更新版yolov5_deepsort_pytorch实现目标检测和跟踪

由于mikel-brostrom在github上发布的Yolov5_DeepSort_Pytorch更新，使整个代码封装性更好，进而允许采用多种REID特征识别模型，完善了deepsort在检测跟踪方面的性能。本博文记录如何使用此版本Yolov5_DeepSort_Pytorch的过程，同时给出ZQPei REID模型的修改方法，以适应mikel-brostrom更新版本。

使用Yolov5_DeepSort_Pytorch默认的osnet REID实现跟踪track.py

Yolov5_DeepSort_Pytorch中包含了两个链接目录yolov5和reid，不能一次性把github中的代码克隆下来，因此，需分别将三个github代码克隆到本地。
Yolov5_DeepSort_Pytorch: git clone https://github.com/mikel-brostrom/Yolov5_DeepSort_Pytorch
Yolov5: git clone https://github.com/ultralytics/yolov5
REID: git clone https://github.com/KaiyangZhou/deep-person-reid

假定你的deepsort目录为your_dir，是第一个克隆下来的目录。第二个克隆目录是yolov5，将yolov5目录放在your_dir目录下，即your_dir/yolov5。第三个克隆目录是reid，放到your_dir/deep_sort/deep目录下，your_dir/deep_sort/deep/reid。
假定已经安装了conda和虚拟环境，且安装好运行Yolov5_DeepSort_Pytorch所需的模块。进入reid目录，运行

python setup.py develop

如此，即安装好KaiyangZhou的REID环境。
下载yolov5模型权重，放入目录your_dir/yolov5/weights
从KaiyangZhou的github中，Model zoo里下载权重文件，例如osnet_x1_0.pth，放到checkpoint目录：your_dir/deep_sort/deep/checkpoint。

（1）修改deep_sort/configs/deep_sort.yaml

DEEPSORT:
  MODEL_TYPE: "osnet_x1_0"    
  REID_CKPT:  '~/your_dir/deep_sort/deep/checkpoint/osnet_x1_0_imagenet.pth'
  MAX_DIST: 0.1 # 0.2 The matching threshold. Samples with larger distance are considered an invalid match
  MAX_IOU_DISTANCE: 0.7 # 0.7 Gating threshold. Associations with cost larger than this value are disregarded.
  MAX_AGE: 90 # 30 Maximum number of missed misses before a track is deleted
  N_INIT: 3 # 3  Number of frames that a track remains in initialization phase
  NN_BUDGET: 100 # 100 Maximum size of the appearance descriptors gallery
  MIN_CONFIDENCE: 0.75
  NMS_MAX_OVERLAP: 1.0

这里，增加REID_CKPT，把某些参数设置放到yaml文件中，尽可能减少track.py命令行中的输入参数。

（2）修改track.py中DeepSort类实例的参数定义

deepsort = DeepSort(    cfg.DEEPSORT.MODEL_TYPE,
                        cfg.DEEPSORT.REID_CKPT,   # 添加checkpoint路径
                        device,
                        max_dist=cfg.DEEPSORT.MAX_DIST,
                        max_iou_distance=cfg.DEEPSORT.MAX_IOU_DISTANCE,
                        max_age=cfg.DEEPSORT.MAX_AGE, 
                        n_init=cfg.DEEPSORT.N_INIT, 
                        nn_budget=cfg.DEEPSORT.NN_BUDGET,
                        )

此处增加了一个reid权重文件路径参数，故也需在DeepSort类定义中增加该参数model_path，修改deep_sort/deep_sort.py，__init__():

class DeepSort(object):
    def __init__(self, model_type, model_path, device, max_dist=0.2, min_confidence=0.3, nms_max_overlap=1.0, max_iou_distance=0.7, max_age=70, n_init=3, nn_budget=100, use_cuda=True):
        self.min_confidence = min_confidence
        self.nms_max_overlap = nms_max_overlap
        self.extractor = FeatureExtractor(
            model_name=model_type,
            model_path = model_path,
            device=str(device)
        )
        max_cosine_distance = max_dist
        metric = NearestNeighborDistanceMetric(
            "cosine", max_cosine_distance, nn_budget)
        self.tracker = Tracker(
            metric, max_iou_distance=max_iou_distance, max_age=max_age, n_init=n_init)

注：mikel好像又改了有关model_path的引入方法，我感觉太复杂，故还是用以上的修改办法，其目的就是从deep_sort/deep/checkpoint中找到权重文件路径，避免从网上下载权重文件，或者从本地缓存.torch中去找权重。

（3）运行deepsort跟踪程序，命令行选项中给出一种比较全的选项

python track.py --yolo_model ~/your_dir/yolov5/weights/yolov5s.pt \   // yolov5权文件
                --source  ~/your_dir/video_demo.mp4 \           // 输入视频文件
                --show-vid \            // 显示跟踪视频
                --classes 0 2   \           // 0 = 行人类别， 2=小汽车类别。
                --save-txt    \           // 输出兼容MOT16格式文件
                --save-vid  \           // 保存跟踪视频

其中，classes 0 表示yolov5检测对象为行人，类型号0。

更改ZQPei REID模型文件

此模型文件命名为model_ZQP.py，放入目录 deep_sort/deep/reid/torchreid/models
模型更改只需添加一个定义函数 def ZQP()

import torch
import torch.nn as nn
import torch.nn.functional as F

class BasicBlock(nn.Module):
    def __init__(self, c_in, c_out, is_downsample=False):
        super(BasicBlock, self).__init__()
        self.is_downsample = is_downsample
        if is_downsample:
            self.conv1 = nn.Conv2d(
                c_in, c_out, 3, stride=2, padding=1, bias=False)