【分别使用OpenCV、ONNXRuntime部署YOLOV6目标检测，包含C++和Python两个版本的程序】

最近美团视觉团队研发了一款致力于工业应用的目标检测框架YOLOv6，看到他们在昨天发布公布了训练模型。 于是我在今天编写了一套使用opencv的dnn模块做YOLOv6目标检测推理的程序，包含C++和Python两个版本的程序。
接着编写了使用ONNXRuntime做YOLOv6目标检测推理的程序，依然是包含C++和Python两个版本的程序。

onnx文件在百度云盘，下载链接：https://pan.baidu.com/s/1XqnZaG_0AswxnsYv4sCk6A 提取码：1hii

YOLOV6目标检测

分别使用OpenCV、ONNXRuntime部署YOLOV6目标检测，包含C++和Python两个版本的程序

参考：https://tech.meituan.com/2022/06/23/yolov6-a-fast-and-accurate-target-detection-framework-is-opening-source.html

yolov6传送门

YOLOv6 是美团视觉智能部研发的一款目标检测框架，致力于工业应用。本框架同时专注于检测的精度和推理效率，在工业界常用的尺寸模型中：YOLOv6-nano 在 COCO 上精度可达 35.0% AP，在 T4 上推理速度可达 1242 FPS；YOLOv6-s 在 COCO 上精度可达 43.1% AP，在 T4 上推理速度可达 520 FPS。在部署方面，YOLOv6 支持 GPU（TensorRT）、CPU（OPENVINO）、ARM（MNN、TNN、NCNN）等不同平台的部署，极大地简化工程部署时的适配工作。

通过研究并借鉴了业界已有的先进技术，开发了一套新的目标检测框架——YOLOv6。该框架支持模型训练、推理及多平台部署等全链条的工业应用需求，并在网络结构、训练策略等算法层面进行了多项改进和优化，在 COCO 数据集上，YOLOv6 在精度和速度方面均超越其他同体量算法，相关结果分析对比如图所示，

github源码地址是：
https://github.com/hpc203/yolov6-opencv-onnxruntime

地址：

github源码地址是：
https://github.com/hpc203/yolov6-opencv-onnxruntime

C++程序

main.cpp

#include <fstream>
#include <sstream>
#include <iostream>
#include <opencv2/dnn.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>

using namespace cv;
using namespace dnn;
using namespace std;

struct Net_config
{
	float confThreshold; // Confidence threshold
	float nmsThreshold;  // Non-maximum suppression threshold
	string modelpath;
};

class YOLOV6
{
public:
	YOLOV6(Net_config config);
	void detect(Mat& frame);
private:
	const int inpWidth = 640;
	const int inpHeight = 640;
	vector<string> class_names;
	int num_class;
	
	float confThreshold;
	float nmsThreshold;
	const bool keep_ratio = true;
	Net net;
	void drawPred(float conf, int left, int top, int right, int bottom, Mat& frame, int classid);
	Mat resize_image(Mat srcimg, int *newh, int *neww, int *top, int *left);
};

YOLOV6::YOLOV6(Net_config config)
{
	this->confThreshold = config.confThreshold;
	this->nmsThreshold = config.nmsThreshold;

	this->net = readNet(config.modelpath);
	ifstream ifs("coco.names");
	string line;
	while (getline(ifs, line)) this->class_names.push_back(line);
	this->num_class = class_names.size();
}

Mat YOLOV6::resize_image(Mat srcimg, int *newh, int *neww, int *top, int *left)
{
	int srch = srcimg.rows, srcw = srcimg.cols;
	*newh = this->inpHeight;
	*neww = this->inpWidth;
	Mat dstimg;
	if (this->keep_ratio && srch != srcw) {
		float hw_scale = (float)srch / srcw;
		if (hw_scale > 1) {
			*newh = this->inpHeight;
			*neww = int(this->inpWidth / hw_scale);
			resize(srcimg, dstimg, Size(*neww, *newh), INTER_AREA);
			*left = int((this->inpWidth - *neww) * 0.5);
			copyMakeBorder(dstimg, dstimg, 0, 0, *left, this->inpWidth - *neww - *left, BORDER_CONSTANT, 114);
		}
		else {
			*newh = (int)this->inpHeight * hw_scale;
			*neww = this->inpWidth;
			resize(srcimg, dstimg, Size(*neww, *newh), INTER_AREA);
			*top = (int)(this->inpHeight - *newh) * 0.5;
			copyMakeBorder(dstimg, dstimg, *top, this->inpHeight - *newh - *top, 0, 0, BORDER_CONSTANT, 114);
		}
	}
	else {
		resize(srcimg, dstimg, Size(*neww, *newh), INTER_AREA);
	}
	return dstimg;
}

void YOLOV6::drawPred(float conf, int left, int top, int right, int bottom, Mat& frame, int classid)   // Draw the predicted bounding box
{
	//Draw a rectangle displaying the bounding box
	rectangle(frame, Point(left, top), Point(right, bottom), Scalar(0, 0, 255), 2);

	//Get the label for the class name and its confidence
	string label = format("%.2f", conf);
	label = this->class_names[classid] + ":" + label;

	//Display the label at the top of the bounding box
	int baseLine;
	Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 0.5, 1, &baseLine);
	top = max(top, labelSize.height);
	//rectangle(frame, Point(left, top - int(1.5 * labelSize.height)), Point(left + int(1.5 * labelSize.width), top + baseLine), Scalar(0, 255, 0), FILLED);
	putText(frame, label, Point(left, top), FONT_HERSHEY_SIMPLEX, 0.75, Scalar(0, 255, 0), 1);
}

void YOLOV6::detect(Mat& frame)
{
	int newh = 0, neww = 0, padh = 0, padw = 0;
	Mat dstimg = this->resize_image(frame, &newh, &neww, &padh, &padw);
	Mat blob = blobFromImage(dstimg, 1 / 255.0, Size(this->inpWidth, this->inpHeight), Scalar(0, 0, 0), true, false);
	this->net.setInput(blob);
	vector<Mat> outs;
	this->net.forward(outs, this->net.getUnconnectedOutLayersNames());

	int num_proposal = outs[0].size[0];
	int nout = outs[0].size[1];
	if (outs[0].dims > 2)
	{
		num_proposal = outs[0].size[1];
		nout = outs[0].size[2];
		outs[0] = outs[0].reshape(0, num_proposal);
	}
	/generate proposals
	vector<float> confidences;
	vector<Rect> boxes;
	vector<int> classIds;
	float ratioh = (float)frame.rows / newh, ratiow = (float)frame.cols / neww;
	int n = 0, row_ind = 0; ///cx,cy,w,h,box_score,class_score
	float* pdata = (float*)outs[0].data;
	for (n = 0; n < num_proposal; n++)   ///ÌØÕ÷ͼ³ß¶È
	{
		float box_score = pdata[4];
		if (box_score > this->confThreshold)
		{
			Mat scores = outs[0].row(row_ind).colRange(5, nout);
			Point classIdPoint;
			double max_class_socre;
			// Get the value and location of the maximum score
			minMaxLoc(scores, 0, &max_class_socre, 0, &classIdPoint);
			max_class_socre *= box_score;
			if (max_class_socre > this->confThreshold)
			{ 
				const int class_idx = classIdPoint.x;
				float cx = (pdata[0] - padw) * ratiow;  ///cx
				float cy = (pdata[1] - padh) * ratioh;   ///cy
				float w = pdata[2] * ratiow;   ///w
				float h = pdata[3] * ratioh;  ///h

				int left = int(cx - 0.5 * w);
				int top = int(cy - 0.5 * h);

				confidences.push_back((float)max_class_socre);
				boxes.push_back(Rect(left, top, (int)(w), (int)(h)));
				classIds.push_back(class_idx);
			}
		}
		row_ind++;
		pdata += nout;
	}

	// Perform non maximum suppression to eliminate redundant overlapping boxes with
	// lower confidences
	vector<int> indices;
	dnn::NMSBoxes(boxes, confidences, this->confThreshold, this->nmsThreshold, indices);
	for (size_t i = 0; i < indices.size(); ++i)
	{
		int idx = indices[i];
		Rect box = boxes[idx];
		this->drawPred(confidences[idx], box.x, box.y,
			box.x + box.width, box.y + box.height, frame, classIds[idx]);
	}
}

int main()
{
	Net_config YOLOV6_nets = { 0.3, 0.5, "onnxmodel/yolov6s.onnx" };
	YOLOV6 YOLOV6_model(YOLOV6_nets);
	string imgpath = "images/image1.jpg";
	Mat srcimg = imread(imgpath);
	YOLOV6_model.detect(srcimg);

	static const string kWinName = "Deep learning object detection in OpenCV";
	namedWindow(kWinName, WINDOW_NORMAL);
	imshow(kWinName, srcimg);
	waitKey(0);
	destroyAllWindows();
}

python程序

main.py

import cv2
import argparse
import numpy as np

class yolov6():
    def __init__(self, modelpath, confThreshold=0.5, nmsThreshold=0.5):
        self.classes = list(map(lambda x:x.strip(), open('coco.names', 'r').readlines()))
        # self.num_classes = len(self.classes)
        self.inpHeight, self.inpWidth = 640, 640
        self.net = cv2.dnn.readNet(modelpath)
        self.confThreshold = confThreshold
        self.nmsThreshold = nmsThreshold
        self.keep_ratio=True

    def resize_image(self, srcimg):
        top, left, newh, neww = 0, 0, self.inpWidth, self.inpHeight
        if self.keep_ratio and srcimg.shape[0] != srcimg.shape[1]:
            hw_scale = srcimg.shape[0] / srcimg.shape[1]
            if hw_scale > 1:
                newh, neww = self.inpHeight, int(self.inpWidth / hw_scale)
                img = cv2.resize(srcimg, (neww, newh), interpolation=cv2.INTER_AREA)
                left = int((self.inpWidth - neww) * 0.5)
                img = cv2.copyMakeBorder(img, 0, 0, left, self.inpWidth - neww - left, cv2.BORDER_CONSTANT,
                                         value=(114, 114, 114))  # add border
            else:
                newh, neww = int(self.inpHeight * hw_scale), self.inpWidth
                img = cv2.resize(srcimg, (neww, newh), interpolation=cv2.INTER_AREA)
                top = int((self.inpHeight - newh) * 0.5)
                img = cv2.copyMakeBorder(img, top, self.inpHeight - newh - top, 0, 0, cv2.BORDER_CONSTANT,
                                         value=(114, 114, 114))
        else:
            img = cv2.resize(srcimg, (self.inpWidth, self.inpHeight), interpolation=cv2.INTER_AREA)
        return img, newh, neww, top, left

    def preprocess(self, img):
        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
        img = img.astype(np.float32) / 255.0
        return img

    def postprocess(self, frame, outs, padsize=None):
        frameHeight = frame.shape[0]
        frameWidth = frame.shape[1]
        newh, neww, padh, padw = padsize
        ratioh, ratiow = frameHeight / newh, frameWidth / neww
        # Scan through all the bounding boxes output from the network and keep only the
        # ones with high confidence scores. Assign the box's class label as the class with the highest score.

        confidences = []
        boxes = []
        classIds = []
        for detection in outs:
            if detection[4] > self.confThreshold:
                scores = detection[5:]
                classId = np.argmax(scores)
                confidence = scores[classId] * detection[4]
                if confidence > self.confThreshold:
                    center_x = int((detection[0] - padw) * ratiow)
                    center_y = int((detection[1] - padh) * ratioh)
                    width = int(detection[2] * ratiow)
                    height = int(detection[3] * ratioh)
                    left = int(center_x - width * 0.5)
                    top = int(center_y - height * 0.5)

                    confidences.append(float(confidence))
                    boxes.append([left, top, width, height])
                    classIds.append(classId)
        # Perform non maximum suppression to eliminate redundant overlapping boxes with
        # lower confidences.
        indices = cv2.dnn.NMSBoxes(boxes, confidences, self.confThreshold, self.nmsThreshold).flatten()
        for i in indices:
            box = boxes[i]
            left = box[0]
            top = box[1]
            width = box[2]
            height = box[3]
            frame = self.drawPred(frame, classIds[i], confidences[i], left, top, left + width, top + height)
        return frame

    def drawPred(self, frame, classId, conf, left, top, right, bottom):
        # Draw a bounding box.
        cv2.rectangle(frame, (left, top), (right, bottom), (0, 0, 255), thickness=2)

        label = '%.2f' % conf
        label = '%s:%s' % (self.classes[classId], label)

        # Display the label at the top of the bounding box
        labelSize, baseLine = cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)
        top = max(top, labelSize[1])
        # cv.rectangle(frame, (left, top - round(1.5 * labelSize[1])), (left + round(1.5 * labelSize[0]), top + baseLine), (255,255,255), cv.FILLED)
        cv2.putText(frame, label, (left, top - 10), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), thickness=1)
        return frame

    def detect(self, srcimg):
        img, newh, neww, padh, padw = self.resize_image(srcimg)
        blob = cv2.dnn.blobFromImage(img, scalefactor=1 / 255.0, swapRB=True)
        # blob = cv2.dnn.blobFromImage(self.preprocess(img))
        # Sets the input to the network
        self.net.setInput(blob)

        # Runs the forward pass to get output of the output layers
        outs = self.net.forward(self.net.getUnconnectedOutLayersNames())[0].squeeze(axis=0)
        srcimg = self.postprocess(srcimg, outs, padsize=(newh, neww, padh, padw))
        return srcimg

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument('--imgpath', type=str, default='images/image1.jpg', help="image path")
    parser.add_argument('--modelpath', type=str, default='onnxmodel/yolov6s.onnx')
    parser.add_argument('--confThreshold', default=0.3, type=float, help='class confidence')
    parser.add_argument('--nmsThreshold', default=0.5, type=float, help='nms iou thresh')
    args = parser.parse_args()

    yolonet = yolov6(args.modelpath, confThreshold=args.confThreshold, nmsThreshold=args.nmsThreshold)
    srcimg = cv2.imread(args.imgpath)
    srcimg = yolonet.detect(srcimg)

    winName = 'Deep learning object detection in OpenCV'
    cv2.namedWindow(winName, 0)
    cv2.imshow(winName, srcimg)
    cv2.waitKey(0)
    cv2.destroyAllWindows()

原文来源：https://github.com/hpc203/yolov6-opencv-onnxruntime/blob/main/opencv/main.py

实验结果：
经过以上优化策略和改进，YOLOv6 在多个不同尺寸下的模型均取得了卓越的表现。下表 1 展示了 YOLOv6-nano 的消融实验结果，从实验结果可以看出，我们自主设计的检测网络在精度和速度上都带来了很大的增益。

结果分析：
YOLOv6-nano 在 COCO val 上 取得了 35.0% AP 的精度，同时在 T4 上使用 TRT FP16 batchsize=32 进行推理，可达到 1242FPS 的性能，相较于 YOLOv5-nano 精度提升 7% AP，速度提升 85%。
YOLOv6-tiny 在 COCO val 上 取得了 41.3% AP 的精度， 同时在 T4 上使用 TRT FP16 batchsize=32 进行推理，可达到 602FPS 的性能，相较于 YOLOv5-s 精度提升 3.9% AP，速度提升 29.4%。
YOLOv6-s 在 COCO val 上 取得了 43.1% AP 的精度， 同时在 T4 上使用 TRT FP16 batchsize=32 进行推理，可达到 520FPS 的性能，相较于 YOLOX-s 精度提升 2.6% AP，速度提升 38.6%；相较于 PP-YOLOE-s 精度提升 0.4% AP的条件下，在T4上使用 TRT FP16 进行单 batch 推理，速度提升 71.3%。

参考来源：
https://tech.meituan.com/2022/06/23/yolov6-a-fast-and-accurate-target-detection-framework-is-opening-source.html