V1.0

2023-12-27 15:00:04 +08:00 · 2023-12-27 15:00:04 +08:00 · 9ceae167c1
parent bd27d479ba
commit 9ceae167c1
148 changed files with 15117 additions and 2 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(yolov5)
+
+add_definitions(-std=c++11)
+add_definitions(-DAPI_EXPORTS)
+option(CUDA_USE_STATIC_CUDA_RUNTIME OFF)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_BUILD_TYPE Debug)
+
+# TODO(Call for PR): make cmake compatible with Windows
+set(CMAKE_CUDA_COMPILER /usr/local/cuda/bin/nvcc)
+enable_language(CUDA)
+
+# include and link dirs of cuda and tensorrt, you need adapt them if yours are different
+# cuda
+include_directories(/usr/local/cuda/include)
+link_directories(/usr/local/cuda/lib64)
+# tensorrt
+# TODO(Call for PR): make TRT path configurable from command line
+include_directories(/home/nvidia/TensorRT-8.2.5.1/include/)
+link_directories(/home/nvidia/TensorRT-8.2.5.1/lib/)
+
+include_directories(${PROJECT_SOURCE_DIR}/src/)
+include_directories(${PROJECT_SOURCE_DIR}/plugin/)
+file(GLOB_RECURSE SRCS ${PROJECT_SOURCE_DIR}/src/*.cpp ${PROJECT_SOURCE_DIR}/src/*.cu)
+file(GLOB_RECURSE PLUGIN_SRCS ${PROJECT_SOURCE_DIR}/plugin/*.cu)
+
+add_library(myplugins SHARED ${PLUGIN_SRCS})
+target_link_libraries(myplugins nvinfer cudart)
+
+find_package(OpenCV)
+include_directories(${OpenCV_INCLUDE_DIRS})
+
+add_executable(yolov5_det yolov5_det.cpp ${SRCS})
+target_link_libraries(yolov5_det nvinfer)
+target_link_libraries(yolov5_det cudart)
+target_link_libraries(yolov5_det myplugins)
+target_link_libraries(yolov5_det ${OpenCV_LIBS})
+
+add_executable(yolov5_cls yolov5_cls.cpp ${SRCS})
+target_link_libraries(yolov5_cls nvinfer)
+target_link_libraries(yolov5_cls cudart)
+target_link_libraries(yolov5_cls myplugins)
+target_link_libraries(yolov5_cls ${OpenCV_LIBS})
+
+add_executable(yolov5_seg yolov5_seg.cpp ${SRCS})
+target_link_libraries(yolov5_seg nvinfer)
+target_link_libraries(yolov5_seg cudart)
+target_link_libraries(yolov5_seg myplugins)
+target_link_libraries(yolov5_seg ${OpenCV_LIBS})
+
--- a/README.md
+++ b/README.md
@ -1,3 +1,157 @@
-# TensorRT_Transform
+# YOLOv5
+
+TensorRTx inference code base for [ultralytics/yolov5](https://github.com/ultralytics/yolov5).
+
+## Contributors
+
+<a href="https://github.com/wang-xinyu"><img src="https://avatars.githubusercontent.com/u/15235574?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/BaofengZan"><img src="https://avatars.githubusercontent.com/u/20653176?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/upczww"><img src="https://avatars.githubusercontent.com/u/16224249?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/cesarandreslopez"><img src="https://avatars.githubusercontent.com/u/14029177?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/makaveli10"><img src="https://avatars.githubusercontent.com/u/39617050?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/priteshgohil"><img src="https://avatars.githubusercontent.com/u/43172056?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/rymzt"><img src="https://avatars.githubusercontent.com/u/3270954?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/AsakusaRinne"><img src="https://avatars.githubusercontent.com/u/47343601?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/freedenS"><img src="https://avatars.githubusercontent.com/u/26213470?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/smarttowel"><img src="https://avatars.githubusercontent.com/u/1128528?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/wwqgtxx"><img src="https://avatars.githubusercontent.com/u/582584?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/adujardin"><img src="https://avatars.githubusercontent.com/u/12609780?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/jow905"><img src="https://avatars.githubusercontent.com/u/19189198?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/CristiFati"><img src="https://avatars.githubusercontent.com/u/29705787?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/HaiyangPeng"><img src="https://avatars.githubusercontent.com/u/46739135?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/Armassarion"><img src="https://avatars.githubusercontent.com/u/33727511?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/xupengao"><img src="https://avatars.githubusercontent.com/u/51817015?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/liuqi123123"><img src="https://avatars.githubusercontent.com/u/46275888?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/ASONG0506"><img src="https://avatars.githubusercontent.com/u/26050577?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/bobo0810"><img src="https://avatars.githubusercontent.com/u/26057879?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/Silmeria112"><img src="https://avatars.githubusercontent.com/u/16464837?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/LW-SCU"><img src="https://avatars.githubusercontent.com/u/28128257?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/AdanWang"><img src="https://avatars.githubusercontent.com/u/32757980?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/triple-Mu"><img src="https://avatars.githubusercontent.com/u/92794867?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/xiang-wuu"><img src="https://avatars.githubusercontent.com/u/107029401?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/uyolo1314"><img src="https://avatars.githubusercontent.com/u/101853326?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/Rex-LK"><img src="https://avatars.githubusercontent.com/u/74702576?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/PrinceP"><img src="https://avatars.githubusercontent.com/u/10251537?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/hky3535"><img src="https://avatars.githubusercontent.com/u/126926285?s=48&v=4" width="40px;" alt=""/></a>
+<a href="https://github.com/CharlesHuan"><img src="https://avatars.githubusercontent.com/u/47875698?s=48&v=4" width="40px;" alt=""/></a>
+
+## Different versions of yolov5
+
+Currently, we support yolov5 v1.0, v2.0, v3.0, v3.1, v4.0, v5.0, v6.0, v6.2, v7.0
+
+- For yolov5 v7.0, download .pt from [yolov5 release v7.0](https://github.com/ultralytics/yolov5/releases/tag/v7.0), `git clone -b v7.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v7.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v7.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v7.0/yolov5)
+- For yolov5 v6.2, download .pt from [yolov5 release v6.2](https://github.com/ultralytics/yolov5/releases/tag/v6.2), `git clone -b v6.2 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v6.2 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v6.2](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v6.2/yolov5)
+- For yolov5 v6.0, download .pt from [yolov5 release v6.0](https://github.com/ultralytics/yolov5/releases/tag/v6.0), `git clone -b v6.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v6.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v6.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v6.0/yolov5).
+- For yolov5 v5.0, download .pt from [yolov5 release v5.0](https://github.com/ultralytics/yolov5/releases/tag/v5.0), `git clone -b v5.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v5.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v5.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v5.0/yolov5).
+- For yolov5 v4.0, download .pt from [yolov5 release v4.0](https://github.com/ultralytics/yolov5/releases/tag/v4.0), `git clone -b v4.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v4.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v4.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v4.0/yolov5).
+- For yolov5 v3.1, download .pt from [yolov5 release v3.1](https://github.com/ultralytics/yolov5/releases/tag/v3.1), `git clone -b v3.1 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v3.1 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v3.1](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v3.1/yolov5).
+- For yolov5 v3.0, download .pt from [yolov5 release v3.0](https://github.com/ultralytics/yolov5/releases/tag/v3.0), `git clone -b v3.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v3.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v3.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v3.0/yolov5).
+- For yolov5 v2.0, download .pt from [yolov5 release v2.0](https://github.com/ultralytics/yolov5/releases/tag/v2.0), `git clone -b v2.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v2.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v2.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v2.0/yolov5).
+- For yolov5 v1.0, download .pt from [yolov5 release v1.0](https://github.com/ultralytics/yolov5/releases/tag/v1.0), `git clone -b v1.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v1.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v1.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v1.0/yolov5).
+
+## Config
+
+- Choose the YOLOv5 sub-model n/s/m/l/x/n6/s6/m6/l6/x6 from command line arguments.
+- Other configs please check [src/config.h](src/config.h)
+
+## Build and Run
+
+### Detection
+
+1. generate .wts from pytorch with .pt, or download .wts from model zoo
+
+```
+git clone -b v7.0 https://github.com/ultralytics/yolov5.git
+git clone -b yolov5-v7.0 https://github.com/wang-xinyu/tensorrtx.git
+cd yolov5/
+wget https://github.com/ultralytics/yolov5/releases/download/v7.0/yolov5s.pt
+cp [PATH-TO-TENSORRTX]/yolov5/gen_wts.py .
+python gen_wts.py -w yolov5s.pt -o yolov5s.wts
+# A file 'yolov5s.wts' will be generated.
+```
+
+2. build tensorrtx/yolov5 and run
+
+```
+cd [PATH-TO-TENSORRTX]/yolov5/
+# Update kNumClass in src/config.h if your model is trained on custom dataset
+mkdir build
+cd build
+cp [PATH-TO-ultralytics-yolov5]/yolov5s.wts . 
+cmake ..
+make
+
+./yolov5_det -s [.wts] [.engine] [n/s/m/l/x/n6/s6/m6/l6/x6 or c/c6 gd gw]  // serialize model to plan file
+./yolov5_det -d [.engine] [image folder]  // deserialize and run inference, the images in [image folder] will be processed.
+
+# For example yolov5s
+./yolov5_det -s yolov5s.wts yolov5s.engine s
+./yolov5_det -d yolov5s.engine ../images
+
+# For example Custom model with depth_multiple=0.17, width_multiple=0.25 in yolov5.yaml
+./yolov5_det -s yolov5_custom.wts yolov5.engine c 0.17 0.25
+./yolov5_det -d yolov5.engine ../images
+```
+
+3. Check the images generated, _zidane.jpg and _bus.jpg
+
+4. Optional, load and run the tensorrt model in Python
+
+```
+// Install python-tensorrt, pycuda, etc.
+// Ensure the yolov5s.engine and libmyplugins.so have been built
+python yolov5_det_trt.py
+
+// Another version of python script, which is using CUDA Python instead of pycuda.
+python yolov5_det_trt_cuda_python.py
+```
+
+<p align="center">
+<img src="https://user-images.githubusercontent.com/15235574/78247927-4d9fac00-751e-11ea-8b1b-704a0aeb3fcf.jpg" height="360px;">
+</p>
+
+### Classification
+
+```
+# Download ImageNet labels
+wget https://github.com/joannzhang00/ImageNet-dataset-classes-labels/blob/main/imagenet_classes.txt
+
+# Build and serialize TensorRT engine
+./yolov5_cls -s yolov5s-cls.wts yolov5s-cls.engine s
+
+# Run inference
+./yolov5_cls -d yolov5s-cls.engine ../images
+```
+
+### Instance Segmentation
+
+```
+# Build and serialize TensorRT engine
+./yolov5_seg -s yolov5s-seg.wts yolov5s-seg.engine s
+
+# Download the labels file
+wget -O coco.txt https://raw.githubusercontent.com/amikelive/coco-labels/master/coco-labels-2014_2017.txt
+
+# Run inference with labels file
+./yolov5_seg -d yolov5s-seg.engine ../images coco.txt
+```
+
+<p align="center">
+<img src="https://user-images.githubusercontent.com/10251537/211291625-1b912483-b6a6-4e92-80c1-434d165b6776.jpg" height="360px;">
+</p>
+
+# INT8 Quantization
+
+1. Prepare calibration images, you can randomly select 1000s images from your train set. For coco, you can also download my calibration images `coco_calib` from [GoogleDrive](https://drive.google.com/drive/folders/1s7jE9DtOngZMzJC1uL307J2MiaGwdRSI?usp=sharing) or [BaiduPan](https://pan.baidu.com/s/1GOm_-JobpyLMAqZWCDUhKg) pwd: a9wh
+
+2. unzip it in yolov5/build
+
+3. set the macro `USE_INT8` in src/config.h and make
+
+4. serialize the model and test
+
+
+## More Information
+
+See the readme in [home page.](https://github.com/wang-xinyu/tensorrtx)

-TensorRT转化代码
--- a/pycache/val.cpython-37.pyc
+++ b/pycache/val.cpython-37.pyc
--- a/pycache/val.cpython-38.pyc
+++ b/pycache/val.cpython-38.pyc
--- a/data/Argoverse.yaml
+++ b/data/Argoverse.yaml
@ -0,0 +1,67 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# Argoverse-HD dataset (ring-front-center camera) http://www.cs.cmu.edu/~mengtial/proj/streaming/
+# Example usage: python train.py --data Argoverse.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── Argoverse  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/Argoverse  # dataset root dir
+train: Argoverse-1.1/images/train/  # train images (relative to 'path') 39384 images
+val: Argoverse-1.1/images/val/  # val images (relative to 'path') 15062 images
+test: Argoverse-1.1/images/test/  # test images (optional) https://eval.ai/web/challenges/challenge-page/800/overview
+
+# Classes
+nc: 8  # number of classes
+names: ['person',  'bicycle',  'car',  'motorcycle',  'bus',  'truck',  'traffic_light',  'stop_sign']  # class names
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  import json
+
+  from tqdm import tqdm
+  from utils.general import download, Path
+
+
+  def argoverse2yolo(set):
+      labels = {}
+      a = json.load(open(set, "rb"))
+      for annot in tqdm(a['annotations'], desc=f"Converting {set} to YOLOv5 format..."):
+          img_id = annot['image_id']
+          img_name = a['images'][img_id]['name']
+          img_label_name = img_name[:-3] + "txt"
+
+          cls = annot['category_id']  # instance class id
+          x_center, y_center, width, height = annot['bbox']
+          x_center = (x_center + width / 2) / 1920.0  # offset and scale
+          y_center = (y_center + height / 2) / 1200.0  # offset and scale
+          width /= 1920.0  # scale
+          height /= 1200.0  # scale
+
+          img_dir = set.parents[2] / 'Argoverse-1.1' / 'labels' / a['seq_dirs'][a['images'][annot['image_id']]['sid']]
+          if not img_dir.exists():
+              img_dir.mkdir(parents=True, exist_ok=True)
+
+          k = str(img_dir / img_label_name)
+          if k not in labels:
+              labels[k] = []
+          labels[k].append(f"{cls} {x_center} {y_center} {width} {height}\n")
+
+      for k in labels:
+          with open(k, "w") as f:
+              f.writelines(labels[k])
+
+
+  # Download
+  dir = Path('../datasets/Argoverse')  # dataset root dir
+  urls = ['https://argoverse-hd.s3.us-east-2.amazonaws.com/Argoverse-HD-Full.zip']
+  download(urls, dir=dir, delete=False)
+
+  # Convert
+  annotations_dir = 'Argoverse-HD/annotations/'
+  (dir / 'Argoverse-1.1' / 'tracking').rename(dir / 'Argoverse-1.1' / 'images')  # rename 'tracking' to 'images'
+  for d in "train.json", "val.json":
+      argoverse2yolo(dir / annotations_dir / d)  # convert VisDrone annotations to YOLO labels
--- a/data/GlobalWheat2020.yaml
+++ b/data/GlobalWheat2020.yaml
@ -0,0 +1,53 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# Global Wheat 2020 dataset http://www.global-wheat.com/
+# Example usage: python train.py --data GlobalWheat2020.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── GlobalWheat2020  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/GlobalWheat2020  # dataset root dir
+train: # train images (relative to 'path') 3422 images
+  - images/arvalis_1
+  - images/arvalis_2
+  - images/arvalis_3
+  - images/ethz_1
+  - images/rres_1
+  - images/inrae_1
+  - images/usask_1
+val: # val images (relative to 'path') 748 images (WARNING: train set contains ethz_1)
+  - images/ethz_1
+test: # test images (optional) 1276 images
+  - images/utokyo_1
+  - images/utokyo_2
+  - images/nau_1
+  - images/uq_1
+
+# Classes
+nc: 1  # number of classes
+names: ['wheat_head']  # class names
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  from utils.general import download, Path
+
+  # Download
+  dir = Path(yaml['path'])  # dataset root dir
+  urls = ['https://zenodo.org/record/4298502/files/global-wheat-codalab-official.zip',
+          'https://github.com/ultralytics/yolov5/releases/download/v1.0/GlobalWheat2020_labels.zip']
+  download(urls, dir=dir)
+
+  # Make Directories
+  for p in 'annotations', 'images', 'labels':
+      (dir / p).mkdir(parents=True, exist_ok=True)
+
+  # Move
+  for p in 'arvalis_1', 'arvalis_2', 'arvalis_3', 'ethz_1', 'rres_1', 'inrae_1', 'usask_1', \
+           'utokyo_1', 'utokyo_2', 'nau_1', 'uq_1':
+      (dir / p).rename(dir / 'images' / p)  # move to /images
+      f = (dir / p).with_suffix('.json')  # json file
+      if f.exists():
+          f.rename((dir / 'annotations' / p).with_suffix('.json'))  # move to /annotations
--- a/data/Objects365.yaml
+++ b/data/Objects365.yaml
@ -0,0 +1,104 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# Objects365 dataset https://www.objects365.org/
+# Example usage: python train.py --data Objects365.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── Objects365  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/Objects365  # dataset root dir
+train: images/train  # train images (relative to 'path') 1742289 images
+val: images/val # val images (relative to 'path') 5570 images
+test:  # test images (optional)
+
+# Classes
+nc: 365  # number of classes
+names: ['Person', 'Sneakers', 'Chair', 'Other Shoes', 'Hat', 'Car', 'Lamp', 'Glasses', 'Bottle', 'Desk', 'Cup',
+        'Street Lights', 'Cabinet/shelf', 'Handbag/Satchel', 'Bracelet', 'Plate', 'Picture/Frame', 'Helmet', 'Book',
+        'Gloves', 'Storage box', 'Boat', 'Leather Shoes', 'Flower', 'Bench', 'Potted Plant', 'Bowl/Basin', 'Flag',
+        'Pillow', 'Boots', 'Vase', 'Microphone', 'Necklace', 'Ring', 'SUV', 'Wine Glass', 'Belt', 'Monitor/TV',
+        'Backpack', 'Umbrella', 'Traffic Light', 'Speaker', 'Watch', 'Tie', 'Trash bin Can', 'Slippers', 'Bicycle',
+        'Stool', 'Barrel/bucket', 'Van', 'Couch', 'Sandals', 'Basket', 'Drum', 'Pen/Pencil', 'Bus', 'Wild Bird',
+        'High Heels', 'Motorcycle', 'Guitar', 'Carpet', 'Cell Phone', 'Bread', 'Camera', 'Canned', 'Truck',
+        'Traffic cone', 'Cymbal', 'Lifesaver', 'Towel', 'Stuffed Toy', 'Candle', 'Sailboat', 'Laptop', 'Awning',
+        'Bed', 'Faucet', 'Tent', 'Horse', 'Mirror', 'Power outlet', 'Sink', 'Apple', 'Air Conditioner', 'Knife',
+        'Hockey Stick', 'Paddle', 'Pickup Truck', 'Fork', 'Traffic Sign', 'Balloon', 'Tripod', 'Dog', 'Spoon', 'Clock',
+        'Pot', 'Cow', 'Cake', 'Dinning Table', 'Sheep', 'Hanger', 'Blackboard/Whiteboard', 'Napkin', 'Other Fish',
+        'Orange/Tangerine', 'Toiletry', 'Keyboard', 'Tomato', 'Lantern', 'Machinery Vehicle', 'Fan',
+        'Green Vegetables', 'Banana', 'Baseball Glove', 'Airplane', 'Mouse', 'Train', 'Pumpkin', 'Soccer', 'Skiboard',
+        'Luggage', 'Nightstand', 'Tea pot', 'Telephone', 'Trolley', 'Head Phone', 'Sports Car', 'Stop Sign',
+        'Dessert', 'Scooter', 'Stroller', 'Crane', 'Remote', 'Refrigerator', 'Oven', 'Lemon', 'Duck', 'Baseball Bat',
+        'Surveillance Camera', 'Cat', 'Jug', 'Broccoli', 'Piano', 'Pizza', 'Elephant', 'Skateboard', 'Surfboard',
+        'Gun', 'Skating and Skiing shoes', 'Gas stove', 'Donut', 'Bow Tie', 'Carrot', 'Toilet', 'Kite', 'Strawberry',
+        'Other Balls', 'Shovel', 'Pepper', 'Computer Box', 'Toilet Paper', 'Cleaning Products', 'Chopsticks',
+        'Microwave', 'Pigeon', 'Baseball', 'Cutting/chopping Board', 'Coffee Table', 'Side Table', 'Scissors',
+        'Marker', 'Pie', 'Ladder', 'Snowboard', 'Cookies', 'Radiator', 'Fire Hydrant', 'Basketball', 'Zebra', 'Grape',
+        'Giraffe', 'Potato', 'Sausage', 'Tricycle', 'Violin', 'Egg', 'Fire Extinguisher', 'Candy', 'Fire Truck',
+        'Billiards', 'Converter', 'Bathtub', 'Wheelchair', 'Golf Club', 'Briefcase', 'Cucumber', 'Cigar/Cigarette',
+        'Paint Brush', 'Pear', 'Heavy Truck', 'Hamburger', 'Extractor', 'Extension Cord', 'Tong', 'Tennis Racket',
+        'Folder', 'American Football', 'earphone', 'Mask', 'Kettle', 'Tennis', 'Ship', 'Swing', 'Coffee Machine',
+        'Slide', 'Carriage', 'Onion', 'Green beans', 'Projector', 'Frisbee', 'Washing Machine/Drying Machine',
+        'Chicken', 'Printer', 'Watermelon', 'Saxophone', 'Tissue', 'Toothbrush', 'Ice cream', 'Hot-air balloon',
+        'Cello', 'French Fries', 'Scale', 'Trophy', 'Cabbage', 'Hot dog', 'Blender', 'Peach', 'Rice', 'Wallet/Purse',
+        'Volleyball', 'Deer', 'Goose', 'Tape', 'Tablet', 'Cosmetics', 'Trumpet', 'Pineapple', 'Golf Ball',
+        'Ambulance', 'Parking meter', 'Mango', 'Key', 'Hurdle', 'Fishing Rod', 'Medal', 'Flute', 'Brush', 'Penguin',
+        'Megaphone', 'Corn', 'Lettuce', 'Garlic', 'Swan', 'Helicopter', 'Green Onion', 'Sandwich', 'Nuts',
+        'Speed Limit Sign', 'Induction Cooker', 'Broom', 'Trombone', 'Plum', 'Rickshaw', 'Goldfish', 'Kiwi fruit',
+        'Router/modem', 'Poker Card', 'Toaster', 'Shrimp', 'Sushi', 'Cheese', 'Notepaper', 'Cherry', 'Pliers', 'CD',
+        'Pasta', 'Hammer', 'Cue', 'Avocado', 'Hamimelon', 'Flask', 'Mushroom', 'Screwdriver', 'Soap', 'Recorder',
+        'Bear', 'Eggplant', 'Board Eraser', 'Coconut', 'Tape Measure/Ruler', 'Pig', 'Showerhead', 'Globe', 'Chips',
+        'Steak', 'Crosswalk Sign', 'Stapler', 'Camel', 'Formula 1', 'Pomegranate', 'Dishwasher', 'Crab',
+        'Hoverboard', 'Meat ball', 'Rice Cooker', 'Tuba', 'Calculator', 'Papaya', 'Antelope', 'Parrot', 'Seal',
+        'Butterfly', 'Dumbbell', 'Donkey', 'Lion', 'Urinal', 'Dolphin', 'Electric Drill', 'Hair Dryer', 'Egg tart',
+        'Jellyfish', 'Treadmill', 'Lighter', 'Grapefruit', 'Game board', 'Mop', 'Radish', 'Baozi', 'Target', 'French',
+        'Spring Rolls', 'Monkey', 'Rabbit', 'Pencil Case', 'Yak', 'Red Cabbage', 'Binoculars', 'Asparagus', 'Barbell',
+        'Scallop', 'Noddles', 'Comb', 'Dumpling', 'Oyster', 'Table Tennis paddle', 'Cosmetics Brush/Eyeliner Pencil',
+        'Chainsaw', 'Eraser', 'Lobster', 'Durian', 'Okra', 'Lipstick', 'Cosmetics Mirror', 'Curling', 'Table Tennis']
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  from pycocotools.coco import COCO
+  from tqdm import tqdm
+
+  from utils.general import download, Path
+
+  # Make Directories
+  dir = Path(yaml['path'])  # dataset root dir
+  for p in 'images', 'labels':
+      (dir / p).mkdir(parents=True, exist_ok=True)
+      for q in 'train', 'val':
+          (dir / p / q).mkdir(parents=True, exist_ok=True)
+
+  # Download
+  url = "https://dorc.ks3-cn-beijing.ksyun.com/data-set/2020Objects365%E6%95%B0%E6%8D%AE%E9%9B%86/train/"
+  download([url + 'zhiyuan_objv2_train.tar.gz'], dir=dir, delete=False)  # annotations json
+  download([url + f for f in [f'patch{i}.tar.gz' for i in range(51)]], dir=dir / 'images' / 'train',
+           curl=True, delete=False, threads=8)
+
+  # Move
+  train = dir / 'images' / 'train'
+  for f in tqdm(train.rglob('*.jpg'), desc=f'Moving images'):
+      f.rename(train / f.name)  # move to /images/train
+
+  # Labels
+  coco = COCO(dir / 'zhiyuan_objv2_train.json')
+  names = [x["name"] for x in coco.loadCats(coco.getCatIds())]
+  for cid, cat in enumerate(names):
+      catIds = coco.getCatIds(catNms=[cat])
+      imgIds = coco.getImgIds(catIds=catIds)
+      for im in tqdm(coco.loadImgs(imgIds), desc=f'Class {cid + 1}/{len(names)} {cat}'):
+          width, height = im["width"], im["height"]
+          path = Path(im["file_name"])  # image filename
+          try:
+              with open(dir / 'labels' / 'train' / path.with_suffix('.txt').name, 'a') as file:
+                  annIds = coco.getAnnIds(imgIds=im["id"], catIds=catIds, iscrowd=None)
+                  for a in coco.loadAnns(annIds):
+                      x, y, w, h = a['bbox']  # bounding box in xywh (xy top-left corner)
+                      x, y = x + w / 2, y + h / 2  # xy to center
+                      file.write(f"{cid} {x / width:.5f} {y / height:.5f} {w / width:.5f} {h / height:.5f}\n")
+
+          except Exception as e:
+              print(e)
--- a/data/SKU-110K.yaml
+++ b/data/SKU-110K.yaml
@ -0,0 +1,52 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# SKU-110K retail items dataset https://github.com/eg4000/SKU110K_CVPR19
+# Example usage: python train.py --data SKU-110K.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── SKU-110K  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/SKU-110K  # dataset root dir
+train: train.txt  # train images (relative to 'path')  8219 images
+val: val.txt  # val images (relative to 'path')  588 images
+test: test.txt  # test images (optional)  2936 images
+
+# Classes
+nc: 1  # number of classes
+names: ['object']  # class names
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  import shutil
+  from tqdm import tqdm
+  from utils.general import np, pd, Path, download, xyxy2xywh
+
+  # Download
+  dir = Path(yaml['path'])  # dataset root dir
+  parent = Path(dir.parent)  # download dir
+  urls = ['http://trax-geometry.s3.amazonaws.com/cvpr_challenge/SKU110K_fixed.tar.gz']
+  download(urls, dir=parent, delete=False)
+
+  # Rename directories
+  if dir.exists():
+      shutil.rmtree(dir)
+  (parent / 'SKU110K_fixed').rename(dir)  # rename dir
+  (dir / 'labels').mkdir(parents=True, exist_ok=True)  # create labels dir
+
+  # Convert labels
+  names = 'image', 'x1', 'y1', 'x2', 'y2', 'class', 'image_width', 'image_height'  # column names
+  for d in 'annotations_train.csv', 'annotations_val.csv', 'annotations_test.csv':
+      x = pd.read_csv(dir / 'annotations' / d, names=names).values  # annotations
+      images, unique_images = x[:, 0], np.unique(x[:, 0])
+      with open((dir / d).with_suffix('.txt').__str__().replace('annotations_', ''), 'w') as f:
+          f.writelines(f'./images/{s}\n' for s in unique_images)
+      for im in tqdm(unique_images, desc=f'Converting {dir / d}'):
+          cls = 0  # single-class dataset
+          with open((dir / 'labels' / im).with_suffix('.txt'), 'a') as f:
+              for r in x[images == im]:
+                  w, h = r[6], r[7]  # image width, height
+                  xywh = xyxy2xywh(np.array([[r[1] / w, r[2] / h, r[3] / w, r[4] / h]]))[0]  # instance
+                  f.write(f"{cls} {xywh[0]:.5f} {xywh[1]:.5f} {xywh[2]:.5f} {xywh[3]:.5f}\n")  # write label
--- a/data/VOC.yaml
+++ b/data/VOC.yaml
@ -0,0 +1,80 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# PASCAL VOC dataset http://host.robots.ox.ac.uk/pascal/VOC
+# Example usage: python train.py --data VOC.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── VOC  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/VOC
+train: # train images (relative to 'path')  16551 images
+  - images/train2012
+  - images/train2007
+  - images/val2012
+  - images/val2007
+val: # val images (relative to 'path')  4952 images
+  - images/test2007
+test: # test images (optional)
+  - images/test2007
+
+# Classes
+nc: 20  # number of classes
+names: ['aeroplane', 'bicycle', 'bird', 'boat', 'bottle', 'bus', 'car', 'cat', 'chair', 'cow', 'diningtable', 'dog',
+        'horse', 'motorbike', 'person', 'pottedplant', 'sheep', 'sofa', 'train', 'tvmonitor']  # class names
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  import xml.etree.ElementTree as ET
+
+  from tqdm import tqdm
+  from utils.general import download, Path
+
+
+  def convert_label(path, lb_path, year, image_id):
+      def convert_box(size, box):
+          dw, dh = 1. / size[0], 1. / size[1]
+          x, y, w, h = (box[0] + box[1]) / 2.0 - 1, (box[2] + box[3]) / 2.0 - 1, box[1] - box[0], box[3] - box[2]
+          return x * dw, y * dh, w * dw, h * dh
+
+      in_file = open(path / f'VOC{year}/Annotations/{image_id}.xml')
+      out_file = open(lb_path, 'w')
+      tree = ET.parse(in_file)
+      root = tree.getroot()
+      size = root.find('size')
+      w = int(size.find('width').text)
+      h = int(size.find('height').text)
+
+      for obj in root.iter('object'):
+          cls = obj.find('name').text
+          if cls in yaml['names'] and not int(obj.find('difficult').text) == 1:
+              xmlbox = obj.find('bndbox')
+              bb = convert_box((w, h), [float(xmlbox.find(x).text) for x in ('xmin', 'xmax', 'ymin', 'ymax')])
+              cls_id = yaml['names'].index(cls)  # class id
+              out_file.write(" ".join([str(a) for a in (cls_id, *bb)]) + '\n')
+
+
+  # Download
+  dir = Path(yaml['path'])  # dataset root dir
+  url = 'https://github.com/ultralytics/yolov5/releases/download/v1.0/'
+  urls = [url + 'VOCtrainval_06-Nov-2007.zip',  # 446MB, 5012 images
+          url + 'VOCtest_06-Nov-2007.zip',  # 438MB, 4953 images
+          url + 'VOCtrainval_11-May-2012.zip']  # 1.95GB, 17126 images
+  download(urls, dir=dir / 'images', delete=False)
+
+  # Convert
+  path = dir / f'images/VOCdevkit'
+  for year, image_set in ('2012', 'train'), ('2012', 'val'), ('2007', 'train'), ('2007', 'val'), ('2007', 'test'):
+      imgs_path = dir / 'images' / f'{image_set}{year}'
+      lbs_path = dir / 'labels' / f'{image_set}{year}'
+      imgs_path.mkdir(exist_ok=True, parents=True)
+      lbs_path.mkdir(exist_ok=True, parents=True)
+
+      image_ids = open(path / f'VOC{year}/ImageSets/Main/{image_set}.txt').read().strip().split()
+      for id in tqdm(image_ids, desc=f'{image_set}{year}'):
+          f = path / f'VOC{year}/JPEGImages/{id}.jpg'  # old img path
+          lb_path = (lbs_path / f.name).with_suffix('.txt')  # new label path
+          f.rename(imgs_path / f.name)  # move image
+          convert_label(path, lb_path, year, id)  # convert labels to YOLO format
--- a/data/VisDrone.yaml
+++ b/data/VisDrone.yaml
@ -0,0 +1,61 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# VisDrone2019-DET dataset https://github.com/VisDrone/VisDrone-Dataset
+# Example usage: python train.py --data VisDrone.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── VisDrone  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/VisDrone  # dataset root dir
+train: VisDrone2019-DET-train/images  # train images (relative to 'path')  6471 images
+val: VisDrone2019-DET-val/images  # val images (relative to 'path')  548 images
+test: VisDrone2019-DET-test-dev/images  # test images (optional)  1610 images
+
+# Classes
+nc: 10  # number of classes
+names: ['pedestrian', 'people', 'bicycle', 'car', 'van', 'truck', 'tricycle', 'awning-tricycle', 'bus', 'motor']
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  from utils.general import download, os, Path
+
+  def visdrone2yolo(dir):
+      from PIL import Image
+      from tqdm import tqdm
+
+      def convert_box(size, box):
+          # Convert VisDrone box to YOLO xywh box
+          dw = 1. / size[0]
+          dh = 1. / size[1]
+          return (box[0] + box[2] / 2) * dw, (box[1] + box[3] / 2) * dh, box[2] * dw, box[3] * dh
+
+      (dir / 'labels').mkdir(parents=True, exist_ok=True)  # make labels directory
+      pbar = tqdm((dir / 'annotations').glob('*.txt'), desc=f'Converting {dir}')
+      for f in pbar:
+          img_size = Image.open((dir / 'images' / f.name).with_suffix('.jpg')).size
+          lines = []
+          with open(f, 'r') as file:  # read annotation.txt
+              for row in [x.split(',') for x in file.read().strip().splitlines()]:
+                  if row[4] == '0':  # VisDrone 'ignored regions' class 0
+                      continue
+                  cls = int(row[5]) - 1
+                  box = convert_box(img_size, tuple(map(int, row[:4])))
+                  lines.append(f"{cls} {' '.join(f'{x:.6f}' for x in box)}\n")
+                  with open(str(f).replace(os.sep + 'annotations' + os.sep, os.sep + 'labels' + os.sep), 'w') as fl:
+                      fl.writelines(lines)  # write label.txt
+
+
+  # Download
+  dir = Path(yaml['path'])  # dataset root dir
+  urls = ['https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-train.zip',
+          'https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-val.zip',
+          'https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-test-dev.zip',
+          'https://github.com/ultralytics/yolov5/releases/download/v1.0/VisDrone2019-DET-test-challenge.zip']
+  download(urls, dir=dir)
+
+  # Convert
+  for d in 'VisDrone2019-DET-train', 'VisDrone2019-DET-val', 'VisDrone2019-DET-test-dev':
+      visdrone2yolo(dir / d)  # convert VisDrone annotations to YOLO labels
--- a/data/coco.yaml
+++ b/data/coco.yaml
@ -0,0 +1,44 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# COCO 2017 dataset http://cocodataset.org
+# Example usage: python train.py --data coco.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── coco  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/coco  # dataset root dir
+train: train2017.txt  # train images (relative to 'path') 118287 images
+val: val2017.txt  # train images (relative to 'path') 5000 images
+test: test-dev2017.txt  # 20288 of 40670 images, submit to https://competitions.codalab.org/competitions/20794
+
+# Classes
+nc: 80  # number of classes
+names: ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',
+        'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
+        'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',
+        'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',
+        'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple',
+        'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch',
+        'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
+        'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear',
+        'hair drier', 'toothbrush']  # class names
+
+
+# Download script/URL (optional)
+download: |
+  from utils.general import download, Path
+
+  # Download labels
+  segments = False  # segment or box labels
+  dir = Path(yaml['path'])  # dataset root dir
+  url = 'https://github.com/ultralytics/yolov5/releases/download/v1.0/'
+  urls = [url + ('coco2017labels-segments.zip' if segments else 'coco2017labels.zip')]  # labels
+  download(urls, dir=dir.parent)
+
+  # Download data
+  urls = ['http://images.cocodataset.org/zips/train2017.zip',  # 19G, 118k images
+          'http://images.cocodataset.org/zips/val2017.zip',  # 1G, 5k images
+          'http://images.cocodataset.org/zips/test2017.zip']  # 7G, 41k images (optional)
+  download(urls, dir=dir / 'images', threads=3)
--- a/data/coco128.yaml
+++ b/data/coco128.yaml
@ -0,0 +1,30 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# COCO128 dataset https://www.kaggle.com/ultralytics/coco128 (first 128 images from COCO train2017)
+# Example usage: python train.py --data coco128.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── coco128  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/coco128  # dataset root dir
+train: images/train2017  # train images (relative to 'path') 128 images
+val: images/train2017  # val images (relative to 'path') 128 images
+test:  # test images (optional)
+
+# Classes
+nc: 80  # number of classes
+names: ['person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat', 'traffic light',
+        'fire hydrant', 'stop sign', 'parking meter', 'bench', 'bird', 'cat', 'dog', 'horse', 'sheep', 'cow',
+        'elephant', 'bear', 'zebra', 'giraffe', 'backpack', 'umbrella', 'handbag', 'tie', 'suitcase', 'frisbee',
+        'skis', 'snowboard', 'sports ball', 'kite', 'baseball bat', 'baseball glove', 'skateboard', 'surfboard',
+        'tennis racket', 'bottle', 'wine glass', 'cup', 'fork', 'knife', 'spoon', 'bowl', 'banana', 'apple',
+        'sandwich', 'orange', 'broccoli', 'carrot', 'hot dog', 'pizza', 'donut', 'cake', 'chair', 'couch',
+        'potted plant', 'bed', 'dining table', 'toilet', 'tv', 'laptop', 'mouse', 'remote', 'keyboard', 'cell phone',
+        'microwave', 'oven', 'toaster', 'sink', 'refrigerator', 'book', 'clock', 'vase', 'scissors', 'teddy bear',
+        'hair drier', 'toothbrush']  # class names
+
+
+# Download script/URL (optional)
+download: https://github.com/ultralytics/yolov5/releases/download/v1.0/coco128.zip
--- a/data/data_class_4.yaml
+++ b/data/data_class_4.yaml
@ -0,0 +1,37 @@
+# train: /home/sxkj/nyh/data/cupan_0803/train.txt  # 128 images
+# val: /home/sxkj/nyh/data/cupan_0803/val.txt  # 128 images
+train: /home/thsw/WJ/nyh/DATA/smogfire12_20230103/train.txt  # 128 images
+val: /home/thsw/WJ/nyh/DATA/smogfire12_20230103/val.txt  # 128 images
+
+
+
+# number of classes
+nc: 2
+names: [ 'smog','fire']
+
+#nc: 5 # 
+# class names
+#names: ['ForestSpot','PestTree','pedestrian','fire','smog']
+
+
+
+#train: /home/test/Dataset_new2/data_dh3/train.txt
+#val: /home/test/Dataset_new2/data_dh3/val.txt
+#test: /home/test/Dataset_new2/data_dh3/test.txt
+#
+#nc: 2 # number of classes
+## class names
+#names: ['cigarette','phone']
+
+
+#train: E:\Pytorch\yolov5-master-revise\data\img
+#val: E:\Pytorch\yolov5-master-revise\data\img1
+#test: E:\Pytorch\yolov5-master-revise\data\img2
+#train: ../yolov5-revise-trainbolt/data/img/bolt/bolttrain/  # 128 images
+#val: ../yolov5-revise-trainbolt/data/img/bolt/boltval/  # 128 images
+
+
+#nc: 3 # number of classes
+# class names
+#names: ['crack1','crack2','crack3']
+#names: [ 'ExposedBar']
--- a/data/hyps/hyp.finetune.yaml
+++ b/data/hyps/hyp.finetune.yaml
@ -0,0 +1,39 @@
+# Hyperparameters for VOC finetuning
+# python train.py --batch 64 --weights yolov5m.pt --data VOC.yaml --img 512 --epochs 50
+# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
+
+
+# Hyperparameter Evolution Results
+# Generations: 306
+#                   P         R     mAP.5 mAP.5:.95       box       obj       cls
+# Metrics:        0.6     0.936     0.896     0.684    0.0115   0.00805   0.00146
+
+lr0: 0.0032
+lrf: 0.12
+momentum: 0.843
+weight_decay: 0.00036
+warmup_epochs: 2.0
+warmup_momentum: 0.5
+warmup_bias_lr: 0.05
+box: 0.0296
+cls: 0.243
+cls_pw: 0.631
+obj: 0.301
+obj_pw: 0.911
+iou_t: 0.2
+anchor_t: 2.91
+# anchors: 3.63
+fl_gamma: 0.0
+hsv_h: 0.0138
+hsv_s: 0.664
+hsv_v: 0.464
+degrees: 0.373
+translate: 0.245
+scale: 0.898
+shear: 0.602
+perspective: 0.0
+flipud: 0.00856
+fliplr: 0.5
+mosaic: 1.0
+mixup: 0.243
+copy_paste: 0.0
--- a/data/hyps/hyp.finetune_objects365.yaml
+++ b/data/hyps/hyp.finetune_objects365.yaml
@ -0,0 +1,29 @@
+lr0: 0.00258
+lrf: 0.17
+momentum: 0.779
+weight_decay: 0.00058
+warmup_epochs: 1.33
+warmup_momentum: 0.86
+warmup_bias_lr: 0.0711
+box: 0.0539
+cls: 0.299
+cls_pw: 0.825
+obj: 0.632
+obj_pw: 1.0
+iou_t: 0.2
+anchor_t: 3.44
+anchors: 3.2
+fl_gamma: 0.0
+hsv_h: 0.0188
+hsv_s: 0.704
+hsv_v: 0.36
+degrees: 0.0
+translate: 0.0902
+scale: 0.491
+shear: 0.0
+perspective: 0.0
+flipud: 0.0
+fliplr: 0.5
+mosaic: 1.0
+mixup: 0.0
+copy_paste: 0.0
--- a/data/hyps/hyp.scratch-p6.yaml
+++ b/data/hyps/hyp.scratch-p6.yaml
@ -0,0 +1,34 @@
+# Hyperparameters for COCO training from scratch
+# python train.py --batch 32 --cfg yolov5m6.yaml --weights '' --data coco.yaml --img 1280 --epochs 300
+# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
+
+
+lr0: 0.01  # initial learning rate (SGD=1E-2, Adam=1E-3)
+lrf: 0.2  # final OneCycleLR learning rate (lr0 * lrf)
+momentum: 0.937  # SGD momentum/Adam beta1
+weight_decay: 0.0005  # optimizer weight decay 5e-4
+warmup_epochs: 3.0  # warmup epochs (fractions ok)
+warmup_momentum: 0.8  # warmup initial momentum
+warmup_bias_lr: 0.1  # warmup initial bias lr
+box: 0.05  # box loss gain
+cls: 0.3  # cls loss gain
+cls_pw: 1.0  # cls BCELoss positive_weight
+obj: 0.7  # obj loss gain (scale with pixels)
+obj_pw: 1.0  # obj BCELoss positive_weight
+iou_t: 0.20  # IoU training threshold
+anchor_t: 4.0  # anchor-multiple threshold
+# anchors: 3  # anchors per output layer (0 to ignore)
+fl_gamma: 0.0  # focal loss gamma (efficientDet default gamma=1.5)
+hsv_h: 0.015  # image HSV-Hue augmentation (fraction)
+hsv_s: 0.7  # image HSV-Saturation augmentation (fraction)
+hsv_v: 0.4  # image HSV-Value augmentation (fraction)
+degrees: 0.0  # image rotation (+/- deg)
+translate: 0.1  # image translation (+/- fraction)
+scale: 0.9  # image scale (+/- gain)
+shear: 0.0  # image shear (+/- deg)
+perspective: 0.0  # image perspective (+/- fraction), range 0-0.001
+flipud: 0.0  # image flip up-down (probability)
+fliplr: 0.5  # image flip left-right (probability)
+mosaic: 1.0  # image mosaic (probability)
+mixup: 0.0  # image mixup (probability)
+copy_paste: 0.0  # segment copy-paste (probability)
--- a/data/hyps/hyp.scratch.yaml
+++ b/data/hyps/hyp.scratch.yaml
@ -0,0 +1,34 @@
+# Hyperparameters for COCO training from scratch
+# python train.py --batch 40 --cfg yolov5m.yaml --weights '' --data coco.yaml --img 640 --epochs 300
+# See tutorials for hyperparameter evolution https://github.com/ultralytics/yolov5#tutorials
+
+
+lr0: 0.01  # initial learning rate (SGD=1E-2, Adam=1E-3)
+lrf: 0.2  # final OneCycleLR learning rate (lr0 * lrf)
+momentum: 0.937  # SGD momentum/Adam beta1
+weight_decay: 0.0005  # optimizer weight decay 5e-4
+warmup_epochs: 3.0  # warmup epochs (fractions ok)
+warmup_momentum: 0.8  # warmup initial momentum
+warmup_bias_lr: 0.1  # warmup initial bias lr
+box: 0.05  # box loss gain
+cls: 0.5  # cls loss gain
+cls_pw: 1.0  # cls BCELoss positive_weight
+obj: 1.0  # obj loss gain (scale with pixels)
+obj_pw: 1.0  # obj BCELoss positive_weight
+iou_t: 0.20  # IoU training threshold
+anchor_t: 4.0  # anchor-multiple threshold
+# anchors: 3  # anchors per output layer (0 to ignore)
+fl_gamma: 0.0  # focal loss gamma (efficientDet default gamma=1.5) 如果是0，则没用focal loss
+hsv_h: 0.015  # image HSV-Hue augmentation (fraction)
+hsv_s: 0.7  # image HSV-Saturation augmentation (fraction)
+hsv_v: 0.4  # image HSV-Value augmentation (fraction)
+degrees: 0.0  # image rotation (+/- deg)
+translate: 0.1  # image translation (+/- fraction)
+scale: 0.5  # image scale (+/- gain)
+shear: 0.0  # image shear (+/- deg)
+perspective: 0.0  # image perspective (+/- fraction), range 0-0.001
+flipud: 0.0  # image flip up-down (probability)
+fliplr: 0.5  # image flip left-right (probability)
+mosaic: 1.0  # image mosaic (probability)
+mixup: 0.0  # image mixup (probability)
+copy_paste: 0.0  # segment copy-paste (probability)
--- a/data/img.cache
+++ b/data/img.cache
--- a/data/img.cache.npy
+++ b/data/img.cache.npy
--- a/data/img1.cache
+++ b/data/img1.cache
--- a/data/scripts/download_weights.sh
+++ b/data/scripts/download_weights.sh
@ -0,0 +1,17 @@
+#!/bin/bash
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# Download latest models from https://github.com/ultralytics/yolov5/releases
+# Example usage: bash path/to/download_weights.sh
+# parent
+# └── yolov5
+#     ├── yolov5s.pt  ← downloads here
+#     ├── yolov5m.pt
+#     └── ...
+
+python - <<EOF
+from utils.downloads import attempt_download
+
+for x in ['s', 'm', 'l', 'x']:
+    attempt_download(f'yolov5{x}.pt')
+
+EOF
--- a/data/scripts/get_coco.sh
+++ b/data/scripts/get_coco.sh
@ -0,0 +1,27 @@
+#!/bin/bash
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# Download COCO 2017 dataset http://cocodataset.org
+# Example usage: bash data/scripts/get_coco.sh
+# parent
+# ├── yolov5
+# └── datasets
+#     └── coco  ← downloads here
+
+# Download/unzip labels
+d='../datasets' # unzip directory
+url=https://github.com/ultralytics/yolov5/releases/download/v1.0/
+f='coco2017labels.zip' # or 'coco2017labels-segments.zip', 68 MB
+echo 'Downloading' $url$f ' ...'
+curl -L $url$f -o $f && unzip -q $f -d $d && rm $f &
+
+# Download/unzip images
+d='../datasets/coco/images' # unzip directory
+url=http://images.cocodataset.org/zips/
+f1='train2017.zip' # 19G, 118k images
+f2='val2017.zip'   # 1G, 5k images
+f3='test2017.zip'  # 7G, 41k images (optional)
+for f in $f1 $f2; do
+  echo 'Downloading' $url$f '...'
+  curl -L $url$f -o $f && unzip -q $f -d $d && rm $f &
+done
+wait # finish background tasks
--- a/data/scripts/get_coco128.sh
+++ b/data/scripts/get_coco128.sh
@ -0,0 +1,17 @@
+#!/bin/bash
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# Download COCO128 dataset https://www.kaggle.com/ultralytics/coco128 (first 128 images from COCO train2017)
+# Example usage: bash data/scripts/get_coco128.sh
+# parent
+# ├── yolov5
+# └── datasets
+#     └── coco128  ← downloads here
+
+# Download/unzip images and labels
+d='../datasets' # unzip directory
+url=https://github.com/ultralytics/yolov5/releases/download/v1.0/
+f='coco128.zip' # or 'coco2017labels-segments.zip', 68 MB
+echo 'Downloading' $url$f ' ...'
+curl -L $url$f -o $f && unzip -q $f -d $d && rm $f &
+
+wait # finish background tasks
--- a/data/xView.yaml
+++ b/data/xView.yaml
@ -0,0 +1,102 @@
+# YOLOv5 🚀 by Ultralytics https://ultralytics.com, licensed under GNU GPL v3.0
+# xView 2018 dataset https://challenge.xviewdataset.org
+# --------  DOWNLOAD DATA MANUALLY from URL above and unzip to 'datasets/xView' before running train command!  --------
+# Example usage: python train.py --data xView.yaml
+# parent
+# ├── yolov5
+# └── datasets
+#     └── xView  ← downloads here
+
+
+# Train/val/test sets as 1) dir: path/to/imgs, 2) file: path/to/imgs.txt, or 3) list: [path/to/imgs1, path/to/imgs2, ..]
+path: ../datasets/xView  # dataset root dir
+train: images/autosplit_train.txt  # train images (relative to 'path') 90% of 847 train images
+val: images/autosplit_val.txt  # train images (relative to 'path') 10% of 847 train images
+
+# Classes
+nc: 60  # number of classes
+names: ['Fixed-wing Aircraft', 'Small Aircraft', 'Cargo Plane', 'Helicopter', 'Passenger Vehicle', 'Small Car', 'Bus',
+        'Pickup Truck', 'Utility Truck', 'Truck', 'Cargo Truck', 'Truck w/Box', 'Truck Tractor', 'Trailer',
+        'Truck w/Flatbed', 'Truck w/Liquid', 'Crane Truck', 'Railway Vehicle', 'Passenger Car', 'Cargo Car',
+        'Flat Car', 'Tank car', 'Locomotive', 'Maritime Vessel', 'Motorboat', 'Sailboat', 'Tugboat', 'Barge',
+        'Fishing Vessel', 'Ferry', 'Yacht', 'Container Ship', 'Oil Tanker', 'Engineering Vehicle', 'Tower crane',
+        'Container Crane', 'Reach Stacker', 'Straddle Carrier', 'Mobile Crane', 'Dump Truck', 'Haul Truck',
+        'Scraper/Tractor', 'Front loader/Bulldozer', 'Excavator', 'Cement Mixer', 'Ground Grader', 'Hut/Tent', 'Shed',
+        'Building', 'Aircraft Hangar', 'Damaged Building', 'Facility', 'Construction Site', 'Vehicle Lot', 'Helipad',
+        'Storage Tank', 'Shipping container lot', 'Shipping Container', 'Pylon', 'Tower']  # class names
+
+
+# Download script/URL (optional) ---------------------------------------------------------------------------------------
+download: |
+  import json
+  import os
+  from pathlib import Path
+
+  import numpy as np
+  from PIL import Image
+  from tqdm import tqdm
+
+  from utils.datasets import autosplit
+  from utils.general import download, xyxy2xywhn
+
+
+  def convert_labels(fname=Path('xView/xView_train.geojson')):
+      # Convert xView geoJSON labels to YOLO format
+      path = fname.parent
+      with open(fname) as f:
+          print(f'Loading {fname}...')
+          data = json.load(f)
+
+      # Make dirs
+      labels = Path(path / 'labels' / 'train')
+      os.system(f'rm -rf {labels}')
+      labels.mkdir(parents=True, exist_ok=True)
+
+      # xView classes 11-94 to 0-59
+      xview_class2index = [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 0, 1, 2, -1, 3, -1, 4, 5, 6, 7, 8, -1, 9, 10, 11,
+                           12, 13, 14, 15, -1, -1, 16, 17, 18, 19, 20, 21, 22, -1, 23, 24, 25, -1, 26, 27, -1, 28, -1,
+                           29, 30, 31, 32, 33, 34, 35, 36, 37, -1, 38, 39, 40, 41, 42, 43, 44, 45, -1, -1, -1, -1, 46,
+                           47, 48, 49, -1, 50, 51, -1, 52, -1, -1, -1, 53, 54, -1, 55, -1, -1, 56, -1, 57, -1, 58, 59]
+
+      shapes = {}
+      for feature in tqdm(data['features'], desc=f'Converting {fname}'):
+          p = feature['properties']
+          if p['bounds_imcoords']:
+              id = p['image_id']
+              file = path / 'train_images' / id
+              if file.exists():  # 1395.tif missing
+                  try:
+                      box = np.array([int(num) for num in p['bounds_imcoords'].split(",")])
+                      assert box.shape[0] == 4, f'incorrect box shape {box.shape[0]}'
+                      cls = p['type_id']
+                      cls = xview_class2index[int(cls)]  # xView class to 0-60
+                      assert 59 >= cls >= 0, f'incorrect class index {cls}'
+
+                      # Write YOLO label
+                      if id not in shapes:
+                          shapes[id] = Image.open(file).size
+                      box = xyxy2xywhn(box[None].astype(np.float), w=shapes[id][0], h=shapes[id][1], clip=True)
+                      with open((labels / id).with_suffix('.txt'), 'a') as f:
+                          f.write(f"{cls} {' '.join(f'{x:.6f}' for x in box[0])}\n")  # write label.txt
+                  except Exception as e:
+                      print(f'WARNING: skipping one label for {file}: {e}')
+
+
+  # Download manually from https://challenge.xviewdataset.org
+  dir = Path(yaml['path'])  # dataset root dir
+  # urls = ['https://d307kc0mrhucc3.cloudfront.net/train_labels.zip',  # train labels
+  #         'https://d307kc0mrhucc3.cloudfront.net/train_images.zip',  # 15G, 847 train images
+  #         'https://d307kc0mrhucc3.cloudfront.net/val_images.zip']  # 5G, 282 val images (no labels)
+  # download(urls, dir=dir, delete=False)
+
+  # Convert labels
+  convert_labels(dir / 'xView_train.geojson')
+
+  # Move images
+  images = Path(dir / 'images')
+  images.mkdir(parents=True, exist_ok=True)
+  Path(dir / 'train_images').rename(dir / 'images' / 'train')
+  Path(dir / 'val_images').rename(dir / 'images' / 'val')
+
+  # Split
+  autosplit(dir / 'images' / 'train')
--- a/detect.py
+++ b/detect.py
@ -0,0 +1,239 @@
+"""Run inference with a YOLOv5 model on images, videos, directories, streams
+
+Usage:
+    $ python path/to/detect.py --source path/to/img.jpg --weights yolov5s.pt --img 640
+"""
+
+import argparse
+import sys
+import time
+from pathlib import Path
+
+import cv2
+import torch
+import torch.backends.cudnn as cudnn
+
+FILE = Path(__file__).absolute()
+sys.path.append(FILE.parents[0].as_posix())  # add yolov5/ to path
+
+from models.experimental import attempt_load
+from utils.datasets import LoadStreams, LoadImages
+from utils.general import check_img_size, check_requirements, check_imshow, colorstr, non_max_suppression, \
+    apply_classifier, scale_coords, xyxy2xywh, strip_optimizer, set_logging, increment_path, save_one_box
+from utils.plots import colors, plot_one_box
+from utils.torch_utils import select_device, load_classifier, time_sync
+
+
+@torch.no_grad()
+def run(weights='yolov5s.pt',  # model.pt path(s)
+        source='data/images',  # file/dir/URL/glob, 0 for webcam
+        imgsz=640,  # inference size (pixels)
+        conf_thres=0.25,  # confidence threshold
+        iou_thres=0.45,  # NMS IOU threshold
+        max_det=1000,  # maximum detections per image
+        device='',  # cuda device, i.e. 0 or 0,1,2,3 or cpu
+        view_img=False,  # show results
+        save_txt=False,  # save results to *.txt
+        save_conf=False,  # save confidences in --save-txt labels
+        save_crop=False,  # save cropped prediction boxes
+        nosave=False,  # do not save images/videos
+        classes=None,  # filter by class: --class 0, or --class 0 2 3
+        agnostic_nms=False,  # class-agnostic NMS
+        augment=False,  # augmented inference
+        visualize=False,  # visualize features
+        update=False,  # update all models
+        project='runs/detect',  # save results to project/name
+        name='exp',  # save results to project/name
+        exist_ok=False,  # existing project/name ok, do not increment
+        line_thickness=3,  # bounding box thickness (pixels)
+        hide_labels=False,  # hide labels
+        hide_conf=False,  # hide confidences
+        half=False,  # use FP16 half-precision inference
+        ):
+    save_img = not nosave and not source.endswith('.txt')  # save inference images
+    webcam = source.isnumeric() or source.endswith('.txt') or source.lower().startswith(
+        ('rtsp://', 'rtmp://', 'http://', 'https://'))
+
+    # Directories
+    save_dir = increment_path(Path(project) / name, exist_ok=exist_ok)  # increment run
+    (save_dir / 'labels' if save_txt else save_dir).mkdir(parents=True, exist_ok=True)  # make dir
+
+    # Initialize
+    set_logging()
+    device = select_device(device)
+    half &= device.type != 'cpu'  # half precision only supported on CUDA
+
+    # Load model
+    w = weights[0] if isinstance(weights, list) else weights
+    classify, pt, onnx = False, w.endswith('.pt'), w.endswith('.onnx')  # inference type
+    stride, names = 64, [f'class{i}' for i in range(1000)]  # assign defaults
+    if pt:
+        model = attempt_load(weights, map_location=device)  # load FP32 model
+        stride = int(model.stride.max())  # model stride
+        names = model.module.names if hasattr(model, 'module') else model.names  # get class names
+        if half:
+            model.half()  # to FP16
+        if classify:  # second-stage classifier
+            modelc = load_classifier(name='resnet50', n=2)  # initialize
+            modelc.load_state_dict(torch.load('resnet50.pt', map_location=device)['model']).to(device).eval()
+    elif onnx:
+        check_requirements(('onnx', 'onnxruntime'))
+        import onnxruntime
+        session = onnxruntime.InferenceSession(w, None)
+    imgsz = check_img_size(imgsz, s=stride)  # check image size
+
+    # Dataloader
+    if webcam:
+        view_img = check_imshow()
+        cudnn.benchmark = True  # set True to speed up constant image size inference
+        dataset = LoadStreams(source, img_size=imgsz, stride=stride)
+        bs = len(dataset)  # batch_size
+    else:
+        dataset = LoadImages(source, img_size=imgsz, stride=stride)
+        bs = 1  # batch_size
+    vid_path, vid_writer = [None] * bs, [None] * bs
+
+    # Run inference
+    if pt and device.type != 'cpu':
+        model(torch.zeros(1, 3, imgsz, imgsz).to(device).type_as(next(model.parameters())))  # run once
+    t0 = time.time()
+    for path, img, im0s, vid_cap in dataset:
+        if pt:
+            img = torch.from_numpy(img).to(device)
+            img = img.half() if half else img.float()  # uint8 to fp16/32
+        elif onnx:
+            img = img.astype('float32')
+        img /= 255.0  # 0 - 255 to 0.0 - 1.0
+        if len(img.shape) == 3:
+            img = img[None]  # expand for batch dim
+
+        # Inference
+        t1 = time_sync()
+        if pt:
+            visualize = increment_path(save_dir / Path(path).stem, mkdir=True) if visualize else False
+            pred = model(img, augment=augment, visualize=visualize)[0]
+        elif onnx:
+            pred = torch.tensor(session.run([session.get_outputs()[0].name], {session.get_inputs()[0].name: img}))
+
+        # NMS
+        pred = non_max_suppression(pred, conf_thres, iou_thres, classes, agnostic_nms, max_det=max_det)
+        t2 = time_sync()
+
+        # Second-stage classifier (optional)
+        if classify:
+            pred = apply_classifier(pred, modelc, img, im0s)
+
+        # Process predictions
+        for i, det in enumerate(pred):  # detections per image
+            if webcam:  # batch_size >= 1
+                p, s, im0, frame = path[i], f'{i}: ', im0s[i].copy(), dataset.count
+            else:
+                p, s, im0, frame = path, '', im0s.copy(), getattr(dataset, 'frame', 0)
+
+            p = Path(p)  # to Path
+            save_path = str(save_dir / p.name)  # img.jpg
+            txt_path = str(save_dir / 'labels' / p.stem) + ('' if dataset.mode == 'image' else f'_{frame}')  # img.txt
+            s += '%gx%g ' % img.shape[2:]  # print string
+            gn = torch.tensor(im0.shape)[[1, 0, 1, 0]]  # normalization gain whwh
+            imc = im0.copy() if save_crop else im0  # for save_crop
+            if len(det):
+                # Rescale boxes from img_size to im0 size
+                det[:, :4] = scale_coords(img.shape[2:], det[:, :4], im0.shape).round()
+
+                # Print results
+                for c in det[:, -1].unique():
+                    n = (det[:, -1] == c).sum()  # detections per class
+                    s += f"{n} {names[int(c)]}{'s' * (n > 1)}, "  # add to string
+
+                # Write results
+                for *xyxy, conf, cls in reversed(det):
+                    if save_txt:  # Write to file
+                        xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist()  # normalized xywh
+                        line = (cls, *xywh, conf) if save_conf else (cls, *xywh)  # label format
+                        with open(txt_path + '.txt', 'a') as f:
+                            f.write(('%g ' * len(line)).rstrip() % line + '\n')
+
+                    if save_img or save_crop or view_img:  # Add bbox to image
+                        c = int(cls)  # integer class
+                        label = None if hide_labels else (names[c] if hide_conf else f'{names[c]} {conf:.2f}')
+                        plot_one_box(xyxy, im0, label=label, color=colors(c, True), line_thickness=line_thickness)
+                        if save_crop:
+                            save_one_box(xyxy, imc, file=save_dir / 'crops' / names[c] / f'{p.stem}.jpg', BGR=True)
+
+            # Print time (inference + NMS)
+            print(f'{s}Done. ({t2 - t1:.3f}s)')
+
+            # Stream results
+            if view_img:
+                cv2.imshow(str(p), im0)
+                cv2.waitKey(1)  # 1 millisecond
+
+            # Save results (image with detections)
+            if save_img:
+                if dataset.mode == 'image':
+                    cv2.imwrite(save_path, im0)
+                else:  # 'video' or 'stream'
+                    if vid_path[i] != save_path:  # new video
+                        vid_path[i] = save_path
+                        if isinstance(vid_writer[i], cv2.VideoWriter):
+                            vid_writer[i].release()  # release previous video writer
+                        if vid_cap:  # video
+                            fps = vid_cap.get(cv2.CAP_PROP_FPS)
+                            w = int(vid_cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+                            h = int(vid_cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+                        else:  # stream
+                            fps, w, h = 30, im0.shape[1], im0.shape[0]
+                            save_path += '.mp4'
+                        vid_writer[i] = cv2.VideoWriter(save_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h))
+                    vid_writer[i].write(im0)
+
+    if save_txt or save_img:
+        s = f"\n{len(list(save_dir.glob('labels/*.txt')))} labels saved to {save_dir / 'labels'}" if save_txt else ''
+        print(f"Results saved to {colorstr('bold', save_dir)}{s}")
+
+    if update:
+        strip_optimizer(weights)  # update model (to fix SourceChangeWarning)
+
+    print(f'Done. ({time.time() - t0:.3f}s)')
+
+
+def parse_opt():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--weights', nargs='+', type=str, default='weights/smogfire_20230105.pt', help='model.pt path(s)')
+    #parser.add_argument('--source', type=str, default='image', help='file/dir/URL/glob, 0 for webcam')
+    parser.add_argument('--source', type=str, default='/home/thsw/WJ/nyh_submission/0_smogfire/image_for_test', help='file/dir/URL/glob, 0 for webcam')
+    parser.add_argument('--imgsz', '--img', '--img-size', type=int, default=640, help='inference size (pixels)')
+    parser.add_argument('--conf-thres', type=float, default=0.5, help='confidence threshold')
+    parser.add_argument('--iou-thres', type=float, default=0.7, help='NMS IoU threshold')
+    parser.add_argument('--max-det', type=int, default=1000, help='maximum detections per image')
+    parser.add_argument('--device', default='0,1', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
+    parser.add_argument('--view-img', action='store_true', help='show results')
+    parser.add_argument('--save-txt', action='store_true', help='save results to *.txt')
+    parser.add_argument('--save-conf', action='store_true', help='save confidences in --save-txt labels')
+    parser.add_argument('--save-crop', action='store_true', help='save cropped prediction boxes')
+    parser.add_argument('--nosave', action='store_true', help='do not save images/videos')
+    parser.add_argument('--classes', nargs='+', type=int, help='filter by class: --class 0, or --class 0 2 3')
+    parser.add_argument('--agnostic-nms', action='store_true', help='class-agnostic NMS')
+    parser.add_argument('--augment', action='store_true', help='augmented inference')
+    parser.add_argument('--visualize', action='store_true', help='visualize features')
+    parser.add_argument('--update', action='store_true', help='update all models')
+    parser.add_argument('--project', default='runs/detect', help='save results to project/name')
+    parser.add_argument('--name', default='exp', help='save results to project/name')
+    parser.add_argument('--exist-ok', action='store_true', help='existing project/name ok, do not increment')
+    parser.add_argument('--line-thickness', default=3, type=int, help='bounding box thickness (pixels)')
+    parser.add_argument('--hide-labels', default=False, action='store_true', help='hide labels')
+    parser.add_argument('--hide-conf', default=False, action='store_true', help='hide confidences')
+    parser.add_argument('--half', action='store_true', help='use FP16 half-precision inference')
+    opt = parser.parse_args()
+    return opt
+
+
+def main(opt):
+    print(colorstr('detect: ') + ', '.join(f'{k}={v}' for k, v in vars(opt).items()))
+    check_requirements(exclude=('tensorboard', 'thop'))
+    run(**vars(opt))
+
+
+if __name__ == "__main__":
+    opt = parse_opt()
+    main(opt)
--- a/detect1.py
+++ b/detect1.py
@ -0,0 +1,239 @@
+"""Run inference with a YOLOv5 model on images, videos, directories, streams
+
+Usage:
+    $ python path/to/detect.py --source path/to/img.jpg --weights yolov5s.pt --img 640
+"""
+
+import argparse
+import sys
+import time
+from pathlib import Path
+
+import cv2
+import torch
+import torch.backends.cudnn as cudnn
+
+FILE = Path(__file__).absolute()
+sys.path.append(FILE.parents[0].as_posix())  # add yolov5/ to path
+
+from models.experimental import attempt_load
+from utils.datasets import LoadStreams, LoadImages
+from utils.general import check_img_size, check_requirements, check_imshow, colorstr, non_max_suppression, \
+    apply_classifier, scale_coords, xyxy2xywh, strip_optimizer, set_logging, increment_path, save_one_box
+from utils.plots import colors, plot_one_box
+from utils.torch_utils import select_device, load_classifier, time_sync
+
+
+@torch.no_grad()
+def run(weights='yolov5s.pt',  # model.pt path(s)
+        source='data/images',  # file/dir/URL/glob, 0 for webcam
+        imgsz=640,  # inference size (pixels)
+        conf_thres=0.25,  # confidence threshold
+        iou_thres=0.45,  # NMS IOU threshold
+        max_det=1000,  # maximum detections per image
+        device='',  # cuda device, i.e. 0 or 0,1,2,3 or cpu
+        view_img=False,  # show results
+        save_txt=False,  # save results to *.txt
+        save_conf=False,  # save confidences in --save-txt labels
+        save_crop=False,  # save cropped prediction boxes
+        nosave=False,  # do not save images/videos
+        classes=None,  # filter by class: --class 0, or --class 0 2 3
+        agnostic_nms=False,  # class-agnostic NMS
+        augment=False,  # augmented inference
+        visualize=False,  # visualize features
+        update=False,  # update all models
+        project='runs/detect',  # save results to project/name
+        name='exp',  # save results to project/name
+        exist_ok=False,  # existing project/name ok, do not increment
+        line_thickness=3,  # bounding box thickness (pixels)
+        hide_labels=False,  # hide labels
+        hide_conf=False,  # hide confidences
+        half=False,  # use FP16 half-precision inference
+        ):
+    save_img = not nosave and not source.endswith('.txt')  # save inference images
+    webcam = source.isnumeric() or source.endswith('.txt') or source.lower().startswith(
+        ('rtsp://', 'rtmp://', 'http://', 'https://'))
+
+    # Directories
+    save_dir = increment_path(Path(project) / name, exist_ok=exist_ok)  # increment run
+    (save_dir / 'labels' if save_txt else save_dir).mkdir(parents=True, exist_ok=True)  # make dir
+
+    # Initialize
+    set_logging()
+    device = select_device(device)
+    half &= device.type != 'cpu'  # half precision only supported on CUDA
+
+    # Load model
+    w = weights[0] if isinstance(weights, list) else weights
+    classify, pt, onnx = False, w.endswith('.pt'), w.endswith('.onnx')  # inference type
+    stride, names = 64, [f'class{i}' for i in range(1000)]  # assign defaults
+    if pt:
+        model = attempt_load(weights, map_location=device)  # load FP32 model
+        stride = int(model.stride.max())  # model stride
+        names = model.module.names if hasattr(model, 'module') else model.names  # get class names
+        if half:
+            model.half()  # to FP16
+        if classify:  # second-stage classifier
+            modelc = load_classifier(name='resnet50', n=2)  # initialize
+            modelc.load_state_dict(torch.load('resnet50.pt', map_location=device)['model']).to(device).eval()
+    elif onnx:
+        check_requirements(('onnx', 'onnxruntime'))
+        import onnxruntime
+        session = onnxruntime.InferenceSession(w, None)
+    imgsz = check_img_size(imgsz, s=stride)  # check image size
+
+    # Dataloader
+    if webcam:
+        view_img = check_imshow()
+        cudnn.benchmark = True  # set True to speed up constant image size inference
+        dataset = LoadStreams(source, img_size=imgsz, stride=stride)
+        bs = len(dataset)  # batch_size
+    else:
+        dataset = LoadImages(source, img_size=imgsz, stride=stride)
+        bs = 1  # batch_size
+    vid_path, vid_writer = [None] * bs, [None] * bs
+
+    # Run inference
+    if pt and device.type != 'cpu':
+        model(torch.zeros(1, 3, imgsz, imgsz).to(device).type_as(next(model.parameters())))  # run once
+    t0 = time.time()
+    for path, img, im0s, vid_cap in dataset:
+        if pt:
+            img = torch.from_numpy(img).to(device)
+            img = img.half() if half else img.float()  # uint8 to fp16/32
+        elif onnx:
+            img = img.astype('float32')
+        img /= 255.0  # 0 - 255 to 0.0 - 1.0
+        if len(img.shape) == 3:
+            img = img[None]  # expand for batch dim
+
+        # Inference
+        t1 = time_sync()
+        if pt:
+            visualize = increment_path(save_dir / Path(path).stem, mkdir=True) if visualize else False
+            pred = model(img, augment=augment, visualize=visualize)[0]
+        elif onnx:
+            pred = torch.tensor(session.run([session.get_outputs()[0].name], {session.get_inputs()[0].name: img}))
+
+        # NMS
+        pred = non_max_suppression(pred, conf_thres, iou_thres, classes, agnostic_nms, max_det=max_det)
+        t2 = time_sync()
+
+        # Second-stage classifier (optional)
+        if classify:
+            pred = apply_classifier(pred, modelc, img, im0s)
+
+        # Process predictions
+        for i, det in enumerate(pred):  # detections per image
+            if webcam:  # batch_size >= 1
+                p, s, im0, frame = path[i], f'{i}: ', im0s[i].copy(), dataset.count
+            else:
+                p, s, im0, frame = path, '', im0s.copy(), getattr(dataset, 'frame', 0)
+
+            p = Path(p)  # to Path
+            save_path = str(save_dir / p.name)  # img.jpg
+            txt_path = str(save_dir / 'labels' / p.stem) + ('' if dataset.mode == 'image' else f'_{frame}')  # img.txt
+            s += '%gx%g ' % img.shape[2:]  # print string
+            gn = torch.tensor(im0.shape)[[1, 0, 1, 0]]  # normalization gain whwh
+            imc = im0.copy() if save_crop else im0  # for save_crop
+            if len(det):
+                # Rescale boxes from img_size to im0 size
+                det[:, :4] = scale_coords(img.shape[2:], det[:, :4], im0.shape).round()
+
+                # Print results
+                for c in det[:, -1].unique():
+                    n = (det[:, -1] == c).sum()  # detections per class
+                    s += f"{n} {names[int(c)]}{'s' * (n > 1)}, "  # add to string
+
+                # Write results
+                for *xyxy, conf, cls in reversed(det):
+                    if save_txt:  # Write to file
+                        xywh = (xyxy2xywh(torch.tensor(xyxy).view(1, 4)) / gn).view(-1).tolist()  # normalized xywh
+                        line = (cls, *xywh, conf) if save_conf else (cls, *xywh)  # label format
+                        with open(txt_path + '.txt', 'a') as f:
+                            f.write(('%g ' * len(line)).rstrip() % line + '\n')
+
+                    if save_img or save_crop or view_img:  # Add bbox to image
+                        c = int(cls)  # integer class
+                        label = None if hide_labels else (names[c] if hide_conf else f'{names[c]} {conf:.2f}')
+                        plot_one_box(xyxy, im0, label=label, color=colors(c, True), line_thickness=line_thickness)
+                        if save_crop:
+                            save_one_box(xyxy, imc, file=save_dir / 'crops' / names[c] / f'{p.stem}.jpg', BGR=True)
+
+            # Print time (inference + NMS)
+            print(f'{s}Done. ({t2 - t1:.3f}s)')
+
+            # Stream results
+            if view_img:
+                cv2.imshow(str(p), im0)
+                cv2.waitKey(1)  # 1 millisecond
+
+            # Save results (image with detections)
+            if save_img:
+                if dataset.mode == 'image':
+                    cv2.imwrite(save_path, im0)
+                else:  # 'video' or 'stream'
+                    if vid_path[i] != save_path:  # new video
+                        vid_path[i] = save_path
+                        if isinstance(vid_writer[i], cv2.VideoWriter):
+                            vid_writer[i].release()  # release previous video writer
+                        if vid_cap:  # video
+                            fps = vid_cap.get(cv2.CAP_PROP_FPS)
+                            w = int(vid_cap.get(cv2.CAP_PROP_FRAME_WIDTH))
+                            h = int(vid_cap.get(cv2.CAP_PROP_FRAME_HEIGHT))
+                        else:  # stream
+                            fps, w, h = 30, im0.shape[1], im0.shape[0]
+                            save_path += '.mp4'
+                        vid_writer[i] = cv2.VideoWriter(save_path, cv2.VideoWriter_fourcc(*'mp4v'), fps, (w, h))
+                    vid_writer[i].write(im0)
+
+    if save_txt or save_img:
+        s = f"\n{len(list(save_dir.glob('labels/*.txt')))} labels saved to {save_dir / 'labels'}" if save_txt else ''
+        print(f"Results saved to {colorstr('bold', save_dir)}{s}")
+
+    if update:
+        strip_optimizer(weights)  # update model (to fix SourceChangeWarning)
+
+    print(f'Done. ({time.time() - t0:.3f}s)')
+
+
+def parse_opt():
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--weights', nargs='+', type=str, default='weights/yolov5s.pt', help='model.pt path(s)')
+    parser.add_argument('--source', type=str, default='image', help='file/dir/URL/glob, 0 for webcam')
+    parser.add_argument('--imgsz', '--img', '--img-size', type=int, default=640, help='inference size (pixels)')
+    parser.add_argument('--conf-thres', type=float, default=0.5, help='confidence threshold')
+    parser.add_argument('--iou-thres', type=float, default=0.7, help='NMS IoU threshold')
+    parser.add_argument('--max-det', type=int, default=1000, help='maximum detections per image')
+    parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
+    parser.add_argument('--view-img', action='store_true', help='show results')
+    parser.add_argument('--save-txt', action='store_true', help='save results to *.txt')
+    parser.add_argument('--save-conf', action='store_true', help='save confidences in --save-txt labels')
+    parser.add_argument('--save-crop', action='store_true', help='save cropped prediction boxes')
+    parser.add_argument('--nosave', action='store_true', help='do not save images/videos')
+    parser.add_argument('--classes', nargs='+', type=int, help='filter by class: --class 0, or --class 0 2 3')
+    parser.add_argument('--agnostic-nms', action='store_true', help='class-agnostic NMS')
+    parser.add_argument('--augment', action='store_true', help='augmented inference')
+    parser.add_argument('--visualize', action='store_true', help='visualize features')
+    parser.add_argument('--update', action='store_true', help='update all models')
+    parser.add_argument('--project', default='runs/detect', help='save results to project/name')
+    parser.add_argument('--name', default='exp', help='save results to project/name')
+    parser.add_argument('--exist-ok', action='store_true', help='existing project/name ok, do not increment')
+    parser.add_argument('--line-thickness', default=3, type=int, help='bounding box thickness (pixels)')
+    parser.add_argument('--hide-labels', default=False, action='store_true', help='hide labels')
+    parser.add_argument('--hide-conf', default=False, action='store_true', help='hide confidences')
+    parser.add_argument('--half', action='store_true', help='use FP16 half-precision inference')
+    opt = parser.parse_args()
+    return opt
+
+
+
+def main(opt):
+    print(colorstr('detect: ') + ', '.join(f'{k}={v}' for k, v in vars(opt).items()))
+    check_requirements(exclude=('tensorboard', 'thop'))
+    run(**vars(opt))
+
+
+if __name__ == "__main__":
+    opt = parse_opt()
+    main(opt)
--- a/export.py
+++ b/export.py
@ -0,0 +1,189 @@
+"""Export a YOLOv5 *.pt model to TorchScript, ONNX, CoreML formats
+
+Usage:
+    $ python path/to/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[0].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_torchscript(model, img, file, optimize):
+    # TorchScript model export
+    prefix = colorstr('TorchScript:')
+    try:
+        print(f'\n{prefix} starting export with torch {torch.__version__}...')
+        f = file.with_suffix('.torchscript.pt')
+        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)')
+        return ts
+    except Exception as e:
+        print(f'{prefix} export failure: {e}')
+
+
+def export_onnx(model, img, file, opset, train, dynamic, simplify):
+    # ONNX model export
+    prefix = colorstr('ONNX:')
+    try:
+        check_requirements(('onnx', 'onnx-simplifier'))
+        import onnx
+
+        print(f'\n{prefix} starting export with onnx {onnx.__version__}...')
+        f = file.with_suffix('.onnx')
+        torch.onnx.export(model, img, f, verbose=False, opset_version=opset,
+                          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:
+                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)')
+        print(f"{prefix} run --dynamic ONNX model inference with detect.py: 'python detect.py --weights {f}'")
+    except Exception as e:
+        print(f'{prefix} export failure: {e}')
+
+
+def export_coreml(model, img, file):
+    # CoreML model export
+    prefix = colorstr('CoreML:')
+    try:
+        import coremltools as ct
+
+        print(f'\n{prefix} starting export with coremltools {ct.__version__}...')
+        f = file.with_suffix('.mlmodel')
+        model.train()  # CoreML exports should be placed in model.train() mode
+        ts = torch.jit.trace(model, img, strict=False)  # TorchScript model
+        model = ct.convert(ts, inputs=[ct.ImageType('image', shape=img.shape, scale=1 / 255.0, bias=[0, 0, 0])])
+        model.save(f)
+        print(f'{prefix} export success, saved as {f} ({file_size(f):.1f} MB)')
+    except Exception as e:
+        print(f'\n{prefix} export failure: {e}')
+
+
+def run(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=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
+    file = Path(weights)
+
+    # Load PyTorch model
+    device = select_device(device)
+    assert not (device.type == 'cpu' and half), '--half only compatible with GPU export, i.e. use --device 0'
+    model = attempt_load(weights, map_location=device)  # load FP32 model
+    names = 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():
+        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)")
+
+    # Exports
+    if 'torchscript' in include:
+        export_torchscript(model, img, file, optimize)
+    if 'onnx' in include:
+        export_onnx(model, img, file, opset, train, dynamic, simplify)
+    if 'coreml' in include:
+        export_coreml(model, img, file)
+
+    # Finish
+    print(f'\nExport complete ({time.time() - t:.2f}s)'
+          f"\nResults saved to {colorstr('bold', file.parent.resolve())}"
+          f'\nVisualize with https://netron.app')
+
+
+def parse_opt():
+    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', type=int, default=12, help='ONNX: opset version')
+    opt = parser.parse_args()
+    return opt
+
+
+def main(opt):
+    set_logging()
+    print(colorstr('export: ') + ', '.join(f'{k}={v}' for k, v in vars(opt).items()))
+    run(**vars(opt))
+
+
+if __name__ == "__main__":
+    opt = parse_opt()
+    main(opt)
--- a/gen_wts.py
+++ b/gen_wts.py
@ -0,0 +1,59 @@
+import sys
+import argparse
+import os
+import struct
+import torch
+from utils.torch_utils import select_device
+
+
+def parse_args():
+    parser = argparse.ArgumentParser(description='Convert .pt file to .wts')
+    parser.add_argument('-w', '--weights', required=True,
+                        help='Input weights (.pt) file path (required)')
+    parser.add_argument(
+        '-o', '--output', help='Output (.wts) file path (optional)')
+    parser.add_argument(
+        '-t', '--type', type=str, default='detect', choices=['detect', 'cls', 'seg'],
+        help='determines the model is detection/classification')
+    args = parser.parse_args()
+    if not os.path.isfile(args.weights):
+        raise SystemExit('Invalid input file')
+    if not args.output:
+        args.output = os.path.splitext(args.weights)[0] + '.wts'
+    elif os.path.isdir(args.output):
+        args.output = os.path.join(
+            args.output,
+            os.path.splitext(os.path.basename(args.weights))[0] + '.wts')
+    return args.weights, args.output, args.type
+
+
+pt_file, wts_file, m_type = parse_args()
+print(f'Generating .wts for {m_type} model')
+
+# Load model
+print(f'Loading {pt_file}')
+device = select_device('cpu')
+model = torch.load(pt_file, map_location=device)  # Load FP32 weights
+model = model['ema' if model.get('ema') else 'model'].float()
+
+if m_type in ['detect', 'seg']:
+    # update anchor_grid info
+    anchor_grid = model.model[-1].anchors * model.model[-1].stride[..., None, None]
+    # model.model[-1].anchor_grid = anchor_grid
+    delattr(model.model[-1], 'anchor_grid')  # model.model[-1] is detect layer
+    # The parameters are saved in the OrderDict through the "register_buffer" method, and then saved to the weight.
+    model.model[-1].register_buffer("anchor_grid", anchor_grid)
+    model.model[-1].register_buffer("strides", model.model[-1].stride)
+
+model.to(device).eval()
+
+print(f'Writing into {wts_file}')
+with open(wts_file, 'w') as f:
+    f.write('{}\n'.format(len(model.state_dict().keys())))
+    for k, v in model.state_dict().items():
+        vr = v.reshape(-1).cpu().numpy()
+        f.write('{} {} '.format(k, len(vr)))
+        for vv in vr:
+            f.write(' ')
+            f.write(struct.pack('>f', float(vv)).hex())
+        f.write('\n')
--- a/1
+++ b/1
@ -0,0 +1 @@
+../yolov3-spp/samples
--- a/models/init.py
+++ b/models/init.py
--- a/models/pycache/init.cpython-37.pyc
+++ b/models/pycache/init.cpython-37.pyc
--- a/models/pycache/init.cpython-38.pyc
+++ b/models/pycache/init.cpython-38.pyc
--- a/models/pycache/common.cpython-37.pyc
+++ b/models/pycache/common.cpython-37.pyc
--- a/models/pycache/common.cpython-38.pyc
+++ b/models/pycache/common.cpython-38.pyc
--- a/models/pycache/experimental.cpython-37.pyc
+++ b/models/pycache/experimental.cpython-37.pyc
--- a/models/pycache/experimental.cpython-38.pyc
+++ b/models/pycache/experimental.cpython-38.pyc
--- a/models/pycache/yolo.cpython-37.pyc
+++ b/models/pycache/yolo.cpython-37.pyc
--- a/models/pycache/yolo.cpython-38.pyc
+++ b/models/pycache/yolo.cpython-38.pyc
--- a/models/common.py
+++ b/models/common.py
@ -0,0 +1,457 @@
+# YOLOv5 common modules
+
+import logging
+import warnings
+from copy import copy
+from pathlib import Path
+
+import math
+import numpy as np
+import pandas as pd
+import requests
+import torch
+import torch.nn as nn
+from PIL import Image
+from torch.cuda import amp
+
+from utils.datasets import exif_transpose, letterbox
+from utils.general import non_max_suppression, make_divisible, scale_coords, increment_path, xyxy2xywh, save_one_box
+from utils.plots import colors, plot_one_box
+from utils.torch_utils import time_sync
+from functools import partial
+
+LOGGER = logging.getLogger(__name__)
+
+
+def autopad(k, p=None):  # kernel, padding
+    # Pad to 'same'
+    if p is None:
+        p = k // 2 if isinstance(k, int) else [x // 2 for x in k]  # auto-pad
+    return p
+
+
+class Conv(nn.Module):
+    # Standard convolution
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__()
+        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g, bias=False)
+        self.bn = nn.BatchNorm2d(c2)
+        self.act = nn.SiLU() if act is True else (act if isinstance(act, nn.Module) else nn.Identity())
+
+    def forward(self, x):
+        return self.act(self.bn(self.conv(x)))
+
+    def forward_fuse(self, x):
+        return self.act(self.conv(x))
+
+
+class DWConv(Conv):
+    # Depth-wise convolution class if g = c1 = c2
+    def __init__(self, c1, c2, k=1, s=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__(c1, c2, k, s, g=math.gcd(c1, c2), act=act)
+
+
+class TransformerLayer(nn.Module):
+    # Transformer layer https://arxiv.org/abs/2010.11929 (LayerNorm layers removed for better performance)
+    def __init__(self, c, num_heads):
+        super().__init__()
+        self.q = nn.Linear(c, c, bias=False)
+        self.k = nn.Linear(c, c, bias=False)
+        self.v = nn.Linear(c, c, bias=False)
+        self.ma = nn.MultiheadAttention(embed_dim=c, num_heads=num_heads)
+        self.fc1 = nn.Linear(c, c, bias=False)
+        self.fc2 = nn.Linear(c, c, bias=False)
+
+    def forward(self, x):
+        x = self.ma(self.q(x), self.k(x), self.v(x))[0] + x
+        x = self.fc2(self.fc1(x)) + x
+        return x
+
+
+class TransformerBlock(nn.Module):
+    # Vision Transformer https://arxiv.org/abs/2010.11929
+    def __init__(self, c1, c2, num_heads, num_layers):
+        super().__init__()
+        self.conv = None
+        if c1 != c2:
+            self.conv = Conv(c1, c2)
+        self.linear = nn.Linear(c2, c2)  # learnable position embedding
+        self.tr = nn.Sequential(*[TransformerLayer(c2, num_heads) for _ in range(num_layers)])
+        self.c2 = c2
+
+    def forward(self, x):
+        if self.conv is not None:
+            x = self.conv(x)
+        b, _, w, h = x.shape
+        p = x.flatten(2).unsqueeze(0).transpose(0, 3).squeeze(3)
+        return self.tr(p + self.linear(p)).unsqueeze(3).transpose(0, 3).reshape(b, self.c2, w, h)
+
+
+class Bottleneck(nn.Module):
+    # Res unit
+    # Standard bottleneck
+    def __init__(self, c1, c2, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, shortcut, groups, expansion
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_, c2, 3, 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 BottleneckCSP(nn.Module):
+    #CSP1_x or CSP2_x
+    # CSP Bottleneck https://github.com/WongKinYiu/CrossStagePartialNetworks
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, number, shortcut, groups, expansion
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = nn.Conv2d(c1, c_, 1, 1, bias=False)
+        self.cv3 = nn.Conv2d(c_, c_, 1, 1, bias=False)
+        self.cv4 = Conv(2 * c_, c2, 1, 1)
+        self.bn = nn.BatchNorm2d(2 * c_)  # applied to cat(cv2, cv3)
+        self.act = nn.LeakyReLU(0.1, inplace=True)
+        self.m = nn.Sequential(*[Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)])
+
+    def forward(self, x):
+        y1 = self.cv3(self.m(self.cv1(x)))
+        y2 = self.cv2(x)
+        return self.cv4(self.act(self.bn(torch.cat((y1, y2), dim=1))))
+
+
+class C3(nn.Module):
+    # CSP Bottleneck with 3 convolutions
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, number, shortcut, groups, expansion
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c1, c_, 1, 1)
+        self.cv3 = Conv(2 * c_, c2, 1)  # act=FReLU(c2)
+        self.m = nn.Sequential(*[Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)])
+        # self.m = nn.Sequential(*[CrossConv(c_, c_, 3, 1, g, 1.0, shortcut) for _ in range(n)])
+
+    def forward(self, x):
+        return self.cv3(torch.cat((self.m(self.cv1(x)), self.cv2(x)), dim=1))
+
+
+class C3TR(C3):
+    # C3 module with TransformerBlock()
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = TransformerBlock(c_, c_, 4, n)
+
+
+class C3SPP(C3):
+    # C3 module with SPP()
+    def __init__(self, c1, c2, k=(5, 9, 13), n=1, shortcut=True, g=1, e=0.5):
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = SPP(c_, c_, k)
+
+
+class C3Ghost(C3):
+    # C3 module with GhostBottleneck()
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)  # hidden channels
+        self.m = nn.Sequential(*[GhostBottleneck(c_, c_) for _ in range(n)])
+
+
+class SPP(nn.Module):
+    # Spatial Pyramid Pooling (SPP) layer https://arxiv.org/abs/1406.4729
+    def __init__(self, c1, c2, k=(5, 9, 13)):
+        super().__init__()
+        c_ = c1 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_ * (len(k) + 1), c2, 1, 1)
+        self.m = nn.ModuleList([nn.MaxPool2d(kernel_size=x, stride=1, padding=x // 2) for x in k])
+
+    def forward(self, x):
+        x = self.cv1(x)
+        with warnings.catch_warnings():
+            warnings.simplefilter('ignore')  # suppress torch 1.9.0 max_pool2d() warning
+            return self.cv2(torch.cat([x] + [m(x) for m in self.m], 1))
+
+
+class SPPF(nn.Module):
+    # Spatial Pyramid Pooling - Fast (SPPF) layer for YOLOv5 by Glenn Jocher
+    def __init__(self, c1, c2, k=5):  # equivalent to SPP(k=(5, 9, 13))
+        super().__init__()
+        c_ = c1 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_ * 4, c2, 1, 1)
+        self.m = nn.MaxPool2d(kernel_size=k, stride=1, padding=k // 2)
+
+    def forward(self, x):
+        x = self.cv1(x)
+        with warnings.catch_warnings():
+            warnings.simplefilter('ignore')  # suppress torch 1.9.0 max_pool2d() warning
+            y1 = self.m(x)
+            y2 = self.m(y1)
+            return self.cv2(torch.cat([x, y1, y2, self.m(y2)], 1))
+
+
+class Focus(nn.Module):
+    # Focus wh information into c-space
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__()
+        self.conv = Conv(c1 * 4, c2, k, s, p, g, act)
+        # self.contract = Contract(gain=2)
+
+    def forward(self, x):  # x(b,c,w,h) -> y(b,4c,w/2,h/2)
+        return self.conv(torch.cat([x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]], 1))
+        # return self.conv(self.contract(x))
+
+
+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().__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().__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 Contract(nn.Module):
+    # Contract width-height into channels, i.e. x(1,64,80,80) to x(1,256,40,40)
+    def __init__(self, gain=2):
+        super().__init__()
+        self.gain = gain
+
+    def forward(self, x):
+        b, c, h, w = x.size()  # assert (h / s == 0) and (W / s == 0), 'Indivisible gain'
+        s = self.gain
+        x = x.view(b, c, h // s, s, w // s, s)  # x(1,64,40,2,40,2)
+        x = x.permute(0, 3, 5, 1, 2, 4).contiguous()  # x(1,2,2,64,40,40)
+        return x.view(b, c * s * s, h // s, w // s)  # x(1,256,40,40)
+
+
+class Expand(nn.Module):
+    # Expand channels into width-height, i.e. x(1,64,80,80) to x(1,16,160,160)
+    def __init__(self, gain=2):
+        super().__init__()
+        self.gain = gain
+
+    def forward(self, x):
+        b, c, h, w = x.size()  # assert C / s ** 2 == 0, 'Indivisible gain'
+        s = self.gain
+        x = x.view(b, s, s, c // s ** 2, h, w)  # x(1,2,2,16,80,80)
+        x = x.permute(0, 3, 4, 1, 5, 2).contiguous()  # x(1,16,80,2,80,2)
+        return x.view(b, c // s ** 2, h * s, w * s)  # x(1,16,160,160)
+
+
+class Concat(nn.Module):
+    # Concatenate a list of tensors along dimension
+    def __init__(self, dimension=1):
+        super().__init__()
+        self.d = dimension
+
+    def forward(self, x):
+        return torch.cat(x, self.d)
+
+
+class AutoShape(nn.Module):
+    # YOLOv5 input-robust model wrapper for passing cv2/np/PIL/torch inputs. Includes preprocessing, inference and NMS
+    conf = 0.25  # NMS confidence threshold
+    iou = 0.45  # NMS IoU threshold
+    classes = None  # (optional list) filter by class
+    max_det = 1000  # maximum number of detections per image
+
+    def __init__(self, model):
+        super().__init__()
+        self.model = model.eval()
+
+    def autoshape(self):
+        LOGGER.info('AutoShape already enabled, skipping... ')  # model already converted to model.autoshape()
+        return self
+
+    @torch.no_grad()
+    def forward(self, imgs, size=640, augment=False, profile=False):
+        # Inference from various sources. For height=640, width=1280, RGB images example inputs are:
+        #   file:       imgs = 'data/images/zidane.jpg'  # str or PosixPath
+        #   URI:             = 'https://ultralytics.com/images/zidane.jpg'
+        #   OpenCV:          = cv2.imread('image.jpg')[:,:,::-1]  # HWC BGR to RGB x(640,1280,3)
+        #   PIL:             = Image.open('image.jpg') or ImageGrab.grab()  # HWC x(640,1280,3)
+        #   numpy:           = np.zeros((640,1280,3))  # HWC
+        #   torch:           = torch.zeros(16,3,320,640)  # BCHW (scaled to size=640, 0-1 values)
+        #   multiple:        = [Image.open('image1.jpg'), Image.open('image2.jpg'), ...]  # list of images
+
+        t = [time_sync()]
+        p = next(self.model.parameters())  # for device and type
+        if isinstance(imgs, torch.Tensor):  # torch
+            with amp.autocast(enabled=p.device.type != 'cpu'):
+                return self.model(imgs.to(p.device).type_as(p), augment, profile)  # inference
+
+        # Pre-process
+        n, imgs = (len(imgs), imgs) if isinstance(imgs, list) else (1, [imgs])  # number of images, list of images
+        shape0, shape1, files = [], [], []  # image and inference shapes, filenames
+        for i, im in enumerate(imgs):
+            f = f'image{i}'  # filename
+            if isinstance(im, (str, Path)):  # filename or uri
+                im, f = Image.open(requests.get(im, stream=True).raw if str(im).startswith('http') else im), im
+                im = np.asarray(exif_transpose(im))
+            elif isinstance(im, Image.Image):  # PIL Image
+                im, f = np.asarray(exif_transpose(im)), getattr(im, 'filename', f) or f
+            files.append(Path(f).with_suffix('.jpg').name)
+            if im.shape[0] < 5:  # image in CHW
+                im = im.transpose((1, 2, 0))  # reverse dataloader .transpose(2, 0, 1)
+            im = im[..., :3] if im.ndim == 3 else np.tile(im[..., None], 3)  # enforce 3ch input
+            s = im.shape[:2]  # HWC
+            shape0.append(s)  # image shape
+            g = (size / max(s))  # gain
+            shape1.append([y * g for y in s])
+            imgs[i] = im if im.data.contiguous else np.ascontiguousarray(im)  # update
+        shape1 = [make_divisible(x, int(self.stride.max())) for x in np.stack(shape1, 0).max(0)]  # inference shape
+        x = [letterbox(im, new_shape=shape1, auto=False)[0] for im in imgs]  # pad
+        x = np.stack(x, 0) if n > 1 else x[0][None]  # stack
+        x = np.ascontiguousarray(x.transpose((0, 3, 1, 2)))  # BHWC to BCHW
+        x = torch.from_numpy(x).to(p.device).type_as(p) / 255.  # uint8 to fp16/32
+        t.append(time_sync())
+
+        with amp.autocast(enabled=p.device.type != 'cpu'):
+            # Inference
+            y = self.model(x, augment, profile)[0]  # forward
+            t.append(time_sync())
+
+            # Post-process
+            y = non_max_suppression(y, self.conf, iou_thres=self.iou, classes=self.classes, max_det=self.max_det)  # NMS
+            for i in range(n):
+                scale_coords(shape1, y[i][:, :4], shape0[i])
+
+            t.append(time_sync())
+            return Detections(imgs, y, files, t, self.names, x.shape)
+
+
+class Detections:
+    # YOLOv5 detections class for inference results
+    def __init__(self, imgs, pred, files, times=None, names=None, shape=None):
+        super().__init__()
+        d = pred[0].device  # device
+        gn = [torch.tensor([*[im.shape[i] for i in [1, 0, 1, 0]], 1., 1.], device=d) for im in imgs]  # normalizations
+        self.imgs = imgs  # list of images as numpy arrays
+        self.pred = pred  # list of tensors pred[0] = (xyxy, conf, cls)
+        self.names = names  # class names
+        self.files = files  # image filenames
+        self.xyxy = pred  # xyxy pixels
+        self.xywh = [xyxy2xywh(x) for x in pred]  # xywh pixels
+        self.xyxyn = [x / g for x, g in zip(self.xyxy, gn)]  # xyxy normalized
+        self.xywhn = [x / g for x, g in zip(self.xywh, gn)]  # xywh normalized
+        self.n = len(self.pred)  # number of images (batch size)
+        self.t = tuple((times[i + 1] - times[i]) * 1000 / self.n for i in range(3))  # timestamps (ms)
+        self.s = shape  # inference BCHW shape
+
+    def display(self, pprint=False, show=False, save=False, crop=False, render=False, save_dir=Path('')):
+        for i, (im, pred) in enumerate(zip(self.imgs, self.pred)):
+            str = f'image {i + 1}/{len(self.pred)}: {im.shape[0]}x{im.shape[1]} '
+            if pred.shape[0]:
+                for c in pred[:, -1].unique():
+                    n = (pred[:, -1] == c).sum()  # detections per class
+                    str += f"{n} {self.names[int(c)]}{'s' * (n > 1)}, "  # add to string
+                if show or save or render or crop:
+                    for *box, conf, cls in reversed(pred):  # xyxy, confidence, class
+                        label = f'{self.names[int(cls)]} {conf:.2f}'
+                        if crop:
+                            save_one_box(box, im, file=save_dir / 'crops' / self.names[int(cls)] / self.files[i])
+                        else:  # all others
+                            plot_one_box(box, im, label=label, color=colors(cls))
+            else:
+                str += '(no detections)'
+
+            im = Image.fromarray(im.astype(np.uint8)) if isinstance(im, np.ndarray) else im  # from np
+            if pprint:
+                LOGGER.info(str.rstrip(', '))
+            if show:
+                im.show(self.files[i])  # show
+            if save:
+                f = self.files[i]
+                im.save(save_dir / f)  # save
+                if i == self.n - 1:
+                    LOGGER.info(f"Saved {self.n} image{'s' * (self.n > 1)} to '{save_dir}'")
+            if render:
+                self.imgs[i] = np.asarray(im)
+
+    def print(self):
+        self.display(pprint=True)  # print results
+        LOGGER.info(f'Speed: %.1fms pre-process, %.1fms inference, %.1fms NMS per image at shape {tuple(self.s)}' %
+                    self.t)
+
+    def show(self):
+        self.display(show=True)  # show results
+
+    def save(self, save_dir='runs/detect/exp'):
+        save_dir = increment_path(save_dir, exist_ok=save_dir != 'runs/detect/exp', mkdir=True)  # increment save_dir
+        self.display(save=True, save_dir=save_dir)  # save results
+
+    def crop(self, save_dir='runs/detect/exp'):
+        save_dir = increment_path(save_dir, exist_ok=save_dir != 'runs/detect/exp', mkdir=True)  # increment save_dir
+        self.display(crop=True, save_dir=save_dir)  # crop results
+        LOGGER.info(f'Saved results to {save_dir}\n')
+
+    def render(self):
+        self.display(render=True)  # render results
+        return self.imgs
+
+    def pandas(self):
+        # return detections as pandas DataFrames, i.e. print(results.pandas().xyxy[0])
+        new = copy(self)  # return copy
+        ca = 'xmin', 'ymin', 'xmax', 'ymax', 'confidence', 'class', 'name'  # xyxy columns
+        cb = 'xcenter', 'ycenter', 'width', 'height', 'confidence', 'class', 'name'  # xywh columns
+        for k, c in zip(['xyxy', 'xyxyn', 'xywh', 'xywhn'], [ca, ca, cb, cb]):
+            a = [[x[:5] + [int(x[5]), self.names[int(x[5])]] for x in x.tolist()] for x in getattr(self, k)]  # update
+            setattr(new, k, [pd.DataFrame(x, columns=c) for x in a])
+        return new
+
+    def tolist(self):
+        # return a list of Detections objects, i.e. 'for result in results.tolist():'
+        x = [Detections([self.imgs[i]], [self.pred[i]], self.names, self.s) for i in range(self.n)]
+        for d in x:
+            for k in ['imgs', 'pred', 'xyxy', 'xyxyn', 'xywh', 'xywhn']:
+                setattr(d, k, getattr(d, k)[0])  # pop out of list
+        return x
+
+    def __len__(self):
+        return self.n
+
+
+class Classify(nn.Module):
+    # Classification head, i.e. x(b,c1,20,20) to x(b,c2)
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__()
+        self.aap = nn.AdaptiveAvgPool2d(1)  # to x(b,c1,1,1)
+        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g)  # to x(b,c2,1,1)
+        self.flat = nn.Flatten()
+
+    def forward(self, x):
+        z = torch.cat([self.aap(y) for y in (x if isinstance(x, list) else [x])], 1)  # cat if list
+        return self.flat(self.conv(z))  # flatten to x(b,c2)
+
+
+
+
+
+
+
+
+
--- a/models/common_1.py
+++ b/models/common_1.py
@ -0,0 +1,433 @@
+# YOLOv5 common modules
+
+import logging
+import warnings
+from copy import copy
+from pathlib import Path
+
+import math
+import numpy as np
+import pandas as pd
+import requests
+import torch
+import torch.nn as nn
+from PIL import Image
+from torch.cuda import amp
+
+from utils.datasets import exif_transpose, letterbox
+from utils.general import non_max_suppression, make_divisible, scale_coords, increment_path, xyxy2xywh, save_one_box
+from utils.plots import colors, plot_one_box
+from utils.torch_utils import time_sync
+
+LOGGER = logging.getLogger(__name__)
+
+#为卷积或池化后特征图大小不变，在输入特征图上做零填充。填充多少，由此函数计算。
+def autopad(k, p=None):  # kernel, padding
+    # Pad to 'same'
+    if p is None:
+        p = k // 2 if isinstance(k, int) else [x // 2 for x in k]  # auto-pad 如果k是int型的数，那就整除2，否则。。‘x // 2是x除2之后，取整数商。’
+    return p
+
+
+class Conv(nn.Module):#Conv类继承于nn.Module   他做了标准卷积+bn层+hardswish
+    # Standard convolution
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups #默认act为true
+        super().__init__()
+        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g, bias=False)#bias为False因为，卷积2D和BN做完后，下面特征图融合时，偏置还会消掉。
+        self.bn = nn.BatchNorm2d(c2)
+        self.act = nn.SiLU() if act is True else (act if isinstance(act, nn.Module) else nn.Identity()) #如果act为true时，，
+
+    def forward(self, x):#正向传播函数 网络执行的顺序是由forward来决定的，先输入x，得到conv，再得到bn，再得到act是激活函数
+        return self.act(self.bn(self.conv(x)))
+
+    def forward_fuse(self, x): #此处没有BN，只有卷积和激活
+        return self.act(self.conv(x))
+
+
+class DWConv(Conv): #dw卷积需要哪些参数，如下：输入、输出、卷积核大小、步长。将参数传给上面的Conv！
+    # Depth-wise convolution class
+    #在yolov5中没有真正使用，k=1是卷积核kenel，s=1是步长  #g是最大公约数，用于分组。这个缺失return返回conv。
+    def __init__(self, c1, c2, k=1, s=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__(c1, c2, k, s, g=math.gcd(c1, c2), act=act)
+
+
+class TransformerLayer(nn.Module):
+    # Transformer layer https://arxiv.org/abs/2010.11929 (LayerNorm layers removed for better performance)
+    def __init__(self, c, num_heads):
+        super().__init__()
+        self.q = nn.Linear(c, c, bias=False)
+        self.k = nn.Linear(c, c, bias=False)
+        self.v = nn.Linear(c, c, bias=False)
+        self.ma = nn.MultiheadAttention(embed_dim=c, num_heads=num_heads)
+        self.fc1 = nn.Linear(c, c, bias=False)
+        self.fc2 = nn.Linear(c, c, bias=False)
+
+    def forward(self, x):
+        x = self.ma(self.q(x), self.k(x), self.v(x))[0] + x
+        x = self.fc2(self.fc1(x)) + x
+        return x
+
+
+class TransformerBlock(nn.Module):
+    # Vision Transformer https://arxiv.org/abs/2010.11929
+    def __init__(self, c1, c2, num_heads, num_layers):
+        super().__init__()
+        self.conv = None
+        if c1 != c2:
+            self.conv = Conv(c1, c2)
+        self.linear = nn.Linear(c2, c2)  # learnable position embedding
+        self.tr = nn.Sequential(*[TransformerLayer(c2, num_heads) for _ in range(num_layers)])
+        self.c2 = c2
+
+    def forward(self, x):
+        if self.conv is not None:
+            x = self.conv(x)
+        b, _, w, h = x.shape
+        p = x.flatten(2).unsqueeze(0).transpose(0, 3).squeeze(3)
+        return self.tr(p + self.linear(p)).unsqueeze(3).transpose(0, 3).reshape(b, self.c2, w, h)
+
+
+class Bottleneck(nn.Module):
+    # Standard bottleneck
+    def __init__(self, c1, c2, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, shortcut, groups, expansion #shortcut默认True即为有短接。
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c_, c2, 3, 1, g=g)
+        self.add = shortcut and c1 == c2  #输入与输出维度相同才能做相加运算
+
+    def forward(self, x):
+        return x + self.cv2(self.cv1(x)) if self.add else self.cv2(self.cv1(x))  #x+两次卷积的值，否则只有两个卷积运算！！
+
+
+class BottleneckCSP(nn.Module):
+    # CSP Bottleneck https://github.com/WongKinYiu/CrossStagePartialNetworks#一个分支是标准bottleneck堆叠，另一个分支是普通卷积层
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, number, shortcut, groups, expansion
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1) #Conv模块
+        self.cv2 = nn.Conv2d(c1, c_, 1, 1, bias=False) #卷积运算
+        self.cv3 = nn.Conv2d(c_, c_, 1, 1, bias=False)#卷积运算
+        self.cv4 = Conv(2 * c_, c2, 1, 1) #Conv模块  做拼接后，inchannel维度变大了
+        self.bn = nn.BatchNorm2d(2 * c_)  # applied to cat(cv2, cv3)
+        self.act = nn.LeakyReLU(0.1, inplace=True)
+        self.m = nn.Sequential(*[Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)]) #*是解包，将list拆成很多独立元素
+        #用了n次的Bottleneck操作，得到后解包送入Sequential，给m
+
+    def forward(self, x):
+        y1 = self.cv3(self.m(self.cv1(x)))
+        y2 = self.cv2(x)
+        return self.cv4(self.act(self.bn(torch.cat((y1, y2), dim=1)))) #cv4是Conv模块
+
+
+class C3(nn.Module):
+    # CSP Bottleneck with 3 convolutions
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):  # ch_in, ch_out, number, shortcut, groups, expansion
+        super().__init__()
+        c_ = int(c2 * e)  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)
+        self.cv2 = Conv(c1, c_, 1, 1)
+        self.cv3 = Conv(2 * c_, c2, 1)  # act=FReLU(c2)
+        self.m = nn.Sequential(*[Bottleneck(c_, c_, shortcut, g, e=1.0) for _ in range(n)])
+        # self.m = nn.Sequential(*[CrossConv(c_, c_, 3, 1, g, 1.0, shortcut) for _ in range(n)])
+
+    def forward(self, x):
+        return self.cv3(torch.cat((self.m(self.cv1(x)), self.cv2(x)), dim=1))
+
+
+class C3TR(C3):
+    # C3 module with TransformerBlock()
+    def __init__(self, c1, c2, n=1, shortcut=True, g=1, e=0.5):
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = TransformerBlock(c_, c_, 4, n)
+
+
+class C3SPP(C3):
+    # C3 module with SPP()
+    def __init__(self, c1, c2, k=(5, 9, 13), n=1, shortcut=True, g=1, e=0.5):
+        super().__init__(c1, c2, n, shortcut, g, e)
+        c_ = int(c2 * e)
+        self.m = SPP(c_, c_, k)
+
+
+
+#空间金字塔池化
+class SPP(nn.Module):
+    # Spatial pyramid pooling layer used in YOLOv3-SPP
+    def __init__(self, c1, c2, k=(5, 9, 13)):#k是元祖
+        super().__init__()
+        c_ = c1 // 2  # hidden channels
+        self.cv1 = Conv(c1, c_, 1, 1)  #Conv模块
+        self.cv2 = Conv(c_ * (len(k) + 1), c2, 1, 1)  #Conv模块
+        self.m = nn.ModuleList([nn.MaxPool2d(kernel_size=x, stride=1, padding=x // 2) for x in k])#最大池化  5,9,13都要做最大池化
+
+    def forward(self, x):
+        x = self.cv1(x)
+        with warnings.catch_warnings():
+            warnings.simplefilter('ignore')  # suppress torch 1.9.0 max_pool2d() warning
+            return self.cv2(torch.cat([x] + [m(x) for m in self.m], 1))  #叠加没做最大池化的输入+最大池化的
+
+
+class Focus(nn.Module):
+    # Focus wh information into c-space
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__()
+        self.conv = Conv(c1 * 4, c2, k, s, p, g, act)
+        # self.contract = Contract(gain=2)
+
+    def forward(self, x):  # x(b,c,w,h) -> y(b,4c,w/2,h/2) 特征图宽高都会减半
+        return self.conv(torch.cat([x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]], 1))# 这里slice
+        # return self.conv(self.contract(x))
+
+
+class Contract(nn.Module):
+    # Contract width-height into channels, i.e. x(1,64,80,80) to x(1,256,40,40)
+    def __init__(self, gain=2):
+        super().__init__()
+        self.gain = gain
+
+    def forward(self, x):
+        b, c, h, w = x.size()  # assert (h / s == 0) and (W / s == 0), 'Indivisible gain'
+        s = self.gain
+        x = x.view(b, c, h // s, s, w // s, s)  # x(1,64,40,2,40,2)
+        x = x.permute(0, 3, 5, 1, 2, 4).contiguous()  # x(1,2,2,64,40,40)
+        return x.view(b, c * s * s, h // s, w // s)  # x(1,256,40,40)
+
+
+class Expand(nn.Module):
+    # Expand channels into width-height, i.e. x(1,64,80,80) to x(1,16,160,160)
+    def __init__(self, gain=2):
+        super().__init__()
+        self.gain = gain
+
+    def forward(self, x):
+        b, c, h, w = x.size()  # assert C / s ** 2 == 0, 'Indivisible gain'
+        s = self.gain
+        x = x.view(b, s, s, c // s ** 2, h, w)  # x(1,2,2,16,80,80)
+        x = x.permute(0, 3, 4, 1, 5, 2).contiguous()  # x(1,16,80,2,80,2)
+        return x.view(b, c // s ** 2, h * s, w * s)  # x(1,16,160,160)
+
+
+class Concat(nn.Module):#定义拼接的类
+    # Concatenate a list of tensors along dimension
+    def __init__(self, dimension=1):
+        super().__init__()
+        self.d = dimension #定义沿着哪个维度进行拼接
+
+    def forward(self, x):
+        return torch.cat(x, self.d)
+
+
+# def nms(self, mode=True):  # add or remove NMS module   是不是和AutoShape是一个作用？？？？？？？不是！！！
+#     present = type(self.model[-1]) is NMS  # last layer is NMS
+#     if mode and not present:
+#         print('Adding NMS... ')
+#         m = NMS()  # module
+#         m.f = -1  # from
+#         m.i = self.model[-1].i + 1  # index
+#         self.model.add_module(name='%s' % m.i, module=m)  # add
+#         self.eval()
+#     elif not mode and present:
+#         print('Removing NMS... ')
+#         self.model = self.model[:-1]  # remove
+#     return self
+
+
+class NMS(nn.Module):
+#非极大值抑制模块
+    conf=0.25;
+    iou=0.45
+    classes=None
+
+    def __in__(self):
+        super(NMS,self).__init__()
+
+    def forward(self,x):
+        return non_max_suppression(x[0],conf_thres=self.conf,iou_thres=self.iou,classes=self.classes)
+
+
+
+class AutoShape(nn.Module): #图像来自不同文件，做一个预处理 在预处理、推理和非极大值抑制时要调整#在yolov5基本没有用？？
+    # YOLOv5 input-robust model wrapper for passing cv2/np/PIL/torch inputs. Includes preprocessing, inference and NMS
+    conf = 0.25  # NMS confidence threshold
+    iou = 0.45  # NMS IoU threshold
+    classes = None  # (optional list) filter by class
+    max_det = 1000  # maximum number of detections per image
+
+    def __init__(self, model):
+        super().__init__()
+        self.model = model.eval()
+
+    def autoshape(self):
+        LOGGER.info('AutoShape already enabled, skipping... ')  # model already converted to model.autoshape()
+        return self
+
+    @torch.no_grad()
+    def forward(self, imgs, size=640, augment=False, profile=False):
+        # Inference from various sources. For height=640, width=1280, RGB images example inputs are:
+        #   file:       imgs = 'data/images/zidane.jpg'  # str or PosixPath
+        #   URI:             = 'https://ultralytics.com/images/zidane.jpg'
+        #   OpenCV:          = cv2.imread('image.jpg')[:,:,::-1]  # HWC BGR to RGB x(640,1280,3)
+        #   PIL:             = Image.open('image.jpg') or ImageGrab.grab()  # HWC x(640,1280,3)
+        #   numpy:           = np.zeros((640,1280,3))  # HWC
+        #   torch:           = torch.zeros(16,3,320,640)  # BCHW (scaled to size=640, 0-1 values)
+        #   multiple:        = [Image.open('image1.jpg'), Image.open('image2.jpg'), ...]  # list of images
+
+        t = [time_sync()]
+        p = next(self.model.parameters())  # for device and type
+        if isinstance(imgs, torch.Tensor):  # torch
+            with amp.autocast(enabled=p.device.type != 'cpu'):
+                return self.model(imgs.to(p.device).type_as(p), augment, profile)  # inference
+
+        # Pre-process
+        n, imgs = (len(imgs), imgs) if isinstance(imgs, list) else (1, [imgs])  # number of images, list of images
+        shape0, shape1, files = [], [], []  # image and inference shapes, filenames
+        for i, im in enumerate(imgs):
+            f = f'image{i}'  # filename
+            if isinstance(im, (str, Path)):  # filename or uri
+                im, f = Image.open(requests.get(im, stream=True).raw if str(im).startswith('http') else im), im
+                im = np.asarray(exif_transpose(im))
+            elif isinstance(im, Image.Image):  # PIL Image
+                im, f = np.asarray(exif_transpose(im)), getattr(im, 'filename', f) or f
+            files.append(Path(f).with_suffix('.jpg').name)
+            if im.shape[0] < 5:  # image in CHW
+                im = im.transpose((1, 2, 0))  # reverse dataloader .transpose(2, 0, 1)
+            im = im[..., :3] if im.ndim == 3 else np.tile(im[..., None], 3)  # enforce 3ch input
+            s = im.shape[:2]  # HWC
+            shape0.append(s)  # image shape
+            g = (size / max(s))  # gain
+            shape1.append([y * g for y in s])
+            imgs[i] = im if im.data.contiguous else np.ascontiguousarray(im)  # update
+        shape1 = [make_divisible(x, int(self.stride.max())) for x in np.stack(shape1, 0).max(0)]  # inference shape
+        x = [letterbox(im, new_shape=shape1, auto=False)[0] for im in imgs]  # pad
+        x = np.stack(x, 0) if n > 1 else x[0][None]  # stack
+        x = np.ascontiguousarray(x.transpose((0, 3, 1, 2)))  # BHWC to BCHW
+        x = torch.from_numpy(x).to(p.device).type_as(p) / 255.  # uint8 to fp16/32
+        t.append(time_sync())
+
+        with amp.autocast(enabled=p.device.type != 'cpu'):
+            # Inference
+            y = self.model(x, augment, profile)[0]  # forward
+            t.append(time_sync())
+
+            # Post-process
+            y = non_max_suppression(y, self.conf, iou_thres=self.iou, classes=self.classes, max_det=self.max_det)  # NMS
+            for i in range(n):
+                scale_coords(shape1, y[i][:, :4], shape0[i])
+
+            t.append(time_sync())
+            return Detections(imgs, y, files, t, self.names, x.shape)
+
+
+class Flatten(nn.Module):
+    #U展平
+    @staticmethod
+    def forward(x):
+        return x.view(x.size(0),-1)
+
+
+
+
+class Detections:
+    # YOLOv5 detections class for inference results
+    def __init__(self, imgs, pred, files, times=None, names=None, shape=None):
+        super().__init__()
+        d = pred[0].device  # device
+        gn = [torch.tensor([*[im.shape[i] for i in [1, 0, 1, 0]], 1., 1.], device=d) for im in imgs]  # normalizations
+        self.imgs = imgs  # list of images as numpy arrays
+        self.pred = pred  # list of tensors pred[0] = (xyxy, conf, cls)
+        self.names = names  # class names
+        self.files = files  # image filenames
+        self.xyxy = pred  # xyxy pixels
+        self.xywh = [xyxy2xywh(x) for x in pred]  # xywh pixels
+        self.xyxyn = [x / g for x, g in zip(self.xyxy, gn)]  # xyxy normalized
+        self.xywhn = [x / g for x, g in zip(self.xywh, gn)]  # xywh normalized
+        self.n = len(self.pred)  # number of images (batch size)
+        self.t = tuple((times[i + 1] - times[i]) * 1000 / self.n for i in range(3))  # timestamps (ms)
+        self.s = shape  # inference BCHW shape
+
+    def display(self, pprint=False, show=False, save=False, crop=False, render=False, save_dir=Path('')):
+        for i, (im, pred) in enumerate(zip(self.imgs, self.pred)):
+            str = f'image {i + 1}/{len(self.pred)}: {im.shape[0]}x{im.shape[1]} '
+            if pred.shape[0]:
+                for c in pred[:, -1].unique():
+                    n = (pred[:, -1] == c).sum()  # detections per class
+                    str += f"{n} {self.names[int(c)]}{'s' * (n > 1)}, "  # add to string
+                if show or save or render or crop:
+                    for *box, conf, cls in reversed(pred):  # xyxy, confidence, class
+                        label = f'{self.names[int(cls)]} {conf:.2f}'
+                        if crop:
+                            save_one_box(box, im, file=save_dir / 'crops' / self.names[int(cls)] / self.files[i])
+                        else:  # all others
+                            plot_one_box(box, im, label=label, color=colors(cls))
+            else:
+                str += '(no detections)'
+
+            im = Image.fromarray(im.astype(np.uint8)) if isinstance(im, np.ndarray) else im  # from np
+            if pprint:
+                LOGGER.info(str.rstrip(', '))
+            if show:
+                im.show(self.files[i])  # show
+            if save:
+                f = self.files[i]
+                im.save(save_dir / f)  # save
+                if i == self.n - 1:
+                    LOGGER.info(f"Saved {self.n} image{'s' * (self.n > 1)} to '{save_dir}'")
+            if render:
+                self.imgs[i] = np.asarray(im)
+
+    def print(self):
+        self.display(pprint=True)  # print results
+        LOGGER.info(f'Speed: %.1fms pre-process, %.1fms inference, %.1fms NMS per image at shape {tuple(self.s)}' %
+                    self.t)
+
+    def show(self):
+        self.display(show=True)  # show results
+
+    def save(self, save_dir='runs/detect/exp'):
+        save_dir = increment_path(save_dir, exist_ok=save_dir != 'runs/detect/exp', mkdir=True)  # increment save_dir
+        self.display(save=True, save_dir=save_dir)  # save results
+
+    def crop(self, save_dir='runs/detect/exp'):
+        save_dir = increment_path(save_dir, exist_ok=save_dir != 'runs/detect/exp', mkdir=True)  # increment save_dir
+        self.display(crop=True, save_dir=save_dir)  # crop results
+        LOGGER.info(f'Saved results to {save_dir}\n')
+
+    def render(self):
+        self.display(render=True)  # render results
+        return self.imgs
+
+    def pandas(self):
+        # return detections as pandas DataFrames, i.e. print(results.pandas().xyxy[0])
+        new = copy(self)  # return copy
+        ca = 'xmin', 'ymin', 'xmax', 'ymax', 'confidence', 'class', 'name'  # xyxy columns
+        cb = 'xcenter', 'ycenter', 'width', 'height', 'confidence', 'class', 'name'  # xywh columns
+        for k, c in zip(['xyxy', 'xyxyn', 'xywh', 'xywhn'], [ca, ca, cb, cb]):
+            a = [[x[:5] + [int(x[5]), self.names[int(x[5])]] for x in x.tolist()] for x in getattr(self, k)]  # update
+            setattr(new, k, [pd.DataFrame(x, columns=c) for x in a])
+        return new
+
+    def tolist(self):
+        # return a list of Detections objects, i.e. 'for result in results.tolist():'
+        x = [Detections([self.imgs[i]], [self.pred[i]], self.names, self.s) for i in range(self.n)]
+        for d in x:
+            for k in ['imgs', 'pred', 'xyxy', 'xyxyn', 'xywh', 'xywhn']:
+                setattr(d, k, getattr(d, k)[0])  # pop out of list
+        return x
+
+    def __len__(self):
+        return self.n
+
+
+class Classify(nn.Module):#用于第二级分类
+    # Classification head, i.e. x(b,c1,20,20) to x(b,c2)
+    def __init__(self, c1, c2, k=1, s=1, p=None, g=1):  # ch_in, ch_out, kernel, stride, padding, groups
+        super().__init__()
+        self.aap = nn.AdaptiveAvgPool2d(1)  # to x(b,c1,1,1) 自适应平均池化
+        self.conv = nn.Conv2d(c1, c2, k, s, autopad(k, p), groups=g)  # to x(b,c2,1,1)
+        self.flat = nn.Flatten()
+
+    def forward(self, x):
+        z = torch.cat([self.aap(y) for y in (x if isinstance(x, list) else [x])], 1)  # cat if list
+        return self.flat(self.conv(z))  # flatten to x(b,c2)
--- a/models/experimental.py
+++ b/models/experimental.py
@ -0,0 +1,136 @@
+# YOLOv5 experimental modules
+
+import numpy as np
+import torch
+import torch.nn as nn
+
+from models.common import Conv, DWConv
+from utils.downloads 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().__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().__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().__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().__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 Depth-wise Conv https://arxiv.org/abs/1907.09595
+    def __init__(self, c1, c2, k=(1, 3), s=1, equal_ch=True):
+        super().__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().__init__()
+
+    def forward(self, x, augment=False, profile=False, visualize=False):
+        y = []
+        for module in self:
+            y.append(module(x, augment, profile, visualize)[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
--- a/models/hub/anchors.yaml
+++ b/models/hub/anchors.yaml
@ -0,0 +1,58 @@
+# Default YOLOv5 anchors for COCO data
+
+
+# P5 -------------------------------------------------------------------------------------------------------------------
+# P5-640:
+anchors_p5_640:
+  - [10,13, 16,30, 33,23]  # P3/8
+  - [30,61, 62,45, 59,119]  # P4/16
+  - [116,90, 156,198, 373,326]  # P5/32
+
+
+# P6 -------------------------------------------------------------------------------------------------------------------
+# P6-640:  thr=0.25: 0.9964 BPR, 5.54 anchors past thr, n=12, img_size=640, metric_all=0.281/0.716-mean/best, past_thr=0.469-mean: 9,11,  21,19,  17,41,  43,32,  39,70,  86,64,  65,131,  134,130,  120,265,  282,180,  247,354,  512,387
+anchors_p6_640:
+  - [9,11,  21,19,  17,41]  # P3/8
+  - [43,32,  39,70,  86,64]  # P4/16
+  - [65,131,  134,130,  120,265]  # P5/32
+  - [282,180,  247,354,  512,387]  # P6/64
+
+# P6-1280:  thr=0.25: 0.9950 BPR, 5.55 anchors past thr, n=12, img_size=1280, metric_all=0.281/0.714-mean/best, past_thr=0.468-mean: 19,27,  44,40,  38,94,  96,68,  86,152,  180,137,  140,301,  303,264,  238,542,  436,615,  739,380,  925,792
+anchors_p6_1280:
+  - [19,27,  44,40,  38,94]  # P3/8
+  - [96,68,  86,152,  180,137]  # P4/16
+  - [140,301,  303,264,  238,542]  # P5/32
+  - [436,615,  739,380,  925,792]  # P6/64
+
+# P6-1920:  thr=0.25: 0.9950 BPR, 5.55 anchors past thr, n=12, img_size=1920, metric_all=0.281/0.714-mean/best, past_thr=0.468-mean: 28,41,  67,59,  57,141,  144,103,  129,227,  270,205,  209,452,  455,396,  358,812,  653,922,  1109,570,  1387,1187
+anchors_p6_1920:
+  - [28,41,  67,59,  57,141]  # P3/8
+  - [144,103,  129,227,  270,205]  # P4/16
+  - [209,452,  455,396,  358,812]  # P5/32
+  - [653,922,  1109,570,  1387,1187]  # P6/64
+
+
+# P7 -------------------------------------------------------------------------------------------------------------------
+# P7-640:  thr=0.25: 0.9962 BPR, 6.76 anchors past thr, n=15, img_size=640, metric_all=0.275/0.733-mean/best, past_thr=0.466-mean: 11,11,  13,30,  29,20,  30,46,  61,38,  39,92,  78,80,  146,66,  79,163,  149,150,  321,143,  157,303,  257,402,  359,290,  524,372
+anchors_p7_640:
+  - [11,11,  13,30,  29,20]  # P3/8
+  - [30,46,  61,38,  39,92]  # P4/16
+  - [78,80,  146,66,  79,163]  # P5/32
+  - [149,150,  321,143,  157,303]  # P6/64
+  - [257,402,  359,290,  524,372]  # P7/128
+
+# P7-1280:  thr=0.25: 0.9968 BPR, 6.71 anchors past thr, n=15, img_size=1280, metric_all=0.273/0.732-mean/best, past_thr=0.463-mean: 19,22,  54,36,  32,77,  70,83,  138,71,  75,173,  165,159,  148,334,  375,151,  334,317,  251,626,  499,474,  750,326,  534,814,  1079,818
+anchors_p7_1280:
+  - [19,22,  54,36,  32,77]  # P3/8
+  - [70,83,  138,71,  75,173]  # P4/16
+  - [165,159,  148,334,  375,151]  # P5/32
+  - [334,317,  251,626,  499,474]  # P6/64
+  - [750,326,  534,814,  1079,818]  # P7/128
+
+# P7-1920:  thr=0.25: 0.9968 BPR, 6.71 anchors past thr, n=15, img_size=1920, metric_all=0.273/0.732-mean/best, past_thr=0.463-mean: 29,34,  81,55,  47,115,  105,124,  207,107,  113,259,  247,238,  222,500,  563,227,  501,476,  376,939,  749,711,  1126,489,  801,1222,  1618,1227
+anchors_p7_1920:
+  - [29,34,  81,55,  47,115]  # P3/8
+  - [105,124,  207,107,  113,259]  # P4/16
+  - [247,238,  222,500,  563,227]  # P5/32
+  - [501,476,  376,939,  749,711]  # P6/64
+  - [1126,489,  801,1222,  1618,1227]  # P7/128
--- a/models/hub/yolov3-spp.yaml
+++ b/models/hub/yolov3-spp.yaml
@ -0,0 +1,49 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+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
+
+# darknet53 backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Conv, [32, 3, 1]],  # 0
+   [-1, 1, Conv, [64, 3, 2]],  # 1-P1/2
+   [-1, 1, Bottleneck, [64]],
+   [-1, 1, Conv, [128, 3, 2]],  # 3-P2/4
+   [-1, 2, Bottleneck, [128]],
+   [-1, 1, Conv, [256, 3, 2]],  # 5-P3/8
+   [-1, 8, Bottleneck, [256]],
+   [-1, 1, Conv, [512, 3, 2]],  # 7-P4/16
+   [-1, 8, Bottleneck, [512]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P5/32
+   [-1, 4, Bottleneck, [1024]],  # 10
+  ]
+
+# YOLOv3-SPP head
+head:
+  [[-1, 1, Bottleneck, [1024, False]],
+   [-1, 1, SPP, [512, [5, 9, 13]]],
+   [-1, 1, Conv, [1024, 3, 1]],
+   [-1, 1, Conv, [512, 1, 1]],
+   [-1, 1, Conv, [1024, 3, 1]],  # 15 (P5/32-large)
+
+   [-2, 1, Conv, [256, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P4
+   [-1, 1, Bottleneck, [512, False]],
+   [-1, 1, Bottleneck, [512, False]],
+   [-1, 1, Conv, [256, 1, 1]],
+   [-1, 1, Conv, [512, 3, 1]],  # 22 (P4/16-medium)
+
+   [-2, 1, Conv, [128, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 6], 1, Concat, [1]],  # cat backbone P3
+   [-1, 1, Bottleneck, [256, False]],
+   [-1, 2, Bottleneck, [256, False]],  # 27 (P3/8-small)
+
+   [[27, 22, 15], 1, Detect, [nc, anchors]],   # Detect(P3, P4, P5)
+  ]
--- a/models/hub/yolov3-tiny.yaml
+++ b/models/hub/yolov3-tiny.yaml
@ -0,0 +1,39 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+anchors:
+  - [10,14, 23,27, 37,58]  # P4/16
+  - [81,82, 135,169, 344,319]  # P5/32
+
+# YOLOv3-tiny backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Conv, [16, 3, 1]],  # 0
+   [-1, 1, nn.MaxPool2d, [2, 2, 0]],  # 1-P1/2
+   [-1, 1, Conv, [32, 3, 1]],
+   [-1, 1, nn.MaxPool2d, [2, 2, 0]],  # 3-P2/4
+   [-1, 1, Conv, [64, 3, 1]],
+   [-1, 1, nn.MaxPool2d, [2, 2, 0]],  # 5-P3/8
+   [-1, 1, Conv, [128, 3, 1]],
+   [-1, 1, nn.MaxPool2d, [2, 2, 0]],  # 7-P4/16
+   [-1, 1, Conv, [256, 3, 1]],
+   [-1, 1, nn.MaxPool2d, [2, 2, 0]],  # 9-P5/32
+   [-1, 1, Conv, [512, 3, 1]],
+   [-1, 1, nn.ZeroPad2d, [[0, 1, 0, 1]]],  # 11
+   [-1, 1, nn.MaxPool2d, [2, 1, 0]],  # 12
+  ]
+
+# YOLOv3-tiny head
+head:
+  [[-1, 1, Conv, [1024, 3, 1]],
+   [-1, 1, Conv, [256, 1, 1]],
+   [-1, 1, Conv, [512, 3, 1]],  # 15 (P5/32-large)
+
+   [-2, 1, Conv, [128, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P4
+   [-1, 1, Conv, [256, 3, 1]],  # 19 (P4/16-medium)
+
+   [[19, 15], 1, Detect, [nc, anchors]],  # Detect(P4, P5)
+  ]
--- a/models/hub/yolov3.yaml
+++ b/models/hub/yolov3.yaml
@ -0,0 +1,49 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+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
+
+# darknet53 backbone
+backbone:
+  # [from, number, module, args]
+  [[-1, 1, Conv, [32, 3, 1]],  # 0
+   [-1, 1, Conv, [64, 3, 2]],  # 1-P1/2
+   [-1, 1, Bottleneck, [64]],
+   [-1, 1, Conv, [128, 3, 2]],  # 3-P2/4
+   [-1, 2, Bottleneck, [128]],
+   [-1, 1, Conv, [256, 3, 2]],  # 5-P3/8
+   [-1, 8, Bottleneck, [256]],
+   [-1, 1, Conv, [512, 3, 2]],  # 7-P4/16
+   [-1, 8, Bottleneck, [512]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P5/32
+   [-1, 4, Bottleneck, [1024]],  # 10
+  ]
+
+# YOLOv3 head
+head:
+  [[-1, 1, Bottleneck, [1024, False]],
+   [-1, 1, Conv, [512, [1, 1]]],
+   [-1, 1, Conv, [1024, 3, 1]],
+   [-1, 1, Conv, [512, 1, 1]],
+   [-1, 1, Conv, [1024, 3, 1]],  # 15 (P5/32-large)
+
+   [-2, 1, Conv, [256, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P4
+   [-1, 1, Bottleneck, [512, False]],
+   [-1, 1, Bottleneck, [512, False]],
+   [-1, 1, Conv, [256, 1, 1]],
+   [-1, 1, Conv, [512, 3, 1]],  # 22 (P4/16-medium)
+
+   [-2, 1, Conv, [128, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 6], 1, Concat, [1]],  # cat backbone P3
+   [-1, 1, Bottleneck, [256, False]],
+   [-1, 2, Bottleneck, [256, False]],  # 27 (P3/8-small)
+
+   [[27, 22, 15], 1, Detect, [nc, anchors]],   # Detect(P3, P4, P5)
+  ]
--- a/models/hub/yolov5-bifpn.yaml
+++ b/models/hub/yolov5-bifpn.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+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 BiFPN 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, 6], 1, Concat, [1]],  # cat 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)
+  ]
--- a/models/hub/yolov5-fpn.yaml
+++ b/models/hub/yolov5-fpn.yaml
@ -0,0 +1,40 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+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, Bottleneck, [128]],
+   [-1, 1, Conv, [256, 3, 2]],  # 3-P3/8
+   [-1, 9, BottleneckCSP, [256]],
+   [-1, 1, Conv, [512, 3, 2]],  # 5-P4/16
+   [-1, 9, BottleneckCSP, [512]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
+   [-1, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 6, BottleneckCSP, [1024]],  # 9
+  ]
+
+# YOLOv5 FPN head
+head:
+  [[-1, 3, BottleneckCSP, [1024, False]],  # 10 (P5/32-large)
+
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 6], 1, Concat, [1]],  # cat backbone P4
+   [-1, 1, Conv, [512, 1, 1]],
+   [-1, 3, BottleneckCSP, [512, False]],  # 14 (P4/16-medium)
+
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 4], 1, Concat, [1]],  # cat backbone P3
+   [-1, 1, Conv, [256, 1, 1]],
+   [-1, 3, BottleneckCSP, [256, False]],  # 18 (P3/8-small)
+
+   [[18, 14, 10], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5)
+  ]
--- a/models/hub/yolov5-p2.yaml
+++ b/models/hub/yolov5-p2.yaml
@ -0,0 +1,52 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+anchors: 3
+
+# 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, [128, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 2], 1, Concat, [1]],  # cat backbone P2
+   [-1, 1, C3, [128, False]],  # 21 (P2/4-xsmall)
+
+   [-1, 1, Conv, [128, 3, 2]],
+   [[-1, 18], 1, Concat, [1]],  # cat head P3
+   [-1, 3, C3, [256, False]],  # 24 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 14], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 27 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 10], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [1024, False]],  # 30 (P5/32-large)
+
+   [[24, 27, 30], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5)
+  ]
--- a/models/hub/yolov5-p6.yaml
+++ b/models/hub/yolov5-p6.yaml
@ -0,0 +1,54 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+anchors: 3
+
+# 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, [768, 3, 2]],  # 7-P5/32
+   [-1, 3, C3, [768]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P6/64
+   [-1, 1, SPP, [1024, [3, 5, 7]]],
+   [-1, 3, C3, [1024, False]],  # 11
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [768, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P5
+   [-1, 3, C3, [768, False]],  # 15
+
+   [-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]],  # 19
+
+   [-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]],  # 23 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 20], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 26 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 16], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [768, False]],  # 29 (P5/32-large)
+
+   [-1, 1, Conv, [768, 3, 2]],
+   [[-1, 12], 1, Concat, [1]],  # cat head P6
+   [-1, 3, C3, [1024, False]],  # 32 (P5/64-xlarge)
+
+   [[23, 26, 29, 32], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5, P6)
+  ]
--- a/models/hub/yolov5-p7.yaml
+++ b/models/hub/yolov5-p7.yaml
@ -0,0 +1,65 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+anchors: 3
+
+# 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, [768, 3, 2]],  # 7-P5/32
+   [-1, 3, C3, [768]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P6/64
+   [-1, 3, C3, [1024]],
+   [-1, 1, Conv, [1280, 3, 2]],  # 11-P7/128
+   [-1, 1, SPP, [1280, [3, 5]]],
+   [-1, 3, C3, [1280, False]],  # 13
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [1024, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 10], 1, Concat, [1]],  # cat backbone P6
+   [-1, 3, C3, [1024, False]],  # 17
+
+   [-1, 1, Conv, [768, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P5
+   [-1, 3, C3, [768, False]],  # 21
+
+   [-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]],  # 25
+
+   [-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]],  # 29 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 26], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 32 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 22], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [768, False]],  # 35 (P5/32-large)
+
+   [-1, 1, Conv, [768, 3, 2]],
+   [[-1, 18], 1, Concat, [1]],  # cat head P6
+   [-1, 3, C3, [1024, False]],  # 38 (P6/64-xlarge)
+
+   [-1, 1, Conv, [1024, 3, 2]],
+   [[-1, 14], 1, Concat, [1]],  # cat head P7
+   [-1, 3, C3, [1280, False]],  # 41 (P7/128-xxlarge)
+
+   [[29, 32, 35, 38, 41], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5, P6, P7)
+  ]
--- a/models/hub/yolov5-panet.yaml
+++ b/models/hub/yolov5-panet.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+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, BottleneckCSP, [128]],
+   [-1, 1, Conv, [256, 3, 2]],  # 3-P3/8
+   [-1, 9, BottleneckCSP, [256]],
+   [-1, 1, Conv, [512, 3, 2]],  # 5-P4/16
+   [-1, 9, BottleneckCSP, [512]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
+   [-1, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, BottleneckCSP, [1024, False]],  # 9
+  ]
+
+# YOLOv5 PANet 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, BottleneckCSP, [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, BottleneckCSP, [256, False]],  # 17 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 14], 1, Concat, [1]],  # cat head P4
+   [-1, 3, BottleneckCSP, [512, False]],  # 20 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 10], 1, Concat, [1]],  # cat head P5
+   [-1, 3, BottleneckCSP, [1024, False]],  # 23 (P5/32-large)
+
+   [[17, 20, 23], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5)
+  ]
--- a/models/hub/yolov5l6.yaml
+++ b/models/hub/yolov5l6.yaml
@ -0,0 +1,58 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+anchors:
+  - [19,27,  44,40,  38,94]  # P3/8
+  - [96,68,  86,152,  180,137]  # P4/16
+  - [140,301,  303,264,  238,542]  # P5/32
+  - [436,615,  739,380,  925,792]  # P6/64
+
+# 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, [768, 3, 2]],  # 7-P5/32
+   [-1, 3, C3, [768]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P6/64
+   [-1, 1, SPP, [1024, [3, 5, 7]]],
+   [-1, 3, C3, [1024, False]],  # 11
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [768, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P5
+   [-1, 3, C3, [768, False]],  # 15
+
+   [-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]],  # 19
+
+   [-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]],  # 23 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 20], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 26 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 16], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [768, False]],  # 29 (P5/32-large)
+
+   [-1, 1, Conv, [768, 3, 2]],
+   [[-1, 12], 1, Concat, [1]],  # cat head P6
+   [-1, 3, C3, [1024, False]],  # 32 (P6/64-xlarge)
+
+   [[23, 26, 29, 32], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5, P6)
+  ]
--- a/models/hub/yolov5m6.yaml
+++ b/models/hub/yolov5m6.yaml
@ -0,0 +1,58 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 0.67  # model depth multiple
+width_multiple: 0.75  # layer channel multiple
+anchors:
+  - [19,27,  44,40,  38,94]  # P3/8
+  - [96,68,  86,152,  180,137]  # P4/16
+  - [140,301,  303,264,  238,542]  # P5/32
+  - [436,615,  739,380,  925,792]  # P6/64
+
+# 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, [768, 3, 2]],  # 7-P5/32
+   [-1, 3, C3, [768]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P6/64
+   [-1, 1, SPP, [1024, [3, 5, 7]]],
+   [-1, 3, C3, [1024, False]],  # 11
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [768, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P5
+   [-1, 3, C3, [768, False]],  # 15
+
+   [-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]],  # 19
+
+   [-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]],  # 23 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 20], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 26 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 16], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [768, False]],  # 29 (P5/32-large)
+
+   [-1, 1, Conv, [768, 3, 2]],
+   [[-1, 12], 1, Concat, [1]],  # cat head P6
+   [-1, 3, C3, [1024, False]],  # 32 (P6/64-xlarge)
+
+   [[23, 26, 29, 32], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5, P6)
+  ]
--- a/models/hub/yolov5s6.yaml
+++ b/models/hub/yolov5s6.yaml
@ -0,0 +1,58 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 0.33  # model depth multiple
+width_multiple: 0.50  # layer channel multiple
+anchors:
+  - [19,27,  44,40,  38,94]  # P3/8
+  - [96,68,  86,152,  180,137]  # P4/16
+  - [140,301,  303,264,  238,542]  # P5/32
+  - [436,615,  739,380,  925,792]  # P6/64
+
+# 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, [768, 3, 2]],  # 7-P5/32
+   [-1, 3, C3, [768]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P6/64
+   [-1, 1, SPP, [1024, [3, 5, 7]]],
+   [-1, 3, C3, [1024, False]],  # 11
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [768, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P5
+   [-1, 3, C3, [768, False]],  # 15
+
+   [-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]],  # 19
+
+   [-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]],  # 23 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 20], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 26 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 16], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [768, False]],  # 29 (P5/32-large)
+
+   [-1, 1, Conv, [768, 3, 2]],
+   [[-1, 12], 1, Concat, [1]],  # cat head P6
+   [-1, 3, C3, [1024, False]],  # 32 (P6/64-xlarge)
+
+   [[23, 26, 29, 32], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5, P6)
+  ]
--- a/models/hub/yolov5x6.yaml
+++ b/models/hub/yolov5x6.yaml
@ -0,0 +1,58 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.33  # model depth multiple
+width_multiple: 1.25  # layer channel multiple
+anchors:
+  - [19,27,  44,40,  38,94]  # P3/8
+  - [96,68,  86,152,  180,137]  # P4/16
+  - [140,301,  303,264,  238,542]  # P5/32
+  - [436,615,  739,380,  925,792]  # P6/64
+
+# 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, [768, 3, 2]],  # 7-P5/32
+   [-1, 3, C3, [768]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 9-P6/64
+   [-1, 1, SPP, [1024, [3, 5, 7]]],
+   [-1, 3, C3, [1024, False]],  # 11
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [768, 1, 1]],
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 8], 1, Concat, [1]],  # cat backbone P5
+   [-1, 3, C3, [768, False]],  # 15
+
+   [-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]],  # 19
+
+   [-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]],  # 23 (P3/8-small)
+
+   [-1, 1, Conv, [256, 3, 2]],
+   [[-1, 20], 1, Concat, [1]],  # cat head P4
+   [-1, 3, C3, [512, False]],  # 26 (P4/16-medium)
+
+   [-1, 1, Conv, [512, 3, 2]],
+   [[-1, 16], 1, Concat, [1]],  # cat head P5
+   [-1, 3, C3, [768, False]],  # 29 (P5/32-large)
+
+   [-1, 1, Conv, [768, 3, 2]],
+   [[-1, 12], 1, Concat, [1]],  # cat head P6
+   [-1, 3, C3, [1024, False]],  # 32 (P6/64-xlarge)
+
+   [[23, 26, 29, 32], 1, Detect, [nc, anchors]],  # Detect(P3, P4, P5, P6)
+  ]
--- a/models/yolo.py
+++ b/models/yolo.py
@ -0,0 +1,300 @@
+"""YOLOv5-specific modules
+
+Usage:
+    $ python path/to/models/yolo.py --cfg yolov5s.yaml
+"""
+
+import argparse
+import sys
+from copy import deepcopy
+from pathlib import Path
+
+FILE = Path(__file__).absolute()
+sys.path.append(FILE.parents[1].as_posix())  # add yolov5/ to path
+
+from models.common import *
+from models.experimental import *
+from utils.autoanchor import check_anchor_order
+from utils.general import make_divisible, check_file, set_logging
+from utils.plots import feature_visualization
+from utils.torch_utils import time_sync, fuse_conv_and_bn, model_info, scale_img, initialize_weights, \
+    select_device, copy_attr
+
+try:
+    import thop  # for FLOPs computation
+except ImportError:
+    thop = None
+
+LOGGER = logging.getLogger(__name__)
+
+
+class Detect(nn.Module):#对特征图进行检测的类
+    stride = None  # strides computed during build
+    onnx_dynamic = False  # ONNX export parameter
+
+    def __init__(self, nc=80, anchors=(), ch=(), inplace=True):  # detection layer
+        #ch()相应于每个特征图上卷积核的通道数
+        super().__init__()
+        self.nc = nc  # number of classes
+        self.no = nc + 5  # number of outputs per anchor  每个anchor输出值的个数20个类别+4个坐标信息+得分
+        self.nl = len(anchors)  # number of detection layers   做检测的特征图，相应的层数是4？？
+        self.na = len(anchors[0]) // 2  # number of anchors
+        self.grid = [torch.zeros(1)] * self.nl  # init grid
+        a = torch.tensor(anchors).float().view(self.nl, -1, 2) #对变量a进行赋值
+        self.register_buffer('anchors', a)  # shape(nl,na,2)
+        self.register_buffer('anchor_grid', a.clone().view(self.nl, 1, -1, 1, 1, 2))  # shape(nl,1,na,1,1,2)
+        self.m = nn.ModuleList(nn.Conv2d(x, self.no * self.na, 1) for x in ch)  # output conv  输入通道是x，输出通道是self.no * self.na
+        #1x1卷积是将特征图通过此卷积运算得到我们预测后的值，包括预测框的坐标信息，目标性得分，分类概率。这里ch是得到通道的取值，分别为[192,192,384,768]??
+        self.inplace = inplace  # use in-place ops (e.g. slice assignment)
+
+    def forward(self, x):
+        # x = x.copy()  # for profiling
+        z = []  # inference output
+        for i in range(self.nl):#对nl进行迭代，即每个先验框进行迭代，
+            x[i] = self.m[i](x[i])  # conv  在detect层做卷积运算
+            bs, _, ny, nx = x[i].shape  # x(bs,255,20,20) to x(bs,3,20,20,85)
+            x[i] = x[i].view(bs, self.na, self.no, ny, nx).permute(0, 1, 3, 4, 2).contiguous()  #用permute调整前面的顺序，再用contiguout变成内存连续变量
+
+            if not self.training:  # inference判断是否在做训练，不在做训练则是在做inference即推理
+                if self.grid[i].shape[2:4] != x[i].shape[2:4] or self.onnx_dynamic:
+                    self.grid[i] = self._make_grid(nx, ny).to(x[i].device) #调用make_grid函数调用网格
+
+                y = x[i].sigmoid() #调用sigmoid函数，求出预测框坐标信息，包括xy坐标信息以及wh坐标信息
+                if self.inplace:
+                    y[..., 0:2] = (y[..., 0:2] * 2. - 0.5 + self.grid[i]) * self.stride[i]  # xy
+                    y[..., 2:4] = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i]  # wh
+                else:  # for YOLOv5 on AWS Inferentia https://github.com/ultralytics/yolov5/pull/2953
+                    xy = (y[..., 0:2] * 2. - 0.5 + self.grid[i]) * self.stride[i]  # xy
+                    wh = (y[..., 2:4] * 2) ** 2 * self.anchor_grid[i].view(1, self.na, 1, 1, 2)  # wh
+                    y = torch.cat((xy, wh, y[..., 4:]), -1)
+                z.append(y.view(bs, -1, self.no))#预测框信息
+
+        return x if self.training else (torch.cat(z, 1), x) #如果是训练，则返回x即可。如果推理，返回预测框坐标，obj（目标性得分），cls（概率信息，这里是x）
+
+    @staticmethod
+    def _make_grid(nx=20, ny=20):#图像上划分网格，如果是640x640，则刚好32倍后是20x20
+        yv, xv = torch.meshgrid([torch.arange(ny), torch.arange(nx)])
+        return torch.stack((xv, yv), 2).view((1, 1, ny, nx, 2)).float()
+
+
+#网络模型类  如何解析项目文件来构建网络结构
+class Model(nn.Module):
+    def __init__(self, cfg='yolov5s.yaml', ch=3, nc=None, anchors=None):  # model, input channels, number of classes
+        super().__init__()
+        if isinstance(cfg, dict):
+            self.yaml = cfg  # model dict
+        else:  # is *.yaml
+            import yaml  # for torch hub
+            self.yaml_file = Path(cfg).name #通过路径，将文件名取出，字符串型
+            with open(cfg,'r',encoding='utf-8') as f:
+                self.yaml = yaml.safe_load(f)  # model dict   #yaml变成字典
+
+        # Define model
+        ch = self.yaml['ch'] = self.yaml.get('ch', ch)  # input channels
+        if nc and nc != self.yaml['nc']:
+            LOGGER.info(f"Overriding model.yaml nc={self.yaml['nc']} with nc={nc}")
+            self.yaml['nc'] = nc  # override yaml value
+        if anchors:
+            LOGGER.info(f'Overriding model.yaml anchors with anchors={anchors}')
+            self.yaml['anchors'] = round(anchors)  # override yaml value
+        self.model, self.save = parse_model(deepcopy(self.yaml), ch=[ch])  # model, savelist  通过parse_model来解析构建model
+        self.names = [str(i) for i in range(self.yaml['nc'])]  # default names
+        self.inplace = self.yaml.get('inplace', True)
+        # LOGGER.info([x.shape for x in self.forward(torch.zeros(1, ch, 64, 64))])
+
+        # Build strides, anchors
+        m = self.model[-1]  # Detect()
+        if isinstance(m, Detect):
+            s = 256  # 2x min stride
+            m.inplace = self.inplace
+            m.stride = torch.tensor([s / x.shape[-2] for x in self.forward(torch.zeros(1, ch, s, s))])  # forward
+            m.anchors /= m.stride.view(-1, 1, 1)
+            check_anchor_order(m)
+            self.stride = m.stride
+            self._initialize_biases()  # only run once
+            # LOGGER.info('Strides: %s' % m.stride.tolist())
+
+        # Init weights, biases
+        initialize_weights(self)
+        self.info()
+        LOGGER.info('')
+
+    def forward(self, x, augment=False, profile=False, visualize=False):
+        if augment:
+            return self.forward_augment(x)  # augmented inference, None
+        return self.forward_once(x, profile, visualize)  # single-scale inference, train
+
+    def forward_augment(self, x):
+        img_size = x.shape[-2:]  # height, width
+        s = [1, 0.83, 0.67]  # scales
+        f = [None, 3, None]  # flips (2-ud, 3-lr)
+        y = []  # outputs
+        for si, fi in zip(s, f):
+            xi = scale_img(x.flip(fi) if fi else x, si, gs=int(self.stride.max()))
+            yi = self.forward_once(xi)[0]  # forward
+            # cv2.imwrite(f'img_{si}.jpg', 255 * xi[0].cpu().numpy().transpose((1, 2, 0))[:, :, ::-1])  # save
+            yi = self._descale_pred(yi, fi, si, img_size)
+            y.append(yi)
+        return torch.cat(y, 1), None  # augmented inference, train
+
+    def forward_once(self, x, profile=False, visualize=False):
+        y, dt = [], []  # outputs
+        for m in self.model:
+            if m.f != -1:  # if not from previous layer
+                x = y[m.f] if isinstance(m.f, int) else [x if j == -1 else y[j] for j in m.f]  # from earlier layers
+
+            if profile:
+                o = thop.profile(m, inputs=(x,), verbose=False)[0] / 1E9 * 2 if thop else 0  # FLOPs
+                t = time_sync()
+                for _ in range(10):
+                    _ = m(x)
+                dt.append((time_sync() - t) * 100)
+                if m == self.model[0]:
+                    LOGGER.info(f"{'time (ms)':>10s} {'GFLOPs':>10s} {'params':>10s}  {'module'}")
+                LOGGER.info(f'{dt[-1]:10.2f} {o:10.2f} {m.np:10.0f}  {m.type}')
+
+            x = m(x)  # run
+            y.append(x if m.i in self.save else None)  # save output
+
+            if visualize:
+                feature_visualization(x, m.type, m.i, save_dir=visualize)
+
+        if profile:
+            LOGGER.info('%.1fms total' % sum(dt))
+        return x
+
+    def _descale_pred(self, p, flips, scale, img_size):
+        # de-scale predictions following augmented inference (inverse operation)
+        if self.inplace:
+            p[..., :4] /= scale  # de-scale
+            if flips == 2:
+                p[..., 1] = img_size[0] - p[..., 1]  # de-flip ud
+            elif flips == 3:
+                p[..., 0] = img_size[1] - p[..., 0]  # de-flip lr
+        else:
+            x, y, wh = p[..., 0:1] / scale, p[..., 1:2] / scale, p[..., 2:4] / scale  # de-scale
+            if flips == 2:
+                y = img_size[0] - y  # de-flip ud
+            elif flips == 3:
+                x = img_size[1] - x  # de-flip lr
+            p = torch.cat((x, y, wh, p[..., 4:]), -1)
+        return p
+
+    def _initialize_biases(self, cf=None):  # initialize biases into Detect(), cf is class frequency
+        # https://arxiv.org/abs/1708.02002 section 3.3
+        # cf = torch.bincount(torch.tensor(np.concatenate(dataset.labels, 0)[:, 0]).long(), minlength=nc) + 1.
+        m = self.model[-1]  # Detect() module
+        for mi, s in zip(m.m, m.stride):  # from
+            b = mi.bias.view(m.na, -1)  # conv.bias(255) to (3,85)
+            b.data[:, 4] += math.log(8 / (640 / s) ** 2)  # obj (8 objects per 640 image)
+            b.data[:, 5:] += math.log(0.6 / (m.nc - 0.99)) if cf is None else torch.log(cf / cf.sum())  # cls
+            mi.bias = torch.nn.Parameter(b.view(-1), requires_grad=True)
+
+    def _print_biases(self):
+        m = self.model[-1]  # Detect() module
+        for mi in m.m:  # from
+            b = mi.bias.detach().view(m.na, -1).T  # conv.bias(255) to (3,85)
+            LOGGER.info(
+                ('%6g Conv2d.bias:' + '%10.3g' * 6) % (mi.weight.shape[1], *b[:5].mean(1).tolist(), b[5:].mean()))
+
+    # def _print_weights(self):
+    #     for m in self.model.modules():
+    #         if type(m) is Bottleneck:
+    #             LOGGER.info('%10.3g' % (m.w.detach().sigmoid() * 2))  # shortcut weights
+
+    def fuse(self):  # fuse model Conv2d() + BatchNorm2d() layers
+        LOGGER.info('Fusing layers... ')
+        for m in self.model.modules():
+            if isinstance(m, (Conv, DWConv)) and hasattr(m, 'bn'):
+                m.conv = fuse_conv_and_bn(m.conv, m.bn)  # update conv
+                delattr(m, 'bn')  # remove batchnorm
+                m.forward = m.forward_fuse  # update forward
+        self.info()
+        return self
+
+    def autoshape(self):  # add AutoShape module
+        LOGGER.info('Adding AutoShape... ')
+        m = AutoShape(self)  # wrap model
+        copy_attr(m, self, include=('yaml', 'nc', 'hyp', 'names', 'stride'), exclude=())  # copy attributes
+        return m
+
+    def info(self, verbose=False, img_size=640):  # print model information
+        model_info(self, verbose, img_size)
+
+
+def parse_model(d, ch):  # model_dict, input_channels(3)
+    LOGGER.info('\n%3s%18s%3s%10s  %-40s%-30s' % ('', 'from', 'n', 'params', 'module', 'arguments'))
+    anchors, nc, gd, gw = d['anchors'], d['nc'], d['depth_multiple'], d['width_multiple']
+    na = (len(anchors[0]) // 2) if isinstance(anchors, list) else anchors  # number of anchors
+    no = na * (nc + 5)  # number of outputs = anchors * (classes + 5)
+
+    layers, save, c2 = [], [], ch[-1]  # layers, savelist, ch out
+    for i, (f, n, m, args) in enumerate(d['backbone'] + d['head']):  # from, number, module, args
+        m = eval(m) if isinstance(m, str) else m  # eval strings
+        for j, a in enumerate(args):
+            try:
+                args[j] = eval(a) if isinstance(a, str) else a  # eval strings
+            except:
+                pass
+
+        n = n_ = max(round(n * gd), 1) if n > 1 else n  # depth gain
+        if m in [Conv, GhostConv, Bottleneck, GhostBottleneck, SPP, DWConv, MixConv2d, Focus, CrossConv, BottleneckCSP,
+                 C3, C3TR, C3SPP]:
+            c1, c2 = ch[f], args[0]
+            if c2 != no:  # if not output
+                c2 = make_divisible(c2 * gw, 8)
+
+            args = [c1, c2, *args[1:]]
+            if m in [BottleneckCSP, C3, C3TR]:
+                args.insert(2, n)  # number of repeats
+                n = 1
+        elif m is nn.BatchNorm2d:
+            args = [ch[f]]
+        elif m is Concat:
+            c2 = sum([ch[x] for x in f])
+        elif m is Detect:
+            args.append([ch[x] for x in f])
+            if isinstance(args[1], int):  # number of anchors
+                args[1] = [list(range(args[1] * 2))] * len(f)
+        elif m is Contract:
+            c2 = ch[f] * args[0] ** 2
+        elif m is Expand:
+            c2 = ch[f] // args[0] ** 2
+        else:
+            c2 = ch[f]
+
+        m_ = nn.Sequential(*[m(*args) for _ in range(n)]) if n > 1 else m(*args)  # module
+        t = str(m)[8:-2].replace('__main__.', '')  # module type
+        np = sum([x.numel() for x in m_.parameters()])  # number params
+        m_.i, m_.f, m_.type, m_.np = i, f, t, np  # attach index, 'from' index, type, number params
+        LOGGER.info('%3s%18s%3s%10.0f  %-40s%-30s' % (i, f, n_, np, t, args))  # print
+        save.extend(x % i for x in ([f] if isinstance(f, int) else f) if x != -1)  # append to savelist
+        layers.append(m_)
+        if i == 0:
+            ch = []
+        ch.append(c2)
+    return nn.Sequential(*layers), sorted(save)
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--cfg', type=str, default='yolov5m_add_detect.yaml', help='model.yaml')
+    parser.add_argument('--device', default='', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
+    opt = parser.parse_args()
+    opt.cfg = check_file(opt.cfg)  # check file
+    set_logging()
+    device = select_device(opt.device)
+
+    # Create model
+    model = Model(opt.cfg).to(device)
+    model.train()
+
+    # Profile
+    # img = torch.rand(8 if torch.cuda.is_available() else 1, 3, 320, 320).to(device)
+    # y = model(img, profile=True)
+
+    # Tensorboard (not working https://github.com/ultralytics/yolov5/issues/2898)
+    # from torch.utils.tensorboard import SummaryWriter
+    # tb_writer = SummaryWriter('.')
+    # LOGGER.info("Run 'tensorboard --logdir=models' to view tensorboard at http://localhost:6006/")
+    # tb_writer.add_graph(torch.jit.trace(model, img, strict=False), [])  # add model graph
--- a/models/yolov5l.yaml
+++ b/models/yolov5l.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.0  # model depth multiple
+width_multiple: 1.0  # layer channel multiple
+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)
+  ]
--- a/models/yolov5m-2transformer.yaml
+++ b/models/yolov5m-2transformer.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 0.67  # model depth multiple
+width_multiple: 0.75  # layer channel multiple
+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, C3TR, [512]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
+   [-1, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3TR, [1024, False]],  # 9  <-------- C3TR() Transformer module
+  ]
+
+# 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)
+  ]
--- a/models/yolov5m.yaml
+++ b/models/yolov5m.yaml
@ -0,0 +1,47 @@
+# Parameters
+#nc: 80  # number of classes
+nc: 3  # number of classes
+depth_multiple: 0.67  # model depth multiple
+width_multiple: 0.75  # layer channel multiple
+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)
+  ]
--- a/models/yolov5m_add_detect.yaml
+++ b/models/yolov5m_add_detect.yaml
@ -0,0 +1,65 @@
+# parameters
+#nc: 80  # number of classes
+nc: 3  # number of classes
+depth_multiple: 0.67  # model depth multiple
+width_multiple: 0.75  # layer channel multiple   使卷积核个数变化
+
+# anchors
+anchors:
+  - [5,6, 8,14, 15,11]  #P2/4  增加的锚点？？？？？ 增减检测层之后需要增加的   先验框的大小（4个尺度上的）
+  - [10,13, 16,30, 33,23]  # P3/8  表示8倍下采样后的结果
+  - [30,61, 62,45, 59,119]  # P4/16
+  - [116,90, 156,198, 373,326]  # P5/32
+
+# YOLOv5 backbone
+backbone:
+  # [from, number, module, args]
+  #-1表示来自上一层输入；number表示本模块重复次数；
+
+  [[-1, 1, Focus, [64, 3]],  # 0-P1/2   功能层参数
+   [-1, 1, Conv, [128, 3, 2]],  # 1-P2/4   功能层参数  128表示128个卷积核，3表示3x3卷积核，2表示步长是2
+   [-1, 3, C3, [128]],   #160*160   瓶颈层是主要学习到特征，可增减瓶颈层的深度实现模型深度变化
+
+   [-1, 1, Conv, [256, 3, 2]],  # 3-P3/8
+   [-1, 9, C3, [256]],  #80*80
+
+   [-1, 1, Conv, [512, 3, 2]],  # 5-P4/16
+   [-1, 9, C3, [512]], #40*40
+
+   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
+   [-1, 1, SPP, [1024, [5, 9, 13]]],  #spp也是功能层的参数
+   [-1, 3, C3, [1024, False]],  # 9   20*20
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [512, 1, 1]],  #20*20
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']], #40*40
+   [[-1, 6], 1, Concat, [1]],  # cat backbone P4  40*40
+   [-1, 3, C3, [512, False]],  # 13     40*40
+
+   [-1, 1, Conv, [512, 1, 1]], #40*40
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 4], 1, Concat, [1]],  # cat backbone P3   80*80
+   [-1, 3, C3, [512, False]],  # 17 (P3/8-small)  80*80
+
+   [-1, 1, Conv, [256, 1, 1]], #18  80*80
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']], #19  160*160
+   [[-1, 2], 1, Concat, [1]], #20 cat backbone p2  160*160
+   [-1, 3, C3, [256, False]], #21 160*160
+
+   [-1, 1, Conv, [256, 3, 2]],  #22   80*80
+   [[-1, 18], 1, Concat, [1]], #23 80*80
+   [-1, 3, C3, [256, False]], #24 80*80
+
+   [-1, 1, Conv, [256, 3, 2]], #25  40*40
+   [[-1, 14], 1, Concat, [1]],  # 26  cat head P4  40*40
+   [-1, 3, C3, [512, False]],  # 27 (P4/16-medium) 40*40
+
+   [-1, 1, Conv, [512, 3, 2]],  #28  20*20
+   [[-1, 10], 1, Concat, [1]],  #29 cat head P5  #20*20
+   [-1, 3, C3, [1024, False]],  # 30 (P5/32-large)  20*20
+
+   [[21, 24, 27, 30], 1, Detect, [nc, anchors]],  # Detect(p2, P3, P4, P5)
+  ]
+
--- a/models/yolov5m_s.yaml
+++ b/models/yolov5m_s.yaml
@ -0,0 +1,57 @@
+# parameters
+nc: 80  # number of classes
+depth_multiple: 0.67  # model depth multiple
+width_multiple: 0.75  # layer channel multiple
+
+# anchors
+anchors:
+  - [5,6, 8,14, 15,11]  #P2/4
+  - [10,13, 16,30, 33,23]  # P3/8
+  - [30,61, 62,45, 59,119]  # P4/16
+
+
+# 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]],   #160*160
+   [-1, 1, Conv, [256, 3, 2]],  # 3-P3/8
+   [-1, 9, C3, [256]],  #80*80
+   [-1, 1, Conv, [512, 3, 2]],  # 5-P4/16
+   [-1, 9, C3, [512]], #40*40
+   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
+   [-1, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3, [1024, False]],  # 9   20*20
+  ]
+
+# YOLOv5 head
+head:
+  [[-1, 1, Conv, [512, 1, 1]],  #20*20
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']], #40*40
+   [[-1, 6], 1, Concat, [1]],  # cat backbone P4  40*40
+   [-1, 3, C3, [512, False]],  # 13     40*40
+
+   [-1, 1, Conv, [512, 1, 1]], #40*40
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']],
+   [[-1, 4], 1, Concat, [1]],  # cat backbone P3   80*80
+   [-1, 3, C3, [512, False]],  # 17 (P3/8-small)  80*80
+
+   [-1, 1, Conv, [256, 1, 1]], #18  80*80
+   [-1, 1, nn.Upsample, [None, 2, 'nearest']], #19  160*160
+   [[-1, 2], 1, Concat, [1]], #20 cat backbone p2  160*160
+   [-1, 3, C3, [256, False]], #21 160*160
+
+   [-1, 1, Conv, [256, 3, 2]],  #22   80*80
+   [[-1, 18], 1, Concat, [1]], #23 80*80
+   [-1, 3, C3, [256, False]], #24 80*80
+
+   [-1, 1, Conv, [512, 3, 2]], #25  40*40
+   [[-1, 14], 1, Concat, [1]],  # 26  cat head P4  40*40
+   [-1, 3, C3, [1024, False]],  # 27 (P4/16-medium) 40*40
+
+
+
+   [[21, 24, 27], 1, Detect, [nc, anchors]],  # Detect(p2, P3, P4)
+  ]
+
--- a/models/yolov5s-2transformer.yaml
+++ b/models/yolov5s-2transformer.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 0.33  # model depth multiple
+width_multiple: 0.50  # layer channel multiple
+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, C3TR, [512]],
+   [-1, 1, Conv, [1024, 3, 2]],  # 7-P5/32
+   [-1, 1, SPP, [1024, [5, 9, 13]]],
+   [-1, 3, C3TR, [1024, False]],  # 9  <-------- C3TR() Transformer module
+  ]
+
+# 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)
+  ]
--- a/models/yolov5s-transformer.yaml
+++ b/models/yolov5s-transformer.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 0.33  # model depth multiple
+width_multiple: 0.50  # layer channel multiple
+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, C3TR, [1024, False]],  # 9  <-------- C3TR() Transformer module
+  ]
+
+# 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)
+  ]
--- a/models/yolov5s.yaml
+++ b/models/yolov5s.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 0.33  # model depth multiple
+width_multiple: 0.50  # layer channel multiple
+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)
+  ]
--- a/models/yolov5x.yaml
+++ b/models/yolov5x.yaml
@ -0,0 +1,46 @@
+# Parameters
+nc: 80  # number of classes
+depth_multiple: 1.33  # model depth multiple
+width_multiple: 1.25  # layer channel multiple
+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)
+  ]
--- a/plugin/yololayer.cu
+++ b/plugin/yololayer.cu
@ -0,0 +1,280 @@
+#include "yololayer.h"
+#include "cuda_utils.h"
+
+#include <cassert>
+#include <vector>
+#include <iostream>
+
+namespace Tn {
+template<typename T> 
+void write(char*& buffer, const T& val) {
+  *reinterpret_cast<T*>(buffer) = val;
+  buffer += sizeof(T);
+}
+
+template<typename T> 
+void read(const char*& buffer, T& val) {
+  val = *reinterpret_cast<const T*>(buffer);
+  buffer += sizeof(T);
+}
+}
+
+namespace nvinfer1 {
+YoloLayerPlugin::YoloLayerPlugin(int classCount, int netWidth, int netHeight, int maxOut, bool is_segmentation, const std::vector<YoloKernel>& vYoloKernel) {
+  mClassCount = classCount;
+  mYoloV5NetWidth = netWidth;
+  mYoloV5NetHeight = netHeight;
+  mMaxOutObject = maxOut;
+  is_segmentation_ = is_segmentation;
+  mYoloKernel = vYoloKernel;
+  mKernelCount = vYoloKernel.size();
+
+  CUDA_CHECK(cudaMallocHost(&mAnchor, mKernelCount * sizeof(void*)));
+  size_t AnchorLen = sizeof(float)* kNumAnchor * 2;
+  for (int ii = 0; ii < mKernelCount; ii++) {
+    CUDA_CHECK(cudaMalloc(&mAnchor[ii], AnchorLen));
+    const auto& yolo = mYoloKernel[ii];
+    CUDA_CHECK(cudaMemcpy(mAnchor[ii], yolo.anchors, AnchorLen, cudaMemcpyHostToDevice));
+  }
+}
+
+YoloLayerPlugin::~YoloLayerPlugin() {
+  for (int ii = 0; ii < mKernelCount; ii++) {
+    CUDA_CHECK(cudaFree(mAnchor[ii]));
+  }
+  CUDA_CHECK(cudaFreeHost(mAnchor));
+}
+
+// create the plugin at runtime from a byte stream
+YoloLayerPlugin::YoloLayerPlugin(const void* data, size_t length) {
+  using namespace Tn;
+  const char *d = reinterpret_cast<const char *>(data), *a = d;
+  read(d, mClassCount);
+  read(d, mThreadCount);
+  read(d, mKernelCount);
+  read(d, mYoloV5NetWidth);
+  read(d, mYoloV5NetHeight);
+  read(d, mMaxOutObject);
+  read(d, is_segmentation_);
+  mYoloKernel.resize(mKernelCount);
+  auto kernelSize = mKernelCount * sizeof(YoloKernel);
+  memcpy(mYoloKernel.data(), d, kernelSize);
+  d += kernelSize;
+  CUDA_CHECK(cudaMallocHost(&mAnchor, mKernelCount * sizeof(void*)));
+  size_t AnchorLen = sizeof(float)* kNumAnchor * 2;
+  for (int ii = 0; ii < mKernelCount; ii++) {
+    CUDA_CHECK(cudaMalloc(&mAnchor[ii], AnchorLen));
+    const auto& yolo = mYoloKernel[ii];
+    CUDA_CHECK(cudaMemcpy(mAnchor[ii], yolo.anchors, AnchorLen, cudaMemcpyHostToDevice));
+  }
+  assert(d == a + length);
+}
+
+void YoloLayerPlugin::serialize(void* buffer) const TRT_NOEXCEPT {
+  using namespace Tn;
+  char* d = static_cast<char*>(buffer), *a = d;
+  write(d, mClassCount);
+  write(d, mThreadCount);
+  write(d, mKernelCount);
+  write(d, mYoloV5NetWidth);
+  write(d, mYoloV5NetHeight);
+  write(d, mMaxOutObject);
+  write(d, is_segmentation_);
+  auto kernelSize = mKernelCount * sizeof(YoloKernel);
+  memcpy(d, mYoloKernel.data(), kernelSize);
+  d += kernelSize;
+
+  assert(d == a + getSerializationSize());
+}
+
+size_t YoloLayerPlugin::getSerializationSize() const TRT_NOEXCEPT {
+  size_t s = sizeof(mClassCount) + sizeof(mThreadCount) + sizeof(mKernelCount);
+  s += sizeof(YoloKernel) * mYoloKernel.size();
+  s += sizeof(mYoloV5NetWidth) + sizeof(mYoloV5NetHeight);
+  s += sizeof(mMaxOutObject) + sizeof(is_segmentation_);
+  return s;
+}
+
+int YoloLayerPlugin::initialize() TRT_NOEXCEPT {
+  return 0;
+}
+
+Dims YoloLayerPlugin::getOutputDimensions(int index, const Dims* inputs, int nbInputDims) TRT_NOEXCEPT {
+  //output the result to channel
+  int totalsize = mMaxOutObject * sizeof(Detection) / sizeof(float);
+  return Dims3(totalsize + 1, 1, 1);
+}
+
+// Set plugin namespace
+void YoloLayerPlugin::setPluginNamespace(const char* pluginNamespace) TRT_NOEXCEPT {
+  mPluginNamespace = pluginNamespace;
+}
+
+const char* YoloLayerPlugin::getPluginNamespace() const TRT_NOEXCEPT {
+  return mPluginNamespace;
+}
+
+// Return the DataType of the plugin output at the requested index
+DataType YoloLayerPlugin::getOutputDataType(int index, const nvinfer1::DataType* inputTypes, int nbInputs) const TRT_NOEXCEPT {
+  return DataType::kFLOAT;
+}
+
+// Return true if output tensor is broadcast across a batch.
+bool YoloLayerPlugin::isOutputBroadcastAcrossBatch(int outputIndex, const bool* inputIsBroadcasted, int nbInputs) const TRT_NOEXCEPT {
+  return false;
+}
+
+// Return true if plugin can use input that is broadcast across batch without replication.
+bool YoloLayerPlugin::canBroadcastInputAcrossBatch(int inputIndex) const TRT_NOEXCEPT {
+  return false;
+}
+
+void YoloLayerPlugin::configurePlugin(const PluginTensorDesc* in, int nbInput, const PluginTensorDesc* out, int nbOutput) TRT_NOEXCEPT {}
+
+// Attach the plugin object to an execution context and grant the plugin the access to some context resource.
+void YoloLayerPlugin::attachToContext(cudnnContext* cudnnContext, cublasContext* cublasContext, IGpuAllocator* gpuAllocator) TRT_NOEXCEPT {}
+
+// Detach the plugin object from its execution context.
+void YoloLayerPlugin::detachFromContext() TRT_NOEXCEPT {}
+
+const char* YoloLayerPlugin::getPluginType() const TRT_NOEXCEPT {
+  return "YoloLayer_TRT";
+}
+
+const char* YoloLayerPlugin::getPluginVersion() const TRT_NOEXCEPT {
+  return "1";
+}
+
+void YoloLayerPlugin::destroy() TRT_NOEXCEPT {
+  delete this;
+}
+
+// Clone the plugin
+IPluginV2IOExt* YoloLayerPlugin::clone() const TRT_NOEXCEPT {
+  YoloLayerPlugin* p = new YoloLayerPlugin(mClassCount, mYoloV5NetWidth, mYoloV5NetHeight, mMaxOutObject, is_segmentation_, mYoloKernel);
+  p->setPluginNamespace(mPluginNamespace);
+  return p;
+}
+
+__device__ float Logist(float data) { return 1.0f / (1.0f + expf(-data)); };
+
+__global__ void CalDetection(const float *input, float *output, int noElements,
+    const int netwidth, const int netheight, int maxoutobject, int yoloWidth,
+    int yoloHeight, const float anchors[kNumAnchor * 2], int classes, int outputElem, bool is_segmentation) {
+
+  int idx = threadIdx.x + blockDim.x * blockIdx.x;
+  if (idx >= noElements) return;
+
+  int total_grid = yoloWidth * yoloHeight;
+  int bnIdx = idx / total_grid;
+  idx = idx - total_grid * bnIdx;
+  int info_len_i = 5 + classes;
+  if (is_segmentation) info_len_i += 32;
+  const float* curInput = input + bnIdx * (info_len_i * total_grid * kNumAnchor);
+
+  for (int k = 0; k < kNumAnchor; ++k) {
+    float box_prob = Logist(curInput[idx + k * info_len_i * total_grid + 4 * total_grid]);
+    if (box_prob < kIgnoreThresh) continue;
+    int class_id = 0;
+    float max_cls_prob = 0.0;
+    for (int i = 5; i < 5 + classes; ++i) {
+      float p = Logist(curInput[idx + k * info_len_i * total_grid + i * total_grid]);
+      if (p > max_cls_prob) {
+        max_cls_prob = p;
+        class_id = i - 5;
+      }
+    }
+    float *res_count = output + bnIdx * outputElem;
+    int count = (int)atomicAdd(res_count, 1);
+    if (count >= maxoutobject) return;
+    char *data = (char*)res_count + sizeof(float) + count * sizeof(Detection);
+    Detection *det = (Detection*)(data);
+
+    int row = idx / yoloWidth;
+    int col = idx % yoloWidth;
+
+    det->bbox[0] = (col - 0.5f + 2.0f * Logist(curInput[idx + k * info_len_i * total_grid + 0 * total_grid])) * netwidth / yoloWidth;
+    det->bbox[1] = (row - 0.5f + 2.0f * Logist(curInput[idx + k * info_len_i * total_grid + 1 * total_grid])) * netheight / yoloHeight;
+
+    det->bbox[2] = 2.0f * Logist(curInput[idx + k * info_len_i * total_grid + 2 * total_grid]);
+    det->bbox[2] = det->bbox[2] * det->bbox[2] * anchors[2 * k];
+    det->bbox[3] = 2.0f * Logist(curInput[idx + k * info_len_i * total_grid + 3 * total_grid]);
+    det->bbox[3] = det->bbox[3] * det->bbox[3] * anchors[2 * k + 1];
+    det->conf = box_prob * max_cls_prob;
+    det->class_id = class_id;
+
+    for (int i = 0; is_segmentation && i < 32; i++) {
+      det->mask[i] = curInput[idx + k * info_len_i * total_grid + (i + 5 + classes) * total_grid];
+    }
+  }
+}
+
+void YoloLayerPlugin::forwardGpu(const float* const* inputs, float *output, cudaStream_t stream, int batchSize) {
+  int outputElem = 1 + mMaxOutObject * sizeof(Detection) / sizeof(float);
+  for (int idx = 0; idx < batchSize; ++idx) {
+    CUDA_CHECK(cudaMemsetAsync(output + idx * outputElem, 0, sizeof(float), stream));
+  }
+  int numElem = 0;
+  for (unsigned int i = 0; i < mYoloKernel.size(); ++i) {
+    const auto& yolo = mYoloKernel[i];
+    numElem = yolo.width * yolo.height * batchSize;
+    if (numElem < mThreadCount) mThreadCount = numElem;
+
+    CalDetection << < (numElem + mThreadCount - 1) / mThreadCount, mThreadCount, 0, stream >> >
+      (inputs[i], output, numElem, mYoloV5NetWidth, mYoloV5NetHeight, mMaxOutObject, yolo.width, yolo.height, (float*)mAnchor[i], mClassCount, outputElem, is_segmentation_);
+  }
+}
+
+
+int YoloLayerPlugin::enqueue(int batchSize, const void* const* inputs, void* TRT_CONST_ENQUEUE* outputs, void* workspace, cudaStream_t stream) TRT_NOEXCEPT {
+  forwardGpu((const float* const*)inputs, (float*)outputs[0], stream, batchSize);
+  return 0;
+}
+
+PluginFieldCollection YoloPluginCreator::mFC{};
+std::vector<PluginField> YoloPluginCreator::mPluginAttributes;
+
+YoloPluginCreator::YoloPluginCreator() {
+  mPluginAttributes.clear();
+  mFC.nbFields = mPluginAttributes.size();
+  mFC.fields = mPluginAttributes.data();
+}
+
+const char* YoloPluginCreator::getPluginName() const TRT_NOEXCEPT {
+  return "YoloLayer_TRT";
+}
+
+const char* YoloPluginCreator::getPluginVersion() const TRT_NOEXCEPT {
+  return "1";
+}
+
+const PluginFieldCollection* YoloPluginCreator::getFieldNames() TRT_NOEXCEPT {
+  return &mFC;
+}
+
+IPluginV2IOExt* YoloPluginCreator::createPlugin(const char* name, const PluginFieldCollection* fc) TRT_NOEXCEPT {
+  assert(fc->nbFields == 2);
+  assert(strcmp(fc->fields[0].name, "netinfo") == 0);
+  assert(strcmp(fc->fields[1].name, "kernels") == 0);
+  int *p_netinfo = (int*)(fc->fields[0].data);
+  int class_count = p_netinfo[0];
+  int input_w = p_netinfo[1];
+  int input_h = p_netinfo[2];
+  int max_output_object_count = p_netinfo[3];
+  bool is_segmentation = (bool)p_netinfo[4];
+  std::vector<YoloKernel> kernels(fc->fields[1].length);
+  memcpy(&kernels[0], fc->fields[1].data, kernels.size() * sizeof(YoloKernel));
+  YoloLayerPlugin* obj = new YoloLayerPlugin(class_count, input_w, input_h, max_output_object_count, is_segmentation, kernels);
+  obj->setPluginNamespace(mNamespace.c_str());
+  return obj;
+}
+
+IPluginV2IOExt* YoloPluginCreator::deserializePlugin(const char* name, const void* serialData, size_t serialLength) TRT_NOEXCEPT {
+  // This object will be deleted when the network is destroyed, which will
+  // call YoloLayerPlugin::destroy()
+  YoloLayerPlugin* obj = new YoloLayerPlugin(serialData, serialLength);
+  obj->setPluginNamespace(mNamespace.c_str());
+  return obj;
+}
+}
+
--- a/plugin/yololayer.h
+++ b/plugin/yololayer.h
@ -0,0 +1,106 @@
+#pragma once
+
+#include "types.h"
+#include "macros.h"
+
+#include <vector>
+#include <string>
+
+namespace nvinfer1 {
+class API YoloLayerPlugin : public IPluginV2IOExt {
+public:
+  YoloLayerPlugin(int classCount, int netWidth, int netHeight, int maxOut, bool is_segmentation, const std::vector<YoloKernel>& vYoloKernel);
+  YoloLayerPlugin(const void* data, size_t length);
+  ~YoloLayerPlugin();
+
+  int getNbOutputs() const TRT_NOEXCEPT override { return 1; }
+
+  Dims getOutputDimensions(int index, const Dims* inputs, int nbInputDims) TRT_NOEXCEPT override;
+
+  int initialize() TRT_NOEXCEPT override;
+
+  virtual void terminate() TRT_NOEXCEPT override {};
+
+  virtual size_t getWorkspaceSize(int maxBatchSize) const TRT_NOEXCEPT override { return 0; }
+
+  virtual int enqueue(int batchSize, const void* const* inputs, void*TRT_CONST_ENQUEUE* outputs, void* workspace, cudaStream_t stream) TRT_NOEXCEPT override;
+
+  virtual size_t getSerializationSize() const TRT_NOEXCEPT override;
+
+  virtual void serialize(void* buffer) const TRT_NOEXCEPT override;
+
+  bool supportsFormatCombination(int pos, const PluginTensorDesc* inOut, int nbInputs, int nbOutputs) const TRT_NOEXCEPT override {
+    return inOut[pos].format == TensorFormat::kLINEAR && inOut[pos].type == DataType::kFLOAT;
+  }
+
+  const char* getPluginType() const TRT_NOEXCEPT override;
+
+  const char* getPluginVersion() const TRT_NOEXCEPT override;
+
+  void destroy() TRT_NOEXCEPT override;
+
+  IPluginV2IOExt* clone() const TRT_NOEXCEPT override;
+
+  void setPluginNamespace(const char* pluginNamespace) TRT_NOEXCEPT override;
+
+  const char* getPluginNamespace() const TRT_NOEXCEPT override;
+
+  DataType getOutputDataType(int index, const nvinfer1::DataType* inputTypes, int nbInputs) const TRT_NOEXCEPT override;
+
+  bool isOutputBroadcastAcrossBatch(int outputIndex, const bool* inputIsBroadcasted, int nbInputs) const TRT_NOEXCEPT override;
+
+  bool canBroadcastInputAcrossBatch(int inputIndex) const TRT_NOEXCEPT override;
+
+  void attachToContext(
+      cudnnContext* cudnnContext, cublasContext* cublasContext, IGpuAllocator* gpuAllocator) TRT_NOEXCEPT override;
+
+  void configurePlugin(const PluginTensorDesc* in, int nbInput, const PluginTensorDesc* out, int nbOutput) TRT_NOEXCEPT override;
+
+  void detachFromContext() TRT_NOEXCEPT override;
+
+ private:
+  void forwardGpu(const float* const* inputs, float *output, cudaStream_t stream, int batchSize = 1);
+  int mThreadCount = 256;
+  const char* mPluginNamespace;
+  int mKernelCount;
+  int mClassCount;
+  int mYoloV5NetWidth;
+  int mYoloV5NetHeight;
+  int mMaxOutObject;
+  bool is_segmentation_;
+  std::vector<YoloKernel> mYoloKernel;
+  void** mAnchor;
+};
+
+class API YoloPluginCreator : public IPluginCreator {
+ public:
+  YoloPluginCreator();
+
+  ~YoloPluginCreator() override = default;
+
+  const char* getPluginName() const TRT_NOEXCEPT override;
+
+  const char* getPluginVersion() const TRT_NOEXCEPT override;
+
+  const PluginFieldCollection* getFieldNames() TRT_NOEXCEPT override;
+
+  IPluginV2IOExt* createPlugin(const char* name, const PluginFieldCollection* fc) TRT_NOEXCEPT override;
+
+  IPluginV2IOExt* deserializePlugin(const char* name, const void* serialData, size_t serialLength) TRT_NOEXCEPT override;
+
+  void setPluginNamespace(const char* libNamespace) TRT_NOEXCEPT override {
+    mNamespace = libNamespace;
+  }
+
+  const char* getPluginNamespace() const TRT_NOEXCEPT override {
+    return mNamespace.c_str();
+  }
+
+ private:
+  std::string mNamespace;
+  static PluginFieldCollection mFC;
+  static std::vector<PluginField> mPluginAttributes;
+};
+REGISTER_TENSORRT_PLUGIN(YoloPluginCreator);
+};
+
--- a/requirements.txt
+++ b/requirements.txt
@ -0,0 +1,31 @@
+# pip install -r requirements.txt
+
+# base ----------------------------------------
+matplotlib>=3.2.2
+numpy>=1.18.5
+opencv-python>=4.1.2
+Pillow
+PyYAML>=5.3.1
+scipy>=1.4.1
+torch>=1.7.0
+torchvision>=0.8.1
+tqdm>=4.41.0
+
+# logging -------------------------------------
+tensorboard>=2.4.1
+# wandb
+
+# plotting ------------------------------------
+seaborn>=0.11.0
+pandas
+
+# export --------------------------------------
+# coremltools>=4.1
+# onnx>=1.9.0
+# scikit-learn==0.19.2  # for coreml quantization
+
+# extras --------------------------------------
+# Cython  # for pycocotools https://github.com/cocodataset/cocoapi/issues/172
+# pycocotools>=2.0  # COCO mAP
+# albumentations>=1.0.3
+thop  # FLOPs computation
--- a/src/calibrator.cpp
+++ b/src/calibrator.cpp
@ -0,0 +1,97 @@
+#include "calibrator.h"
+#include "cuda_utils.h"
+#include "utils.h"
+
+#include <iostream>
+#include <iterator>
+#include <fstream>
+#include <opencv2/opencv.hpp>
+#include <opencv2/dnn/dnn.hpp>
+
+cv::Mat preprocess_img(cv::Mat& img, int input_w, int input_h) {
+  int w, h, x, y;
+  float r_w = input_w / (img.cols * 1.0);
+  float r_h = input_h / (img.rows * 1.0);
+  if (r_h > r_w) {
+    w = input_w;
+    h = r_w * img.rows;
+    x = 0;
+    y = (input_h - h) / 2;
+  } else {
+    w = r_h * img.cols;
+    h = input_h;
+    x = (input_w - w) / 2;
+    y = 0;
+  }
+  cv::Mat re(h, w, CV_8UC3);
+  cv::resize(img, re, re.size(), 0, 0, cv::INTER_LINEAR);
+  cv::Mat out(input_h, input_w, CV_8UC3, cv::Scalar(128, 128, 128));
+  re.copyTo(out(cv::Rect(x, y, re.cols, re.rows)));
+  return out;
+}
+
+Int8EntropyCalibrator2::Int8EntropyCalibrator2(int batchsize, int input_w, int input_h, const char* img_dir, const char* calib_table_name, const char* input_blob_name, bool read_cache)
+    : batchsize_(batchsize),
+      input_w_(input_w),
+      input_h_(input_h),
+      img_idx_(0),
+      img_dir_(img_dir),
+      calib_table_name_(calib_table_name),
+      input_blob_name_(input_blob_name),
+      read_cache_(read_cache) {
+  input_count_ = 3 * input_w * input_h * batchsize;
+  CUDA_CHECK(cudaMalloc(&device_input_, input_count_ * sizeof(float)));
+  read_files_in_dir(img_dir, img_files_);
+}
+
+Int8EntropyCalibrator2::~Int8EntropyCalibrator2() {
+  CUDA_CHECK(cudaFree(device_input_));
+}
+
+int Int8EntropyCalibrator2::getBatchSize() const TRT_NOEXCEPT {
+  return batchsize_;
+}
+
+bool Int8EntropyCalibrator2::getBatch(void* bindings[], const char* names[], int nbBindings) TRT_NOEXCEPT {
+  if (img_idx_ + batchsize_ > (int)img_files_.size()) {
+    return false;
+  }
+
+  std::vector<cv::Mat> input_imgs_;
+  for (int i = img_idx_; i < img_idx_ + batchsize_; i++) {
+    std::cout << img_files_[i] << "  " << i << std::endl;
+    cv::Mat temp = cv::imread(img_dir_ + img_files_[i]);
+    if (temp.empty()) {
+      std::cerr << "Fatal error: image cannot open!" << std::endl;
+      return false;
+    }
+    cv::Mat pr_img = preprocess_img(temp, input_w_, input_h_);
+    input_imgs_.push_back(pr_img);
+  }
+  img_idx_ += batchsize_;
+  cv::Mat blob = cv::dnn::blobFromImages(input_imgs_, 1.0 / 255.0, cv::Size(input_w_, input_h_), cv::Scalar(0, 0, 0), true, false);
+
+  CUDA_CHECK(cudaMemcpy(device_input_, blob.ptr<float>(0), input_count_ * sizeof(float), cudaMemcpyHostToDevice));
+  assert(!strcmp(names[0], input_blob_name_));
+  bindings[0] = device_input_;
+  return true;
+}
+
+const void* Int8EntropyCalibrator2::readCalibrationCache(size_t& length) TRT_NOEXCEPT {
+  std::cout << "reading calib cache: " << calib_table_name_ << std::endl;
+  calib_cache_.clear();
+  std::ifstream input(calib_table_name_, std::ios::binary);
+  input >> std::noskipws;
+  if (read_cache_ && input.good()) {
+    std::copy(std::istream_iterator<char>(input), std::istream_iterator<char>(), std::back_inserter(calib_cache_));
+  }
+  length = calib_cache_.size();
+  return length ? calib_cache_.data() : nullptr;
+}
+
+void Int8EntropyCalibrator2::writeCalibrationCache(const void* cache, size_t length) TRT_NOEXCEPT {
+  std::cout << "writing calib cache: " << calib_table_name_ << " size: " << length << std::endl;
+  std::ofstream output(calib_table_name_, std::ios::binary);
+  output.write(reinterpret_cast<const char*>(cache), length);
+}
+
--- a/src/calibrator.h
+++ b/src/calibrator.h
@ -0,0 +1,39 @@
+#pragma once
+
+#include "macros.h"
+#include <string>
+#include <vector>
+#include <opencv2/opencv.hpp>
+
+cv::Mat preprocess_img(cv::Mat& img, int input_w, int input_h);
+
+//! \class Int8EntropyCalibrator2
+//!
+//! \brief Implements Entropy calibrator 2.
+//!  CalibrationAlgoType is kENTROPY_CALIBRATION_2.
+//!
+class Int8EntropyCalibrator2 : public nvinfer1::IInt8EntropyCalibrator2 {
+ public:
+  Int8EntropyCalibrator2(int batchsize, int input_w, int input_h, const char* img_dir, const char* calib_table_name, const char* input_blob_name, bool read_cache = true);
+
+  virtual ~Int8EntropyCalibrator2();
+  int getBatchSize() const TRT_NOEXCEPT override;
+  bool getBatch(void* bindings[], const char* names[], int nbBindings) TRT_NOEXCEPT override;
+  const void* readCalibrationCache(size_t& length) TRT_NOEXCEPT override;
+  void writeCalibrationCache(const void* cache, size_t length) TRT_NOEXCEPT override;
+
+ private:
+  int batchsize_;
+  int input_w_;
+  int input_h_;
+  int img_idx_;
+  std::string img_dir_;
+  std::vector<std::string> img_files_;
+  size_t input_count_;
+  std::string calib_table_name_;
+  const char* input_blob_name_;
+  bool read_cache_;
+  void* device_input_;
+  std::vector<char> calib_cache_;
+};
+
--- a/src/config.h
+++ b/src/config.h
@ -0,0 +1,55 @@
+#pragma once
+
+/* --------------------------------------------------------
+ * These configs are related to tensorrt model, if these are changed,
+ * please re-compile and re-serialize the tensorrt model.
+ * --------------------------------------------------------*/
+
+// For INT8, you need prepare the calibration dataset, please refer to
+// https://github.com/wang-xinyu/tensorrtx/tree/master/yolov5#int8-quantization
+#define USE_FP16  // set USE_INT8 or USE_FP16 or USE_FP32
+
+// These are used to define input/output tensor names,
+// you can set them to whatever you want.
+const static char* kInputTensorName = "data";
+const static char* kOutputTensorName = "prob";
+
+// Detection model and Segmentation model' number of classes
+constexpr static int kNumClass = 80;
+
+// Classfication model's number of classes
+constexpr static int kClsNumClass = 1000;
+
+constexpr static int kBatchSize = 1;
+
+// Yolo's input width and height must by divisible by 32
+constexpr static int kInputH = 640;
+constexpr static int kInputW = 640;
+
+// Classfication model's input shape
+constexpr static int kClsInputH = 224;
+constexpr static int kClsInputW = 224;
+
+// Maximum number of output bounding boxes from yololayer plugin.
+// That is maximum number of output bounding boxes before NMS.
+constexpr static int kMaxNumOutputBbox = 1000;
+
+constexpr static int kNumAnchor = 3;
+
+// The bboxes whose confidence is lower than kIgnoreThresh will be ignored in yololayer plugin.
+constexpr static float kIgnoreThresh = 0.1f;
+
+/* --------------------------------------------------------
+ * These configs are NOT related to tensorrt model, if these are changed,
+ * please re-compile, but no need to re-serialize the tensorrt model.
+ * --------------------------------------------------------*/
+
+// NMS overlapping thresh and final detection confidence thresh
+const static float kNmsThresh = 0.45f;
+const static float kConfThresh = 0.5f;
+
+const static int kGpuId = 0;
+
+// If your image size is larger than 4096 * 3112, please increase this value
+const static int kMaxInputImageSize = 4096 * 3112;
+
--- a/src/cuda_utils.h
+++ b/src/cuda_utils.h
@ -0,0 +1,18 @@
+#ifndef TRTX_CUDA_UTILS_H_
+#define TRTX_CUDA_UTILS_H_
+
+#include <cuda_runtime_api.h>
+
+#ifndef CUDA_CHECK
+#define CUDA_CHECK(callstr)\
+    {\
+        cudaError_t error_code = callstr;\
+        if (error_code != cudaSuccess) {\
+            std::cerr << "CUDA error " << error_code << " at " << __FILE__ << ":" << __LINE__;\
+            assert(0);\
+        }\
+    }
+#endif  // CUDA_CHECK
+
+#endif  // TRTX_CUDA_UTILS_H_
+
--- a/src/logging.h
+++ b/src/logging.h
@ -0,0 +1,504 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#ifndef TENSORRT_LOGGING_H
+#define TENSORRT_LOGGING_H
+
+#include "NvInferRuntimeCommon.h"
+#include <cassert>
+#include <ctime>
+#include <iomanip>
+#include <iostream>
+#include <ostream>
+#include <sstream>
+#include <string>
+#include "macros.h"
+
+using Severity = nvinfer1::ILogger::Severity;
+
+class LogStreamConsumerBuffer : public std::stringbuf
+{
+public:
+    LogStreamConsumerBuffer(std::ostream& stream, const std::string& prefix, bool shouldLog)
+        : mOutput(stream)
+        , mPrefix(prefix)
+        , mShouldLog(shouldLog)
+    {
+    }
+
+    LogStreamConsumerBuffer(LogStreamConsumerBuffer&& other)
+        : mOutput(other.mOutput)
+    {
+    }
+
+    ~LogStreamConsumerBuffer()
+    {
+        // std::streambuf::pbase() gives a pointer to the beginning of the buffered part of the output sequence
+        // std::streambuf::pptr() gives a pointer to the current position of the output sequence
+        // if the pointer to the beginning is not equal to the pointer to the current position,
+        // call putOutput() to log the output to the stream
+        if (pbase() != pptr())
+        {
+            putOutput();
+        }
+    }
+
+    // synchronizes the stream buffer and returns 0 on success
+    // synchronizing the stream buffer consists of inserting the buffer contents into the stream,
+    // resetting the buffer and flushing the stream
+    virtual int sync()
+    {
+        putOutput();
+        return 0;
+    }
+
+    void putOutput()
+    {
+        if (mShouldLog)
+        {
+            // prepend timestamp
+            std::time_t timestamp = std::time(nullptr);
+            tm* tm_local = std::localtime(&timestamp);
+            std::cout << "[";
+            std::cout << std::setw(2) << std::setfill('0') << 1 + tm_local->tm_mon << "/";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_mday << "/";
+            std::cout << std::setw(4) << std::setfill('0') << 1900 + tm_local->tm_year << "-";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_hour << ":";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_min << ":";
+            std::cout << std::setw(2) << std::setfill('0') << tm_local->tm_sec << "] ";
+            // std::stringbuf::str() gets the string contents of the buffer
+            // insert the buffer contents pre-appended by the appropriate prefix into the stream
+            mOutput << mPrefix << str();
+            // set the buffer to empty
+            str("");
+            // flush the stream
+            mOutput.flush();
+        }
+    }
+
+    void setShouldLog(bool shouldLog)
+    {
+        mShouldLog = shouldLog;
+    }
+
+private:
+    std::ostream& mOutput;
+    std::string mPrefix;
+    bool mShouldLog;
+};
+
+//!
+//! \class LogStreamConsumerBase
+//! \brief Convenience object used to initialize LogStreamConsumerBuffer before std::ostream in LogStreamConsumer
+//!
+class LogStreamConsumerBase
+{
+public:
+    LogStreamConsumerBase(std::ostream& stream, const std::string& prefix, bool shouldLog)
+        : mBuffer(stream, prefix, shouldLog)
+    {
+    }
+
+protected:
+    LogStreamConsumerBuffer mBuffer;
+};
+
+//!
+//! \class LogStreamConsumer
+//! \brief Convenience object used to facilitate use of C++ stream syntax when logging messages.
+//!  Order of base classes is LogStreamConsumerBase and then std::ostream.
+//!  This is because the LogStreamConsumerBase class is used to initialize the LogStreamConsumerBuffer member field
+//!  in LogStreamConsumer and then the address of the buffer is passed to std::ostream.
+//!  This is necessary to prevent the address of an uninitialized buffer from being passed to std::ostream.
+//!  Please do not change the order of the parent classes.
+//!
+class LogStreamConsumer : protected LogStreamConsumerBase, public std::ostream
+{
+public:
+    //! \brief Creates a LogStreamConsumer which logs messages with level severity.
+    //!  Reportable severity determines if the messages are severe enough to be logged.
+    LogStreamConsumer(Severity reportableSeverity, Severity severity)
+        : LogStreamConsumerBase(severityOstream(severity), severityPrefix(severity), severity <= reportableSeverity)
+        , std::ostream(&mBuffer) // links the stream buffer with the stream
+        , mShouldLog(severity <= reportableSeverity)
+        , mSeverity(severity)
+    {
+    }
+
+    LogStreamConsumer(LogStreamConsumer&& other)
+        : LogStreamConsumerBase(severityOstream(other.mSeverity), severityPrefix(other.mSeverity), other.mShouldLog)
+        , std::ostream(&mBuffer) // links the stream buffer with the stream
+        , mShouldLog(other.mShouldLog)
+        , mSeverity(other.mSeverity)
+    {
+    }
+
+    void setReportableSeverity(Severity reportableSeverity)
+    {
+        mShouldLog = mSeverity <= reportableSeverity;
+        mBuffer.setShouldLog(mShouldLog);
+    }
+
+private:
+    static std::ostream& severityOstream(Severity severity)
+    {
+        return severity >= Severity::kINFO ? std::cout : std::cerr;
+    }
+
+    static std::string severityPrefix(Severity severity)
+    {
+        switch (severity)
+        {
+        case Severity::kINTERNAL_ERROR: return "[F] ";
+        case Severity::kERROR: return "[E] ";
+        case Severity::kWARNING: return "[W] ";
+        case Severity::kINFO: return "[I] ";
+        case Severity::kVERBOSE: return "[V] ";
+        default: assert(0); return "";
+        }
+    }
+
+    bool mShouldLog;
+    Severity mSeverity;
+};
+
+//! \class Logger
+//!
+//! \brief Class which manages logging of TensorRT tools and samples
+//!
+//! \details This class provides a common interface for TensorRT tools and samples to log information to the console,
+//! and supports logging two types of messages:
+//!
+//! - Debugging messages with an associated severity (info, warning, error, or internal error/fatal)
+//! - Test pass/fail messages
+//!
+//! The advantage of having all samples use this class for logging as opposed to emitting directly to stdout/stderr is
+//! that the logic for controlling the verbosity and formatting of sample output is centralized in one location.
+//!
+//! In the future, this class could be extended to support dumping test results to a file in some standard format
+//! (for example, JUnit XML), and providing additional metadata (e.g. timing the duration of a test run).
+//!
+//! TODO: For backwards compatibility with existing samples, this class inherits directly from the nvinfer1::ILogger
+//! interface, which is problematic since there isn't a clean separation between messages coming from the TensorRT
+//! library and messages coming from the sample.
+//!
+//! In the future (once all samples are updated to use Logger::getTRTLogger() to access the ILogger) we can refactor the
+//! class to eliminate the inheritance and instead make the nvinfer1::ILogger implementation a member of the Logger
+//! object.
+
+class Logger : public nvinfer1::ILogger
+{
+public:
+    Logger(Severity severity = Severity::kWARNING)
+        : mReportableSeverity(severity)
+    {
+    }
+
+    //!
+    //! \enum TestResult
+    //! \brief Represents the state of a given test
+    //!
+    enum class TestResult
+    {
+        kRUNNING, //!< The test is running
+        kPASSED,  //!< The test passed
+        kFAILED,  //!< The test failed
+        kWAIVED   //!< The test was waived
+    };
+
+    //!
+    //! \brief Forward-compatible method for retrieving the nvinfer::ILogger associated with this Logger
+    //! \return The nvinfer1::ILogger associated with this Logger
+    //!
+    //! TODO Once all samples are updated to use this method to register the logger with TensorRT,
+    //! we can eliminate the inheritance of Logger from ILogger
+    //!
+    nvinfer1::ILogger& getTRTLogger()
+    {
+        return *this;
+    }
+
+    //!
+    //! \brief Implementation of the nvinfer1::ILogger::log() virtual method
+    //!
+    //! Note samples should not be calling this function directly; it will eventually go away once we eliminate the
+    //! inheritance from nvinfer1::ILogger
+    //!
+    void log(Severity severity, const char* msg) TRT_NOEXCEPT override 
+    {
+        LogStreamConsumer(mReportableSeverity, severity) << "[TRT] " << std::string(msg) << std::endl;
+    }
+
+    //!
+    //! \brief Method for controlling the verbosity of logging output
+    //!
+    //! \param severity The logger will only emit messages that have severity of this level or higher.
+    //!
+    void setReportableSeverity(Severity severity)
+    {
+        mReportableSeverity = severity;
+    }
+
+    //!
+    //! \brief Opaque handle that holds logging information for a particular test
+    //!
+    //! This object is an opaque handle to information used by the Logger to print test results.
+    //! The sample must call Logger::defineTest() in order to obtain a TestAtom that can be used
+    //! with Logger::reportTest{Start,End}().
+    //!
+    class TestAtom
+    {
+    public:
+        TestAtom(TestAtom&&) = default;
+
+    private:
+        friend class Logger;
+
+        TestAtom(bool started, const std::string& name, const std::string& cmdline)
+            : mStarted(started)
+            , mName(name)
+            , mCmdline(cmdline)
+        {
+        }
+
+        bool mStarted;
+        std::string mName;
+        std::string mCmdline;
+    };
+
+    //!
+    //! \brief Define a test for logging
+    //!
+    //! \param[in] name The name of the test.  This should be a string starting with
+    //!                  "TensorRT" and containing dot-separated strings containing
+    //!                  the characters [A-Za-z0-9_].
+    //!                  For example, "TensorRT.sample_googlenet"
+    //! \param[in] cmdline The command line used to reproduce the test
+    //
+    //! \return a TestAtom that can be used in Logger::reportTest{Start,End}().
+    //!
+    static TestAtom defineTest(const std::string& name, const std::string& cmdline)
+    {
+        return TestAtom(false, name, cmdline);
+    }
+
+    //!
+    //! \brief A convenience overloaded version of defineTest() that accepts an array of command-line arguments
+    //!        as input
+    //!
+    //! \param[in] name The name of the test
+    //! \param[in] argc The number of command-line arguments
+    //! \param[in] argv The array of command-line arguments (given as C strings)
+    //!
+    //! \return a TestAtom that can be used in Logger::reportTest{Start,End}().
+    static TestAtom defineTest(const std::string& name, int argc, char const* const* argv)
+    {
+        auto cmdline = genCmdlineString(argc, argv);
+        return defineTest(name, cmdline);
+    }
+
+    //!
+    //! \brief Report that a test has started.
+    //!
+    //! \pre reportTestStart() has not been called yet for the given testAtom
+    //!
+    //! \param[in] testAtom The handle to the test that has started
+    //!
+    static void reportTestStart(TestAtom& testAtom)
+    {
+        reportTestResult(testAtom, TestResult::kRUNNING);
+        assert(!testAtom.mStarted);
+        testAtom.mStarted = true;
+    }
+
+    //!
+    //! \brief Report that a test has ended.
+    //!
+    //! \pre reportTestStart() has been called for the given testAtom
+    //!
+    //! \param[in] testAtom The handle to the test that has ended
+    //! \param[in] result The result of the test. Should be one of TestResult::kPASSED,
+    //!                   TestResult::kFAILED, TestResult::kWAIVED
+    //!
+    static void reportTestEnd(const TestAtom& testAtom, TestResult result)
+    {
+        assert(result != TestResult::kRUNNING);
+        assert(testAtom.mStarted);
+        reportTestResult(testAtom, result);
+    }
+
+    static int reportPass(const TestAtom& testAtom)
+    {
+        reportTestEnd(testAtom, TestResult::kPASSED);
+        return EXIT_SUCCESS;
+    }
+
+    static int reportFail(const TestAtom& testAtom)
+    {
+        reportTestEnd(testAtom, TestResult::kFAILED);
+        return EXIT_FAILURE;
+    }
+
+    static int reportWaive(const TestAtom& testAtom)
+    {
+        reportTestEnd(testAtom, TestResult::kWAIVED);
+        return EXIT_SUCCESS;
+    }
+
+    static int reportTest(const TestAtom& testAtom, bool pass)
+    {
+        return pass ? reportPass(testAtom) : reportFail(testAtom);
+    }
+
+    Severity getReportableSeverity() const
+    {
+        return mReportableSeverity;
+    }
+
+private:
+    //!
+    //! \brief returns an appropriate string for prefixing a log message with the given severity
+    //!
+    static const char* severityPrefix(Severity severity)
+    {
+        switch (severity)
+        {
+        case Severity::kINTERNAL_ERROR: return "[F] ";
+        case Severity::kERROR: return "[E] ";
+        case Severity::kWARNING: return "[W] ";
+        case Severity::kINFO: return "[I] ";
+        case Severity::kVERBOSE: return "[V] ";
+        default: assert(0); return "";
+        }
+    }
+
+    //!
+    //! \brief returns an appropriate string for prefixing a test result message with the given result
+    //!
+    static const char* testResultString(TestResult result)
+    {
+        switch (result)
+        {
+        case TestResult::kRUNNING: return "RUNNING";
+        case TestResult::kPASSED: return "PASSED";
+        case TestResult::kFAILED: return "FAILED";
+        case TestResult::kWAIVED: return "WAIVED";
+        default: assert(0); return "";
+        }
+    }
+
+    //!
+    //! \brief returns an appropriate output stream (cout or cerr) to use with the given severity
+    //!
+    static std::ostream& severityOstream(Severity severity)
+    {
+        return severity >= Severity::kINFO ? std::cout : std::cerr;
+    }
+
+    //!
+    //! \brief method that implements logging test results
+    //!
+    static void reportTestResult(const TestAtom& testAtom, TestResult result)
+    {
+        severityOstream(Severity::kINFO) << "&&&& " << testResultString(result) << " " << testAtom.mName << " # "
+                                         << testAtom.mCmdline << std::endl;
+    }
+
+    //!
+    //! \brief generate a command line string from the given (argc, argv) values
+    //!
+    static std::string genCmdlineString(int argc, char const* const* argv)
+    {
+        std::stringstream ss;
+        for (int i = 0; i < argc; i++)
+        {
+            if (i > 0)
+                ss << " ";
+            ss << argv[i];
+        }
+        return ss.str();
+    }
+
+    Severity mReportableSeverity;
+};
+
+namespace
+{
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kVERBOSE
+//!
+//! Example usage:
+//!
+//!     LOG_VERBOSE(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_VERBOSE(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kINFO
+//!
+//! Example usage:
+//!
+//!     LOG_INFO(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_INFO(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kWARNING
+//!
+//! Example usage:
+//!
+//!     LOG_WARN(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_WARN(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kERROR
+//!
+//! Example usage:
+//!
+//!     LOG_ERROR(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_ERROR(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR);
+}
+
+//!
+//! \brief produces a LogStreamConsumer object that can be used to log messages of severity kINTERNAL_ERROR
+//         ("fatal" severity)
+//!
+//! Example usage:
+//!
+//!     LOG_FATAL(logger) << "hello world" << std::endl;
+//!
+inline LogStreamConsumer LOG_FATAL(const Logger& logger)
+{
+    return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR);
+}
+
+} // anonymous namespace
+
+#endif // TENSORRT_LOGGING_H
--- a/src/macros.h
+++ b/src/macros.h
@ -0,0 +1,29 @@
+#ifndef __MACROS_H
+#define __MACROS_H
+
+#include <NvInfer.h>
+
+#ifdef API_EXPORTS
+#if defined(_MSC_VER)
+#define API __declspec(dllexport)
+#else
+#define API __attribute__((visibility("default")))
+#endif
+#else
+
+#if defined(_MSC_VER)
+#define API __declspec(dllimport)
+#else
+#define API
+#endif
+#endif  // API_EXPORTS
+
+#if NV_TENSORRT_MAJOR >= 8
+#define TRT_NOEXCEPT noexcept
+#define TRT_CONST_ENQUEUE const
+#else
+#define TRT_NOEXCEPT
+#define TRT_CONST_ENQUEUE
+#endif
+
+#endif  // __MACROS_H
--- a/src/model.cpp
+++ b/src/model.cpp
@ -0,0 +1,629 @@
+#include "model.h"
+#include "calibrator.h"
+#include "config.h"
+#include "yololayer.h"
+
+#include <iostream>
+#include <fstream>
+#include <map>
+#include <cassert>
+#include <cmath>
+#include <cstring>
+
+using namespace nvinfer1;
+
+// TensorRT weight files have a simple space delimited format:
+// [type] [size] <data x size in hex>
+static std::map<std::string, Weights> loadWeights(const std::string file) {
+  std::cout << "Loading weights: " << file << std::endl;
+  std::map<std::string, Weights> weightMap;
+
+  // Open weights file
+  std::ifstream input(file);
+  assert(input.is_open() && "Unable to load weight file. please check if the .wts file path is right!!!!!!");
+
+  // Read number of weight blobs
+  int32_t count;
+  input >> count;
+  assert(count > 0 && "Invalid weight map file.");
+
+  while (count--) {
+    Weights wt{ DataType::kFLOAT, nullptr, 0 };
+    uint32_t size;
+
+    // Read name and type of blob
+    std::string name;
+    input >> name >> std::dec >> size;
+    wt.type = DataType::kFLOAT;
+
+    // Load blob
+    uint32_t* val = reinterpret_cast<uint32_t*>(malloc(sizeof(val) * size));
+    for (uint32_t x = 0, y = size; x < y; ++x) {
+      input >> std::hex >> val[x];
+    }
+    wt.values = val;
+
+    wt.count = size;
+    weightMap[name] = wt;
+  }
+
+  return weightMap;
+}
+
+static int get_width(int x, float gw, int divisor = 8) {
+  return int(ceil((x * gw) / divisor)) * divisor;
+}
+
+static int get_depth(int x, float gd) {
+  if (x == 1) return 1;
+  int r = round(x * gd);
+  if (x * gd - int(x * gd) == 0.5 && (int(x * gd) % 2) == 0) {
+    --r;
+  }
+  return std::max<int>(r, 1);
+}
+
+static IScaleLayer* addBatchNorm2d(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, std::string lname, float eps) {
+  float* gamma = (float*)weightMap[lname + ".weight"].values;
+  float* beta = (float*)weightMap[lname + ".bias"].values;
+  float* mean = (float*)weightMap[lname + ".running_mean"].values;
+  float* var = (float*)weightMap[lname + ".running_var"].values;
+  int len = weightMap[lname + ".running_var"].count;
+
+  float* scval = reinterpret_cast<float*>(malloc(sizeof(float) * len));
+  for (int i = 0; i < len; i++) {
+    scval[i] = gamma[i] / sqrt(var[i] + eps);
+  }
+  Weights scale{ DataType::kFLOAT, scval, len };
+
+  float* shval = reinterpret_cast<float*>(malloc(sizeof(float) * len));
+  for (int i = 0; i < len; i++) {
+    shval[i] = beta[i] - mean[i] * gamma[i] / sqrt(var[i] + eps);
+  }
+  Weights shift{ DataType::kFLOAT, shval, len };
+
+  float* pval = reinterpret_cast<float*>(malloc(sizeof(float) * len));
+  for (int i = 0; i < len; i++) {
+    pval[i] = 1.0;
+  }
+  Weights power{ DataType::kFLOAT, pval, len };
+
+  weightMap[lname + ".scale"] = scale;
+  weightMap[lname + ".shift"] = shift;
+  weightMap[lname + ".power"] = power;
+  IScaleLayer* scale_1 = network->addScale(input, ScaleMode::kCHANNEL, shift, scale, power);
+  assert(scale_1);
+  return scale_1;
+}
+
+static ILayer* convBlock(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int outch, int ksize, int s, int g, std::string lname) {
+  Weights emptywts{ DataType::kFLOAT, nullptr, 0 };
+  int p = ksize / 3;
+  IConvolutionLayer* conv1 = network->addConvolutionNd(input, outch, DimsHW{ ksize, ksize }, weightMap[lname + ".conv.weight"], emptywts);
+  assert(conv1);
+  conv1->setStrideNd(DimsHW{ s, s });
+  conv1->setPaddingNd(DimsHW{ p, p });
+  conv1->setNbGroups(g);
+  conv1->setName((lname + ".conv").c_str());
+  IScaleLayer* bn1 = addBatchNorm2d(network, weightMap, *conv1->getOutput(0), lname + ".bn", 1e-3);
+
+  // silu = x * sigmoid
+  auto sig = network->addActivation(*bn1->getOutput(0), ActivationType::kSIGMOID);
+  assert(sig);
+  auto ew = network->addElementWise(*bn1->getOutput(0), *sig->getOutput(0), ElementWiseOperation::kPROD);
+  assert(ew);
+  return ew;
+}
+
+static ILayer* focus(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int inch, int outch, int ksize, std::string lname) {
+  ISliceLayer* s1 = network->addSlice(input, Dims3{ 0, 0, 0 }, Dims3{ inch, kInputH / 2, kInputW / 2 }, Dims3{ 1, 2, 2 });
+  ISliceLayer* s2 = network->addSlice(input, Dims3{ 0, 1, 0 }, Dims3{ inch, kInputH / 2, kInputW / 2 }, Dims3{ 1, 2, 2 });
+  ISliceLayer* s3 = network->addSlice(input, Dims3{ 0, 0, 1 }, Dims3{ inch, kInputH / 2, kInputW / 2 }, Dims3{ 1, 2, 2 });
+  ISliceLayer* s4 = network->addSlice(input, Dims3{ 0, 1, 1 }, Dims3{ inch, kInputH / 2, kInputW / 2 }, Dims3{ 1, 2, 2 });
+  ITensor* inputTensors[] = { s1->getOutput(0), s2->getOutput(0), s3->getOutput(0), s4->getOutput(0) };
+  auto cat = network->addConcatenation(inputTensors, 4);
+  auto conv = convBlock(network, weightMap, *cat->getOutput(0), outch, ksize, 1, 1, lname + ".conv");
+  return conv;
+}
+
+static ILayer* bottleneck(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int c1, int c2, bool shortcut, int g, float e, std::string lname) {
+  auto cv1 = convBlock(network, weightMap, input, (int)((float)c2 * e), 1, 1, 1, lname + ".cv1");
+  auto cv2 = convBlock(network, weightMap, *cv1->getOutput(0), c2, 3, 1, g, lname + ".cv2");
+  if (shortcut && c1 == c2) {
+    auto ew = network->addElementWise(input, *cv2->getOutput(0), ElementWiseOperation::kSUM);
+    return ew;
+  }
+  return cv2;
+}
+
+static ILayer* bottleneckCSP(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int c1, int c2, int n, bool shortcut, int g, float e, std::string lname) {
+  Weights emptywts{ DataType::kFLOAT, nullptr, 0 };
+  int c_ = (int)((float)c2 * e);
+  auto cv1 = convBlock(network, weightMap, input, c_, 1, 1, 1, lname + ".cv1");
+  auto cv2 = network->addConvolutionNd(input, c_, DimsHW{ 1, 1 }, weightMap[lname + ".cv2.weight"], emptywts);
+  ITensor* y1 = cv1->getOutput(0);
+  for (int i = 0; i < n; i++) {
+    auto b = bottleneck(network, weightMap, *y1, c_, c_, shortcut, g, 1.0, lname + ".m." + std::to_string(i));
+    y1 = b->getOutput(0);
+  }
+  auto cv3 = network->addConvolutionNd(*y1, c_, DimsHW{ 1, 1 }, weightMap[lname + ".cv3.weight"], emptywts);
+
+  ITensor* inputTensors[] = { cv3->getOutput(0), cv2->getOutput(0) };
+  auto cat = network->addConcatenation(inputTensors, 2);
+
+  IScaleLayer* bn = addBatchNorm2d(network, weightMap, *cat->getOutput(0), lname + ".bn", 1e-4);
+  auto lr = network->addActivation(*bn->getOutput(0), ActivationType::kLEAKY_RELU);
+  lr->setAlpha(0.1);
+
+  auto cv4 = convBlock(network, weightMap, *lr->getOutput(0), c2, 1, 1, 1, lname + ".cv4");
+  return cv4;
+}
+
+static ILayer* C3(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int c1, int c2, int n, bool shortcut, int g, float e, std::string lname) {
+  int c_ = (int)((float)c2 * e);
+  auto cv1 = convBlock(network, weightMap, input, c_, 1, 1, 1, lname + ".cv1");
+  auto cv2 = convBlock(network, weightMap, input, c_, 1, 1, 1, lname + ".cv2");
+  ITensor *y1 = cv1->getOutput(0);
+  for (int i = 0; i < n; i++) {
+    auto b = bottleneck(network, weightMap, *y1, c_, c_, shortcut, g, 1.0, lname + ".m." + std::to_string(i));
+    y1 = b->getOutput(0);
+  }
+
+  ITensor* inputTensors[] = { y1, cv2->getOutput(0) };
+  auto cat = network->addConcatenation(inputTensors, 2);
+
+  auto cv3 = convBlock(network, weightMap, *cat->getOutput(0), c2, 1, 1, 1, lname + ".cv3");
+  return cv3;
+}
+
+static ILayer* SPP(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int c1, int c2, int k1, int k2, int k3, std::string lname) {
+  int c_ = c1 / 2;
+  auto cv1 = convBlock(network, weightMap, input, c_, 1, 1, 1, lname + ".cv1");
+
+  auto pool1 = network->addPoolingNd(*cv1->getOutput(0), PoolingType::kMAX, DimsHW{ k1, k1 });
+  pool1->setPaddingNd(DimsHW{ k1 / 2, k1 / 2 });
+  pool1->setStrideNd(DimsHW{ 1, 1 });
+  auto pool2 = network->addPoolingNd(*cv1->getOutput(0), PoolingType::kMAX, DimsHW{ k2, k2 });
+  pool2->setPaddingNd(DimsHW{ k2 / 2, k2 / 2 });
+  pool2->setStrideNd(DimsHW{ 1, 1 });
+  auto pool3 = network->addPoolingNd(*cv1->getOutput(0), PoolingType::kMAX, DimsHW{ k3, k3 });
+  pool3->setPaddingNd(DimsHW{ k3 / 2, k3 / 2 });
+  pool3->setStrideNd(DimsHW{ 1, 1 });
+
+  ITensor* inputTensors[] = { cv1->getOutput(0), pool1->getOutput(0), pool2->getOutput(0), pool3->getOutput(0) };
+  auto cat = network->addConcatenation(inputTensors, 4);
+
+  auto cv2 = convBlock(network, weightMap, *cat->getOutput(0), c2, 1, 1, 1, lname + ".cv2");
+  return cv2;
+}
+
+static ILayer* SPPF(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, ITensor& input, int c1, int c2, int k, std::string lname) {
+  int c_ = c1 / 2;
+  auto cv1 = convBlock(network, weightMap, input, c_, 1, 1, 1, lname + ".cv1");
+
+  auto pool1 = network->addPoolingNd(*cv1->getOutput(0), PoolingType::kMAX, DimsHW{ k, k });
+  pool1->setPaddingNd(DimsHW{ k / 2, k / 2 });
+  pool1->setStrideNd(DimsHW{ 1, 1 });
+  auto pool2 = network->addPoolingNd(*pool1->getOutput(0), PoolingType::kMAX, DimsHW{ k, k });
+  pool2->setPaddingNd(DimsHW{ k / 2, k / 2 });
+  pool2->setStrideNd(DimsHW{ 1, 1 });
+  auto pool3 = network->addPoolingNd(*pool2->getOutput(0), PoolingType::kMAX, DimsHW{ k, k });
+  pool3->setPaddingNd(DimsHW{ k / 2, k / 2 });
+  pool3->setStrideNd(DimsHW{ 1, 1 });
+  ITensor* inputTensors[] = { cv1->getOutput(0), pool1->getOutput(0), pool2->getOutput(0), pool3->getOutput(0) };
+  auto cat = network->addConcatenation(inputTensors, 4);
+  auto cv2 = convBlock(network, weightMap, *cat->getOutput(0), c2, 1, 1, 1, lname + ".cv2");
+  return cv2;
+}
+
+static ILayer* Proto(INetworkDefinition* network, std::map<std::string, Weights>& weightMap, ITensor& input, int c_, int c2, std::string lname) {
+  auto cv1 = convBlock(network, weightMap, input, c_, 3, 1, 1, lname + ".cv1");
+
+  auto upsample = network->addResize(*cv1->getOutput(0));
+  assert(upsample);
+  upsample->setResizeMode(ResizeMode::kNEAREST);
+  const float scales[] = {1, 2, 2};
+  upsample->setScales(scales, 3);
+
+  auto cv2 = convBlock(network, weightMap, *upsample->getOutput(0), c_, 3, 1, 1, lname + ".cv2");
+  auto cv3 = convBlock(network, weightMap, *cv2->getOutput(0), c2, 1, 1, 1, lname + ".cv3");
+  assert(cv3);
+  return cv3;
+}
+
+static std::vector<std::vector<float>> getAnchors(std::map<std::string, Weights>& weightMap, std::string lname) {
+  std::vector<std::vector<float>> anchors;
+  Weights wts = weightMap[lname + ".anchor_grid"];
+  int anchor_len = kNumAnchor * 2;
+  for (int i = 0; i < wts.count / anchor_len; i++) {
+    auto *p = (const float*)wts.values + i * anchor_len;
+    std::vector<float> anchor(p, p + anchor_len);
+    anchors.push_back(anchor);
+  }
+  return anchors;
+}
+
+static IPluginV2Layer* addYoLoLayer(INetworkDefinition *network, std::map<std::string, Weights>& weightMap, std::string lname, std::vector<IConvolutionLayer*> dets, bool is_segmentation = false) {
+  auto creator = getPluginRegistry()->getPluginCreator("YoloLayer_TRT", "1");
+  auto anchors = getAnchors(weightMap, lname);
+  PluginField plugin_fields[2];
+  int netinfo[5] = {kNumClass, kInputW, kInputH, kMaxNumOutputBbox, (int)is_segmentation};
+  plugin_fields[0].data = netinfo;
+  plugin_fields[0].length = 5;
+  plugin_fields[0].name = "netinfo";
+  plugin_fields[0].type = PluginFieldType::kFLOAT32;
+
+  //load strides from Detect layer
+  assert(weightMap.find(lname + ".strides") != weightMap.end() && "Not found `strides`, please check gen_wts.py!!!");
+  Weights strides = weightMap[lname + ".strides"];
+  auto *p = (const float*)(strides.values);
+  std::vector<int> scales(p, p + strides.count);
+
+  std::vector<YoloKernel> kernels;
+  for (size_t i = 0; i < anchors.size(); i++) {
+    YoloKernel kernel;
+    kernel.width = kInputW / scales[i];
+    kernel.height = kInputH / scales[i];
+    memcpy(kernel.anchors, &anchors[i][0], anchors[i].size() * sizeof(float));
+    kernels.push_back(kernel);
+  }
+  plugin_fields[1].data = &kernels[0];
+  plugin_fields[1].length = kernels.size();
+  plugin_fields[1].name = "kernels";
+  plugin_fields[1].type = PluginFieldType::kFLOAT32;
+  PluginFieldCollection plugin_data;
+  plugin_data.nbFields = 2;
+  plugin_data.fields = plugin_fields;
+  IPluginV2 *plugin_obj = creator->createPlugin("yololayer", &plugin_data);
+  std::vector<ITensor*> input_tensors;
+  for (auto det: dets) {
+    input_tensors.push_back(det->getOutput(0));
+  }
+  auto yolo = network->addPluginV2(&input_tensors[0], input_tensors.size(), *plugin_obj);
+  return yolo;
+}
+
+ICudaEngine* build_det_engine(unsigned int maxBatchSize, IBuilder* builder, IBuilderConfig* config, DataType dt, float& gd, float& gw, std::string& wts_name) {
+  INetworkDefinition* network = builder->createNetworkV2(0U);
+
+  // Create input tensor of shape {3, kInputH, kInputW}
+  ITensor* data = network->addInput(kInputTensorName, dt, Dims3{ 3, kInputH, kInputW });
+  assert(data);
+  std::map<std::string, Weights> weightMap = loadWeights(wts_name);
+
+  // Backbone
+  auto conv0 = convBlock(network, weightMap, *data,  get_width(64, gw), 6, 2, 1,  "model.0");
+  assert(conv0);
+  auto conv1 = convBlock(network, weightMap, *conv0->getOutput(0), get_width(128, gw), 3, 2, 1, "model.1");
+  auto bottleneck_CSP2 = C3(network, weightMap, *conv1->getOutput(0), get_width(128, gw), get_width(128, gw), get_depth(3, gd), true, 1, 0.5, "model.2");
+  auto conv3 = convBlock(network, weightMap, *bottleneck_CSP2->getOutput(0), get_width(256, gw), 3, 2, 1, "model.3");
+  auto bottleneck_csp4 = C3(network, weightMap, *conv3->getOutput(0), get_width(256, gw), get_width(256, gw), get_depth(6, gd), true, 1, 0.5, "model.4");
+  auto conv5 = convBlock(network, weightMap, *bottleneck_csp4->getOutput(0), get_width(512, gw), 3, 2, 1, "model.5");
+  auto bottleneck_csp6 = C3(network, weightMap, *conv5->getOutput(0), get_width(512, gw), get_width(512, gw), get_depth(9, gd), true, 1, 0.5, "model.6");
+  auto conv7 = convBlock(network, weightMap, *bottleneck_csp6->getOutput(0), get_width(1024, gw), 3, 2, 1, "model.7");
+  auto bottleneck_csp8 = C3(network, weightMap, *conv7->getOutput(0), get_width(1024, gw), get_width(1024, gw), get_depth(3, gd), true, 1, 0.5, "model.8");
+  auto spp9 = SPPF(network, weightMap, *bottleneck_csp8->getOutput(0), get_width(1024, gw), get_width(1024, gw), 5, "model.9");
+
+  // Head
+  auto conv10 = convBlock(network, weightMap, *spp9->getOutput(0), get_width(512, gw), 1, 1, 1, "model.10");
+
+  auto upsample11 = network->addResize(*conv10->getOutput(0));
+  assert(upsample11);
+  upsample11->setResizeMode(ResizeMode::kNEAREST);
+  upsample11->setOutputDimensions(bottleneck_csp6->getOutput(0)->getDimensions());
+
+  ITensor* inputTensors12[] = { upsample11->getOutput(0), bottleneck_csp6->getOutput(0) };
+  auto cat12 = network->addConcatenation(inputTensors12, 2);
+  auto bottleneck_csp13 = C3(network, weightMap, *cat12->getOutput(0), get_width(1024, gw), get_width(512, gw), get_depth(3, gd), false, 1, 0.5, "model.13");
+  auto conv14 = convBlock(network, weightMap, *bottleneck_csp13->getOutput(0), get_width(256, gw), 1, 1, 1, "model.14");
+
+  auto upsample15 = network->addResize(*conv14->getOutput(0));
+  assert(upsample15);
+  upsample15->setResizeMode(ResizeMode::kNEAREST);
+  upsample15->setOutputDimensions(bottleneck_csp4->getOutput(0)->getDimensions());
+
+  ITensor* inputTensors16[] = { upsample15->getOutput(0), bottleneck_csp4->getOutput(0) };
+  auto cat16 = network->addConcatenation(inputTensors16, 2);
+
+  auto bottleneck_csp17 = C3(network, weightMap, *cat16->getOutput(0), get_width(512, gw), get_width(256, gw), get_depth(3, gd), false, 1, 0.5, "model.17");
+
+  // Detect
+  IConvolutionLayer* det0 = network->addConvolutionNd(*bottleneck_csp17->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.24.m.0.weight"], weightMap["model.24.m.0.bias"]);
+  auto conv18 = convBlock(network, weightMap, *bottleneck_csp17->getOutput(0), get_width(256, gw), 3, 2, 1, "model.18");
+  ITensor* inputTensors19[] = { conv18->getOutput(0), conv14->getOutput(0) };
+  auto cat19 = network->addConcatenation(inputTensors19, 2);
+  auto bottleneck_csp20 = C3(network, weightMap, *cat19->getOutput(0), get_width(512, gw), get_width(512, gw), get_depth(3, gd), false, 1, 0.5, "model.20");
+  IConvolutionLayer* det1 = network->addConvolutionNd(*bottleneck_csp20->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.24.m.1.weight"], weightMap["model.24.m.1.bias"]);
+  auto conv21 = convBlock(network, weightMap, *bottleneck_csp20->getOutput(0), get_width(512, gw), 3, 2, 1, "model.21");
+  ITensor* inputTensors22[] = { conv21->getOutput(0), conv10->getOutput(0) };
+  auto cat22 = network->addConcatenation(inputTensors22, 2);
+  auto bottleneck_csp23 = C3(network, weightMap, *cat22->getOutput(0), get_width(1024, gw), get_width(1024, gw), get_depth(3, gd), false, 1, 0.5, "model.23");
+  IConvolutionLayer* det2 = network->addConvolutionNd(*bottleneck_csp23->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.24.m.2.weight"], weightMap["model.24.m.2.bias"]);
+
+  auto yolo = addYoLoLayer(network, weightMap, "model.24", std::vector<IConvolutionLayer*>{det0, det1, det2});
+  yolo->getOutput(0)->setName(kOutputTensorName);
+  network->markOutput(*yolo->getOutput(0));
+
+  // Engine config
+  builder->setMaxBatchSize(maxBatchSize);
+  config->setMaxWorkspaceSize(16 * (1 << 20));  // 16MB
+#if defined(USE_FP16)
+  config->setFlag(BuilderFlag::kFP16);
+#elif defined(USE_INT8)
+  std::cout << "Your platform support int8: " << (builder->platformHasFastInt8() ? "true" : "false") << std::endl;
+  assert(builder->platformHasFastInt8());
+  config->setFlag(BuilderFlag::kINT8);
+  Int8EntropyCalibrator2* calibrator = new Int8EntropyCalibrator2(1, kInputW, kInputH, "./coco_calib/", "int8calib.table", kInputTensorName);
+  config->setInt8Calibrator(calibrator);
+#endif
+
+  std::cout << "Building engine, please wait for a while..." << std::endl;
+  ICudaEngine* engine = builder->buildEngineWithConfig(*network, *config);
+  std::cout << "Build engine successfully!" << std::endl;
+
+  // Don't need the network any more
+  network->destroy();
+
+  // Release host memory
+  for (auto& mem : weightMap) {
+    free((void*)(mem.second.values));
+  }
+
+  return engine;
+}
+
+ICudaEngine* build_det_p6_engine(unsigned int maxBatchSize, IBuilder* builder, IBuilderConfig* config, DataType dt, float& gd, float& gw, std::string& wts_name) {
+  INetworkDefinition* network = builder->createNetworkV2(0U);
+
+  // Create input tensor of shape {3, kInputH, kInputW}
+  ITensor* data = network->addInput(kInputTensorName, dt, Dims3{ 3, kInputH, kInputW });
+  assert(data);
+
+  std::map<std::string, Weights> weightMap = loadWeights(wts_name);
+
+  // Backbone
+  auto conv0 = convBlock(network, weightMap, *data,  get_width(64, gw), 6, 2, 1,  "model.0");
+  auto conv1 = convBlock(network, weightMap, *conv0->getOutput(0), get_width(128, gw), 3, 2, 1, "model.1");
+  auto c3_2 = C3(network, weightMap, *conv1->getOutput(0), get_width(128, gw), get_width(128, gw), get_depth(3, gd), true, 1, 0.5, "model.2");
+  auto conv3 = convBlock(network, weightMap, *c3_2->getOutput(0), get_width(256, gw), 3, 2, 1, "model.3");
+  auto c3_4 = C3(network, weightMap, *conv3->getOutput(0), get_width(256, gw), get_width(256, gw), get_depth(6, gd), true, 1, 0.5, "model.4");
+  auto conv5 = convBlock(network, weightMap, *c3_4->getOutput(0), get_width(512, gw), 3, 2, 1, "model.5");
+  auto c3_6 = C3(network, weightMap, *conv5->getOutput(0), get_width(512, gw), get_width(512, gw), get_depth(9, gd), true, 1, 0.5, "model.6");
+  auto conv7 = convBlock(network, weightMap, *c3_6->getOutput(0), get_width(768, gw), 3, 2, 1, "model.7");
+  auto c3_8 = C3(network, weightMap, *conv7->getOutput(0), get_width(768, gw), get_width(768, gw), get_depth(3, gd), true, 1, 0.5, "model.8");
+  auto conv9 = convBlock(network, weightMap, *c3_8->getOutput(0), get_width(1024, gw), 3, 2, 1, "model.9");
+  auto c3_10 = C3(network, weightMap, *conv9->getOutput(0), get_width(1024, gw), get_width(1024, gw), get_depth(3, gd), true, 1, 0.5, "model.10");
+  auto sppf11 = SPPF(network, weightMap, *c3_10->getOutput(0), get_width(1024, gw), get_width(1024, gw), 5, "model.11");
+
+  // Head
+  auto conv12 = convBlock(network, weightMap, *sppf11->getOutput(0), get_width(768, gw), 1, 1, 1, "model.12");
+  auto upsample13 = network->addResize(*conv12->getOutput(0));
+  assert(upsample13);
+  upsample13->setResizeMode(ResizeMode::kNEAREST);
+  upsample13->setOutputDimensions(c3_8->getOutput(0)->getDimensions());
+  ITensor* inputTensors14[] = { upsample13->getOutput(0), c3_8->getOutput(0) };
+  auto cat14 = network->addConcatenation(inputTensors14, 2);
+  auto c3_15 = C3(network, weightMap, *cat14->getOutput(0), get_width(1536, gw), get_width(768, gw), get_depth(3, gd), false, 1, 0.5, "model.15");
+
+  auto conv16 = convBlock(network, weightMap, *c3_15->getOutput(0), get_width(512, gw), 1, 1, 1, "model.16");
+  auto upsample17 = network->addResize(*conv16->getOutput(0));
+  assert(upsample17);
+  upsample17->setResizeMode(ResizeMode::kNEAREST);
+  upsample17->setOutputDimensions(c3_6->getOutput(0)->getDimensions());
+  ITensor* inputTensors18[] = { upsample17->getOutput(0), c3_6->getOutput(0) };
+  auto cat18 = network->addConcatenation(inputTensors18, 2);
+  auto c3_19 = C3(network, weightMap, *cat18->getOutput(0), get_width(1024, gw), get_width(512, gw), get_depth(3, gd), false, 1, 0.5, "model.19");
+
+  auto conv20 = convBlock(network, weightMap, *c3_19->getOutput(0), get_width(256, gw), 1, 1, 1, "model.20");
+  auto upsample21 = network->addResize(*conv20->getOutput(0));
+  assert(upsample21);
+  upsample21->setResizeMode(ResizeMode::kNEAREST);
+  upsample21->setOutputDimensions(c3_4->getOutput(0)->getDimensions());
+  ITensor* inputTensors21[] = { upsample21->getOutput(0), c3_4->getOutput(0) };
+  auto cat22 = network->addConcatenation(inputTensors21, 2);
+  auto c3_23 = C3(network, weightMap, *cat22->getOutput(0), get_width(512, gw), get_width(256, gw), get_depth(3, gd), false, 1, 0.5, "model.23");
+
+  auto conv24 = convBlock(network, weightMap, *c3_23->getOutput(0), get_width(256, gw), 3, 2, 1, "model.24");
+  ITensor* inputTensors25[] = { conv24->getOutput(0), conv20->getOutput(0) };
+  auto cat25 = network->addConcatenation(inputTensors25, 2);
+  auto c3_26 = C3(network, weightMap, *cat25->getOutput(0), get_width(1024, gw), get_width(512, gw), get_depth(3, gd), false, 1, 0.5, "model.26");
+
+  auto conv27 = convBlock(network, weightMap, *c3_26->getOutput(0), get_width(512, gw), 3, 2, 1, "model.27");
+  ITensor* inputTensors28[] = { conv27->getOutput(0), conv16->getOutput(0) };
+  auto cat28 = network->addConcatenation(inputTensors28, 2);
+  auto c3_29 = C3(network, weightMap, *cat28->getOutput(0), get_width(1536, gw), get_width(768, gw), get_depth(3, gd), false, 1, 0.5, "model.29");
+
+  auto conv30 = convBlock(network, weightMap, *c3_29->getOutput(0), get_width(768, gw), 3, 2, 1, "model.30");
+  ITensor* inputTensors31[] = { conv30->getOutput(0), conv12->getOutput(0) };
+  auto cat31 = network->addConcatenation(inputTensors31, 2);
+  auto c3_32 = C3(network, weightMap, *cat31->getOutput(0), get_width(2048, gw), get_width(1024, gw), get_depth(3, gd), false, 1, 0.5, "model.32");
+
+  // Detect
+  IConvolutionLayer* det0 = network->addConvolutionNd(*c3_23->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.33.m.0.weight"], weightMap["model.33.m.0.bias"]);
+  IConvolutionLayer* det1 = network->addConvolutionNd(*c3_26->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.33.m.1.weight"], weightMap["model.33.m.1.bias"]);
+  IConvolutionLayer* det2 = network->addConvolutionNd(*c3_29->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.33.m.2.weight"], weightMap["model.33.m.2.bias"]);
+  IConvolutionLayer* det3 = network->addConvolutionNd(*c3_32->getOutput(0), 3 * (kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.33.m.3.weight"], weightMap["model.33.m.3.bias"]);
+
+  auto yolo = addYoLoLayer(network, weightMap, "model.33", std::vector<IConvolutionLayer*>{det0, det1, det2, det3});
+  yolo->getOutput(0)->setName(kOutputTensorName);
+  network->markOutput(*yolo->getOutput(0));
+
+  // Engine config
+  builder->setMaxBatchSize(maxBatchSize);
+  config->setMaxWorkspaceSize(16 * (1 << 20));  // 16MB
+#if defined(USE_FP16)
+  config->setFlag(BuilderFlag::kFP16);
+#elif defined(USE_INT8)
+  std::cout << "Your platform support int8: " << (builder->platformHasFastInt8() ? "true" : "false") << std::endl;
+  assert(builder->platformHasFastInt8());
+  config->setFlag(BuilderFlag::kINT8);
+  Int8EntropyCalibrator2* calibrator = new Int8EntropyCalibrator2(1, kInputW, kInputH, "./coco_calib/", "int8calib.table", kInputTensorName);
+  config->setInt8Calibrator(calibrator);
+#endif
+
+  std::cout << "Building engine, please wait for a while..." << std::endl;
+  ICudaEngine* engine = builder->buildEngineWithConfig(*network, *config);
+  std::cout << "Build engine successfully!" << std::endl;
+
+  // Don't need the network any more
+  network->destroy();
+
+  // Release host memory
+  for (auto& mem : weightMap) {
+    free((void*)(mem.second.values));
+  }
+
+  return engine;
+}
+
+ICudaEngine* build_cls_engine(unsigned int maxBatchSize, IBuilder* builder, IBuilderConfig* config, DataType dt, float& gd, float& gw, std::string& wts_name) {
+  INetworkDefinition* network = builder->createNetworkV2(0U);
+
+  // Create input tensor
+  ITensor* data = network->addInput(kInputTensorName, dt, Dims3{ 3, kClsInputH, kClsInputW });
+  assert(data);
+  std::map<std::string, Weights> weightMap = loadWeights(wts_name);
+
+  // Backbone
+  auto conv0 = convBlock(network, weightMap, *data,  get_width(64, gw), 6, 2, 1,  "model.0");
+  assert(conv0);
+  auto conv1 = convBlock(network, weightMap, *conv0->getOutput(0), get_width(128, gw), 3, 2, 1, "model.1");
+  auto bottleneck_CSP2 = C3(network, weightMap, *conv1->getOutput(0), get_width(128, gw), get_width(128, gw), get_depth(3, gd), true, 1, 0.5, "model.2");
+  auto conv3 = convBlock(network, weightMap, *bottleneck_CSP2->getOutput(0), get_width(256, gw), 3, 2, 1, "model.3");
+  auto bottleneck_csp4 = C3(network, weightMap, *conv3->getOutput(0), get_width(256, gw), get_width(256, gw), get_depth(6, gd), true, 1, 0.5, "model.4");
+  auto conv5 = convBlock(network, weightMap, *bottleneck_csp4->getOutput(0), get_width(512, gw), 3, 2, 1, "model.5");
+  auto bottleneck_csp6 = C3(network, weightMap, *conv5->getOutput(0), get_width(512, gw), get_width(512, gw), get_depth(9, gd), true, 1, 0.5, "model.6");
+  auto conv7 = convBlock(network, weightMap, *bottleneck_csp6->getOutput(0), get_width(1024, gw), 3, 2, 1, "model.7");
+  auto bottleneck_csp8 = C3(network, weightMap, *conv7->getOutput(0), get_width(1024, gw), get_width(1024, gw), get_depth(3, gd), true, 1, 0.5, "model.8");
+
+  // Head
+  auto conv_class = convBlock(network, weightMap, *bottleneck_csp8->getOutput(0), 1280, 1, 1, 1, "model.9.conv");
+  int k = kClsInputH / 32;
+  IPoolingLayer* pool2 = network->addPoolingNd(*conv_class->getOutput(0), PoolingType::kAVERAGE, DimsHW{ k, k });
+  assert(pool2);
+  IFullyConnectedLayer* yolo = network->addFullyConnected(*pool2->getOutput(0), kClsNumClass, weightMap["model.9.linear.weight"], weightMap["model.9.linear.bias"]);
+  assert(yolo);
+
+  yolo->getOutput(0)->setName(kOutputTensorName);
+  network->markOutput(*yolo->getOutput(0));
+
+  // Engine config
+  builder->setMaxBatchSize(maxBatchSize);
+  config->setMaxWorkspaceSize(16 * (1 << 20));  // 16MB
+
+#if defined(USE_FP16)
+  config->setFlag(BuilderFlag::kFP16);
+#elif defined(USE_INT8)
+  std::cout << "Your platform support int8: " << (builder->platformHasFastInt8() ? "true" : "false") << std::endl;
+  assert(builder->platformHasFastInt8());
+  config->setFlag(BuilderFlag::kINT8);
+  Int8EntropyCalibrator2* calibrator = new Int8EntropyCalibrator2(1, kClsInputW, kClsInputW, "./coco_calib/", "int8calib.table", kInputTensorName);
+  config->setInt8Calibrator(calibrator);
+#endif
+
+  std::cout << "Building engine, please wait for a while..." << std::endl;
+  ICudaEngine* engine = builder->buildEngineWithConfig(*network, *config);
+  std::cout << "Build engine successfully!" << std::endl;
+
+  // Don't need the network any more
+  network->destroy();
+
+  // Release host memory
+  for (auto& mem : weightMap) {
+    free((void*)(mem.second.values));
+  }
+
+  return engine;
+}
+
+ICudaEngine* build_seg_engine(unsigned int maxBatchSize, IBuilder* builder, IBuilderConfig* config, DataType dt, float& gd, float& gw, std::string& wts_name) {
+  INetworkDefinition* network = builder->createNetworkV2(0U);
+  ITensor* data = network->addInput(kInputTensorName, dt, Dims3{ 3, kInputH, kInputW });
+  assert(data);
+  std::map<std::string, Weights> weightMap = loadWeights(wts_name);
+
+  // Backbone
+  auto conv0 = convBlock(network, weightMap, *data,  get_width(64, gw), 6, 2, 1,  "model.0");
+  assert(conv0);
+  auto conv1 = convBlock(network, weightMap, *conv0->getOutput(0), get_width(128, gw), 3, 2, 1, "model.1");
+  auto bottleneck_CSP2 = C3(network, weightMap, *conv1->getOutput(0), get_width(128, gw), get_width(128, gw), get_depth(3, gd), true, 1, 0.5, "model.2");
+  auto conv3 = convBlock(network, weightMap, *bottleneck_CSP2->getOutput(0), get_width(256, gw), 3, 2, 1, "model.3");
+  auto bottleneck_csp4 = C3(network, weightMap, *conv3->getOutput(0), get_width(256, gw), get_width(256, gw), get_depth(6, gd), true, 1, 0.5, "model.4");
+  auto conv5 = convBlock(network, weightMap, *bottleneck_csp4->getOutput(0), get_width(512, gw), 3, 2, 1, "model.5");
+  auto bottleneck_csp6 = C3(network, weightMap, *conv5->getOutput(0), get_width(512, gw), get_width(512, gw), get_depth(9, gd), true, 1, 0.5, "model.6");
+  auto conv7 = convBlock(network, weightMap, *bottleneck_csp6->getOutput(0), get_width(1024, gw), 3, 2, 1, "model.7");
+  auto bottleneck_csp8 = C3(network, weightMap, *conv7->getOutput(0), get_width(1024, gw), get_width(1024, gw), get_depth(3, gd), true, 1, 0.5, "model.8");
+  auto spp9 = SPPF(network, weightMap, *bottleneck_csp8->getOutput(0), get_width(1024, gw), get_width(1024, gw), 5, "model.9");
+
+  // Head
+  auto conv10 = convBlock(network, weightMap, *spp9->getOutput(0), get_width(512, gw), 1, 1, 1, "model.10");
+
+  auto upsample11 = network->addResize(*conv10->getOutput(0));
+  assert(upsample11);
+  upsample11->setResizeMode(ResizeMode::kNEAREST);
+  upsample11->setOutputDimensions(bottleneck_csp6->getOutput(0)->getDimensions());
+
+  ITensor* inputTensors12[] = { upsample11->getOutput(0), bottleneck_csp6->getOutput(0) };
+  auto cat12 = network->addConcatenation(inputTensors12, 2);
+  auto bottleneck_csp13 = C3(network, weightMap, *cat12->getOutput(0), get_width(1024, gw), get_width(512, gw), get_depth(3, gd), false, 1, 0.5, "model.13");
+  auto conv14 = convBlock(network, weightMap, *bottleneck_csp13->getOutput(0), get_width(256, gw), 1, 1, 1, "model.14");
+
+  auto upsample15 = network->addResize(*conv14->getOutput(0));
+  assert(upsample15);
+  upsample15->setResizeMode(ResizeMode::kNEAREST);
+  upsample15->setOutputDimensions(bottleneck_csp4->getOutput(0)->getDimensions());
+
+  ITensor* inputTensors16[] = { upsample15->getOutput(0), bottleneck_csp4->getOutput(0) };
+  auto cat16 = network->addConcatenation(inputTensors16, 2);
+
+  auto bottleneck_csp17 = C3(network, weightMap, *cat16->getOutput(0), get_width(512, gw), get_width(256, gw), get_depth(3, gd), false, 1, 0.5, "model.17");
+
+  // Segmentation
+  IConvolutionLayer* det0 = network->addConvolutionNd(*bottleneck_csp17->getOutput(0), 3 * (32 + kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.24.m.0.weight"], weightMap["model.24.m.0.bias"]);
+  auto conv18 = convBlock(network, weightMap, *bottleneck_csp17->getOutput(0), get_width(256, gw), 3, 2, 1, "model.18");
+  ITensor* inputTensors19[] = { conv18->getOutput(0), conv14->getOutput(0) };
+  auto cat19 = network->addConcatenation(inputTensors19, 2);
+  auto bottleneck_csp20 = C3(network, weightMap, *cat19->getOutput(0), get_width(512, gw), get_width(512, gw), get_depth(3, gd), false, 1, 0.5, "model.20");
+  IConvolutionLayer* det1 = network->addConvolutionNd(*bottleneck_csp20->getOutput(0), 3 * (32 + kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.24.m.1.weight"], weightMap["model.24.m.1.bias"]);
+  auto conv21 = convBlock(network, weightMap, *bottleneck_csp20->getOutput(0), get_width(512, gw), 3, 2, 1, "model.21");
+  ITensor* inputTensors22[] = { conv21->getOutput(0), conv10->getOutput(0) };
+  auto cat22 = network->addConcatenation(inputTensors22, 2);
+  auto bottleneck_csp23 = C3(network, weightMap, *cat22->getOutput(0), get_width(1024, gw), get_width(1024, gw), get_depth(3, gd), false, 1, 0.5, "model.23");
+  IConvolutionLayer* det2 = network->addConvolutionNd(*bottleneck_csp23->getOutput(0), 3 * (32 + kNumClass + 5), DimsHW{ 1, 1 }, weightMap["model.24.m.2.weight"], weightMap["model.24.m.2.bias"]);
+
+  auto yolo = addYoLoLayer(network, weightMap, "model.24", std::vector<IConvolutionLayer*>{det0, det1, det2}, true);
+  yolo->getOutput(0)->setName(kOutputTensorName);
+  network->markOutput(*yolo->getOutput(0));
+
+  auto proto = Proto(network, weightMap, *bottleneck_csp17->getOutput(0), get_width(256, gw), 32, "model.24.proto");
+  proto->getOutput(0)->setName("proto");
+  network->markOutput(*proto->getOutput(0));
+
+  // Engine config
+  builder->setMaxBatchSize(maxBatchSize);
+  config->setMaxWorkspaceSize(16 * (1 << 20));  // 16MB
+#if defined(USE_FP16)
+  config->setFlag(BuilderFlag::kFP16);
+#elif defined(USE_INT8)
+  std::cout << "Your platform support int8: " << (builder->platformHasFastInt8() ? "true" : "false") << std::endl;
+  assert(builder->platformHasFastInt8());
+  config->setFlag(BuilderFlag::kINT8);
+  Int8EntropyCalibrator2* calibrator = new Int8EntropyCalibrator2(1, kInputW, kInputH, "./coco_calib/", "int8calib.table", kInputTensorName);
+  config->setInt8Calibrator(calibrator);
+#endif
+
+  std::cout << "Building engine, please wait for a while..." << std::endl;
+  ICudaEngine* engine = builder->buildEngineWithConfig(*network, *config);
+  std::cout << "Build engine successfully!" << std::endl;
+
+  // Don't need the network any more
+  network->destroy();
+
+  // Release host memory
+  for (auto& mem : weightMap) {
+    free((void*)(mem.second.values));
+  }
+
+  return engine;
+}
+
--- a/src/model.h
+++ b/src/model.h
@ -0,0 +1,16 @@
+#pragma once
+
+#include <NvInfer.h>
+#include <string>
+
+nvinfer1::ICudaEngine* build_det_engine(unsigned int maxBatchSize, nvinfer1::IBuilder* builder,
+                                        nvinfer1::IBuilderConfig* config, nvinfer1::DataType dt,
+                                        float& gd, float& gw, std::string& wts_name);
+
+nvinfer1::ICudaEngine* build_det_p6_engine(unsigned int maxBatchSize, nvinfer1::IBuilder* builder,
+                                           nvinfer1::IBuilderConfig* config, nvinfer1::DataType dt,
+                                           float& gd, float& gw, std::string& wts_name);
+
+nvinfer1::ICudaEngine* build_cls_engine(unsigned int maxBatchSize, nvinfer1::IBuilder* builder, nvinfer1::IBuilderConfig* config, nvinfer1::DataType dt, float& gd, float& gw, std::string& wts_name);
+
+nvinfer1::ICudaEngine* build_seg_engine(unsigned int maxBatchSize, nvinfer1::IBuilder* builder, nvinfer1::IBuilderConfig* config, nvinfer1::DataType dt, float& gd, float& gw, std::string& wts_name);
--- a/src/postprocess.cpp
+++ b/src/postprocess.cpp
@ -0,0 +1,189 @@
+#include "postprocess.h"
+#include "utils.h"
+
+cv::Rect get_rect(cv::Mat& img, float bbox[4]) {
+  float l, r, t, b;
+  float r_w = kInputW / (img.cols * 1.0);
+  float r_h = kInputH / (img.rows * 1.0);
+  if (r_h > r_w) {
+    l = bbox[0] - bbox[2] / 2.f;
+    r = bbox[0] + bbox[2] / 2.f;
+    t = bbox[1] - bbox[3] / 2.f - (kInputH - r_w * img.rows) / 2;
+    b = bbox[1] + bbox[3] / 2.f - (kInputH - r_w * img.rows) / 2;
+    l = l / r_w;
+    r = r / r_w;
+    t = t / r_w;
+    b = b / r_w;
+  } else {
+    l = bbox[0] - bbox[2] / 2.f - (kInputW - r_h * img.cols) / 2;
+    r = bbox[0] + bbox[2] / 2.f - (kInputW - r_h * img.cols) / 2;
+    t = bbox[1] - bbox[3] / 2.f;
+    b = bbox[1] + bbox[3] / 2.f;
+    l = l / r_h;
+    r = r / r_h;
+    t = t / r_h;
+    b = b / r_h;
+  }
+  return cv::Rect(round(l), round(t), round(r - l), round(b - t));
+}
+
+static float iou(float lbox[4], float rbox[4]) {
+  float interBox[] = {
+    (std::max)(lbox[0] - lbox[2] / 2.f , rbox[0] - rbox[2] / 2.f), //left
+    (std::min)(lbox[0] + lbox[2] / 2.f , rbox[0] + rbox[2] / 2.f), //right
+    (std::max)(lbox[1] - lbox[3] / 2.f , rbox[1] - rbox[3] / 2.f), //top
+    (std::min)(lbox[1] + lbox[3] / 2.f , rbox[1] + rbox[3] / 2.f), //bottom
+  };
+
+  if (interBox[2] > interBox[3] || interBox[0] > interBox[1])
+    return 0.0f;
+
+  float interBoxS = (interBox[1] - interBox[0])*(interBox[3] - interBox[2]);
+  return interBoxS / (lbox[2] * lbox[3] + rbox[2] * rbox[3] - interBoxS);
+}
+
+static bool cmp(const Detection& a, const Detection& b) {
+  return a.conf > b.conf;
+}
+
+void nms(std::vector<Detection>& res, float* output, float conf_thresh, float nms_thresh) {
+  int det_size = sizeof(Detection) / sizeof(float);
+  std::map<float, std::vector<Detection>> m;
+  for (int i = 0; i < output[0] && i < kMaxNumOutputBbox; i++) {
+    if (output[1 + det_size * i + 4] <= conf_thresh) continue;
+    Detection det;
+    memcpy(&det, &output[1 + det_size * i], det_size * sizeof(float));
+    if (m.count(det.class_id) == 0) m.emplace(det.class_id, std::vector<Detection>());
+    m[det.class_id].push_back(det);
+  }
+  for (auto it = m.begin(); it != m.end(); it++) {
+    auto& dets = it->second;
+    std::sort(dets.begin(), dets.end(), cmp);
+    for (size_t m = 0; m < dets.size(); ++m) {
+      auto& item = dets[m];
+      res.push_back(item);
+      for (size_t n = m + 1; n < dets.size(); ++n) {
+        if (iou(item.bbox, dets[n].bbox) > nms_thresh) {
+          dets.erase(dets.begin() + n);
+          --n;
+        }
+      }
+    }
+  }
+}
+
+void batch_nms(std::vector<std::vector<Detection>>& res_batch, float *output, int batch_size, int output_size, float conf_thresh, float nms_thresh) {
+  res_batch.resize(batch_size);
+  for (int i = 0; i < batch_size; i++) {
+    nms(res_batch[i], &output[i * output_size], conf_thresh, nms_thresh);
+  }
+}
+
+void draw_bbox(std::vector<cv::Mat>& img_batch, std::vector<std::vector<Detection>>& res_batch) {
+  for (size_t i = 0; i < img_batch.size(); i++) {
+    auto& res = res_batch[i];
+    cv::Mat img = img_batch[i];
+    for (size_t j = 0; j < res.size(); j++) {
+      cv::Rect r = get_rect(img, res[j].bbox);
+      cv::rectangle(img, r, cv::Scalar(0x27, 0xC1, 0x36), 2);
+      cv::putText(img, std::to_string((int)res[j].class_id), cv::Point(r.x, r.y - 1), cv::FONT_HERSHEY_PLAIN, 1.2, cv::Scalar(0xFF, 0xFF, 0xFF), 2);
+    }
+  }
+}
+
+static cv::Rect get_downscale_rect(float bbox[4], float scale) {
+  float left = bbox[0] - bbox[2] / 2;
+  float top = bbox[1] - bbox[3] / 2;
+  float right = bbox[0] + bbox[2] / 2;
+  float bottom = bbox[1] + bbox[3] / 2;
+  left /= scale;
+  top /= scale;
+  right /= scale;
+  bottom /= scale;
+  return cv::Rect(round(left), round(top), round(right - left), round(bottom - top));
+}
+
+std::vector<cv::Mat> process_mask(const float* proto, int proto_size, std::vector<Detection>& dets) {
+  std::vector<cv::Mat> masks;
+  for (size_t i = 0; i < dets.size(); i++) {
+    cv::Mat mask_mat = cv::Mat::zeros(kInputH / 4, kInputW / 4, CV_32FC1);
+    auto r = get_downscale_rect(dets[i].bbox, 4);
+    for (int x = r.x; x < r.x + r.width; x++) {
+      for (int y = r.y; y < r.y + r.height; y++) {
+        float e = 0.0f;
+        for (int j = 0; j < 32; j++) {
+          e += dets[i].mask[j] * proto[j * proto_size / 32 + y * mask_mat.cols + x];
+        }
+        e = 1.0f / (1.0f + expf(-e));
+        mask_mat.at<float>(y, x) = e;
+      }
+    }
+    cv::resize(mask_mat, mask_mat, cv::Size(kInputW, kInputH));
+    masks.push_back(mask_mat);
+  }
+  return masks;
+}
+
+cv::Mat scale_mask(cv::Mat mask, cv::Mat img) {
+  int x, y, w, h;
+  float r_w = kInputW / (img.cols * 1.0);
+  float r_h = kInputH / (img.rows * 1.0);
+  if (r_h > r_w) {
+    w = kInputW;
+    h = r_w * img.rows;
+    x = 0;
+    y = (kInputH - h) / 2;
+  } else {
+    w = r_h * img.cols;
+    h = kInputH;
+    x = (kInputW - w) / 2;
+    y = 0;
+  }
+  cv::Rect r(x, y, w, h);
+  cv::Mat res;
+  cv::resize(mask(r), res, img.size());
+  return res;
+}
+
+void draw_mask_bbox(cv::Mat& img, std::vector<Detection>& dets, std::vector<cv::Mat>& masks, std::unordered_map<int, std::string>& labels_map) {
+  static std::vector<uint32_t> colors = {0xFF3838, 0xFF9D97, 0xFF701F, 0xFFB21D, 0xCFD231, 0x48F90A,
+                                         0x92CC17, 0x3DDB86, 0x1A9334, 0x00D4BB, 0x2C99A8, 0x00C2FF,
+                                         0x344593, 0x6473FF, 0x0018EC, 0x8438FF, 0x520085, 0xCB38FF,
+                                         0xFF95C8, 0xFF37C7};
+  for (size_t i = 0; i < dets.size(); i++) {
+    cv::Mat img_mask = scale_mask(masks[i], img);
+    auto color = colors[(int)dets[i].class_id % colors.size()];
+    auto bgr = cv::Scalar(color & 0xFF, color >> 8 & 0xFF, color >> 16 & 0xFF);
+
+    cv::Rect r = get_rect(img, dets[i].bbox);
+    for (int x = r.x; x < r.x + r.width; x++) {
+      for (int y = r.y; y < r.y + r.height; y++) {
+        float val = img_mask.at<float>(y, x);
+        if (val <= 0.5) continue;
+        img.at<cv::Vec3b>(y, x)[0] = img.at<cv::Vec3b>(y, x)[0] / 2 + bgr[0] / 2;
+        img.at<cv::Vec3b>(y, x)[1] = img.at<cv::Vec3b>(y, x)[1] / 2 + bgr[1] / 2;
+        img.at<cv::Vec3b>(y, x)[2] = img.at<cv::Vec3b>(y, x)[2] / 2 + bgr[2] / 2;
+      }
+    }
+
+    cv::rectangle(img, r, bgr, 2);
+    
+    // Get the size of the text
+    cv::Size textSize = cv::getTextSize(labels_map[(int)dets[i].class_id] + " " + to_string_with_precision(dets[i].conf), cv::FONT_HERSHEY_PLAIN, 1.2, 2, NULL);
+    // Set the top left corner of the rectangle
+    cv::Point topLeft(r.x, r.y - textSize.height);
+
+    // Set the bottom right corner of the rectangle
+    cv::Point bottomRight(r.x + textSize.width, r.y + textSize.height);
+
+    // Set the thickness of the rectangle lines
+    int lineThickness = 2;
+
+    // Draw the rectangle on the image
+    cv::rectangle(img, topLeft, bottomRight, bgr, -1);
+
+    cv::putText(img, labels_map[(int)dets[i].class_id] + " " + to_string_with_precision(dets[i].conf), cv::Point(r.x, r.y + 4), cv::FONT_HERSHEY_PLAIN, 1.2, cv::Scalar::all(0xFF), 2);
+
+  }
+}
+
--- a/src/postprocess.h
+++ b/src/postprocess.h
@ -0,0 +1,16 @@
+#pragma once
+
+#include "types.h"
+#include <opencv2/opencv.hpp>
+
+cv::Rect get_rect(cv::Mat& img, float bbox[4]);
+
+void nms(std::vector<Detection>& res, float *output, float conf_thresh, float nms_thresh = 0.5);
+
+void batch_nms(std::vector<std::vector<Detection>>& batch_res, float *output, int batch_size, int output_size, float conf_thresh, float nms_thresh = 0.5);
+
+void draw_bbox(std::vector<cv::Mat>& img_batch, std::vector<std::vector<Detection>>& res_batch);
+
+std::vector<cv::Mat> process_mask(const float* proto, int proto_size, std::vector<Detection>& dets);
+
+void draw_mask_bbox(cv::Mat& img, std::vector<Detection>& dets, std::vector<cv::Mat>& masks, std::unordered_map<int, std::string>& labels_map);
--- a/src/preprocess.cu
+++ b/src/preprocess.cu
@ -0,0 +1,153 @@
+#include "preprocess.h"
+#include "cuda_utils.h"
+
+static uint8_t* img_buffer_host = nullptr;
+static uint8_t* img_buffer_device = nullptr;
+
+struct AffineMatrix {
+  float value[6];
+};
+
+__global__ void warpaffine_kernel(
+    uint8_t* src, int src_line_size, int src_width,
+    int src_height, float* dst, int dst_width,
+    int dst_height, uint8_t const_value_st,
+    AffineMatrix d2s, int edge) {
+  int position = blockDim.x * blockIdx.x + threadIdx.x;
+  if (position >= edge) return;
+
+  float m_x1 = d2s.value[0];
+  float m_y1 = d2s.value[1];
+  float m_z1 = d2s.value[2];
+  float m_x2 = d2s.value[3];
+  float m_y2 = d2s.value[4];
+  float m_z2 = d2s.value[5];
+
+  int dx = position % dst_width;
+  int dy = position / dst_width;
+  float src_x = m_x1 * dx + m_y1 * dy + m_z1 + 0.5f;
+  float src_y = m_x2 * dx + m_y2 * dy + m_z2 + 0.5f;
+  float c0, c1, c2;
+
+  if (src_x <= -1 || src_x >= src_width || src_y <= -1 || src_y >= src_height) {
+    // out of range
+    c0 = const_value_st;
+    c1 = const_value_st;
+    c2 = const_value_st;
+  } else {
+    int y_low = floorf(src_y);
+    int x_low = floorf(src_x);
+    int y_high = y_low + 1;
+    int x_high = x_low + 1;
+
+    uint8_t const_value[] = {const_value_st, const_value_st, const_value_st};
+    float ly = src_y - y_low;
+    float lx = src_x - x_low;
+    float hy = 1 - ly;
+    float hx = 1 - lx;
+    float w1 = hy * hx, w2 = hy * lx, w3 = ly * hx, w4 = ly * lx;
+    uint8_t* v1 = const_value;
+    uint8_t* v2 = const_value;
+    uint8_t* v3 = const_value;
+    uint8_t* v4 = const_value;
+
+    if (y_low >= 0) {
+      if (x_low >= 0)
+        v1 = src + y_low * src_line_size + x_low * 3;
+
+      if (x_high < src_width)
+        v2 = src + y_low * src_line_size + x_high * 3;
+    }
+
+    if (y_high < src_height) {
+      if (x_low >= 0)
+        v3 = src + y_high * src_line_size + x_low * 3;
+
+      if (x_high < src_width)
+        v4 = src + y_high * src_line_size + x_high * 3;
+    }
+
+    c0 = w1 * v1[0] + w2 * v2[0] + w3 * v3[0] + w4 * v4[0];
+    c1 = w1 * v1[1] + w2 * v2[1] + w3 * v3[1] + w4 * v4[1];
+    c2 = w1 * v1[2] + w2 * v2[2] + w3 * v3[2] + w4 * v4[2];
+  }
+
+  // bgr to rgb 
+  float t = c2;
+  c2 = c0;
+  c0 = t;
+
+  // normalization
+  c0 = c0 / 255.0f;
+  c1 = c1 / 255.0f;
+  c2 = c2 / 255.0f;
+
+  // rgbrgbrgb to rrrgggbbb
+  int area = dst_width * dst_height;
+  float* pdst_c0 = dst + dy * dst_width + dx;
+  float* pdst_c1 = pdst_c0 + area;
+  float* pdst_c2 = pdst_c1 + area;
+  *pdst_c0 = c0;
+  *pdst_c1 = c1;
+  *pdst_c2 = c2;
+}
+
+void cuda_preprocess(
+    uint8_t* src, int src_width, int src_height,
+    float* dst, int dst_width, int dst_height,
+    cudaStream_t stream) {
+
+  int img_size = src_width * src_height * 3;
+  // copy data to pinned memory
+  memcpy(img_buffer_host, src, img_size);
+  // copy data to device memory
+  CUDA_CHECK(cudaMemcpyAsync(img_buffer_device, img_buffer_host, img_size, cudaMemcpyHostToDevice, stream));
+
+  AffineMatrix s2d, d2s;
+  float scale = std::min(dst_height / (float)src_height, dst_width / (float)src_width);
+
+  s2d.value[0] = scale;
+  s2d.value[1] = 0;
+  s2d.value[2] = -scale * src_width  * 0.5  + dst_width * 0.5;
+  s2d.value[3] = 0;
+  s2d.value[4] = scale;
+  s2d.value[5] = -scale * src_height * 0.5 + dst_height * 0.5;
+
+  cv::Mat m2x3_s2d(2, 3, CV_32F, s2d.value);
+  cv::Mat m2x3_d2s(2, 3, CV_32F, d2s.value);
+  cv::invertAffineTransform(m2x3_s2d, m2x3_d2s);
+
+  memcpy(d2s.value, m2x3_d2s.ptr<float>(0), sizeof(d2s.value));
+
+  int jobs = dst_height * dst_width;
+  int threads = 256;
+  int blocks = ceil(jobs / (float)threads);
+
+  warpaffine_kernel<<<blocks, threads, 0, stream>>>(
+      img_buffer_device, src_width * 3, src_width,
+      src_height, dst, dst_width,
+      dst_height, 128, d2s, jobs);
+}
+
+void cuda_batch_preprocess(std::vector<cv::Mat>& img_batch,
+                           float* dst, int dst_width, int dst_height,
+                           cudaStream_t stream) {
+  int dst_size = dst_width * dst_height * 3;
+  for (size_t i = 0; i < img_batch.size(); i++) {
+    cuda_preprocess(img_batch[i].ptr(), img_batch[i].cols, img_batch[i].rows, &dst[dst_size * i], dst_width, dst_height, stream);
+    CUDA_CHECK(cudaStreamSynchronize(stream));
+  }
+}
+
+void cuda_preprocess_init(int max_image_size) {
+  // prepare input data in pinned memory
+  CUDA_CHECK(cudaMallocHost((void**)&img_buffer_host, max_image_size * 3));
+  // prepare input data in device memory
+  CUDA_CHECK(cudaMalloc((void**)&img_buffer_device, max_image_size * 3));
+}
+
+void cuda_preprocess_destroy() {
+  CUDA_CHECK(cudaFree(img_buffer_device));
+  CUDA_CHECK(cudaFreeHost(img_buffer_host));
+}
+
--- a/src/preprocess.h
+++ b/src/preprocess.h
@ -0,0 +1,15 @@
+#pragma once
+
+#include <cuda_runtime.h>
+#include <cstdint>
+#include <opencv2/opencv.hpp>
+
+void cuda_preprocess_init(int max_image_size);
+void cuda_preprocess_destroy();
+void cuda_preprocess(uint8_t* src, int src_width, int src_height,
+                     float* dst, int dst_width, int dst_height,
+                     cudaStream_t stream);
+void cuda_batch_preprocess(std::vector<cv::Mat>& img_batch,
+                           float* dst, int dst_width, int dst_height,
+                           cudaStream_t stream);
+
--- a/src/types.h
+++ b/src/types.h
@ -0,0 +1,17 @@
+#pragma once
+
+#include "config.h"
+
+struct YoloKernel {
+  int width;
+  int height;
+  float anchors[kNumAnchor * 2];
+};
+
+struct alignas(float) Detection {
+  float bbox[4];  // center_x center_y w h
+  float conf;  // bbox_conf * cls_conf
+  float class_id;
+  float mask[32];
+};
+
--- a/src/utils.h
+++ b/src/utils.h
@ -0,0 +1,70 @@
+#pragma once
+
+#include <dirent.h>
+#include <fstream>
+#include <unordered_map>
+#include <string>
+#include <sstream>
+#include <vector>
+#include <cstring>
+
+static inline int read_files_in_dir(const char* p_dir_name, std::vector<std::string>& file_names) {
+    DIR *p_dir = opendir(p_dir_name);
+    if (p_dir == nullptr) {
+        return -1;
+    }
+
+    struct dirent* p_file = nullptr;
+    while ((p_file = readdir(p_dir)) != nullptr) {
+        if (strcmp(p_file->d_name, ".") != 0 &&
+            strcmp(p_file->d_name, "..") != 0) {
+            //std::string cur_file_name(p_dir_name);
+            //cur_file_name += "/";
+            //cur_file_name += p_file->d_name;
+            std::string cur_file_name(p_file->d_name);
+            file_names.push_back(cur_file_name);
+        }
+    }
+
+    closedir(p_dir);
+    return 0;
+}
+
+// Function to trim leading and trailing whitespace from a string
+static inline std::string trim_leading_whitespace(const std::string& str) {
+    size_t first = str.find_first_not_of(' ');
+    if (std::string::npos == first) {
+        return str;
+    }
+    size_t last = str.find_last_not_of(' ');
+    return str.substr(first, (last - first + 1));
+}
+
+// Src: https://stackoverflow.com/questions/16605967
+static inline std::string to_string_with_precision(const float a_value, const int n = 2) {
+    std::ostringstream out;
+    out.precision(n);
+    out << std::fixed << a_value;
+    return out.str();
+}
+
+static inline int read_labels(const std::string labels_filename, std::unordered_map<int, std::string>& labels_map) {
+
+    std::ifstream file(labels_filename);
+    // Read each line of the file
+    std::string line;
+    int index = 0;
+    while (std::getline(file, line)) {
+        // Strip the line of any leading or trailing whitespace
+        line = trim_leading_whitespace(line);
+
+        // Add the stripped line to the labels_map, using the loop index as the key
+        labels_map[index] = line;
+        index++;
+    }
+    // Close the file
+    file.close();
+
+    return 0;
+}
+
--- a/train.py
+++ b/train.py
@ -0,0 +1,620 @@
+"""Train a YOLOv5 model on a custom dataset
+
+Usage:
+    $ python path/to/train.py --data coco128.yaml --weights yolov5s.pt --img 640
+"""
+
+
+import argparse
+import logging
+import os
+import random
+import sys
+import time
+from copy import deepcopy
+from pathlib import Path
+
+import math
+import numpy as np
+import torch
+import torch.distributed as dist
+import torch.nn as nn
+import yaml
+from torch.cuda import amp
+from torch.nn.parallel import DistributedDataParallel as DDP
+from torch.optim import Adam, SGD, lr_scheduler
+from tqdm import tqdm
+
+FILE = Path(__file__).absolute()
+sys.path.append(FILE.parents[0].as_posix())  # add yolov5/ to path
+
+import val  # for end-of-epoch mAP
+from models.experimental import attempt_load
+from models.yolo import Model
+from utils.autoanchor import check_anchors
+from utils.datasets import create_dataloader
+from utils.general import labels_to_class_weights, increment_path, labels_to_image_weights, init_seeds, \
+    strip_optimizer, get_latest_run, check_dataset, check_file, check_git_status, check_img_size, \
+    check_requirements, print_mutation, set_logging, one_cycle, colorstr, methods
+from utils.downloads import attempt_download
+from utils.loss import ComputeLoss
+from utils.plots import plot_labels, plot_evolve
+from utils.torch_utils import ModelEMA, select_device, intersect_dicts, torch_distributed_zero_first, de_parallel
+from utils.loggers.wandb.wandb_utils import check_wandb_resume
+from utils.metrics import fitness
+from utils.loggers import Loggers
+from utils.callbacks import Callbacks
+
+LOGGER = logging.getLogger(__name__)
+LOCAL_RANK = int(os.getenv('LOCAL_RANK', -1))  # https://pytorch.org/docs/stable/elastic/run.html
+RANK = int(os.getenv('RANK', -1))
+WORLD_SIZE = int(os.getenv('WORLD_SIZE', 1))
+
+import os
+os.environ['KMP_DUPLICATE_LIB_OK'] = 'TRUE'
+
+
+def train(hyp,  # path/to/hyp.yaml or hyp dictionary
+          opt,
+          device,
+          callbacks=Callbacks()
+          ):
+    save_dir, epochs, batch_size, weights, single_cls, evolve, data, cfg, resume, noval, nosave, workers, freeze, = \
+        Path(opt.save_dir), opt.epochs, opt.batch_size, opt.weights, opt.single_cls, opt.evolve, opt.data, opt.cfg, \
+        opt.resume, opt.noval, opt.nosave, opt.workers, opt.freeze
+
+    # Directories
+    w = save_dir / 'weights'  # weights dir
+    w.mkdir(parents=True, exist_ok=True)  # make dir
+    last, best = w / 'last.pt', w / 'best.pt'
+
+    # Hyperparameters
+    if isinstance(hyp, str):
+        with open(hyp,encoding='utf-8') as f:#注意，在这里open加了,encoding='utf-8'
+            hyp = yaml.safe_load(f)  # load hyps dict
+    LOGGER.info(colorstr('hyperparameters: ') + ', '.join(f'{k}={v}' for k, v in hyp.items()))
+
+    # Save run settings
+    with open(save_dir / 'hyp.yaml', 'w') as f:
+        yaml.safe_dump(hyp, f, sort_keys=False)
+    with open(save_dir / 'opt.yaml', 'w') as f:
+        yaml.safe_dump(vars(opt), f, sort_keys=False)
+    data_dict = None
+
+    # Loggers
+    if RANK in [-1, 0]:
+        loggers = Loggers(save_dir, weights, opt, hyp, LOGGER)  # loggers instance
+        if loggers.wandb:
+            data_dict = loggers.wandb.data_dict
+            if resume:
+                weights, epochs, hyp = opt.weights, opt.epochs, opt.hyp
+
+        # Register actions
+        for k in methods(loggers):
+            callbacks.register_action(k, callback=getattr(loggers, k))
+
+    # Config
+    plots = not evolve  # create plots
+    cuda = device.type != 'cpu'
+    init_seeds(1 + RANK)
+    with torch_distributed_zero_first(RANK):
+        data_dict = data_dict or check_dataset(data)  # check if None
+    train_path, val_path = data_dict['train'], data_dict['val']
+    nc = 1 if single_cls else int(data_dict['nc'])  # number of classes
+    names = ['item'] if single_cls and len(data_dict['names']) != 1 else data_dict['names']  # class names
+    assert len(names) == nc, f'{len(names)} names found for nc={nc} dataset in {data}'  # check
+    is_coco = data.endswith('coco.yaml') and nc == 80  # COCO dataset
+
+    # Model
+    pretrained = weights.endswith('.pt')
+    if pretrained:
+        with torch_distributed_zero_first(RANK):
+            weights = attempt_download(weights)  # download if not found locally
+        ckpt = torch.load(weights, map_location=device)  # load checkpoint
+        model = Model(cfg or ckpt['model'].yaml, ch=3, nc=nc, anchors=hyp.get('anchors')).to(device)  # create
+        exclude = ['anchor'] if (cfg or hyp.get('anchors')) and not resume else []  # exclude keys
+        csd = ckpt['model'].float().state_dict()  # checkpoint state_dict as FP32
+        csd = intersect_dicts(csd, model.state_dict(), exclude=exclude)  # intersect
+        model.load_state_dict(csd, strict=False)  # load
+        LOGGER.info(f'Transferred {len(csd)}/{len(model.state_dict())} items from {weights}')  # report
+    else:
+        model = Model(cfg, ch=3, nc=nc, anchors=hyp.get('anchors')).to(device)  # create
+
+    # Freeze
+    freeze = [f'model.{x}.' for x in range(freeze)]  # layers to freeze
+    for k, v in model.named_parameters():
+        v.requires_grad = True  # train all layers
+        if any(x in k for x in freeze):
+            print(f'freezing {k}')
+            v.requires_grad = False
+
+    # Optimizer
+    nbs = 64  # nominal batch size
+    accumulate = max(round(nbs / batch_size), 1)  # accumulate loss before optimizing
+    hyp['weight_decay'] *= batch_size * accumulate / nbs  # scale weight_decay
+    LOGGER.info(f"Scaled weight_decay = {hyp['weight_decay']}")
+
+    g0, g1, g2 = [], [], []  # optimizer parameter groups
+    for v in model.modules():
+        if hasattr(v, 'bias') and isinstance(v.bias, nn.Parameter):  # bias
+            g2.append(v.bias)
+        if isinstance(v, nn.BatchNorm2d):  # weight (no decay)
+            g0.append(v.weight)
+        elif hasattr(v, 'weight') and isinstance(v.weight, nn.Parameter):  # weight (with decay)
+            g1.append(v.weight)
+
+    if opt.adam:
+        optimizer = Adam(g0, lr=hyp['lr0'], betas=(hyp['momentum'], 0.999))  # adjust beta1 to momentum
+    else:
+        optimizer = SGD(g0, lr=hyp['lr0'], momentum=hyp['momentum'], nesterov=True)
+
+    optimizer.add_param_group({'params': g1, 'weight_decay': hyp['weight_decay']})  # add g1 with weight_decay
+    optimizer.add_param_group({'params': g2})  # add g2 (biases)
+    LOGGER.info(f"{colorstr('optimizer:')} {type(optimizer).__name__} with parameter groups "
+                f"{len(g0)} weight, {len(g1)} weight (no decay), {len(g2)} bias")
+    del g0, g1, g2
+
+    # Scheduler
+    if opt.linear_lr:
+        lf = lambda x: (1 - x / (epochs - 1)) * (1.0 - hyp['lrf']) + hyp['lrf']  # linear 开启的话，按照线性方式
+    else:
+        lf = one_cycle(1, hyp['lrf'], epochs)  # cosine 1->hyp['lrf'] 余弦退火算法
+    scheduler = lr_scheduler.LambdaLR(optimizer, lr_lambda=lf)  # plot_lr_scheduler(optimizer, scheduler, epochs)
+
+    # EMA
+    ema = ModelEMA(model) if RANK in [-1, 0] else None
+
+    # Resume
+    start_epoch, best_fitness = 0, 0.0
+    if pretrained:
+        # Optimizer
+        if ckpt['optimizer'] is not None:
+            optimizer.load_state_dict(ckpt['optimizer'])
+            best_fitness = ckpt['best_fitness']
+
+        # EMA
+        if ema and ckpt.get('ema'):
+            ema.ema.load_state_dict(ckpt['ema'].float().state_dict())
+            ema.updates = ckpt['updates']
+
+        # Epochs
+        start_epoch = ckpt['epoch'] + 1
+        if resume:
+            assert start_epoch > 0, f'{weights} training to {epochs} epochs is finished, nothing to resume.'
+        if epochs < start_epoch:
+            LOGGER.info(f"{weights} has been trained for {ckpt['epoch']} epochs. Fine-tuning for {epochs} more epochs.")
+            epochs += ckpt['epoch']  # finetune additional epochs
+
+        del ckpt, csd
+
+    # Image sizes
+    gs = max(int(model.stride.max()), 32)  # grid size (max stride)
+    nl = model.model[-1].nl  # number of detection layers (used for scaling hyp['obj'])
+    imgsz = check_img_size(opt.imgsz, gs, floor=gs * 2)  # verify imgsz is gs-multiple
+
+    # DP mode
+    if cuda and RANK == -1 and torch.cuda.device_count() > 1:
+        logging.warning('DP not recommended, instead use torch.distributed.run for best DDP Multi-GPU results.\n'
+                        'See Multi-GPU Tutorial at https://github.com/ultralytics/yolov5/issues/475 to get started.')
+        model = torch.nn.DataParallel(model)
+
+    # SyncBatchNorm
+    if opt.sync_bn and cuda and RANK != -1:
+        model = torch.nn.SyncBatchNorm.convert_sync_batchnorm(model).to(device)
+        LOGGER.info('Using SyncBatchNorm()')
+
+    # Trainloader
+    train_loader, dataset = create_dataloader(train_path, imgsz, batch_size // WORLD_SIZE, gs, single_cls,
+                                              hyp=hyp, augment=True, cache=opt.cache, rect=opt.rect, rank=RANK,
+                                              workers=workers, image_weights=opt.image_weights, quad=opt.quad,
+                                              prefix=colorstr('train: '))
+    mlc = int(np.concatenate(dataset.labels, 0)[:, 0].max())  # max label class
+    nb = len(train_loader)  # number of batches
+    assert mlc < nc, f'Label class {mlc} exceeds nc={nc} in {data}. Possible class labels are 0-{nc - 1}'
+
+    # Process 0
+    if RANK in [-1, 0]:
+        val_loader = create_dataloader(val_path, imgsz, batch_size // WORLD_SIZE * 2, gs, single_cls,
+                                       hyp=hyp, cache=None if noval else opt.cache, rect=True, rank=-1,
+                                       workers=workers, pad=0.5,
+                                       prefix=colorstr('val: '))[0]
+
+        if not resume:
+            labels = np.concatenate(dataset.labels, 0)
+            # c = torch.tensor(labels[:, 0])  # classes
+            # cf = torch.bincount(c.long(), minlength=nc) + 1.  # frequency
+            # model._initialize_biases(cf.to(device))
+            if plots:
+                plot_labels(labels, names, save_dir)
+
+            # Anchors
+            if not opt.noautoanchor:
+                check_anchors(dataset, model=model, thr=hyp['anchor_t'], imgsz=imgsz)
+            model.half().float()  # pre-reduce anchor precision
+
+        callbacks.on_pretrain_routine_end()
+
+    # DDP mode
+    if cuda and RANK != -1:
+        model = DDP(model, device_ids=[LOCAL_RANK], output_device=LOCAL_RANK)
+
+    # Model parameters
+    hyp['box'] *= 3. / nl  # scale to layers
+    hyp['cls'] *= nc / 80. * 3. / nl  # scale to classes and layers
+    hyp['obj'] *= (imgsz / 640) ** 2 * 3. / nl  # scale to image size and layers
+    hyp['label_smoothing'] = opt.label_smoothing
+    model.nc = nc  # attach number of classes to model
+    model.hyp = hyp  # attach hyperparameters to model
+    model.class_weights = labels_to_class_weights(dataset.labels, nc).to(device) * nc  # attach class weights
+    model.names = names
+
+    # Start training
+    t0 = time.time()
+    nw = max(round(hyp['warmup_epochs'] * nb), 1000)  # number of warmup iterations, max(3 epochs, 1k iterations)
+    # nw = min(nw, (epochs - start_epoch) / 2 * nb)  # limit warmup to < 1/2 of training
+    last_opt_step = -1
+    maps = np.zeros(nc)  # mAP per class
+    results = (0, 0, 0, 0, 0, 0, 0)  # P, R, mAP@.5, mAP@.5-.95, val_loss(box, obj, cls)
+    scheduler.last_epoch = start_epoch - 1  # do not move
+    scaler = amp.GradScaler(enabled=cuda)
+    compute_loss = ComputeLoss(model)  # init loss class
+    LOGGER.info(f'Image sizes {imgsz} train, {imgsz} val\n'
+                f'Using {train_loader.num_workers} dataloader workers\n'
+                f'Logging results to {save_dir}\n'
+                f'Starting training for {epochs} epochs...')
+    for epoch in range(start_epoch, epochs):  # epoch ------------------------------------------------------------------
+        model.train()
+
+        # Update image weights (optional)
+        if opt.image_weights:
+            # Generate indices
+            if RANK in [-1, 0]:
+                cw = model.class_weights.cpu().numpy() * (1 - maps) ** 2 / nc  # class weights
+                iw = labels_to_image_weights(dataset.labels, nc=nc, class_weights=cw)  # image weights
+                dataset.indices = random.choices(range(dataset.n), weights=iw, k=dataset.n)  # rand weighted idx
+            # Broadcast if DDP
+            if RANK != -1:
+                indices = (torch.tensor(dataset.indices) if RANK == 0 else torch.zeros(dataset.n)).int()
+                dist.broadcast(indices, 0)
+                if RANK != 0:
+                    dataset.indices = indices.cpu().numpy()
+
+        # Update mosaic border
+        # b = int(random.uniform(0.25 * imgsz, 0.75 * imgsz + gs) // gs * gs)
+        # dataset.mosaic_border = [b - imgsz, -b]  # height, width borders
+
+        mloss = torch.zeros(3, device=device)  # mean losses
+        if RANK != -1:
+            train_loader.sampler.set_epoch(epoch)
+        pbar = enumerate(train_loader)
+        LOGGER.info(('\n' + '%10s' * 7) % ('Epoch', 'gpu_mem', 'box', 'obj', 'cls', 'labels', 'img_size'))
+        if RANK in [-1, 0]:
+            pbar = tqdm(pbar, total=nb)  # progress bar
+        optimizer.zero_grad()
+        for i, (imgs, targets, paths, _) in pbar:  # batch -------------------------------------------------------------
+            ni = i + nb * epoch  # number integrated batches (since train start)
+            imgs = imgs.to(device, non_blocking=True).float() / 255.0  # uint8 to float32, 0-255 to 0.0-1.0
+
+            # Warmup
+            if ni <= nw:
+                xi = [0, nw]  # x interp
+                # compute_loss.gr = np.interp(ni, xi, [0.0, 1.0])  # iou loss ratio (obj_loss = 1.0 or iou)
+                accumulate = max(1, np.interp(ni, xi, [1, nbs / batch_size]).round())
+                for j, x in enumerate(optimizer.param_groups):
+                    # bias lr falls from 0.1 to lr0, all other lrs rise from 0.0 to lr0
+                    x['lr'] = np.interp(ni, xi, [hyp['warmup_bias_lr'] if j == 2 else 0.0, x['initial_lr'] * lf(epoch)])
+                    if 'momentum' in x:
+                        x['momentum'] = np.interp(ni, xi, [hyp['warmup_momentum'], hyp['momentum']])
+
+            # Multi-scale
+            if opt.multi_scale:
+                sz = random.randrange(imgsz * 0.5, imgsz * 1.5 + gs) // gs * gs  # size
+                sf = sz / max(imgs.shape[2:])  # scale factor
+                if sf != 1:
+                    ns = [math.ceil(x * sf / gs) * gs for x in imgs.shape[2:]]  # new shape (stretched to gs-multiple)
+                    imgs = nn.functional.interpolate(imgs, size=ns, mode='bilinear', align_corners=False)
+
+            # Forward
+            with amp.autocast(enabled=cuda):
+                pred = model(imgs)  # forward
+                #loss_items是将pred的预测，送入loss中计算！！！！
+                loss, loss_items = compute_loss(pred, targets.to(device))  # loss scaled by batch_size
+                if RANK != -1:
+                    loss *= WORLD_SIZE  # gradient averaged between devices in DDP mode
+                if opt.quad:
+                    loss *= 4.
+
+            # Backward
+            scaler.scale(loss).backward()
+
+            # Optimize
+            if ni - last_opt_step >= accumulate:
+                scaler.step(optimizer)  # optimizer.step
+                scaler.update()
+                optimizer.zero_grad()
+                if ema:
+                    ema.update(model)
+                last_opt_step = ni
+
+            # Log
+            if RANK in [-1, 0]:
+                mloss = (mloss * i + loss_items) / (i + 1)  # update mean losses
+                mem = f'{torch.cuda.memory_reserved() / 1E9 if torch.cuda.is_available() else 0:.3g}G'  # (GB)
+                pbar.set_description(('%10s' * 2 + '%10.4g' * 5) % (
+                    f'{epoch}/{epochs - 1}', mem, *mloss, targets.shape[0], imgs.shape[-1]))
+                callbacks.on_train_batch_end(ni, model, imgs, targets, paths, plots)
+            # end batch ------------------------------------------------------------------------------------------------
+
+        # Scheduler
+        lr = [x['lr'] for x in optimizer.param_groups]  # for loggers
+        scheduler.step()
+
+        if RANK in [-1, 0]:
+            # mAP
+            callbacks.on_train_epoch_end(epoch=epoch)
+            ema.update_attr(model, include=['yaml', 'nc', 'hyp', 'names', 'stride', 'class_weights'])
+            final_epoch = epoch + 1 == epochs
+            if not noval or final_epoch:  # Calculate mAP
+                results, maps, _ = val.run(data_dict,
+                                           batch_size=batch_size // WORLD_SIZE * 2,
+                                           imgsz=imgsz,
+                                           model=ema.ema,
+                                           single_cls=single_cls,
+                                           dataloader=val_loader,
+                                           save_dir=save_dir,
+                                           save_json=is_coco and final_epoch,
+                                           verbose=nc < 50 and final_epoch,
+                                           plots=plots and final_epoch,
+                                           callbacks=callbacks,
+                                           compute_loss=compute_loss)
+
+            # Update best mAP
+            fi = fitness(np.array(results).reshape(1, -1))  # weighted combination of [P, R, mAP@.5, mAP@.5-.95]
+            if fi > best_fitness:
+                best_fitness = fi
+            log_vals = list(mloss) + list(results) + lr
+            callbacks.on_fit_epoch_end(log_vals, epoch, best_fitness, fi)
+
+            # Save model
+            if (not nosave) or (final_epoch and not evolve):  # if save
+                ckpt = {'epoch': epoch,
+                        'best_fitness': best_fitness,
+                        'model': deepcopy(de_parallel(model)).half(),
+                        'ema': deepcopy(ema.ema).half(),
+                        'updates': ema.updates,
+                        'optimizer': optimizer.state_dict(),
+                        'wandb_id': loggers.wandb.wandb_run.id if loggers.wandb else None}
+
+                # Save last, best and delete
+                torch.save(ckpt, last)
+                if best_fitness == fi:
+                    torch.save(ckpt, best)
+                del ckpt
+                callbacks.on_model_save(last, epoch, final_epoch, best_fitness, fi)
+
+        # end epoch ----------------------------------------------------------------------------------------------------
+    # end training -----------------------------------------------------------------------------------------------------
+    if RANK in [-1, 0]:
+        LOGGER.info(f'\n{epoch - start_epoch + 1} epochs completed in {(time.time() - t0) / 3600:.3f} hours.')
+        if not evolve:
+            if is_coco:  # COCO dataset
+                for m in [last, best] if best.exists() else [last]:  # speed, mAP tests
+                    results, _, _ = val.run(data_dict,
+                                            batch_size=batch_size // WORLD_SIZE * 2,
+                                            imgsz=imgsz,
+                                            model=attempt_load(m, device).half(),
+                                            iou_thres=0.7,  # NMS IoU threshold for best pycocotools results
+                                            single_cls=single_cls,
+                                            dataloader=val_loader,
+                                            save_dir=save_dir,
+                                            save_json=True,
+                                            plots=False)
+            # Strip optimizers
+            for f in last, best:
+                if f.exists():
+                    strip_optimizer(f)  # strip optimizers
+        callbacks.on_train_end(last, best, plots, epoch)
+        LOGGER.info(f"Results saved to {colorstr('bold', save_dir)}")
+
+    torch.cuda.empty_cache()
+    return results
+
+
+def parse_opt(known=False):
+    parser = argparse.ArgumentParser()
+    #创建解析器:使用 argparse 的第一步是创建一个 ArgumentParser 对象。
+    #ArgumentParser 对象包含将命令行解析成 Python 数据类型所需的全部信息。
+    parser.add_argument('--weights', type=str, default='weights/yolov5s.pt', help='initial weights path') #调用 add_argument() 方法添加参数
+    # parser.add_argument('--weights', type=str, default='weights/last.pt', help='initial weights path') #调用 add_argument() 方法添加
+    # parser.add_argument('--weights', type=str, default='weights/v5_revise.pt', help='initial weights path')  # 调用 add_argument() 方法添加
+    # parser.add_argument('--weights', type=str, 'weights/yolov5s.pt', help='initial weights path')  # 这里没有调用初始化参数？？？
+    #这里恐怕没法用训练好权重，因为网络结构变了，增加了一个检测头。但是是否主干网络可以一样？如何冻结，需要思考！
+    # parser.add_argument('--cfg', type=str, default='models/yolov5m_add_detect.yaml', help='model.yaml path')#增加了检测头v5m
+    parser.add_argument('--cfg', type=str, default='models/yolov5s.yaml', help='model.yaml path')#采用了transformer模块
+    # parser.add_argument('--cfg', type=str, default='models/yolov5m-2transformer.yaml', help='model.yaml path')
+    parser.add_argument('--data', type=str, default='data/data_class_4.yaml', help='dataset.yaml path')
+    #数据集：训练集、验证集、测试集位置
+    parser.add_argument('--hyp', type=str, default='data/hyps/hyp.scratch.yaml', help='hyperparameters path')
+    #scratch.yaml为超参数起始配置文件
+    parser.add_argument('--epochs', type=int, default=500)
+    parser.add_argument('--batch-size', type=int, default=32, help='total batch size for all GPUs')
+    parser.add_argument('--imgsz', '--img', '--img-size', type=int, default=640, help='train, val image size (pixels)')
+    parser.add_argument('--rect', action='store_true', help='rectangular training')
+    parser.add_argument('--resume', nargs='?', const=True, default=False, help='resume most recent training')
+    # parser.add_argument('--resume', nargs='?', const=True, default=False, help='resume most recent training')
+    # parser.add_argument('--resume', nargs='?', const=True, default="/home/thsw/WJ/nyh/CODE/yolov5_smogfire/runs/train/exp6/weights/last.pt", help='resume most recent training')
+    #自动续上训练
+    parser.add_argument('--nosave', action='store_true', help='only save final checkpoint')
+    parser.add_argument('--noval', action='store_true', help='only validate final epoch')
+    parser.add_argument('--noautoanchor', action='store_true', help='disable autoanchor check')
+    parser.add_argument('--evolve', type=int, nargs='?', const=300, help='evolve hyperparameters for x generations')
+    parser.add_argument('--bucket', type=str, default='', help='gsutil bucket')
+    parser.add_argument('--cache', type=str, nargs='?', const='ram', help='--cache images in "ram" (default) or "disk"')
+    parser.add_argument('--image-weights', action='store_true', help='use weighted image selection for training')
+    parser.add_argument('--device', default='0', help='cuda device, i.e. 0 or 0,1,2,3 or cpu')
+    parser.add_argument('--multi-scale', action='store_true', help='vary img-size +/- 50%%')
+    parser.add_argument('--single-cls', action='store_true', help='train multi-class data as single-class')
+    parser.add_argument('--adam', action='store_true', help='use torch.optim.Adam() optimizer')#如果false就会是随机梯度下降SGD
+    parser.add_argument('--sync-bn', action='store_true', help='use SyncBatchNorm, only available in DDP mode')#多GPU训练
+    # parser.add_argument('--workers', type=int, default=8, help='maximum number of dataloader workers')
+    parser.add_argument('--workers', type=int, default=8, help='maximum number of dataloader workers')
+    #worker代表多线程？？？之前设置1，导致加载图片出现corrupted jpeg，可能是图像分辨率过高
+    parser.add_argument('--project', default='runs/train', help='save to project/name')#项目保存位置
+    parser.add_argument('--entity', default=None, help='W&B entity')
+    parser.add_argument('--name', default='exp', help='save to project/name')
+    parser.add_argument('--exist-ok', action='store_true', help='existing project/name ok, do not increment')#会自动更新到exp
+    parser.add_argument('--quad', action='store_true', help='quad dataloader')
+    parser.add_argument('--linear-lr', action='store_true', help='linear LR')#学习率进行调整
+    parser.add_argument('--label-smoothing', type=float, default=0.1, help='Label smoothing epsilon')
+    parser.add_argument('--upload_dataset', action='store_true', help='Upload dataset as W&B artifact table')
+    parser.add_argument('--bbox_interval', type=int, default=-1, help='Set bounding-box image logging interval for W&B')
+    parser.add_argument('--save_period', type=int, default=-1, help='Log model after every "save_period" epoch')#设置-1，就不会使用wandb
+    parser.add_argument('--artifact_alias', type=str, default="latest", help='version of dataset artifact to be used')
+    parser.add_argument('--local_rank', type=int, default=-1, help='DDP parameter, do not modify')
+    parser.add_argument('--freeze', type=int, default=0, help='Number of layers to freeze. backbone=10, all=24')
+    opt = parser.parse_known_args()[0] if known else parser.parse_args()
+    return opt#返回参数设置为opt
+
+
+def main(opt): #传入参数opt
+    # Checks
+    set_logging(RANK)
+    if RANK in [-1, 0]:
+        print(colorstr('train: ') + ', '.join(f'{k}={v}' for k, v in vars(opt).items()))
+        check_git_status()
+        check_requirements(requirements=FILE.parent / 'requirements.txt', exclude=['thop'])
+
+    # Resume
+    if opt.resume and not check_wandb_resume(opt) and not opt.evolve:  # resume an interrupted run
+        ckpt = opt.resume if isinstance(opt.resume, str) else get_latest_run()  # specified or most recent path
+        assert os.path.isfile(ckpt), 'ERROR: --resume checkpoint does not exist'
+        with open(Path(ckpt).parent.parent / 'opt.yaml') as f:
+            opt = argparse.Namespace(**yaml.safe_load(f))  # replace
+        opt.cfg, opt.weights, opt.resume = '', ckpt, True  # reinstate
+        LOGGER.info(f'Resuming training from {ckpt}')
+    else:
+        opt.data, opt.cfg, opt.hyp = check_file(opt.data), check_file(opt.cfg), check_file(opt.hyp)  # check files
+        assert len(opt.cfg) or len(opt.weights), 'either --cfg or --weights must be specified'
+        if opt.evolve:
+            opt.project = 'runs/evolve'
+            opt.exist_ok = opt.resume
+        opt.save_dir = str(increment_path(Path(opt.project) / opt.name, exist_ok=opt.exist_ok))
+
+    # DDP mode
+    device = select_device(opt.device, batch_size=opt.batch_size)
+    if LOCAL_RANK != -1:
+        from datetime import timedelta
+        assert torch.cuda.device_count() > LOCAL_RANK, 'insufficient CUDA devices for DDP command'
+        assert opt.batch_size % WORLD_SIZE == 0, '--batch-size must be multiple of CUDA device count'
+        assert not opt.image_weights, '--image-weights argument is not compatible with DDP training'
+        assert not opt.evolve, '--evolve argument is not compatible with DDP training'
+        assert not opt.sync_bn, '--sync-bn known training issue, see https://github.com/ultralytics/yolov5/issues/3998'
+        torch.cuda.set_device(LOCAL_RANK)
+        device = torch.device('cuda', LOCAL_RANK)
+        dist.init_process_group(backend="nccl" if dist.is_nccl_available() else "gloo", timeout=timedelta(seconds=60))
+
+    # Train
+    if not opt.evolve:
+        train(opt.hyp, opt, device)
+        if WORLD_SIZE > 1 and RANK == 0:
+            _ = [print('Destroying process group... ', end=''), dist.destroy_process_group(), print('Done.')]
+
+    # Evolve hyperparameters (optional)
+    else:
+        # Hyperparameter evolution metadata (mutation scale 0-1, lower_limit, upper_limit)
+        meta = {'lr0': (1, 1e-5, 1e-1),  # initial learning rate (SGD=1E-2, Adam=1E-3)
+                'lrf': (1, 0.01, 1.0),  # final OneCycleLR learning rate (lr0 * lrf)
+                'momentum': (0.3, 0.6, 0.98),  # SGD momentum/Adam beta1
+                'weight_decay': (1, 0.0, 0.001),  # optimizer weight decay
+                'warmup_epochs': (1, 0.0, 5.0),  # warmup epochs (fractions ok)
+                'warmup_momentum': (1, 0.0, 0.95),  # warmup initial momentum
+                'warmup_bias_lr': (1, 0.0, 0.2),  # warmup initial bias lr
+                'box': (1, 0.02, 0.2),  # box loss gain
+                'cls': (1, 0.2, 4.0),  # cls loss gain
+                'cls_pw': (1, 0.5, 2.0),  # cls BCELoss positive_weight
+                'obj': (1, 0.2, 4.0),  # obj loss gain (scale with pixels)
+                'obj_pw': (1, 0.5, 2.0),  # obj BCELoss positive_weight
+                'iou_t': (0, 0.1, 0.7),  # IoU training threshold
+                'anchor_t': (1, 2.0, 8.0),  # anchor-multiple threshold
+                'anchors': (2, 2.0, 10.0),  # anchors per output grid (0 to ignore)
+                'fl_gamma': (0, 0.0, 2.0),  # focal loss gamma (efficientDet default gamma=1.5)
+                'hsv_h': (1, 0.0, 0.1),  # image HSV-Hue augmentation (fraction)
+                'hsv_s': (1, 0.0, 0.9),  # image HSV-Saturation augmentation (fraction)
+                'hsv_v': (1, 0.0, 0.9),  # image HSV-Value augmentation (fraction)
+                'degrees': (1, 0.0, 45.0),  # image rotation (+/- deg)
+                'translate': (1, 0.0, 0.9),  # image translation (+/- fraction)
+                'scale': (1, 0.0, 0.9),  # image scale (+/- gain)
+                'shear': (1, 0.0, 10.0),  # image shear (+/- deg)
+                'perspective': (0, 0.0, 0.001),  # image perspective (+/- fraction), range 0-0.001
+                'flipud': (1, 0.0, 1.0),  # image flip up-down (probability)
+                'fliplr': (0, 0.0, 1.0),  # image flip left-right (probability)
+                'mosaic': (1, 0.0, 1.0),  # image mixup (probability)
+                'mixup': (1, 0.0, 1.0),  # image mixup (probability)
+                'copy_paste': (1, 0.0, 1.0)}  # segment copy-paste (probability)
+
+        with open(opt.hyp) as f:
+            hyp = yaml.safe_load(f)  # load hyps dict
+            if 'anchors' not in hyp:  # anchors commented in hyp.yaml
+                hyp['anchors'] = 3
+        opt.noval, opt.nosave, save_dir = True, True, Path(opt.save_dir)  # only val/save final epoch
+        # ei = [isinstance(x, (int, float)) for x in hyp.values()]  # evolvable indices
+        evolve_yaml, evolve_csv = save_dir / 'hyp_evolve.yaml', save_dir / 'evolve.csv'
+        if opt.bucket:
+            os.system(f'gsutil cp gs://{opt.bucket}/evolve.csv {save_dir}')  # download evolve.csv if exists
+
+        for _ in range(opt.evolve):  # generations to evolve
+            if evolve_csv.exists():  # if evolve.csv exists: select best hyps and mutate
+                # Select parent(s)
+                parent = 'single'  # parent selection method: 'single' or 'weighted'
+                x = np.loadtxt(evolve_csv, ndmin=2, delimiter=',', skiprows=1)
+                n = min(5, len(x))  # number of previous results to consider
+                x = x[np.argsort(-fitness(x))][:n]  # top n mutations
+                w = fitness(x) - fitness(x).min() + 1E-6  # weights (sum > 0)
+                if parent == 'single' or len(x) == 1:
+                    # x = x[random.randint(0, n - 1)]  # random selection
+                    x = x[random.choices(range(n), weights=w)[0]]  # weighted selection
+                elif parent == 'weighted':
+                    x = (x * w.reshape(n, 1)).sum(0) / w.sum()  # weighted combination
+
+                # Mutate
+                mp, s = 0.8, 0.2  # mutation probability, sigma
+                npr = np.random
+                npr.seed(int(time.time()))
+                g = np.array([x[0] for x in meta.values()])  # gains 0-1
+                ng = len(meta)
+                v = np.ones(ng)
+                while all(v == 1):  # mutate until a change occurs (prevent duplicates)
+                    v = (g * (npr.random(ng) < mp) * npr.randn(ng) * npr.random() * s + 1).clip(0.3, 3.0)
+                for i, k in enumerate(hyp.keys()):  # plt.hist(v.ravel(), 300)
+                    hyp[k] = float(x[i + 7] * v[i])  # mutate
+
+            # Constrain to limits
+            for k, v in meta.items():
+                hyp[k] = max(hyp[k], v[1])  # lower limit
+                hyp[k] = min(hyp[k], v[2])  # upper limit
+                hyp[k] = round(hyp[k], 5)  # significant digits
+
+            # Train mutation
+            results = train(hyp.copy(), opt, device)
+
+            # Write mutation results
+            print_mutation(results, hyp.copy(), save_dir, opt.bucket)
+
+        # Plot results
+        plot_evolve(evolve_csv)
+        print(f'Hyperparameter evolution finished\n'
+              f"Results saved to {colorstr('bold', save_dir)}\n"
+              f'Use best hyperparameters example: $ python train.py --hyp {evolve_yaml}')
+
+
+def run(**kwargs):
+    # Usage: import train; train.run(data='coco128.yaml', imgsz=320, weights='yolov5m.pt')
+    opt = parse_opt(True)
+    for k, v in kwargs.items():
+        setattr(opt, k, v)
+    main(opt)
+
+
+if __name__ == "__main__":
+    opt = parse_opt()
+    main(opt)
--- a/utils/init.py
+++ b/utils/init.py
--- a/utils/pycache/init.cpython-37.pyc
+++ b/utils/pycache/init.cpython-37.pyc
--- a/utils/pycache/init.cpython-38.pyc
+++ b/utils/pycache/init.cpython-38.pyc
--- a/utils/pycache/augmentations.cpython-37.pyc
+++ b/utils/pycache/augmentations.cpython-37.pyc
--- a/utils/pycache/augmentations.cpython-38.pyc
+++ b/utils/pycache/augmentations.cpython-38.pyc
--- a/utils/pycache/autoanchor.cpython-37.pyc
+++ b/utils/pycache/autoanchor.cpython-37.pyc
--- a/utils/pycache/autoanchor.cpython-38.pyc
+++ b/utils/pycache/autoanchor.cpython-38.pyc
--- a/utils/pycache/callbacks.cpython-37.pyc
+++ b/utils/pycache/callbacks.cpython-37.pyc
--- a/utils/pycache/callbacks.cpython-38.pyc
+++ b/utils/pycache/callbacks.cpython-38.pyc
--- a/utils/pycache/datasets.cpython-37.pyc
+++ b/utils/pycache/datasets.cpython-37.pyc
--- a/utils/pycache/datasets.cpython-38.pyc
+++ b/utils/pycache/datasets.cpython-38.pyc
--- a/utils/pycache/downloads.cpython-37.pyc
+++ b/utils/pycache/downloads.cpython-37.pyc
--- a/utils/pycache/downloads.cpython-38.pyc
+++ b/utils/pycache/downloads.cpython-38.pyc
--- a/utils/pycache/general.cpython-37.pyc
+++ b/utils/pycache/general.cpython-37.pyc
--- a/utils/pycache/general.cpython-38.pyc
+++ b/utils/pycache/general.cpython-38.pyc
--- a/utils/pycache/loss.cpython-37.pyc
+++ b/utils/pycache/loss.cpython-37.pyc
--- a/utils/pycache/loss.cpython-38.pyc
+++ b/utils/pycache/loss.cpython-38.pyc
--- a/Show More
+++ b/Show More