road detect matlab,detect.m · Song_Yuqi/yolov3-yolov4-matlab - Gitee.com

%% custom input

addpath('./CustomLayers/','./utils/')

% clear all % 如果更换模型，需重置静态函数(影响性能)，否则可以不用清理

cfg_file = 'cfg/yolov3.cfg';

weight_file = 'weights/yolov3.weights';

throushold = 0.5;

NMS = 0.4;

%% import all classes

fid = fopen('coco.names','r');

names = textscan(fid, '%s', 'Delimiter',{' '});

fclose(fid);classesNames = categorical(names{1});

RGB = randi(255,length(classesNames),3);

%% 摄像头视频流识别

cap = webcam();

player = vision.DeployableVideoPlayer();

image = cap.snapshot();

step(player, image);

while player.isOpen()

image = cap.snapshot();

t1 = tic;

outFeatures = yolov3v4Predict(cfg_file,weight_file,image);% M*(5+nc) ,为[x,y,w,h,Pobj,p1,p2,...,pn]

fprintf('预测耗时：%.2f 秒\n',toc(t1));% yolov4大概0.4秒，yolov3大概0.2秒，yolov3-tiny大概0.06秒

%% 阈值过滤+NMS处理

scores = outFeatures(:,5);

outFeatures = outFeatures(scores>throushold,:);

allBBoxes = outFeatures(:,1:4);

allScores = outFeatures(:,5);

[maxScores,indxs] = max(outFeatures(:,6:end),[],2);

allScores = allScores.*maxScores;

allLabels = classesNames(indxs);

% NMS非极大值抑制

if ~isempty(allBBoxes)

[bboxes,scores,labels] = selectStrongestBboxMulticlass(allBBoxes,allScores,allLabels,...

'RatioType','Min','OverlapThreshold',NMS);

annotations = string(labels) + ": " + string(scores);

[~,ids] = ismember(labels,classesNames);

colors = RGB(ids,:);

image = insertObjectAnnotation(image,...

'rectangle',bboxes,cellstr(annotations),...

'Color',colors,...

'LineWidth',3);

end

step(player,image);

end

release(player);

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