YOLO v4是YOLO系列的第三篇，YOLO v4融合了大量的检测小技巧，为了能够更快地理解YOLO v4，可先查看前两篇文章。
【YOLO系列】YOLO v3（网络结构图+代码）
【YOLO 系列】YOLO v4-v5先验知识
how to compile on Linux(using cmake)
克隆darnet源码，使用cmake进行编译。cmake的版本要大于等于3.18，我的cmake版本原先是3.14，版本过低，下载新版本的cmake重新编译就可以升级cmake的版本。我的基础配置信息如下所示（啊啊啊啊，终于蹭到GPU了，开心）：
| - | 版本 |
|---|---|
| cuda | 11.6 |
| cudnn | 8.4.0 |
| opencv | 4.2.0 |
| cmake | 3.25.3 |
基于上述配置，使用如下命令进行编译，无出错。
git clone https://github.com/AlexeyAB/darknet
cd darknet
mkdir build_release
cd build_release
cmake …
cmake --build . --target install --parallel 8
编译成功后，在darknet目录下会出现darknet执行文件和libdarknet.so动态库文件
yolo v4 测试
下载预训练模型和cfg文件：
wget https://github.com/AlexeyAB/darknet/releases/download/darknet_yolo_v3_optimal/yolov4.weights
wget https://raw.githubusercontent.com/AlexeyAB/darknet/master/cfg/yolov4.cfg
yolov4 测试命令：
./darknet detector test ./cfg/coco.data ./cfg/yolov4.cfg ./yolov4.weights data/dog.jpg -i 0 -thresh 0.25
下载Yolov4的预训练权重和cfg配置文件，使用生成的darknet执行文件进行检测，测试结果和图片展示如下所示：
YoLo v4的预测结果比YoLo v3多预测了一个pottedplant（盆栽植物），置信度有些低，33%。并且预测错误，预测的是垃圾桶，而不是盆栽植物，垃圾桶上的树叶起了干扰作用吧。
网络结构
从AlexeyAB/darknet/tree/yolov4中项目中下载YOLO v4的cfg文件和.weight预训练权重文件。darknet在测试时，会输出yolo v4的层信息，但是仍想想用Netro能够直观地查看YOLO v4的网络结构。最后我选择Tianxiaomo/pytorch-YOLOv4中 demo_darknet2onnx.py文件将.weight文件转换成ONNX文件，然后就可以清晰直观地使用Netro查看YOLO v4的网络结构了。如下是运行命令
python demo_darknet2onnx.py cfg\yolov4.cfg data\coco.names yolov4.weights data\dog.jpg 1
YOLOv4清晰地将网络结构分为backbone、Neck和Head三部分。backbone采用的是CSPDarknet53，Neck为SPP和PAN，Head与YOLO v3一样。其中B表示backbone的结束点，N表示Neck的结束点。由于YOLO v4与YOLO v3一样采用多尺度预测，所以Neck的输出也有三个。
每个组件下面的数字是其在YOLO v4网络结构的层数。有了层数，会更好理解下述的Neck和Head的代码。
route 和shotcut
YOLO v4的cfg中route和shotcut层。shoutcut就是做残差操作，这里就不再赘述。下图是YOLO v4的前几网络层信息，包括了route和shoutcut层。
下图是上图网络层信息的图形化展示。如上图所示，编号为3的route层后接一个输入时，route 1，编号为1的卷积层的输出为编号为2和编号为4卷积层的输入，也就是说编号为1的卷积层后有两个分支。如上图所示，编号为9的route层后接两个输入时，route 8 2，编号为2的卷积和编号为8的卷积进行concat操作，分开的两个分支进行合并操作。
如下图所示，当route后接四个输入时，为YOLO v4中的SPP结构，和YOLO v3中的SPP结构一样。YOLO系列中的SPP模块只是借鉴空间金字塔池化的思想，实现全局特征和局部特征的特征融合，丰富最终特征图的表达能力，从而提高mAP。
Neck
YOLO v4的Neck由SPP和PAN两个组件构成。上文中已经描述过SPP，在这里不再赘述。PANet引入了bottom-up的路径，让低层特征传递到高层特征。详情见【YOLO 系列】YOLO v4-v5先验知识
class Neck(nn.Module):
def __init__(self, inference=False):
super().__init__()
self.inference = inference
self.conv1 = Conv_Bn_Activation(1024, 512, 1, 1, 'leaky')
self.conv2 = Conv_Bn_Activation(512, 1024, 3, 1, 'leaky')
# SPP
self.conv3 = Conv_Bn_Activation(1024, 512, 1, 1, 'leaky')
self.maxpool1 = nn.MaxPool2d(kernel_size=5, stride=1, padding=5 // 2)
self.maxpool2 = nn.MaxPool2d(kernel_size=9, stride=1, padding=9 // 2)
self.maxpool3 = nn.MaxPool2d(kernel_size=13, stride=1, padding=13 // 2)
# R -1 -3 -5 -6
# SPP
self.conv4 = Conv_Bn_Activation(2048, 512, 1, 1, 'leaky')
self.conv5 = Conv_Bn_Activation(512, 1024, 3, 1, 'leaky')
self.conv6 = Conv_Bn_Activation(1024, 512, 1, 1, 'leaky')
self.conv7 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
# UP
self.upsample1 = Upsample()
# R 85
self.conv8 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
# R -1 -3
self.conv9 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
self.conv10 = Conv_Bn_Activation(256, 512, 3, 1, 'leaky')
self.conv11 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
self.conv12 = Conv_Bn_Activation(256, 512, 3, 1, 'leaky')
self.conv13 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
self.conv14 = Conv_Bn_Activation(256, 128, 1, 1, 'leaky')
# UP
self.upsample2 = Upsample()
# R 54
self.conv15 = Conv_Bn_Activation(256, 128, 1, 1, 'leaky')
# R -1 -3
self.conv16 = Conv_Bn_Activation(256, 128, 1, 1, 'leaky')
self.conv17 = Conv_Bn_Activation(128, 256, 3, 1, 'leaky')
self.conv18 = Conv_Bn_Activation(256, 128, 1, 1, 'leaky')
self.conv19 = Conv_Bn_Activation(128, 256, 3, 1, 'leaky')
self.conv20 = Conv_Bn_Activation(256, 128, 1, 1, 'leaky')
def forward(self, input, downsample4, downsample3, inference=False):
x1 = self.conv1(input) # 105
x2 = self.conv2(x1) # 106
# SPP 107-113
x3 = self.conv3(x2) # 107
m1 = self.maxpool1(x3)
m2 = self.maxpool2(x3)
m3 = self.maxpool3(x3)
spp = torch.cat([m3, m2, m1, x3], dim=1) # 113
# SPP end
x4 = self.conv4(spp) # 114
x5 = self.conv5(x4) # 115
x6 = self.conv6(x5) # 116
x7 = self.conv7(x6) # 117
# UP
up = self.upsample1(x7, downsample4.size(), self.inference) # 118 上采样
# R 85
x8 = self.conv8(downsample4) # 120
# R 120 118
x8 = torch.cat([x8, up], dim=1) # 121
x9 = self.conv9(x8) # 122
x10 = self.conv10(x9) # 123
x11 = self.conv11(x10) # 124
x12 = self.conv12(x11) # 125
x13 = self.conv13(x12) # 126
x14 = self.conv14(x13) # 127
# UP
up = self.upsample2(x14, downsample3.size(), self.inference) # 128
# R 54
x15 = self.conv15(downsample3) # 130
# R 130 128
x15 = torch.cat([x15, up], dim=1) # 131
x16 = self.conv16(x15) # 132
x17 = self.conv17(x16) # 133
x18 = self.conv18(x17) # 134
x19 = self.conv19(x18) # 135
x20 = self.conv20(x19) # 136
return x20, x13, x6 # 136， 126， 116
Head
YOLO v4的head和YOLOv3 backbone后网络结构一样。
class Yolov4Head(nn.Module):
def __init__(self, output_ch, n_classes, inference=False):
super().__init__()
self.inference = inference
self.conv1 = Conv_Bn_Activation(128, 256, 3, 1, 'leaky')
self.conv2 = Conv_Bn_Activation(256, output_ch, 1, 1, 'linear', bn=False, bias=True) # conv
self.yolo1 = YoloLayer(
anchor_mask=[0, 1, 2], num_classes=n_classes,
anchors=[12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401],
num_anchors=9, stride=8)
# R -4
self.conv3 = Conv_Bn_Activation(128, 256, 3, 2, 'leaky')
# R -1 -16
self.conv4 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
self.conv5 = Conv_Bn_Activation(256, 512, 3, 1, 'leaky')
self.conv6 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
self.conv7 = Conv_Bn_Activation(256, 512, 3, 1, 'leaky')
self.conv8 = Conv_Bn_Activation(512, 256, 1, 1, 'leaky')
self.conv9 = Conv_Bn_Activation(256, 512, 3, 1, 'leaky')
self.conv10 = Conv_Bn_Activation(512, output_ch, 1, 1, 'linear', bn=False, bias=True) # conv
self.yolo2 = YoloLayer(
anchor_mask=[3, 4, 5], num_classes=n_classes,
anchors=[12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401],
num_anchors=9, stride=16)
# R -4
self.conv11 = Conv_Bn_Activation(256, 512, 3, 2, 'leaky')
# R -1 -37
self.conv12 = Conv_Bn_Activation(1024, 512, 1, 1, 'leaky')
self.conv13 = Conv_Bn_Activation(512, 1024, 3, 1, 'leaky')
self.conv14 = Conv_Bn_Activation(1024, 512, 1, 1, 'leaky')
self.conv15 = Conv_Bn_Activation(512, 1024, 3, 1, 'leaky')
self.conv16 = Conv_Bn_Activation(1024, 512, 1, 1, 'leaky')
self.conv17 = Conv_Bn_Activation(512, 1024, 3, 1, 'leaky')
self.conv18 = Conv_Bn_Activation(1024, output_ch, 1, 1, 'linear', bn=False, bias=True) # conv
self.yolo3 = YoloLayer(
anchor_mask=[6, 7, 8], num_classes=n_classes,
anchors=[12, 16, 19, 36, 40, 28, 36, 75, 76, 55, 72, 146, 142, 110, 192, 243, 459, 401],
num_anchors=9, stride=32)
def forward(self, input1, input2, input3):
# input1, input2, input3 = # 136， 126， 116
x1 = self.conv1(input1) # 137
x2 = self.conv2(x1) # 138 76*76*225
x3 = self.conv3(input1) # 140
# R 141 126
x3 = torch.cat([x3, input2], dim=1) # 142
x4 = self.conv4(x3) # 143
x5 = self.conv5(x4) # 144
x6 = self.conv6(x5) # 145
x7 = self.conv7(x6) # 146
x8 = self.conv8(x7) # 147
x9 = self.conv9(x8) # 148
x10 = self.conv10(x9) # 149 38*38*255
# R 147
x11 = self.conv11(x8) # 152
# R 152 116
x11 = torch.cat([x11, input3], dim=1) # 153
x12 = self.conv12(x11) # 154
x13 = self.conv13(x12) # 155
x14 = self.conv14(x13) # 156
x15 = self.conv15(x14) # 157
x16 = self.conv16(x15) # 158
x17 = self.conv17(x16) # 159
x18 = self.conv18(x17) # 160 19*19*255
if self.inference:
y1 = self.yolo1(x2)
y2 = self.yolo2(x10)
y3 = self.yolo3(x18)
return get_region_boxes([y1, y2, y3])
else:
return [x2, x10, x18]
Loss
YoLo v4的损失函数与YoLo v3的损失函数一样，对中心点坐标x和y都采用BCE，对宽高w和h采用MSE。bbox的置信度和类别预测都使用交叉熵损失。
loss_xy += F.binary_cross_entropy(input=output[..., :2], target=target[..., :2], weight=tgt_scale * tgt_scale, reduction='sum')
loss_wh += F.mse_loss(input=output[..., 2:4], target=target[..., 2:4], reduction='sum') / 2
loss_obj += F.binary_cross_entropy(input=output[..., 4], target=target[..., 4], reduction='sum')
loss_cls += F.binary_cross_entropy(input=output[..., 5:], target=target[..., 5:], reduction='sum')
loss_l2 += F.mse_loss(input=output, target=target, reduction='sum') # L2正则化
# 总和
loss = loss_xy + loss_wh + loss_obj + loss_cls
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