【2023new】OAK相机如何将Yolov5转换成blob格式？

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▌前言

Hello，大家好，这里是OAK中国，我是助手君。

最近咱社群里有几个朋友在将yolox转换成blob的过程有点不清楚，所以我就写了这篇博客。（请夸我贴心！咱的原则：合理要求，有求必应！）

其实，之前也发过将Yolov5转换成blob的教程，不过那篇教程和本篇教程有所差别，以本篇教程为准！

1.其他Yolo转换及使用教程请参考
2.检测类的yolo模型建议使用在线转换（地址），如果在线转换不成功，你再根据本教程来做本地转换。

▌`.pt` 转换为 `.onnx`

使用下列脚本 (将脚本放到 YOLOv5 根目录中) 将 pytorch 模型转换为 onnx 模型，若已安装 openvino_dev，则可进一步转换为 OpenVINO 模型：

示例用法：

python export_onnx.py -w <path_to_model>.pt -imgsz 320

export_onnx.py :

# coding=utf-8
import argparse
import json
import subprocess
import sys
import time
import warnings
from pathlib import Path

warnings.filterwarnings("ignore")

FILE = Path(__file__).resolve()
ROOT = FILE.parents[0]  # YOLOv5 root directory
if str(ROOT) not in sys.path:
    sys.path.append(str(ROOT))  # add ROOT to PATH

import torch
import torch.nn as nn

from models.common import Conv
from models.experimental import attempt_load
from models.yolo import Detect
from utils.activations import Hardswish, SiLU
from utils.general import LOGGER, check_img_size
from utils.torch_utils import select_device


class DetectV5(nn.Module):
    # YOLOv5 Detect head for detection models
    dynamic = False  # force grid reconstruction
    export = True  # export mode

    def __init__(self, old_detect):  # detection layer
        super().__init__()
        self.nc = old_detect.nc  # number of classes
        self.no = old_detect.no  # number of outputs per anchor
        self.nl = old_detect.nl  # number of detection layers
        self.na = old_detect.na
        self.anchors = old_detect.anchors
        self.grid = old_detect.grid  # [torch.zeros(1)] * self.nl
        self.anchor_grid = old_detect.anchor_grid  # anchor grid

        self.inplace = old_detect.inplace
        self.stride = old_detect.stride

        self.f = old_detect.f
        self.i = old_detect.i
        self.m = old_detect.m

        self._make_grid = old_detect._make_grid

    def forward(self, x):
        for i in range(self.nl):
            x[i] = self.m[i](x[i])  # conv
            x[i] = x[i].sigmoid()
        return x


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument(
        "-w", "--weights", type=str, default="./yolov5n.pt", help="weights path"
    )
    parser.add_argument(
        "-imgsz",
        "--img-size",
        nargs="+",
        type=int,
        default=[640, 640],
        help="image size",
    )  # height, width
    parser.add_argument("-op", "--opset", type=int, default=12, help="opset version")

    opt = parser.parse_args()
    opt.img_size *= 2 if len(opt.img_size) == 1 else 1  # expand
    LOGGER.info(opt)

    t = time.time()

    # Load PyTorch model
    device = select_device("cpu")
    model = attempt_load(
        opt.weights, device=device, inplace=True, fuse=True
    )  # load FP32 model
    labels = model.names
    labels = labels if isinstance(labels, list) else list(labels.values())

    # Checks
    gs = int(max(model.stride))  # grid size (max stride)
    opt.img_size = [
        check_img_size(x, gs) for x in opt.img_size
    ]  # verify img_size are gs-multiples

    # Input
    img = torch.zeros(1, 3, *opt.img_size).to(
        device
    )  # image size(1,3,320,320) iDetection

    # Update model
    model.eval()
    for k, m in model.named_modules():
        if isinstance(m, Conv):  # assign export-friendly activations
            if isinstance(m.act, nn.SiLU):
                m.act = SiLU()
            if isinstance(m.act, nn.Hardswish):
                m.act = Hardswish()
    if isinstance(model.model[-1], (Detect)):
        model.model[-1] = DetectV5(model.model[-1])

    m = model.module.model[-1] if hasattr(model, "module") else model.model[-1]
    num_branches = len(m.anchor_grid)

    y = model(img)  # dry runs

    # ONNX export
    try:
        import onnx

        LOGGER.info("\nStarting ONNX export with onnx %s..." % onnx.__version__)
        export_file = Path(opt.weights).with_suffix(".onnx")  # filename
        output_list = ["output%s_yolov5" % (i + 1) for i in range(num_branches)]
        torch.onnx.export(
            model,
            img,
            export_file,
            verbose=False,
            opset_version=opt.opset,
            input_names=["images"],
            output_names=output_list,
        )

        # Checks
        onnx_model = onnx.load(export_file)  # load onnx model
        onnx.checker.check_model(onnx_model)  # check onnx model

        try:
            import onnxsim

            LOGGER.info("\nStarting to simplify ONNX...")
            onnx_model, check = onnxsim.simplify(onnx_model)
            assert check, "assert check failed"
        except Exception as e:
            LOGGER.warning("Simplifier failure: %s" % e)

        onnx.save(onnx_model, export_file)
        LOGGER.info("ONNX export success, saved as %s" % export_file)

    except Exception as e:
        LOGGER.warning("ONNX export failure: %s" % e)

    # generate anchors and sides
    anchors, sides = [], []
    m = model.module.model[-1] if hasattr(model, "module") else model.model[-1]
    for i in range(num_branches):
        sides.append(int(opt.img_size[0] // m.stride[i]))
        for j in range(m.anchor_grid[i].size()[1]):
            anchors.extend(m.anchor_grid[i][0, j, 0, 0].numpy())
    anchors = [float(x) for x in anchors]

    # generate masks
    masks = dict()
    # for i, num in enumerate(sides[::-1]):
    for i, num in enumerate(sides):
        masks[f"side{num}"] = list(range(i * 3, i * 3 + 3))

    LOGGER.info("\nanchors: %s" % anchors)
    LOGGER.info("anchor_masks: %s" % masks)
    export_json = export_file.with_suffix(".json")
    export_json.with_suffix(".json").write_text(
        json.dumps(
            {
                "anchors": anchors,
                "anchor_masks": masks,
                "coordinates": 4,
                "labels": labels,
                "num_classes": model.nc,
            },
            indent=4,
        )
    )
    LOGGER.info("Anchors data export success, saved as %s" % export_json)

    # OpenVINO export
    LOGGER.info("\nStarting to export OpenVINO...")
    export_dir = Path(str(export_file).replace(".onnx", "_openvino"))
    OpenVINO_cmd = (
        "mo --input_model %s --output_dir %s --data_type FP16 --scale 255 --reverse_input_channel --output '%s' "
        % (export_file, export_dir, ",".join(output_list))
    )
    try:
        subprocess.check_output(OpenVINO_cmd, shell=True)
        LOGGER.info("OpenVINO export success, saved as %s" % export_dir)
    except Exception as e:
        LOGGER.info("OpenVINO export failure: %s" % e)
        LOGGER.info("\nBy the way, you can try to export OpenVINO use:")
        LOGGER.info("\n%s" % OpenVINO_cmd)

    # OAK Blob export
    LOGGER.info("\nThen you can try to export blob use:")
    export_xml = export_dir / export_file.with_suffix(".xml")
    export_blob = export_dir / export_file.with_suffix(".blob")
    blob_cmd = (
        "compile_tool -m %s -ip U8 -d MYRIAD -VPU_NUMBER_OF_SHAVES 6 -VPU_NUMBER_OF_CMX_SLICES 6 -o %s"
        % (export_xml, export_blob)
    )
    LOGGER.info("\n%s" % blob_cmd)

    # Finish
    LOGGER.info("\nExport complete (%.2fs)." % (time.time() - t))

可以使用 Netron 查看模型结构

在这里插入图片描述

▌ 转换

openvino 本地转换

onnx -> openvino

mo 是 openvino_dev 2022.1 中脚本，

安装命令为 pip install openvino-dev

mo --input_model yolov5n.onnx  --scale 255 --reverse_input_channel

openvino -> blob

<path>/compile_tool -m yolov5n.xml \
-ip U8 -d MYRIAD \
-VPU_NUMBER_OF_SHAVES 6 \
-VPU_NUMBER_OF_CMX_SLICES 6

在线转换

blobconvert 网页 http://blobconverter.luxonis.com/

进入网页，按下图指示操作：

在这里插入图片描述

修改参数，转换模型：

在这里插入图片描述
1. 选择 onnx 模型
2. 修改 optimizer_params 为 --data_type=FP16 --scale 255 --reverse_input_channel
3. 修改 shaves 为 6
4. 转换

blobconverter python 代码

blobconverter.from_onnx(
            "yolov5n.onnx",	
            optimizer_params=[
                " --scale 255",
                "--reverse_input_channel",
            ],
            shaves=6,
        )

blobconvert cli

blobconverter --onnx yolov5n.onnx -sh 6 -o . --optimizer-params "scale=255 --reverse_input_channel"

▌DepthAI 示例

正确解码需要可配置的网络相关参数：

使用 export_onnx.py 转换模型时会将相关参数写入 json 文件中，可根据 json 文件中数据添加下列参数

setNumClasses - YOLO 检测类别的数量
setIouThreshold - iou 阈值
setConfidenceThreshold - 置信度阈值，低于该阈值的对象将被过滤掉
setAnchors - yolo 锚点
setAnchorMasks - 锚掩码

Anchors:

训练模型时 cfg 中的 anchors，例如:

[10,13, 16,30, 33,23, 30,61, 62,45, 59,119, 116,90, 156,198, 373,326]

是从 yolov5n.yaml 中获取

AnchorMasks :

如果使用不同的输入宽度，还应该重新设置sideX , sideY, sideZ, 其中 X = width/8 , Y = width/16，Z = width/32 。如果您使用的是微型（tiny）模型，那么只要设置sideX , sideY，其中 X = width/16 , Y = width/32。

import cv2
import depthai as dai
import numpy as np

model = dai.OpenVINO.Blob("yolov7.blob")
dim = model.networkInputs.get("images").dims
W, H = dim[:2]
labelMap = [
    # "class_1","class_2","..."
    "class_%s"%i for i in range(80)
]

# Create pipeline
pipeline = dai.Pipeline()

# Define sources and outputs
camRgb = pipeline.create(dai.node.ColorCamera)
detectionNetwork = pipeline.create(dai.node.YoloDetectionNetwork)
xoutRgb = pipeline.create(dai.node.XLinkOut)
nnOut = pipeline.create(dai.node.XLinkOut)

xoutRgb.setStreamName("rgb")
nnOut.setStreamName("nn")

# Properties
camRgb.setPreviewSize(W, H)
camRgb.setResolution(dai.ColorCameraProperties.SensorResolution.THE_1080_P)
camRgb.setInterleaved(False)
camRgb.setColorOrder(dai.ColorCameraProperties.ColorOrder.BGR)
camRgb.setFps(40)![image-20230223163536337](YOLOv7%20%E8%BD%AC%E6%8D%A2%E6%88%90%20blob%20%E6%A0%BC%E5%BC%8F.assets/image-20230223163536337.png)

# Network specific settings
detectionNetwork.setBlob(model)
detectionNetwork.setConfidenceThreshold(0.5)
detectionNetwork.setNumClasses(80)
detectionNetwork.setCoordinateSize(4)
detectionNetwork.setAnchors(
    [
        10,13, 16,30, 33,23,
        30,61, 62,45, 59,119, 
        116,90, 156,198, 373,326
    ]
)
detectionNetwork.setAnchorMasks(
    {
        "side%s"%(W/8): [0,1,2],
        "side%s"%(W/16): [3,4,5],
        "side%s"%(W/32): [6,7,8]
    }
)
detectionNetwork.setIouThreshold(0.5)

# Linking
camRgb.preview.link(detectionNetwork.input)
camRgb.preview.link(xoutRgb.input)
detectionNetwork.out.link(nnOut.input)

# Connect to device and start pipeline
with dai.Device(pipeline) as device:
    # Output queues will be used to get the rgb frames and nn data from the outputs defined above
    qRgb = device.getOutputQueue(name="rgb", maxSize=4, blocking=False)
    qDet = device.getOutputQueue(name="nn", maxSize=4, blocking=False)

    frame = None
    detections = []
    color2 = (255, 255, 255)

    # nn data, being the bounding box locations, are in <0..1> range - they need to be normalized with frame width/height
    def frameNorm(frame, bbox):
        normVals = np.full(len(bbox), frame.shape[0])
        normVals[::2] = frame.shape[1]
        return (np.clip(np.array(bbox), 0, 1) * normVals).astype(int)

    def displayFrame(name, frame):
        color = (255, 0, 0)
        for detection in detections:
            bbox = frameNorm(frame, (detection.xmin, detection.ymin, detection.xmax, detection.ymax))
            cv2.putText(frame, labelMap[detection.label], (bbox[0] + 10, bbox[1] + 20), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
            cv2.putText(frame, f"{int(detection.confidence * 100)}%", (bbox[0] + 10, bbox[1] + 40), cv2.FONT_HERSHEY_TRIPLEX, 0.5, 255)
            cv2.rectangle(frame, (bbox[0], bbox[1]), (bbox[2], bbox[3]), color, 2)
        # Show the frame
        cv2.imshow(name, frame)

    while True:
        inRgb = qRgb.tryGet()
        inDet = qDet.tryGet()

        if inRgb is not None:
            frame = inRgb.getCvFrame()

        if inDet is not None:
            detections = inDet.detections


        if frame is not None:
            displayFrame("rgb", frame)

        if cv2.waitKey(1) == ord('q'):
            break