openpilot1/tinygrad_repo/examples/yolov8.py

from tinygrad.nn import Conv2d, BatchNorm2d
from tinygrad.tensor import Tensor
import numpy as np
from itertools import chain
from extra.utils import get_child, fetch, download_file
from pathlib import Path
import cv2
from collections import defaultdict
import time, io, sys
from tinygrad.nn.state import safe_load, load_state_dict


#Model architecture from https://github.com/ultralytics/ultralytics/issues/189
#The upsampling class has been taken from this pull request https://github.com/tinygrad/tinygrad/pull/784 by dc-dc-dc. Now 2(?) models use upsampling. (retinet and this)

#Pre processing image functions.
def compute_transform(image, new_shape=(640, 640), auto=False, scaleFill=False, scaleup=True, stride=32):
  shape = image.shape[:2]  # current shape [height, width]
  new_shape = (new_shape, new_shape) if isinstance(new_shape, int) else new_shape
  r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])
  r = min(r, 1.0) if not scaleup else r
  new_unpad = (int(round(shape[1] * r)), int(round(shape[0] * r)))
  dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1]
  dw, dh = (np.mod(dw, stride), np.mod(dh, stride)) if auto else (0.0, 0.0)
  new_unpad = (new_shape[1], new_shape[0]) if scaleFill else new_unpad
  dw /= 2
  dh /= 2
  image = cv2.resize(image, new_unpad, interpolation=cv2.INTER_LINEAR) if shape[::-1] != new_unpad else image
  top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))
  left, right = int(round(dw - 0.1)), int(round(dw + 0.1))
  image = cv2.copyMakeBorder(image, top, bottom, left, right, cv2.BORDER_CONSTANT, value=(114, 114, 114))
  return image

def preprocess(im, imgsz=640, model_stride=32, model_pt=True):
  same_shapes = all(x.shape == im[0].shape for x in im)
  auto = same_shapes and model_pt
  im = Tensor([compute_transform(x, new_shape=imgsz, auto=auto, stride=model_stride) for x in im])
  im = Tensor.stack(im) if im.shape[0] > 1 else im
  im = im[..., ::-1].permute(0, 3, 1, 2)  # BGR to RGB, BHWC to BCHW, (n, 3, h, w)
  im /= 255  # 0 - 255 to 0.0 - 1.0
  return im

# Post Processing functions
def box_area(box):
  return (box[:, 2] - box[:, 0]) * (box[:, 3] - box[:, 1])

def box_iou(box1, box2):
  lt = np.maximum(box1[:, None, :2], box2[:, :2])
  rb = np.minimum(box1[:, None, 2:], box2[:, 2:])
  wh = np.clip(rb - lt, 0, None)
  inter = wh[:, :, 0] * wh[:, :, 1]
  area1 = box_area(box1)[:, None]
  area2 = box_area(box2)[None, :]
  iou = inter / (area1 + area2 - inter)
  return iou

def compute_nms(boxes, scores, iou_threshold):
  order, keep = scores.argsort()[::-1], []
  while order.size > 0:
    i = order[0]
    keep.append(i)
    if order.size == 1:
      break
    iou = box_iou(boxes[i][None, :], boxes[order[1:]])
    inds = np.where(iou.squeeze() <= iou_threshold)[0]
    order = order[inds + 1]
  return np.array(keep)

def non_max_suppression(prediction, conf_thres=0.25, iou_thres=0.45, agnostic=False, max_det=300, nc=0, max_wh=7680):
  prediction = prediction[0] if isinstance(prediction, (list, tuple)) else prediction
  bs, nc = prediction.shape[0], nc or (prediction.shape[1] - 4)
  xc = np.amax(prediction[:, 4:4 + nc], axis=1) > conf_thres
  nm = prediction.shape[1] - nc - 4
  output = [np.zeros((0, 6 + nm))] * bs

  for xi, x in enumerate(prediction):
    x = x.swapaxes(0, -1)[xc[xi]]
    if not x.shape[0]: continue
    box, cls, mask = np.split(x, [4, 4 + nc], axis=1)
    conf, j = np.max(cls, axis=1, keepdims=True), np.argmax(cls, axis=1, keepdims=True)
    x = np.concatenate((xywh2xyxy(box), conf, j.astype(np.float32), mask), axis=1)
    x = x[conf.ravel() > conf_thres]
    if not x.shape[0]: continue
    x = x[np.argsort(-x[:, 4])]
    c = x[:, 5:6] * (0 if agnostic else max_wh)
    boxes, scores = x[:, :4] + c, x[:, 4]
    i = compute_nms(boxes, scores, iou_thres)[:max_det]
    output[xi] = x[i]
  return output

def postprocess(preds, img, orig_imgs):
  print('copying to CPU now for post processing')
  #if you are on CPU, this causes an overflow runtime error. doesn't "seem" to make any difference in the predictions though.
  # TODO: make non_max_suppression in tinygrad - to make this faster
  preds = preds.numpy() if isinstance(preds, Tensor) else preds
  preds = non_max_suppression(prediction=preds, conf_thres=0.25, iou_thres=0.7, agnostic=False, max_det=300)
  all_preds = []
  for i, pred in enumerate(preds):
    orig_img = orig_imgs[i] if isinstance(orig_imgs, list) else orig_imgs
    if not isinstance(orig_imgs, Tensor):
      pred[:, :4] = scale_boxes(img.shape[2:], pred[:, :4], orig_img.shape)
      all_preds.append(pred)
  return all_preds

def draw_bounding_boxes_and_save(orig_img_paths, output_img_paths, all_predictions, class_labels, iou_threshold=0.5):
  color_dict = {label: tuple((((i+1) * 50) % 256, ((i+1) * 100) % 256, ((i+1) * 150) % 256)) for i, label in enumerate(class_labels)}
  font = cv2.FONT_HERSHEY_SIMPLEX

  def is_bright_color(color):
    r, g, b = color
    brightness = (r * 299 + g * 587 + b * 114) / 1000
    return brightness > 127

  for img_idx, (orig_img_path, output_img_path, predictions) in enumerate(zip(orig_img_paths, output_img_paths, all_predictions)):
    predictions = np.array(predictions)
    orig_img = cv2.imread(orig_img_path) if not isinstance(orig_img_path, np.ndarray) else cv2.imdecode(orig_img_path, 1)
    height, width, _ = orig_img.shape
    box_thickness = int((height + width) / 400)
    font_scale = (height + width) / 2500

    grouped_preds = defaultdict(list)
    object_count = defaultdict(int)

    for pred_np in predictions:
      grouped_preds[int(pred_np[-1])].append(pred_np)

    def draw_box_and_label(pred, color):
      x1, y1, x2, y2, conf, _ = pred
      x1, y1, x2, y2 = map(int, (x1, y1, x2, y2))
      cv2.rectangle(orig_img, (x1, y1), (x2, y2), color, box_thickness)
      label = f"{class_labels[class_id]} {conf:.2f}"
      text_size, _ = cv2.getTextSize(label, font, font_scale, 1)
      label_y, bg_y = (y1 - 4, y1 - text_size[1] - 4) if y1 - text_size[1] - 4 > 0 else (y1 + text_size[1], y1)
      cv2.rectangle(orig_img, (x1, bg_y), (x1 + text_size[0], bg_y + text_size[1]), color, -1)
      font_color = (0, 0, 0) if is_bright_color(color) else (255, 255, 255)
      cv2.putText(orig_img, label, (x1, label_y), font, font_scale, font_color, 1, cv2.LINE_AA)

    for class_id, pred_list in grouped_preds.items():
      pred_list = np.array(pred_list)
      while len(pred_list) > 0:
        max_conf_idx = np.argmax(pred_list[:, 4])
        max_conf_pred = pred_list[max_conf_idx]
        pred_list = np.delete(pred_list, max_conf_idx, axis=0)
        color = color_dict[class_labels[class_id]]
        draw_box_and_label(max_conf_pred, color)
        object_count[class_labels[class_id]] += 1
        iou_scores = box_iou(np.array([max_conf_pred[:4]]), pred_list[:, :4])
        low_iou_indices = np.where(iou_scores[0] < iou_threshold)[0]
        pred_list = pred_list[low_iou_indices]
        for low_conf_pred in pred_list:
          draw_box_and_label(low_conf_pred, color)

    print(f"Image {img_idx + 1}:")
    print("Objects detected:")
    for obj, count in object_count.items():
      print(f"- {obj}: {count}")

    cv2.imwrite(output_img_path, orig_img)
    print(f'saved detections at {output_img_path}')

# utility functions for forward pass.
def dist2bbox(distance, anchor_points, xywh=True, dim=-1):
  lt, rb = distance.chunk(2, dim)
  x1y1 = anchor_points - lt
  x2y2 = anchor_points + rb
  if xywh:
    c_xy = (x1y1 + x2y2) / 2
    wh = x2y2 - x1y1
    return c_xy.cat(wh, dim=1)
  return x1y1.cat(x2y2, dim=1)

def make_anchors(feats, strides, grid_cell_offset=0.5):
  anchor_points, stride_tensor = [], []
  assert feats is not None
  for i, stride in enumerate(strides):
    _, _, h, w = feats[i].shape
    sx = Tensor.arange(w) + grid_cell_offset
    sy = Tensor.arange(h) + grid_cell_offset

    # this is np.meshgrid but in tinygrad
    sx = sx.reshape(1, -1).repeat([h, 1]).reshape(-1)
    sy = sy.reshape(-1, 1).repeat([1, w]).reshape(-1)

    anchor_points.append(Tensor.stack((sx, sy), -1).reshape(-1, 2))
    stride_tensor.append(Tensor.full((h * w), stride))
  anchor_points = anchor_points[0].cat(anchor_points[1], anchor_points[2])
  stride_tensor = stride_tensor[0].cat(stride_tensor[1], stride_tensor[2]).unsqueeze(1)
  return anchor_points, stride_tensor

# this function is from the original implementation
def autopad(k, p=None, d=1):  # kernel, padding, dilation
  if d > 1:
    k = d * (k - 1) + 1 if isinstance(k, int) else [d * (x - 1) + 1 for x in k]  # actual kernel-size
  if p is None:
    p = k // 2 if isinstance(k, int) else [x // 2 for x in k]  # auto-pad
  return p

def clip_boxes(boxes, shape):
  boxes[..., [0, 2]] = np.clip(boxes[..., [0, 2]], 0, shape[1])  # x1, x2
  boxes[..., [1, 3]] = np.clip(boxes[..., [1, 3]], 0, shape[0])  # y1, y2
  return boxes

def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None):
  gain = ratio_pad if ratio_pad else min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1])
  pad = ((img1_shape[1] - img0_shape[1] * gain) / 2, (img1_shape[0] - img0_shape[0] * gain) / 2)
  boxes_np = boxes.numpy() if isinstance(boxes, Tensor) else boxes
  boxes_np[..., [0, 2]] -= pad[0]
  boxes_np[..., [1, 3]] -= pad[1]
  boxes_np[..., :4] /= gain
  boxes_np = clip_boxes(boxes_np, img0_shape)
  return boxes_np

def xywh2xyxy(x):
  xy = x[..., :2]  # center x, y
  wh = x[..., 2:4]  # width, height
  xy1 = xy - wh / 2  # top left x, y
  xy2 = xy + wh / 2  # bottom right x, y
  result = np.concatenate((xy1, xy2), axis=-1)
  return Tensor(result) if isinstance(x, Tensor) else result

def get_variant_multiples(variant):
  return {'n':(0.33, 0.25, 2.0), 's':(0.33, 0.50, 2.0), 'm':(0.67, 0.75, 1.5), 'l':(1.0, 1.0, 1.0), 'x':(1, 1.25, 1.0) }.get(variant, None)

def label_predictions(all_predictions):
  class_index_count = defaultdict(int)
  for predictions in all_predictions:
    predictions = np.array(predictions)
    for pred_np in predictions:
      class_id = int(pred_np[-1])
      class_index_count[class_id] += 1

  return dict(class_index_count)

#this is taken from https://github.com/tinygrad/tinygrad/pull/784/files by dc-dc-dc (Now 2 models use upsampling)
class Upsample:
  def __init__(self, scale_factor:int, mode: str = "nearest") -> None:
    assert mode == "nearest" # only mode supported for now
    self.mode = mode
    self.scale_factor = scale_factor

  def __call__(self, x: Tensor) -> Tensor:
    assert len(x.shape) > 2 and len(x.shape) <= 5
    (b, c), _lens = x.shape[:2], len(x.shape[2:])
    tmp = x.reshape([b, c, -1] + [1] * _lens) * Tensor.ones(*[1, 1, 1] + [self.scale_factor] * _lens)
    return tmp.reshape(list(x.shape) + [self.scale_factor] * _lens).permute([0, 1] + list(chain.from_iterable([[y+2, y+2+_lens] for y in range(_lens)]))).reshape([b, c] + [x * self.scale_factor for x in x.shape[2:]])

class Conv_Block:
  def __init__(self, c1, c2, kernel_size=1, stride=1, groups=1, dilation=1, padding=None):
    self.conv = Conv2d(c1,c2, kernel_size, stride, padding=autopad(kernel_size, padding, dilation), bias=False, groups=groups, dilation=dilation)
    self.bn = BatchNorm2d(c2, eps=0.001)

  def __call__(self, x):
    return self.bn(self.conv(x)).silu()

class Bottleneck:
  def __init__(self, c1, c2 , shortcut: bool, g=1, kernels: list = (3,3), channel_factor=0.5):
    c_ = int(c2 * channel_factor)
    self.cv1 = Conv_Block(c1, c_, kernel_size=kernels[0], stride=1, padding=None)
    self.cv2 = Conv_Block(c_, c2, kernel_size=kernels[1], stride=1, padding=None, groups=g)
    self.residual = c1 == c2 and shortcut

  def __call__(self, x):
    return x + self.cv2(self.cv1(x)) if self.residual else self.cv2(self.cv1(x))

class C2f:
  def __init__(self, c1, c2, n=1, shortcut=False, g=1, e=0.5):
    self.c = int(c2 * e)
    self.cv1 = Conv_Block(c1, 2 * self.c, 1,)
    self.cv2 = Conv_Block((2 + n) * self.c, c2, 1)
    self.bottleneck = [Bottleneck(self.c, self.c, shortcut, g, kernels=[(3, 3), (3, 3)], channel_factor=1.0) for _ in range(n)]

  def __call__(self, x):
    y= list(self.cv1(x).chunk(2, 1))
    y.extend(m(y[-1]) for m in self.bottleneck)
    z = y[0]
    for i in y[1:]: z = z.cat(i, dim=1)
    return self.cv2(z)

class SPPF:
  def __init__(self, c1, c2, k=5):
    c_ = c1 // 2  # hidden channels
    self.cv1 = Conv_Block(c1, c_, 1, 1, padding=None)
    self.cv2 = Conv_Block(c_ * 4, c2, 1, 1, padding=None)

    # TODO: this pads with 0s, whereas torch function pads with -infinity. This results in a < 2% difference in prediction which does not make a difference visually.
    self.maxpool = lambda x : x.pad2d((k // 2, k // 2, k // 2, k // 2)).max_pool2d(kernel_size=k, stride=1)

  def __call__(self, x):
    x = self.cv1(x)
    x2 = self.maxpool(x)
    x3 = self.maxpool(x2)
    x4 = self.maxpool(x3)
    return self.cv2(x.cat(x2, x3, x4, dim=1))

class DFL:
  def __init__(self, c1=16):
    self.conv = Conv2d(c1, 1, 1, bias=False)
    x = Tensor.arange(c1)
    self.conv.weight.assign(x.reshape(1, c1, 1, 1))
    self.c1 = c1

  def __call__(self, x):
    b, c, a = x.shape # batch, channels, anchors
    return self.conv(x.reshape(b, 4, self.c1, a).transpose(2, 1).softmax(1)).reshape(b, 4, a)

#backbone
class Darknet:
  def __init__(self, w, r, d):
    self.b1 = [Conv_Block(c1=3, c2= int(64*w), kernel_size=3, stride=2, padding=1), Conv_Block(int(64*w), int(128*w), kernel_size=3, stride=2, padding=1)]
    self.b2 = [C2f(c1=int(128*w), c2=int(128*w), n=round(3*d), shortcut=True), Conv_Block(int(128*w), int(256*w), 3, 2, 1), C2f(int(256*w), int(256*w), round(6*d), True)]
    self.b3 = [Conv_Block(int(256*w), int(512*w), kernel_size=3, stride=2, padding=1), C2f(int(512*w), int(512*w), round(6*d), True)]
    self.b4 = [Conv_Block(int(512*w), int(512*w*r), kernel_size=3, stride=2, padding=1), C2f(int(512*w*r), int(512*w*r), round(3*d), True)]
    self.b5 = [SPPF(int(512*w*r), int(512*w*r), 5)]

  def return_modules(self):
    return [*self.b1, *self.b2, *self.b3, *self.b4, *self.b5]

  def __call__(self, x):
    x1 = x.sequential(self.b1)
    x2 = x1.sequential(self.b2)
    x3 = x2.sequential(self.b3)
    x4 = x3.sequential(self.b4)
    x5 = x4.sequential(self.b5)
    return (x2, x3, x5)

#yolo fpn (neck)
class Yolov8NECK:
  def __init__(self, w, r, d):  #width_multiple, ratio_multiple, depth_multiple
    self.up = Upsample(2, mode='nearest')
    self.n1 = C2f(c1=int(512*w*(1+r)), c2=int(512*w), n=round(3*d), shortcut=False)
    self.n2 = C2f(c1=int(768*w), c2=int(256*w), n=round(3*d), shortcut=False)
    self.n3 = Conv_Block(c1=int(256*w), c2=int(256*w), kernel_size=3, stride=2, padding=1)
    self.n4 = C2f(c1=int(768*w), c2=int(512*w), n=round(3*d), shortcut=False)
    self.n5 = Conv_Block(c1=int(512* w), c2=int(512 * w), kernel_size=3, stride=2, padding=1)
    self.n6 = C2f(c1=int(512*w*(1+r)), c2=int(512*w*r), n=round(3*d), shortcut=False)

  def return_modules(self):
    return [self.n1, self.n2, self.n3, self.n4, self.n5, self.n6]

  def __call__(self, p3, p4, p5):
    x = self.n1(self.up(p5).cat(p4, dim=1))
    head_1 = self.n2(self.up(x).cat(p3, dim=1))
    head_2 = self.n4(self.n3(head_1).cat(x, dim=1))
    head_3 = self.n6(self.n5(head_2).cat(p5, dim=1))
    return [head_1, head_2, head_3]

#task specific head.
class DetectionHead:
  def __init__(self, nc=80, filters=()):
    self.ch = 16
    self.nc = nc  # number of classes
    self.nl = len(filters)
    self.no = nc + self.ch * 4  #
    self.stride = [8, 16, 32]
    c1 = max(filters[0], self.nc)
    c2 = max((filters[0] // 4, self.ch * 4))
    self.dfl = DFL(self.ch)
    self.cv3 = [[Conv_Block(x, c1, 3), Conv_Block(c1, c1, 3), Conv2d(c1, self.nc, 1)] for x in filters]
    self.cv2 = [[Conv_Block(x, c2, 3), Conv_Block(c2, c2, 3), Conv2d(c2, 4 * self.ch, 1)] for x in filters]

  def __call__(self, x):
    for i in range(self.nl):
      x[i] = (x[i].sequential(self.cv2[i]).cat(x[i].sequential(self.cv3[i]), dim=1))
    self.anchors, self.strides = (x.transpose(0, 1) for x in make_anchors(x, self.stride, 0.5))
    y = [(i.reshape(x[0].shape[0], self.no, -1)) for i in x]
    x_cat = y[0].cat(y[1], y[2], dim=2)
    box, cls = x_cat[:, :self.ch * 4], x_cat[:, self.ch * 4:]
    dbox = dist2bbox(self.dfl(box), self.anchors.unsqueeze(0), xywh=True, dim=1) * self.strides
    z = dbox.cat(cls.sigmoid(), dim=1)
    return z

class YOLOv8:
  def __init__(self, w, r,  d, num_classes): #width_multiple, ratio_multiple, depth_multiple
    self.net = Darknet(w, r, d)
    self.fpn = Yolov8NECK(w, r, d)
    self.head = DetectionHead(num_classes, filters=(int(256*w), int(512*w), int(512*w*r)))

  def __call__(self, x):
    x = self.net(x)
    x = self.fpn(*x)
    return self.head(x)

  def return_all_trainable_modules(self):
    backbone_modules = [*range(10)]
    yolov8neck_modules = [12, 15, 16, 18, 19, 21]
    yolov8_head_weights = [(22, self.head)]
    return [*zip(backbone_modules, self.net.return_modules()), *zip(yolov8neck_modules, self.fpn.return_modules()), *yolov8_head_weights]

if __name__ == '__main__':

  # usage : python3 yolov8.py "image_URL OR image_path" "v8 variant" (optional, n is default)
  if len(sys.argv) < 2:
    print("Error: Image URL or path not provided.")
    sys.exit(1)

  img_path = sys.argv[1]
  yolo_variant = sys.argv[2] if len(sys.argv) >= 3 else (print("No variant given, so choosing 'n' as the default. Yolov8 has different variants, you can choose from ['n', 's', 'm', 'l', 'x']") or 'n')
  print(f'running inference for YOLO version {yolo_variant}')

  output_folder_path = Path('./outputs_yolov8')
  output_folder_path.mkdir(parents=True, exist_ok=True)
  #absolute image path or URL
  image_location = [np.frombuffer(io.BytesIO(fetch(img_path)).read(), np.uint8)]
  image = [cv2.imdecode(image_location[0], 1)]
  out_paths = [(output_folder_path / f"{Path(img_path).stem}_output{Path(img_path).suffix}").as_posix()]
  if not isinstance(image[0], np.ndarray):
    print('Error in image loading. Check your image file.')
    sys.exit(1)
  pre_processed_image = preprocess(image)

  # Different YOLOv8 variants use different w , r, and d multiples. For a list , refer to this yaml file (the scales section) https://github.com/ultralytics/ultralytics/blob/main/ultralytics/models/v8/yolov8.yaml
  depth, width, ratio = get_variant_multiples(yolo_variant)
  yolo_infer = YOLOv8(w=width, r=ratio, d=depth, num_classes=80)

  weights_location = Path(__file__).parents[1] / "weights" / f'yolov8{yolo_variant}.safetensors'
  download_file(f'https://gitlab.com/r3sist/yolov8_weights/-/raw/master/yolov8{yolo_variant}.safetensors', weights_location)

  state_dict = safe_load(weights_location)
  load_state_dict(yolo_infer, state_dict)

  st = time.time()
  predictions = yolo_infer(pre_processed_image)
  print(f'did inference in {int(round(((time.time() - st) * 1000)))}ms')

  post_predictions = postprocess(preds=predictions, img=pre_processed_image, orig_imgs=image)

  #v8 and v3 have same 80 class names for Object Detection
  class_labels = fetch('https://raw.githubusercontent.com/pjreddie/darknet/master/data/coco.names')
  class_labels = class_labels.decode('utf-8').split('\n')

  draw_bounding_boxes_and_save(orig_img_paths=image_location, output_img_paths=out_paths, all_predictions=post_predictions, class_labels=class_labels)

# TODO for later:
#  1. Fix SPPF minor difference due to maxpool
#  2. AST exp overflow warning while on cpu
#  3. Make NMS faster
#  4. Add video inference and webcam support