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Horizon detection using YOLOv5's backbone #2

Merged
merged 106 commits into from
May 28, 2024
Merged

Horizon detection using YOLOv5's backbone #2

merged 106 commits into from
May 28, 2024

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kevinconka
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What?

Using YOLOv5 backbone + 2 classification heads for horizon detection is now possible.

Why?

We need to detect the horizon line in order to do distance estimation. Traditional image processing techniques are not enough to meet this purpose.

How?

Inspiration was taken from how ultralytics handles the yolov5-cls models and expanded around it.

Testing

Link to wandb project

MSE as metric

image

Cross Entropy Losses

image

First epoch

image

Last epoch

image

franziska-denk and others added 30 commits July 29, 2023 17:01
@franziska-denk
Modified iou values and extended hyps
54edee9
@kevinconka
Add pre-augmentation step for 16bit thermal imgs
27b05ba
@kevinconka
training with 16to8bit augmentation works
16768f8
@kevinconka
Modifications to 16-to-8 bit augmentations
54cd1c8
@kevinconka
minor rename
182a6a7
@kevinconka
minor changes due to usage
4444296
@kevinconka
Grouped training scripts in folder
5460516
@kevinconka
Merge branch 'train_16bit_as_8bit' into sea.ai
bb9faa7
@kevinconka
added horizon utils
ee72f4c
@kevinconka
Added dataloaders
5f1432f
@franziska-denk
rename to avoid confusion w/ yolov5/utils folder
f430e3c
@franziska-denk
add pitch and yaw targets
28da609
@kevinconka
HorizonDataset working w albumentations transform
046025e
@kevinconka
Training loop working (needs refactoring)
ea51021
@kevinconka
Create README.md
e8b349c 
Signed-off-by: Kevin Serrano <35779409+kevinconka@users.noreply.github.com>
@kevinconka
refactored models.py
c7829bd
@kevinconka
Added TODOs to README
98c7d66
@kevinconka
added train.py and transforms.py to cleanup nb
d62c1bb
@kevinconka
Checked some TODOs from horizon/README.md
1bc988c
@kevinconka
updated tests nb
5747bf1
@kevinconka
Save val/train loss plots as png images
2e983ed
@kevinconka
Added loss weigths for horizon training
8e3f630
@kevinconka
Added more TODOs
bbf10ed
@kevinconka
Added weather augmentations to rgb
22e72e2
@kevinconka
tensorrt engine working (WIP)
6239c4f
@kevinconka
added patch for tensorRT v7
67365a9
@kevinconka
Update README.md
fcba79a 
Signed-off-by: Kevin Serrano <35779409+kevinconka@users.noreply.github.com>
@kevinconka
Merge branch 'master' into sea.ai
164df54
@GilSeamas
added small change for wandb run_id
7dc9142
@kevinconka
Update models.py
9d8fe07 
Signed-off-by: Kevin Serrano <35779409+kevinconka@users.noreply.github.com>
glenn-jocher and others added 26 commits April 28, 2024 17:18
@glenn-jocher
Add Turkish and Vietnamese Docs (ultralytics#12972)
b599ae4 
* Add Turkish and Vietnamese Docs

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

* Update README.md

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

* Update pyproject.toml

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

---------

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>
@kevinconka
Refactor horizon.py and custom.py for better readability and maintain…
9ac2803 
…ability.
@kevinconka
Add best_mse.pt checkpoint saving during training
c708bc5
@kevinconka
Fix data type conversion issue in custom.py
2a23bc7
@kevinconka
Fix data type conversion issue in train.py
8e80a6d
@kevinconka
wandb integration working
47e3d71
@kevinconka
cleaned nb
9fa1b01
@kevinconka
scale pitch for gt and preds when processing 320x256 imgs
ebbd17c
@kevinconka
fix msu_sum and better cli logging
e205d58
@kevinconka
fixed mask visualisation
ef17cd0
@kevinconka
cast to int32 for cv2.line
a8c4304
@kevinconka
Fix formatting issue in cli logging
1009c00
@n1mmy
Backport compatibility with TensorRT version 10 from yolov8 (ultralyt…
920c721 
…ics#12984)

Add compatibility with TensorRT version 10.

Based on the is_trt10 code in yolov8.
@inisis @UltralyticsAssistant
Set TORCH_CPP_LOG_LEVEL=ERROR for reduced verbosity (ultralytics#12989
2f6b91e 
)

* modify torch cpp log level to Error to avoid annoying print

* Auto-format by https://ultralytics.com/actions

---------

Co-authored-by: UltralyticsAssistant <web@ultralytics.com>
@glenn-jocher
Add pip install --retries 3 to CI to resolve transients (ultralytic…
331c39e 
…s#13001)

* Add `pip install --retries 3` to CI to resolve transients

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

* Update ci-testing.yml

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

---------

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>
@glenn-jocher
Revert CI pip install retries to default (ultralytics#13002)
d1ea6b1 
Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>
@glenn-jocher @UltralyticsAssistant
Centralize ENV variable definition in utils/general.py (ultralytics#1…
28e06aa 
…3004)

* Centralize ENV variable definition in utils/general.py

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

* Update export.py

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

* Auto-format by https://ultralytics.com/actions

---------

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>
Co-authored-by: UltralyticsAssistant <web@ultralytics.com>
@dependabot
Bump contributor-assistant/github-action from 2.3.2 to 2.4.0 in /.git…
1bcd17e 
…hub/workflows (ultralytics#13006)

Bump contributor-assistant/github-action in /.github/workflows

Bumps [contributor-assistant/github-action](https://github.com/contributor-assistant/github-action) from 2.3.2 to 2.4.0.
- [Release notes](https://github.com/contributor-assistant/github-action/releases)
- [Commits](contributor-assistant/github-action@v2.3.2...v2.4.0)

---
updated-dependencies:
- dependency-name: contributor-assistant/github-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
@glenn-jocher
Reformat Markdown code blocks (ultralytics#13023)
712de55
@glenn-jocher @snyk-bot
[Snyk] Security upgrade requests from 2.31.0 to 2.32.0 (ultralytics#1…
60dde7f 
…3039)

fix: requirements.txt to reduce vulnerabilities


The following vulnerabilities are fixed by pinning transitive dependencies:
- https://snyk.io/vuln/SNYK-PYTHON-REQUESTS-6928867

Co-authored-by: snyk-bot <snyk-bot@snyk.io>
@glenn-jocher @UltralyticsAssistant
Update Ultralytics YouTube URL (ultralytics#13046)
892e8a8 
* Update Ultralytics YouTube URL

* Update README.md

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>

* Auto-format by https://ultralytics.com/actions

---------

Signed-off-by: Glenn Jocher <glenn.jocher@ultralytics.com>
Co-authored-by: UltralyticsAssistant <web@ultralytics.com>
@kevinconka
Merge branch 'ultralytics:master' into sea.ai
3465927
@kevinconka
minor notebook update
53c98c5
@kevinconka
Merge remote-tracking branch 'origin/sea.ai' into feature/horizon-det
14855bb
@kevinconka
Function docstrings added
550902a
@UltralyticsAssistant
Auto-format by https://ultralytics.com/actions
4cf1773
@kevinconka kevinconka changed the title Feature/horizon det Horizon detection using YOLOv5 backbone May 28, 2024
@kevinconka kevinconka changed the title Horizon detection using YOLOv5 backbone Horizon detection using YOLOv5's backbone May 28, 2024
@kevinconka kevinconka merged commit 458b802 into master May 28, 2024
@kevinconka kevinconka deleted the feature/horizon-det branch May 28, 2024 17:53
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7 participants
@kevinconka @franziska-denk @GilSeamas @glenn-jocher @n1mmy @inisis @UltralyticsAssistant