目錄
效果
模型信息
項目
代碼
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C# OpenCvSharp DNN 部署YOLOV6目標檢測
效果
模型信息
Inputs
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name：image_arrays
tensor：Float[1, 3, 640, 640]
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Outputs
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name：outputs
tensor：Float[1, 8400, 85]
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項目
代碼
using OpenCvSharp;
using OpenCvSharp.Dnn;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Windows.Forms;
namespace OpenCvSharp_DNN_Demo
{
? ? public partial class frmMain : Form
? ? {
? ? ? ? public frmMain()
? ? ? ? {
? ? ? ? ? ? InitializeComponent();
? ? ? ? }
? ? ? ? string fileFilter = "*.*|*.bmp;*.jpg;*.jpeg;*.tiff;*.tiff;*.png";
? ? ? ? string image_path = "";
? ? ? ? DateTime dt1 = DateTime.Now;
? ? ? ? DateTime dt2 = DateTime.Now;
? ? ? ? float confThreshold;
? ? ? ? float nmsThreshold;
? ? ? ? string modelpath;
? ? ? ? int inpHeight;
? ? ? ? int inpWidth;
? ? ? ? List<string> class_names;
? ? ? ? int num_class;
? ? ? ? Net opencv_net;
? ? ? ? Mat BN_image;
? ? ? ? Mat image;
? ? ? ? Mat result_image;
? ? ? ? private void button1_Click(object sender, EventArgs e)
? ? ? ? {
? ? ? ? ? ? OpenFileDialog ofd = new OpenFileDialog();
? ? ? ? ? ? ofd.Filter = fileFilter;
? ? ? ? ? ? if (ofd.ShowDialog() != DialogResult.OK) return;
? ? ? ? ? ? pictureBox1.Image = null;
? ? ? ? ? ? pictureBox2.Image = null;
? ? ? ? ? ? textBox1.Text = "";
? ? ? ? ? ? image_path = ofd.FileName;
? ? ? ? ? ? pictureBox1.Image = new Bitmap(image_path);
? ? ? ? ? ? image = new Mat(image_path);
? ? ? ? }
? ? ? ? private void Form1_Load(object sender, EventArgs e)
? ? ? ? {
? ? ? ? ? ? confThreshold = 0.3f;
? ? ? ? ? ? nmsThreshold = 0.5f;
? ? ? ? ? ? modelpath = "model/yolov6s.onnx";
? ? ? ? ? ? inpHeight = 640;
? ? ? ? ? ? inpWidth = 640;
? ? ? ? ? ? opencv_net = CvDnn.ReadNetFromOnnx(modelpath);
? ? ? ? ? ? class_names = new List<string>();
? ? ? ? ? ? StreamReader sr = new StreamReader("model/coco.names");
? ? ? ? ? ? string line;
? ? ? ? ? ? while ((line = sr.ReadLine()) != null)
? ? ? ? ? ? {
? ? ? ? ? ? ? ? class_names.Add(line);
? ? ? ? ? ? }
? ? ? ? ? ? num_class = class_names.Count();
? ? ? ? ? ? image_path = "test_img/image3.jpg";
? ? ? ? ? ? pictureBox1.Image = new Bitmap(image_path);
? ? ? ? }
? ? ? ? float sigmoid(float x)
? ? ? ? {
? ? ? ? ? ? return (float)(1.0 / (1 + Math.Exp(-x)));
? ? ? ? }
? ? ? ? Mat ResizeImage(Mat srcimg, out int newh, out int neww, out int top, out int left)
? ? ? ? {
? ? ? ? ? ? int srch = srcimg.Rows, srcw = srcimg.Cols;
? ? ? ? ? ? top = 0;
? ? ? ? ? ? left = 0;
? ? ? ? ? ? newh = inpHeight;
? ? ? ? ? ? neww = inpWidth;
? ? ? ? ? ? Mat dstimg = new Mat();
? ? ? ? ? ? if (srch != srcw)
? ? ? ? ? ? {
? ? ? ? ? ? ? ? float hw_scale = (float)srch / srcw;
? ? ? ? ? ? ? ? if (hw_scale > 1)
? ? ? ? ? ? ? ? {
? ? ? ? ? ? ? ? ? ? newh = inpHeight;
? ? ? ? ? ? ? ? ? ? neww = (int)(inpWidth / hw_scale);
? ? ? ? ? ? ? ? ? ? Cv2.Resize(srcimg, dstimg, new OpenCvSharp.Size(neww, newh), 0, 0, InterpolationFlags.Area);
? ? ? ? ? ? ? ? ? ? left = (int)((inpWidth - neww) * 0.5);
? ? ? ? ? ? ? ? ? ? Cv2.CopyMakeBorder(dstimg, dstimg, 0, 0, left, inpWidth - neww - left, BorderTypes.Constant);
? ? ? ? ? ? ? ? }
? ? ? ? ? ? ? ? else
? ? ? ? ? ? ? ? {
? ? ? ? ? ? ? ? ? ? newh = (int)(inpHeight * hw_scale);
? ? ? ? ? ? ? ? ? ? neww = inpWidth;
? ? ? ? ? ? ? ? ? ? Cv2.Resize(srcimg, dstimg, new OpenCvSharp.Size(neww, newh), 0, 0, InterpolationFlags.Area);
? ? ? ? ? ? ? ? ? ? top = (int)((inpHeight - newh) * 0.5);
? ? ? ? ? ? ? ? ? ? Cv2.CopyMakeBorder(dstimg, dstimg, top, inpHeight - newh - top, 0, 0, BorderTypes.Constant);
? ? ? ? ? ? ? ? }
? ? ? ? ? ? }
? ? ? ? ? ? else
? ? ? ? ? ? {
? ? ? ? ? ? ? ? Cv2.Resize(srcimg, dstimg, new OpenCvSharp.Size(neww, newh));
? ? ? ? ? ? }
? ? ? ? ? ? return dstimg;
? ? ? ? }
? ? ? ? private unsafe void button2_Click(object sender, EventArgs e)
? ? ? ? {
? ? ? ? ? ? if (image_path == "")
? ? ? ? ? ? {
? ? ? ? ? ? ? ? return;
? ? ? ? ? ? }
? ? ? ? ? ? textBox1.Text = "檢測中，請稍等……";
? ? ? ? ? ? pictureBox2.Image = null;
? ? ? ? ? ? Application.DoEvents();
? ? ? ? ? ? image = new Mat(image_path);
? ? ? ? ? ? int newh = 0, neww = 0, padh = 0, padw = 0;
? ? ? ? ? ? Mat dstimg = ResizeImage(image, out newh, out neww, out padh, out padw);
? ? ? ? ? ? BN_image = CvDnn.BlobFromImage(dstimg, 1 / 255.0, new OpenCvSharp.Size(inpWidth, inpHeight), new Scalar(0, 0, 0), true, false);
? ? ? ? ? ? //配置圖片輸入數據
? ? ? ? ? ? opencv_net.SetInput(BN_image);
? ? ? ? ? ? //模型推理，讀取推理結果
? ? ? ? ? ? Mat[] outs = new Mat[3] { new Mat(), new Mat(), new Mat() };
? ? ? ? ? ? string[] outBlobNames = opencv_net.GetUnconnectedOutLayersNames().ToArray();
? ? ? ? ? ? dt1 = DateTime.Now;
? ? ? ? ? ? opencv_net.Forward(outs, outBlobNames);
? ? ? ? ? ? dt2 = DateTime.Now;
? ? ? ? ? ? int num_proposal = outs[0].Size(0);
? ? ? ? ? ? int nout = outs[0].Size(1);
? ? ? ? ? ? if (outs[0].Dims > 2)
? ? ? ? ? ? {
? ? ? ? ? ? ? ? num_proposal = outs[0].Size(1);
? ? ? ? ? ? ? ? nout = outs[0].Size(2);
? ? ? ? ? ? ? ? outs[0] = outs[0].Reshape(0, num_proposal);
? ? ? ? ? ? }
? ? ? ? ? ? float ratioh = 1.0f * image.Rows / newh, ratiow = 1.0f * image.Cols / neww;
? ? ? ? ? ? int n = 0, row_ind = 0; ///cx,cy,w,h,box_score,class_score
? ? ? ? ? ? float* pdata = (float*)outs[0].Data;
? ? ? ? ? ? List<Rect> boxes = new List<Rect>();
? ? ? ? ? ? List<float> confidences = new List<float>();
? ? ? ? ? ? List<int> classIds = new List<int>();
? ? ? ? ? ? for (n = 0; n < num_proposal; n++)
? ? ? ? ? ? {
? ? ? ? ? ? ? ? float box_score = pdata[4];
? ? ? ? ? ? ? ? if (box_score > confThreshold)
? ? ? ? ? ? ? ? {
? ? ? ? ? ? ? ? ? ? Mat scores = outs[0].Row(row_ind).ColRange(5, nout);
? ? ? ? ? ? ? ? ? ? double minVal, max_class_socre;
? ? ? ? ? ? ? ? ? ? OpenCvSharp.Point minLoc, classIdPoint;
? ? ? ? ? ? ? ? ? ? // Get the value and location of the maximum score
? ? ? ? ? ? ? ? ? ? Cv2.MinMaxLoc(scores, out minVal, out max_class_socre, out minLoc, out classIdPoint);
? ? ? ? ? ? ? ? ? ? max_class_socre *= box_score;
? ? ? ? ? ? ? ? ? ? int class_idx = classIdPoint.X;
? ? ? ? ? ? ? ? ? ? float cx = (pdata[0] - padw) * ratiow; ?//cx
? ? ? ? ? ? ? ? ? ? float cy = (pdata[1] - padh) * ratioh; ? //cy
? ? ? ? ? ? ? ? ? ? float w = pdata[2] * ratiow; ? //w
? ? ? ? ? ? ? ? ? ? float h = pdata[3] * ratioh; ?//h
? ? ? ? ? ? ? ? ? ? int left = (int)(cx - 0.5 * w);
? ? ? ? ? ? ? ? ? ? int top = (int)(cy - 0.5 * h);
? ? ? ? ? ? ? ? ? ? confidences.Add((float)max_class_socre);
? ? ? ? ? ? ? ? ? ? boxes.Add(new Rect(left, top, (int)w, (int)h));
? ? ? ? ? ? ? ? ? ? classIds.Add(class_idx);
? ? ? ? ? ? ? ? }
? ? ? ? ? ? ? ? row_ind++;
? ? ? ? ? ? ? ? pdata += nout;
? ? ? ? ? ? }
? ? ? ? ? ? int[] indices;
? ? ? ? ? ? CvDnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, out indices);
? ? ? ? ? ? result_image = image.Clone();
? ? ? ? ? ? for (int ii = 0; ii < indices.Length; ++ii)
? ? ? ? ? ? {
? ? ? ? ? ? ? ? int idx = indices[ii];
? ? ? ? ? ? ? ? Rect box = boxes[idx];
? ? ? ? ? ? ? ? Cv2.Rectangle(result_image, new OpenCvSharp.Point(box.X, box.Y), new OpenCvSharp.Point(box.X + box.Width, box.Y + box.Height), new Scalar(0, 0, 255), 2);
? ? ? ? ? ? ? ? string label = class_names[classIds[idx]] + ":" + confidences[idx].ToString("0.00");
? ? ? ? ? ? ? ? Cv2.PutText(result_image, label, new OpenCvSharp.Point(box.X, box.Y - 5), HersheyFonts.HersheySimplex, 0.75, new Scalar(0, 0, 255), 1);
? ? ? ? ? ? }
? ? ? ? ? ? pictureBox2.Image = new Bitmap(result_image.ToMemoryStream());
? ? ? ? ? ? textBox1.Text = "推理耗時:" + (dt2 - dt1).TotalMilliseconds + "ms";
? ? ? ? }
? ? ? ? private void pictureBox2_DoubleClick(object sender, EventArgs e)
? ? ? ? {
? ? ? ? ? ? Common.ShowNormalImg(pictureBox2.Image);
? ? ? ? }
? ? ? ? private void pictureBox1_DoubleClick(object sender, EventArgs e)
? ? ? ? {
? ? ? ? ? ? Common.ShowNormalImg(pictureBox1.Image);
? ? ? ? }
? ? }
}
using OpenCvSharp;
using OpenCvSharp.Dnn;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Windows.Forms;namespace OpenCvSharp_DNN_Demo
{public partial class frmMain : Form{public frmMain(){InitializeComponent();}string fileFilter = "*.*|*.bmp;*.jpg;*.jpeg;*.tiff;*.tiff;*.png";string image_path = "";DateTime dt1 = DateTime.Now;DateTime dt2 = DateTime.Now;float confThreshold;float nmsThreshold;string modelpath;int inpHeight;int inpWidth;List<string> class_names;int num_class;Net opencv_net;Mat BN_image;Mat image;Mat result_image;private void button1_Click(object sender, EventArgs e){OpenFileDialog ofd = new OpenFileDialog();ofd.Filter = fileFilter;if (ofd.ShowDialog() != DialogResult.OK) return;pictureBox1.Image = null;pictureBox2.Image = null;textBox1.Text = "";image_path = ofd.FileName;pictureBox1.Image = new Bitmap(image_path);image = new Mat(image_path);}private void Form1_Load(object sender, EventArgs e){confThreshold = 0.3f;nmsThreshold = 0.5f;modelpath = "model/yolov6s.onnx";inpHeight = 640;inpWidth = 640;opencv_net = CvDnn.ReadNetFromOnnx(modelpath);class_names = new List<string>();StreamReader sr = new StreamReader("model/coco.names");string line;while ((line = sr.ReadLine()) != null){class_names.Add(line);}num_class = class_names.Count();image_path = "test_img/image3.jpg";pictureBox1.Image = new Bitmap(image_path);}float sigmoid(float x){return (float)(1.0 / (1 + Math.Exp(-x)));}Mat ResizeImage(Mat srcimg, out int newh, out int neww, out int top, out int left){int srch = srcimg.Rows, srcw = srcimg.Cols;top = 0;left = 0;newh = inpHeight;neww = inpWidth;Mat dstimg = new Mat();if (srch != srcw){float hw_scale = (float)srch / srcw;if (hw_scale > 1){newh = inpHeight;neww = (int)(inpWidth / hw_scale);Cv2.Resize(srcimg, dstimg, new OpenCvSharp.Size(neww, newh), 0, 0, InterpolationFlags.Area);left = (int)((inpWidth - neww) * 0.5);Cv2.CopyMakeBorder(dstimg, dstimg, 0, 0, left, inpWidth - neww - left, BorderTypes.Constant);}else{newh = (int)(inpHeight * hw_scale);neww = inpWidth;Cv2.Resize(srcimg, dstimg, new OpenCvSharp.Size(neww, newh), 0, 0, InterpolationFlags.Area);top = (int)((inpHeight - newh) * 0.5);Cv2.CopyMakeBorder(dstimg, dstimg, top, inpHeight - newh - top, 0, 0, BorderTypes.Constant);}}else{Cv2.Resize(srcimg, dstimg, new OpenCvSharp.Size(neww, newh));}return dstimg;}private unsafe void button2_Click(object sender, EventArgs e){if (image_path == ""){return;}textBox1.Text = "檢測中，請稍等……";pictureBox2.Image = null;Application.DoEvents();image = new Mat(image_path);int newh = 0, neww = 0, padh = 0, padw = 0;Mat dstimg = ResizeImage(image, out newh, out neww, out padh, out padw);BN_image = CvDnn.BlobFromImage(dstimg, 1 / 255.0, new OpenCvSharp.Size(inpWidth, inpHeight), new Scalar(0, 0, 0), true, false);//配置圖片輸入數據opencv_net.SetInput(BN_image);//模型推理，讀取推理結果Mat[] outs = new Mat[3] { new Mat(), new Mat(), new Mat() };string[] outBlobNames = opencv_net.GetUnconnectedOutLayersNames().ToArray();dt1 = DateTime.Now;opencv_net.Forward(outs, outBlobNames);dt2 = DateTime.Now;int num_proposal = outs[0].Size(0);int nout = outs[0].Size(1);if (outs[0].Dims > 2){num_proposal = outs[0].Size(1);nout = outs[0].Size(2);outs[0] = outs[0].Reshape(0, num_proposal);}float ratioh = 1.0f * image.Rows / newh, ratiow = 1.0f * image.Cols / neww;int n = 0, row_ind = 0; ///cx,cy,w,h,box_score,class_scorefloat* pdata = (float*)outs[0].Data;List<Rect> boxes = new List<Rect>();List<float> confidences = new List<float>();List<int> classIds = new List<int>();for (n = 0; n < num_proposal; n++){float box_score = pdata[4];if (box_score > confThreshold){Mat scores = outs[0].Row(row_ind).ColRange(5, nout);double minVal, max_class_socre;OpenCvSharp.Point minLoc, classIdPoint;// Get the value and location of the maximum scoreCv2.MinMaxLoc(scores, out minVal, out max_class_socre, out minLoc, out classIdPoint);max_class_socre *= box_score;int class_idx = classIdPoint.X;float cx = (pdata[0] - padw) * ratiow; //cxfloat cy = (pdata[1] - padh) * ratioh; //cyfloat w = pdata[2] * ratiow; //wfloat h = pdata[3] * ratioh; //hint left = (int)(cx - 0.5 * w);int top = (int)(cy - 0.5 * h);confidences.Add((float)max_class_socre);boxes.Add(new Rect(left, top, (int)w, (int)h));classIds.Add(class_idx);}row_ind++;pdata += nout;}int[] indices;CvDnn.NMSBoxes(boxes, confidences, confThreshold, nmsThreshold, out indices);result_image = image.Clone();for (int ii = 0; ii < indices.Length; ++ii){int idx = indices[ii];Rect box = boxes[idx];Cv2.Rectangle(result_image, new OpenCvSharp.Point(box.X, box.Y), new OpenCvSharp.Point(box.X + box.Width, box.Y + box.Height), new Scalar(0, 0, 255), 2);string label = class_names[classIds[idx]] + ":" + confidences[idx].ToString("0.00");Cv2.PutText(result_image, label, new OpenCvSharp.Point(box.X, box.Y - 5), HersheyFonts.HersheySimplex, 0.75, new Scalar(0, 0, 255), 1);}pictureBox2.Image = new Bitmap(result_image.ToMemoryStream());textBox1.Text = "推理耗時:" + (dt2 - dt1).TotalMilliseconds + "ms";}private void pictureBox2_DoubleClick(object sender, EventArgs e){Common.ShowNormalImg(pictureBox2.Image);}private void pictureBox1_DoubleClick(object sender, EventArgs e){Common.ShowNormalImg(pictureBox1.Image);}}
}
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