More yolo processing in tinygrad (#9928)

* more tg less np

* update webgpu html for new compile

* resize boxes

* remove text

* add back note

* fix indentation

* fix indentation

* remove magic num

* remove now unused funcs

* back to numpy nms

* no loop

* fix iou suppression

* update test

* dont suppress other classes

* add working scale

* fix expected value, rounded up 0.24 was being counted

* add postprocess bool for onnx test

* fix indents

* clean

* clean

* fix indent

* remove print

* fix indent

* remove unused import

* remove hardcoded 0.25

* space

* spacing

* clean label_predictions func

* remove single item lists

* space

* use postprocess output in test

* space

* clean

* clean

* remove redundant threshold

* remove redundant threshold

* clean

* rename var

* move loop into func

* unhardcode iou_threshold

* remove unused values

* clean

* add note

* clean

* keep const

* move back funcs

---------

Co-authored-by: George Hotz <72895+geohot@users.noreply.github.com>

examples/webgpu/yolov8/index.html

@@ -176,10 +176,12 @@
             offscreenContext.clearRect(0, 0, modelInputSize, modelInputSize);
             offscreenContext.drawImage(video, offsetX, offsetY, targetWidth, targetHeight);
             const boxes = await detectObjectsOnFrame(offscreenContext);
-            drawBoxes(offscreenCanvas, boxes, targetWidth, targetHeight, offsetX, offsetY);
+            const validBoxes = [];
+            for (let i = 0; i < boxes.length; i += 6)
+                if (boxes[i + 4] > 0) validBoxes.push([boxes[i], boxes[i + 1], boxes[i + 2], boxes[i + 3], boxes[i + 5]]);
+            drawBoxes(offscreenCanvas, validBoxes, targetWidth, targetHeight, offsetX, offsetY);
             requestAnimationFrame(processFrame);
         }
-
         requestAnimationFrame(processFrame);
 
         function drawBoxes(offscreenCanvas, boxes, targetWidth, targetHeight, offsetX, offsetY) {
@@ -190,8 +192,8 @@
             const scaleX = canvas.width / targetWidth;
             const scaleY = canvas.height / targetHeight;
 
-            boxes.forEach(([x1, y1, x2, y2, label]) => {
-                const classIndex = yolo_classes.indexOf(label);
+            boxes.forEach(([x1, y1, x2, y2, classIndex]) => {
+                const label = yolo_classes[classIndex];
                 const color = classColors[classIndex];
                 ctx.strokeStyle = color;
                 ctx.fillStyle = color;
@@ -219,21 +221,13 @@
                 net = await yolov8.load(device, "./net.safetensors");
                 loadingContainer.style.display = "none";
             }
-            let start = performance.now();
-            const [input,img_width,img_height] = await prepareInput(offscreenContext);
-            console.log("Preprocess took: " + (performance.now() - start) + " ms");
-            start = performance.now();
+            const input = await prepareInput(offscreenContext);
             const output = await net(new Float32Array(input));
-            console.log("Inference took: " + (performance.now() - start) + " ms");
-            start = performance.now();
-            let out = processOutput(output[0],img_width,img_height);
-            console.log("Postprocess took: " + (performance.now() - start) + " ms");
-            return out;
+            return output[0];
         }
 
         async function prepareInput(offscreenContext) {
             return new Promise(resolve => {
-                const [img_width,img_height] = [modelInputSize, modelInputSize]
                 const imgData = offscreenContext.getImageData(0,0,modelInputSize,modelInputSize);
                 const pixels = imgData.data;
                 const red = [], green = [], blue = [];
@@ -244,7 +238,7 @@
                     blue.push(pixels[index+2]/255.0);
                 }
                 const input = [...red, ...green, ...blue];
-                resolve([input, img_width, img_height])
+                resolve(input)
             })
         }
 
@@ -257,57 +251,6 @@
 		    });
         };
         
-        function processOutput(output, img_width, img_height) {
-            let boxes = [];
-            const numPredictions = Math.pow(modelInputSize/32, 2) * 21;
-            for (let index=0;index<numPredictions;index++) {
-                const [class_id,prob] = [...Array(80).keys()]
-                    .map(col => [col, output[numPredictions*(col+4)+index]])
-                    .reduce((accum, item) => item[1]>accum[1] ? item : accum,[0,0]);
-
-                if (prob < 0.25) continue;
-                const label = yolo_classes[class_id];
-                const xc = output[index];
-                const yc = output[numPredictions+index];
-                const w = output[2*numPredictions+index];
-                const h = output[3*numPredictions+index];
-                const x1 = (xc-w/2)/modelInputSize*img_width;
-                const y1 = (yc-h/2)/modelInputSize*img_height;
-                const x2 = (xc+w/2)/modelInputSize*img_width;
-                const y2 = (yc+h/2)/modelInputSize*img_height;
-                boxes.push([x1,y1,x2,y2,label,prob]);
-            }
-
-            boxes = boxes.sort((box1,box2) => box2[5]-box1[5])
-            const result = [];
-            while (boxes.length>0) {
-                result.push(boxes[0]);
-                boxes = boxes.filter(box => iou(boxes[0],box)<0.7);
-            }
-            return result;
-        }
-
-        function iou(box1,box2) {
-            return intersection(box1,box2)/union(box1,box2);
-        }
-
-        function union(box1,box2) {
-            const [box1_x1,box1_y1,box1_x2,box1_y2] = box1;
-            const [box2_x1,box2_y1,box2_x2,box2_y2] = box2;
-            const box1_area = (box1_x2-box1_x1)*(box1_y2-box1_y1)
-            const box2_area = (box2_x2-box2_x1)*(box2_y2-box2_y1)
-            return box1_area + box2_area - intersection(box1,box2)
-        }
-
-        function intersection(box1,box2) {
-            const [box1_x1,box1_y1,box1_x2,box1_y2] = box1;
-            const [box2_x1,box2_y1,box2_x2,box2_y2] = box2;
-            const x1 = Math.max(box1_x1,box2_x1);
-            const y1 = Math.max(box1_y1,box2_y1);
-            const x2 = Math.min(box1_x2,box2_x2);
-            const y2 = Math.min(box1_y2,box2_y2);
-            return (x2-x1)*(y2-y1)
-        }
 
         const yolo_classes = [
             'person', 'bicycle', 'car', 'motorcycle', 'airplane', 'bus', 'train', 'truck', 'boat',

examples/yolov8.py

@@ -42,69 +42,8 @@ def preprocess(im, imgsz=640, model_stride=32, model_pt=True):
   im = im / 255.0  # 0 - 255 to 0.0 - 1.0
   return im
 
-# Post Processing functions
-def box_area(box):
-  return (box[:, 2] - box[:, 0]) * (box[:, 3] - box[:, 1])
 
-def box_iou(box1, box2):
-  lt = np.maximum(box1[:, None, :2], box2[:, :2])
-  rb = np.minimum(box1[:, None, 2:], box2[:, 2:])
-  wh = np.clip(rb - lt, 0, None)
-  inter = wh[:, :, 0] * wh[:, :, 1]
-  area1 = box_area(box1)[:, None]
-  area2 = box_area(box2)[None, :]
-  iou = inter / (area1 + area2 - inter)
-  return iou
-
-def compute_nms(boxes, scores, iou_threshold):
-  order, keep = scores.argsort()[::-1], []
-  while order.size > 0:
-    i = order[0]
-    keep.append(i)
-    if order.size == 1:
-      break
-    iou = box_iou(boxes[i][None, :], boxes[order[1:]])
-    inds = np.where(np.atleast_1d(iou.squeeze()) <= iou_threshold)[0]
-    order = order[inds + 1]
-  return np.array(keep)
-
-def non_max_suppression(prediction, conf_thres=0.25, iou_thres=0.45, agnostic=False, max_det=300, nc=0, max_wh=7680):
-  prediction = prediction[0] if isinstance(prediction, (list, tuple)) else prediction
-  bs, nc = prediction.shape[0], nc or (prediction.shape[1] - 4)
-  xc = np.amax(prediction[:, 4:4 + nc], axis=1) > conf_thres
-  nm = prediction.shape[1] - nc - 4
-  output = [np.zeros((0, 6 + nm))] * bs
-
-  for xi, x in enumerate(prediction):
-    x = x.swapaxes(0, -1)[xc[xi]]
-    if not x.shape[0]: continue
-    box, cls, mask = np.split(x, [4, 4 + nc], axis=1)
-    conf, j = np.max(cls, axis=1, keepdims=True), np.argmax(cls, axis=1, keepdims=True)
-    x = np.concatenate((xywh2xyxy(box), conf, j.astype(np.float32), mask), axis=1)
-    x = x[conf.ravel() > conf_thres]
-    if not x.shape[0]: continue
-    x = x[np.argsort(-x[:, 4])]
-    c = x[:, 5:6] * (0 if agnostic else max_wh)
-    boxes, scores = x[:, :4] + c, x[:, 4]
-    i = compute_nms(boxes, scores, iou_thres)[:max_det]
-    output[xi] = x[i]
-  return output
-
-def postprocess(preds, img, orig_imgs):
-  print('copying to CPU now for post processing')
-  #if you are on CPU, this causes an overflow runtime error. doesn't "seem" to make any difference in the predictions though.
-  # TODO: make non_max_suppression in tinygrad - to make this faster
-  preds = preds.numpy() if isinstance(preds, Tensor) else preds
-  preds = non_max_suppression(prediction=preds, conf_thres=0.25, iou_thres=0.7, agnostic=False, max_det=300)
-  all_preds = []
-  for i, pred in enumerate(preds):
-    orig_img = orig_imgs[i] if isinstance(orig_imgs, list) else orig_imgs
-    if not isinstance(orig_imgs, Tensor):
-      pred[:, :4] = scale_boxes(img.shape[2:], pred[:, :4], orig_img.shape)
-      all_preds.append(pred)
-  return all_preds
-
-def draw_bounding_boxes_and_save(orig_img_paths, output_img_paths, all_predictions, class_labels, iou_threshold=0.5):
+def draw_bounding_boxes_and_save(orig_img_path, output_img_path, predictions, class_labels):
   color_dict = {label: tuple((((i+1) * 50) % 256, ((i+1) * 100) % 256, ((i+1) * 150) % 256)) for i, label in enumerate(class_labels)}
   font = cv2.FONT_HERSHEY_SIMPLEX
 
@@ -113,52 +52,32 @@ def draw_bounding_boxes_and_save(orig_img_paths, output_img_paths, all_predictio
     brightness = (r * 299 + g * 587 + b * 114) / 1000
     return brightness > 127
 
-  for img_idx, (orig_img_path, output_img_path, predictions) in enumerate(zip(orig_img_paths, output_img_paths, all_predictions)):
-    predictions = np.array(predictions)
-    orig_img = cv2.imread(orig_img_path) if not isinstance(orig_img_path, np.ndarray) else cv2.imdecode(orig_img_path, 1)
-    height, width, _ = orig_img.shape
-    box_thickness = int((height + width) / 400)
-    font_scale = (height + width) / 2500
+  orig_img = cv2.imread(orig_img_path) if not isinstance(orig_img_path, np.ndarray) else cv2.imdecode(orig_img_path, 1)
+  height, width, _ = orig_img.shape
+  box_thickness = int((height + width) / 400)
+  font_scale = (height + width) / 2500
+  object_count = defaultdict(int)
 
-    grouped_preds = defaultdict(list)
-    object_count = defaultdict(int)
+  for pred in predictions:
+    x1, y1, x2, y2, conf, class_id = pred
+    if conf == 0: continue
+    x1, y1, x2, y2, class_id = map(int, (x1, y1, x2, y2, class_id))
+    color = color_dict[class_labels[class_id]]
+    cv2.rectangle(orig_img, (x1, y1), (x2, y2), color, box_thickness)
+    label = f"{class_labels[class_id]} {conf:.2f}"
+    text_size, _ = cv2.getTextSize(label, font, font_scale, 1)
+    label_y, bg_y = (y1 - 4, y1 - text_size[1] - 4) if y1 - text_size[1] - 4 > 0 else (y1 + text_size[1], y1)
+    cv2.rectangle(orig_img, (x1, bg_y), (x1 + text_size[0], bg_y + text_size[1]), color, -1)
+    font_color = (0, 0, 0) if is_bright_color(color) else (255, 255, 255)
+    cv2.putText(orig_img, label, (x1, label_y), font, font_scale, font_color, 1, cv2.LINE_AA)
+    object_count[class_labels[class_id]] += 1
 
-    for pred_np in predictions:
-      grouped_preds[int(pred_np[-1])].append(pred_np)
+  print("Objects detected:")
+  for obj, count in object_count.items():
+    print(f"- {obj}: {count}")
 
-    def draw_box_and_label(pred, color):
-      x1, y1, x2, y2, conf, _ = pred
-      x1, y1, x2, y2 = map(int, (x1, y1, x2, y2))
-      cv2.rectangle(orig_img, (x1, y1), (x2, y2), color, box_thickness)
-      label = f"{class_labels[class_id]} {conf:.2f}"
-      text_size, _ = cv2.getTextSize(label, font, font_scale, 1)
-      label_y, bg_y = (y1 - 4, y1 - text_size[1] - 4) if y1 - text_size[1] - 4 > 0 else (y1 + text_size[1], y1)
-      cv2.rectangle(orig_img, (x1, bg_y), (x1 + text_size[0], bg_y + text_size[1]), color, -1)
-      font_color = (0, 0, 0) if is_bright_color(color) else (255, 255, 255)
-      cv2.putText(orig_img, label, (x1, label_y), font, font_scale, font_color, 1, cv2.LINE_AA)
-
-    for class_id, pred_list in grouped_preds.items():
-      pred_list = np.array(pred_list)
-      while len(pred_list) > 0:
-        max_conf_idx = np.argmax(pred_list[:, 4])
-        max_conf_pred = pred_list[max_conf_idx]
-        pred_list = np.delete(pred_list, max_conf_idx, axis=0)
-        color = color_dict[class_labels[class_id]]
-        draw_box_and_label(max_conf_pred, color)
-        object_count[class_labels[class_id]] += 1
-        iou_scores = box_iou(np.array([max_conf_pred[:4]]), pred_list[:, :4])
-        low_iou_indices = np.where(iou_scores[0] < iou_threshold)[0]
-        pred_list = pred_list[low_iou_indices]
-        for low_conf_pred in pred_list:
-          draw_box_and_label(low_conf_pred, color)
-
-    print(f"Image {img_idx + 1}:")
-    print("Objects detected:")
-    for obj, count in object_count.items():
-      print(f"- {obj}: {count}")
-
-    cv2.imwrite(output_img_path, orig_img)
-    print(f'saved detections at {output_img_path}')
+  cv2.imwrite(output_img_path, orig_img)
+  print(f'saved detections at {output_img_path}')
 
 # utility functions for forward pass.
 def dist2bbox(distance, anchor_points, xywh=True, dim=-1):
@@ -202,34 +121,26 @@ def clip_boxes(boxes, shape):
   boxes[..., [1, 3]] = np.clip(boxes[..., [1, 3]], 0, shape[0])  # y1, y2
   return boxes
 
-def scale_boxes(img1_shape, boxes, img0_shape, ratio_pad=None):
+def scale_boxes(img1_shape, predictions, img0_shape, ratio_pad=None):
   gain = ratio_pad if ratio_pad else min(img1_shape[0] / img0_shape[0], img1_shape[1] / img0_shape[1])
   pad = ((img1_shape[1] - img0_shape[1] * gain) / 2, (img1_shape[0] - img0_shape[0] * gain) / 2)
-  boxes_np = boxes.numpy() if isinstance(boxes, Tensor) else boxes
-  boxes_np[..., [0, 2]] -= pad[0]
-  boxes_np[..., [1, 3]] -= pad[1]
-  boxes_np[..., :4] /= gain
-  boxes_np = clip_boxes(boxes_np, img0_shape)
-  return boxes_np
-
-def xywh2xyxy(x):
-  xy = x[..., :2]  # center x, y
-  wh = x[..., 2:4]  # width, height
-  xy1 = xy - wh / 2  # top left x, y
-  xy2 = xy + wh / 2  # bottom right x, y
-  result = np.concatenate((xy1, xy2), axis=-1)
-  return Tensor(result) if isinstance(x, Tensor) else result
+  for pred in predictions:
+    boxes_np = pred[:4].numpy() if isinstance(pred[:4], Tensor) else pred[:4]
+    boxes_np[..., [0, 2]] -= pad[0]
+    boxes_np[..., [1, 3]] -= pad[1]
+    boxes_np[..., :4] /= gain
+    boxes_np = clip_boxes(boxes_np, img0_shape)
+    pred[:4] = boxes_np
+  return predictions
 
 def get_variant_multiples(variant):
   return {'n':(0.33, 0.25, 2.0), 's':(0.33, 0.50, 2.0), 'm':(0.67, 0.75, 1.5), 'l':(1.0, 1.0, 1.0), 'x':(1, 1.25, 1.0) }.get(variant, None)
 
 def label_predictions(all_predictions):
   class_index_count = defaultdict(int)
-  for predictions in all_predictions:
-    predictions = np.array(predictions)
-    for pred_np in predictions:
-      class_id = int(pred_np[-1])
-      class_index_count[class_id] += 1
+  for pred in all_predictions:
+    class_id = int(pred[-1])
+    if pred[-2] != 0: class_index_count[class_id] += 1
 
   return dict(class_index_count)
 
@@ -380,7 +291,9 @@ class YOLOv8:
   def __call__(self, x):
     x = self.net(x)
     x = self.fpn(*x)
-    return self.head(x)
+    x = self.head(x)
+    # TODO: postprocess needs to be in the model to be compiled to webgpu
+    return postprocess(x)
 
   def return_all_trainable_modules(self):
     backbone_modules = [*range(10)]
@@ -403,6 +316,39 @@ def convert_f16_safetensor_to_f32(input_file: Path, output_file: Path):
     f.write(new_metadata_bytes)
     float32_values.tofile(f)
 
+def compute_iou_matrix(boxes):
+  x1, y1, x2, y2 = boxes[:, 0], boxes[:, 1], boxes[:, 2], boxes[:, 3]
+  areas = (x2 - x1) * (y2 - y1)
+  x1 = Tensor.maximum(x1[:, None], x1[None, :])
+  y1 = Tensor.maximum(y1[:, None], y1[None, :])
+  x2 = Tensor.minimum(x2[:, None], x2[None, :])
+  y2 = Tensor.minimum(y2[:, None], y2[None, :])
+  w = Tensor.maximum(Tensor(0), x2 - x1)
+  h = Tensor.maximum(Tensor(0), y2 - y1)
+  intersection = w * h
+  union = areas[:, None] + areas[None, :] - intersection
+  return intersection / union
+
+def postprocess(output, max_det=300, conf_threshold=0.25, iou_threshold=0.45):
+  xc, yc, w, h, class_scores = output[0][0], output[0][1], output[0][2], output[0][3], output[0][4:]
+  class_ids = Tensor.argmax(class_scores, axis=0)
+  probs = Tensor.max(class_scores, axis=0)
+  probs = Tensor.where(probs >= conf_threshold, probs, 0)
+  x1 = xc - w / 2
+  y1 = yc - h / 2
+  x2 = xc + w / 2
+  y2 = yc + h / 2
+  boxes = Tensor.stack(x1, y1, x2, y2, probs, class_ids, dim=1)
+  order = Tensor.topk(probs, max_det)[1]
+  boxes = boxes[order]
+  iou = compute_iou_matrix(boxes[:, :4])
+  iou = Tensor.triu(iou, diagonal=1)
+  same_class_mask = boxes[:, -1][:, None] == boxes[:, -1][None, :]
+  high_iou_mask = (iou > iou_threshold) & same_class_mask
+  no_overlap_mask = high_iou_mask.sum(axis=0) == 0
+  boxes = boxes * no_overlap_mask.unsqueeze(-1)
+  return boxes
+
 def get_weights_location(yolo_variant: str) -> Path:
   weights_location = Path(__file__).parents[1] / "weights" / f'yolov8{yolo_variant}.safetensors'
   fetch(f'https://gitlab.com/r3sist/yolov8_weights/-/raw/master/yolov8{yolo_variant}.safetensors', weights_location)
@@ -428,14 +374,13 @@ if __name__ == '__main__':
   output_folder_path = Path('./outputs_yolov8')
   output_folder_path.mkdir(parents=True, exist_ok=True)
   #absolute image path or URL
-  image_location = [np.frombuffer(fetch(img_path).read_bytes(), np.uint8)]
-  image = [cv2.imdecode(image_location[0], 1)]
-  out_paths = [(output_folder_path / f"{Path(img_path).stem}_output{Path(img_path).suffix or '.png'}").as_posix()]
+  image_location = np.frombuffer(fetch(img_path).read_bytes(), np.uint8)
+  image = [cv2.imdecode(image_location, 1)]
+  out_path = (output_folder_path / f"{Path(img_path).stem}_output{Path(img_path).suffix or '.png'}").as_posix()
   if not isinstance(image[0], np.ndarray):
     print('Error in image loading. Check your image file.')
     sys.exit(1)
   pre_processed_image = preprocess(image)
-
   # Different YOLOv8 variants use different w , r, and d multiples. For a list , refer to this yaml file (the scales section) https://github.com/ultralytics/ultralytics/blob/main/ultralytics/cfg/models/v8/yolov8.yaml
   depth, width, ratio = get_variant_multiples(yolo_variant)
   yolo_infer = YOLOv8(w=width, r=ratio, d=depth, num_classes=80)
@@ -443,15 +388,13 @@ if __name__ == '__main__':
   load_state_dict(yolo_infer, state_dict)
 
   st = time.time()
-  predictions = yolo_infer(pre_processed_image)
+  predictions = yolo_infer(pre_processed_image).numpy()
+
   print(f'did inference in {int(round(((time.time() - st) * 1000)))}ms')
-
-  post_predictions = postprocess(preds=predictions, img=pre_processed_image, orig_imgs=image)
-
   #v8 and v3 have same 80 class names for Object Detection
   class_labels = fetch('https://raw.githubusercontent.com/pjreddie/darknet/master/data/coco.names').read_text().split("\n")
-
-  draw_bounding_boxes_and_save(orig_img_paths=image_location, output_img_paths=out_paths, all_predictions=post_predictions, class_labels=class_labels)
+  predictions = scale_boxes(pre_processed_image.shape[2:], predictions, image[0].shape)
+  draw_bounding_boxes_and_save(orig_img_path=image_location, output_img_path=out_path, predictions=predictions, class_labels=class_labels)
 
 # TODO for later:
 #  1. Fix SPPF minor difference due to maxpool

test/external/external_test_yolov8.py

@@ -1,5 +1,6 @@
 import numpy as np
-from examples.yolov8 import YOLOv8, get_variant_multiples, preprocess, postprocess, label_predictions
+from examples.yolov8 import YOLOv8, get_variant_multiples, preprocess, label_predictions, postprocess
+from tinygrad import Tensor
 import unittest
 import io, cv2
 import onnxruntime as ort
@@ -28,9 +29,8 @@ class TestYOLOv8(unittest.TestCase):
       img = cv2.imdecode(np.frombuffer(fetch(test_image_urls[i]).read_bytes(), np.uint8), 1)
       test_image = preprocess([img])
       predictions = TinyYolov8(test_image)
-      post_predictions = postprocess(preds=predictions, img=test_image, orig_imgs=[img])
-      labels = label_predictions(post_predictions)
-      assert labels == {5: 1, 0: 4, 11: 1} if i == 0 else labels == {0: 13, 29: 1, 32: 1}
+      labels = label_predictions(predictions.numpy())
+      assert labels == {5: 1, 0: 4, 11: 1} if i == 0 else labels == {0: 12, 29: 1, 32: 1}
 
   def test_forward_pass_torch_onnx(self):
     variant = 'n'
@@ -58,12 +58,16 @@ class TestYOLOv8(unittest.TestCase):
     onnx_output_name = onnx_session.get_outputs()[0].name
     onnx_output = onnx_session.run([onnx_output_name], {onnx_input_name: input_image.numpy()})
 
-    tiny_output = TinyYolov8(input_image)
+    tiny_output = TinyYolov8(input_image).numpy()
+    onnx_output = postprocess(Tensor(onnx_output[0])).numpy()
+    #invalid boxes are multiplied by zero in postprocess
+    onnx_output = onnx_output[onnx_output[:, 4] != 0]
+    tiny_output = tiny_output[tiny_output[:, 4] != 0]
 
     # currently rtol is 0.025 because there is a 1-2% difference in our predictions
     # because of the zero padding in SPPF module (line 280) maxpooling layers rather than the -infinity in torch.
     # This difference does not make a difference "visually".
-    np.testing.assert_allclose(onnx_output[0], tiny_output.numpy(), atol=5e-4, rtol=0.025)
+    np.testing.assert_allclose(onnx_output, tiny_output, atol=5e-4, rtol=0.025)
 
 if __name__ == '__main__':
   unittest.main()