add VGG16 complete model with image prediction , and added other files needed for door detection

Child_accident_detection/Child_boundary_breach/models/experimental.py

+# YOLOv5 experimental modules
+
+import numpy as np
+import torch
+import torch.nn as nn
+
+from models.common import Conv, DWConv
+from utils.google_utils import attempt_download
+
+
+class CrossConv(nn.Module):
+    # Cross Convolution Downsample
+    def __init__(self, c1, c2, k=3, s=1, g=1, e=1.0, shortcut=False):
+        # ch_in, ch_out, kernel, stride, groups, expansion, shortcut
+        super(CrossConv, self).__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, (1, k), (1, s))
+        self.cv2 = Conv(c_, c2, (k, 1), (s, 1), g=g)
+        self.add = shortcut and c1 == c2
+
+    def forward(self, x):
+        return x + self.cv2(self.cv1(x)) if self.add else self.cv2(self.cv1(x))
+
+
+class Sum(nn.Module):
+    # Weighted sum of 2 or more layers https://arxiv.org/abs/1911.09070
+    def __init__(self, n, weight=False):  # n: number of inputs
+        super(Sum, self).__init__()
+        self.weight = weight  # apply weights boolean
+        self.iter = range(n - 1)  # iter object
+        if weight:
+            self.w = nn.Parameter(-torch.arange(1., n) / 2, requires_grad=True)  # layer weights
+
+    def forward(self, x):
+        y = x[0]  # no weight
+        if self.weight:
+            w = torch.sigmoid(self.w) * 2
+            for i in self.iter:
+                y = y + x[i + 1] * w[i]
+        else:
+            for i in self.iter:
+                y = y + x[i + 1]
+        return y
+
+
+class GhostConv(nn.Module):
+    # Ghost Convolution https://github.com/huawei-noah/ghostnet
+    def __init__(self, c1, c2, k=1, s=1, g=1, act=True):  # ch_in, ch_out, kernel, stride, groups
+        super(GhostConv, self).__init__()
+        c_ = c2 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, k, s, None, g, act)
+        self.cv2 = Conv(c_, c_, 5, 1, None, c_, act)
+
+    def forward(self, x):
+        y = self.cv1(x)
+        return torch.cat([y, self.cv2(y)], 1)
+
+
+class GhostBottleneck(nn.Module):
+    # Ghost Bottleneck https://github.com/huawei-noah/ghostnet
+    def __init__(self, c1, c2, k=3, s=1):  # ch_in, ch_out, kernel, stride
+        super(GhostBottleneck, self).__init__()
+        c_ = c2 // 2
+        self.conv = nn.Sequential(GhostConv(c1, c_, 1, 1),  # pw
+                                  DWConv(c_, c_, k, s, act=False) if s == 2 else nn.Identity(),  # dw
+                                  GhostConv(c_, c2, 1, 1, act=False))  # pw-linear
+        self.shortcut = nn.Sequential(DWConv(c1, c1, k, s, act=False),
+                                      Conv(c1, c2, 1, 1, act=False)) if s == 2 else nn.Identity()
+
+    def forward(self, x):
+        return self.conv(x) + self.shortcut(x)
+
+
+class MixConv2d(nn.Module):
+    # Mixed Depthwise Conv https://arxiv.org/abs/1907.09595
+    def __init__(self, c1, c2, k=(1, 3), s=1, equal_ch=True):
+        super(MixConv2d, self).__init__()
+        groups = len(k)
+        if equal_ch:  # equal c_ per group
+            i = torch.linspace(0, groups - 1E-6, c2).floor()  # c2 indices
+            c_ = [(i == g).sum() for g in range(groups)]  # intermediate channels
+        else:  # equal weight.numel() per group
+            b = [c2] + [0] * groups
+            a = np.eye(groups + 1, groups, k=-1)
+            a -= np.roll(a, 1, axis=1)
+            a *= np.array(k) ** 2
+            a[0] = 1
+            c_ = np.linalg.lstsq(a, b, rcond=None)[0].round()  # solve for equal weight indices, ax = b
+
+        self.m = nn.ModuleList([nn.Conv2d(c1, int(c_[g]), k[g], s, k[g] // 2, bias=False) for g in range(groups)])
+        self.bn = nn.BatchNorm2d(c2)
+        self.act = nn.LeakyReLU(0.1, inplace=True)
+
+    def forward(self, x):
+        return x + self.act(self.bn(torch.cat([m(x) for m in self.m], 1)))
+
+
+class Ensemble(nn.ModuleList):
+    # Ensemble of models
+    def __init__(self):
+        super(Ensemble, self).__init__()
+
+    def forward(self, x, augment=False):
+        y = []
+        for module in self:
+            y.append(module(x, augment)[0])
+        # y = torch.stack(y).max(0)[0]  # max ensemble
+        # y = torch.stack(y).mean(0)  # mean ensemble
+        y = torch.cat(y, 1)  # nms ensemble
+        return y, None  # inference, train output
+
+
+def attempt_load(weights, map_location=None, inplace=True):
+    from models.yolo import Detect, Model
+
+    # Loads an ensemble of models weights=[a,b,c] or a single model weights=[a] or weights=a
+    model = Ensemble()
+    for w in weights if isinstance(weights, list) else [weights]:
+        ckpt = torch.load(attempt_download(w), map_location=map_location)  # load
+        model.append(ckpt['ema' if ckpt.get('ema') else 'model'].float().fuse().eval())  # FP32 model
+
+    # Compatibility updates
+    for m in model.modules():
+        if type(m) in [nn.Hardswish, nn.LeakyReLU, nn.ReLU, nn.ReLU6, nn.SiLU, Detect, Model]:
+            m.inplace = inplace  # pytorch 1.7.0 compatibility
+        elif type(m) is Conv:
+            m._non_persistent_buffers_set = set()  # pytorch 1.6.0 compatibility
+
+    if len(model) == 1:
+        return model[-1]  # return model
+    else:
+        print(f'Ensemble created with {weights}\n')
+        for k in ['names']:
+            setattr(model, k, getattr(model[-1], k))
+        model.stride = model[torch.argmax(torch.tensor([m.stride.max() for m in model])).int()].stride  # max stride
+        return model  # return ensemble

Child_accident_detection/Child_boundary_breach/models/export.py

+"""Export a YOLOv5 *.pt model to TorchScript, ONNX, CoreML formats
+
+Usage:
+    $ python path/to/models/export.py --weights yolov5s.pt --img 640 --batch 1
+"""
+
+import argparse
+import sys
+import time
+from pathlib import Path
+
+import torch
+import torch.nn as nn
+from torch.utils.mobile_optimizer import optimize_for_mobile
+
+FILE = Path(__file__).absolute()
+sys.path.append(FILE.parents[1].as_posix())  # add yolov5/ to path
+
+from models.common import Conv
+from models.yolo import Detect
+from models.experimental import attempt_load
+from utils.activations import Hardswish, SiLU
+from utils.general import colorstr, check_img_size, check_requirements, file_size, set_logging
+from utils.torch_utils import select_device
+
+
+def export(weights='./yolov5s.pt',  # weights path
+           img_size=(640, 640),  # image (height, width)
+           batch_size=1,  # batch size
+           device='cpu',  # cuda device, i.e. 0 or 0,1,2,3 or cpu
+           include=('torchscript', 'onnx', 'coreml'),  # include formats
+           half=False,  # FP16 half-precision export
+           inplace=False,  # set YOLOv5 Detect() inplace=True
+           train=False,  # model.train() mode
+           optimize=False,  # TorchScript: optimize for mobile
+           dynamic=False,  # ONNX: dynamic axes
+           simplify=False,  # ONNX: simplify model
+           opset_version=12,  # ONNX: opset version
+           ):
+    t = time.time()
+    include = [x.lower() for x in include]
+    img_size *= 2 if len(img_size) == 1 else 1  # expand
+
+    # Load PyTorch model
+    device = select_device(device)
+    assert not (device.type == 'cpu' and opt.half), '--half only compatible with GPU export, i.e. use --device 0'
+    model = attempt_load(weights, map_location=device)  # load FP32 model
+    labels = model.names
+
+    # Input
+    gs = int(max(model.stride))  # grid size (max stride)
+    img_size = [check_img_size(x, gs) for x in img_size]  # verify img_size are gs-multiples
+    img = torch.zeros(batch_size, 3, *img_size).to(device)  # image size(1,3,320,192) iDetection
+
+    # Update model
+    if half:
+        img, model = img.half(), model.half()  # to FP16
+    model.train() if train else model.eval()  # training mode = no Detect() layer grid construction
+    for k, m in model.named_modules():
+        m._non_persistent_buffers_set = set()  # pytorch 1.6.0 compatibility
+        if isinstance(m, Conv):  # assign export-friendly activations
+            if isinstance(m.act, nn.Hardswish):
+                m.act = Hardswish()
+            elif isinstance(m.act, nn.SiLU):
+                m.act = SiLU()
+        elif isinstance(m, Detect):
+            m.inplace = inplace
+            m.onnx_dynamic = dynamic
+            # m.forward = m.forward_export  # assign forward (optional)
+
+    for _ in range(2):
+        y = model(img)  # dry runs
+    print(f"\n{colorstr('PyTorch:')} starting from {weights} ({file_size(weights):.1f} MB)")
+
+    # TorchScript export -----------------------------------------------------------------------------------------------
+    if 'torchscript' in include or 'coreml' in include:
+        prefix = colorstr('TorchScript:')
+        try:
+            print(f'\n{prefix} starting export with torch {torch.__version__}...')
+            f = weights.replace('.pt', '.torchscript.pt')  # filename
+            ts = torch.jit.trace(model, img, strict=False)
+            (optimize_for_mobile(ts) if optimize else ts).save(f)
+            print(f'{prefix} export success, saved as {f} ({file_size(f):.1f} MB)')
+        except Exception as e:
+            print(f'{prefix} export failure: {e}')
+
+    # ONNX export ------------------------------------------------------------------------------------------------------
+    if 'onnx' in include:
+        prefix = colorstr('ONNX:')
+        try:
+            import onnx
+
+            print(f'{prefix} starting export with onnx {onnx.__version__}...')
+            f = weights.replace('.pt', '.onnx')  # filename
+            torch.onnx.export(model, img, f, verbose=False, opset_version=opset_version,
+                              training=torch.onnx.TrainingMode.TRAINING if train else torch.onnx.TrainingMode.EVAL,
+                              do_constant_folding=not train,
+                              input_names=['images'],
+                              output_names=['output'],
+                              dynamic_axes={'images': {0: 'batch', 2: 'height', 3: 'width'},  # shape(1,3,640,640)
+                                            'output': {0: 'batch', 1: 'anchors'}  # shape(1,25200,85)
+                                            } if dynamic else None)
+
+            # Checks
+            model_onnx = onnx.load(f)  # load onnx model
+            onnx.checker.check_model(model_onnx)  # check onnx model
+            # print(onnx.helper.printable_graph(model_onnx.graph))  # print
+
+            # Simplify
+            if simplify:
+                try:
+                    check_requirements(['onnx-simplifier'])
+                    import onnxsim
+
+                    print(f'{prefix} simplifying with onnx-simplifier {onnxsim.__version__}...')
+                    model_onnx, check = onnxsim.simplify(
+                        model_onnx,
+                        dynamic_input_shape=dynamic,
+                        input_shapes={'images': list(img.shape)} if dynamic else None)
+                    assert check, 'assert check failed'
+                    onnx.save(model_onnx, f)
+                except Exception as e:
+                    print(f'{prefix} simplifier failure: {e}')
+            print(f'{prefix} export success, saved as {f} ({file_size(f):.1f} MB)')
+        except Exception as e:
+            print(f'{prefix} export failure: {e}')
+
+    # CoreML export ----------------------------------------------------------------------------------------------------
+    if 'coreml' in include:
+        prefix = colorstr('CoreML:')
+        try:
+            import coremltools as ct
+
+            print(f'{prefix} starting export with coremltools {ct.__version__}...')
+            assert train, 'CoreML exports should be placed in model.train() mode with `python export.py --train`'
+            model = ct.convert(ts, inputs=[ct.ImageType('image', shape=img.shape, scale=1 / 255.0, bias=[0, 0, 0])])
+            f = weights.replace('.pt', '.mlmodel')  # filename
+            model.save(f)
+            print(f'{prefix} export success, saved as {f} ({file_size(f):.1f} MB)')
+        except Exception as e:
+            print(f'{prefix} export failure: {e}')
+
+    # Finish
+    print(f'\nExport complete ({time.time() - t:.2f}s). Visualize with https://github.com/lutzroeder/netron.')
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--weights', type=str, default='./yolov5s.pt', help='weights path')
+    parser.add_argument('--img-size', nargs='+', type=int, default=[640, 640], help='image (height, width)')
+    parser.add_argument('--batch-size', type=int, default=1, help='batch size')
+    parser.add_argument('--device', default='cpu', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
+    parser.add_argument('--include', nargs='+', default=['torchscript', 'onnx', 'coreml'], help='include formats')
+    parser.add_argument('--half', action='store_true', help='FP16 half-precision export')
+    parser.add_argument('--inplace', action='store_true', help='set YOLOv5 Detect() inplace=True')
+    parser.add_argument('--train', action='store_true', help='model.train() mode')
+    parser.add_argument('--optimize', action='store_true', help='TorchScript: optimize for mobile')
+    parser.add_argument('--dynamic', action='store_true', help='ONNX: dynamic axes')
+    parser.add_argument('--simplify', action='store_true', help='ONNX: simplify model')
+    parser.add_argument('--opset-version', type=int, default=12, help='ONNX: opset version')
+    opt = parser.parse_args()
+    print(opt)
+    set_logging()
+
+    export(**vars(opt))

Child_accident_detection/Child_boundary_breach/models/yolov5l.yaml

+# parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+
+# anchors
+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 backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Focus, [64, 3]],  # 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, 9, 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, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3, [1024, False]],  # 9
+  ]
+
+# YOLOv5 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]],  # Detect(P3, P4, P5)
+  ]

Child_accident_detection/Child_boundary_breach/models/yolov5m.yaml

+# parameters
+nc: 80  # number of classes
+depth_multiple: 0.67  # model depth multiple
+width_multiple: 0.75  # layer channel multiple
+
+# anchors
+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 backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Focus, [64, 3]],  # 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, 9, 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, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3, [1024, False]],  # 9
+  ]
+
+# YOLOv5 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]],  # Detect(P3, P4, P5)
+  ]

Child_accident_detection/Child_boundary_breach/models/yolov5s.yaml

+# parameters
+nc: 80  # number of classes
+depth_multiple: 0.33  # model depth multiple
+width_multiple: 0.50  # layer channel multiple
+
+# anchors
+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 backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Focus, [64, 3]],  # 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, 9, 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, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3, [1024, False]],  # 9
+  ]
+
+# YOLOv5 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]],  # Detect(P3, P4, P5)
+  ]

Child_accident_detection/Child_boundary_breach/models/yolov5x.yaml

+# parameters
+nc: 80  # number of classes
+depth_multiple: 1.33  # model depth multiple
+width_multiple: 1.25  # layer channel multiple
+
+# anchors
+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 backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Focus, [64, 3]],  # 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, 9, 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, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3, [1024, False]],  # 9
+  ]
+
+# YOLOv5 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]],  # Detect(P3, P4, P5)
+  ]

Child_accident_detection/Child_boundary_breach/train.py

@@ -30,6 +30,7 @@ from utils.datasets import create_dataloader
 from utils.general import labels_to_class_weights, increment_path, labels_to_image_weights, init_seeds, \
     fitness, strip_optimizer, get_latest_run, check_dataset, check_file, check_git_status, check_img_size, \
     check_requirements, print_mutation, set_logging, one_cycle, colorstr
+
 from utils.google_utils import attempt_download
 from utils.loss import ComputeLoss
 from utils.plots import plot_images, plot_labels, plot_results, plot_evolution

Child_accident_detection/Child_boundary_breach/utils/activations.py

+# Activation functions
+
+import torch
+import torch.nn as nn
+import torch.nn.functional as F
+
+
+# SiLU https://arxiv.org/pdf/1606.08415.pdf ----------------------------------------------------------------------------
+class SiLU(nn.Module):  # export-friendly version of nn.SiLU()
+    @staticmethod
+    def forward(x):
+        return x * torch.sigmoid(x)
+
+
+class Hardswish(nn.Module):  # export-friendly version of nn.Hardswish()
+    @staticmethod
+    def forward(x):
+        # return x * F.hardsigmoid(x)  # for torchscript and CoreML
+        return x * F.hardtanh(x + 3, 0., 6.) / 6.  # for torchscript, CoreML and ONNX
+
+
+# Mish https://github.com/digantamisra98/Mish --------------------------------------------------------------------------
+class Mish(nn.Module):
+    @staticmethod
+    def forward(x):
+        return x * F.softplus(x).tanh()
+
+
+class MemoryEfficientMish(nn.Module):
+    class F(torch.autograd.Function):
+        @staticmethod
+        def forward(ctx, x):
+            ctx.save_for_backward(x)
+            return x.mul(torch.tanh(F.softplus(x)))  # x * tanh(ln(1 + exp(x)))
+
+        @staticmethod
+        def backward(ctx, grad_output):
+            x = ctx.saved_tensors[0]
+            sx = torch.sigmoid(x)
+            fx = F.softplus(x).tanh()
+            return grad_output * (fx + x * sx * (1 - fx * fx))
+
+    def forward(self, x):
+        return self.F.apply(x)
+
+
+# FReLU https://arxiv.org/abs/2007.11824 -------------------------------------------------------------------------------
+class FReLU(nn.Module):
+    def __init__(self, c1, k=3):  # ch_in, kernel
+        super().__init__()
+        self.conv = nn.Conv2d(c1, c1, k, 1, 1, groups=c1, bias=False)
+        self.bn = nn.BatchNorm2d(c1)
+
+    def forward(self, x):
+        return torch.max(x, self.bn(self.conv(x)))
+
+
+# ACON https://arxiv.org/pdf/2009.04759.pdf ----------------------------------------------------------------------------
+class AconC(nn.Module):
+    r""" ACON activation (activate or not).
+    AconC: (p1*x-p2*x) * sigmoid(beta*(p1*x-p2*x)) + p2*x, beta is a learnable parameter
+    according to "Activate or Not: Learning Customized Activation" <https://arxiv.org/pdf/2009.04759.pdf>.
+    """
+
+    def __init__(self, c1):
+        super().__init__()
+        self.p1 = nn.Parameter(torch.randn(1, c1, 1, 1))
+        self.p2 = nn.Parameter(torch.randn(1, c1, 1, 1))
+        self.beta = nn.Parameter(torch.ones(1, c1, 1, 1))
+
+    def forward(self, x):
+        dpx = (self.p1 - self.p2) * x
+        return dpx * torch.sigmoid(self.beta * dpx) + self.p2 * x
+
+
+class MetaAconC(nn.Module):
+    r""" ACON activation (activate or not).
+    MetaAconC: (p1*x-p2*x) * sigmoid(beta*(p1*x-p2*x)) + p2*x, beta is generated by a small network
+    according to "Activate or Not: Learning Customized Activation" <https://arxiv.org/pdf/2009.04759.pdf>.
+    """
+
+    def __init__(self, c1, k=1, s=1, r=16):  # ch_in, kernel, stride, r
+        super().__init__()
+        c2 = max(r, c1 // r)
+        self.p1 = nn.Parameter(torch.randn(1, c1, 1, 1))
+        self.p2 = nn.Parameter(torch.randn(1, c1, 1, 1))
+        self.fc1 = nn.Conv2d(c1, c2, k, s, bias=True)
+        self.fc2 = nn.Conv2d(c2, c1, k, s, bias=True)
+        # self.bn1 = nn.BatchNorm2d(c2)
+        # self.bn2 = nn.BatchNorm2d(c1)
+
+    def forward(self, x):
+        y = x.mean(dim=2, keepdims=True).mean(dim=3, keepdims=True)
+        # batch-size 1 bug/instabilities https://github.com/ultralytics/yolov5/issues/2891
+        # beta = torch.sigmoid(self.bn2(self.fc2(self.bn1(self.fc1(y)))))  # bug/unstable
+        beta = torch.sigmoid(self.fc2(self.fc1(y)))  # bug patch BN layers removed
+        dpx = (self.p1 - self.p2) * x
+        return dpx * torch.sigmoid(beta * dpx) + self.p2 * x

Child_accident_detection/Child_boundary_breach/utils/autoanchor.py

+# Auto-anchor utils
+
+import numpy as np
+import torch
+import yaml
+from tqdm import tqdm
+
+from utils.general import colorstr
+
+
+def check_anchor_order(m):
+    # Check anchor order against stride order for YOLOv5 Detect() module m, and correct if necessary
+    a = m.anchor_grid.prod(-1).view(-1)  # anchor area
+    da = a[-1] - a[0]  # delta a
+    ds = m.stride[-1] - m.stride[0]  # delta s
+    if da.sign() != ds.sign():  # same order
+        print('Reversing anchor order')
+        m.anchors[:] = m.anchors.flip(0)
+        m.anchor_grid[:] = m.anchor_grid.flip(0)
+
+
+def check_anchors(dataset, model, thr=4.0, imgsz=640):
+    # Check anchor fit to data, recompute if necessary
+    prefix = colorstr('autoanchor: ')
+    print(f'\n{prefix}Analyzing anchors... ', end='')
+    m = model.module.model[-1] if hasattr(model, 'module') else model.model[-1]  # Detect()
+    shapes = imgsz * dataset.shapes / dataset.shapes.max(1, keepdims=True)
+    scale = np.random.uniform(0.9, 1.1, size=(shapes.shape[0], 1))  # augment scale
+    wh = torch.tensor(np.concatenate([l[:, 3:5] * s for s, l in zip(shapes * scale, dataset.labels)])).float()  # wh
+
+    def metric(k):  # compute metric
+        r = wh[:, None] / k[None]
+        x = torch.min(r, 1. / r).min(2)[0]  # ratio metric
+        best = x.max(1)[0]  # best_x
+        aat = (x > 1. / thr).float().sum(1).mean()  # anchors above threshold
+        bpr = (best > 1. / thr).float().mean()  # best possible recall
+        return bpr, aat
+
+    anchors = m.anchor_grid.clone().cpu().view(-1, 2)  # current anchors
+    bpr, aat = metric(anchors)
+    print(f'anchors/target = {aat:.2f}, Best Possible Recall (BPR) = {bpr:.4f}', end='')
+    if bpr < 0.98:  # threshold to recompute
+        print('. Attempting to improve anchors, please wait...')
+        na = m.anchor_grid.numel() // 2  # number of anchors
+        try:
+            anchors = kmean_anchors(dataset, n=na, img_size=imgsz, thr=thr, gen=1000, verbose=False)
+        except Exception as e:
+            print(f'{prefix}ERROR: {e}')
+        new_bpr = metric(anchors)[0]
+        if new_bpr > bpr:  # replace anchors
+            anchors = torch.tensor(anchors, device=m.anchors.device).type_as(m.anchors)
+            m.anchor_grid[:] = anchors.clone().view_as(m.anchor_grid)  # for inference
+            m.anchors[:] = anchors.clone().view_as(m.anchors) / m.stride.to(m.anchors.device).view(-1, 1, 1)  # loss
+            check_anchor_order(m)
+            print(f'{prefix}New anchors saved to model. Update model *.yaml to use these anchors in the future.')
+        else:
+            print(f'{prefix}Original anchors better than new anchors. Proceeding with original anchors.')
+    print('')  # newline
+
+
+def kmean_anchors(path='./data/coco128.yaml', n=9, img_size=640, thr=4.0, gen=1000, verbose=True):
+    """ Creates kmeans-evolved anchors from training dataset
+
+        Arguments:
+            path: path to dataset *.yaml, or a loaded dataset
+            n: number of anchors
+            img_size: image size used for training
+            thr: anchor-label wh ratio threshold hyperparameter hyp['anchor_t'] used for training, default=4.0
+            gen: generations to evolve anchors using genetic algorithm
+            verbose: print all results
+
+        Return:
+            k: kmeans evolved anchors
+
+        Usage:
+            from utils.autoanchor import *; _ = kmean_anchors()
+    """
+    from scipy.cluster.vq import kmeans
+
+    thr = 1. / thr
+    prefix = colorstr('autoanchor: ')
+
+    def metric(k, wh):  # compute metrics
+        r = wh[:, None] / k[None]
+        x = torch.min(r, 1. / r).min(2)[0]  # ratio metric
+        # x = wh_iou(wh, torch.tensor(k))  # iou metric
+        return x, x.max(1)[0]  # x, best_x
+
+    def anchor_fitness(k):  # mutation fitness
+        _, best = metric(torch.tensor(k, dtype=torch.float32), wh)
+        return (best * (best > thr).float()).mean()  # fitness
+
+    def print_results(k):
+        k = k[np.argsort(k.prod(1))]  # sort small to large
+        x, best = metric(k, wh0)
+        bpr, aat = (best > thr).float().mean(), (x > thr).float().mean() * n  # best possible recall, anch > thr
+        print(f'{prefix}thr={thr:.2f}: {bpr:.4f} best possible recall, {aat:.2f} anchors past thr')
+        print(f'{prefix}n={n}, img_size={img_size}, metric_all={x.mean():.3f}/{best.mean():.3f}-mean/best, '
+              f'past_thr={x[x > thr].mean():.3f}-mean: ', end='')
+        for i, x in enumerate(k):
+            print('%i,%i' % (round(x[0]), round(x[1])), end=',  ' if i < len(k) - 1 else '\n')  # use in *.cfg
+        return k
+
+    if isinstance(path, str):  # *.yaml file
+        with open(path) as f:
+            data_dict = yaml.safe_load(f)  # model dict
+        from utils.datasets import LoadImagesAndLabels
+        dataset = LoadImagesAndLabels(data_dict['train'], augment=True, rect=True)
+    else:
+        dataset = path  # dataset
+
+    # Get label wh
+    shapes = img_size * dataset.shapes / dataset.shapes.max(1, keepdims=True)
+    wh0 = np.concatenate([l[:, 3:5] * s for s, l in zip(shapes, dataset.labels)])  # wh
+
+    # Filter
+    i = (wh0 < 3.0).any(1).sum()
+    if i:
+        print(f'{prefix}WARNING: Extremely small objects found. {i} of {len(wh0)} labels are < 3 pixels in size.')
+    wh = wh0[(wh0 >= 2.0).any(1)]  # filter > 2 pixels
+    # wh = wh * (np.random.rand(wh.shape[0], 1) * 0.9 + 0.1)  # multiply by random scale 0-1
+
+    # Kmeans calculation
+    print(f'{prefix}Running kmeans for {n} anchors on {len(wh)} points...')
+    s = wh.std(0)  # sigmas for whitening
+    k, dist = kmeans(wh / s, n, iter=30)  # points, mean distance
+    assert len(k) == n, print(f'{prefix}ERROR: scipy.cluster.vq.kmeans requested {n} points but returned only {len(k)}')
+    k *= s
+    wh = torch.tensor(wh, dtype=torch.float32)  # filtered
+    wh0 = torch.tensor(wh0, dtype=torch.float32)  # unfiltered
+    k = print_results(k)
+
+    # Plot
+    # k, d = [None] * 20, [None] * 20
+    # for i in tqdm(range(1, 21)):
+    #     k[i-1], d[i-1] = kmeans(wh / s, i)  # points, mean distance
+    # fig, ax = plt.subplots(1, 2, figsize=(14, 7), tight_layout=True)
+    # ax = ax.ravel()
+    # ax[0].plot(np.arange(1, 21), np.array(d) ** 2, marker='.')
+    # fig, ax = plt.subplots(1, 2, figsize=(14, 7))  # plot wh
+    # ax[0].hist(wh[wh[:, 0]<100, 0],400)
+    # ax[1].hist(wh[wh[:, 1]<100, 1],400)
+    # fig.savefig('wh.png', dpi=200)
+
+    # Evolve
+    npr = np.random
+    f, sh, mp, s = anchor_fitness(k), k.shape, 0.9, 0.1  # fitness, generations, mutation prob, sigma
+    pbar = tqdm(range(gen), desc=f'{prefix}Evolving anchors with Genetic Algorithm:')  # progress bar
+    for _ in pbar:
+        v = np.ones(sh)
+        while (v == 1).all():  # mutate until a change occurs (prevent duplicates)
+            v = ((npr.random(sh) < mp) * npr.random() * npr.randn(*sh) * s + 1).clip(0.3, 3.0)
+        kg = (k.copy() * v).clip(min=2.0)
+        fg = anchor_fitness(kg)
+        if fg > f:
+            f, k = fg, kg.copy()
+            pbar.desc = f'{prefix}Evolving anchors with Genetic Algorithm: fitness = {f:.4f}'
+            if verbose:
+                print_results(k)
+
+    return print_results(k)

Child_accident_detection/Child_boundary_breach/utils/google_utils.py

+# Google utils: https://cloud.google.com/storage/docs/reference/libraries
+
+import os
+import platform
+import subprocess
+import time
+import urllib
+from pathlib import Path
+
+import requests
+import torch
+
+
+def gsutil_getsize(url=''):
+    # gs://bucket/file size https://cloud.google.com/storage/docs/gsutil/commands/du
+    s = subprocess.check_output(f'gsutil du {url}', shell=True).decode('utf-8')
+    return eval(s.split(' ')[0]) if len(s) else 0  # bytes
+
+
+def safe_download(file, url, url2=None, min_bytes=1E0, error_msg=''):
+    # Attempts to download file from url or url2, checks and removes incomplete downloads < min_bytes
+    file = Path(file)
+    assert_msg = f"Downloaded file '{file}' does not exist or size is < min_bytes={min_bytes}"
+    try:  # url1
+        print(f'Downloading {url} to {file}...')
+        torch.hub.download_url_to_file(url, str(file))
+        assert file.exists() and file.stat().st_size > min_bytes, assert_msg  # check
+    except Exception as e:  # url2
+        file.unlink(missing_ok=True)  # remove partial downloads
+        print(f'ERROR: {e}\nRe-attempting {url2 or url} to {file}...')
+        os.system(f"curl -L '{url2 or url}' -o '{file}' --retry 3 -C -")  # curl download, retry and resume on fail
+    finally:
+        if not file.exists() or file.stat().st_size < min_bytes:  # check
+            file.unlink(missing_ok=True)  # remove partial downloads
+            print(f"ERROR: {assert_msg}\n{error_msg}")
+        print('')
+
+
+def attempt_download(file, repo='ultralytics/yolov5'):  # from utils.google_utils import *; attempt_download()
+    # Attempt file download if does not exist
+    file = Path(str(file).strip().replace("'", ''))
+
+    if not file.exists():
+        # URL specified
+        name = Path(urllib.parse.unquote(str(file))).name  # decode '%2F' to '/' etc.
+        if str(file).startswith(('http:/', 'https:/')):  # download
+            url = str(file).replace(':/', '://')  # Pathlib turns :// -> :/
+            name = name.split('?')[0]  # parse authentication https://url.com/file.txt?auth...
+            safe_download(file=name, url=url, min_bytes=1E5)
+            return name
+
+        # GitHub assets
+        file.parent.mkdir(parents=True, exist_ok=True)  # make parent dir (if required)
+        try:
+            response = requests.get(f'https://api.github.com/repos/{repo}/releases/latest').json()  # github api
+            assets = [x['name'] for x in response['assets']]  # release assets, i.e. ['yolov5s.pt', 'yolov5m.pt', ...]
+            tag = response['tag_name']  # i.e. 'v1.0'
+        except:  # fallback plan
+            assets = ['yolov5s.pt', 'yolov5m.pt', 'yolov5l.pt', 'yolov5x.pt',
+                      'yolov5s6.pt', 'yolov5m6.pt', 'yolov5l6.pt', 'yolov5x6.pt']
+            try:
+                tag = subprocess.check_output('git tag', shell=True, stderr=subprocess.STDOUT).decode().split()[-1]
+            except:
+                tag = 'v5.0'  # current release
+
+        if name in assets:
+            safe_download(file,
+                          url=f'https://github.com/{repo}/releases/download/{tag}/{name}',
+                          # url2=f'https://storage.googleapis.com/{repo}/ckpt/{name}',  # backup url (optional)
+                          min_bytes=1E5,
+                          error_msg=f'{file} missing, try downloading from https://github.com/{repo}/releases/')
+
+    return str(file)
+
+
+def gdrive_download(id='16TiPfZj7htmTyhntwcZyEEAejOUxuT6m', file='tmp.zip'):
+    # Downloads a file from Google Drive. from yolov5.utils.google_utils import *; gdrive_download()
+    t = time.time()
+    file = Path(file)
+    cookie = Path('cookie')  # gdrive cookie
+    print(f'Downloading https://drive.google.com/uc?export=download&id={id} as {file}... ', end='')
+    file.unlink(missing_ok=True)  # remove existing file
+    cookie.unlink(missing_ok=True)  # remove existing cookie
+
+    # Attempt file download
+    out = "NUL" if platform.system() == "Windows" else "/dev/null"
+    os.system(f'curl -c ./cookie -s -L "drive.google.com/uc?export=download&id={id}" > {out}')
+    if os.path.exists('cookie'):  # large file
+        s = f'curl -Lb ./cookie "drive.google.com/uc?export=download&confirm={get_token()}&id={id}" -o {file}'
+    else:  # small file
+        s = f'curl -s -L -o {file} "drive.google.com/uc?export=download&id={id}"'
+    r = os.system(s)  # execute, capture return
+    cookie.unlink(missing_ok=True)  # remove existing cookie
+
+    # Error check
+    if r != 0:
+        file.unlink(missing_ok=True)  # remove partial
+        print('Download error ')  # raise Exception('Download error')
+        return r
+
+    # Unzip if archive
+    if file.suffix == '.zip':
+        print('unzipping... ', end='')
+        os.system(f'unzip -q {file}')  # unzip
+        file.unlink()  # remove zip to free space
+
+    print(f'Done ({time.time() - t:.1f}s)')
+    return r
+
+
+def get_token(cookie="./cookie"):
+    with open(cookie) as f:
+        for line in f:
+            if "download" in line:
+                return line.split()[-1]
+    return ""
+
+# def upload_blob(bucket_name, source_file_name, destination_blob_name):
+#     # Uploads a file to a bucket
+#     # https://cloud.google.com/storage/docs/uploading-objects#storage-upload-object-python
+#
+#     storage_client = storage.Client()
+#     bucket = storage_client.get_bucket(bucket_name)
+#     blob = bucket.blob(destination_blob_name)
+#
+#     blob.upload_from_filename(source_file_name)
+#
+#     print('File {} uploaded to {}.'.format(
+#         source_file_name,
+#         destination_blob_name))
+#
+#
+# def download_blob(bucket_name, source_blob_name, destination_file_name):
+#     # Uploads a blob from a bucket
+#     storage_client = storage.Client()
+#     bucket = storage_client.get_bucket(bucket_name)
+#     blob = bucket.blob(source_blob_name)
+#
+#     blob.download_to_filename(destination_file_name)
+#
+#     print('Blob {} downloaded to {}.'.format(
+#         source_blob_name,
+#         destination_file_name))

Child_accident_detection/Child_boundary_breach/utils/loss.py

+# Loss functions
+
+import torch
+import torch.nn as nn
+
+from utils.general import bbox_iou
+from utils.torch_utils import is_parallel
+
+
+def smooth_BCE(eps=0.1):  # https://github.com/ultralytics/yolov3/issues/238#issuecomment-598028441
+    # return positive, negative label smoothing BCE targets
+    return 1.0 - 0.5 * eps, 0.5 * eps
+
+
+class BCEBlurWithLogitsLoss(nn.Module):
+    # BCEwithLogitLoss() with reduced missing label effects.
+    def __init__(self, alpha=0.05):
+        super(BCEBlurWithLogitsLoss, self).__init__()
+        self.loss_fcn = nn.BCEWithLogitsLoss(reduction='none')  # must be nn.BCEWithLogitsLoss()
+        self.alpha = alpha
+
+    def forward(self, pred, true):
+        loss = self.loss_fcn(pred, true)
+        pred = torch.sigmoid(pred)  # prob from logits
+        dx = pred - true  # reduce only missing label effects
+        # dx = (pred - true).abs()  # reduce missing label and false label effects
+        alpha_factor = 1 - torch.exp((dx - 1) / (self.alpha + 1e-4))
+        loss *= alpha_factor
+        return loss.mean()
+
+
+class FocalLoss(nn.Module):
+    # Wraps focal loss around existing loss_fcn(), i.e. criteria = FocalLoss(nn.BCEWithLogitsLoss(), gamma=1.5)
+    def __init__(self, loss_fcn, gamma=1.5, alpha=0.25):
+        super(FocalLoss, self).__init__()
+        self.loss_fcn = loss_fcn  # must be nn.BCEWithLogitsLoss()
+        self.gamma = gamma
+        self.alpha = alpha
+        self.reduction = loss_fcn.reduction
+        self.loss_fcn.reduction = 'none'  # required to apply FL to each element
+
+    def forward(self, pred, true):
+        loss = self.loss_fcn(pred, true)
+        # p_t = torch.exp(-loss)
+        # loss *= self.alpha * (1.000001 - p_t) ** self.gamma  # non-zero power for gradient stability
+
+        # TF implementation https://github.com/tensorflow/addons/blob/v0.7.1/tensorflow_addons/losses/focal_loss.py
+        pred_prob = torch.sigmoid(pred)  # prob from logits
+        p_t = true * pred_prob + (1 - true) * (1 - pred_prob)
+        alpha_factor = true * self.alpha + (1 - true) * (1 - self.alpha)
+        modulating_factor = (1.0 - p_t) ** self.gamma
+        loss *= alpha_factor * modulating_factor
+
+        if self.reduction == 'mean':
+            return loss.mean()
+        elif self.reduction == 'sum':
+            return loss.sum()
+        else:  # 'none'
+            return loss
+
+
+class QFocalLoss(nn.Module):
+    # Wraps Quality focal loss around existing loss_fcn(), i.e. criteria = FocalLoss(nn.BCEWithLogitsLoss(), gamma=1.5)
+    def __init__(self, loss_fcn, gamma=1.5, alpha=0.25):
+        super(QFocalLoss, self).__init__()
+        self.loss_fcn = loss_fcn  # must be nn.BCEWithLogitsLoss()
+        self.gamma = gamma
+        self.alpha = alpha
+        self.reduction = loss_fcn.reduction
+        self.loss_fcn.reduction = 'none'  # required to apply FL to each element
+
+    def forward(self, pred, true):
+        loss = self.loss_fcn(pred, true)
+
+        pred_prob = torch.sigmoid(pred)  # prob from logits
+        alpha_factor = true * self.alpha + (1 - true) * (1 - self.alpha)
+        modulating_factor = torch.abs(true - pred_prob) ** self.gamma
+        loss *= alpha_factor * modulating_factor
+
+        if self.reduction == 'mean':
+            return loss.mean()
+        elif self.reduction == 'sum':
+            return loss.sum()
+        else:  # 'none'
+            return loss
+
+
+class ComputeLoss:
+    # Compute losses
+    def __init__(self, model, autobalance=False):
+        super(ComputeLoss, self).__init__()
+        device = next(model.parameters()).device  # get model device
+        h = model.hyp  # hyperparameters
+
+        # Define criteria
+        BCEcls = nn.BCEWithLogitsLoss(pos_weight=torch.tensor([h['cls_pw']], device=device))
+        BCEobj = nn.BCEWithLogitsLoss(pos_weight=torch.tensor([h['obj_pw']], device=device))
+
+        # Class label smoothing https://arxiv.org/pdf/1902.04103.pdf eqn 3
+        self.cp, self.cn = smooth_BCE(eps=h.get('label_smoothing', 0.0))  # positive, negative BCE targets
+
+        # Focal loss
+        g = h['fl_gamma']  # focal loss gamma
+        if g > 0:
+            BCEcls, BCEobj = FocalLoss(BCEcls, g), FocalLoss(BCEobj, g)
+
+        det = model.module.model[-1] if is_parallel(model) else model.model[-1]  # Detect() module
+        self.balance = {3: [4.0, 1.0, 0.4]}.get(det.nl, [4.0, 1.0, 0.25, 0.06, .02])  # P3-P7
+        self.ssi = list(det.stride).index(16) if autobalance else 0  # stride 16 index
+        self.BCEcls, self.BCEobj, self.gr, self.hyp, self.autobalance = BCEcls, BCEobj, model.gr, h, autobalance
+        for k in 'na', 'nc', 'nl', 'anchors':
+            setattr(self, k, getattr(det, k))
+
+    def __call__(self, p, targets):  # predictions, targets, model
+        device = targets.device
+        lcls, lbox, lobj = torch.zeros(1, device=device), torch.zeros(1, device=device), torch.zeros(1, device=device)
+        tcls, tbox, indices, anchors = self.build_targets(p, targets)  # targets
+
+        # Losses
+        for i, pi in enumerate(p):  # layer index, layer predictions
+            b, a, gj, gi = indices[i]  # image, anchor, gridy, gridx
+            tobj = torch.zeros_like(pi[..., 0], device=device)  # target obj
+
+            n = b.shape[0]  # number of targets
+            if n:
+                ps = pi[b, a, gj, gi]  # prediction subset corresponding to targets
+
+                # Regression
+                pxy = ps[:, :2].sigmoid() * 2. - 0.5
+                pwh = (ps[:, 2:4].sigmoid() * 2) ** 2 * anchors[i]
+                pbox = torch.cat((pxy, pwh), 1)  # predicted box
+                iou = bbox_iou(pbox.T, tbox[i], x1y1x2y2=False, CIoU=True)  # iou(prediction, target)
+                lbox += (1.0 - iou).mean()  # iou loss
+
+                # Objectness
+                tobj[b, a, gj, gi] = (1.0 - self.gr) + self.gr * iou.detach().clamp(0).type(tobj.dtype)  # iou ratio
+
+                # Classification
+                if self.nc > 1:  # cls loss (only if multiple classes)
+                    t = torch.full_like(ps[:, 5:], self.cn, device=device)  # targets
+                    t[range(n), tcls[i]] = self.cp
+                    lcls += self.BCEcls(ps[:, 5:], t)  # BCE
+
+                # Append targets to text file
+                # with open('targets.txt', 'a') as file:
+                #     [file.write('%11.5g ' * 4 % tuple(x) + '\n') for x in torch.cat((txy[i], twh[i]), 1)]
+
+            obji = self.BCEobj(pi[..., 4], tobj)
+            lobj += obji * self.balance[i]  # obj loss
+            if self.autobalance:
+                self.balance[i] = self.balance[i] * 0.9999 + 0.0001 / obji.detach().item()
+
+        if self.autobalance:
+            self.balance = [x / self.balance[self.ssi] for x in self.balance]
+        lbox *= self.hyp['box']
+        lobj *= self.hyp['obj']
+        lcls *= self.hyp['cls']
+        bs = tobj.shape[0]  # batch size
+
+        loss = lbox + lobj + lcls
+        return loss * bs, torch.cat((lbox, lobj, lcls, loss)).detach()
+
+    def build_targets(self, p, targets):
+        # Build targets for compute_loss(), input targets(image,class,x,y,w,h)
+        na, nt = self.na, targets.shape[0]  # number of anchors, targets
+        tcls, tbox, indices, anch = [], [], [], []
+        gain = torch.ones(7, device=targets.device)  # normalized to gridspace gain
+        ai = torch.arange(na, device=targets.device).float().view(na, 1).repeat(1, nt)  # same as .repeat_interleave(nt)
+        targets = torch.cat((targets.repeat(na, 1, 1), ai[:, :, None]), 2)  # append anchor indices
+
+        g = 0.5  # bias
+        off = torch.tensor([[0, 0],
+                            [1, 0], [0, 1], [-1, 0], [0, -1],  # j,k,l,m
+                            # [1, 1], [1, -1], [-1, 1], [-1, -1],  # jk,jm,lk,lm
+                            ], device=targets.device).float() * g  # offsets
+
+        for i in range(self.nl):
+            anchors = self.anchors[i]
+            gain[2:6] = torch.tensor(p[i].shape)[[3, 2, 3, 2]]  # xyxy gain
+
+            # Match targets to anchors
+            t = targets * gain
+            if nt:
+                # Matches
+                r = t[:, :, 4:6] / anchors[:, None]  # wh ratio
+                j = torch.max(r, 1. / r).max(2)[0] < self.hyp['anchor_t']  # compare
+                # j = wh_iou(anchors, t[:, 4:6]) > model.hyp['iou_t']  # iou(3,n)=wh_iou(anchors(3,2), gwh(n,2))
+                t = t[j]  # filter
+
+                # Offsets
+                gxy = t[:, 2:4]  # grid xy
+                gxi = gain[[2, 3]] - gxy  # inverse
+                j, k = ((gxy % 1. < g) & (gxy > 1.)).T
+                l, m = ((gxi % 1. < g) & (gxi > 1.)).T
+                j = torch.stack((torch.ones_like(j), j, k, l, m))
+                t = t.repeat((5, 1, 1))[j]
+                offsets = (torch.zeros_like(gxy)[None] + off[:, None])[j]
+            else:
+                t = targets[0]
+                offsets = 0
+
+            # Define
+            b, c = t[:, :2].long().T  # image, class
+            gxy = t[:, 2:4]  # grid xy
+            gwh = t[:, 4:6]  # grid wh
+            gij = (gxy - offsets).long()
+            gi, gj = gij.T  # grid xy indices
+
+            # Append
+            a = t[:, 6].long()  # anchor indices
+            indices.append((b, a, gj.clamp_(0, gain[3] - 1), gi.clamp_(0, gain[2] - 1)))  # image, anchor, grid indices
+            tbox.append(torch.cat((gxy - gij, gwh), 1))  # box
+            anch.append(anchors[a])  # anchors
+            tcls.append(c)  # class
+
+        return tcls, tbox, indices, anch

Child_accident_detection/Child_boundary_breach/utils/metrics.py

+# Model validation metrics
+
+import warnings
+from pathlib import Path
+
+import matplotlib.pyplot as plt
+import numpy as np
+import torch
+
+from . import general
+
+
+def fitness(x):
+    # Model fitness as a weighted combination of metrics
+    w = [0.0, 0.0, 0.1, 0.9]  # weights for [P, R, mAP@0.5, mAP@0.5:0.95]
+    return (x[:, :4] * w).sum(1)
+
+
+def ap_per_class(tp, conf, pred_cls, target_cls, plot=False, save_dir='.', names=()):
+    """ Compute the average precision, given the recall and precision curves.
+    Source: https://github.com/rafaelpadilla/Object-Detection-Metrics.
+    # Arguments
+        tp:  True positives (nparray, nx1 or nx10).
+        conf:  Objectness value from 0-1 (nparray).
+        pred_cls:  Predicted object classes (nparray).
+        target_cls:  True object classes (nparray).
+        plot:  Plot precision-recall curve at mAP@0.5
+        save_dir:  Plot save directory
+    # Returns
+        The average precision as computed in py-faster-rcnn.
+    """
+
+    # Sort by objectness
+    i = np.argsort(-conf)
+    tp, conf, pred_cls = tp[i], conf[i], pred_cls[i]
+
+    # Find unique classes
+    unique_classes = np.unique(target_cls)
+    nc = unique_classes.shape[0]  # number of classes, number of detections
+
+    # Create Precision-Recall curve and compute AP for each class
+    px, py = np.linspace(0, 1, 1000), []  # for plotting
+    ap, p, r = np.zeros((nc, tp.shape[1])), np.zeros((nc, 1000)), np.zeros((nc, 1000))
+    for ci, c in enumerate(unique_classes):
+        i = pred_cls == c
+        n_l = (target_cls == c).sum()  # number of labels
+        n_p = i.sum()  # number of predictions
+
+        if n_p == 0 or n_l == 0:
+            continue
+        else:
+            # Accumulate FPs and TPs
+            fpc = (1 - tp[i]).cumsum(0)
+            tpc = tp[i].cumsum(0)
+
+            # Recall
+            recall = tpc / (n_l + 1e-16)  # recall curve
+            r[ci] = np.interp(-px, -conf[i], recall[:, 0], left=0)  # negative x, xp because xp decreases
+
+            # Precision
+            precision = tpc / (tpc + fpc)  # precision curve
+            p[ci] = np.interp(-px, -conf[i], precision[:, 0], left=1)  # p at pr_score
+
+            # AP from recall-precision curve
+            for j in range(tp.shape[1]):
+                ap[ci, j], mpre, mrec = compute_ap(recall[:, j], precision[:, j])
+                if plot and j == 0:
+                    py.append(np.interp(px, mrec, mpre))  # precision at mAP@0.5
+
+    # Compute F1 (harmonic mean of precision and recall)
+    f1 = 2 * p * r / (p + r + 1e-16)
+    if plot:
+        plot_pr_curve(px, py, ap, Path(save_dir) / 'PR_curve.png', names)
+        plot_mc_curve(px, f1, Path(save_dir) / 'F1_curve.png', names, ylabel='F1')
+        plot_mc_curve(px, p, Path(save_dir) / 'P_curve.png', names, ylabel='Precision')
+        plot_mc_curve(px, r, Path(save_dir) / 'R_curve.png', names, ylabel='Recall')
+
+    i = f1.mean(0).argmax()  # max F1 index
+    return p[:, i], r[:, i], ap, f1[:, i], unique_classes.astype('int32')
+
+
+def compute_ap(recall, precision):
+    """ Compute the average precision, given the recall and precision curves
+    # Arguments
+        recall:    The recall curve (list)
+        precision: The precision curve (list)
+    # Returns
+        Average precision, precision curve, recall curve
+    """
+
+    # Append sentinel values to beginning and end
+    mrec = np.concatenate(([0.], recall, [recall[-1] + 0.01]))
+    mpre = np.concatenate(([1.], precision, [0.]))
+
+    # Compute the precision envelope
+    mpre = np.flip(np.maximum.accumulate(np.flip(mpre)))
+
+    # Integrate area under curve
+    method = 'interp'  # methods: 'continuous', 'interp'
+    if method == 'interp':
+        x = np.linspace(0, 1, 101)  # 101-point interp (COCO)
+        ap = np.trapz(np.interp(x, mrec, mpre), x)  # integrate
+    else:  # 'continuous'
+        i = np.where(mrec[1:] != mrec[:-1])[0]  # points where x axis (recall) changes
+        ap = np.sum((mrec[i + 1] - mrec[i]) * mpre[i + 1])  # area under curve
+
+    return ap, mpre, mrec
+
+
+class ConfusionMatrix:
+    # Updated version of https://github.com/kaanakan/object_detection_confusion_matrix
+    def __init__(self, nc, conf=0.25, iou_thres=0.45):
+        self.matrix = np.zeros((nc + 1, nc + 1))
+        self.nc = nc  # number of classes
+        self.conf = conf
+        self.iou_thres = iou_thres
+
+    def process_batch(self, detections, labels):
+        """
+        Return intersection-over-union (Jaccard index) of boxes.
+        Both sets of boxes are expected to be in (x1, y1, x2, y2) format.
+        Arguments:
+            detections (Array[N, 6]), x1, y1, x2, y2, conf, class
+            labels (Array[M, 5]), class, x1, y1, x2, y2
+        Returns:
+            None, updates confusion matrix accordingly
+        """
+        detections = detections[detections[:, 4] > self.conf]
+        gt_classes = labels[:, 0].int()
+        detection_classes = detections[:, 5].int()
+        iou = general.box_iou(labels[:, 1:], detections[:, :4])
+
+        x = torch.where(iou > self.iou_thres)
+        if x[0].shape[0]:
+            matches = torch.cat((torch.stack(x, 1), iou[x[0], x[1]][:, None]), 1).cpu().numpy()
+            if x[0].shape[0] > 1:
+                matches = matches[matches[:, 2].argsort()[::-1]]
+                matches = matches[np.unique(matches[:, 1], return_index=True)[1]]
+                matches = matches[matches[:, 2].argsort()[::-1]]
+                matches = matches[np.unique(matches[:, 0], return_index=True)[1]]
+        else:
+            matches = np.zeros((0, 3))
+
+        n = matches.shape[0] > 0
+        m0, m1, _ = matches.transpose().astype(np.int16)
+        for i, gc in enumerate(gt_classes):
+            j = m0 == i
+            if n and sum(j) == 1:
+                self.matrix[detection_classes[m1[j]], gc] += 1  # correct
+            else:
+                self.matrix[self.nc, gc] += 1  # background FP
+
+        if n:
+            for i, dc in enumerate(detection_classes):
+                if not any(m1 == i):
+                    self.matrix[dc, self.nc] += 1  # background FN
+
+    def matrix(self):
+        return self.matrix
+
+    def plot(self, normalize=True, save_dir='', names=()):
+        try:
+            import seaborn as sn
+
+            array = self.matrix / ((self.matrix.sum(0).reshape(1, -1) + 1E-6) if normalize else 1)  # normalize columns
+            array[array < 0.005] = np.nan  # don't annotate (would appear as 0.00)
+
+            fig = plt.figure(figsize=(12, 9), tight_layout=True)
+            sn.set(font_scale=1.0 if self.nc < 50 else 0.8)  # for label size
+            labels = (0 < len(names) < 99) and len(names) == self.nc  # apply names to ticklabels
+            with warnings.catch_warnings():
+                warnings.simplefilter('ignore')  # suppress empty matrix RuntimeWarning: All-NaN slice encountered
+                sn.heatmap(array, annot=self.nc < 30, annot_kws={"size": 8}, cmap='Blues', fmt='.2f', square=True,
+                           xticklabels=names + ['background FP'] if labels else "auto",
+                           yticklabels=names + ['background FN'] if labels else "auto").set_facecolor((1, 1, 1))
+            fig.axes[0].set_xlabel('True')
+            fig.axes[0].set_ylabel('Predicted')
+            fig.savefig(Path(save_dir) / 'confusion_matrix.png', dpi=250)
+        except Exception as e:
+            print(f'WARNING: ConfusionMatrix plot failure: {e}')
+
+    def print(self):
+        for i in range(self.nc + 1):
+            print(' '.join(map(str, self.matrix[i])))
+
+
+# Plots ----------------------------------------------------------------------------------------------------------------
+
+def plot_pr_curve(px, py, ap, save_dir='pr_curve.png', names=()):
+    # Precision-recall curve
+    fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
+    py = np.stack(py, axis=1)
+
+    if 0 < len(names) < 21:  # display per-class legend if < 21 classes
+        for i, y in enumerate(py.T):
+            ax.plot(px, y, linewidth=1, label=f'{names[i]} {ap[i, 0]:.3f}')  # plot(recall, precision)
+    else:
+        ax.plot(px, py, linewidth=1, color='grey')  # plot(recall, precision)
+
+    ax.plot(px, py.mean(1), linewidth=3, color='blue', label='all classes %.3f mAP@0.5' % ap[:, 0].mean())
+    ax.set_xlabel('Recall')
+    ax.set_ylabel('Precision')
+    ax.set_xlim(0, 1)
+    ax.set_ylim(0, 1)
+    plt.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
+    fig.savefig(Path(save_dir), dpi=250)
+
+
+def plot_mc_curve(px, py, save_dir='mc_curve.png', names=(), xlabel='Confidence', ylabel='Metric'):
+    # Metric-confidence curve
+    fig, ax = plt.subplots(1, 1, figsize=(9, 6), tight_layout=True)
+
+    if 0 < len(names) < 21:  # display per-class legend if < 21 classes
+        for i, y in enumerate(py):
+            ax.plot(px, y, linewidth=1, label=f'{names[i]}')  # plot(confidence, metric)
+    else:
+        ax.plot(px, py.T, linewidth=1, color='grey')  # plot(confidence, metric)
+
+    y = py.mean(0)
+    ax.plot(px, y, linewidth=3, color='blue', label=f'all classes {y.max():.2f} at {px[y.argmax()]:.3f}')
+    ax.set_xlabel(xlabel)
+    ax.set_ylabel(ylabel)
+    ax.set_xlim(0, 1)
+    ax.set_ylim(0, 1)
+    plt.legend(bbox_to_anchor=(1.04, 1), loc="upper left")
+    fig.savefig(Path(save_dir), dpi=250)