```
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"""
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import pandas as pd # scope for faster 'import ultralytics'
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pd.options.display.max_columns = 10
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pd.options.display.width = 120
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device = select_device(device, verbose=False)
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if isinstance(model, (str, Path)):
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model = YOLO(model)
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is_end2end = getattr(model.model.model[-1], "end2end", False)
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y = []
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t0 = time.time()
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for i, (name, format, suffix, cpu, gpu) in export_formats().iterrows(): # index, (name, format, suffix, CPU, GPU)
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emoji, filename = "❌", None # export defaults
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try:
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# Checks
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if i == 7: # TF GraphDef
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assert model.task != "obb", "TensorFlow GraphDef not supported for OBB task"
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elif i == 9: # Edge TPU
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assert LINUX and not ARM64, "Edge TPU export only supported on non-aarch64 Linux"
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elif i in {5, 10}: # CoreML and TF.js
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assert MACOS or LINUX, "CoreML and TF.js export only supported on macOS and Linux"
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assert not IS_RASPBERRYPI, "CoreML and TF.js export not supported on Raspberry Pi"
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assert not IS_JETSON, "CoreML and TF.js export not supported on NVIDIA Jetson"
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assert not is_end2end, "End-to-end models not supported by CoreML and TF.js yet"
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if i in {3, 5}: # CoreML and OpenVINO
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assert not IS_PYTHON_3_12, "CoreML and OpenVINO not supported on Python 3.12"
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if i in {6, 7, 8, 9, 10}: # All TF formats
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assert not isinstance(model, YOLOWorld), "YOLOWorldv2 TensorFlow exports not supported by onnx2tf yet"
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assert not is_end2end, "End-to-end models not supported by onnx2tf yet"
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if i in {11}: # Paddle
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assert not isinstance(model, YOLOWorld), "YOLOWorldv2 Paddle exports not supported yet"
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assert not is_end2end, "End-to-end models not supported by PaddlePaddle yet"
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if i in {12}: # NCNN
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assert not isinstance(model, YOLOWorld), "YOLOWorldv2 NCNN exports not supported yet"
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assert not is_end2end, "End-to-end models not supported by NCNN yet"
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if "cpu" in device.type:
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assert cpu, "inference not supported on CPU"
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if "cuda" in device.type:
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assert gpu, "inference not supported on GPU"
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# Export
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if format == "-":
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filename = model.ckpt_path or model.cfg
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exported_model = model # PyTorch format
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else:
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filename = model.export(imgsz=imgsz, format=format, half=half, int8=int8, device=device, verbose=False)
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exported_model = YOLO(filename, task=model.task)
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assert suffix in str(filename), "export failed"
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emoji = "❎" # indicates export succeeded
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# Predict
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assert model.task != "pose" or i != 7, "GraphDef Pose inference is not supported"
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assert i not in {9, 10}, "inference not supported" # Edge TPU and TF.js are unsupported
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assert i != 5 or platform.system() == "Darwin", "inference only supported on macOS>=10.13" # CoreML
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exported_model.predict(ASSETS / "bus.jpg", imgsz=imgsz, device=device, half=half)
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# Validate
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data = data or TASK2DATA[model.task] # task to dataset, i.e. coco8.yaml for task=detect
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key = TASK2METRIC[model.task] # task to metric, i.e. metrics/mAP50-95(B) for task=detect
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results = exported_model.val(
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data=data, batch=1, imgsz=imgsz, plots=False, device=device, half=half, int8=int8, verbose=False
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)
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metric, speed = results.results_dict[key], results.speed["inference"]
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fps = round((1000 / speed), 2) # frames per second
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y.append([name, "✅", round(file_size(filename), 1), round(metric, 4), round(speed, 2), fps])
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except Exception as e:
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if verbose:
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assert type(e) is AssertionError, f"Benchmark failure for {name}: {e}"
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LOGGER.warning(f"ERROR ❌️ Benchmark failure for {name}: {e}")
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y.append([name, emoji, round(file_size(filename), 1), None, None, None]) # mAP, t_inference
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# Print results
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check_yolo(device=device) # print system info
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df = pd.DataFrame(y, columns=["Format", "Status❔", "Size (MB)", key, "Inference time (ms/im)", "FPS"])
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name = Path(model.ckpt_path).name
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s = f"\nBenchmarks complete for {name} on {data} at imgsz={imgsz} ({time.time() - t0:.2f}s)\n{df}\n"
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LOGGER.info(s)
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with open("benchmarks.log", "a", errors="ignore", encoding="utf-8") as f:
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f.write(s)
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if verbose and isinstance(verbose, float):
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metrics = df[key].array # values to compare to floor
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floor = verbose # minimum metric floor to pass, i.e. = 0.29 mAP for YOLOv5n
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assert all(x > floor for x in metrics if pd.notna(x)), f"Benchmark failure: metric(s) < floor {floor}"
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return df
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class RF100Benchmark:
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"""Benchmark YOLO model performance across formats for speed and accuracy."""
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def __init__(self):
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"""Function for initialization of RF100Benchmark."""
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self.ds_names = []
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self.ds_cfg_list = []
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self.rf = None
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self.val_metrics = ["class", "images", "targets", "precision", "recall", "map50", "map95"]
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def set_key(self, api_key):
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"""
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Set Roboflow API key for processing.
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Args:
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api_key (str): The API key.
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"""
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check_requirements("roboflow")
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from roboflow import Roboflow
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self.rf = Roboflow(api_key=api_key)
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def parse_dataset(self, ds_link_txt="datasets_links.txt"):
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"""
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Parse dataset links and downloads datasets.
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Args:
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ds_link_txt (str): Path to dataset_links file.
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"""
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(shutil.rmtree("rf-100"), os.mkdir("rf-100")) if os.path.exists("rf-100") else os.mkdir("rf-100")
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os.chdir("rf-100")
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os.mkdir("ultralytics-benchmarks")
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safe_download("https://github.com/ultralytics/assets/releases/download/v0.0.0/datasets_links.txt")
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with open(ds_link_txt, "r") as file:
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for line in file:
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try:
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_, url, workspace, project, version = re.split("/+", line.strip())
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self.ds_names.append(project)
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proj_version = f"{project}-{version}"
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if not Path(proj_version).exists():
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self.rf.workspace(workspace).project(project).version(version).download("yolov8")
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else:
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print("Dataset already downloaded.")
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self.ds_cfg_list.append(Path.cwd() / proj_version / "data.yaml")
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except Exception:
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continue
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return self.ds_names, self.ds_cfg_list
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@staticmethod
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def fix_yaml(path):
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"""
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Function to fix YAML train and val path.
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Args:
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path (str): YAML file path.
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"""
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with open(path, "r") as file:
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yaml_data = yaml.safe_load(file)
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yaml_data["train"] = "train/images"
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yaml_data["val"] = "valid/images"
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with open(path, "w") as file:
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yaml.safe_dump(yaml_data, file)
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def evaluate(self, yaml_path, val_log_file, eval_log_file, list_ind):
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"""
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Model evaluation on validation results.
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Args:
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yaml_path (str): YAML file path.
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val_log_file (str): val_log_file path.
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eval_log_file (str): eval_log_file path.
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list_ind (int): Index for current dataset.
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"""
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skip_symbols = ["🚀", "⚠️", "💡", "❌"]
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with open(yaml_path) as stream:
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class_names = yaml.safe_load(stream)["names"]
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with open(val_log_file, "r", encoding="utf-8") as f:
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lines = f.readlines()
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eval_lines = []
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for line in lines:
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if any(symbol in line for symbol in skip_symbols):
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continue
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entries = line.split(" ")
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entries = list(filter(lambda val: val != "", entries))
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entries = [e.strip("\n") for e in entries]
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eval_lines.extend(
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{
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"class": entries[0],
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"images": entries[1],
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"targets": entries[2],
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"precision": entries[3],
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"recall": entries[4],
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"map50": entries[5],
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"map95": entries[6],
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}
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for e in entries
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if e in class_names or (e == "all" and "(AP)" not in entries and "(AR)" not in entries)
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)
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map_val = 0.0
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if len(eval_lines) > 1:
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print("There's more dicts")
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for lst in eval_lines:
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if lst["class"] == "all":
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map_val = lst["map50"]
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else:
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print("There's only one dict res")
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map_val = [res["map50"] for res in eval_lines][0]
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with open(eval_log_file, "a") as f:
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f.write(f"{self.ds_names[list_ind]}: {map_val}\n")
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class ProfileModels:
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"""
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ProfileModels class for profiling different models on ONNX and TensorRT.
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This class profiles the performance of different models, returning results such as model speed and FLOPs.
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Attributes:
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paths (list): Paths of the models to profile.
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num_timed_runs (int): Number of timed runs for the profiling. Default is 100.
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num_warmup_runs (int): Number of warmup runs before profiling. Default is 10.
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min_time (float): Minimum number of seconds to profile for. Default is 60.
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imgsz (int): Image size used in the models. Default is 640.
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Methods:
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profile(): Profiles the models and prints the result.
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Example:
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```python
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from ultralytics.utils.benchmarks import ProfileModels
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ProfileModels(['yolov8n.yaml', 'yolov8s.yaml'], imgsz=640).profile()
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```
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"""
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def __init__(
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self,
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paths: list,
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num_timed_runs=100,
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num_warmup_runs=10,
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min_time=60,
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imgsz=640,
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half=True,
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trt=True,
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device=None,
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):
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"""
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Initialize the ProfileModels class for profiling models.
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Args:
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paths (list): List of paths of the models to be profiled.
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num_timed_runs (int, optional): Number of timed runs for the profiling. Default is 100.
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num_warmup_runs (int, optional): Number of warmup runs before the actual profiling starts. Default is 10.
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min_time (float, optional): Minimum time in seconds for profiling a model. Default is 60.
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imgsz (int, optional): Size of the image used during profiling. Default is 640.
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half (bool, optional): Flag to indicate whether to use half-precision floating point for profiling.
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trt (bool, optional): Flag to indicate whether to profile using TensorRT. Default is True.
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device (torch.device, optional): Device used for profiling. If None, it is determined automatically.
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"""
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self.paths = paths
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self.num_timed_runs = num_timed_runs
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self.num_warmup_runs = num_warmup_runs
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self.min_time = min_time
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self.imgsz = imgsz
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self.half = half
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self.trt = trt # run TensorRT profiling
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self.device = device or torch.device(0 if torch.cuda.is_available() else "cpu")
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def profile(self):
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"""Logs the benchmarking results of a model, checks metrics against floor and returns the results."""
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files = self.get_files()
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if not files:
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print("No matching *.pt or *.onnx files found.")
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return
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table_rows = []
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output = []
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for file in files:
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engine_file = file.with_suffix(".engine")
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if file.suffix in {".pt", ".yaml", ".yml"}:
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model = YOLO(str(file))
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model.fuse() # to report correct params and GFLOPs in model.info()
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model_info = model.info()
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if self.trt and self.device.type != "cpu" and not engine_file.is_file():
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engine_file = model.export(
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format="engine", half=self.half, imgsz=self.imgsz, device=self.device, verbose=False
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)
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onnx_file = model.export(
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format="onnx", half=self.half, imgsz=self.imgsz, simplify=True, device=self.device, verbose=False
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)
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elif file.suffix == ".onnx":
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model_info = self.get_onnx_model_info(file)
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onnx_file = file
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else:
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continue
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t_engine = self.profile_tensorrt_model(str(engine_file))
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t_onnx = self.profile_onnx_model(str(onnx_file))
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table_rows.append(self.generate_table_row(file.stem, t_onnx, t_engine, model_info))
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output.append(self.generate_results_dict(file.stem, t_onnx, t_engine, model_info))
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self.print_table(table_rows)
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return output
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def get_files(self):
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"""Returns a list of paths for all relevant model files given by the user."""
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files = []
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for path in self.paths:
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path = Path(path)
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if path.is_dir():
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extensions = ["*.pt", "*.onnx", "*.yaml"]
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files.extend([file for ext in extensions for file in glob.glob(str(path / ext))])
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elif path.suffix in {".pt", ".yaml", ".yml"}: # add non-existing
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files.append(str(path))
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else:
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files.extend(glob.glob(str(path)))
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print(f"Profiling: {sorted(files)}")
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return [Path(file) for file in sorted(files)]
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def get_onnx_model_info(self, onnx_file: str):
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"""Retrieves the information including number of layers, parameters, gradients and FLOPs for an ONNX model
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file.
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"""
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return 0.0, 0.0, 0.0, 0.0 # return (num_layers, num_params, num_gradients, num_flops)
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@staticmethod
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def iterative_sigma_clipping(data, sigma=2, max_iters=3):
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"""Applies an iterative sigma clipping algorithm to the given data times number of iterations."""
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data = np.array(data)
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for _ in range(max_iters):
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mean, std = np.mean(data), np.std(data)
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clipped_data = data[(data > mean - sigma * std) & (data < mean + sigma * std)]
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if len(clipped_data) == len(data):
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break
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data = clipped_data
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return data
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def profile_tensorrt_model(self, engine_file: str, eps: float = 1e-3):
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"""Profiles the TensorRT model, measuring average run time and standard deviation among runs."""
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if not self.trt or not Path(engine_file).is_file():
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return 0.0, 0.0
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# Model and input
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model = YOLO(engine_file)
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input_data = np.random.rand(self.imgsz, self.imgsz, 3).astype(np.float32) # must be FP32
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# Warmup runs
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elapsed = 0.0
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for _ in range(3):
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start_time = time.time()
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for _ in range(self.num_warmup_runs):
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model(input_data, imgsz=self.imgsz, verbose=False)
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elapsed = time.time() - start_time
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# Compute number of runs as higher of min_time or num_timed_runs
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num_runs = max(round(self.min_time / (elapsed + eps) * self.num_warmup_runs), self.num_timed_runs * 50)
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# Timed runs
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run_times = []
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for _ in TQDM(range(num_runs), desc=engine_file):
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results = model(input_data, imgsz=self.imgsz, verbose=False)
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run_times.append(results[0].speed["inference"]) # Convert to milliseconds
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run_times = self.iterative_sigma_clipping(np.array(run_times), sigma=2, max_iters=3) # sigma clipping
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return np.mean(run_times), np.std(run_times)
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def profile_onnx_model(self, onnx_file: str, eps: float = 1e-3):
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"""Profiles an ONNX model by executing it multiple times and returns the mean and standard deviation of run
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times.
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"""
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check_requirements("onnxruntime")
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import onnxruntime as ort
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|
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# Session with either 'TensorrtExecutionProvider', 'CUDAExecutionProvider', 'CPUExecutionProvider'
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sess_options = ort.SessionOptions()
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sess_options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
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sess_options.intra_op_num_threads = 8 # Limit the number of threads
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sess = ort.InferenceSession(onnx_file, sess_options, providers=["CPUExecutionProvider"])
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|
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input_tensor = sess.get_inputs()[0]
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input_type = input_tensor.type
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dynamic = not all(isinstance(dim, int) and dim >= 0 for dim in input_tensor.shape) # dynamic input shape
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input_shape = (1, 3, self.imgsz, self.imgsz) if dynamic else input_tensor.shape
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|
|
|
# Mapping ONNX datatype to numpy datatype
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|
if "float16" in input_type:
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|
input_dtype = np.float16
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|
elif "float" in input_type:
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|
input_dtype = np.float32
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|
elif "double" in input_type:
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|
input_dtype = np.float64
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|
elif "int64" in input_type:
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|
input_dtype = np.int64
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|
elif "int32" in input_type:
|
|
input_dtype = np.int32
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|
else:
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|
raise ValueError(f"Unsupported ONNX datatype {input_type}")
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|
|
|
input_data = np.random.rand(*input_shape).astype(input_dtype)
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|
input_name = input_tensor.name
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|
output_name = sess.get_outputs()[0].name
|
|
|
|
# Warmup runs
|
|
elapsed = 0.0
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|
for _ in range(3):
|
|
start_time = time.time()
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|
for _ in range(self.num_warmup_runs):
|
|
sess.run([output_name], {input_name: input_data})
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|
elapsed = time.time() - start_time
|
|
|
|
# Compute number of runs as higher of min_time or num_timed_runs
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|
num_runs = max(round(self.min_time / (elapsed + eps) * self.num_warmup_runs), self.num_timed_runs)
|
|
|
|
# Timed runs
|
|
run_times = []
|
|
for _ in TQDM(range(num_runs), desc=onnx_file):
|
|
start_time = time.time()
|
|
sess.run([output_name], {input_name: input_data})
|
|
run_times.append((time.time() - start_time) * 1000) # Convert to milliseconds
|
|
|
|
run_times = self.iterative_sigma_clipping(np.array(run_times), sigma=2, max_iters=5) # sigma clipping
|
|
return np.mean(run_times), np.std(run_times)
|
|
|
|
def generate_table_row(self, model_name, t_onnx, t_engine, model_info):
|
|
"""Generates a formatted string for a table row that includes model performance and metric details."""
|
|
layers, params, gradients, flops = model_info
|
|
return (
|
|
f"| {model_name:18s} | {self.imgsz} | - | {t_onnx[0]:.2f} ± {t_onnx[1]:.2f} ms | {t_engine[0]:.2f} ± "
|
|
f"{t_engine[1]:.2f} ms | {params / 1e6:.1f} | {flops:.1f} |"
|
|
)
|
|
|
|
@staticmethod
|
|
def generate_results_dict(model_name, t_onnx, t_engine, model_info):
|
|
"""Generates a dictionary of model details including name, parameters, GFLOPS and speed metrics."""
|
|
layers, params, gradients, flops = model_info
|
|
return {
|
|
"model/name": model_name,
|
|
"model/parameters": params,
|
|
"model/GFLOPs": round(flops, 3),
|
|
"model/speed_ONNX(ms)": round(t_onnx[0], 3),
|
|
"model/speed_TensorRT(ms)": round(t_engine[0], 3),
|
|
}
|
|
|
|
@staticmethod
|
|
def print_table(table_rows):
|
|
"""Formats and prints a comparison table for different models with given statistics and performance data."""
|
|
gpu = torch.cuda.get_device_name(0) if torch.cuda.is_available() else "GPU"
|
|
header = (
|
|
f"| Model | size<br><sup>(pixels) | mAP<sup>val<br>50-95 | Speed<br><sup>CPU ONNX<br>(ms) | "
|
|
f"Speed<br><sup>{gpu} TensorRT<br>(ms) | params<br><sup>(M) | FLOPs<br><sup>(B) |"
|
|
)
|
|
separator = (
|
|
"|-------------|---------------------|--------------------|------------------------------|"
|
|
"-----------------------------------|------------------|-----------------|"
|
|
)
|
|
|
|
print(f"\n\n{header}")
|
|
print(separator)
|
|
for row in table_rows:
|
|
print(row)
|