openpilot_comma/tinygrad_repo/test/external/external_test_yolov8.py

import numpy as np
from examples.yolov8 import YOLOv8, get_variant_multiples, preprocess, label_predictions, postprocess
from tinygrad import Tensor
import unittest
import io, cv2
import onnxruntime as ort
import ultralytics
from tinygrad.nn.state import safe_load, load_state_dict
from tinygrad.helpers import fetch

class TestYOLOv8(unittest.TestCase):
  def test_all_load_weights(self):
    for variant in ['n', 's', 'm', 'l', 'x']:
      depth, width, ratio = get_variant_multiples(variant)
      TinyYolov8 = YOLOv8(w=width, r=ratio, d=depth, num_classes=80)
      state_dict = safe_load(fetch(f'https://gitlab.com/r3sist/yolov8_weights/-/raw/master/yolov8{variant}.safetensors'))
      load_state_dict(TinyYolov8, state_dict)
      print(f'successfully loaded weights for yolov{variant}')

  def test_predictions(self):
    test_image_urls = ['https://raw.githubusercontent.com/ultralytics/yolov5/master/data/images/bus.jpg', 'https://www.aljazeera.com/wp-content/uploads/2022/10/2022-04-28T192650Z_1186456067_UP1EI4S1I0P14_RTRMADP_3_SOCCER-ENGLAND-MUN-CHE-REPORT.jpg']
    variant = 'n'
    depth, width, ratio = get_variant_multiples(variant)
    TinyYolov8 = YOLOv8(w=width, r=ratio, d=depth, num_classes=80)
    state_dict = safe_load(fetch(f'https://gitlab.com/r3sist/yolov8_weights/-/raw/master/yolov8{variant}.safetensors'))
    load_state_dict(TinyYolov8, state_dict)

    for i in range(len(test_image_urls)):
      img = cv2.imdecode(np.frombuffer(fetch(test_image_urls[i]).read_bytes(), np.uint8), 1)
      test_image = preprocess([img])
      predictions = TinyYolov8(test_image)
      labels = label_predictions(predictions.numpy())
      assert labels == {5: 1, 0: 4, 11: 1} if i == 0 else labels == {0: 12, 29: 1, 32: 1}

  def test_forward_pass_torch_onnx(self):
    variant = 'n'
    weights_location = fetch(f'https://gitlab.com/r3sist/yolov8_weights/-/raw/master/yolov8{variant}.safetensors')
    weights_location_pt = fetch(f'https://github.com/ultralytics/assets/releases/download/v0.0.0/yolov8{variant}.pt', name=f"yolov8{variant}.pt")   # it needs the pt extension  # noqa: E501
    weights_location_onnx = weights_location_pt.parent / f"yolov8{variant}.onnx"

    # the ultralytics export prints a lot of unneccesary things
    if not weights_location_onnx.is_file():
      model = ultralytics.YOLO(model=weights_location_pt, task='Detect')
      model.export(format="onnx",imgsz=[640, 480])

    depth, width, ratio = get_variant_multiples(variant)
    TinyYolov8 = YOLOv8(w=width, r=ratio, d=depth, num_classes=80)
    state_dict = safe_load(weights_location)
    load_state_dict(TinyYolov8, state_dict)

    image_location = [np.frombuffer(io.BytesIO(fetch('https://raw.githubusercontent.com/ultralytics/yolov5/master/data/images/bus.jpg').read_bytes()).read(), np.uint8)]  # noqa: E501
    orig_image = [cv2.imdecode(image_location[0], 1)]

    input_image = preprocess(orig_image)

    onnx_session = ort.InferenceSession(weights_location_onnx)
    onnx_input_name = onnx_session.get_inputs()[0].name
    onnx_output_name = onnx_session.get_outputs()[0].name
    onnx_output = onnx_session.run([onnx_output_name], {onnx_input_name: input_image.numpy()})

    tiny_output = TinyYolov8(input_image).numpy()
    onnx_output = postprocess(Tensor(onnx_output[0])).numpy()
    #invalid boxes are multiplied by zero in postprocess
    onnx_output = onnx_output[onnx_output[:, 4] != 0]
    tiny_output = tiny_output[tiny_output[:, 4] != 0]

    # currently rtol is 0.025 because there is a 1-2% difference in our predictions
    # because of the zero padding in SPPF module (line 280) maxpooling layers rather than the -infinity in torch.
    # This difference does not make a difference "visually".
    np.testing.assert_allclose(onnx_output, tiny_output, atol=5e-4, rtol=0.025)

if __name__ == '__main__':
  unittest.main()