Reference for ultralytics/utils/benchmarks.py

class RF100Benchmark:
    """Benchmark YOLO model performance across various formats for speed and accuracy.

    This class provides functionality to benchmark YOLO models on the RF100 dataset collection.

    Attributes:
        ds_names (list[str]): Names of datasets used for benchmarking.
        ds_cfg_list (list[Path]): List of paths to dataset configuration files.
        rf (Roboflow): Roboflow instance for accessing datasets.
        val_metrics (list[str]): Metrics used for validation.

    Methods:
        set_key: Set Roboflow API key for accessing datasets.
        parse_dataset: Parse dataset links and download datasets.
        fix_yaml: Fix train and validation paths in YAML files.
        evaluate: Evaluate model performance on validation results.
    """

    def __init__(self):
        """Initialize the RF100Benchmark class for benchmarking YOLO model performance across various formats."""
        self.ds_names = []
        self.ds_cfg_list = []
        self.rf = None
        self.val_metrics = ["class", "images", "targets", "precision", "recall", "map50", "map95"]

def evaluate(self, yaml_path: str, val_log_file: str, eval_log_file: str, list_ind: int):
    """Evaluate model performance on validation results.

    Args:
        yaml_path (str): Path to the YAML configuration file.
        val_log_file (str): Path to the validation log file.
        eval_log_file (str): Path to the evaluation log file.
        list_ind (int): Index of the current dataset in the list.

    Returns:
        (float): The mean average precision (mAP) value for the evaluated model.

    Examples:
        Evaluate a model on a specific dataset
        >>> benchmark = RF100Benchmark()
        >>> benchmark.evaluate("path/to/data.yaml", "path/to/val_log.txt", "path/to/eval_log.txt", 0)
    """
    skip_symbols = ["🚀", "⚠️", "💡", "❌"]
    class_names = YAML.load(yaml_path)["names"]
    with open(val_log_file, encoding="utf-8") as f:
        lines = f.readlines()
        eval_lines = []
        for line in lines:
            if any(symbol in line for symbol in skip_symbols):
                continue
            entries = line.split(" ")
            entries = list(filter(lambda val: val != "", entries))
            entries = [e.strip("\n") for e in entries]
            eval_lines.extend(
                {
                    "class": entries[0],
                    "images": entries[1],
                    "targets": entries[2],
                    "precision": entries[3],
                    "recall": entries[4],
                    "map50": entries[5],
                    "map95": entries[6],
                }
                for e in entries
                if e in class_names or (e == "all" and "(AP)" not in entries and "(AR)" not in entries)
            )
    map_val = 0.0
    if len(eval_lines) > 1:
        LOGGER.info("Multiple dicts found")
        for lst in eval_lines:
            if lst["class"] == "all":
                map_val = lst["map50"]
    else:
        LOGGER.info("Single dict found")
        map_val = next(res["map50"] for res in eval_lines)

    with open(eval_log_file, "a", encoding="utf-8") as f:
        f.write(f"{self.ds_names[list_ind]}: {map_val}\n")

    return float(map_val)

@staticmethod
def fix_yaml(path: Path):
    """Fix the train and validation paths in a given YAML file."""
    yaml_data = YAML.load(path)
    yaml_data["train"] = "train/images"
    yaml_data["val"] = "valid/images"
    YAML.dump(yaml_data, path)

def parse_dataset(self, ds_link_txt: str = "datasets_links.txt"):
    """Parse dataset links and download datasets.

    Args:
        ds_link_txt (str): Path to the file containing dataset links.

    Returns:
        ds_names (list[str]): List of dataset names.
        ds_cfg_list (list[Path]): List of paths to dataset configuration files.

    Examples:
        >>> benchmark = RF100Benchmark()
        >>> benchmark.set_key("api_key")
        >>> benchmark.parse_dataset("datasets_links.txt")
    """
    (shutil.rmtree("rf-100"), os.mkdir("rf-100")) if os.path.exists("rf-100") else os.mkdir("rf-100")
    os.chdir("rf-100")
    os.mkdir("ultralytics-benchmarks")
    safe_download(f"{ASSETS_URL}/datasets_links.txt")

    with open(ds_link_txt, encoding="utf-8") as file:
        for line in file:
            try:
                _, _url, workspace, project, version = re.split("/+", line.strip())
                self.ds_names.append(project)
                proj_version = f"{project}-{version}"
                if not Path(proj_version).exists():
                    self.rf.workspace(workspace).project(project).version(version).download("yolov8")
                else:
                    LOGGER.info("Dataset already downloaded.")
                self.ds_cfg_list.append(Path.cwd() / proj_version / "data.yaml")
            except Exception:
                continue

    return self.ds_names, self.ds_cfg_list

def set_key(self, api_key: str):
    """Set Roboflow API key for processing.

    Args:
        api_key (str): The API key.

    Examples:
        Set the Roboflow API key for accessing datasets:
        >>> benchmark = RF100Benchmark()
        >>> benchmark.set_key("your_roboflow_api_key")
    """
    check_requirements("roboflow")
    from roboflow import Roboflow

    self.rf = Roboflow(api_key=api_key)

class ProfileModels:
    """ProfileModels class for profiling different models on ONNX and TensorRT.

    This class profiles the performance of different models, returning results such as model speed and FLOPs.

    Attributes:
        paths (list[str]): Paths of the models to profile.
        num_timed_runs (int): Number of timed runs for the profiling.
        num_warmup_runs (int): Number of warmup runs before profiling.
        min_time (float): Minimum number of seconds to profile for.
        imgsz (int): Image size used in the models.
        half (bool): Flag to indicate whether to use FP16 half-precision for TensorRT profiling.
        trt (bool): Flag to indicate whether to profile using TensorRT.
        device (torch.device): Device used for profiling.

    Methods:
        run: Profile YOLO models for speed and accuracy across various formats.
        get_files: Get all relevant model files.
        get_onnx_model_info: Extract metadata from an ONNX model.
        iterative_sigma_clipping: Apply sigma clipping to remove outliers.
        profile_tensorrt_model: Profile a TensorRT model.
        profile_onnx_model: Profile an ONNX model.
        generate_table_row: Generate a table row with model metrics.
        generate_results_dict: Generate a dictionary of profiling results.
        print_table: Print a formatted table of results.

    Examples:
        Profile models and print results
        >>> from ultralytics.utils.benchmarks import ProfileModels
        >>> profiler = ProfileModels(["yolo11n.yaml", "yolov8s.yaml"], imgsz=640)
        >>> profiler.run()
    """

    def __init__(
        self,
        paths: list[str],
        num_timed_runs: int = 100,
        num_warmup_runs: int = 10,
        min_time: float = 60,
        imgsz: int = 640,
        half: bool = True,
        trt: bool = True,
        device: torch.device | str | None = None,
    ):
        """Initialize the ProfileModels class for profiling models.

        Args:
            paths (list[str]): List of paths of the models to be profiled.
            num_timed_runs (int): Number of timed runs for the profiling.
            num_warmup_runs (int): Number of warmup runs before the actual profiling starts.
            min_time (float): Minimum time in seconds for profiling a model.
            imgsz (int): Size of the image used during profiling.
            half (bool): Flag to indicate whether to use FP16 half-precision for TensorRT profiling.
            trt (bool): Flag to indicate whether to profile using TensorRT.
            device (torch.device | str | None): Device used for profiling. If None, it is determined automatically.

        Notes:
            FP16 'half' argument option removed for ONNX as slower on CPU than FP32.
        """
        self.paths = paths
        self.num_timed_runs = num_timed_runs
        self.num_warmup_runs = num_warmup_runs
        self.min_time = min_time
        self.imgsz = imgsz
        self.half = half
        self.trt = trt  # run TensorRT profiling
        self.device = device if isinstance(device, torch.device) else select_device(device)

@staticmethod
def check_dynamic(tensor_shape):
    """Check whether the tensor shape in the ONNX model is dynamic."""
    return not all(isinstance(dim, int) and dim >= 0 for dim in tensor_shape)

@staticmethod
def generate_results_dict(
    model_name: str,
    t_onnx: tuple[float, float],
    t_engine: tuple[float, float],
    model_info: tuple[float, float, float, float],
):
    """Generate a dictionary of profiling results.

    Args:
        model_name (str): Name of the model.
        t_onnx (tuple): ONNX model inference time statistics (mean, std).
        t_engine (tuple): TensorRT engine inference time statistics (mean, std).
        model_info (tuple): Model information (layers, params, gradients, flops).

    Returns:
        (dict): Dictionary containing profiling results.
    """
    _layers, params, _gradients, flops = model_info
    return {
        "model/name": model_name,
        "model/parameters": params,
        "model/GFLOPs": round(flops, 3),
        "model/speed_ONNX(ms)": round(t_onnx[0], 3),
        "model/speed_TensorRT(ms)": round(t_engine[0], 3),
    }

def generate_table_row(
    self,
    model_name: str,
    t_onnx: tuple[float, float],
    t_engine: tuple[float, float],
    model_info: tuple[float, float, float, float],
):
    """Generate a table row string with model performance metrics.

    Args:
        model_name (str): Name of the model.
        t_onnx (tuple): ONNX model inference time statistics (mean, std).
        t_engine (tuple): TensorRT engine inference time statistics (mean, std).
        model_info (tuple): Model information (layers, params, gradients, flops).

    Returns:
        (str): Formatted table row string with model metrics.
    """
    _layers, params, _gradients, flops = model_info
    return (
        f"| {model_name:18s} | {self.imgsz} | - | {t_onnx[0]:.1f}±{t_onnx[1]:.1f} ms | {t_engine[0]:.1f}±"
        f"{t_engine[1]:.1f} ms | {params / 1e6:.1f} | {flops:.1f} |"
    )

def get_files(self):
    """Return a list of paths for all relevant model files given by the user.

    Returns:
        (list[Path]): List of Path objects for the model files.
    """
    files = []
    for path in self.paths:
        path = Path(path)
        if path.is_dir():
            extensions = ["*.pt", "*.onnx", "*.yaml"]
            files.extend([file for ext in extensions for file in glob.glob(str(path / ext))])
        elif path.suffix in {".pt", ".yaml", ".yml"}:  # add non-existing
            files.append(str(path))
        else:
            files.extend(glob.glob(str(path)))

    LOGGER.info(f"Profiling: {sorted(files)}")
    return [Path(file) for file in sorted(files)]

@staticmethod
def get_onnx_model_info(onnx_file: str):
    """Extract metadata from an ONNX model file including parameters, GFLOPs, and input shape."""
    return 0.0, 0.0, 0.0, 0.0  # return (num_layers, num_params, num_gradients, num_flops)

@staticmethod
def iterative_sigma_clipping(data: np.ndarray, sigma: float = 2, max_iters: int = 3):
    """Apply iterative sigma clipping to data to remove outliers.

    Args:
        data (np.ndarray): Input data array.
        sigma (float): Number of standard deviations to use for clipping.
        max_iters (int): Maximum number of iterations for the clipping process.

    Returns:
        (np.ndarray): Clipped data array with outliers removed.
    """
    data = np.array(data)
    for _ in range(max_iters):
        mean, std = np.mean(data), np.std(data)
        clipped_data = data[(data > mean - sigma * std) & (data < mean + sigma * std)]
        if len(clipped_data) == len(data):
            break
        data = clipped_data
    return data

@staticmethod
def print_table(table_rows: list[str]):
    """Print a formatted table of model profiling results.

    Args:
        table_rows (list[str]): List of formatted table row strings.
    """
    gpu = torch.cuda.get_device_name(0) if torch.cuda.is_available() else "GPU"
    headers = [
        "Model",
        "size<br><sup>(pixels)",
        "mAP<sup>val<br>50-95",
        f"Speed<br><sup>CPU ({get_cpu_info()}) ONNX<br>(ms)",
        f"Speed<br><sup>{gpu} TensorRT<br>(ms)",
        "params<br><sup>(M)",
        "FLOPs<br><sup>(B)",
    ]
    header = "|" + "|".join(f" {h} " for h in headers) + "|"
    separator = "|" + "|".join("-" * (len(h) + 2) for h in headers) + "|"

    LOGGER.info(f"\n\n{header}")
    LOGGER.info(separator)
    for row in table_rows:
        LOGGER.info(row)

def profile_onnx_model(self, onnx_file: str, eps: float = 1e-3):
    """Profile an ONNX model, measuring average inference time and standard deviation across multiple runs.

    Args:
        onnx_file (str): Path to the ONNX model file.
        eps (float): Small epsilon value to prevent division by zero.

    Returns:
        mean_time (float): Mean inference time in milliseconds.
        std_time (float): Standard deviation of inference time in milliseconds.
    """
    check_requirements([("onnxruntime", "onnxruntime-gpu")])  # either package meets requirements
    import onnxruntime as ort

    # Session with either 'TensorrtExecutionProvider', 'CUDAExecutionProvider', 'CPUExecutionProvider'
    sess_options = ort.SessionOptions()
    sess_options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
    sess_options.intra_op_num_threads = 8  # Limit the number of threads
    sess = ort.InferenceSession(onnx_file, sess_options, providers=["CPUExecutionProvider"])

    input_data_dict = {}
    for input_tensor in sess.get_inputs():
        input_type = input_tensor.type
        if self.check_dynamic(input_tensor.shape):
            if len(input_tensor.shape) != 4 and self.check_dynamic(input_tensor.shape[1:]):
                raise ValueError(f"Unsupported dynamic shape {input_tensor.shape} of {input_tensor.name}")
            input_shape = (
                (1, 3, self.imgsz, self.imgsz) if len(input_tensor.shape) == 4 else (1, *input_tensor.shape[1:])
            )
        else:
            input_shape = input_tensor.shape

        # Mapping ONNX datatype to numpy datatype
        if "float16" in input_type:
            input_dtype = np.float16
        elif "float" in input_type:
            input_dtype = np.float32
        elif "double" in input_type:
            input_dtype = np.float64
        elif "int64" in input_type:
            input_dtype = np.int64
        elif "int32" in input_type:
            input_dtype = np.int32
        else:
            raise ValueError(f"Unsupported ONNX datatype {input_type}")

        input_data = np.random.rand(*input_shape).astype(input_dtype)
        input_name = input_tensor.name
        input_data_dict[input_name] = input_data

    output_name = sess.get_outputs()[0].name

    # Warmup runs
    elapsed = 0.0
    for _ in range(3):
        start_time = time.time()
        for _ in range(self.num_warmup_runs):
            sess.run([output_name], input_data_dict)
        elapsed = time.time() - start_time

    # Compute number of runs as higher of min_time or num_timed_runs
    num_runs = max(round(self.min_time / (elapsed + eps) * self.num_warmup_runs), self.num_timed_runs)

    # Timed runs
    run_times = []
    for _ in TQDM(range(num_runs), desc=onnx_file):
        start_time = time.time()
        sess.run([output_name], input_data_dict)
        run_times.append((time.time() - start_time) * 1000)  # Convert to milliseconds

    run_times = self.iterative_sigma_clipping(np.array(run_times), sigma=2, max_iters=5)  # sigma clipping
    return np.mean(run_times), np.std(run_times)

def profile_tensorrt_model(self, engine_file: str, eps: float = 1e-3):
    """Profile YOLO model performance with TensorRT, measuring average run time and standard deviation.

    Args:
        engine_file (str): Path to the TensorRT engine file.
        eps (float): Small epsilon value to prevent division by zero.

    Returns:
        mean_time (float): Mean inference time in milliseconds.
        std_time (float): Standard deviation of inference time in milliseconds.
    """
    if not self.trt or not Path(engine_file).is_file():
        return 0.0, 0.0

    # Model and input
    model = YOLO(engine_file)
    input_data = np.zeros((self.imgsz, self.imgsz, 3), dtype=np.uint8)  # use uint8 for Classify

    # Warmup runs
    elapsed = 0.0
    for _ in range(3):
        start_time = time.time()
        for _ in range(self.num_warmup_runs):
            model(input_data, imgsz=self.imgsz, verbose=False)
        elapsed = time.time() - start_time

    # Compute number of runs as higher of min_time or num_timed_runs
    num_runs = max(round(self.min_time / (elapsed + eps) * self.num_warmup_runs), self.num_timed_runs * 50)

    # Timed runs
    run_times = []
    for _ in TQDM(range(num_runs), desc=engine_file):
        results = model(input_data, imgsz=self.imgsz, verbose=False)
        run_times.append(results[0].speed["inference"])  # Convert to milliseconds

    run_times = self.iterative_sigma_clipping(np.array(run_times), sigma=2, max_iters=3)  # sigma clipping
    return np.mean(run_times), np.std(run_times)

def run(self):
    """Profile YOLO models for speed and accuracy across various formats including ONNX and TensorRT.

    Returns:
        (list[dict]): List of dictionaries containing profiling results for each model.

    Examples:
        Profile models and print results
        >>> from ultralytics.utils.benchmarks import ProfileModels
        >>> profiler = ProfileModels(["yolo11n.yaml", "yolov8s.yaml"])
        >>> results = profiler.run()
    """
    files = self.get_files()

    if not files:
        LOGGER.warning("No matching *.pt or *.onnx files found.")
        return []

    table_rows = []
    output = []
    for file in files:
        engine_file = file.with_suffix(".engine")
        if file.suffix in {".pt", ".yaml", ".yml"}:
            model = YOLO(str(file))
            model.fuse()  # to report correct params and GFLOPs in model.info()
            model_info = model.info()
            if self.trt and self.device.type != "cpu" and not engine_file.is_file():
                engine_file = model.export(
                    format="engine",
                    half=self.half,
                    imgsz=self.imgsz,
                    device=self.device,
                    verbose=False,
                )
            onnx_file = model.export(
                format="onnx",
                imgsz=self.imgsz,
                device=self.device,
                verbose=False,
            )
        elif file.suffix == ".onnx":
            model_info = self.get_onnx_model_info(file)
            onnx_file = file
        else:
            continue

        t_engine = self.profile_tensorrt_model(str(engine_file))
        t_onnx = self.profile_onnx_model(str(onnx_file))
        table_rows.append(self.generate_table_row(file.stem, t_onnx, t_engine, model_info))
        output.append(self.generate_results_dict(file.stem, t_onnx, t_engine, model_info))

    self.print_table(table_rows)
    return output

def benchmark(
    model=WEIGHTS_DIR / "yolo11n.pt",
    data=None,
    imgsz=160,
    half=False,
    int8=False,
    device="cpu",
    verbose=False,
    eps=1e-3,
    format="",
    **kwargs,
):
    """Benchmark a YOLO model across different formats for speed and accuracy.

    Args:
        model (str | Path): Path to the model file or directory.
        data (str | None): Dataset to evaluate on, inherited from TASK2DATA if not passed.
        imgsz (int): Image size for the benchmark.
        half (bool): Use half-precision for the model if True.
        int8 (bool): Use int8-precision for the model if True.
        device (str): Device to run the benchmark on, either 'cpu' or 'cuda'.
        verbose (bool | float): If True or a float, assert benchmarks pass with given metric.
        eps (float): Epsilon value for divide by zero prevention.
        format (str): Export format for benchmarking. If not supplied all formats are benchmarked.
        **kwargs (Any): Additional keyword arguments for exporter.

    Returns:
        (polars.DataFrame): A polars DataFrame with benchmark results for each format, including file size, metric, and
            inference time.

    Examples:
        Benchmark a YOLO model with default settings:
        >>> from ultralytics.utils.benchmarks import benchmark
        >>> benchmark(model="yolo11n.pt", imgsz=640)
    """
    imgsz = check_imgsz(imgsz)
    assert imgsz[0] == imgsz[1] if isinstance(imgsz, list) else True, "benchmark() only supports square imgsz."

    import polars as pl  # scope for faster 'import ultralytics'

    pl.Config.set_tbl_cols(-1)  # Show all columns
    pl.Config.set_tbl_rows(-1)  # Show all rows
    pl.Config.set_tbl_width_chars(-1)  # No width limit
    pl.Config.set_tbl_hide_column_data_types(True)  # Hide data types
    pl.Config.set_tbl_hide_dataframe_shape(True)  # Hide shape info
    pl.Config.set_tbl_formatting("ASCII_BORDERS_ONLY_CONDENSED")

    device = select_device(device, verbose=False)
    if isinstance(model, (str, Path)):
        model = YOLO(model)
    is_end2end = getattr(model.model.model[-1], "end2end", False)
    data = data or TASK2DATA[model.task]  # task to dataset, i.e. coco8.yaml for task=detect
    key = TASK2METRIC[model.task]  # task to metric, i.e. metrics/mAP50-95(B) for task=detect

    y = []
    t0 = time.time()

    format_arg = format.lower()
    if format_arg:
        formats = frozenset(export_formats()["Argument"])
        assert format in formats, f"Expected format to be one of {formats}, but got '{format_arg}'."
    for name, format, suffix, cpu, gpu, _ in zip(*export_formats().values()):
        emoji, filename = "❌", None  # export defaults
        try:
            if format_arg and format_arg != format:
                continue

            # Checks
            if format == "pb":
                assert model.task != "obb", "TensorFlow GraphDef not supported for OBB task"
            elif format == "edgetpu":
                assert LINUX and not ARM64, "Edge TPU export only supported on non-aarch64 Linux"
            elif format in {"coreml", "tfjs"}:
                assert MACOS or (LINUX and not ARM64), (
                    "CoreML and TF.js export only supported on macOS and non-aarch64 Linux"
                )
            if format == "coreml":
                assert not IS_PYTHON_3_13, "CoreML not supported on Python 3.13"
            if format in {"saved_model", "pb", "tflite", "edgetpu", "tfjs"}:
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 TensorFlow exports not supported by onnx2tf yet"
                # assert not IS_PYTHON_MINIMUM_3_12, "TFLite exports not supported on Python>=3.12 yet"
            if format == "paddle":
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 Paddle exports not supported yet"
                assert model.task != "obb", "Paddle OBB bug https://github.com/PaddlePaddle/Paddle/issues/72024"
                assert not is_end2end, "End-to-end models not supported by PaddlePaddle yet"
                assert (LINUX and not IS_JETSON) or MACOS, "Windows and Jetson Paddle exports not supported yet"
            if format == "mnn":
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 MNN exports not supported yet"
            if format == "ncnn":
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 NCNN exports not supported yet"
            if format == "imx":
                assert not is_end2end
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 IMX exports not supported"
                assert model.task in {"detect", "classify", "pose"}, (
                    "IMX export is only supported for detection, classification and pose estimation tasks"
                )
                assert "C2f" in model.__str__(), "IMX only supported for YOLOv8n and YOLO11n"
            if format == "rknn":
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 RKNN exports not supported yet"
                assert not is_end2end, "End-to-end models not supported by RKNN yet"
                assert LINUX, "RKNN only supported on Linux"
                assert not is_rockchip(), "RKNN Inference only supported on Rockchip devices"
            if format == "executorch":
                assert not isinstance(model, YOLOWorld), "YOLOWorldv2 ExecuTorch exports not supported yet"
                assert not is_end2end, "End-to-end models not supported by ExecuTorch yet"
            if "cpu" in device.type:
                assert cpu, "inference not supported on CPU"
            if "cuda" in device.type:
                assert gpu, "inference not supported on GPU"

            # Export
            if format == "-":
                filename = model.pt_path or model.ckpt_path or model.model_name
                exported_model = model  # PyTorch format
            else:
                filename = model.export(
                    imgsz=imgsz, format=format, half=half, int8=int8, data=data, device=device, verbose=False, **kwargs
                )
                exported_model = YOLO(filename, task=model.task)
                assert suffix in str(filename), "export failed"
            emoji = "❎"  # indicates export succeeded

            # Predict
            assert model.task != "pose" or format != "pb", "GraphDef Pose inference is not supported"
            assert model.task != "pose" or format != "executorch", "ExecuTorch Pose inference is not supported"
            assert format not in {"edgetpu", "tfjs"}, "inference not supported"
            assert format != "coreml" or platform.system() == "Darwin", "inference only supported on macOS>=10.13"
            if format == "ncnn":
                assert not is_end2end, "End-to-end torch.topk operation is not supported for NCNN prediction yet"
            exported_model.predict(ASSETS / "bus.jpg", imgsz=imgsz, device=device, half=half, verbose=False)

            # Validate
            results = exported_model.val(
                data=data,
                batch=1,
                imgsz=imgsz,
                plots=False,
                device=device,
                half=half,
                int8=int8,
                verbose=False,
                conf=0.001,  # all the pre-set benchmark mAP values are based on conf=0.001
            )
            metric, speed = results.results_dict[key], results.speed["inference"]
            fps = round(1000 / (speed + eps), 2)  # frames per second
            y.append([name, "✅", round(file_size(filename), 1), round(metric, 4), round(speed, 2), fps])
        except Exception as e:
            if verbose:
                assert type(e) is AssertionError, f"Benchmark failure for {name}: {e}"
            LOGGER.error(f"Benchmark failure for {name}: {e}")
            y.append([name, emoji, round(file_size(filename), 1), None, None, None])  # mAP, t_inference

    # Print results
    check_yolo(device=device)  # print system info
    df = pl.DataFrame(y, schema=["Format", "Status❔", "Size (MB)", key, "Inference time (ms/im)", "FPS"], orient="row")
    df = df.with_row_index(" ", offset=1)  # add index info
    df_display = df.with_columns(pl.all().cast(pl.String).fill_null("-"))

    name = model.model_name
    dt = time.time() - t0
    legend = "Benchmarks legend:  - ✅ Success  - ❎ Export passed but validation failed  - ❌️ Export failed"
    s = f"\nBenchmarks complete for {name} on {data} at imgsz={imgsz} ({dt:.2f}s)\n{legend}\n{df_display}\n"
    LOGGER.info(s)
    with open("benchmarks.log", "a", errors="ignore", encoding="utf-8") as f:
        f.write(s)

    if verbose and isinstance(verbose, float):
        metrics = df[key].to_numpy()  # values to compare to floor
        floor = verbose  # minimum metric floor to pass, i.e. = 0.29 mAP for YOLOv5n
        assert all(x > floor for x in metrics if not np.isnan(x)), f"Benchmark failure: metric(s) < floor {floor}"

    return df_display