如何快速使用YOLO3进行目标检测
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如何快速使用YOLO3进行目标检测
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本文目的：介紹一篇YOLO3的Keras實(shí)現(xiàn)項(xiàng)目，便于快速了解如何使用預(yù)訓(xùn)練的YOLOv3，來對(duì)新圖像進(jìn)行目標(biāo)檢測(cè)。
本文使用的是Github上一位大神訓(xùn)練的YOLO3開源的項(xiàng)目。這個(gè)項(xiàng)目提供了很多使用 YOLOv3 的模型，包括對(duì)象檢測(cè)、遷移學(xué)習(xí)、從頭開始訓(xùn)練模型等。其中提供了一個(gè)腳本文件yolo3_one_file_to_detect_them_all.py，作者表示單獨(dú)運(yùn)行即可進(jìn)行目標(biāo)檢測(cè)。
但是經(jīng)過測(cè)試，還是有幾個(gè)坑。所以我把代碼分解成幾個(gè)功能模塊，在jupyter notebook上單獨(dú)運(yùn)行，查出bug后，即可正常運(yùn)行。
本文操作十分方便，直接下載權(quán)重文件，將后面三部分代碼拷貝至jupyter notebook運(yùn)行即可（前提是需要安裝庫numpy、Keras、cv2），不需要其他的腳本文件。
第一步：下載權(quán)重文件 https://pjreddie.com/media/files/yolov3.weights
這個(gè)權(quán)重是在MS COCO上訓(xùn)練的結(jié)果，因此可以檢測(cè)80種目標(biāo)。
第二步：導(dǎo)入需要的庫函數(shù)，以及后續(xù)待用的函數(shù)
import argparse
import os
import numpy as np
from keras.layers import Conv2D, Input, BatchNormalization, LeakyReLU, ZeroPadding2D, UpSampling2D
from keras.layers.merge import add, concatenate
from keras.models import Model
import struct
import cv2
#改動(dòng)1：這里報(bào)錯(cuò)，和我機(jī)器不一致，所以注釋掉
#np.set_printoptions(threshold=np.nan)
#os.environ["CUDA_DEVICE_ORDER"]="PCI_BUS_ID"
#os.environ["CUDA_VISIBLE_DEVICES"]="0"
argparser = argparse.ArgumentParser(
description='test yolov3 network with coco weights')
argparser.add_argument(
'-w',
'--weights',
help='path to weights file')
argparser.add_argument(
'-i',
'--image',
help='path to image file')
class WeightReader:
def __init__(self, weight_file):
with open(weight_file, 'rb') as w_f:
major, = struct.unpack('i', w_f.read(4))
minor, = struct.unpack('i', w_f.read(4))
revision, = struct.unpack('i', w_f.read(4))
if (major*10 + minor) >= 2 and major < 1000 and minor < 1000:
w_f.read(8)
else:
w_f.read(4)
transpose = (major > 1000) or (minor > 1000)
binary = w_f.read()
self.offset = 0
self.all_weights = np.frombuffer(binary, dtype='float32')
def read_bytes(self, size):
self.offset = self.offset + size
return self.all_weights[self.offset-size:self.offset]
def load_weights(self, model):
for i in range(106):
try:
conv_layer = model.get_layer('conv_' + str(i))
print("loading weights of convolution #" + str(i))
if i not in [81, 93, 105]:
norm_layer = model.get_layer('bnorm_' + str(i))
size = np.prod(norm_layer.get_weights()[0].shape)
beta = self.read_bytes(size) # bias
gamma = self.read_bytes(size) # scale
mean = self.read_bytes(size) # mean
var = self.read_bytes(size) # variance
weights = norm_layer.set_weights([gamma, beta, mean, var])
if len(conv_layer.get_weights()) > 1:
bias = self.read_bytes(np.prod(conv_layer.get_weights()[1].shape))
kernel = self.read_bytes(np.prod(conv_layer.get_weights()[0].shape))
kernel = kernel.reshape(list(reversed(conv_layer.get_weights()[0].shape)))
kernel = kernel.transpose([2,3,1,0])
conv_layer.set_weights([kernel, bias])
else:
kernel = self.read_bytes(np.prod(conv_layer.get_weights()[0].shape))
kernel = kernel.reshape(list(reversed(conv_layer.get_weights()[0].shape)))
kernel = kernel.transpose([2,3,1,0])
conv_layer.set_weights([kernel])
except ValueError:
print("no convolution #" + str(i))
def reset(self):
self.offset = 0
class BoundBox:
def __init__(self, xmin, ymin, xmax, ymax, objness = None, classes = None):
self.xmin = xmin
self.ymin = ymin
self.xmax = xmax
self.ymax = ymax
self.objness = objness
self.classes = classes
self.label = -1
self.score = -1
def get_label(self):
if self.label == -1:
self.label = np.argmax(self.classes)
return self.label
def get_score(self):
if self.score == -1:
self.score = self.classes[self.get_label()]
return self.score
def _conv_block(inp, convs, skip=True):
x = inp
count = 0
for conv in convs:
if count == (len(convs) - 2) and skip:
skip_connection = x
count += 1
if conv['stride'] > 1: x = ZeroPadding2D(((1,0),(1,0)))(x) # peculiar padding as darknet prefer left and top
x = Conv2D(conv['filter'],
conv['kernel'],
strides=conv['stride'],
padding='valid' if conv['stride'] > 1 else 'same', # peculiar padding as darknet prefer left and top
name='conv_' + str(conv['layer_idx']),
use_bias=False if conv['bnorm'] else True)(x)
if conv['bnorm']: x = BatchNormalization(epsilon=0.001, name='bnorm_' + str(conv['layer_idx']))(x)
if conv['leaky']: x = LeakyReLU(alpha=0.1, name='leaky_' + str(conv['layer_idx']))(x)
return add([skip_connection, x]) if skip else x
def _interval_overlap(interval_a, interval_b):
x1, x2 = interval_a
x3, x4 = interval_b
if x3 < x1:
if x4 < x1:
return 0
else:
return min(x2,x4) - x1
else:
if x2 < x3:
return 0
else:
return min(x2,x4) - x3
def _sigmoid(x):
return 1. / (1. + np.exp(-x))
def bbox_iou(box1, box2):
intersect_w = _interval_overlap([box1.xmin, box1.xmax], [box2.xmin, box2.xmax])
intersect_h = _interval_overlap([box1.ymin, box1.ymax], [box2.ymin, box2.ymax])
intersect = intersect_w * intersect_h
w1, h1 = box1.xmax-box1.xmin, box1.ymax-box1.ymin
w2, h2 = box2.xmax-box2.xmin, box2.ymax-box2.ymin
union = w1*h1 + w2*h2 - intersect
return float(intersect) / union
def make_yolov3_model():
input_image = Input(shape=(None, None, 3))
# Layer 0 => 4
x = _conv_block(input_image, [{'filter': 32, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 0},
{'filter': 64, 'kernel': 3, 'stride': 2, 'bnorm': True, 'leaky': True, 'layer_idx': 1},
{'filter': 32, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 2},
{'filter': 64, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 3}])
# Layer 5 => 8
x = _conv_block(x, [{'filter': 128, 'kernel': 3, 'stride': 2, 'bnorm': True, 'leaky': True, 'layer_idx': 5},
{'filter': 64, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 6},
{'filter': 128, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 7}])
# Layer 9 => 11
x = _conv_block(x, [{'filter': 64, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 9},
{'filter': 128, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 10}])
# Layer 12 => 15
x = _conv_block(x, [{'filter': 256, 'kernel': 3, 'stride': 2, 'bnorm': True, 'leaky': True, 'layer_idx': 12},
{'filter': 128, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 13},
{'filter': 256, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 14}])
# Layer 16 => 36
for i in range(7):
x = _conv_block(x, [{'filter': 128, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 16+i*3},
{'filter': 256, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 17+i*3}])
skip_36 = x
# Layer 37 => 40
x = _conv_block(x, [{'filter': 512, 'kernel': 3, 'stride': 2, 'bnorm': True, 'leaky': True, 'layer_idx': 37},
{'filter': 256, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 38},
{'filter': 512, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 39}])
# Layer 41 => 61
for i in range(7):
x = _conv_block(x, [{'filter': 256, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 41+i*3},
{'filter': 512, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 42+i*3}])
skip_61 = x
# Layer 62 => 65
x = _conv_block(x, [{'filter': 1024, 'kernel': 3, 'stride': 2, 'bnorm': True, 'leaky': True, 'layer_idx': 62},
{'filter': 512, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 63},
{'filter': 1024, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 64}])
# Layer 66 => 74
for i in range(3):
x = _conv_block(x, [{'filter': 512, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 66+i*3},
{'filter': 1024, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 67+i*3}])
# Layer 75 => 79
x = _conv_block(x, [{'filter': 512, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 75},
{'filter': 1024, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 76},
{'filter': 512, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 77},
{'filter': 1024, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 78},
{'filter': 512, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 79}], skip=False)
# Layer 80 => 82
yolo_82 = _conv_block(x, [{'filter': 1024, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 80},
{'filter': 255, 'kernel': 1, 'stride': 1, 'bnorm': False, 'leaky': False, 'layer_idx': 81}], skip=False)
# Layer 83 => 86
x = _conv_block(x, [{'filter': 256, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 84}], skip=False)
x = UpSampling2D(2)(x)
x = concatenate([x, skip_61])
# Layer 87 => 91
x = _conv_block(x, [{'filter': 256, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 87},
{'filter': 512, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 88},
{'filter': 256, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 89},
{'filter': 512, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 90},
{'filter': 256, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 91}], skip=False)
# Layer 92 => 94
yolo_94 = _conv_block(x, [{'filter': 512, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 92},
{'filter': 255, 'kernel': 1, 'stride': 1, 'bnorm': False, 'leaky': False, 'layer_idx': 93}], skip=False)
# Layer 95 => 98
x = _conv_block(x, [{'filter': 128, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 96}], skip=False)
x = UpSampling2D(2)(x)
x = concatenate([x, skip_36])
# Layer 99 => 106
yolo_106 = _conv_block(x, [{'filter': 128, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 99},
{'filter': 256, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 100},
{'filter': 128, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 101},
{'filter': 256, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 102},
{'filter': 128, 'kernel': 1, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 103},
{'filter': 256, 'kernel': 3, 'stride': 1, 'bnorm': True, 'leaky': True, 'layer_idx': 104},
{'filter': 255, 'kernel': 1, 'stride': 1, 'bnorm': False, 'leaky': False, 'layer_idx': 105}], skip=False)
model = Model(input_image, [yolo_82, yolo_94, yolo_106])
return model
def preprocess_input(image, net_h, net_w):
new_h, new_w, _ = image.shape
# determine the new size of the image
if (float(net_w)/new_w) < (float(net_h)/new_h):
new_h = (new_h * net_w)/new_w
new_w = net_w
else:
new_w = (new_w * net_h)/new_h
new_h = net_h
# resize the image to the new size
resized = cv2.resize(image[:,:,::-1]/255., (int(new_w), int(new_h)))
# embed the image into the standard letter box
new_image = np.ones((net_h, net_w, 3)) * 0.5
#改動(dòng)2：下面有個(gè)坑，源代碼中new_h可能會(huì)出現(xiàn)小數(shù)截?cái)嘀蟛黄ヅ鋯栴}，所以提前截?cái)? #new_image[int((net_h-new_h)//2):int((net_h+new_h)//2), int((net_w-new_w)//2):int((net_w+new_w)//2), :] = resized
new_image[int((net_h-int(new_h))//2):int((net_h+int(new_h))//2), int((net_w-int(new_w))//2):int((net_w+int(new_w))//2), :] = resized
new_image = np.expand_dims(new_image, 0)
return new_image
def decode_netout(netout, anchors, obj_thresh, nms_thresh, net_h, net_w):
grid_h, grid_w = netout.shape[:2]
nb_box = 3
netout = netout.reshape((grid_h, grid_w, nb_box, -1))
nb_class = netout.shape[-1] - 5
boxes = []
netout[..., :2] = _sigmoid(netout[..., :2])
netout[..., 4:] = _sigmoid(netout[..., 4:])
netout[..., 5:] = netout[..., 4][..., np.newaxis] * netout[..., 5:]
netout[..., 5:] *= netout[..., 5:] > obj_thresh
for i in range(grid_h*grid_w):
row = i / grid_w
col = i % grid_w
for b in range(nb_box):
# 4th element is objectness score
objectness = netout[int(row)][int(col)][b][4]
#objectness = netout[..., :4]
if(objectness.all() <= obj_thresh): continue
# first 4 elements are x, y, w, and h
x, y, w, h = netout[int(row)][int(col)][b][:4]
x = (col + x) / grid_w # center position, unit: image width
y = (row + y) / grid_h # center position, unit: image height
w = anchors[2 * b + 0] * np.exp(w) / net_w # unit: image width
h = anchors[2 * b + 1] * np.exp(h) / net_h # unit: image height
# last elements are class probabilities
classes = netout[int(row)][col][b][5:]
box = BoundBox(x-w/2, y-h/2, x+w/2, y+h/2, objectness, classes)
#box = BoundBox(x-w/2, y-h/2, x+w/2, y+h/2, None, classes)
boxes.append(box)
return boxes
def correct_yolo_boxes(boxes, image_h, image_w, net_h, net_w):
if (float(net_w)/image_w) < (float(net_h)/image_h):
new_w = net_w
new_h = (image_h*net_w)/image_w
else:
new_h = net_w
new_w = (image_w*net_h)/image_h
for i in range(len(boxes)):
x_offset, x_scale = (net_w - new_w)/2./net_w, float(new_w)/net_w
y_offset, y_scale = (net_h - new_h)/2./net_h, float(new_h)/net_h
boxes[i].xmin = int((boxes[i].xmin - x_offset) / x_scale * image_w)
boxes[i].xmax = int((boxes[i].xmax - x_offset) / x_scale * image_w)
boxes[i].ymin = int((boxes[i].ymin - y_offset) / y_scale * image_h)
boxes[i].ymax = int((boxes[i].ymax - y_offset) / y_scale * image_h)
def do_nms(boxes, nms_thresh):
if len(boxes) > 0:
nb_class = len(boxes[0].classes)
else:
return
for c in range(nb_class):
sorted_indices = np.argsort([-box.classes[c] for box in boxes])
for i in range(len(sorted_indices)):
index_i = sorted_indices[i]
if boxes[index_i].classes[c] == 0: continue
for j in range(i+1, len(sorted_indices)):
index_j = sorted_indices[j]
if bbox_iou(boxes[index_i], boxes[index_j]) >= nms_thresh:
boxes[index_j].classes[c] = 0
def draw_boxes(image, boxes, labels, obj_thresh):
for box in boxes:
label_str = ''
label = -1
for i in range(len(labels)):
if box.classes[i] > obj_thresh:
label_str += labels[i]
label = i
print(labels[i] + ': ' + str(box.classes[i]*100) + '%')
if label >= 0:
cv2.rectangle(image, (box.xmin,box.ymin), (box.xmax,box.ymax), (0,255,0), 3)
#改動(dòng)3：原預(yù)測(cè)框標(biāo)簽不清晰，所以重新畫
#cv2.putText(image,
# label_str + ' ' + str(box.get_score()),
# (box.xmin, box.ymin - 13),
# cv2.FONT_HERSHEY_SIMPLEX,
# 1e-3 * image.shape[0],
# (0,255,0), 2)
cv2.rectangle(image, (box.xmin,box.ymin), (box.xmin+125,box.ymin+20), (238,238,0), -1)
tag = '{}: {:.3f}'.format(label_str, box.get_score())
cv2.putText(image,
tag,
(box.xmin+5, box.ymin+15),
cv2.FONT_HERSHEY_SIMPLEX,
1.4e-3 * image.shape[0],
(255,0,0), 2)
return image
第三步：創(chuàng)建模型，加載權(quán)重
#建模并加載權(quán)重
weights_path = 'MyFiles/yolov3.weights' #這里是權(quán)重文件路徑
# make the yolov3 model to predict 80 classes on COCO
yolov3 = make_yolov3_model()
# load the weights trained on COCO into the model
weight_reader = WeightReader(weights_path)
weight_reader.load_weights(yolov3)
第四步：對(duì)新圖像做目標(biāo)檢測(cè)
需要預(yù)測(cè)的圖像示例：
##########################設(shè)置參數(shù)###################################
net_h, net_w = 416, 416
obj_thresh, nms_thresh = 0.5, 0.45
anchors = [[116,90, 156,198, 373,326], [30,61, 62,45, 59,119], [10,13, 16,30, 33,23]]
labels = ["person", "bicycle", "car", "motorbike", "aeroplane", "bus", "train", "truck",
"boat", "traffic light", "fire hydrant", "stop sign", "parking meter", "bench",
"bird", "cat", "dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe",
"backpack", "umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard",
"sports ball", "kite", "baseball bat", "baseball glove", "skateboard", "surfboard",
"tennis racket", "bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana",
"apple", "sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake",
"chair", "sofa", "pottedplant", "bed", "diningtable", "toilet", "tvmonitor", "laptop", "mouse",
"remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator",
"book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"]
###########################預(yù)測(cè)圖像################################
image_path = 'MyFiles/zebra.jpg' #要預(yù)測(cè)的圖像路徑
# preprocess the image
image = cv2.imread(image_path)
image_h, image_w, _ = image.shape
new_image = preprocess_input(image, net_h, net_w)
# run the prediction
yolos = yolov3.predict(new_image)
boxes = []
for i in range(len(yolos)):
# decode the output of the network
boxes += decode_netout(yolos[i][0], anchors[i], obj_thresh, nms_thresh, net_h, net_w)
# correct the sizes of the bounding boxes
correct_yolo_boxes(boxes, image_h, image_w, net_h, net_w)
# suppress non-maximal boxes
do_nms(boxes, nms_thresh)
# draw bounding boxes on the image using labels
draw_boxes(image, boxes, labels, obj_thresh)
# write the image with bounding boxes to file
cv2.imwrite(image_path[:-4] + '_detected' + image_path[-4:], (image).astype('uint8'))
注意：原yolo3_one_file_to_detect_them_all.py文件中對(duì)應(yīng)代碼運(yùn)行后程序有兩次報(bào)錯(cuò)：
第一次是最開始的環(huán)境設(shè)置代碼，直接注釋掉即可；
第二次錯(cuò)誤指向第二步的preprocess_input()函數(shù) ValueError: could not broadcast input array from shape (250,416,3) into shape (251,416,3)。模型輸入指定尺寸是(416,416)，示例圖像的像素是(386,640)，將其帶入preprocess_input函數(shù)后，發(fā)現(xiàn) new_image[...] = resized 這一步出現(xiàn)了浮點(diǎn)數(shù)截?cái)鄮淼膯栴}，因此注釋掉，換成本文中代碼。
將兩處代碼修改后，檢測(cè)結(jié)果如圖所示：
這個(gè)檢測(cè)結(jié)果標(biāo)簽不清楚，于是將邊框繪制函數(shù) draw_boxes() 改成本文中代碼，結(jié)果如下，雖然美觀不足，但足夠清楚。
其他注意點(diǎn)：
numpy和cv2.resize()處理圖像時(shí)的寬高順序問題；
Reference：
https://juejin.im/post/5d12eef5e51d455a68490ba8
https://github.com/experiencor/keras-yolo3
https://blog.csdn.net/loovelj/article/details/81097614
總結(jié)
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