52 lines
1.6 KiB
YAML
Executable File
52 lines
1.6 KiB
YAML
Executable File
# Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
|
|
|
|
# Ultralytics YOLO26 3D detection model with P3/8 - P5/32 outputs
|
|
# Extends yolo26.yaml with Detect3D head for joint 2D+3D detection
|
|
|
|
# Parameters
|
|
nc: 80 # number of classes
|
|
end2end: True # whether to use end-to-end mode
|
|
reg_max: 1 # DFL bins
|
|
scales: # model compound scaling constants
|
|
# [depth, width, max_channels]
|
|
n: [0.50, 0.25, 1024]
|
|
s: [0.50, 0.50, 1024]
|
|
m: [0.50, 1.00, 512]
|
|
l: [1.00, 1.00, 512]
|
|
x: [1.00, 1.50, 512]
|
|
|
|
# YOLO26n backbone
|
|
backbone:
|
|
# [from, repeats, module, args]
|
|
- [-1, 1, Conv, [64, 3, 2]] # 0-P1/2
|
|
- [-1, 1, Conv, [128, 3, 2]] # 1-P2/4
|
|
- [-1, 2, C3k2, [256, False, 0.25]]
|
|
- [-1, 1, Conv, [256, 3, 2]] # 3-P3/8
|
|
- [-1, 2, C3k2, [512, False, 0.25]]
|
|
- [-1, 1, Conv, [512, 3, 2]] # 5-P4/16
|
|
- [-1, 2, C3k2, [512, True]]
|
|
- [-1, 1, Conv, [1024, 3, 2]] # 7-P5/32
|
|
- [-1, 2, C3k2, [1024, True]]
|
|
- [-1, 1, SPPF, [1024, 5, 3, True]] # 9
|
|
- [-1, 2, C2PSA, [1024]] # 10
|
|
|
|
# YOLO26n head
|
|
head:
|
|
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
|
|
- [[-1, 6], 1, Concat, [1]] # cat backbone P4
|
|
- [-1, 2, C3k2, [512, True]] # 13
|
|
|
|
- [-1, 1, nn.Upsample, [None, 2, "nearest"]]
|
|
- [[-1, 4], 1, Concat, [1]] # cat backbone P3
|
|
- [-1, 2, C3k2, [256, True]] # 16 (P3/8-small)
|
|
|
|
- [-1, 1, Conv, [256, 3, 2]]
|
|
- [[-1, 13], 1, Concat, [1]] # cat head P4
|
|
- [-1, 2, C3k2, [512, True]] # 19 (P4/16-medium)
|
|
|
|
- [-1, 1, Conv, [512, 3, 2]]
|
|
- [[-1, 10], 1, Concat, [1]] # cat head P5
|
|
- [-1, 1, C3k2, [1024, True, 0.5, True]] # 22 (P5/32-large)
|
|
|
|
- [[16, 19, 22], 1, Detect3D, [nc]] # Detect3D(P3, P4, P5)
|