YOLOv5在香橙派npu RK3588上部署（解决检测框混乱问题）

概论

博主最近痴迷于卷积神经模型在各种npu上的部署以及推理优化。香橙派是目前最经济实惠的开发板，我们利用官方提供的rknn-toolkit2代码仓库和yolov5仓库来完成yolov5模型的部署。

两个仓库的地址为：

链接1：GitHub - rockchip-linux/rknn-toolkit2

链接2：GitHub - airockchip/yolov5: YOLOv5 in PyTorch > ONNX > CoreML > TFLite

模型转换

博主这里使用的是yolov5 v6.2版本代码，这个版本的模型转换各种格式基本不会出现问题。训练yolov5的过程就不再赘述，直接进入模型转换步骤。

首先在得到训练好后的模型后通过概论中链接2的代码来转换为onnx。

转换的代码为：

python export.py --imgsz 640 --weights path2yourpt --include onnx --rknpu rk3588

转换成功后你会得到一个onnx，将这个onnx放到链接1的examples/onnx/yolov5路径下，接下来转换成rknn格式。

在这个路径下打开test.py，更改以下几个地方：

import os
import urllib
import traceback
import time
import sys
import numpy as np
import cv2
from rknn.api import RKNN

# Model from https://github.com/airockchip/rknn_model_zoo
ONNX_MODEL = 'yourname.onnx'
RKNN_MODEL = 'yourname.rknn'
IMG_PATH = './bus.jpg'
DATASET = './dataset.txt'

QUANTIZE_ON = True

OBJ_THRESH = 0.25
NMS_THRESH = 0.45
IMG_SIZE = 640 //需与你转换onnx时设置的imgsz严格相同

CLASSES = ("bus", "person")



def xywh2xyxy(x):
    # Convert [x, y, w, h] to [x1, y1, x2, y2]
    y = np.copy(x)
    y[:, 0] = x[:, 0] - x[:, 2] / 2  # top left x
    y[:, 1] = x[:, 1] - x[:, 3] / 2  # top left y
    y[:, 2] = x[:, 0] + x[:, 2] / 2  # bottom right x
    y[:, 3] = x[:, 1] + x[:, 3] / 2  # bottom right y
    return y

def process(input, mask, anchors):
 
    anchors = [anchors[i] for i in mask]
    grid_h, grid_w = map(int, input.shape[0:2])
 
    box_confidence = input[..., 4]
    box_confidence = np.expand_dims(box_confidence, axis=-1)
 
    box_class_probs = input[..., 5:]
 
    box_xy = input[..., :2]*2 - 0.5
 
    col = np.tile(np.arange(0, grid_w), grid_w).reshape(-1, grid_w)
    row = np.tile(np.arange(0, grid_h).reshape(-1, 1), grid_h)
    col = col.reshape(grid_h, grid_w, 1, 1).repeat(3, axis=-2)
    row = row.reshape(grid_h, grid_w, 1, 1).repeat(3, axis=-2)
    grid = np.concatenate((col, row), axis=-1)
    box_xy += grid
    box_xy *= int(IMG_SIZE/grid_h)
 
    box_wh = pow(input[..., 2:4]*2, 2)
    box_wh = box_wh * anchors
 
    box = np.concatenate((box_xy, box_wh), axis=-1)
 
    return box, box_confidence, box_class_probs

def filter_boxes(boxes, box_confidences, box_class_probs):
    """Filter boxes with box threshold. It's a bit different with origin yolov5 post process!

    # Arguments
        boxes: ndarray, boxes of objects.
        box_confidences: ndarray, confidences of objects.
        box_class_probs: ndarray, class_probs of objects.

    # Returns
        boxes: ndarray, filtered boxes.
        classes: ndarray, classes for boxes.
        scores: ndarray, scores for boxes.
    """
    boxes = boxes.reshape(-1, 4)
    box_confidences = box_confidences.reshape(-1)
    box_class_probs = box_class_probs.reshape(-1, box_class_probs.shape[-1])

    _box_pos = np.where(box_confidences >= OBJ_THRESH)
    boxes = boxes[_box_pos]
    box_confidences = box_confidences[_box_pos]
    box_class_probs = box_class_probs[_box_pos]

    class_max_score = np.max(box_class_probs, axis=-1)
    classes = np.argmax(box_class_probs, axis=-1)
    _class_pos = np.where(class_max_score >= OBJ_THRESH)

    boxes = boxes[_class_pos]
    classes = classes[_class_pos]
    scores = (class_max_score* box_confidences)[_class_pos]

    return boxes, classes, scores


def nms_boxes(boxes, scores):
    """Suppress non-maximal boxes.

    # Arguments
        boxes: ndarray, boxes of objects.
        scores: ndarray, scores of objects.

    # Returns
        keep: ndarray, index of effective boxes.
    """
    x = boxes[:, 0]
    y = boxes[:, 1]
    w = boxes[:, 2] - boxes[:, 0]
    h = boxes[:, 3] - boxes[:, 1]

    areas = w * h
    order = scores.argsort()[::-1]

    keep = []
    while order.size > 0:
        i = order[0]
        keep.append(i)

        xx1 = np.maximum(x[i], x[order[1:]])
        yy1 = np.maximum(y[i], y[order[1:]])
        xx2 = np.minimum(x[i] + w[i], x[order[1:]] + w[order[1:]])
        yy2 = np.minimum(y[i] + h[i], y[order[1:]] + h[order[1:]])

        w1 = np.maximum(0.0, xx2 - xx1 + 0.00001)
        h1 = np.maximum(0.0, yy2 - yy1 + 0.00001)
        inter = w1 * h1

        ovr = inter / (areas[i] + areas[order[1:]] - inter)
        inds = np.where(ovr <= NMS_THRESH)[0]
        order = order[inds + 1]
    keep = np.array(keep)
    return keep


def yolov5_post_process(input_data):
    masks = [[0, 1, 2], [3, 4, 5], [6, 7, 8]]
    anchors = [[10, 13], [16, 30], [33, 23], [30, 61], [62, 45],
               [59, 119], [116, 90], [156, 198], [373, 326]]

    boxes, classes, scores = [], [], []
    for input, mask in zip(input_data, masks):
        b, c, s = process(input, mask, anchors)
        b, c, s = filter_boxes(b, c, s)
        boxes.append(b)
        classes.append(c)
        scores.append(s)

    boxes = np.concatenate(boxes)
    boxes = xywh2xyxy(boxes)
    classes = np.concatenate(classes)
    scores = np.concatenate(scores)

    nboxes, nclasses, nscores = [], [], []
    for c in set(classes):
        inds = np.where(classes == c)
        b = boxes[inds]
        c = classes[inds]
        s = scores[inds]

        keep = nms_boxes(b, s)

        nboxes.append(b[keep])
        nclasses.append(c[keep])
        nscores.append(s[keep])

    if not nclasses and not nscores:
        return None, None, None

    boxes = np.concatenate(nboxes)
    classes = np.concatenate(nclasses)
    scores = np.concatenate(nscores)

    return boxes, classes, scores


def draw(image, boxes, scores, classes):
    """Draw the boxes on the image.

    # Argument:
        image: original image.
        boxes: ndarray, boxes of objects.
        classes: ndarray, classes of objects.
        scores: ndarray, scores of objects.
        all_classes: all classes name.
    """
    for box, score, cl in zip(boxes, scores, classes):
        top, left, right, bottom = box
        print('class: {}, score: {}'.format(CLASSES[cl], score))
        print('box coordinate left,top,right,down: [{}, {}, {}, {}]'.format(top, left, right, bottom))
        top = int(top)
        left = int(left)
        right = int(right)
        bottom = int(bottom)

        cv2.rectangle(image, (top, left), (right, bottom), (255, 0, 0), 2)
        cv2.putText(image, '{0} {1:.2f}'.format(CLASSES[cl], score),
                    (top, left - 6),
                    cv2.FONT_HERSHEY_SIMPLEX,
                    0.6, (0, 0, 255), 2)


def letterbox(im, new_shape=(640, 640), color=(0, 0, 0)):
    # Resize and pad image while meeting stride-multiple constraints
    shape = im.shape[:2]  # current shape [height, width]
    if isinstance(new_shape, int):
        new_shape = (new_shape, new_shape)

    # Scale ratio (new / old)
    r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])

    # Compute padding
    ratio = r, r  # width, height ratios
    new_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))
    dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1]  # wh padding

    dw /= 2  # divide padding into 2 sides
    dh /= 2

    if shape[::-1] != new_unpad:  # resize
        im = cv2.resize(im, new_unpad, interpolation=cv2.INTER_LINEAR)
    top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))
    left, right = int(round(dw - 0.1)), int(round(dw + 0.1))
    im = cv2.copyMakeBorder(im, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color)  # add border
    return im, ratio, (dw, dh)


if __name__ == '__main__':

    # Create RKNN object
    rknn = RKNN(verbose=True)

    # pre-process config
    print('--> Config model')
    rknn.config(mean_values=[[0, 0, 0]], std_values=[[255, 255, 255]], target_platform='rk3588')
    print('done')

    # # load RKNN model
    # ret = rknn.load_rknn(RKNN_MODEL)
    # if ret != 0:
    #     print('load rknn model failed!')
    #     exit(ret)
    # print('done')
    
    # Load ONNX model
    print('--> Loading model')
    ret = rknn.load_onnx(model=ONNX_MODEL)
    if ret != 0:
        print('Load model failed!')
        exit(ret)
    print('done')

    # Build model
    print('--> Building model')
    ret = rknn.build(do_quantization=QUANTIZE_ON, dataset=DATASET)
    if ret != 0:
        print('Build model failed!')
        exit(ret)
    print('done')

    # Export RKNN model
    print('--> Export rknn model')
    ret = rknn.export_rknn(RKNN_MODEL)
    if ret != 0:
        print('Export rknn model failed!')
        exit(ret)
    print('done')

    # Init runtime environment
    print('--> Init runtime environment')
    ret = rknn.init_runtime()
    if ret != 0:
        print('Init runtime environment failed!')
        exit(ret)
    print('done')

    # Set inputs
    img = cv2.imread(IMG_PATH)
    img, ratio, (dw, dh) = letterbox(img, new_shape=(IMG_SIZE, IMG_SIZE))
    img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
    # img = cv2.resize(img, (IMG_SIZE, IMG_SIZE))

    # Inference
    print('--> Running model')
    outputs = rknn.inference(inputs=[img])
    np.save('./onnx_yolov5_0.npy', outputs[0])
    np.save('./onnx_yolov5_1.npy', outputs[1])
    np.save('./onnx_yolov5_2.npy', outputs[2])
    print('done')

    # post process
    input0_data = outputs[0]
    input1_data = outputs[1]
    input2_data = outputs[2]

    input0_data = input0_data.reshape([3, -1]+list(input0_data.shape[-2:]))
    input1_data = input1_data.reshape([3, -1]+list(input1_data.shape[-2:]))
    input2_data = input2_data.reshape([3, -1]+list(input2_data.shape[-2:]))

    input_data = list()
    input_data.append(np.transpose(input0_data, (2, 3, 0, 1)))
    input_data.append(np.transpose(input1_data, (2, 3, 0, 1)))
    input_data.append(np.transpose(input2_data, (2, 3, 0, 1)))
    print(input_data[0].shape)
    boxes, classes, scores = yolov5_post_process(input_data)

    img_1 = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
    if boxes is not None:
        draw(img_1, boxes, scores, classes)
        cv2.imwrite('result.jpg', img_1)

    rknn.release()

严格按照以上方式转换出的rknn模型不会出现推理框混乱及满屏幕都是检测框的情况。

模型部署

待更新。