红绿灯识别方案：https://zhuanlan.zhihu.com/p/674791906
目录
一、制作数据集
1、数据集划分
将红绿灯数据集大文件夹中不同类别的小文件夹中的图片按照9：1进行划分，拆分后分别保存到train和val的文件中
py
import os
import shutil
import random
def split_dataset(source_folder, destination_folder, split_ratio=0.9):
# 创建目标文件夹
train_folder = os.path.join(destination_folder, 'train')
val_folder = os.path.join(destination_folder, 'val')
os.makedirs(train_folder, exist_ok=True)
os.makedirs(val_folder, exist_ok=True)
# 遍历每个类别的文件夹
for class_folder in os.listdir(source_folder):
class_path = os.path.join(source_folder, class_folder)
# 创建类别的train和val子文件夹
train_class_path = os.path.join(train_folder, class_folder)
val_class_path = os.path.join(val_folder, class_folder)
os.makedirs(train_class_path, exist_ok=True)
os.makedirs(val_class_path, exist_ok=True)
# 获取类别文件夹下的所有图片文件
images = [f for f in os.listdir(class_path) if f.endswith('.jpg')]
# 计算划分的索引
split_index = int(len(images) * split_ratio)
# 随机打乱图片列表
random.shuffle(images)
# 将图片拷贝到train文件夹
for image in images[:split_index]:
src_path = os.path.join(class_path, image)
dst_path = os.path.join(train_class_path, image)
shutil.copy(src_path, dst_path)
# 将图片拷贝到val文件夹
for image in images[split_index:]:
src_path = os.path.join(class_path, image)
dst_path = os.path.join(val_class_path, image)
shutil.copy(src_path, dst_path)
if __name__ == "__main__":
source_folder = "traffic_light"
destination_folder = "dataset"
split_dataset(source_folder, destination_folder)二、ResNet算法
1、ResNet网络模型
py
import torch.nn as nn
import torch
# 定义ResNet18/34的残差结构，为2个3x3的卷积
class BasicBlock(nn.Module):
# 判断残差结构中，主分支的卷积核个数是否发生变化，不变则为1
expansion = 1
# init()：进行初始化，申明模型中各层的定义
# downsample=None对应实线残差结构，否则为虚线残差结构
def __init__(self, in_channel, out_channel, stride=1, downsample=None, **kwargs):
super(BasicBlock, self).__init__()
self.conv1 = nn.Conv2d(in_channels=in_channel, out_channels=out_channel,
kernel_size=3, stride=stride, padding=1, bias=False)
# 使用批量归一化
self.bn1 = nn.BatchNorm2d(out_channel)
# 使用ReLU作为激活函数
self.relu = nn.ReLU()
self.conv2 = nn.Conv2d(in_channels=out_channel, out_channels=out_channel,
kernel_size=3, stride=1, padding=1, bias=False)
self.bn2 = nn.BatchNorm2d(out_channel)
self.downsample = downsample
# forward()：定义前向传播过程,描述了各层之间的连接关系
def forward(self, x):
# 残差块保留原始输入
identity = x
# 如果是虚线残差结构，则进行下采样
if self.downsample is not None:
identity = self.downsample(x)
out = self.conv1(x)
out = self.bn1(out)
out = self.relu(out)
# -----------------------------------------
out = self.conv2(out)
out = self.bn2(out)
# 主分支与shortcut分支数据相加
out += identity
out = self.relu(out)
return out
# 定义ResNet50/101/152的残差结构，为1x1+3x3+1x1的卷积
class Bottleneck(nn.Module):
# expansion是指在每个小残差块内，减小尺度增加维度的倍数，如64*4=256
# Bottleneck层输出通道是输入的4倍
expansion = 4
# init()：进行初始化，申明模型中各层的定义
# downsample=None对应实线残差结构，否则为虚线残差结构，专门用来改变x的通道数
def __init__(self, in_channel, out_channel, stride=1, downsample=None,
groups=1, width_per_group=64):
super(Bottleneck, self).__init__()
width = int(out_channel * (width_per_group / 64.)) * groups
self.conv1 = nn.Conv2d(in_channels=in_channel, out_channels=width,
kernel_size=1, stride=1, bias=False)
# 使用批量归一化
self.bn1 = nn.BatchNorm2d(width)
# -----------------------------------------
self.conv2 = nn.Conv2d(in_channels=width, out_channels=width, groups=groups,
kernel_size=3, stride=stride, bias=False, padding=1)
self.bn2 = nn.BatchNorm2d(width)
# -----------------------------------------
self.conv3 = nn.Conv2d(in_channels=width, out_channels=out_channel * self.expansion,
kernel_size=1, stride=1, bias=False)
self.bn3 = nn.BatchNorm2d(out_channel * self.expansion)
# 使用ReLU作为激活函数
self.relu = nn.ReLU(inplace=True)
self.downsample = downsample
# forward()：定义前向传播过程,描述了各层之间的连接关系
def forward(self, x):
# 残差块保留原始输入
identity = x
# 如果是虚线残差结构，则进行下采样
if self.downsample is not None:
identity = self.downsample(x)
out = self.conv1(x)
out = self.bn1(out)
out = self.relu(out)
out = self.conv2(out)
out = self.bn2(out)
out = self.relu(out)
out = self.conv3(out)
out = self.bn3(out)
# 主分支与shortcut分支数据相加
out += identity
out = self.relu(out)
return out
# 定义ResNet类
class ResNet(nn.Module):
# 初始化函数
def __init__(self,
block,
blocks_num,
num_classes=28,
include_top=True,
groups=1,
width_per_group=64):
super(ResNet, self).__init__()
self.include_top = include_top
# maxpool的输出通道数为64，残差结构输入通道数为64
self.in_channel = 64
self.groups = groups
self.width_per_group = width_per_group
self.conv1 = nn.Conv2d(3, self.in_channel, kernel_size=7, stride=2,
padding=3, bias=False)
self.bn1 = nn.BatchNorm2d(self.in_channel)
self.relu = nn.ReLU(inplace=True)
self.maxpool = nn.MaxPool2d(kernel_size=3, stride=2, padding=1)
# 浅层的stride=1，深层的stride=2
# block：定义的两种残差模块
# block_num：模块中残差块的个数
self.layer1 = self._make_layer(block, 64, blocks_num[0])
self.layer2 = self._make_layer(block, 128, blocks_num[1], stride=2)
self.layer3 = self._make_layer(block, 256, blocks_num[2], stride=2)
self.layer4 = self._make_layer(block, 512, blocks_num[3], stride=2)
if self.include_top:
# 自适应平均池化，指定输出（H，W），通道数不变
self.avgpool = nn.AdaptiveAvgPool2d((1, 1))
# 全连接层
self.fc = nn.Linear(512 * block.expansion, num_classes)
# 遍历网络中的每一层
# 继承nn.Module类中的一个方法:self.modules(), 他会返回该网络中的所有modules
for m in self.modules():
# isinstance(object, type)：如果指定对象是指定类型，则isinstance()函数返回True
# 如果是卷积层
if isinstance(m, nn.Conv2d):
# kaiming正态分布初始化，使得Conv2d卷积层反向传播的输出的方差都为1
# fan_in：权重是通过线性层（卷积或全连接）隐性确定
# fan_out：通过创建随机矩阵显式创建权重
nn.init.kaiming_normal_(m.weight, mode='fan_out', nonlinearity='relu')
# 定义残差模块，由若干个残差块组成
# block：定义的两种残差模块，channel：该模块中所有卷积层的基准通道数。block_num：模块中残差块的个数
def _make_layer(self, block, channel, block_num, stride=1):
downsample = None
# 如果满足条件，则是虚线残差结构
if stride != 1 or self.in_channel != channel * block.expansion:
downsample = nn.Sequential(
nn.Conv2d(self.in_channel, channel * block.expansion, kernel_size=1, stride=stride, bias=False),
nn.BatchNorm2d(channel * block.expansion))
layers = []
layers.append(block(self.in_channel,
channel,
downsample=downsample,
stride=stride,
groups=self.groups,
width_per_group=self.width_per_group))
self.in_channel = channel * block.expansion
for _ in range(1, block_num):
layers.append(block(self.in_channel,
channel,
groups=self.groups,
width_per_group=self.width_per_group))
# Sequential：自定义顺序连接成模型，生成网络结构
return nn.Sequential(*layers)
# forward()：定义前向传播过程,描述了各层之间的连接关系
def forward(self, x):
# 无论哪种ResNet，都需要的静态层
x = self.conv1(x)
x = self.bn1(x)
x = self.relu(x)
x = self.maxpool(x)
# 动态层
x = self.layer1(x)
x = self.layer2(x)
x = self.layer3(x)
x = self.layer4(x)
if self.include_top:
x = self.avgpool(x)
x = torch.flatten(x, 1)
x = self.fc(x)
return x
# ResNet()中block参数对应的位置是BasicBlock或Bottleneck
# ResNet()中blocks_num[0-3]对应[3, 4, 6, 3]，表示残差模块中的残差数
# 34层的resnet
def resnet34(num_classes=28, include_top=True):
# https://download.pytorch.org/models/resnet34-333f7ec4.pth
return ResNet(BasicBlock, [3, 4, 6, 3], num_classes=num_classes, include_top=include_top)
# 50层的resnet
def resnet50(num_classes=1000, include_top=True):
# https://download.pytorch.org/models/resnet50-19c8e357.pth
return ResNet(Bottleneck, [3, 4, 6, 3], num_classes=num_classes, include_top=include_top)
# 101层的resnet
def resnet101(num_classes=1000, include_top=True):
# https://download.pytorch.org/models/resnet101-5d3b4d8f.pth
return ResNet(Bottleneck, [3, 4, 23, 3], num_classes=num_classes, include_top=include_top)2、数据集加载与训练
py
import os
import sys
import json
import torch
import torch.nn as nn
import torch.optim as optim
from torchvision import transforms, datasets
from tqdm import tqdm
# 训练resnet34
from model import resnet34
def main():
# 如果有NVIDA显卡，转到GPU训练，否则用CPU
device = torch.device("cuda:1" if torch.cuda.is_available() else "cpu")
print("using {} device.".format(device))
data_transform = {
# 训练
# Compose()：将多个transforms的操作整合在一起
"train": transforms.Compose([
# RandomResizedCrop(224)：将给定图像随机裁剪为不同的大小和宽高比，然后缩放所裁剪得到的图像为给定大小
transforms.RandomResizedCrop(224),
# RandomVerticalFlip()：以0.5的概率竖直翻转给定的PIL图像
transforms.RandomHorizontalFlip(),
# ToTensor()：数据转化为Tensor格式
transforms.ToTensor(),
# Normalize()：将图像的像素值归一化到[-1,1]之间，使模型更容易收敛
transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])]),
# 验证
"val": transforms.Compose([transforms.Resize(256),
transforms.CenterCrop(224),
transforms.ToTensor(),
transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])])}
# abspath()：获取文件当前目录的绝对路径
# join()：用于拼接文件路径，可以传入多个路径
# getcwd()：该函数不需要传递参数，获得当前所运行脚本的路径
data_root = os.path.abspath(os.getcwd())
# 得到数据集的路径
image_path = os.path.join(data_root, "data")
# exists()：判断括号里的文件是否存在，可以是文件路径
# 如果image_path不存在，序会抛出AssertionError错误，报错为参数内容" "
assert os.path.exists(image_path), "{} path does not exist.".format(image_path)
train_dataset = datasets.ImageFolder(root=os.path.join(image_path, "train"),
transform=data_transform["train"])
# 训练集长度
train_num = len(train_dataset)
# {'daisy':0, 'dandelion':1, 'roses':2, 'sunflower':3, 'tulips':4}
# class_to_idx：获取分类名称对应索引
flower_list = train_dataset.class_to_idx
# dict()：创建一个新的字典
# 循环遍历数组索引并交换val和key的值重新赋值给数组，这样模型预测的直接就是value类别值
cla_dict = dict((val, key) for key, val in flower_list.items())
# 把字典编码成json格式
json_str = json.dumps(cla_dict, indent=4)
# 把字典类别索引写入json文件
with open('class_indices.json', 'w') as json_file:
json_file.write(json_str)
# 一次训练载入512张图像
batch_size = 512
# 确定进程数
# min()：返回给定参数的最小值，参数可以为序列
# cpu_count()：返回一个整数值，表示系统中的CPU数量，如果不确定CPU的数量，则不返回任何内容
nw = min([os.cpu_count(), batch_size if batch_size > 1 else 0, 8])
print('Using {} dataloader workers every process'.format(nw))
# DataLoader：将读取的数据按照batch size大小封装给训练集
# dataset (Dataset)：输入的数据集
# batch_size (int, optional)：每个batch加载多少个样本，默认: 1
# shuffle (bool, optional)：设置为True时会在每个epoch重新打乱数据，默认: False
# num_workers(int, optional): 决定了有几个进程来处理，默认为0意味着所有的数据都会被load进主进程
train_loader = torch.utils.data.DataLoader(train_dataset,
batch_size=batch_size, shuffle=True,
num_workers=nw)
# 加载测试数据集
validate_dataset = datasets.ImageFolder(root=os.path.join(image_path, "val"),
transform=data_transform["val"])
# 测试集长度
val_num = len(validate_dataset)
validate_loader = torch.utils.data.DataLoader(validate_dataset,
batch_size=batch_size, shuffle=False,
num_workers=nw)
print("using {} images for training, {} images for validation.".format(train_num,
val_num))
# 模型实例化
net = resnet34()
net.to(device)
# 加载预训练模型权重
# model_weight_path = "./resnet34-pre.pth"
# exists()：判断括号里的文件是否存在，可以是文件路径
# assert os.path.exists(model_weight_path), "file {} does not exist.".format(model_weight_path)
# net.load_state_dict(torch.load(model_weight_path, map_location='cpu'))
# 输入通道数
# in_channel = net.fc.in_features
# 全连接层
# net.fc = nn.Linear(in_channel, 5)
# 定义损失函数（交叉熵损失）
loss_function = nn.CrossEntropyLoss()
# 抽取模型参数
params = [p for p in net.parameters() if p.requires_grad]
# 定义adam优化器
# params(iterable)：要训练的参数，一般传入的是model.parameters()
# lr(float)：learning_rate学习率，也就是步长，默认：1e-3
optimizer = optim.Adam(params, lr=0.0001)
# 迭代次数（训练次数）
epochs = 100
# 用于判断最佳模型
best_acc = 0.0
# 最佳模型保存地址
save_path = './resNet34.pth'
train_steps = len(train_loader)
for epoch in range(epochs):
# 训练
net.train()
running_loss = 0.0
# tqdm：进度条显示
train_bar = tqdm(train_loader, file=sys.stdout)
# train_bar: 传入数据（数据包括：训练数据和标签）
# enumerate()：将一个可遍历的数据对象(如列表、元组或字符串)组合为一个索引序列，同时列出数据和数据下标，一般用在for循环当中
# enumerate返回值有两个：一个是序号，一个是数据（包含训练数据和标签）
# x：训练数据（inputs）(tensor类型的），y：标签（labels）(tensor类型）
for step, data in enumerate(train_bar):
# 前向传播
images, labels = data
# 计算训练值
logits = net(images.to(device))
# 计算损失
loss = loss_function(logits, labels.to(device))
# 反向传播
# 清空过往梯度
optimizer.zero_grad()
# 反向传播，计算当前梯度
loss.backward()
optimizer.step()
# item()：得到元素张量的元素值
running_loss += loss.item()
# 进度条的前缀
# .3f：表示浮点数的精度为3（小数位保留3位）
train_bar.desc = "train epoch[{}/{}] loss:{:.3f}".format(epoch + 1,
epochs,
loss)
# 测试
# eval()：如果模型中有Batch Normalization和Dropout，则不启用，以防改变权值
net.eval()
acc = 0.0
# 清空历史梯度，与训练最大的区别是测试过程中取消了反向传播
with torch.no_grad():
val_bar = tqdm(validate_loader, file=sys.stdout)
for val_data in val_bar:
val_images, val_labels = val_data
outputs = net(val_images.to(device))
# torch.max(input, dim)函数
# input是具体的tensor，dim是max函数索引的维度，0是每列的最大值，1是每行的最大值输出
# 函数会返回两个tensor，第一个tensor是每行的最大值；第二个tensor是每行最大值的索引
predict_y = torch.max(outputs, dim=1)[1]
# 对两个张量Tensor进行逐元素的比较，若相同位置的两个元素相同，则返回True；若不同，返回False
# .sum()对输入的tensor数据的某一维度求和
acc += torch.eq(predict_y, val_labels.to(device)).sum().item()
val_bar.desc = "valid epoch[{}/{}]".format(epoch + 1,
epochs)
val_accurate = acc / val_num
print('[epoch %d] train_loss: %.3f val_accuracy: %.3f' %
(epoch + 1, running_loss / train_steps, val_accurate))
# 保存最好的模型权重
if val_accurate > best_acc:
best_acc = val_accurate
# torch.save(state, dir)保存模型等相关参数，dir表示保存文件的路径+保存文件名
# model.state_dict()：返回的是一个OrderedDict，存储了网络结构的名字和对应的参数
torch.save(net.state_dict(), save_path)
print('Finished Training')
if __name__ == '__main__':
main()- 效果：
- 生成的pth权重文件
3、数据集分类测试
根据训练生成的pth权重文件预测
py
import os
import json
import torch
from PIL import Image
from torchvision import transforms
import matplotlib.pyplot as plt
from model import resnet34
def main():
# 如果有NVIDA显卡,转到GPU训练，否则用CPU
device = torch.device("cuda:1" if torch.cuda.is_available() else "cpu")
# 将多个transforms的操作整合在一起
data_transform = transforms.Compose(
[transforms.Resize(256),
transforms.CenterCrop(224),
transforms.ToTensor(),
transforms.Normalize([0.485, 0.456, 0.406], [0.229, 0.224, 0.225])])
# 加载图片
img_path = "./ResNet/data/test/composite/_17479_0.jpg"
# 确定图片存在，否则反馈错误
assert os.path.exists(img_path), "file: '{}' dose not exist.".format(img_path)
img = Image.open(img_path)
# imshow()：对图像进行处理并显示其格式，show()则是将imshow()处理后的函数显示出来
plt.imshow(img)
# [C, H, W]，转换图像格式
img = data_transform(img)
# [N, C, H, W]，增加一个维度N
img = torch.unsqueeze(img, dim=0)
plt.show()
# 获取结果类型
json_path = './ResNet/class_indices.json'
# 确定路径存在，否则反馈错误
assert os.path.exists(json_path), "file: '{}' dose not exist.".format(json_path)
# 读取内容
with open(json_path, "r") as f:
class_indict = json.load(f)
# 模型实例化，将模型转到device，结果类型有28种
model = resnet34(num_classes=28).to(device)
# 载入模型权重
weights_path = "./ResNet/resNet34.pth"
# 确定模型存在，否则反馈错误
assert os.path.exists(weights_path), "file: '{}' dose not exist.".format(weights_path)
# 加载训练好的模型参数
model.load_state_dict(torch.load(weights_path, map_location=device))
# 进入验证阶段
model.eval()
with torch.no_grad():
# 预测类别
# squeeze()：维度压缩，返回一个tensor（张量），其中input中大小为1的所有维都已删除
output = torch.squeeze(model(img.to(device))).cpu()
# softmax：归一化指数函数，将预测结果输入进行非负性和归一化处理，最后将某一维度值处理为0-1之内的分类概率
predict = torch.softmax(output, dim=0)
# argmax(input)：返回指定维度最大值的序号
# .numpy()：把tensor转换成numpy的格式
predict_cla = torch.argmax(predict).numpy()
# 输出的预测值与真实值
print_res = "class: {} prob: {:.3}".format(class_indict[str(predict_cla)],
predict[predict_cla].numpy())
# 图片标题
plt.title(print_res)
for i in range(len(predict)):
print("class: {:10} prob: {:.3}".format(class_indict[str(i)],
predict[i].numpy()))
plt.show()
if __name__ == '__main__':
main()可视化展示：
三、pytorch转onnx文件
将model模型中的resnet34导入其中：
py
import torch
import torchvision
from model import * # 引入模型
torch.set_grad_enabled(False)
torch_model = resnet34() # 初始化网络
torch_model.load_state_dict(torch.load('./ResNet/resNet34.pth'), False) # 加载训练好的pth模型
batch_size = 1 # 批处理大小
input_shape = (3, 224, 224) # 输入数据,我这里是灰度训练所以1代表是单通道，RGB训练是3，224是图像输入网络的尺寸
# set the model to inference mode
torch_model.eval().cpu() # cpu推理
x = torch.randn(batch_size, *input_shape).cpu() # 生成张量
export_onnx_file = "resnet34_314.onnx" # 要生成的ONNX文件名
torch.onnx.export(torch_model,
x,
export_onnx_file,
opset_version=10,
do_constant_folding=True, # 是否执行常量折叠优化
input_names=["input"], # 输入名
output_names=["output"], # 输出名
dynamic_axes={"input": {0: "batch_size"}, # 批处理变量
"output": {0: "batch_size"}})- 生成的onnx权重文件
四、onnx推理测试
py
import onnx
import onnxruntime as ort
import numpy as np
import cv2
def preprocess(img_data):
mean_vec = np.array([0.485, 0.456, 0.406])
stddev_vec = np.array([0.229, 0.224, 0.225])
norm_img_data = np.zeros(img_data.shape).astype('float32')
for i in range(img_data.shape[0]):
# for each pixel in each channel, divide the value by 255 to get value between [0, 1] and then normalize
norm_img_data[i,:,:] = (img_data[i,:,:]/255 - mean_vec[i]) / stddev_vec[i]
return norm_img_data
def softmax(x):
e_x = np.exp(x - np.max(x))
return e_x / e_x.sum()
img = cv2.imread("./data/test/composite/00000136_0.jpg")
img = cv2.resize(img, (224,224), interpolation=cv2.INTER_AREA)
img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
input_data = np.transpose(img, (2, 0, 1))
input_data = preprocess(input_data)
input_data = input_data.reshape([1, 3, 224, 224])
sess = ort.InferenceSession("./ResNet/resnet34wsy.onnx")
input_name = sess.get_inputs()[0].name
result = sess.run([], {input_name: input_data})
result = np.reshape(result, [1, -1])
result_s = softmax(result)
index = np.argmax(result_s)
print("max index:", index)五、onnx转mnn
方法一：
1、mnn下载地址
git clone https://github.com/alibaba/MNN
2、编译
py
cd MNN
./schema/generate.sh
mkdir build
cd build
camke .. -DMNN_BUILD_CONVERTER=true
make -j83、运行
cpp
根据自己的文件夹路径
./MNNConvert -f ONNX --modelFile XXX.onnx --MNNModel XXX.mnn --bizCode MNN
./MNNConvert -f ONNX --modelFile /home/mengwen/ResNet/traffic_light.onnx --MNNModel /home/mengwen/ResNet/traffic_light.mnn --bizCode MNN方法二：
一键转换
２、
参考：