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野火RK3588部署yolov8，我们用yolov8s.pt（从yolov8官网下载）举例。

一、转模型

1、pt->onnx

不能使用官方的yolov8代码，需要使用瑞芯微的yolov8代码，地址

https://github.com/airockchip/ultralytics_yolov8

下载好代码以后，执行模型转换，代码

from ultralytics import YOLOmodel = YOLO('yolov8s.pt')
model.export(format="rknn")

输出内容

YOLOv8s summary (fused): 168 layers, 11,156,544 parameters, 0 gradients, 28.6 GFLOPsPyTorch: starting from 'yolov8s.pt' with input shape (1, 3, 640, 640) BCHW and output shape(s) ((1, 64, 80, 80), (1, 80, 80, 80), (1, 1, 80, 80), (1, 64, 40, 40), (1, 80, 40, 40), (1, 1, 40, 40), (1, 64, 20, 20), (1, 80, 20, 20), (1, 1, 20, 20)) (21.5 MB)RKNN: starting export with torch 2.2.2...RKNN: feed yolov8s.onnx to RKNN-Toolkit or RKNN-Toolkit2 to generate RKNN model.
Refer https://github.com/airockchip/rknn_model_zoo/tree/main/models/CV/object_detection/yolo
RKNN: export success ✅ 1.8s, saved as 'yolov8s.onnx' (42.6 MB)Export complete (5.6s)
Results saved to C:\Work\ultralytics_yolov8-main\ultralytics_yolov8-main\tests
Predict:         yolo predict task=detect model=yolov8s.onnx imgsz=640  
Validate:        yolo val task=detect model=yolov8s.onnx imgsz=640 data=coco.yaml  
Visualize:       https://netron.appProcess finished with exit code 0

使用Netron查看yolov8s.onnx,结果如下图

2、搭建onnx转rknn模型环境

a、使用conda创建python3.8的虚拟环境

b、进入rknn_toolkit2\packages文件夹下

c、安装rknn_toolkit2，代码

pip install rknn_toolkit2-1.5.0+1fa95b5c-cp38-cp38-linux_x86_64.whl  -i https://pypi.tuna.tsinghua.edu.cn/simple

3、onnx转rknn，代码如下

import os
import cv2
from rknn.api import RKNN
import numpy as npIMG_FOLDER = "dataset-1"
RESULT_PATH = './dataset-2'CLASSES = ["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 "]OBJ_THRESH = 0.45
NMS_THRESH = 0.45MODEL_SIZE = (640, 640)color_palette = np.random.uniform(0, 255, size=(len(CLASSES), 3))def sigmoid(x):return 1 / (1 + np.exp(-x))def letter_box(im, new_shape, pad_color=(0, 0, 0), info_need=False):# Resize and pad image while meeting stride-multiple constraintsshape = im.shape[:2]  # current shape [height, width]if isinstance(new_shape, int):new_shape = (new_shape, new_shape)# Scale ratior = min(new_shape[0] / shape[0], new_shape[1] / shape[1])# Compute paddingratio = r  # width, height ratiosnew_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 paddingdw /= 2  # divide padding into 2 sidesdh /= 2if shape[::-1] != new_unpad:  # resizeim = 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=pad_color)  # add borderif info_need is True:return im, ratio, (dw, dh)else:return imdef filter_boxes(boxes, box_confidences, box_class_probs):"""Filter boxes with object threshold."""box_confidences = box_confidences.reshape(-1)candidate, class_num = box_class_probs.shapeclass_max_score = np.max(box_class_probs, axis=-1)classes = np.argmax(box_class_probs, axis=-1)_class_pos = np.where(class_max_score * box_confidences >= OBJ_THRESH)scores = (class_max_score * box_confidences)[_class_pos]boxes = boxes[_class_pos]classes = classes[_class_pos]return boxes, classes, scoresdef nms_boxes(boxes, scores):"""Suppress non-maximal boxes.# Returnskeep: ndarray, index of effective boxes."""x = boxes[:, 0]y = boxes[:, 1]w = boxes[:, 2] - boxes[:, 0]h = boxes[:, 3] - boxes[:, 1]areas = w * horder = scores.argsort()[::-1]keep = []while order.size > 0:i = order[0]keep.append(i)xx1 = np.maximum(x[i], x[order[1:]])yy1 = np.maximum(y[i], y[order[1:]])xx2 = np.minimum(x[i] + w[i], x[order[1:]] + w[order[1:]])yy2 = np.minimum(y[i] + h[i], y[order[1:]] + h[order[1:]])w1 = np.maximum(0.0, xx2 - xx1 + 0.00001)h1 = np.maximum(0.0, yy2 - yy1 + 0.00001)inter = w1 * h1ovr = inter / (areas[i] + areas[order[1:]] - inter)inds = np.where(ovr <= NMS_THRESH)[0]order = order[inds + 1]keep = np.array(keep)return keepdef softmax(x, axis=None):x = x - x.max(axis=axis, keepdims=True)y = np.exp(x)return y / y.sum(axis=axis, keepdims=True)def dfl(position):# Distribution Focal Loss (DFL)n, c, h, w = position.shapep_num = 4mc = c // p_numy = position.reshape(n, p_num, mc, h, w)y = softmax(y, 2)acc_metrix = np.array(range(mc), dtype=float).reshape(1, 1, mc, 1, 1)y = (y * acc_metrix).sum(2)return ydef box_process(position):grid_h, grid_w = position.shape[2:4]col, row = np.meshgrid(np.arange(0, grid_w), np.arange(0, grid_h))col = col.reshape(1, 1, grid_h, grid_w)row = row.reshape(1, 1, grid_h, grid_w)grid = np.concatenate((col, row), axis=1)stride = np.array([MODEL_SIZE[1] // grid_h, MODEL_SIZE[0] // grid_w]).reshape(1, 2, 1, 1)position = dfl(position)box_xy = grid + 0.5 - position[:, 0:2, :, :]box_xy2 = grid + 0.5 + position[:, 2:4, :, :]xyxy = np.concatenate((box_xy * stride, box_xy2 * stride), axis=1)return xyxydef post_process(input_data):boxes, scores, classes_conf = [], [], []defualt_branch = 3pair_per_branch = len(input_data) // defualt_branch# Python 忽略 score_sum 输出for i in range(defualt_branch):boxes.append(box_process(input_data[pair_per_branch * i]))classes_conf.append(input_data[pair_per_branch * i + 1])scores.append(np.ones_like(input_data[pair_per_branch * i + 1][:, :1, :, :], dtype=np.float32))def sp_flatten(_in):ch = _in.shape[1]_in = _in.transpose(0, 2, 3, 1)return _in.reshape(-1, ch)boxes = [sp_flatten(_v) for _v in boxes]classes_conf = [sp_flatten(_v) for _v in classes_conf]scores = [sp_flatten(_v) for _v in scores]boxes = np.concatenate(boxes)classes_conf = np.concatenate(classes_conf)scores = np.concatenate(scores)# filter according to thresholdboxes, classes, scores = filter_boxes(boxes, scores, classes_conf)# nmsnboxes, nclasses, nscores = [], [], []for c in set(classes):inds = np.where(classes == c)b = boxes[inds]c = classes[inds]s = scores[inds]keep = nms_boxes(b, s)if len(keep) != 0:nboxes.append(b[keep])nclasses.append(c[keep])nscores.append(s[keep])if not nclasses and not nscores:return None, None, Noneboxes = np.concatenate(nboxes)classes = np.concatenate(nclasses)scores = np.concatenate(nscores)return boxes, classes, scoresdef draw_detections(img, left, top, right, bottom, score, class_id):"""Draws bounding boxes and labels on the input image based on the detected objects.Args:img: The input image to draw detections on.box: Detected bounding box.score: Corresponding detection score.class_id: Class ID for the detected object.Returns:None"""# Retrieve the color for the class IDcolor = color_palette[class_id]# Draw the bounding box on the imagecv2.rectangle(img, (int(left), int(top)), (int(right), int(bottom)), color, 2)# Create the label text with class name and scorelabel = f"{CLASSES[class_id]}: {score:.2f}"# Calculate the dimensions of the label text(label_width, label_height), _ = cv2.getTextSize(label, cv2.FONT_HERSHEY_SIMPLEX, 0.5, 1)# Calculate the position of the label textlabel_x = leftlabel_y = top - 10 if top - 10 > label_height else top + 10# Draw a filled rectangle as the background for the label textcv2.rectangle(img, (label_x, label_y - label_height), (label_x + label_width, label_y + label_height), color,cv2.FILLED)# Draw the label text on the imagecv2.putText(img, label, (label_x, label_y), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 0, 0), 1, cv2.LINE_AA)def draw(image, boxes, scores, classes):img_h, img_w = image.shape[:2]# Calculate scaling factors for bounding box coordinatesx_factor = img_w / MODEL_SIZE[0]y_factor = img_h / MODEL_SIZE[1]for box, score, cl in zip(boxes, scores, classes):x1, y1, x2, y2 = [int(_b) for _b in box]left = int(x1 * x_factor)top = int(y1 * y_factor) - 10right = int(x2 * x_factor)bottom = int(y2 * y_factor) + 10print('class: {}, score: {}'.format(CLASSES[cl], score))print('box coordinate left,top,right,down: [{}, {}, {}, {}]'.format(left, top, right, bottom))# Retrieve the color for the class IDdraw_detections(image, left, top, right, bottom, score, cl)# cv2.rectangle(image, (left, top), (right, bottom), color, 2)# cv2.putText(image, '{0} {1:.2f}'.format(CLASSES[cl], score),#             (left, top - 6),#             cv2.FONT_HERSHEY_SIMPLEX,#             0.6, (0, 0, 255), 2)if __name__ == '__main__':# 确定目标设备target = 'RK3588'# 创建RKNN对象rknn = RKNN()# 配置RKNN模型print('--> config model')rknn.config(mean_values=[[0, 0, 0]],std_values=[[255, 255, 255]],target_platform=target,)print('done')# 加载 .onnx模型print('--> loading model')ret = rknn.load_onnx(model="./yolov8s.onnx")if ret != 0:print("load model failed!")rknn.release()exit(ret)print('done')# 构建RKNN模型print('--> building model')ret = rknn.build(do_quantization=False, dataset="./dataset.txt")if ret != 0:print("build model failed!")rknn.release()exit(ret)print('done')# 导出RKNN模型print('-->export RKNN model')ret = rknn.export_rknn('./yolov8s.rknn')if ret != 0:print('export RKNN model failed')rknn.release()exit(ret)# 初始化 runtime 环境print('--> Init runtime environment')# run on RK356x/RK3588 with Debian OS, do not need specify target.#ret = rknn.init_runtime(target='rk3588', device_id='48c122b87375ccbc')# 如果使用电脑进行模拟测试ret = rknn.init_runtime()if ret != 0:print('Init runtime environment failed!')exit(ret)print('done')# 数据处理img_list = os.listdir(IMG_FOLDER)for i in range(len(img_list)):img_name = img_list[i]img_path = os.path.join(IMG_FOLDER, img_name)if not os.path.exists(img_path):print("{} is not found", img_name)continueimg_src = cv2.imread(img_path)if img_src is None:print("文件不存在\n")# Due to rga init with (0,0,0), we using pad_color (0,0,0) instead of (114, 114, 114)pad_color = (0, 0, 0)img = letter_box(im=img_src.copy(), new_shape=(MODEL_SIZE[1], MODEL_SIZE[0]), pad_color=(0, 0, 0))# img = cv2.resize(img_src, (640, 512), interpolation=cv2.INTER_LINEAR) # direct resizeinput = np.expand_dims(img, axis=0)outputs = rknn.inference([input])boxes, classes, scores = post_process(outputs)img_p = img_src.copy()if boxes is not None:draw(img_p, boxes, scores, classes)# 保存结果if not os.path.exists(RESULT_PATH):os.mkdir(RESULT_PATH)result_path = os.path.join(RESULT_PATH, img_name)cv2.imwrite(result_path, img_p)print('Detection result save to {}'.format(result_path))passrknn.release()

https://netron.app/查看yolov8s.rknn，结果如下图：

二、部署运行

测试代码

import os
import cv2
import sys
import time
import numpy as np
from copy import copy
# from rknn.api import RKNN
from rknnlite.api import RKNNLiteOBJ_THRESH = 0.25
NMS_THRESH = 0.45IMG_SIZE = (640, 640)  target = "rk3588"
device_id = ""
rknn_model_path = ""
img_path = ""# CLASSES = ("ding_ning_shuan_se", "gu_you", "gu_mo_chuan_kong","gu_mo_gai_hua ","mei_jun ","yan_xing_shi_zhen ","yan_zheng","you_er ","zhen_jun","zheng_chang_er" )CLASSES = ("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 ")def filter_boxes(boxes, box_confidences, box_class_probs):"""Filter boxes with object threshold."""box_confidences = box_confidences.reshape(-1)candidate, class_num = box_class_probs.shapeclass_max_score = np.max(box_class_probs, axis=-1)classes = np.argmax(box_class_probs, axis=-1)_class_pos = np.where(class_max_score* box_confidences >= OBJ_THRESH)scores = (class_max_score* box_confidences)[_class_pos]boxes = boxes[_class_pos]classes = classes[_class_pos]return boxes, classes, scoresdef nms_boxes(boxes, scores):"""Suppress non-maximal boxes.# Returnskeep: ndarray, index of effective boxes."""x = boxes[:, 0]y = boxes[:, 1]w = boxes[:, 2] - boxes[:, 0]h = boxes[:, 3] - boxes[:, 1]areas = w * horder = scores.argsort()[::-1]keep = []while order.size > 0:i = order[0]keep.append(i)xx1 = np.maximum(x[i], x[order[1:]])yy1 = np.maximum(y[i], y[order[1:]])xx2 = np.minimum(x[i] + w[i], x[order[1:]] + w[order[1:]])yy2 = np.minimum(y[i] + h[i], y[order[1:]] + h[order[1:]])w1 = np.maximum(0.0, xx2 - xx1 + 0.00001)h1 = np.maximum(0.0, yy2 - yy1 + 0.00001)inter = w1 * h1ovr = inter / (areas[i] + areas[order[1:]] - inter)inds = np.where(ovr <= NMS_THRESH)[0]order = order[inds + 1]keep = np.array(keep)return keep# def dfl(position):
#     # Distribution Focal Loss (DFL)
#     import torch
#     x = torch.tensor(position)
#     n,c,h,w = x.shape
#     p_num = 4
#     mc = c//p_num
#     y = x.reshape(n,p_num,mc,h,w)
#     y = y.softmax(2)
#     acc_metrix = torch.tensor(range(mc)).float().reshape(1,1,mc,1,1)
#     y = (y*acc_metrix).sum(2)
#     return y.numpy()def dfl(postion):n, c, h, w = postion.shapeprint(postion.shape)p_num = 4mc = c // p_numy = postion.reshape(n, p_num, mc, h, w)y = softmax(y, 2)acc_metrix = np.arange(mc).reshape(1, 1, mc, 1, 1)y = (y * acc_metrix).sum(2)return ydef softmax(data, dim):max = np.max(data, axis=dim, keepdims=True).repeat(data.shape[dim], axis=dim)exps = np.exp(data - max)return exps / np.sum(exps, axis=dim, keepdims=True)def box_process(position):grid_h, grid_w = position.shape[2:4]col, row = np.meshgrid(np.arange(0, grid_w), np.arange(0, grid_h))col = col.reshape(1, 1, grid_h, grid_w)row = row.reshape(1, 1, grid_h, grid_w)grid = np.concatenate((col, row), axis=1)stride = np.array([IMG_SIZE[1]//grid_h, IMG_SIZE[0]//grid_w]).reshape(1,2,1,1)position = dfl(position)box_xy  = grid +0.5 -position[:,0:2,:,:]box_xy2 = grid +0.5 +position[:,2:4,:,:]xyxy = np.concatenate((box_xy*stride, box_xy2*stride), axis=1)return xyxydef post_process(input_data):boxes, scores, classes_conf = [], [], []defualt_branch=3pair_per_branch = len(input_data)//defualt_branch# Python 忽略 score_sum 输出for i in range(defualt_branch):print(pair_per_branch*i)boxes.append(box_process(input_data[pair_per_branch*i]))classes_conf.append(input_data[pair_per_branch*i+1])scores.append(np.ones_like(input_data[pair_per_branch*i+1][:,:1,:,:], dtype=np.float32))def sp_flatten(_in):ch = _in.shape[1]_in = _in.transpose(0,2,3,1)return _in.reshape(-1, ch)boxes = [sp_flatten(_v) for _v in boxes]classes_conf = [sp_flatten(_v) for _v in classes_conf]scores = [sp_flatten(_v) for _v in scores]boxes = np.concatenate(boxes)classes_conf = np.concatenate(classes_conf)scores = np.concatenate(scores)# filter according to thresholdboxes, classes, scores = filter_boxes(boxes, scores, classes_conf)# nmsnboxes, nclasses, nscores = [], [], []for c in set(classes):inds = np.where(classes == c)b = boxes[inds]c = classes[inds]s = scores[inds]keep = nms_boxes(b, s)if len(keep) != 0:nboxes.append(b[keep])nclasses.append(c[keep])nscores.append(s[keep])if not nclasses and not nscores:return None, None, Noneboxes = np.concatenate(nboxes)classes = np.concatenate(nclasses)scores = np.concatenate(nscores)return boxes, classes, scoresdef draw(image, boxes, scores, classes):for box, score, cl in zip(boxes, scores, classes):top, left, right, bottom = [int(_b) for _b in box]print("%s @ (%d %d %d %d) %.3f" % (CLASSES[cl], top, left, right, bottom, score))cv2.rectangle(image, (top, left), (right, bottom), (255, 0, 0), 2)cv2.putText(image, '{0} {1:.2f}'.format(CLASSES[cl], score),(top, left - 6), cv2.FONT_HERSHEY_SIMPLEX, 0.6, (0, 0, 255), 2, cv2.LINE_AA)def letter_box(im, new_shape, color=(0, 0, 0)):# Resize and pad image while meeting stride-multiple constraintsshape = 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])# Compute paddingratio = r  # width, height ratiosnew_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 paddingdw /= 2  # divide padding into 2 sidesdh /= 2if shape[::-1] != new_unpad:  # resizeim = 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 borderreturn im, ratio, (dw, dh)def get_real_box(src_shape, box, dw, dh, ratio):bbox = copy(box)# unletter_box resultbbox[:,0] -= dwbbox[:,0] /= ratiobbox[:,0] = np.clip(bbox[:,0], 0, src_shape[1])bbox[:,1] -= dhbbox[:,1] /= ratiobbox[:,1] = np.clip(bbox[:,1], 0, src_shape[0])bbox[:,2] -= dwbbox[:,2] /= ratiobbox[:,2] = np.clip(bbox[:,2], 0, src_shape[1])bbox[:,3] -= dhbbox[:,3] /= ratiobbox[:,3] = np.clip(bbox[:,3], 0, src_shape[0])return bboxif __name__ == '__main__':rknn = RKNNLite()# rknn.list_devices()# 加载rknn模型rknn.load_rknn("yolov8s.rknn")# 设置运行环境，目标默认是rk3588ret = rknn.init_runtime()# 输入图像img_src = cv2.imread("zidane.jpg")src_shape = img_src.shape[:2]img, ratio, (dw, dh) = letter_box(img_src, IMG_SIZE)img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)print(img.shape)#img = cv2.resize(img_src, IMG_SIZE)# input=np.expand_dims(img,axis=0)# print(input.shape)# 推理运行print('--> Running model')outputs = rknn.inference(inputs=[img])# outputs = rknn.inference([input])print('done')# 后处理boxes, classes, scores = post_process(outputs)img_p = img_src.copy()if boxes is not None:draw(img_p, get_real_box(src_shape, boxes, dw, dh, ratio), scores, classes)cv2.imwrite("result.jpg", img_p)

运行结果result.jpg如下图：

三、相关资源下载

相关资源下载