YOLOv8部署在地平线旭日x3

_Mamba24

已于 2023-11-03 14:50:10 修改

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分类专栏： YOLOv8 Horizon部署文章标签： YOLO 机器学习深度学习目标检测

于 2023-10-31 17:32:19 首次发布

本文链接：https://blog.csdn.net/qq_54134410/article/details/134113793

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YOLOv8 同时被 2 个专栏收录

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1、导出ONNX模型

2、在开发板中转为bin模型

（1）配置地平线提供的docker开发环境

1、导出ONNX模型

from ultralytics import YOLO

# Load a model
model = YOLO(r'G:\Yolov8\yolov8-detect-pt\yolov8n.pt')  # load an official model
# model = YOLO('path/to/best.pt')  # load a custom trained

# Export the model
# model.export(format='onnx')
model.export(format='onnx')

运行得到onnx

验证导出的onnx是否可用。运行正常的话,保存的图片有检测出的物体。

from ultralytics import YOLO
import glob
import os
# Load a model
model = YOLO(r'G:\Yolov8\yolov8-detect-pt\yolov8n.onnx')  # load an official model

# Predict with the model
imgpath = r'G:\Yolov8\ultralytics-main-detect\imgs'
imgs = glob.glob(os.path.join(imgpath,'*.jpg'))
for img in imgs:
    model.predict(img, save=True)

2、在开发板中转为bin模型

（1）配置地平线提供的docker开发环境

本文在windows系统下配置的Docker环境。大家可自行配置。

（2）启动docker容器

如果你的电脑中以前没用过docker，需要先安装docker。

（3）onnx模型检查

进入到horizon_xj3_open_explorer_v1.8.5_20211224\ddk\samples\ai_toolchain\horizon_model_convert_sample\04_detection路径下，创建一个mapper文件夹（个人文件管理，可忽略），再创建一个08_yolov8文件夹（可自行命名），在路径下创建onnx_model文件夹，将onnx放入

把在第一步得到的yolov8n.onnx模型，放到指定位置：

然后在mapper文件夹下，新建一个01_check.sh文件，内容如下：

#!/usr/bin/env sh

set -e -v
cd $(dirname $0) || exit

# 模型类型，本文以onnx为例
model_type="onnx"
# 要检查的onnx模型位置
onnx_model="./onnx_model/yolov8n.onnx"   
# 检查输出日志，放到哪里去
# 虽然它还是放到了与01_check.sh同级目录下(感觉像小bug)
output="./model_output/yolov8_checker.log"    
# 用的什么架构，不用改
march="bernoulli2"    

hb_mapper checker --model-type ${model_type} \
                  --model ${onnx_model} \
                  --output ${output} --march ${march}

cd到mapper文件夹下，执行命令：

sh 01_check.sh

（4）处理图片

挑选一部分图片（20-100）放在mapper文件夹下

在mapper文件夹下，新建一个02_preprocess.sh文件，内容如下：

#!/usr/bin/env bash
# Copyright (c) 2020 Horizon Robotics.All Rights Reserved.
#
# The material in this file is confidential and contains trade secrets
# of Horizon Robotics Inc. This is proprietary information owned by
# Horizon Robotics Inc. No part of this work may be disclosed,
# reproduced, copied, transmitted, or used in any way for any purpose,
# without the express written permission of Horizon Robotics Inc.

set -e -v
cd $(dirname $0) || exit

python3 ../../../data_preprocess.py \
  --src_dir data/pcd \
  --dst_dir ./pcd_rgb_f32 \
  --pic_ext .rgb \
  --read_mode opencv

data_preprocess.py在下图位置（官方自带）

在mapper文件夹下，新建一个preprocess.py文件，内容如下：

target_size=(640, 640) -> 调整输出的size

# Copyright (c) 2021 Horizon Robotics.All Rights Reserved.
#
# The material in this file is confidential and contains trade secrets
# of Horizon Robotics Inc. This is proprietary information owned by
# Horizon Robotics Inc. No part of this work may be disclosed,
# reproduced, copied, transmitted, or used in any way for any purpose,
# without the express written permission of Horizon Robotics Inc.

import sys
sys.path.append("../../../01_common/python/data/")
from transformer import *
from dataloader import *


def calibration_transformers():
    transformers = [
        PadResizeTransformer(target_size=(640, 640)),
        HWC2CHWTransformer(),
        BGR2RGBTransformer(data_format="CHW"),
    ]
    return transformers


def infer_transformers(input_shape, input_layout="NHWC"):
    transformers = [
        PadResizeTransformer(target_size=input_shape),
        BGR2RGBTransformer(data_format="HWC"),
        RGB2NV12Transformer(data_format="HWC"),
        NV12ToYUV444Transformer(target_size=input_shape,
                                yuv444_output_layout=input_layout[1:]),
    ]
    return transformers


def infer_image_preprocess(image_file, input_layout, input_shape):
    transformers = infer_transformers(input_shape, input_layout)
    origin_image, processed_image = SingleImageDataLoaderWithOrigin(
        transformers, image_file, imread_mode="opencv")
    return origin_image, processed_image


def eval_image_preprocess(image_path, annotation_path, input_shape,
                          input_layout):
    transformers = infer_transformers(input_shape, input_layout)
    data_loader = COCODataLoader(transformers,
                                 image_path,
                                 annotation_path,
                                 imread_mode='opencv')

    return data_loader

运行

sh 02_preprocess.sh

（5）转为.bin模型

准备好处理后的图像数据，下面就是获取能够在开发板上运行的模型了，地平线在开发板上运行的模型后缀为.bin，故在此称为.bin模型。

这一步需要准备两个文件，一个是03_build.sh，一个是yolov8_config.yaml，两个文件均放于mapper文件夹下。

注意：运行03_build.sh之前要保证前一步生成的rgb大小要和yolov8_config.yaml文件设置的输入尺寸一致（模型输入）。

03_build.sh

#!/bin/bash


set -e -v
cd $(dirname $0)
config_file="./yolov8_config.yaml"
model_type="onnx"
# build model
hb_mapper makertbin --config ${config_file}  \
                    --model-type  ${model_type}

yolov8_config.yaml

# Copyright (c) 2020 Horizon Robotics.All Rights Reserved.
#
# The material in this file is confidential and contains trade secrets
# of Horizon Robotics Inc. This is proprietary information owned by
# Horizon Robotics Inc. No part of this work may be disclosed,
# reproduced, copied, transmitted, or used in any way for any purpose,
# without the express written permission of Horizon Robotics Inc.

# 模型转化相关的参数
# ------------------------------------
# model conversion related parameters
model_parameters:
  # Onnx浮点网络数据模型文件
  # -----------------------------------------------------------
  # the model file of floating-point ONNX neural network data
  onnx_model: 'onnx_model/yolov8n.onnx'

  # 适用BPU架构
  # --------------------------------
  # the applicable BPU architecture
  march: "bernoulli2"

  # 指定模型转换过程中是否输出各层的中间结果，如果为True，则输出所有层的中间输出结果，
  # --------------------------------------------------------------------------------------
  # specifies whether or not to dump the intermediate results of all layers in conversion
  # if set to True, then the intermediate results of all layers shall be dumped
  layer_out_dump: False

  # 日志文件的输出控制参数，
  # debug输出模型转换的详细信息
  # info只输出关键信息
  # warn输出警告和错误级别以上的信息
  # ----------------------------------------------------------------------------------------
  # output control parameter of log file(s),
  # if set to 'debug', then details of model conversion will be dumped
  # if set to 'info', then only important imformation will be dumped
  # if set to 'warn', then information ranked higher than 'warn' and 'error' will be dumped
  log_level: 'debug'

  # 模型转换输出的结果的存放目录
  # -----------------------------------------------------------
  # the directory in which model conversion results are stored
  working_dir: 'model_output'

  # 模型转换输出的用于上板执行的模型文件的名称前缀
  # -----------------------------------------------------------------------------------------
  # model conversion generated name prefix of those model files used for dev board execution
  output_model_file_prefix: 'yolov8n_rgb'

# 模型输入相关参数, 若输入多个节点, 则应使用';'进行分隔, 使用默认缺省设置则写None
# --------------------------------------------------------------------------
# model input related parameters,
# please use ";" to seperate when inputting multiple nodes,
# please use None for default setting
input_parameters:

  # (选填) 模型输入的节点名称, 此名称应与模型文件中的名称一致, 否则会报错, 不填则会使用模型文件中的节点名称
  # --------------------------------------------------------------------------------------------------------
  # (Optional) node name of model input,
  # it shall be the same as the name of model file, otherwise an error will be reported,
  # the node name of model file will be used when left blank
  input_name: ""

  # 网络实际执行时，输入给网络的数据格式，包括 nv12/rgb/bgr/yuv444/gray/featuremap,
  # ------------------------------------------------------------------------------------------
  # the data formats to be passed into neural network when actually performing neural network
  # available options: nv12/rgb/bgr/yuv444/gray/featuremap,
  input_type_rt: 'nv12'

  # 网络实际执行时输入的数据排布, 可选值为 NHWC/NCHW
  # 若input_type_rt配置为nv12，则此处参数不需要配置
  # ------------------------------------------------------------------
  # the data layout formats to be passed into neural network when actually performing neural network, available options: NHWC/NCHW
  # If input_type_rt is configured as nv12, then this parameter does not need to be configured
  #input_layout_rt: ''

  # 网络训练时输入的数据格式，可选的值为rgb/bgr/gray/featuremap/yuv444
  # --------------------------------------------------------------------
  # the data formats in network training
  # available options: rgb/bgr/gray/featuremap/yuv444
  input_type_train: 'rgb'

  # 网络训练时输入的数据排布, 可选值为 NHWC/NCHW
  # ------------------------------------------------------------------
  # the data layout in network training, available options: NHWC/NCHW
  input_layout_train: 'NCHW'

  # (选填) 模型网络的输入大小, 以'x'分隔, 不填则会使用模型文件中的网络输入大小，否则会覆盖模型文件中输入大小
  # -------------------------------------------------------------------------------------------
  # (Optional)the input size of model network, seperated by 'x'
  # note that the network input size of model file will be used if left blank
  # otherwise it will overwrite the input size of model file
  input_shape: '1x3x640x640'

  # 网络实际执行时，输入给网络的batch_size, 默认值为1
  # ---------------------------------------------------------------------
  # the data batch_size to be passed into neural network when actually performing neural network, default value: 1
  #input_batch: 1
  
  # 网络输入的预处理方法，主要有以下几种：
  # no_preprocess 不做任何操作
  # data_mean 减去通道均值mean_value
  # data_scale 对图像像素乘以data_scale系数
  # data_mean_and_scale 减去通道均值后再乘以scale系数
  # -------------------------------------------------------------------------------------------
  # preprocessing methods of network input, available options:
  # 'no_preprocess' indicates that no preprocess will be made 
  # 'data_mean' indicates that to minus the channel mean, i.e. mean_value
  # 'data_scale' indicates that image pixels to multiply data_scale ratio
  # 'data_mean_and_scale' indicates that to multiply scale ratio after channel mean is minused
  norm_type: 'data_scale'

  # 图像减去的均值, 如果是通道均值，value之间必须用空格分隔
  # --------------------------------------------------------------------------
  # the mean value minused by image
  # note that values must be seperated by space if channel mean value is used
  mean_value: ''

  # 图像预处理缩放比例，如果是通道缩放比例，value之间必须用空格分隔
  # ---------------------------------------------------------------------------
  # scale value of image preprocess
  # note that values must be seperated by space if channel scale value is used
  scale_value: 0.003921568627451

# 模型量化相关参数
# -----------------------------
# model calibration parameters
calibration_parameters:

  # 模型量化的参考图像的存放目录，图片格式支持Jpeg、Bmp等格式，输入的图片
  # 应该是使用的典型场景，一般是从测试集中选择20~100张图片，另外输入
  # 的图片要覆盖典型场景，不要是偏僻场景，如过曝光、饱和、模糊、纯黑、纯白等图片
  # 若有多个输入节点, 则应使用';'进行分隔
  # -------------------------------------------------------------------------------------------------
  # the directory where reference images of model quantization are stored
  # image formats include JPEG, BMP etc.
  # should be classic application scenarios, usually 20~100 images are picked out from test datasets
  # in addition, note that input images should cover typical scenarios
  # and try to avoid those overexposed, oversaturated, vague, 
  # pure blank or pure white images
  # use ';' to seperate when there are multiple input nodes
  cal_data_dir: './pcd_rgb_f32'

  # 如果输入的图片文件尺寸和模型训练的尺寸不一致时，并且preprocess_on为true，
  # 则将采用默认预处理方法(skimage resize)，
  # 将输入图片缩放或者裁减到指定尺寸，否则，需要用户提前把图片处理为训练时的尺寸
  # ---------------------------------------------------------------------------------
  # In case the size of input image file is different from that of in model training
  # and that preprocess_on is set to True,
  # shall the default preprocess method(skimage resize) be used
  # i.e., to resize or crop input image into specified size
  # otherwise user must keep image size as that of in training in advance
  preprocess_on: False

  # 模型量化的算法类型，支持kl、max，通常采用KL即可满足要求, 若为QAT导出的模型, 则应选择load
  # ----------------------------------------------------------------------------------
  # types of model quantization algorithms, usually kl will meet the need
  # available options:kl and max
  # if converted model is quanti model exported from QAT , then choose `load`
  calibration_type: 'default'

# 编译器相关参数
# ----------------------------
# compiler related parameters
compiler_parameters:

  # 编译策略，支持bandwidth和latency两种优化模式;
  # bandwidth以优化ddr的访问带宽为目标；
  # latency以优化推理时间为目标
  # -------------------------------------------------------------------------------------------
  # compilation strategy, there are 2 available optimization modes: 'bandwidth' and 'lantency'
  # the 'bandwidth' mode aims to optimize ddr access bandwidth
  # while the 'lantency' mode aims to optimize inference duration
  compile_mode: 'latency'

  # 设置debug为True将打开编译器的debug模式，能够输出性能仿真的相关信息，如帧率、DDR带宽占用等
  # -----------------------------------------------------------------------------------
  # the compiler's debug mode will be enabled by setting to True
  # this will dump performance simulation related information
  # such as: frame rate, DDR bandwidth usage etc.
  debug: False

  # 编译模型指定核数，不指定默认编译单核模型, 若编译双核模型，将下边注释打开即可
  # -------------------------------------------------------------------------------------
  # specifies number of cores to be used in model compilation 
  # as default, single core is used as this value left blank
  # please delete the "# " below to enable dual-core mode when compiling dual-core model
  # core_num: 2

  # 优化等级可选范围为O0~O3
  # O0不做任何优化, 编译速度最快，优化程度最低,
  # O1-O3随着优化等级提高，预期编译后的模型的执行速度会更快，但是所需编译时间也会变长。
  # 推荐用O2做最快验证
  # ----------------------------------------------------------------------------------------------------------
  # optimization level ranges between O0~O3
  # O0 indicates that no optimization will be made 
  # the faster the compilation, the lower optimization level will be
  # O1-O3: as optimization levels increase gradually, model execution, after compilation, shall become faster
  # while compilation will be prolonged
  # it is recommended to use O2 for fastest verification
  optimize_level: 'O3'

运行