2022年四川省机器人大赛熊猫视觉算法.zip

# Tips 此项目是修改开源tensorrtx中的C++部署yolov5方法来实现熊猫视觉 部署代码对于每个包的版本控制很严格，找不到以往版本的包的话只能用新的来改写 [tensorrtx](https://github.com/wang-xinyu/tensorrtx) # yolov5 The Pytorch implementation is [ultralytics/yolov5](https://github.com/ultralytics/yolov5). ## Different versions of yolov5 Currently, we support yolov5 v1.0, v2.0, v3.0, v3.1, v4.0, v5.0 and v6.0. - For yolov5 v6.0, download .pt from [yolov5 release v6.0](https://github.com/ultralytics/yolov5/releases/tag/v6.0), `git clone -b v6.0 https://github.com/ultralytics/yolov5.git` and `git clone https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in current page. - For yolov5 v5.0, download .pt from [yolov5 release v5.0](https://github.com/ultralytics/yolov5/releases/tag/v5.0), `git clone -b v5.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v5.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v5.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v5.0/yolov5). - For yolov5 v4.0, download .pt from [yolov5 release v4.0](https://github.com/ultralytics/yolov5/releases/tag/v4.0), `git clone -b v4.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v4.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v4.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v4.0/yolov5). - For yolov5 v3.1, download .pt from [yolov5 release v3.1](https://github.com/ultralytics/yolov5/releases/tag/v3.1), `git clone -b v3.1 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v3.1 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v3.1](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v3.1/yolov5). - For yolov5 v3.0, download .pt from [yolov5 release v3.0](https://github.com/ultralytics/yolov5/releases/tag/v3.0), `git clone -b v3.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v3.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v3.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v3.0/yolov5). - For yolov5 v2.0, download .pt from [yolov5 release v2.0](https://github.com/ultralytics/yolov5/releases/tag/v2.0), `git clone -b v2.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v2.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v2.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v2.0/yolov5). - For yolov5 v1.0, download .pt from [yolov5 release v1.0](https://github.com/ultralytics/yolov5/releases/tag/v1.0), `git clone -b v1.0 https://github.com/ultralytics/yolov5.git` and `git clone -b yolov5-v1.0 https://github.com/wang-xinyu/tensorrtx.git`, then follow how-to-run in [tensorrtx/yolov5-v1.0](https://github.com/wang-xinyu/tensorrtx/tree/yolov5-v1.0/yolov5). ## Config - Choose the model n/s/m/l/x/n6/s6/m6/l6/x6 from command line arguments. - Input shape defined in yololayer.h - Number of classes defined in yololayer.h, **DO NOT FORGET TO ADAPT THIS, If using your own model** - INT8/FP16/FP32 can be selected by the macro in yolov5.cpp, **INT8 need more steps, pls follow `How to Run` first and then go the `INT8 Quantization` below** - GPU id can be selected by the macro in yolov5.cpp - NMS thresh in yolov5.cpp - BBox confidence thresh in yolov5.cpp - Batch size in yolov5.cpp ## How to Run, yolov5s as example 1. generate .wts from pytorch with .pt, or download .wts from model zoo ``` // clone code according to above #Different versions of yolov5 // download https://github.com/ultralytics/yolov5/releases/download/v6.0/yolov5s.pt cp {tensorrtx}/yolov5/gen_wts.py {ultralytics}/yolov5 cd {ultralytics}/yolov5 python gen_wts.py -w yolov5s.pt -o yolov5s.wts // a file 'yolov5s.wts' will be generated. ``` 2. build tensorrtx/yolov5 and run ``` cd {tensorrtx}/yolov5/ // update CLASS_NUM in yololayer.h if your model is trained on custom dataset mkdir build cd build cp {ultralytics}/yolov5/yolov5s.wts {tensorrtx}/yolov5/build cmake .. make sudo ./yolov5 -s [.wts] [.engine] [n/s/m/l/x/n6/s6/m6/l6/x6 or c/c6 gd gw] // serialize model to plan file sudo ./yolov5 -d [.engine] [image folder] // deserialize and run inference, the images in [image folder] will be processed. // For example yolov5s sudo ./yolov5 -s yolov5s.wts yolov5s.engine s sudo ./yolov5 -d yolov5s.engine ../samples // For example Custom model with depth_multiple=0.17, width_multiple=0.25 in yolov5.yaml sudo ./yolov5 -s yolov5_custom.wts yolov5.engine c 0.17 0.25 sudo ./yolov5 -d yolov5.engine ../samples ``` 3. check the images generated, as follows. _zidane.jpg and _bus.jpg 4. optional, load and run the tensorrt model in python ``` // install python-tensorrt, pycuda, etc. // ensure the yolov5s.engine and libmyplugins.so have been built python yolov5_trt.py ``` # INT8 Quantization 1. Prepare calibration images, you can randomly select 1000s images from your train set. For coco, you can also download my calibration images `coco_calib` from [GoogleDrive](https://drive.google.com/drive/folders/1s7jE9DtOngZMzJC1uL307J2MiaGwdRSI?usp=sharing) or [BaiduPan](https://pan.baidu.com/s/1GOm_-JobpyLMAqZWCDUhKg) pwd: a9wh 2. unzip it in yolov5/build 3. set the macro `USE_INT8` in yolov5.cpp and make 4. serialize the model and test <p align="center"> <img src="https://user-images.githubusercontent.com/15235574/78247927-4d9fac00-751e-11ea-8b1b-704a0aeb3fcf.jpg"> </p> <p align="center"> <img src="https://user-images.githubusercontent.com/15235574/78247970-60b27c00-751e-11ea-88df-41473fed4823.jpg"> </p> ## More Information See the readme in [home page.](https://github.com/wang-xinyu/tensorrtx)