=参考这个链接 https://blog.csdn.net/weixin_44791964/article/details/103276106
我自己能运行的代码已经上传到下载里面了，代码太长了不直接放在博客里面了。
| 目录 |  |
yolo3的代码我把它分为2个部分：
一个编码部分：就是主体网络结构部分，得到框位置（xy， wh）和类别信息；
一个解码部分：就是将得到的框信息和类别信息解析到图片上。主要是在计算loss的时候需要，因为标记的框信息是直接在图片上的。
主体网络部分darknet53.py和yolo3.py：
主体网络部分比较简单，就是输入得到三个特征层 feat1， feat2， feat3.
darknet53.py ： 几个重复的卷积模块resblock_body组成
from functools import wraps
from keras.layers import Conv2D, Add, ZeroPadding2D, UpSampling2D, Concatenate, MaxPooling2D
from keras.layers.advanced_activations import LeakyReLU
from keras.layers.normalization import BatchNormalization
from keras.regularizers import l2
from utils.utils import compose
#--------------------------------------------------#
# 单次卷积
#--------------------------------------------------#
@wraps(Conv2D)
def DarknetConv2D(*args, **kwargs):
darknet_conv_kwargs = {'kernel_regularizer': l2(5e-4)}
darknet_conv_kwargs['padding'] = 'valid' if kwargs.get('strides')==(2,2) else 'same'
darknet_conv_kwargs.update(kwargs)
return Conv2D(*args, **darknet_conv_kwargs)
#---------------------------------------------------#
# 卷积块
# DarknetConv2D + BatchNormalization + LeakyReLU
#---------------------------------------------------#
def DarknetConv2D_BN_Leaky(*args, **kwargs):
no_bias_kwargs = {'use_bias': False}
no_bias_kwargs.update(kwargs)
return compose(
DarknetConv2D(*args, **no_bias_kwargs),
BatchNormalization(),
LeakyReLU(alpha=0.1))
#---------------------------------------------------#
# 卷积块
# DarknetConv2D + BatchNormalization + LeakyReLU
#---------------------------------------------------#
def resblock_body(x, num_filters, num_blocks):
x = ZeroPadding2D(((1,0),(1,0)))(x)
x = DarknetConv2D_BN_Leaky(num_filters, (3,3), strides=(2,2))(x)
for i in range(num_blocks):
y = DarknetConv2D_BN_Leaky(num_filters//2, (1,1))(x)
y = DarknetConv2D_BN_Leaky(num_filters, (3,3))(y)
x = Add()([x,y])
return x
#---------------------------------------------------#
# darknet53 的主体部分
#---------------------------------------------------#
def darknet_body(x):
x = DarknetConv2D_BN_Leaky(32, (3,3))(x)
x = resblock_body(x, 64, 1) #重复一次
x = resblock_body(x, 128, 2) #重复2次
x = resblock_body(x, 256, 8) #重复8次
feat1 = x #第一个特征层
x = resblock_body(x, 512, 8) #重复8次
feat2 = x #第二个特征层
x = resblock_body(x, 1024, 4) #重复4次
feat3 = x #第三个特征层
return feat1,feat2,feat3yolo3.py 整个网络结构的搭建
from functools import wraps
import numpy as np
import tensorflow as tf
from keras import backend as K
from keras.layers import Conv2D, Add, ZeroPadding2D, UpSampling2D, Concatenate, MaxPooling2D
from keras.layers.advanced_activations import LeakyReLU
from keras.layers.normalization import BatchNormalization
from keras.models import Model
from keras.regularizers import l2
from nets.darknet53 import darknet_body
from utils.utils import compose
#--------------------------------------------------#
# 单次卷积
#--------------------------------------------------#
@wraps(Conv2D)
def DarknetConv2D(*args, **kwargs):
darknet_conv_kwargs = {'kernel_regularizer': l2(5e-4)}
darknet_conv_kwargs['padding'] = 'valid' if kwargs.get('strides')==(2,2) else 'same'
darknet_conv_kwargs.update(kwargs)
return Conv2D(*args, **darknet_conv_kwargs)
#---------------------------------------------------#
# 卷积块
# DarknetConv2D + BatchNormalization + LeakyReLU
#---------------------------------------------------#
def DarknetConv2D_BN_Leaky(*args, **kwargs):
no_bias_kwargs = {'use_bias': False}
no_bias_kwargs.update(kwargs)
return compose(
DarknetConv2D(*args, **no_bias_kwargs),
BatchNormalization(),
LeakyReLU(alpha=0.1))
#---------------------------------------------------#
# 特征层->最后的输出
#---------------------------------------------------#
def make_last_layers(x, num_filters, out_filters):
# 五次卷积
x = DarknetConv2D_BN_Leaky(num_filters, (1,1))(x)
x = DarknetConv2D_BN_Leaky(num_filters*2, (3,3))(x)
x = DarknetConv2D_BN_Leaky(num_filters, (1,1))(x)
x = DarknetConv2D_BN_Leaky(num_filters*2, (3,3))(x)
x = DarknetConv2D_BN_Leaky(num_filters, (1,1))(x)
# 将最后的通道数调整为outfilter
y = DarknetConv2D_BN_Leaky(num_filters*2, (3,3))(x)
y = DarknetConv2D(out_filters, (1,1))(y)
return x, y
#---------------------------------------------------#
# 特征层->最后的输出
#---------------------------------------------------#
def yolo_body(inputs, num_anchors, num_classes):
# 生成darknet53的主干模型
feat1,feat2,feat3 = darknet_body(inputs)
darknet = Model(inputs, feat3)
# 第一个特征层经过5次卷积输出
# y1=(batch_size,13,13,3,85)
x, y1 = make_last_layers(darknet.output, 512, num_anchors*(num_classes+5))
#第一个特征层经过上采样后与第二个特征层链接
x = compose(
DarknetConv2D_BN_Leaky(256, (1,1)),
UpSampling2D(2))(x)
x = Concatenate()([x,feat2])
# 第二个特征层经过5次卷积输出
# y2=(batch_size,26,26,3,85)
x, y2 = make_last_layers(x, 256, num_anchors*(num_classes+5))
#第二个特征上采样与第三个特征层链接
x = compose(
DarknetConv2D_BN_Leaky(128, (1,1)),
UpSampling2D(2))(x)
x = Concatenate()([x,feat1])
# 第三个特征层
# y3=(batch_size,52,52,3,85)
x, y3 = make_last_layers(x, 128, num_anchors*(num_classes+5))
#最后返回的是处理后的三个特征层
return Model(inputs, [y1,y2,y3])解码部分loss.py：
loss计算：根据feat（x, y, w, h, 置信度， 类别信息）解析成y_pre（yolo_head函数的作用） 和输入的y__true计算loss
import numpy as np
import tensorflow as tf
from keras import backend as K
#---------------------------------------------------#
# 将预测值的每个特征层调成真实值
#---------------------------------------------------#
def yolo_head(feats, anchors, num_classes, input_shape, calc_loss=False):
num_anchors = len(anchors)
# [1, 1, 1, num_anchors, 2]
anchors_tensor = K.reshape(K.constant(anchors), [1, 1, 1, num_anchors, 2])
# 获得x，y的网格
# (13, 13, 1, 2)
grid_shape = K.shape(feats)[1:3] # height, width
grid_y = K.tile(K.reshape(K.arange(0, stop=grid_shape[0]), [-1, 1, 1, 1]),
[1, grid_shape[1], 1, 1])
grid_x = K.tile(K.reshape(K.arange(0, stop=grid_shape[1]), [1, -1, 1, 1]),
[grid_shape[0], 1, 1, 1])
grid = K.concatenate([grid_x, grid_y])
grid = K.cast(grid, K.dtype(feats))
# (batch_size,13,13,3,85)
feats = K.reshape(feats, [-1, grid_shape[0], grid_shape[1], num_anchors, num_classes + 5])
# 将预测值调成真实值
# box_xy对应框的中心点
# box_wh对应框的宽和高
box_xy = (K.sigmoid(feats[..., :2]) + grid) / K.cast(grid_shape[::-1], K.dtype(feats))
box_wh = K.exp(feats[..., 2:4]) * anchors_tensor / K.cast(input_shape[::-1], K.dtype(feats))
box_confidence = K.sigmoid(feats[..., 4:5])
box_class_probs = K.sigmoid(feats[..., 5:])
# 在计算loss的时候返回如下参数
if calc_loss == True:
return grid, feats, box_xy, box_wh
return box_xy, box_wh, box_confidence, box_class_probs
#---------------------------------------------------#
# 用于计算每个预测框与真实框的iou
#---------------------------------------------------#
def box_iou(b1, b2):
# 13,13,3,1,4
# 计算左上角的坐标和右下角的坐标
b1 = K.expand_dims(b1, -2)
b1_xy = b1[..., :2]
b1_wh = b1[..., 2:4]
b1_wh_half = b1_wh/2.
b1_mins = b1_xy - b1_wh_half
b1_maxes = b1_xy + b1_wh_half
# 1,n,4
# 计算左上角和右下角的坐标
b2 = K.expand_dims(b2, 0)
b2_xy = b2[..., :2]
b2_wh = b2[..., 2:4]
b2_wh_half = b2_wh/2.
b2_mins = b2_xy - b2_wh_half
b2_maxes = b2_xy + b2_wh_half
# 计算重合面积
intersect_mins = K.maximum(b1_mins, b2_mins)
intersect_maxes = K.minimum(b1_maxes, b2_maxes)
intersect_wh = K.maximum(intersect_maxes - intersect_mins, 0.)
intersect_area = intersect_wh[..., 0] * intersect_wh[..., 1]
b1_area = b1_wh[..., 0] * b1_wh[..., 1]
b2_area = b2_wh[..., 0] * b2_wh[..., 1]
iou = intersect_area / (b1_area + b2_area - intersect_area)
return iou
#---------------------------------------------------#
# loss值计算
#---------------------------------------------------#
def yolo_loss(args, anchors, num_classes, ignore_thresh=.5, print_loss=False):
# 一共有三层
num_layers = len(anchors)//3
# 将预测结果和实际ground truth分开，args是[*model_body.output, *y_true]
# y_true是一个列表，包含三个特征层，shape分别为(m,13,13,3,85),(m,26,26,3,85),(m,52,52,3,85)。
# yolo_outputs是一个列表，包含三个特征层，shape分别为(m,13,13,3,85),(m,26,26,3,85),(m,52,52,3,85)。
y_true = args[num_layers:]
yolo_outputs = args[:num_layers]
# 先验框
# 678为116,90, 156,198, 373,326
# 345为30,61, 62,45, 59,119
# 012为10,13, 16,30, 33,23,
anchor_mask = [[6,7,8], [3,4,5], [0,1,2]] if num_layers==3 else [[3,4,5], [1,2,3]]
# 得到input_shpae为416,416
input_shape = K.cast(K.shape(yolo_outputs[0])[1:3] * 32, K.dtype(y_true[0]))
# 得到网格的shape为13,13;26,26;52,52
grid_shapes = [K.cast(K.shape(yolo_outputs[l])[1:3], K.dtype(y_true[0])) for l in range(num_layers)]
loss = 0
# 取出每一张图片
# m的值就是batch_size
m = K.shape(yolo_outputs[0])[0]
mf = K.cast(m, K.dtype(yolo_outputs[0]))
# y_true是一个列表，包含三个特征层，shape分别为(m,13,13,3,85),(m,26,26,3,85),(m,52,52,3,85)。
# yolo_outputs是一个列表，包含三个特征层，shape分别为(m,13,13,3,85),(m,26,26,3,85),(m,52,52,3,85)。
for l in range(num_layers):
# 以第一个特征层(m,13,13,3,85)为例子
# 取出该特征层中存在目标的点的位置。(m,13,13,3,1)
object_mask = y_true[l][..., 4:5]
# 取出其对应的种类(m,13,13,3,80)
true_class_probs = y_true[l][..., 5:]
# 将yolo_outputs的特征层输出进行处理
# grid为网格结构(13,13,1,2)，raw_pred为尚未处理的预测结果(m,13,13,3,85)
# 还有解码后的xy，wh，(m,13,13,3,2)
grid, raw_pred, pred_xy, pred_wh = yolo_head(yolo_outputs[l],
anchors[anchor_mask[l]], num_classes, input_shape, calc_loss=True)
# 这个是解码后的预测的box的位置
# (m,13,13,3,4)
pred_box = K.concatenate([pred_xy, pred_wh])
# 找到负样本群组，第一步是创建一个数组，[]
ignore_mask = tf.TensorArray(K.dtype(y_true[0]), size=1, dynamic_size=True)
object_mask_bool = K.cast(object_mask, 'bool')
# 对每一张图片计算ignore_mask
def loop_body(b, ignore_mask):
# 取出第b副图内，真实存在的所有的box的参数
# n,4
true_box = tf.boolean_mask(y_true[l][b,...,0:4], object_mask_bool[b,...,0])
# 计算预测结果与真实情况的iou
# pred_box为13,13,3,4
# 计算的结果是每个pred_box和其它所有真实框的iou
# 13,13,3,n
iou = box_iou(pred_box[b], true_box)
# 13,13,3,1
best_iou = K.max(iou, axis=-1)
# 判断预测框的iou小于ignore_thresh则认为该预测框没有与之对应的真实框
# 则被认为是这幅图的负样本
ignore_mask = ignore_mask.write(b, K.cast(best_iou<ignore_thresh, K.dtype(true_box)))
return b+1, ignore_mask
# 遍历所有的图片
_, ignore_mask = tf.while_loop(lambda b,*args: b<m, loop_body, [0, ignore_mask])
# 将每幅图的内容压缩，进行处理
ignore_mask = ignore_mask.stack()
#(m,13,13,3,1,1)
ignore_mask = K.expand_dims(ignore_mask, -1)
# 将真实框进行编码，使其格式与预测的相同，后面用于计算loss
raw_true_xy = y_true[l][..., :2]*grid_shapes[l][:] - grid
raw_true_wh = K.log(y_true[l][..., 2:4] / anchors[anchor_mask[l]] * input_shape[::-1])
# object_mask如果真实存在目标则保存其wh值
# switch接口，就是一个if/else条件判断语句
raw_true_wh = K.switch(object_mask, raw_true_wh, K.zeros_like(raw_true_wh))
box_loss_scale = 2 - y_true[l][...,2:3]*y_true[l][...,3:4]
xy_loss = object_mask * box_loss_scale * K.binary_crossentropy(raw_true_xy, raw_pred[...,0:2], from_logits=True)
wh_loss = object_mask * box_loss_scale * 0.5 * K.square(raw_true_wh-raw_pred[...,2:4])
# 如果该位置本来有框，那么计算1与置信度的交叉熵
# 如果该位置本来没有框，而且满足best_iou<ignore_thresh，则被认定为负样本
# best_iou<ignore_thresh用于限制负样本数量
confidence_loss = object_mask * K.binary_crossentropy(object_mask, raw_pred[...,4:5], from_logits=True)+ \
(1-object_mask) * K.binary_crossentropy(object_mask, raw_pred[...,4:5], from_logits=True) * ignore_mask
class_loss = object_mask * K.binary_crossentropy(true_class_probs, raw_pred[...,5:], from_logits=True)
xy_loss = K.sum(xy_loss) / mf
wh_loss = K.sum(wh_loss) / mf
confidence_loss = K.sum(confidence_loss) / mf
class_loss = K.sum(class_loss) / mf
loss += xy_loss + wh_loss + confidence_loss + class_loss
if print_loss:
loss = tf.Print(loss, [loss, xy_loss, wh_loss, confidence_loss, class_loss, K.sum(ignore_mask)], message='loss: ')
return loss训练部分：train.py
主要是（1）将标记的数据转化为（x,y, w, h, 置信度,class）的形式，（2）配置训练时的参数信息，
import numpy as np
import tensorflow as tf
import keras.backend as K
from keras.layers import Input, Lambda
from keras.models import Model
from keras.optimizers import Adam
from keras.callbacks import TensorBoard, ModelCheckpoint, ReduceLROnPlateau, EarlyStopping
from nets.yolo3 import yolo_body
from nets.loss import yolo_loss
from keras.backend.tensorflow_backend import set_session
from utils.utils import get_random_data
#---------------------------------------------------#
# 获得类和先验框
#---------------------------------------------------#
def get_classes(classes_path):
'''loads the classes'''
with open(classes_path) as f:
class_names = f.readlines()
class_names = [c.strip() for c in class_names]
return class_names
def get_anchors(anchors_path):
'''loads the anchors from a file'''
with open(anchors_path) as f:
anchors = f.readline()
anchors = [float(x) for x in anchors.split(',')]
return np.array(anchors).reshape(-1, 2)
#---------------------------------------------------#
# 训练数据生成器
#---------------------------------------------------#
def data_generator(annotation_lines, batch_size, input_shape, anchors, num_classes):
'''data generator for fit_generator'''
n = len(annotation_lines)
i = 0
while True:
image_data = []
box_data = []
for b in range(batch_size):
if i==0:
np.random.shuffle(annotation_lines)
image, box = get_random_data(annotation_lines[i], input_shape, random=True)
image_data.append(image)
box_data.append(box)
i = (i+1) % n
image_data = np.array(image_data)
box_data = np.array(box_data)
y_true = preprocess_true_boxes(box_data, input_shape, anchors, num_classes)
yield [image_data, *y_true], np.zeros(batch_size)
#---------------------------------------------------#
# 读入xml文件，并输出y_true
#---------------------------------------------------#
def preprocess_true_boxes(true_boxes, input_shape, anchors, num_classes):
assert (true_boxes[..., 4]<num_classes).all(), 'class id must be less than num_classes'
# 一共有三个特征层数
num_layers = len(anchors)//3
# 先验框
# 678为116,90, 156,198, 373,326
# 345为30,61, 62,45, 59,119
# 012为10,13, 16,30, 33,23,
anchor_mask = [[6,7,8], [3,4,5], [0,1,2]] if num_layers==3 else [[3,4,5], [1,2,3]]
# (m, T, 5) m张图T个框的x_min、y_min、x_max、y_max、class_id
true_boxes = np.array(true_boxes, dtype='float32')
input_shape = np.array(input_shape, dtype='int32') # 416,416
# 计算中心点的位置 （m， T, 2) x, y
boxes_xy = (true_boxes[..., 0:2] + true_boxes[..., 2:4]) // 2
#获取长宽 (m, T, 2) w, h
boxes_wh = true_boxes[..., 2:4] - true_boxes[..., 0:2]
# 计算比例，归一到01之间
true_boxes[..., 0:2] = boxes_xy/input_shape[:]
true_boxes[..., 2:4] = boxes_wh/input_shape[:]
# m张图
m = true_boxes.shape[0]
# 得到网格的shape为13,13;26,26;52,52
grid_shapes = [input_shape//{0:32, 1:16, 2:8}[l] for l in range(num_layers)]
# y_true的格式为(m,13,13,3,85)(m,26,26,3,85)(m,52,52,3,85)
y_true = [np.zeros((m,grid_shapes[l][0],grid_shapes[l][1],len(anchor_mask[l]),5+num_classes),
dtype='float32') for l in range(num_layers)]
# [1,9,2]
anchors = np.expand_dims(anchors, 0)
anchor_maxes = anchors / 2.
anchor_mins = -anchor_maxes
# 长宽要大于0才有效
valid_mask = boxes_wh[..., 0]>0
for b in range(m):
# 对每一张图进行处理[n,2]
wh = boxes_wh[b, valid_mask[b]]
if len(wh)==0: continue
# [n,2]扩大到[n,1,2]
wh = np.expand_dims(wh, -2)
box_maxes = wh / 2.
box_mins = -box_maxes
# 计算真实框和哪个先验框最契合
intersect_mins = np.maximum(box_mins, anchor_mins)
intersect_maxes = np.minimum(box_maxes, anchor_maxes)
intersect_wh = np.maximum(intersect_maxes - intersect_mins, 0.)
intersect_area = intersect_wh[..., 0] * intersect_wh[..., 1]
box_area = wh[..., 0] * wh[..., 1]
anchor_area = anchors[..., 0] * anchors[..., 1]
iou = intersect_area / (box_area + anchor_area - intersect_area)
# 维度是(n) 感谢 消尽不死鸟 的提醒
best_anchor = np.argmax(iou, axis=-1)
#真实的box位于哪个特征层的哪个格网点的哪个先验框
for t, n in enumerate(best_anchor): #第t个框的长和宽n
for l in range(num_layers):
if n in anchor_mask[l]: #判断长和宽在哪一层先验框里面
# floor用于向下取整
i = np.floor(true_boxes[b,t,0]*grid_shapes[l][1]).astype('int32') #之前归一化了的，现在计算真i在格网位置
j = np.floor(true_boxes[b,t,1]*grid_shapes[l][0]).astype('int32') #之前归一化了的，现在计算真j在格网位置
# 找到真实框在特征层l中第b副图像对应的位置
k = anchor_mask[l].index(n)
c = true_boxes[b,t, 4].astype('int32')
y_true[l][b, j, i, k, 0:4] = true_boxes[b,t, 0:4]
y_true[l][b, j, i, k, 4] = 1
y_true[l][b, j, i, k, 5+c] = 1
return y_true
config = tf.ConfigProto()
config.gpu_options.allocator_type = 'BFC' #A "Best-fit with coalescing" algorithm, simplified from a version of dlmalloc.
config.gpu_options.per_process_gpu_memory_fraction = 0.7
config.gpu_options.allow_growth = True
set_session(tf.Session(config=config))
if __name__ == "__main__":
# 标签的位置
annotation_path = '2007_train.txt'
# 获取classes和anchor的位置
classes_path = 'F:/python_file/yolo3-keras-master/model_data/voc_classes.txt'
anchors_path = 'F:/python_file/yolo3-keras-master/model_data/yolo_anchors.txt'
# 预训练模型的位置
weights_path = 'F:/python_file/yolo3-keras-master/model_data/yolo_weights.h5'
# 获得classes和anchor
class_names = get_classes(classes_path)
anchors = get_anchors(anchors_path)
# 一共有多少类
num_classes = len(class_names)
num_anchors = len(anchors)
# 训练后的模型保存的位置
log_dir = 'logs/'
# 输入的shape大小
input_shape = (416,416)
# 清除session
K.clear_session()
# 输入的图像为
image_input = Input(shape=(None, None, 3))
h, w = input_shape
# 创建yolo模型
print('Create YOLOv3 model with {} anchors and {} classes.'.format(num_anchors, num_classes))
model_body = yolo_body(image_input, num_anchors//3, num_classes)
# 载入预训练权重
print('Load weights {}.'.format(weights_path))
model_body.load_weights(weights_path, by_name=True, skip_mismatch=True)
# y_true为13,13,3,85
# 26,26,3,85
# 52,52,3,85
y_true = [Input(shape=(h//{0:32, 1:16, 2:8}[l], w//{0:32, 1:16, 2:8}[l], \
num_anchors//3, num_classes+5)) for l in range(3)]
# 输入为*model_body.input, *y_true
# 输出为model_loss
loss_input = [*model_body.output, *y_true]
model_loss = Lambda(yolo_loss, output_shape=(1,), name='yolo_loss',
arguments={'anchors': anchors, 'num_classes': num_classes, 'ignore_thresh': 0.5})(loss_input)
model = Model([model_body.input, *y_true], model_loss)
freeze_layers = 249
for i in range(freeze_layers): model_body.layers[i].trainable = False
print('Freeze the first {} layers of total {} layers.'.format(freeze_layers, len(model_body.layers)))
# 训练参数设置
logging = TensorBoard(log_dir=log_dir)
checkpoint = ModelCheckpoint(log_dir + 'ep{epoch:03d}-loss{loss:.3f}-val_loss{val_loss:.3f}.h5',
monitor='val_loss', save_weights_only=True, save_best_only=False, period=2)
reduce_lr = ReduceLROnPlateau(monitor='val_loss', factor=0.5, patience=2, verbose=1)
early_stopping = EarlyStopping(monitor='val_loss', min_delta=0, patience=6, verbose=1)
# 0.1用于验证，0.9用于训练
val_split = 0.1
with open(annotation_path) as f:
lines = f.readlines()
np.random.seed(10101)
np.random.shuffle(lines)
np.random.seed(None)
num_val = int(len(lines)*val_split)
num_train = len(lines) - num_val
# 调整非主干模型first
if True:
model.compile(optimizer=Adam(lr=1e-3), loss={
'yolo_loss': lambda y_true, y_pred: y_pred})
batch_size = 16
print('Train on {} samples, val on {} samples, with batch size {}.'.format(num_train, num_val, batch_size))
model.fit_generator(data_generator(lines[:num_train], batch_size, input_shape, anchors, num_classes),
steps_per_epoch=max(1, num_train//batch_size),
validation_data=data_generator(lines[num_train:], batch_size, input_shape, anchors, num_classes),
validation_steps=max(1, num_val//batch_size),
epochs=50,
initial_epoch=0,
callbacks=[logging, checkpoint])
model.save_weights(log_dir + 'trained_weights_stage_1.h5')
for i in range(freeze_layers): model_body.layers[i].trainable = True
# 解冻后训练
if True:
model.compile(optimizer=Adam(lr=1e-4), loss={
'yolo_loss': lambda y_true, y_pred: y_pred})
batch_size = 4
print('Train on {} samples, val on {} samples, with batch size {}.'.format(num_train, num_val, batch_size))
model.fit_generator(data_generator(lines[:num_train], batch_size, input_shape, anchors, num_classes),
steps_per_epoch=max(1, num_train//batch_size),
validation_data=data_generator(lines[num_train:], batch_size, input_shape, anchors, num_classes),
validation_steps=max(1, num_val//batch_size),
epochs=100,
initial_epoch=50,
callbacks=[logging, checkpoint])
model.save_weights(log_dir + 'last1.h5')模型化 yolo.py
训练完后，要将整个模型模型化，封装成class的形式，方便日后直接调用。里面用到了一个yolo_eval函数，放在外面
import os
import numpy as np
import copy
import colorsys
from timeit import default_timer as timer
from keras import backend as K
import tensorflow as tf
from keras.models import load_model
from keras.layers import Input
from PIL import Image, ImageFont, ImageDraw
from nets.yolo3 import yolo_body
from utils.utils import letterbox_image
from nets.loss import yolo_head
#---------------------------------------------------#
# 对box进行调整，使其符合真实图片的样子
#---------------------------------------------------#
def yolo_correct_boxes(box_xy, box_wh, input_shape, image_shape):
box_yx = box_xy[..., ::-1] #xy反一下
box_hw = box_wh[..., ::-1] #wh反一下
#转换类型
input_shape = K.cast(input_shape, K.dtype(box_yx))
image_shape = K.cast(image_shape, K.dtype(box_yx))
new_shape = K.round(image_shape * K.min(input_shape/image_shape))
offset = (input_shape-new_shape)/2./input_shape
scale = input_shape/new_shape
box_yx = (box_yx - offset) * scale
box_hw *= scale
box_mins = box_yx - (box_hw / 2.) #左上角的点
box_maxes = box_yx + (box_hw / 2.) #右下角的点
boxes = K.concatenate([
box_mins[..., 0:1], # y_min
box_mins[..., 1:2], # x_min
box_maxes[..., 0:1], # y_max
box_maxes[..., 1:2] # x_max
])
boxes *= K.concatenate([image_shape, image_shape])
return boxes
#---------------------------------------------------#
# 获取每个box和它的得分
#---------------------------------------------------#
def yolo_boxes_and_scores(feats, anchors, num_classes, input_shape, image_shape):
# 将预测值调成真实值
# box_xy对应框的中心点
# box_wh对应框的宽和高
# -1,13,13,3,2; -1,13,13,3,2; -1,13,13,3,1; -1,13,13,3,80
box_xy, box_wh, box_confidence, box_class_probs = yolo_head(feats, anchors, num_classes, input_shape)
# 将box_xy、和box_wh调节成y_min,y_max,xmin,xmax
boxes = yolo_correct_boxes(box_xy, box_wh, input_shape, image_shape)
# 获得得分和box
boxes = K.reshape(boxes, [-1, 4])
box_scores = box_confidence * box_class_probs #得分
box_scores = K.reshape(box_scores, [-1, num_classes])
return boxes, box_scores
#---------------------------------------------------#
# 图片预测
#---------------------------------------------------#
def yolo_eval(yolo_outputs,
anchors,
num_classes,
image_shape,
max_boxes=20,
score_threshold=.6,
iou_threshold=.5):
# 获得特征层的数量
num_layers = len(yolo_outputs) #3
# 特征层1对应的anchor是678
# 特征层2对应的anchor是345
# 特征层3对应的anchor是012
anchor_mask = [[6,7,8], [3,4,5], [0,1,2]]
#416 * 416 = 13 * 32 ， 13*32
input_shape = K.shape(yolo_outputs[0])[1:3] * 32
boxes = []
box_scores = []
# 对每个特征层进行处理
for l in range(num_layers):
_boxes, _box_scores = yolo_boxes_and_scores(yolo_outputs[l], anchors[anchor_mask[l]], num_classes, input_shape, image_shape)
boxes.append(_boxes)
box_scores.append(_box_scores)
# 将每个特征层的结果进行堆叠
boxes = K.concatenate(boxes, axis=0)
box_scores = K.concatenate(box_scores, axis=0)
#【n,80】 n各框 80类
mask = box_scores >= score_threshold #判断是否大于阈值
max_boxes_tensor = K.constant(max_boxes, dtype='int32')
boxes_ = []
scores_ = []
classes_ = []
for c in range(num_classes):
# 取出当前类别c所有box_scores >= score_threshold的框，和成绩
class_boxes = tf.boolean_mask(boxes, mask[:, c])
class_box_scores = tf.boolean_mask(box_scores[:, c], mask[:, c])
# 非极大抑制，去掉box重合程度高的那一些
nms_index = tf.image.non_max_suppression(
class_boxes, class_box_scores, max_boxes_tensor, iou_threshold=iou_threshold)
# 获取非极大抑制后的结果
# 下列三个分别是
# 框的位置，得分与种类
class_boxes = K.gather(class_boxes, nms_index)
class_box_scores = K.gather(class_box_scores, nms_index)
classes = K.ones_like(class_box_scores, 'int32') * c
boxes_.append(class_boxes)
scores_.append(class_box_scores)
classes_.append(classes)
boxes_ = K.concatenate(boxes_, axis=0)
scores_ = K.concatenate(scores_, axis=0)
classes_ = K.concatenate(classes_, axis=0)
return boxes_, scores_, classes_
class YOLO(object):
_defaults = {
"model_path": 'F:/python_file/yolo3-keras-master/model_data/yolo_weights.h5',
"anchors_path": 'F:/python_file/yolo3-keras-master/model_data/yolo_anchors.txt',
"classes_path": 'F:/python_file/yolo3-keras-master/model_data/coco_classes.txt',
"score" : 0.5,
"iou" : 0.3,
"model_image_size" : (416, 416)
}
@classmethod
def get_defaults(cls, n):
if n in cls._defaults:
return cls._defaults[n]
else:
return "Unrecognized attribute name '" + n + "'"
#---------------------------------------------------#
# 初始化yolo
#---------------------------------------------------#
def __init__(self, **kwargs):
self.__dict__.update(self._defaults)
self.class_names = self._get_class()
#【9,2】
self.anchors = self._get_anchors()
self.sess = K.get_session()
self.boxes, self.scores, self.classes = self.generate()
#---------------------------------------------------#
# 获得所有的分类
#---------------------------------------------------#
def _get_class(self):
classes_path = os.path.expanduser(self.classes_path)
with open(classes_path) as f:
class_names = f.readlines()
class_names = [c.strip() for c in class_names]
return class_names
#---------------------------------------------------#
# 获得所有的先验框
#---------------------------------------------------#
def _get_anchors(self):
anchors_path = os.path.expanduser(self.anchors_path)
with open(anchors_path) as f:
anchors = f.readline()
anchors = [float(x) for x in anchors.split(',')]
return np.array(anchors).reshape(-1, 2)
#---------------------------------------------------#
# 获得所有的分类
#---------------------------------------------------#
def generate(self):
model_path = os.path.expanduser(self.model_path)
assert model_path.endswith('.h5'), 'Keras model or weights must be a .h5 file.'
# 计算anchor数量
num_anchors = len(self.anchors) #9
num_classes = len(self.class_names)#80
# 载入模型，如果原来的模型里已经包括了模型结构则直接载入。
# 否则先构建模型再载入
try:
self.yolo_model = load_model(model_path, compile=False)
except:
self.yolo_model = yolo_body(Input(shape=(None,None,3)), num_anchors//3, num_classes)
self.yolo_model.load_weights(self.model_path)
else:
assert self.yolo_model.layers[-1].output_shape[-1] == \
num_anchors/len(self.yolo_model.output) * (num_classes + 5), \
'Mismatch between model and given anchor and class sizes'
print('{} model, anchors, and classes loaded.'.format(model_path))
# 画框设置不同的颜色
hsv_tuples = [(x / len(self.class_names), 1., 1.)
for x in range(len(self.class_names))]
self.colors = list(map(lambda x: colorsys.hsv_to_rgb(*x), hsv_tuples))
self.colors = list(
map(lambda x: (int(x[0] * 255), int(x[1] * 255), int(x[2] * 255)),
self.colors))
# 打乱颜色
np.random.seed(10101)
np.random.shuffle(self.colors)
np.random.seed(None)
self.input_image_shape = K.placeholder(shape=(2, ))
#将模型预测结果转为画框的形式
boxes, scores, classes = yolo_eval(self.yolo_model.output, self.anchors,
num_classes, self.input_image_shape,
score_threshold=self.score, iou_threshold=self.iou)
return boxes, scores, classes
#---------------------------------------------------#
# 检测图片
#---------------------------------------------------#
def detect_image(self, image):
start = timer()
# 调整图片使其符合输入要求
new_image_size = (self.model_image_size[0],self.model_image_size[1])
boxed_image = letterbox_image(image, new_image_size)
image_data = np.array(boxed_image, dtype='float32')
image_data /= 255.
image_data = np.expand_dims(image_data, 0) # Add batch dimension.
# 预测结果
out_boxes, out_scores, out_classes = self.sess.run(
[self.boxes, self.scores, self.classes],
feed_dict={
self.yolo_model.input: image_data,
self.input_image_shape: [image.size[1], image.size[0]],
K.learning_phase(): 0
})
print('Found {} boxes for {}'.format(len(out_boxes), 'img'))
# 设置字体
font = ImageFont.truetype(font='font/simhei.ttf',
size=np.floor(3e-2 * image.size[1] + 0.5).astype('int32'))
thickness = (image.size[0] + image.size[1]) // 300
small_pic=[]
for i, c in list(enumerate(out_classes)):
predicted_class = self.class_names[c]
box = out_boxes[i]
score = out_scores[i]
top, left, bottom, right = box
top = top - 5
left = left - 5
bottom = bottom + 5
right = right + 5
top = max(0, np.floor(top + 0.5).astype('int32'))
left = max(0, np.floor(left + 0.5).astype('int32'))
bottom = min(image.size[1], np.floor(bottom + 0.5).astype('int32'))
right = min(image.size[0], np.floor(right + 0.5).astype('int32'))
# 画框框
label = '{} {:.2f}'.format(predicted_class, score)
draw = ImageDraw.Draw(image)
label_size = draw.textsize(label, font)
label = label.encode('utf-8')
print(label)
if top - label_size[1] >= 0:
text_origin = np.array([left, top - label_size[1]])
else:
text_origin = np.array([left, top + 1])
for i in range(thickness):
draw.rectangle(
[left + i, top + i, right - i, bottom - i],
outline=self.colors[c])
draw.rectangle(
[tuple(text_origin), tuple(text_origin + label_size)],
fill=self.colors[c])
draw.text(text_origin, str(label,'UTF-8'), fill=(0, 0, 0), font=font)
del draw
end = timer()
print(end - start)
return image
def close_session(self):
self.sess.close()预测部分: predict.py
因为之前已经封装好了，所以只需要直接调用就可以啦
from nets.yolo3 import yolo_body
from keras.layers import Input
from yolo import YOLO
from PIL import Image
yolo = YOLO()
while True:
img = 'F:\\python_file\\yolo3-keras-master\\img\\street.jpg'#input('Input image filename:')
try:
image = Image.open(img)
except:
print('Open Error! Try again!')
continue
else:
r_image = yolo.detect_image(image)
r_image.show()
yolo.close_session()
实验结果：
8923
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