yolov4-tiny训练数据集用于gazebo平台的无人机识别（3）

 参考文档：(tiny) YOLOv4 详细训练指南(附下载链接)_yolov4_tiny 预训练模型下载-CSDN博客

                   目标检测与跟踪 (yuque.com)

由于需要在gazebo上识别仿真平台提供的iris四旋翼无人机，需要对其建立数据集并训练自己的.weights文件

1.下载编译darknet并准备训练环境

2.标注数据集并调整格式

3.修改配置开始训练

修改配置

darknet/cfg/yolov4-tiny-custom.cfg

**的为需要调整的超参数

[net]
# Testing
#batch=1
#subdivisions=1
# Training
**batch=128**#batch和subdivisions可根据内存以及训练时间调整，越大，效果越好，越小占用越小
**subdivisions=16**
width=416
height=416
channels=3
momentum=0.9
decay=0.0005
angle=0
saturation = 1.5
exposure = 1.5
hue=.1

learning_rate=0.00261
burn_in=1000
max_batches = 500200#最大训练batch，可以适当调小
policy=steps
steps=400000,450000 # 步长
scales=.1,.1

[convolutional]
batch_normalize=1
filters=32
size=3
stride=2
pad=1
activation=leaky

[convolutional]
batch_normalize=1
filters=64
size=3
stride=2
pad=1
activation=leaky

[convolutional]
batch_normalize=1
filters=64
size=3
stride=1
pad=1
activation=leaky

[route]
layers=-1
groups=2
group_id=1

[convolutional]
batch_normalize=1
filters=32
size=3
stride=1
pad=1
activation=leaky

[convolutional]
batch_normalize=1
filters=32
size=3
stride=1
pad=1
activation=leaky

[route]
layers = -1,-2

[convolutional]
batch_normalize=1
filters=64
size=1
stride=1
pad=1
activation=leaky

[route]
layers = -6,-1

[maxpool]
size=2
stride=2

[convolutional]
batch_normalize=1
filters=128
size=3
stride=1
pad=1
activation=leaky

[route]
layers=-1
groups=2
group_id=1

[convolutional]
batch_normalize=1
filters=64
size=3
stride=1
pad=1
activation=leaky

[convolutional]
batch_normalize=1
filters=64
size=3
stride=1
pad=1
activation=leaky

[route]
layers = -1,-2

[convolutional]
batch_normalize=1
filters=128
size=1
stride=1
pad=1
activation=leaky

[route]
layers = -6,-1

[maxpool]
size=2
stride=2

[convolutional]
batch_normalize=1
filters=256
size=3
stride=1
pad=1
activation=leaky

[route]
layers=-1
groups=2
group_id=1

[convolutional]
batch_normalize=1
filters=128
size=3
stride=1
pad=1
activation=leaky

[convolutional]
batch_normalize=1
filters=128
size=3
stride=1
pad=1
activation=leaky

[route]
layers = -1,-2

[convolutional]
batch_normalize=1
filters=256
size=1
stride=1
pad=1
activation=leaky

[route]
layers = -6,-1

[maxpool]
size=2
stride=2

[convolutional]
batch_normalize=1
filters=512
size=3
stride=1
pad=1
activation=leaky

##################################

[convolutional]
batch_normalize=1
filters=256
size=1
stride=1
pad=1
activation=leaky

[convolutional]
batch_normalize=1
filters=512
size=3
stride=1
pad=1
activation=leaky

[convolutional]
size=1
stride=1
pad=1
**filters=27**#(数据类型数量+1)*3
activation=linear



[yolo]
mask = 3,4,5
anchors = 10,14,  23,27,  37,58,  81,82,  135,169,  344,319
**classes=4**
num=6
jitter=.3
scale_x_y = 1.05
cls_normalizer=1.0
iou_normalizer=0.07
iou_loss=ciou
ignore_thresh = .7
truth_thresh = 1
random=0
resize=1.5
nms_kind=greedynms
beta_nms=0.6

[route]
layers = -4

[convolutional]
batch_normalize=1
filters=128
size=1
stride=1
pad=1
activation=leaky

[upsample]
stride=2

[route]
layers = -1, 23

[convolutional]
batch_normalize=1
filters=256
size=3
stride=1
pad=1
activation=leaky

[convolutional]
size=1
stride=1
pad=1
**filters=27**#(数据类型数量+1)*3
activation=linear

[yolo]
mask = 0,1,2
anchors = 10,14,  23,27,  37,58,  81,82,  135,169,  344,319
**classes=4**
num=6
jitter=.3
scale_x_y = 1.05
cls_normalizer=1.0
iou_normalizer=0.07
iou_loss=ciou
ignore_thresh = .7
truth_thresh = 1
random=0
resize=1.5
nms_kind=greedynms
beta_nms=0.6

darknet/cfg/voc.data

classes= 4
train  = ~/darknet/train_data/train.txt
valid  = ~/darknet/train_data/2007_test.txt
names = train_data/voc.names
backup = ~/darknet/backup/

darknet/train_data/voc.names

vim ~/darknet/train_data/voc.names

#以下是我的voc.names内容
###################################################
drone
car
human
street sign
###################################################

开始训练

./darknet detector train cfg\voc.data cfg\yolov4-tiny-custom.cfg backup/yolov4.conv.137 -gpus 0#如有多个cpu可以-gpus 0,1,...

后续继续训练可以用backup中生成的权重替换backup/yolov4.conv.137 -gpus 0