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ultralytics/models/rtdetr/__init__.py

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+# Ultralytics YOLO 🚀, AGPL-3.0 license
+
+from .model import RTDETR
+from .predict import RTDETRPredictor
+from .val import RTDETRValidator
+
+__all__ = "RTDETRPredictor", "RTDETRValidator", "RTDETR"

ultralytics/models/rtdetr/model.py

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+# Ultralytics YOLO 🚀, AGPL-3.0 license
+"""
+Interface for Baidu's RT-DETR, a Vision Transformer-based real-time object detector. RT-DETR offers real-time
+performance and high accuracy, excelling in accelerated backends like CUDA with TensorRT. It features an efficient
+hybrid encoder and IoU-aware query selection for enhanced detection accuracy.
+
+For more information on RT-DETR, visit: https://arxiv.org/pdf/2304.08069.pdf
+"""
+
+from ultralytics.engine.model import Model
+from ultralytics.nn.tasks import RTDETRDetectionModel
+
+from .predict import RTDETRPredictor
+from .train import RTDETRTrainer
+from .val import RTDETRValidator
+
+
+class RTDETR(Model):
+    """
+    Interface for Baidu's RT-DETR model. This Vision Transformer-based object detector provides real-time performance
+    with high accuracy. It supports efficient hybrid encoding, IoU-aware query selection, and adaptable inference speed.
+
+    Attributes:
+        model (str): Path to the pre-trained model. Defaults to 'rtdetr-l.pt'.
+    """
+
+    def __init__(self, model="rtdetr-l.pt") -> None:
+        """
+        Initializes the RT-DETR model with the given pre-trained model file. Supports .pt and .yaml formats.
+
+        Args:
+            model (str): Path to the pre-trained model. Defaults to 'rtdetr-l.pt'.
+
+        Raises:
+            NotImplementedError: If the model file extension is not 'pt', 'yaml', or 'yml'.
+        """
+        super().__init__(model=model, task="detect")
+
+    @property
+    def task_map(self) -> dict:
+        """
+        Returns a task map for RT-DETR, associating tasks with corresponding Ultralytics classes.
+
+        Returns:
+            dict: A dictionary mapping task names to Ultralytics task classes for the RT-DETR model.
+        """
+        return {
+            "detect": {
+                "predictor": RTDETRPredictor,
+                "validator": RTDETRValidator,
+                "trainer": RTDETRTrainer,
+                "model": RTDETRDetectionModel,
+            }
+        }

ultralytics/models/rtdetr/predict.py

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+# Ultralytics YOLO 🚀, AGPL-3.0 license
+
+import torch
+
+from ultralytics.data.augment import LetterBox
+from ultralytics.engine.predictor import BasePredictor
+from ultralytics.engine.results import Results
+from ultralytics.utils import ops
+
+
+class RTDETRPredictor(BasePredictor):
+    """
+    RT-DETR (Real-Time Detection Transformer) Predictor extending the BasePredictor class for making predictions using
+    Baidu's RT-DETR model.
+
+    This class leverages the power of Vision Transformers to provide real-time object detection while maintaining
+    high accuracy. It supports key features like efficient hybrid encoding and IoU-aware query selection.
+
+    Example:
+        ```python
+        from ultralytics.utils import ASSETS
+        from ultralytics.models.rtdetr import RTDETRPredictor
+
+        args = dict(model='rtdetr-l.pt', source=ASSETS)
+        predictor = RTDETRPredictor(overrides=args)
+        predictor.predict_cli()
+        ```
+
+    Attributes:
+        imgsz (int): Image size for inference (must be square and scale-filled).
+        args (dict): Argument overrides for the predictor.
+    """
+
+    def postprocess(self, preds, img, orig_imgs):
+        """
+        Postprocess the raw predictions from the model to generate bounding boxes and confidence scores.
+
+        The method filters detections based on confidence and class if specified in `self.args`.
+
+        Args:
+            preds (list): List of [predictions, extra] from the model.
+            img (torch.Tensor): Processed input images.
+            orig_imgs (list or torch.Tensor): Original, unprocessed images.
+
+        Returns:
+            (list[Results]): A list of Results objects containing the post-processed bounding boxes, confidence scores,
+                and class labels.
+        """
+        if not isinstance(preds, (list, tuple)):  # list for PyTorch inference but list[0] Tensor for export inference
+            preds = [preds, None]
+
+        nd = preds[0].shape[-1]
+        bboxes, scores = preds[0].split((4, nd - 4), dim=-1)
+
+        if not isinstance(orig_imgs, list):  # input images are a torch.Tensor, not a list
+            orig_imgs = ops.convert_torch2numpy_batch(orig_imgs)
+
+        results = []
+        for i, bbox in enumerate(bboxes):  # (300, 4)
+            bbox = ops.xywh2xyxy(bbox)
+            score, cls = scores[i].max(-1, keepdim=True)  # (300, 1)
+            idx = score.squeeze(-1) > self.args.conf  # (300, )
+            if self.args.classes is not None:
+                idx = (cls == torch.tensor(self.args.classes, device=cls.device)).any(1) & idx
+            pred = torch.cat([bbox, score, cls], dim=-1)[idx]  # filter
+            orig_img = orig_imgs[i]
+            oh, ow = orig_img.shape[:2]
+            pred[..., [0, 2]] *= ow
+            pred[..., [1, 3]] *= oh
+            img_path = self.batch[0][i]
+            results.append(Results(orig_img, path=img_path, names=self.model.names, boxes=pred))
+        return results
+
+    def pre_transform(self, im):
+        """
+        Pre-transforms the input images before feeding them into the model for inference. The input images are
+        letterboxed to ensure a square aspect ratio and scale-filled. The size must be square(640) and scaleFilled.
+
+        Args:
+            im (list[np.ndarray] |torch.Tensor): Input images of shape (N,3,h,w) for tensor, [(h,w,3) x N] for list.
+
+        Returns:
+            (list): List of pre-transformed images ready for model inference.
+        """
+        letterbox = LetterBox(self.imgsz, auto=False, scaleFill=True)
+        return [letterbox(image=x) for x in im]

ultralytics/models/rtdetr/train.py

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+# Ultralytics YOLO 🚀, AGPL-3.0 license
+
+from copy import copy
+
+import torch
+
+from ultralytics.models.yolo.detect import DetectionTrainer
+from ultralytics.nn.tasks import RTDETRDetectionModel
+from ultralytics.utils import RANK, colorstr
+
+from .val import RTDETRDataset, RTDETRValidator
+
+
+class RTDETRTrainer(DetectionTrainer):
+    """
+    Trainer class for the RT-DETR model developed by Baidu for real-time object detection. Extends the DetectionTrainer
+    class for YOLO to adapt to the specific features and architecture of RT-DETR. This model leverages Vision
+    Transformers and has capabilities like IoU-aware query selection and adaptable inference speed.
+
+    Notes:
+        - F.grid_sample used in RT-DETR does not support the `deterministic=True` argument.
+        - AMP training can lead to NaN outputs and may produce errors during bipartite graph matching.
+
+    Example:
+        ```python
+        from ultralytics.models.rtdetr.train import RTDETRTrainer
+
+        args = dict(model='rtdetr-l.yaml', data='coco8.yaml', imgsz=640, epochs=3)
+        trainer = RTDETRTrainer(overrides=args)
+        trainer.train()
+        ```
+    """
+
+    def get_model(self, cfg=None, weights=None, verbose=True):
+        """
+        Initialize and return an RT-DETR model for object detection tasks.
+
+        Args:
+            cfg (dict, optional): Model configuration. Defaults to None.
+            weights (str, optional): Path to pre-trained model weights. Defaults to None.
+            verbose (bool): Verbose logging if True. Defaults to True.
+
+        Returns:
+            (RTDETRDetectionModel): Initialized model.
+        """
+        model = RTDETRDetectionModel(cfg, nc=self.data["nc"], verbose=verbose and RANK == -1)
+        if weights:
+            model.load(weights)
+        return model
+
+    def build_dataset(self, img_path, mode="val", batch=None):
+        """
+        Build and return an RT-DETR dataset for training or validation.
+
+        Args:
+            img_path (str): Path to the folder containing images.
+            mode (str): Dataset mode, either 'train' or 'val'.
+            batch (int, optional): Batch size for rectangle training. Defaults to None.
+
+        Returns:
+            (RTDETRDataset): Dataset object for the specific mode.
+        """
+        return RTDETRDataset(
+            img_path=img_path,
+            imgsz=self.args.imgsz,
+            batch_size=batch,
+            augment=mode == "train",
+            hyp=self.args,
+            rect=False,
+            cache=self.args.cache or None,
+            prefix=colorstr(f"{mode}: "),
+            data=self.data,
+        )
+
+    def get_validator(self):
+        """
+        Returns a DetectionValidator suitable for RT-DETR model validation.
+
+        Returns:
+            (RTDETRValidator): Validator object for model validation.
+        """
+        self.loss_names = "giou_loss", "cls_loss", "l1_loss"
+        return RTDETRValidator(self.test_loader, save_dir=self.save_dir, args=copy(self.args))
+
+    def preprocess_batch(self, batch):
+        """
+        Preprocess a batch of images. Scales and converts the images to float format.
+
+        Args:
+            batch (dict): Dictionary containing a batch of images, bboxes, and labels.
+
+        Returns:
+            (dict): Preprocessed batch.
+        """
+        batch = super().preprocess_batch(batch)
+        bs = len(batch["img"])
+        batch_idx = batch["batch_idx"]
+        gt_bbox, gt_class = [], []
+        for i in range(bs):
+            gt_bbox.append(batch["bboxes"][batch_idx == i].to(batch_idx.device))
+            gt_class.append(batch["cls"][batch_idx == i].to(device=batch_idx.device, dtype=torch.long))
+        return batch

ultralytics/models/rtdetr/val.py

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+# Ultralytics YOLO 🚀, AGPL-3.0 license
+
+import torch
+
+from ultralytics.data import YOLODataset
+from ultralytics.data.augment import Compose, Format, v8_transforms
+from ultralytics.models.yolo.detect import DetectionValidator
+from ultralytics.utils import colorstr, ops
+
+__all__ = ("RTDETRValidator",)  # tuple or list
+
+
+class RTDETRDataset(YOLODataset):
+    """
+    Real-Time DEtection and TRacking (RT-DETR) dataset class extending the base YOLODataset class.
+
+    This specialized dataset class is designed for use with the RT-DETR object detection model and is optimized for
+    real-time detection and tracking tasks.
+    """
+
+    def __init__(self, *args, data=None, **kwargs):
+        """Initialize the RTDETRDataset class by inheriting from the YOLODataset class."""
+        super().__init__(*args, data=data, **kwargs)
+
+    # NOTE: add stretch version load_image for RTDETR mosaic
+    def load_image(self, i, rect_mode=False):
+        """Loads 1 image from dataset index 'i', returns (im, resized hw)."""
+        return super().load_image(i=i, rect_mode=rect_mode)
+
+    def build_transforms(self, hyp=None):
+        """Temporary, only for evaluation."""
+        if self.augment:
+            hyp.mosaic = hyp.mosaic if self.augment and not self.rect else 0.0
+            hyp.mixup = hyp.mixup if self.augment and not self.rect else 0.0
+            transforms = v8_transforms(self, self.imgsz, hyp, stretch=True)
+        else:
+            # transforms = Compose([LetterBox(new_shape=(self.imgsz, self.imgsz), auto=False, scaleFill=True)])
+            transforms = Compose([])
+        transforms.append(
+            Format(
+                bbox_format="xywh",
+                normalize=True,
+                return_mask=self.use_segments,
+                return_keypoint=self.use_keypoints,
+                batch_idx=True,
+                mask_ratio=hyp.mask_ratio,
+                mask_overlap=hyp.overlap_mask,
+            )
+        )
+        return transforms
+
+
+class RTDETRValidator(DetectionValidator):
+    """
+    RTDETRValidator extends the DetectionValidator class to provide validation capabilities specifically tailored for
+    the RT-DETR (Real-Time DETR) object detection model.
+
+    The class allows building of an RTDETR-specific dataset for validation, applies Non-maximum suppression for
+    post-processing, and updates evaluation metrics accordingly.
+
+    Example:
+        ```python
+        from ultralytics.models.rtdetr import RTDETRValidator
+
+        args = dict(model='rtdetr-l.pt', data='coco8.yaml')
+        validator = RTDETRValidator(args=args)
+        validator()
+        ```
+
+    Note:
+        For further details on the attributes and methods, refer to the parent DetectionValidator class.
+    """
+
+    def build_dataset(self, img_path, mode="val", batch=None):
+        """
+        Build an RTDETR Dataset.
+
+        Args:
+            img_path (str): Path to the folder containing images.
+            mode (str): `train` mode or `val` mode, users are able to customize different augmentations for each mode.
+            batch (int, optional): Size of batches, this is for `rect`. Defaults to None.
+        """
+        return RTDETRDataset(
+            img_path=img_path,
+            imgsz=self.args.imgsz,
+            batch_size=batch,
+            augment=False,  # no augmentation
+            hyp=self.args,
+            rect=False,  # no rect
+            cache=self.args.cache or None,
+            prefix=colorstr(f"{mode}: "),
+            data=self.data,
+        )
+
+    def postprocess(self, preds):
+        """Apply Non-maximum suppression to prediction outputs."""
+        if not isinstance(preds, (list, tuple)):  # list for PyTorch inference but list[0] Tensor for export inference
+            preds = [preds, None]
+
+        bs, _, nd = preds[0].shape
+        bboxes, scores = preds[0].split((4, nd - 4), dim=-1)
+        bboxes *= self.args.imgsz
+        outputs = [torch.zeros((0, 6), device=bboxes.device)] * bs
+        for i, bbox in enumerate(bboxes):  # (300, 4)
+            bbox = ops.xywh2xyxy(bbox)
+            score, cls = scores[i].max(-1)  # (300, )
+            # Do not need threshold for evaluation as only got 300 boxes here
+            # idx = score > self.args.conf
+            pred = torch.cat([bbox, score[..., None], cls[..., None]], dim=-1)  # filter
+            # Sort by confidence to correctly get internal metrics
+            pred = pred[score.argsort(descending=True)]
+            outputs[i] = pred  # [idx]
+
+        return outputs
+
+    def _prepare_batch(self, si, batch):
+        """Prepares a batch for training or inference by applying transformations."""
+        idx = batch["batch_idx"] == si
+        cls = batch["cls"][idx].squeeze(-1)
+        bbox = batch["bboxes"][idx]
+        ori_shape = batch["ori_shape"][si]
+        imgsz = batch["img"].shape[2:]
+        ratio_pad = batch["ratio_pad"][si]
+        if len(cls):
+            bbox = ops.xywh2xyxy(bbox)  # target boxes
+            bbox[..., [0, 2]] *= ori_shape[1]  # native-space pred
+            bbox[..., [1, 3]] *= ori_shape[0]  # native-space pred
+        return {"cls": cls, "bbox": bbox, "ori_shape": ori_shape, "imgsz": imgsz, "ratio_pad": ratio_pad}
+
+    def _prepare_pred(self, pred, pbatch):
+        """Prepares and returns a batch with transformed bounding boxes and class labels."""
+        predn = pred.clone()
+        predn[..., [0, 2]] *= pbatch["ori_shape"][1] / self.args.imgsz  # native-space pred
+        predn[..., [1, 3]] *= pbatch["ori_shape"][0] / self.args.imgsz  # native-space pred
+        return predn.float()