yolov5和yolov7部署的研究

1.结论

onnx推理比torch快3倍, openvino比onnx快一丢丢。
|

yolov7.pt  转 onnx
python export.py --weights best_31.pt  --grid --end2end --simplify --topk-all 10 --iou-thres 0.65 --conf-thres 0.65  --img-size 320 320  --max-wh 200

可以看到yolov7的 onnx是包括nms的

2.onnx推理

# encoding=utf-8
import cv2
cuda = False
w = "best_31.onnx"
img = cv2.imread('3.png')

import cv2
import time
import requests
import random
import numpy as np
import onnxruntime as ort
from PIL import Image
from pathlib import Path
from collections import OrderedDict,namedtuple

providers = ['CUDAExecutionProvider', 'CPUExecutionProvider'] if cuda else ['CPUExecutionProvider']
session = ort.InferenceSession(w, providers=providers)


def letterbox(im, new_shape=(320, 320), color=(114, 114, 114), auto=True, scaleup=True, stride=32):
    # 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])
    if not scaleup:  # only scale down, do not scale up (for better val mAP)
        r = min(r, 1.0)

    # Compute padding
    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

    if auto:  # minimum rectangle
        dw, dh = np.mod(dw, stride), np.mod(dh, stride)  # 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, r, (dw, dh)

names = ['box', 'box1']
colors = {name:[random.randint(0, 255) for _ in range(3)] for i,name in enumerate(names)}
t1=time.time()
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)

image = img.copy()
image, ratio, dwdh = letterbox(image, auto=False)
image = image.transpose((2, 0, 1))
image = np.expand_dims(image, 0)
image = np.ascontiguousarray(image)

im = image.astype(np.float32)
im /= 255

outname = [i.name for i in session.get_outputs()]


inname = [i.name for i in session.get_inputs()]


inp = {inname[0]:im}

outputs = session.run(outname, inp)[0]

ori_images = [img.copy()]

for i,(batch_id,x0,y0,x1,y1,cls_id,score) in enumerate(outputs):
    image = ori_images[int(batch_id)]
    box = np.array([x0,y0,x1,y1])
    box -= np.array(dwdh*2)
    box /= ratio
    box = box.round().astype(np.int32).tolist()
    cls_id = int(cls_id)
    score = round(float(score),3)
    name = names[cls_id]
    color = colors[name]
    name += ' '+str(score)
    cv2.rectangle(image,box[:2],box[2:],color,2)
    cv2.putText(image,name,(box[0], box[1] - 2),cv2.FONT_HERSHEY_SIMPLEX,0.75,[225, 255, 255],thickness=2)
print(time.time()-t1)
cv2.imshow('img',image)
cv2.waitKey(0)

你去看export.py会发现好像他没加上nms ，其实他是在end2end的时候加进去的

class End2End(nn.Module):
    '''export onnx or tensorrt model with NMS operation.'''
    def __init__(self, model, max_obj=100, iou_thres=0.45, score_thres=0.25, max_wh=None, device=None):
        super().__init__()
        device = device if device else torch.device('cpu')
        assert isinstance(max_wh,(int)) or max_wh is None
        self.model = model.to(device)
        self.model.model[-1].end2end = True
        self.patch_model = ONNX_TRT if max_wh is None else ONNX_ORT
        self.end2end = self.patch_model(max_obj, iou_thres, score_thres, max_wh, device)
        self.end2end.eval()

    def forward(self, x):
        x = self.model(x)
        x = self.end2end(x)
        return x

其中报错找不到onnxsim
需要安装 pip install onnxsim
这个是把模型缩小的

3. openvino安装报错

安装的连接

https://docs.openvino.ai/2023.0/openvino_docs_install_guides_overview.html?ENVIRONMENT=DEV_TOOLS&OP_SYSTEM=WINDOWS&VERSION=v_2023_0_1&DISTRIBUTION=PIP

我们安装后报错
！！！！！DLL load failed while importing _pyopenvino

解决方法：
1.https://github.com/openvinotoolkit/openvino/issues/18151
他告诉我们要去pypi上看文档
https://pypi.org/project/openvino/
文档上说要安装MSVC runtime 还给了下载连接

https://aka.ms/vs/17/release/vc_redist.x64.exe

我安装了并重启电脑不行

2. https://github.com/openvinotoolkit/openvino/issues/15403
   他告诉我们要把 openvino的lib路径加在电脑的环境变量

Add the path \envs name>\Lib\site-packages\openvino\libs into your enviroment path.

Reboot your terminal, and everything is ok…

3.重启电脑

4.openvino推理

这个代码是openvino提供的，不过他们把pt转onnx的时候没有加上nms。所以在代码里他们又加上的nms。这里我给去掉了。

4.1 onnx 转 openvino

# encoding=utf-8
from openvino.tools import mo
from openvino.runtime import serialize

model = mo.convert_model('best_tiny.onnx')
# serialize model for saving IR
serialize(model, 'best_tiny.xml')

4.2 openvino推理包括nms

# encoding=utf-8
import time

import numpy as np
import torch
from PIL import Image
from utils.datasets import letterbox
from utils.plots import plot_one_box


def preprocess_image(img0: np.ndarray):
    """
    Preprocess image according to YOLOv7 input requirements.
    Takes image in np.array format, resizes it to specific size using letterbox resize, converts color space from BGR (default in OpenCV) to RGB and changes data layout from HWC to CHW.

    Parameters:
      img0 (np.ndarray): image for preprocessing
    Returns:
      img (np.ndarray): image after preprocessing
      img0 (np.ndarray): original image
    """
    # resize
    img = letterbox(img0,new_shape=(320,320), auto=False)[0]

    # Convert
    img = img.transpose(2, 0, 1)
    img = np.ascontiguousarray(img)
    return img, img0


def prepare_input_tensor(image: np.ndarray):
    """
    Converts preprocessed image to tensor format according to YOLOv7 input requirements.
    Takes image in np.array format with unit8 data in [0, 255] range and converts it to torch.Tensor object with float data in [0, 1] range

    Parameters:
      image (np.ndarray): image for conversion to tensor
    Returns:
      input_tensor (torch.Tensor): float tensor ready to use for YOLOv7 inference
    """
    input_tensor = image.astype(np.float32)  # uint8 to fp16/32
    input_tensor /= 255.0  # 0 - 255 to 0.0 - 1.0

    if input_tensor.ndim == 3:
        input_tensor = np.expand_dims(input_tensor, 0)
    return input_tensor


# label names for visualization
NAMES = ['box', 'box1']

# colors for visualization
COLORS = {name: [np.random.randint(0, 255) for _ in range(3)]
          for i, name in enumerate(NAMES)}


from typing import List, Tuple, Dict
from utils.general import scale_coords, non_max_suppression
from openvino.runtime import Model


def detect(model: Model, image_path, conf_thres: float = 0.25, iou_thres: float = 0.45, classes: List[int] = None, agnostic_nms: bool = False):
    """
    OpenVINO YOLOv7 model inference function. Reads image, preprocess it, runs model inference and postprocess results using NMS.
    Parameters:
        model (Model): OpenVINO compiled model.
        image_path (Path): input image path.
        conf_thres (float, *optional*, 0.25): minimal accpeted confidence for object filtering
        iou_thres (float, *optional*, 0.45): minimal overlap score for remloving objects duplicates in NMS
        classes (List[int], *optional*, None): labels for prediction filtering, if not provided all predicted labels will be used
        agnostic_nms (bool, *optiona*, False): apply class agnostinc NMS approach or not
    Returns:
       pred (List): list of detections with (n,6) shape, where n - number of detected boxes in format [x1, y1, x2, y2, score, label]
       orig_img (np.ndarray): image before preprocessing, can be used for results visualization
       inpjut_shape (Tuple[int]): shape of model input tensor, can be used for output rescaling
    """
    output_blob = model.output(0)
    img = np.array(Image.open(image_path))
    preprocessed_img, orig_img = preprocess_image(img)
    input_tensor = prepare_input_tensor(preprocessed_img)
    t1 = time.time()
    predictions = torch.from_numpy(model(input_tensor)[output_blob])
    t2=time.time() - t1
    # predictions = predictions.unsqueeze(0)
    #pred = non_max_suppression(predictions, conf_thres, iou_thres, classes=classes, agnostic=agnostic_nms)
    return predictions, orig_img, input_tensor.shape,t2


def draw_boxes(predictions: np.ndarray, input_shape: Tuple[int], image: np.ndarray, names: List[str], colors: Dict[str, int]):
    """
    Utility function for drawing predicted bounding boxes on image
    Parameters:
        predictions (np.ndarray): list of detections with (n,6) shape, where n - number of detected boxes in format [x1, y1, x2, y2, score, label]
        image (np.ndarray): image for boxes visualization
        names (List[str]): list of names for each class in dataset
        colors (Dict[str, int]): mapping between class name and drawing color
    Returns:
        image (np.ndarray): box visualization result
    """
    if not len(predictions):
        return image
    # Rescale boxes from input size to original image size
    predictions[:, 1:5] = scale_coords(input_shape[2:], predictions[:, 1:5], image.shape).round()

    # Write results
    for index,x1,y1,x2,y2, cls, conf in predictions:
        label = f'{names[int(cls)]} {conf:.2f}'
        plot_one_box([x1,y1,x2,y2], image, label=label, color=colors[names[int(cls)]], line_thickness=1)
    return image

from openvino.runtime import Core
core = Core()
# read converted model
model = core.read_model('best_tiny.xml')
# load model on CPU device
compiled_model = core.compile_model(model, 'CPU')
t2=0
for i in  range(100):
    boxes, image, input_shape,t = detect(compiled_model, '3.png')
    t2+=t
print(t2/100)
# image_with_boxes = draw_boxes(boxes, input_shape, image, NAMES, COLORS)
# # visualize results
# import cv2
# cv2.imshow('img',image_with_boxes)
# cv2.waitKey(0)

5.yolov5 在转onnx的时候加上nms

修改yolov5的 export.py 中代码如下

import torch.nn as nn
import random
class ORT_NMS(torch.autograd.Function):
    '''ONNX-Runtime NMS operation'''
    @staticmethod
    def forward(ctx,
                boxes,
                scores,
                max_output_boxes_per_class=torch.tensor([100]),
                iou_threshold=torch.tensor([0.45]),
                score_threshold=torch.tensor([0.25])):
        device = boxes.device
        batch = scores.shape[0]
        num_det = random.randint(0, 100)
        batches = torch.randint(0, batch, (num_det,)).sort()[0].to(device)
        idxs = torch.arange(100, 100 + num_det).to(device)
        zeros = torch.zeros((num_det,), dtype=torch.int64).to(device)
        selected_indices = torch.cat([batches[None], zeros[None], idxs[None]], 0).T.contiguous()
        selected_indices = selected_indices.to(torch.int64)
        return selected_indices

    @staticmethod
    def symbolic(g, boxes, scores, max_output_boxes_per_class, iou_threshold, score_threshold):
        return g.op("NonMaxSuppression", boxes, scores, max_output_boxes_per_class, iou_threshold, score_threshold)
class ONNX_ORT(nn.Module):
    '''onnx module with ONNX-Runtime NMS operation.'''
    def __init__(self, max_obj=100, iou_thres=0.45, score_thres=0.25, max_wh=640, device=None):
        super().__init__()
        self.device = device if device else torch.device("cpu")
        self.max_obj = torch.tensor([max_obj]).to(device)
        self.iou_threshold = torch.tensor([iou_thres]).to(device)
        self.score_threshold = torch.tensor([score_thres]).to(device)
        self.max_wh = max_wh # if max_wh != 0 : non-agnostic else : agnostic
        self.convert_matrix = torch.tensor([[1, 0, 1, 0], [0, 1, 0, 1], [-0.5, 0, 0.5, 0], [0, -0.5, 0, 0.5]],
                                           dtype=torch.float32,
                                           device=self.device)

    def forward(self, x):
        boxes = x[:, :, :4]
        conf = x[:, :, 4:5]
        scores = x[:, :, 5:]
        scores *= conf
        boxes @= self.convert_matrix
        max_score, category_id = scores.max(2, keepdim=True)
        dis = category_id.float() * self.max_wh
        nmsbox = boxes + dis
        max_score_tp = max_score.transpose(1, 2).contiguous()
        selected_indices = ORT_NMS.apply(nmsbox, max_score_tp, self.max_obj, self.iou_threshold, self.score_threshold)
        X, Y = selected_indices[:, 0], selected_indices[:, 2]
        selected_boxes = boxes[X, Y, :]
        selected_categories = category_id[X, Y, :].float()
        selected_scores = max_score[X, Y, :]
        X = X.unsqueeze(1).float()
        return torch.cat([X, selected_boxes, selected_categories, selected_scores], 1)

class End2End(nn.Module):
    '''export onnx or tensorrt model with NMS operation.'''
    def __init__(self, model, max_obj=100, iou_thres=0.45, score_thres=0.25, max_wh=None, device=None):
        super().__init__()
        device = device if device else torch.device('cpu')
        assert isinstance(max_wh,(int)) or max_wh is None
        self.model = model.to(device)
        # self.model.model[-1].export = True
        self.patch_model = ONNX_ORT
        self.end2end = self.patch_model(max_obj, iou_thres, score_thres, max_wh, device)
        self.end2end.eval()

    def forward(self, x):
        x = self.model(x)
        x = self.end2end(x)
        return x
@try_export
def export_onnx(model, im, file, opset, dynamic, simplify, prefix=colorstr('ONNX:')):
    # YOLOv5 ONNX export
    check_requirements('onnx>=1.12.0')
    import onnx

    LOGGER.info(f'\n{prefix} starting export with onnx {onnx.__version__}...')
    f = opt.weights.replace('.pt', '.onnx')  # filename

    output_names = ['output0', 'output1'] if isinstance(model, SegmentationModel) else ['output0']
    if dynamic:
        dynamic = {'images': {0: 'batch', 2: 'height', 3: 'width'}}  # shape(1,3,640,640)
        if isinstance(model, SegmentationModel):
            dynamic['output0'] = {0: 'batch', 1: 'anchors'}  # shape(1,25200,85)
            dynamic['output1'] = {0: 'batch', 2: 'mask_height', 3: 'mask_width'}  # shape(1,32,160,160)
        elif isinstance(model, DetectionModel):
            dynamic['output0'] = {0: 'batch', 1: 'anchors'}  # shape(1,25200,85)
    model = End2End(model, opt.topk_all, opt.iou_thres, opt.conf_thres, 200, torch.device('cpu'))
    output_names = ['output']
    torch.onnx.export(model, im, f, verbose=False, opset_version=12, input_names=['images'],
                      output_names=output_names,
                      dynamic_axes=None)

    # Checks
    model_onnx = onnx.load(f)  # load onnx model
    onnx.checker.check_model(model_onnx)  # check onnx model

    # # Metadata
    # d = {'stride': int(max(model.stride)), 'names': model.names}
    # for k, v in d.items():
    #     meta = model_onnx.metadata_props.add()
    #     meta.key, meta.value = k, str(v)
    # onnx.save(model_onnx, f)

    # Simplify
    if simplify:
        try:
            # cuda = torch.cuda.is_available()
            # check_requirements(('onnxruntime-gpu' if cuda else 'onnxruntime', 'onnx-simplifier>=0.4.1'))
            import onnxsim

            LOGGER.info(f'{prefix} simplifying with onnx-simplifier {onnxsim.__version__}...')
            model_onnx, check = onnxsim.simplify(model_onnx)
            assert check, 'assert check failed'
            onnx.save(model_onnx, f)
        except Exception as e:
            LOGGER.info(f'{prefix} simplifier failure: {e}')
    return f, model_onnx

6. v5 v7 推理

def letterbox(
        img: Optional[np.arange],
        new_shape: List = (320, 320),
        color=(114, 114, 114),
) -> None:
    """Resize and pad image while meeting stride-multiple constraints

    Args:
        img (_type_): _description_
        new_shape (tuple, optional): _description_. Defaults to (256, 256).
        color (tuple, optional): _description_. Defaults to (114, 114, 114).

    Returns:
        _type_: _description_
    """
    shape = img.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
    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
        img = cv2.resize(img, 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))
    img = cv2.copyMakeBorder(
        img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color
    )  # add border
    return img, r, (dw, dh)


class Model:
    def __init__(self, model_path: str, cuda: bool) -> None:
        """Load model

        Args:
            model_path (str): _description_
            cuda (str): _description_
        """
        providers = ['CUDAExecutionProvider', 'CPUExecutionProvider'] if cuda else ['CPUExecutionProvider']
        self.session = ort.InferenceSession(model_path, providers=providers)

    def detect(
            self,
            img: Optional[np.array],
            shape: List[int] = None,
    ) -> Optional[np.array]:
        """检测

        Args:
            img (Optional[np.array]): 图片
            conf_threshold (str, optional): 置信度. Defaults to 0.25.
            shape (List[int], optional): 图片大小. Defaults to None.

        Returns:
            Optional[np.array]: 一个大的box和2个小的box为一组
        """
        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
        image = img.copy()
        if shape is None:
            shape = [320, 320]
        # 图片缩放
        image, ratio, dwdh = letterbox(image, shape)
        # Convert
        # img=np.repeat(img[:, :, np.newaxis], 3, axis=2)
        image = image.transpose((2, 0, 1))  #  3x416x416
        image = np.expand_dims(image, 0)
        image = np.ascontiguousarray(image)
        im = image.astype(np.float32)
        im /= 255

        outname = ['output']

        inp = {'images': im}

        outputs = self.session.run(outname, inp)[0]
        return outputs
        
 if __name__ == "__main__":
    model = Model(model_path="weights/yolov5n.onnx", cuda=False)
    import os

    names = ['box', 'box1']
    colors = {name: [random.randint(0, 255) for _ in range(3)] for i, name in enumerate(names)}

    for name in os.listdir("img"):

        img = cv2.imread(os.path.join("img", name))
        result = model.detect(img, shape=[320, 320])

        for datas in result:
                boxs = []  
                for data in datas:
                    box = data[:4].round().astype(np.int32).tolist()
                    cls_id = int(data[4])
                    score = round(float(data[5]), 3)
                    name = names[cls_id]
                    color = colors[name]
                    name += ' ' + str(score)
                    cv2.rectangle(img, box[:2], box[2:], color, 2)
                    cv2.putText(img, name, (box[0], box[1] - 2), cv2.FONT_HERSHEY_SIMPLEX, 0.75, [225, 255, 255],
                                thickness=2)
        cv2.imshow("Lines", img)
        cv2.waitKey(0)