opencvDNN模块跑YOLOv5模型

1、修改YOLOv5的代码
将

class Focus(nn.Module):
    # Focus wh information into c-space
    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
        super(Focus, self).__init__()
        self.conv = Conv(c1 * 4, c2, k, s, p, g, act)
        # self.contract = Contract(gain=2)

    def forward(self, x):  # x(b,c,w,h) -> y(b,4c,w/2,h/2)
        return self.conv(torch.cat([x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]], 1))
        # return self.conv(self.contract(x))

修改为：

class Focus(nn.Module):
    # Focus wh information into c-space
    def __init__(self, c1, c2, k=1, s=1, p=None, g=1, act=True):  # ch_in, ch_out, kernel, stride, padding, groups
        super(Focus, self).__init__()
        self.conv = Conv(c1 * 4, c2, k, s, p, g, act)
        self.contract = Contract(gain=2)

    def forward(self, x):  # x(b,c,w,h) -> y(b,4c,w/2,h/2)
        # return self.conv(torch.cat([x[..., ::2, ::2], x[..., 1::2, ::2], x[..., ::2, 1::2], x[..., 1::2, 1::2]], 1))
        return self.conv(self.contract(x))

2、训练模型，得到best.pt文件，更改名字为YOLOv5s.bt
3、首先下载https://github.com/ultralytics/yolov5 的源码到本地，在yolov5-master主目录里新建一个pth.py文件，把下面的代码复制到.py文件里。

import torch
from collections import OrderedDict
import pickle
import os
 
device = 'cuda' if torch.cuda.is_available() else 'cpu'
 
if __name__=='__main__':
    choices = ['yolov5s', 'yolov5l', 'yolov5m', 'yolov5x']
    modelfile = choices[0]+'.pt'
    utl_model = torch.load(modelfile, map_location=device)
    utl_param = utl_model['model'].model
    torch.save(utl_param.state_dict(), os.path.splitext(modelfile)[0]+'_param.pth')
    own_state = utl_param.state_dict()
    print(len(own_state))
 
    numpy_param = OrderedDict()
    for name in own_state:
        numpy_param[name] = own_state[name].data.cpu().numpy()
    print(len(numpy_param))
    with open(os.path.splitext(modelfile)[0]+'_numpy_param.pkl', 'wb') as fw:
        pickle.dump(numpy_param, fw)

运行后生成yolov5s_param.pth。
4、粘贴到yolov5-dnn-cpp-python-main\convert-onnx文件夹，运行转换成onnx文件即可。 https://github.com/hpc203/yolov5-dnn-cpp-python
5、运行以下代码跑摄像头：

import cv2
import argparse
import numpy as np

class yolov5():
    def __init__(self, yolo_type, confThreshold=0.5, nmsThreshold=0.5, objThreshold=0.5):
        with open('coco.names', 'rt') as f:
            self.classes = f.read().rstrip('\n').split('\n')   ###这个是在coco数据集上训练的模型做opencv部署的，如果你在自己的数据集上训练出的模型做opencv部署，那么需要修改self.classes
        self.colors = [np.random.randint(0, 255, size=3).tolist() for _ in range(len(self.classes))]
        num_classes = len(self.classes)
        anchors = [[10, 13, 16, 30, 33, 23], [30, 61, 62, 45, 59, 119], [116, 90, 156, 198, 373, 326]]
        self.nl = len(anchors)
        self.na = len(anchors[0]) // 2
        self.no = num_classes + 5
        self.grid = [np.zeros(1)] * self.nl
        self.stride = np.array([8., 16., 32.])
        self.anchor_grid = np.asarray(anchors, dtype=np.float32).reshape(self.nl, -1, 2)
        self.inpWidth = 640
        self.inpHeight = 640
        self.net = cv2.dnn.readNet(yolo_type + '.onnx')
        self.confThreshold = confThreshold
        self.nmsThreshold = nmsThreshold
        self.objThreshold = objThreshold

    def _make_grid(self, nx=20, ny=20):
        xv, yv = np.meshgrid(np.arange(ny), np.arange(nx))
        return np.stack((xv, yv), 2).reshape((-1, 2)).astype(np.float32)

    def postprocess(self, frame, outs):
        frameHeight = frame.shape[0]
        frameWidth = frame.shape[1]
        ratioh, ratiow = frameHeight / self.inpHeight, frameWidth / self.inpWidth
        # 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.
        classIds = []
        confidences = []
        boxes = []
        for detection in outs:
            scores = detection[5:]
            classId = np.argmax(scores)
            confidence = scores[classId]
            if confidence > self.confThreshold and detection[4] > self.objThreshold:
                center_x = int(detection[0] * ratiow)
                center_y = int(detection[1] * ratioh)
                width = int(detection[2] * ratiow)
                height = int(detection[3] * ratioh)
                left = int(center_x - width / 2)
                top = int(center_y - height / 2)
                classIds.append(classId)
                confidences.append(float(confidence))
                boxes.append([left, top, width, height])

        # Perform non maximum suppression to eliminate redundant overlapping boxes with
        # lower confidences.
        indices = cv2.dnn.NMSBoxes(boxes, confidences, self.confThreshold, self.nmsThreshold)
        for i in indices:
            i = i[0]
            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=4)

        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=2)
        return frame
    def detect(self, srcimg):
        blob = cv2.dnn.blobFromImage(srcimg, 1 / 255.0, (self.inpWidth, self.inpHeight), [0, 0, 0], swapRB=True, crop=False)
        # 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]

        # inference output
        outs = 1 / (1 + np.exp(-outs))   ###sigmoid
        row_ind = 0
        for i in range(self.nl):
            h, w = int(self.inpHeight/self.stride[i]), int(self.inpWidth/self.stride[i])
            length = int(self.na * h * w)
            if self.grid[i].shape[2:4] != (h,w):
                self.grid[i] = self._make_grid(w, h)

            outs[row_ind:row_ind+length, 0:2] = (outs[row_ind:row_ind+length, 0:2] * 2. - 0.5 + np.tile(self.grid[i],(self.na, 1))) * int(self.stride[i])
            outs[row_ind:row_ind+length, 2:4] = (outs[row_ind:row_ind+length, 2:4] * 2) ** 2 * np.repeat(self.anchor_grid[i],h*w, axis=0)
            row_ind += length
        return outs

if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--imgpath", type=str, default='bus.jpg', help="image path")
    parser.add_argument('--net_type', default='yolov5s', choices=['yolov5s', 'yolov5l', 'yolov5m', 'yolov5x'])
    parser.add_argument('--confThreshold', default=0.5, type=float, help='class confidence')
    parser.add_argument('--nmsThreshold', default=0.5, type=float, help='nms iou thresh')
    parser.add_argument('--objThreshold', default=0.5, type=float, help='object confidence')
    args = parser.parse_args()

    yolonet = yolov5(args.net_type, confThreshold=args.confThreshold, nmsThreshold=args.nmsThreshold, objThreshold=args.objThreshold)

    vid = cv2.VideoCapture(0)
    count = 0
    xun = 0
    while True:
        _, frame = vid.read()
        dets = yolonet.detect(frame)
        srcimg = yolonet.postprocess(frame, dets)
        # if count == 0:
        #     dets = yolonet.detect(frame)
        #     srcimg = yolonet.postprocess(frame, dets)
        #     count += 1
        # else:
        #     count = (count + 1) % 10

        cv2.imshow("result", srcimg)

        if cv2.waitKey(1) & 0xFF == ord('q'):
            break
    vid.release()
    cv2.destroyAllWindows()