Yolov4性能分析(下)

Yolov4性能分析(下)

六. 权重更新

“darknet/src/detector.c”–train_detector()函数中:

    ......

    /* 开始训练网络 */

    float loss

= 0;

#ifdef GPU

    if (ngpus

== 1) {

        int

wait_key = (dont_show) ? 0 : 1;

        loss =

train_network_waitkey(net, train, wait_key); // network.c中,train_network_waitkey函数入口,分配内存并执行网络训练。

    }

    else {

        loss =

train_networks(nets, ngpus, train, 4); // network_kernels.cu中,train_networks函数入口,多GPU训练。

    }

#else

    loss =

train_network(net, train); // train_network_waitkey(net, d, 0),CPU模式。

#endif

    if

(avg_loss < 0 || avg_loss != avg_loss) avg_loss = loss; // if(-inf or nan)

    avg_loss =

avg_loss*.9 + loss*.1;

    ......

以CPU训练为例,“darknet/src/network.c”–train_network()函数,执行train_network_waitkey(net, d, 0):

float train_network_waitkey(network net, data d, int
wait_key)

{

assert(d.X.rows

% net.batch == 0);

int batch =

net.batch; // detector.c中train_detector函数在nets[k] = parse_network_cfg(cfgfile)处调用parser.c中的parse_net_options函数,有net->batch /=
subdivs,所以batch_size = batch/subdivisions。

int n =

d.X.rows / batch; // batch个数, 对于单GPU和CPU,n =
subdivision。

float* X =

(float*)xcalloc(batch * d.X.cols, sizeof(float));

float* y =

(float*)xcalloc(batch * d.y.cols, sizeof(float));

int i;

float sum = 0;

for(i = 0; i

< n; ++i){

get_next_batch(d, batch, i*batch, X, y);

net.current_subdivision = i;

    float err =

train_network_datum(net, X, y); // 调用train_network_datum函数得到误差Loss。

    sum += err;

if(wait_key) wait_key_cv(5);

}

(*net.cur_iteration)

+= 1;

#ifdef GPU

update_network_gpu(net);

#else // GPU

update_network(net);

#endif // GPU

free(X);

free(y);

return

(float)sum/(n*batch);

}

其中,调用train_network_datum()函数计算error是核心:

float train_network_datum(network net, float *x, float
*y)

{

#ifdef GPU

if(gpu_index

= 0) return train_network_datum_gpu(net, x, y); // GPU模式,调用network_kernels.cu中train_network_datum_gpu函数。

#endif

network_state

state={0};

*net.seen +=

net.batch;

state.index =

0;

state.net =

net;

state.input =

x;

state.delta =

0;

state.truth =

y;

state.train =

1;

forward_network(net, state); // CPU模式,正向传播。

backward_network(net, state); // CPU模式,BP。

float error =

get_network_cost(net); // 计算Loss。

return error;

}

进一步分析forward_network()函数:

void forward_network(network net, network_state state)

{

state.workspace

= net.workspace;

int i;

for(i = 0; i

< net.n; ++i){

    state.index

= i;

    layer l =

net.layers[i];

    if(l.delta

&& state.train){

scal_cpu(l.outputs * l.batch, 0, l.delta, 1); // blas.c中,scal_cpu函数入口。

    }

l.forward(l, state); // 不同层l.forward代表不同函数,如:convolutional_layer.c中,l.forward =
forward_convolutional_layer;yolo_layer.c中,l.forward = forward_yolo_layer,CPU执行前向运算。

    state.input

= l.output; // 上一层的输出传递给下一层的输入。

}

}

卷积层时,forward_convolutional_layer()函数:

void forward_convolutional_layer(convolutional_layer l,
network_state state)

{

/* 获取卷积层输出的长宽。*/

int out_h =

convolutional_out_height(l);

int out_w =

convolutional_out_width(l);

int i, j;

fill_cpu(l.outputs*l.batch, 0, l.output, 1); // 把output初始化为0。

/* xnor-net,将inputs和weights二值化。*/

if (l.xnor

&& (!l.align_bit_weights || state.train)) {

    if

(!l.align_bit_weights || state.train) {

binarize_weights(l.weights, l.n, l.nweights, l.binary_weights);

    }

swap_binary(&l);

binarize_cpu(state.input, l.cl.hl.w*l.batch, l.binary_input);

    state.input

= l.binary_input;

}

/* m是卷积核的个数,k是每个卷积核的参数数量(l.size是卷积核的大小),n是每个输出feature map的像素个数。*/

int m = l.n /

l.groups;

int k =

l.sizel.sizel.c / l.groups;

int n =

out_h*out_w;

static int u =

0;

u++;

for(i = 0; i

< l.batch; ++i)

{

    for (j = 0;

j < l.groups; ++j)

    {

        /* weights是卷积核的参数,a是指向权重的指针,b是指向工作空间指针,c是指向输出的指针。*/

        float

a = l.weights +jl.nweights / l.groups;

        float

*b = state.workspace;

        float *c = l.output +(i*l.groups +

j)nm;

        if

(l.xnor && l.align_bit_weights && !state.train &&
l.stride_x == l.stride_y)

        {

memset(b, 0, l.bit_alignl.sizel.size*l.c * sizeof(float));

            if

(l.c % 32 == 0)

            {

int ldb_align = l.lda_align;

size_t new_ldb = k + (ldb_align - k%ldb_align); // (k / 8 + 1) * 8;

int re_packed_input_size = l.c * l.w * l.h;

memset(state.workspace, 0, re_packed_input_size * sizeof(float));

const size_t new_c = l.c / 32;

size_t in_re_packed_input_size = new_c * l.w * l.h + 1;

memset(l.bin_re_packed_input, 0, in_re_packed_input_size *
sizeof(uint32_t));

// float32x4 by channel (as in cuDNN)

repack_input(state.input, state.workspace, l.w, l.h, l.c);

// 32 x floats -> 1 x uint32_t

float_to_bit(state.workspace, (unsigned char *)l.bin_re_packed_input,
l.c * l.w * l.h);

                /* image to column,就是将图像依照卷积核的大小拉伸为列向量,方便矩阵运算,将图像每一个kernel转换成一列。*/

im2col_cpu_custom((float *)l.bin_re_packed_input, new_c, l.h, l.w,
l.size, l.stride, l.pad, state.workspace);

int new_k = l.sizel.sizel.c / 32;

transpose_uint32((uint32_t )state.workspace, (uint32_t)l.t_bit_input,
new_k, n, n, new_ldb);

                /* General Matrix

Multiply函数,实现矩阵运算,也就是卷积运算。*/

gemm_nn_custom_bin_mean_transposed(m, n, k, 1, (unsigned
char*)l.align_bit_weights, new_ldb, (unsigned char*)l.t_bit_input, new_ldb, c,
n, l.mean_arr);

            }

else

            { 

im2col_cpu_custom_bin(state.input, l.c, l.h, l.w, l.size, l.stride,
l.pad, state.workspace, l.bit_align);

// transpose B from NxK to KxN (x-axis (ldb = l.sizel.sizel.c) - should
be multiple of 8 bits)

{

int ldb_align = l.lda_align;

size_t new_ldb = k + (ldb_align - k%ldb_align);

size_t t_intput_size = binary_transpose_align_input(k, n,
state.workspace, &l.t_bit_input, ldb_align, l.bit_align);

// 5x times faster than gemm()-float32

gemm_nn_custom_bin_mean_transposed(m, n, k, 1, (unsigned
char*)l.align_bit_weights, new_ldb, (unsigned char*)l.t_bit_input, new_ldb, c,
n, l.mean_arr);

}

            }

add_bias(l.output, l.biases, l.batch, l.n, out_h*out_w); //添加偏移项。

            /* 非线性变化,leaky RELU、Mish等激活函数。*/

            if

(l.activation == SWISH) activate_array_swish(l.output, l.outputs*l.batch,
l.activation_input, l.output);

else if (l.activation == MISH) activate_array_mish(l.output,
l.outputs*l.batch, l.activation_input, l.output);

else if (l.activation == NORM_CHAN)
activate_array_normalize_channels(l.output, l.outputsl.batch, l.batch,
l.out_c, l.out_w
l.out_h, l.output);

else if (l.activation == NORM_CHAN_SOFTMAX) activate_array_normalize_channels_softmax(l.output,
l.outputsl.batch, l.batch, l.out_c, l.out_wl.out_h, l.output, 0);

else if (l.activation == NORM_CHAN_SOFTMAX_MAXVAL)
activate_array_normalize_channels_softmax(l.output, l.outputsl.batch, l.batch,
l.out_c, l.out_w
l.out_h, l.output, 1);

else activate_array_cpu_custom(l.output, mnl.batch, l.activation);

return;

        }

        else {

float im = state.input + (il.groups + j)*(l.c / l.groups)l.hl.w;

            if

(l.size == 1) {

b = im;

            }

else {

im2col_cpu_ext(im, // input

                    l.c / l.groups,     // input channels

l.h, l.w, // input size
(h, w)

l.size, l.size, // kernel size
(h, w)

l.pad * l.dilation, l.pad * l.dilation, // padding (h, w)

l.stride_y, l.stride_x, // stride (h, w)

l.dilation, l.dilation, // dilation (h, w)

b); // output

            }

gemm(0, 0, m, n, k, 1, a, k, b, n, 1, c, n);

            //

bit-count to float

        }

    }

}

if(l.batch_normalize){ // BN层,加速收敛。

forward_batchnorm_layer(l, state);

}

else { // 直接加上bias,output += bias。

add_bias(l.output, l.biases, l.batch, l.n, out_h*out_w);

}

/* 非线性变化,leaky RELU、Mish等激活函数。*/

if

(l.activation == SWISH) activate_array_swish(l.output, l.outputs*l.batch,
l.activation_input, l.output);

else if

(l.activation == MISH) activate_array_mish(l.output, l.outputs*l.batch,
l.activation_input, l.output);

else if

(l.activation == NORM_CHAN) activate_array_normalize_channels(l.output,
l.outputsl.batch, l.batch, l.out_c, l.out_wl.out_h, l.output);

else if

(l.activation == NORM_CHAN_SOFTMAX)
activate_array_normalize_channels_softmax(l.output, l.outputsl.batch, l.batch,
l.out_c, l.out_w
l.out_h, l.output, 0);

else if

(l.activation == NORM_CHAN_SOFTMAX_MAXVAL) activate_array_normalize_channels_softmax(l.output,
l.outputsl.batch, l.batch, l.out_c, l.out_wl.out_h, l.output, 1);

else

activate_array_cpu_custom(l.output, l.outputs*l.batch, l.activation);

if(l.binary ||

l.xnor) swap_binary(&l); // 二值化。

if(l.assisted_excitation && state.train)
assisted_excitation_forward(l, state);

if

(l.antialiasing) {

network_state s = { 0 };

    s.train =

state.train;

    s.workspace

= state.workspace;

    s.net =

state.net;

    s.input =

l.output;

    forward_convolutional_layer(*(l.input_layer),

s);

memcpy(l.output, l.input_layer->output, l.input_layer->outputs *
l.input_layer->batch * sizeof(float));

}

}

yolo层时,forward_yolo_layer()函数:

void forward_yolo_layer(const layer l, network_state
state)

{

int i, j, b, t,

n;

memcpy(l.output, state.input, l.outputs*l.batch * sizeof(float)); // 将层输入直接copy到层输出。

/* 在cpu模式,把预测输出的x,y,confidence和所有类别都sigmoid激活,确保值在0~1之间。*/

#ifndef GPU

for (b = 0; b

< l.batch; ++b) {

    for (n = 0;

n < l.n; ++n) {

        int

index = entry_index(l, b, nl.wl.h, 0); // 获取第b个batch开始的index。

        /* 对预测的tx,ty进行逻辑回归。*/

activate_array(l.output + index, 2 * l.w*l.h, LOGISTIC); // x,y,

scal_add_cpu(2 * l.wl.h, l.scale_x_y, -0.5(l.scale_x_y - 1), l.output

  • index, 1); // scale x,y

          index =
    

entry_index(l, b, nl.wl.h, 4); // 获取第b个batch confidence开始的index。

activate_array(l.output + index, (1 + l.classes)l.wl.h, LOGISTIC); // 对预测的confidence以及class进行逻辑回归。

    }

}

#endif

// delta is

zeroed

memset(l.delta,

0, l.outputs * l.batch * sizeof(float)); // 将yolo层的误差项进行初始化(包含整个batch的)。

if

(!state.train) return; // 不是训练阶段,return。

float tot_iou =

0; // 总的IOU。

float tot_giou

= 0;

float tot_diou

= 0;

float tot_ciou

= 0;

float

tot_iou_loss = 0;

float

tot_giou_loss = 0;

float

tot_diou_loss = 0;

float

tot_ciou_loss = 0;

float recall =

0;

float recall75

= 0;

float avg_cat =

0;

float avg_obj =

0;

float

avg_anyobj = 0;

int count = 0;

int class_count

= 0;

*(l.cost) = 0;

// yolo层的总损失初始化为0。

for (b = 0; b

< l.batch; ++b) { // 遍历batch中的每一张图片。

    for (j = 0;

j < l.h; ++j) {

        for (i

= 0; i < l.w; ++i) { // 遍历每个Grid
cell, 当前cell编号[j, i]。

            for

(n = 0; n < l.n; ++n) { // 遍历每一个bbox,当前bbox编号[n]。

const int class_index = entry_index(l, b, nl.wl.h + jl.w + i, 4 + 1);
// 预测b-box类别s下标。 const int obj_index = entry_index(l, b, n
l.wl.h + jl.w + i, 4);
// 预测b-box objectness下标。

const int box_index = entry_index(l, b, nl.wl.h + jl.w + i, 0); // 获得第jw+i个cell第n个b-box的index。

const int stride = l.w*l.h;

                /* 计算第j*w+i个cell第n个b-box在当前特征图上的相对位置[x,y],在网络输入图片上的相对宽度、高度[w,h]。*/

box pred = get_yolo_box(l.output, l.biases, l.mask[n], box_index, i, j,
l.w, l.h, state.net.w, state.net.h, l.w*l.h);

float best_match_iou = 0;

int best_match_t = 0;

float best_iou = 0; // 保存最大IOU。

int best_t = 0; // 保存最大IOU的bbox id。

for (t = 0; t < l.max_boxes; ++t) { // 遍历每一个GT bbox。

box truth = float_to_box_stride(state.truth + t*(4 + 1) + b*l.truths,
1); // 将第t个bbox由float数组转bbox结构体,方便计算IOU。

int class_id = state.truth[t*(4 + 1) + b*l.truths + 4]; // 获取第t个bbox的类别,检查是否有标注错误。

if (class_id >= l.classes || class_id < 0) {

                        printf("\n

Warning: in txt-labels class_id=%d >= classes=%d in cfg-file. In txt-labels
class_id should be [from 0 to %d] \n", class_id, l.classes, l.classes -
1);

                        printf("\n

truth.x = %f, truth.y = %f, truth.w = %f, truth.h = %f, class_id = %d \n",
truth.x, truth.y, truth.w, truth.h, class_id);

                        if (check_mistakes)

getchar();

                        continue; // if

label contains class_id more than number of classes in the cfg-file and
class_id check garbage value

}

if (!truth.x) break; // 如果x坐标为0则break,因为定义了max_boxes个b-box。

float objectness = l.output[obj_index]; // 预测bbox object置信度。

if (isnan(objectness) || isinf(objectness)) l.output[obj_index] = 0;

                    /* 获得预测b-box的类别信息,如果某个类别的概率超过0.25返回1。*/

int class_id_match = compare_yolo_class(l.output, l.classes,
class_index, l.w*l.h, objectness, class_id, 0.25f);

float iou = box_iou(pred, truth); // 计算pred b-box与第t个GT
bbox之间的IOU。

if (iou > best_match_iou && class_id_match == 1) { //
class_id_match=1的限制,即预测b-box的置信度必须大于0.25。

                        best_match_iou = iou;

                        best_match_t = t;

}

if (iou > best_iou) {

                        best_iou = iou; // 更新最大的IOU。

                        best_t = t; // 记录该GT b-box的编号t。

}

}

avg_anyobj += l.output[obj_index]; // 统计pred b-box的confidence。

l.delta[obj_index] = l.cls_normalizer * (0 - l.output[obj_index]); // 将所有pred b-box都当做noobject, 计算其confidence梯度,cls_normalizer是平衡系数。

if (best_match_iou > l.ignore_thresh) { // best_iou大于阈值则说明pred box有物体。

const float iou_multiplier = best_match_iou*best_match_iou;//
(best_match_iou - l.ignore_thresh) / (1.0 - l.ignore_thresh);

if (l.objectness_smooth) {

                        l.delta[obj_index]

= l.cls_normalizer * (iou_multiplier - l.output[obj_index]);

                        int class_id =

state.truth[best_match_t*(4 + 1) + b*l.truths + 4];

                        if (l.map) class_id

= l.map[class_id];

                        const float

class_multiplier = (l.classes_multipliers) ? l.classes_multipliers[class_id] :
1.0f;

                        l.delta[class_index
  • stride*class_id] = class_multiplier * (iou_multiplier - l.output[class_index
  • stride*class_id]);

}

else l.delta[obj_index] = 0;

}

else if (state.net.adversarial) { // 自对抗训练。

int stride = l.w*l.h;

float scale = pred.w * pred.h;

if (scale > 0) scale = sqrt(scale);

                    l.delta[obj_index] = scale *

l.cls_normalizer * (0 - l.output[obj_index]);

int cl_id;

for (cl_id = 0; cl_id < l.classes; ++cl_id) {

if(l.output[class_index + stride*cl_id] * l.output[obj_index] > 0.25)

l.delta[class_index + stride*cl_id] = scale * (0 - l.output[class_index

  • stride*cl_id]);

}

}

if (best_iou > l.truth_thresh) { // pred b-box为完全预测正确样本,cfg中truth_thresh=1,语句永远不可能成立。

const float iou_multiplier = best_iou*best_iou;// (best_iou -
l.truth_thresh) / (1.0 - l.truth_thresh);

if (l.objectness_smooth) l.delta[obj_index] = l.cls_normalizer *
(iou_multiplier - l.output[obj_index]);

else l.delta[obj_index] = l.cls_normalizer * (1 - l.output[obj_index]);

int class_id = state.truth[best_t*(4 + 1) + b*l.truths + 4];

if (l.map) class_id = l.map[class_id];

delta_yolo_class(l.output, l.delta, class_index, class_id, l.classes,
l.w*l.h, 0, l.focal_loss, l.label_smooth_eps, l.classes_multipliers);

const float class_multiplier = (l.classes_multipliers) ?
l.classes_multipliers[class_id] : 1.0f;

if (l.objectness_smooth) l.delta[class_index + strideclass_id] =
class_multiplier * (iou_multiplier - l.output[class_index + stride
class_id]);

box truth = float_to_box_stride(state.truth + best_t*(4 + 1) +
b*l.truths, 1);

delta_yolo_box(truth, l.output, l.biases, l.mask[n], box_index, i, j,
l.w, l.h, state.net.w, state.net.h, l.delta, (2 - truth.wtruth.h), l.wl.h,
l.iou_normalizer * class_multiplier, l.iou_loss, 1, l.max_delta);

}

            }

        }

    }

    for (t = 0;

t < l.max_boxes; ++t) { // 遍历每一个GT box。

        box

truth = float_to_box_stride(state.truth + t*(4 + 1) + b*l.truths, 1); // 将第t个b-box由float数组转b-box结构体,方便计算IOU。

        if

(truth.x < 0 || truth.y < 0 || truth.x > 1 || truth.y > 1 ||
truth.w < 0 || truth.h < 0) {

char buff[256];

printf(" Wrong label: truth.x = %f, truth.y = %f, truth.w = %f,
truth.h = %f \n", truth.x, truth.y, truth.w, truth.h);

sprintf(buff, “echo “Wrong label: truth.x = %f, truth.y = %f,
truth.w = %f, truth.h = %f” >> bad_label.list”,

truth.x, truth.y, truth.w, truth.h);

system(buff);

        }

        int

class_id = state.truth[t*(4 + 1) + b*l.truths + 4];

        if

(class_id >= l.classes || class_id < 0) continue; // if label contains
class_id more than number of classes in the cfg-file and class_id check garbage
value

        if

(!truth.x) break; // 如果x坐标为0则取消,定义了max_boxes个bbox,可能实际上没那么多。

        float

best_iou = 0; // 保存最大的IOU。

        int

best_n = 0; // 保存最大IOU的b-box
index。

        i =

(truth.x * l.w); // 获得当前t个GT b-box所在的cell。

        j =

(truth.y * l.h);

        box

truth_shift = truth;

truth_shift.x = truth_shift.y = 0; // 将truth_shift的box位置移动到0,0。

        for (n

= 0; n < l.total; ++n) { // 遍历每一个anchor
b-box找到与GT b-box最大的IOU。

            box

pred = { 0 };

pred.w = l.biases[2 * n] / state.net.w; // 计算pred b-box的w在相对整张输入图片的位置。

pred.h = l.biases[2 * n + 1] / state.net.h; // 计算pred bbox的h在相对整张输入图片的位置。

float iou = box_iou(pred, truth_shift); // 计算GT box truth_shift与预测b-box pred二者之间的IOU。

            if

(iou > best_iou) {

best_iou = iou; // 记录最大的IOU。

best_n = n; // 记录该b-box的编号n。

            }

        }

        int

mask_n = int_index(l.mask, best_n, l.n); // 上面记录b-box的编号,是否由该层Anchor预测的。

        if

(mask_n >= 0) {

            int

class_id = state.truth[t*(4 + 1) + b*l.truths + 4];

            if

(l.map) class_id = l.map[class_id];

            int

box_index = entry_index(l, b, mask_nl.wl.h + j*l.w + i, 0); // 获得best_iou对应anchor box的index。

const float class_multiplier = (l.classes_multipliers) ? l.classes_multipliers[class_id]
1.0f; // 控制样本数量不均衡,即Focal Loss中的alpha。

ious all_ious = delta_yolo_box(truth, l.output, l.biases, best_n,
box_index, i, j, l.w, l.h, state.net.w, state.net.h, l.delta, (2 -
truth.wtruth.h), l.wl.h, l.iou_normalizer * class_multiplier, l.iou_loss, 1,
l.max_delta); // 计算best_iou对应Anchor bbox的[x,y,w,h]的梯度。

            /* 模板检测最新的工作,metricl learning,包括IOU/GIOU/DIOU/CIOU Loss等。*/

            //

range is 0 <= 1

tot_iou += all_ious.iou;

            tot_iou_loss

+= 1 - all_ious.iou;

            //

range is -1 <= giou <= 1

tot_giou += all_ious.giou;

tot_giou_loss += 1 - all_ious.giou;

tot_diou += all_ious.diou;

tot_diou_loss += 1 - all_ious.diou;

tot_ciou += all_ious.ciou;

tot_ciou_loss += 1 - all_ious.ciou;

            int

obj_index = entry_index(l, b, mask_nl.wl.h + j*l.w + i, 4); // 获得best_iou对应anchor box的confidence的index。

avg_obj += l.output[obj_index]; // 统计confidence。

l.delta[obj_index] = class_multiplier * l.cls_normalizer * (1 -
l.output[obj_index]); // 计算confidence的梯度。

            int

class_index = entry_index(l, b, mask_nl.wl.h + j*l.w + i, 4 + 1); // 获得best_iou对应GT box的class的index。

delta_yolo_class(l.output, l.delta, class_index, class_id, l.classes,
l.w*l.h, &avg_cat, l.focal_loss, l.label_smooth_eps,
l.classes_multipliers); // 获得best_iou对应anchor box的class的index。

++count;

++class_count;

            if

(all_ious.iou > .5) recall += 1;

            if

(all_ious.iou > .75) recall75 += 1;

        }

        //

iou_thresh

        for (n

= 0; n < l.total; ++n) {

            int

mask_n = int_index(l.mask, n, l.n);

            if

(mask_n >= 0 && n != best_n && l.iou_thresh < 1.0f) {

box pred = { 0 };

pred.w = l.biases[2 * n] / state.net.w;

pred.h = l.biases[2 * n + 1] / state.net.h;

float iou = box_iou_kind(pred, truth_shift, l.iou_thresh_kind); // IOU,
GIOU, MSE, DIOU, CIOU

// iou, n

if (iou > l.iou_thresh) {

int class_id = state.truth[t*(4 + 1) + b*l.truths + 4];

if (l.map) class_id = l.map[class_id];

int box_index = entry_index(l, b, mask_nl.wl.h + j*l.w + i, 0);

const float class_multiplier =
(l.classes_multipliers) ? l.classes_multipliers[class_id] : 1.0f;

ious all_ious = delta_yolo_box(truth, l.output, l.biases, n, box_index,
i, j, l.w, l.h, state.net.w, state.net.h, l.delta, (2 - truth.wtruth.h),
l.w
l.h, l.iou_normalizer * class_multiplier, l.iou_loss, 1, l.max_delta);

// range is 0 <= 1

tot_iou += all_ious.iou;

tot_iou_loss += 1 - all_ious.iou;

// range is -1 <= giou <= 1

tot_giou += all_ious.giou;

tot_giou_loss += 1 - all_ious.giou;

tot_diou += all_ious.diou;

tot_diou_loss += 1 - all_ious.diou;

tot_ciou += all_ious.ciou;

tot_ciou_loss += 1 - all_ious.ciou;

int obj_index = entry_index(l, b, mask_nl.wl.h + j*l.w + i, 4);

avg_obj += l.output[obj_index];

l.delta[obj_index] = class_multiplier * l.cls_normalizer * (1 -
l.output[obj_index]);

int class_index = entry_index(l, b, mask_nl.wl.h + j*l.w + i, 4 + 1);

delta_yolo_class(l.output, l.delta, class_index, class_id, l.classes,
l.w*l.h, &avg_cat, l.focal_loss, l.label_smooth_eps,
l.classes_multipliers);

++count;

++class_count;

if (all_ious.iou > .5) recall += 1;

if (all_ious.iou > .75) recall75 += 1;

}

            }

        }

    }

    // averages

the deltas obtained by the function: delta_yolo_box()_accumulate

    for (j = 0;

j < l.h; ++j) {

        for (i

= 0; i < l.w; ++i) {

            for

(n = 0; n < l.n; ++n) {

int box_index = entry_index(l, b, nl.wl.h + jl.w + i, 0); // 获得第jw+i个cell第n个b-box的index。

int class_index = entry_index(l, b, nl.wl.h + jl.w + i, 4 + 1); // 获得第jw+i个cell第n个b-box的类别。

const int stride = l.w*l.h; // 特征图的大小。

averages_yolo_deltas(class_index, box_index, stride, l.classes,
l.delta); // 对梯度进行平均。

            }

        }

    }

}

......





  // gIOU loss + MSE (objectness) loss

  if (l.iou_loss == MSE) {

  *(l.cost) = pow(mag_array(l.delta, l.outputs * l.batch),

2);

  }

  else {

  // Always compute classification loss both for iou + cls

loss and for logging with mse loss

  // TODO: remove IOU loss fields before computing MSE on

class

  // probably split into two arrays

  if (l.iou_loss == GIOU) {

  avg_iou_loss = count > 0 ? l.iou_normalizer *

(tot_giou_loss / count) : 0; // 平均IOU损失,参考上面代码,tot_iou_loss += 1 -
all_ious.iou。

  }

  else {

  avg_iou_loss = count > 0 ? l.iou_normalizer *

(tot_iou_loss / count) : 0; // 平均IOU损失,参考上面代码,tot_iou_loss += 1 - all_ious.iou。

  }

  *(l.cost) = avg_iou_loss + classification_loss; // Loss值传递给l.cost,IOU与分类损失求和。

  }

  loss /= l.batch; // 平均Loss。

  classification_loss /= l.batch;

  iou_loss /= l.batch;

  ......

}

再来分析backward_network()函数:

void backward_network(network net, network_state
state)

{

int i;

float *original_input = state.input;

float *original_delta = state.delta;

state.workspace = net.workspace;

for(i = net.n-1; i >= 0; --i){

    state.index = i;

    if(i == 0){

        state.input

= original_input;

        state.delta

= original_delta;

    }else{

        layer prev =

net.layers[i-1];

        state.input

= prev.output;

        state.delta

= prev.delta; // delta是指针变量,对state.delta做修改,就相当与对prev层的delta做了修改。

    }

    layer l = net.layers[i];

    if (l.stopbackward) break;

    if (l.onlyforward) continue;

    l.backward(l, state); // 不同层l.backward代表不同函数,如:convolutional_layer.c中,l.backward = backward_convolutional_layer;yolo_layer.c中,l.backward = backward_yolo_layer,CPU执行反向传播。

}

}

卷积层时,backward_convolutional_layer()函数:

void backward_convolutional_layer(convolutional_layer l,
network_state state)

{

int i, j;

/* m是卷积核的个数,k是每个卷积核的参数数量(l.size是卷积核的大小),n是每个输出feature map的像素个数。*/

int m = l.n /

l.groups;

int n =

l.sizel.sizel.c / l.groups;

int k =

l.out_w*l.out_h;

/* 更新delta。*/

if

(l.activation == SWISH) gradient_array_swish(l.output, l.outputs*l.batch,
l.activation_input, l.delta);

else if

(l.activation == MISH) gradient_array_mish(l.outputs*l.batch,
l.activation_input, l.delta);

else if

(l.activation == NORM_CHAN_SOFTMAX || l.activation == NORM_CHAN_SOFTMAX_MAXVAL)
gradient_array_normalize_channels_softmax(l.output, l.outputsl.batch, l.batch,
l.out_c, l.out_w
l.out_h, l.delta);

else if

(l.activation == NORM_CHAN) gradient_array_normalize_channels(l.output,
l.outputsl.batch, l.batch, l.out_c, l.out_wl.out_h, l.delta);

else

gradient_array(l.output, l.outputs*l.batch, l.activation, l.delta);

if (l.batch_normalize)

{ // BN层,加速收敛。

backward_batchnorm_layer(l, state);

}

else { // 直接加上bias。

backward_bias(l.bias_updates, l.delta, l.batch, l.n, k);

}

for (i = 0; i

< l.batch; ++i) {

    for (j = 0;

j < l.groups; ++j) {

        float

a = l.delta + (il.groups + j)mk;

        float

*b = state.workspace;

        float

c = l.weight_updates + jl.nweights / l.groups;

        /* 进入本函数之前,在backward_network()函数中,已经将net.input赋值为prev.output,若当前层为第l层,则net.input为第l-1层的output。*/

        float

im = state.input + (il.groups + j)* (l.c / l.groups)l.hl.w;

im2col_cpu_ext(

im, // input

            l.c

/ l.groups, // input channels

l.h, l.w, // input size (h, w)

l.size, l.size, // kernel size
(h, w)

l.pad * l.dilation, l.pad * l.dilation, // padding (h, w)

l.stride_y, l.stride_x, // stride (h, w)

l.dilation, l.dilation, // dilation (h, w)

b); // output

        gemm(0,

1, m, n, k, 1, a, k, b, k, 1, c, n); // 计算当前层weights更新。

        /* 计算上一层的delta,进入本函数之前,在backward_network()函数中,已经将net.delta赋值为prev.delta,若当前层为第l层,则net.delta为第l-1层的delta。*/

        if

(state.delta) {

            a =

l.weights + j*l.nweights / l.groups;

            b =

l.delta + (i*l.groups + j)mk;

            c =

state.workspace;

gemm(1, 0, n, k, m, 1, a, n, b, k, 0, c, k);

col2im_cpu_ext(

state.workspace, // input

l.c / l.groups, // input
channels (h, w)

l.h, l.w, // input
size (h, w)

l.size, l.size, // kernel
size (h, w)

l.pad * l.dilation, l.pad * l.dilation, // padding (h, w)

l.stride_y, l.stride_x, //
stride (h, w)

l.dilation, l.dilation, // dilation (h, w)

state.delta + (il.groups + j) (l.c / l.groups)l.hl.w); // output
(delta)

        }

    }

}

}

yolo层时,backward_yolo_layer()函数:

void backward_yolo_layer(const layer l, network_state
state)

{

axpy_cpu(l.batch*l.inputs,
1, l.delta, 1, state.delta, 1); // 直接把l.delta拷贝给上一层的delta。注意 net.delta 指向 prev_layer.delta。

}

正向、反向传播后,通过get_network_cost()函数计算Loss:

float get_network_cost(network net)

{

int i;

float sum = 0;

int count = 0;

for(i = 0; i

< net.n; ++i){

if(net.layers[i].cost){ // 获取各层的损失,只有detection层,也就是yolo层,有cost。

        sum +=

net.layers[i].cost[0]; // Loss总和存在cost[0]中,见cost_layer.c中forward_cost_layer()函数。

++count;

    }

}

return sum/count;

// 返回平均损失。

}

CIOU_Loss是创新点,与GIOU_Loss相比,引入了重叠面积与中心点的距离Dis_2来区分预测框a与b的定位差异,同时还引入了预测框和目标框的长宽比一致性因子ν,将a与c这种重叠面积与中心点距离相同但长宽比与目标框适配程度有差异的预测框区分开来,如图:
在这里插入图片描述

计算好Loss需要update_network():

void
update_network(network net)

{

int i;

int update_batch = net.batch*net.subdivisions;

float rate = get_current_rate(net);

for(i = 0; i < net.n; ++i){

    layer l = net.layers[i];

    if(l.update){

        l.update(l,

update_batch, rate, net.momentum, net.decay); // convolutional_layer.c中,l.update = update_convolutional_layer。

    }

}

}

update_convolutional_layer()函数:

void
update_convolutional_layer(convolutional_layer l, int batch, float
learning_rate_init, float momentum, float decay)

{

float learning_rate =

learning_rate_init*l.learning_rate_scale;

axpy_cpu(l.nweights, -decay*batch,

l.weights, 1, l.weight_updates, 1); // blas.c中,axpy_cpu函数入口,for(i = 0; i < l.nweights; ++i),l.weight_updates[i1] -= decaybatchl.weights[i1]。

axpy_cpu(l.nweights, learning_rate / batch,

l.weight_updates, 1, l.weights, 1); // for(i = 0; i < l.nweights; ++i),l.weights[i*1] +=
(learning_rate/batch)l.weight_updates[i1]

scal_cpu(l.nweights, momentum,

l.weight_updates, 1); // blas.c中,scal_cpu函数入口,for(i = 0; i <
l.nweights; ++i),l.weight_updates[i*1] *= momentum。

axpy_cpu(l.n, learning_rate / batch,

l.bias_updates, 1, l.biases, 1); // for(i = 0; i < l.n; ++i),l.biases[i*1] +=
(learning_rate/batch)l.bias_updates[i1]。

scal_cpu(l.n, momentum, l.bias_updates, 1);

// for(i = 0; i < l.n; ++i),l.bias_updates[i*1] *= momentum。

if (l.scales) {

    axpy_cpu(l.n, learning_rate / batch,

l.scale_updates, 1, l.scales, 1);

    scal_cpu(l.n, momentum,

l.scale_updates, 1);

}

}

同样,在network_kernels.cu里,有GPU模式下的forward&backward相关的函数,涉及数据格式转换及加速,此处只讨论原理,暂时忽略GPU部分的代码。

void
forward_backward_network_gpu(network net, float *x, float *y)

{

forward_network_gpu(net, state); // 正向。

backward_network_gpu(net, state); // 反向。

}

CPU模式下,采用带momentum的常规GD更新weights,同时在network.c中也提供了也提供了train_network_sgd()函数接口;GPU模式提供了adam选项,convolutional_layer.c中make_convolutional_layer()函数有体现。

七. 调参总结

本人在实际项目中涉及的是工业中的钢铁表面缺陷检测场景,不到2000张图片,3类,数据量很少。理论上YOLO系列并不太适合缺陷检测的问题,基于分割+分类的网络、Cascade-RCNN等或许是更好的选择,但我本着实验的态度,进行了多轮的训练和对比,整体上效果还是不错的。

1.max_batches: AlexeyAB在github工程上有提到,类别数*2000作为参考,不要少于6000,但这个是使用预训练权重的情况。如果train from scratch,要适当增加,具体要看你的数据情况,网络需要额外的时间来从零开始学习;

2.pretrain or not:当数据量很少时,预训练确实能更快使模型收敛,效果也不错,但缺陷检测这类问题,缺陷目标特征本身的特异性还是比较强的,虽然我的数据量也很少,但scratch的方式还是能取得稍好一些的效果;

3.anchors:cfg文件默认的anchors是基于COCO数据集,可以说尺度比较均衡,使用它效果不会差,但如果你自己的数据在尺度分布上不太均衡,建议自行生成新的anchors,可以直接使用源码里面的脚本,注意,要根据生成anchors的size(1-yolo:<3030,2-yolo:<6060,3-yolo:others)来改变索引值masks以及前一个conv层的filters参数;

4.rotate:YOLO-V4在目标检测这一块,其实没有用到旋转来进行数据增强,因此我在线下对数量最少的一个类进行了180旋转对称增强,该类样本数扩增一倍,效果目前还不明显,可能是数据量增加的还是太少,而且我还在训练对比,完成后可以补充;

5.mosaic:马赛克数据增强是必须要有的,mAP值提升比较明显,需要安装opencv,且和cutmix不能同时使用。

Draw object:

#if defined(OPENCV) && defined(GPU)

read_data_cfg

option_find_str

get_labels_custom

load_alphabet

parse_network_cfg

parse_network_cfg_custom

set_batch_network

load_weights

load_image

resize_image

copy_image

cv_draw_object

basecfg

draw_train_chart

forward_backward_network_gpu

draw_train_loss

crop_image

copy_image_inplace

embed_image

show_image_cv

quantize_image

network_predict

save_image_png

get_network_boxes

do_nms_sort

diounms_sort

draw_detections_v3

save_image

calc_anchors

read_data_cfg

option_find_str

get_paths

list_to_array

option_find_int

replace_image_to_label

read_boxes

counter_per_class

calculating k-means++

make_matrix

do_kmeans

show_anhors

validate_detector_recall

parse_network_cfg_custom

load_weights

fuse_conv_batchnorm

load_image

resize_image

basecfg

network_predict

get_network_boxes

do_nms_obj

replace_image_to_label

read_boxes

validate_detector_map

read_data_cfg

option_find_str

get_labels_custom

read_map

remember_network_recurrent_state

free_network_recurrent_state

parse_network_cfg_custom

load_weights

fuse_conv_batchnorm

calculate_binary_weights

get_paths

list_to_array

// For multi-class precision and recall computation

load_data_in_thread

pthread_join

load_data_in_thread

basecfg

network_predict

get_network_boxes

do_nms_sort

diounms_sort

set_track_id

replace_image_to_label

read_boxes

SORT(detections)

// for PR-curve

// correct mAP calculation: ImageNet, PascalVOC
2010-2012

//add remaining area of PR curve when recall isn’t 0
at rank-1

// free memory

restore_network_recurrent_state

return mean_average_precision;

  1. train_detector

read_data_cfg

option_find_str

cuda_set_device

parse_network_cfg_custom

get_labels_custom

basecfg

cuda_set_device

parse_network_cfg

get_current_iteration

draw_train_chart

load_data

rand_scale

// at the beginning (check if enough memory) and at
the end (calc rolling mean/variance)

pthread_join

load_data

resize_network

pthread_join

load_data

float_to_box

float_to_image

train_network_waitkey

train_networks

get_current_iteration

// calculate mAP for each 4 Epochs

resize_network

copy_weights_net

// combine Training and Validation networks

draw_train_loss

sync_nets

save_weights

// free memory

//free_network(net);

  1. test_detector

read_data_cfg

option_find_str

get_labels_custom

parse_network_cfg_custom

load_weights

fuse_conv_batchnorm(net);

calculate_binary_weights(net);

letterbox_image

resize_image

get_network_boxes

do_nms_sort

diounms_sort

draw_detections_v3

save_image

show_image

detection_to_json

replace_image_to_label

// free memory

demo

parse_network_cfg_custom

load_weights

fuse_conv_batchnorm(net);

calculate_binary_weights(net);

get_capture_video_stream

get_capture_webcam

custom_create_thread

fetch_in_thread_sync

detect_in_thread_sync

create_window_cv

create_video_writer

get_time_point

custom_atomic_store_int

do_nms_obj

diounms_sort

set_track_id

send_json

send_http_post_request

draw_detections_cv_v3

max_val_cmp

send_mjpeg

write_frame_cv

this_thread_yield

release_video_writer

//free memory and thread

Coco依赖的软件:coco.data,yolov4.cfg,yolov4.weights

duration_make_convolutional_layer:
336607

convolutional_layer make_convolutional_layer(int
batch, int steps, int h, int w, int c, int n, int groups, int size, int
stride_x, int stride_y, int dilation, int padding, ACTIVATION activation, int
batch_normalize, int binary, int xnor, int adam, int use_bin_output, int index,
int antialiasing, convolutional_layer *share_layer, int assisted_excitation,
int deform, int train)

1) Preprocessing:Blur,antialiasing

2) cuda_make_array

3) get_convolutional_workspace_size

4) make_convolutional_layer

5) push_convolutional_layer,read_weights,

duration_run_detector_demo:
339565723

1) read_data_cfg(datacfg);

2) option_find_int(options,
“classes”, 20);

3) option_find_str(options,
“names”, “data/names.list”);

4) get_labels(name_list);

5) demo(cfg,
weights, thresh, hier_thresh, cam_index, filename, names, classes, avgframes,
frame_skip, prefix, out_filename,

mjpeg_port, dontdraw_bbox, json_port, dont_show, ext_output, letter_box,
time_limit_sec, http_post_host, benchmark, benchmark_layers);

duration_main_run_detector:
339565785

run_detector(argc, argv);

1) find_arg,
find_int_arg, find_char_arg, find_float_arg

2) test_detector,

3) train_detector,

4) validate_detector,
validate_detector_recall, validate_detector_map

5) calc_anchors

6) draw_object

7) demo(read_data_cfg,
option_find_int, option_find_str, get_labels, free_list_contents_kvp,
free_list, free(gpus))

duration_make_yolo_layer: 5110

make_yolo_layer

1) forward_yolo_layer;

activate_array,scal_add_cpu,entry_index,get_yolo_box,float_to_box_stride,compare_yolo_class,box_iou,delta_yolo_box,delta_yolo_box()_accumulate,averages_yolo_deltas,compute classification loss

2) backward_yolo_layer;
backward_yolo_layer_gpu;

axpy_cpu(l.batch*l.inputs, 1, l.delta, 1, state.delta, 1);

axpy_ongpu(l.batch*l.inputs, state.net.loss_scale * l.delta_normalizer, l.delta_gpu,
1, state.delta, 1);

3)cuda_make_array

4)cudaHostAlloc

  1. duration_parse_network_cfg_custom:
    2007

:parse_network_cfg_custom(char *filename, int batch,
int time_steps)

1) read_cfg(filename);

2) make_network(sections->size

  • 1);

3) parse_net_options(options,
&net);

4) pre_allocate_pinned_memory((size_t)1024

  • 1024 * 1024 * 8); // pre-allocate 8
    GB CPU-RAM for pinned memory

5) parse_convolutional(options,
params);

parse_local(options, params);

parse_activation(options, params);

parse_rnn(options, params);

parse_gru(options, params);

parse_lstm(options, params);

parse_conv_lstm(options, params);

parse_history(options, params);

parse_crnn(options, params);

parse_connected(options,
params);

parse_crop(options, params);

parse_cost(options, params);

parse_region(options, params);

parse_yolo(options, params);

parse_gaussian_yolo(options, params);

parse_detection(options, params);

parse_softmax(options, params);

parse_contrastive(options, params);

parse_normalization(options, params);

parse_batchnorm(options, params);

parse_maxpool(options, params);

parse_local_avgpool(options, params);

parse_reorg(options, params);
}

parse_reorg_old(options, params);

parse_avgpool(options, params);

parse_route(options, params);

parse_upsample(options, params, net);

parse_shortcut(options, params, net);

parse_scale_channels(options, params, net);

parse_sam(options, params, net);

parse_dropout(options, params);

cuda_make_array_pinned

cuda_make_array_pinned_preallocated

set_specified_workspace_limit

cuda_make_array:cuda_pull_array_async,activate_array_ongpu

get_network_output

CHECK_CUDA

Coco依赖的软件:coco.data,yolov4.cfg,yolov4.conv.137,trainvalueno5k.txt,train2014

read_data_cfg

option_find_str

open_valid_file

cuda_set_device

parse_network_cfg_custom

get_labels_custom

basecfg

parse_network_cfg

get_paths(train_images)

list_to_array(plist)

get_current_iteration(net)

draw_train_chart

load_data

rand_scale(rand_coef);

pthread_join

float_to_box

float_to_image

compute_loss

train_network_waitkey

train_networks

free_data

resize_network

validate_detector_map

save_weights

draw_train_loss

sync_nets

release_mat(&img);

destroy_all_windows_cv();

// free

memory

pthread_join(load_thread, 0);

free_data(buffer);

free_load_threads(&args);

free(base);

free(paths);

free_list_contents(plist);

free_list(plist);

free_list_contents_kvp(options);

free_list(options);

free_network;

free(nets);

free_network(net_map);

Makefile

GPU=0

CUDNN=0

CUDNN_HALF=0

OPENCV=0

AVX=0

OPENMP=0

LIBSO=0

ZED_CAMERA=0

ZED_CAMERA_v2_8=0

set GPU=1 and CUDNN=1 to speedup on GPU

set CUDNN_HALF=1 to further speedup 3 x times

(Mixed-precision on Tensor Cores) GPU: Volta, Xavier, Turing and higher

set AVX=1 and OPENMP=1 to speedup on CPU (if error

occurs then set AVX=0)

set ZED_CAMERA=1 to enable ZED SDK 3.0 and above

set ZED_CAMERA_v2_8=1 to enable ZED SDK 2.X

USE_CPP=0

DEBUG=0

ARCH= -gencode arch=compute_30,code=sm_30 \

  -gencode

arch=compute_35,code=sm_35 \

  -gencode

arch=compute_50,code=[sm_50,compute_50] \

  -gencode

arch=compute_52,code=[sm_52,compute_52] \

    -gencode

arch=compute_61,code=[sm_61,compute_61]

OS := $(shell uname)

Tesla A100 (GA100), DGX-A100, RTX 3080

ARCH= -gencode

arch=compute_80,code=[sm_80,compute_80]

Tesla V100

ARCH= -gencode

arch=compute_70,code=[sm_70,compute_70]

GeForce RTX 2080 Ti, RTX 2080, RTX 2070, Quadro RTX

8000, Quadro RTX 6000, Quadro RTX 5000, Tesla T4, XNOR Tensor Cores

ARCH= -gencode

arch=compute_75,code=[sm_75,compute_75]

Jetson XAVIER

ARCH= -gencode

arch=compute_72,code=[sm_72,compute_72]

GTX 1080, GTX 1070, GTX 1060, GTX 1050, GTX 1030,

Titan Xp, Tesla P40, Tesla P4

ARCH= -gencode arch=compute_61,code=sm_61 -gencode

arch=compute_61,code=compute_61

GP100/Tesla P100 - DGX-1

ARCH= -gencode arch=compute_60,code=sm_60

For Jetson TX1, Tegra X1, DRIVE CX, DRIVE PX -

uncomment:

ARCH= -gencode

arch=compute_53,code=[sm_53,compute_53]

For Jetson Tx2 or Drive-PX2 uncomment:

ARCH= -gencode

arch=compute_62,code=[sm_62,compute_62]

VPATH=./src/

EXEC=darknet

OBJDIR=./obj/

ifeq ($(LIBSO), 1)

LIBNAMESO=libdarknet.so

APPNAMESO=uselib

endif

ifeq ($(USE_CPP), 1)

CC=g++

else

CC=gcc

endif

CPP=g++ -std=c++11

NVCC=nvcc

OPTS=-Ofast

LDFLAGS= -lm -pthread

COMMON= -Iinclude/ -I3rdparty/stb/include

CFLAGS=-Wall -Wfatal-errors -Wno-unused-result
-Wno-unknown-pragmas -fPIC

ifeq ($(DEBUG), 1)

#OPTS= -O0 -g

#OPTS= -Og -g

COMMON+= -DDEBUG

CFLAGS+= -DDEBUG

else

ifeq ($(AVX), 1)

CFLAGS+= -ffp-contract=fast -mavx -mavx2 -msse3
-msse4.1 -msse4.2 -msse4a

endif

endif

CFLAGS+=$(OPTS)

ifneq (, ( f i n d s t r i n g M S Y S N T , (findstring MSYS_NT, (findstringMSYSNT,(OS)))

LDFLAGS+=-lws2_32

endif

ifeq ($(OPENCV), 1)

COMMON+= -DOPENCV

CFLAGS+= -DOPENCV

LDFLAGS+= pkg-config --libs opencv4 2> /dev/null || pkg-config --libs opencv

COMMON+= pkg-config --cflags opencv4 2> /dev/null || pkg-config --cflags opencv

endif

ifeq ($(OPENMP), 1)

ifeq

($(OS),Darwin) #MAC

    CFLAGS+= -Xpreprocessor -fopenmp

else

    CFLAGS+=

-fopenmp

endif

LDFLAGS+= -lgomp

endif

ifeq ($(GPU), 1)

COMMON+= -DGPU -I/usr/local/cuda/include/

CFLAGS+= -DGPU

ifeq ($(OS),Darwin) #MAC

LDFLAGS+= -L/usr/local/cuda/lib -lcuda -lcudart
-lcublas -lcurand

else

LDFLAGS+= -L/usr/local/cuda/lib64 -lcuda -lcudart
-lcublas -lcurand

endif

endif

ifeq ($(CUDNN), 1)

COMMON+= -DCUDNN

ifeq ($(OS),Darwin) #MAC

CFLAGS+= -DCUDNN -I/usr/local/cuda/include

LDFLAGS+= -L/usr/local/cuda/lib -lcudnn

else

CFLAGS+= -DCUDNN -I/usr/local/cudnn/include

LDFLAGS+= -L/usr/local/cudnn/lib64 -lcudnn

endif

endif

ifeq ($(CUDNN_HALF), 1)

COMMON+= -DCUDNN_HALF

CFLAGS+= -DCUDNN_HALF

ARCH+= -gencode
arch=compute_70,code=[sm_70,compute_70]

endif

ifeq ($(ZED_CAMERA), 1)

CFLAGS+= -DZED_STEREO -I/usr/local/zed/include

ifeq ($(ZED_CAMERA_v2_8), 1)

LDFLAGS+= -L/usr/local/zed/lib -lsl_core -lsl_input
-lsl_zed

#-lstdc++ -D_GLIBCXX_USE_CXX11_ABI=0

else

LDFLAGS+= -L/usr/local/zed/lib -lsl_zed

#-lstdc++ -D_GLIBCXX_USE_CXX11_ABI=0

endif

endif

OBJ=image_opencv.o http_stream.o gemm.o utils.o
dark_cuda.o convolutional_layer.o list.o image.o activations.o im2col.o
col2im.o blas.o crop_layer.o dropout_layer.o maxpool_layer.o softmax_layer.o
data.o matrix.o network.o connected_layer.o cost_layer.o parser.o option_list.o
darknet.o detection_layer.o captcha.o route_layer.o writing.o box.o nightmare.o
normalization_layer.o avgpool_layer.o coco.o dice.o yolo.o detector.o layer.o
compare.o classifier.o local_layer.o swag.o shortcut_layer.o activation_layer.o
rnn_layer.o gru_layer.o rnn.o rnn_vid.o crnn_layer.o demo.o tag.o cifar.o go.o
batchnorm_layer.o art.o region_layer.o reorg_layer.o reorg_old_layer.o super.o
voxel.o tree.o yolo_layer.o gaussian_yolo_layer.o upsample_layer.o lstm_layer.o
conv_lstm_layer.o scale_channels_layer.o sam_layer.o

ifeq ($(GPU), 1)

LDFLAGS+= -lstdc++

OBJ+=convolutional_kernels.o activation_kernels.o
im2col_kernels.o col2im_kernels.o blas_kernels.o crop_layer_kernels.o
dropout_layer_kernels.o maxpool_layer_kernels.o network_kernels.o
avgpool_layer_kernels.o

endif

OBJS = $(addprefix $(OBJDIR), $(OBJ))

DEPS = $(wildcard src/*.h) Makefile include/darknet.h

all: $(OBJDIR) backup results setchmod $(EXEC)
$(LIBNAMESO) $(APPNAMESO)

ifeq ($(LIBSO), 1)

CFLAGS+= -fPIC

$(LIBNAMESO): $(OBJDIR) $(OBJS) include/yolo_v2_class.hpp
src/yolo_v2_class.cpp

$(CPP)

-shared -std=c++11 -fvisibility=hidden -DLIB_EXPORTS $(COMMON) $(CFLAGS)
$(OBJS) src/yolo_v2_class.cpp -o $@ $(LDFLAGS)

$(APPNAMESO): $(LIBNAMESO) include/yolo_v2_class.hpp
src/yolo_console_dll.cpp

$(CPP)

-std=c++11 $(COMMON) $(CFLAGS) -o $@ src/yolo_console_dll.cpp ( L D F L A G S ) − L . / − l : (LDFLAGS) -L ./ -l: (LDFLAGS)L./l:(LIBNAMESO)

endif

$(EXEC): $(OBJS)

$(CPP)

-std=c++11 $(COMMON) $(CFLAGS) $^ -o $@ $(LDFLAGS)

$(OBJDIR)%.o: %.c $(DEPS)

$(CC)

$(COMMON) $(CFLAGS) -c $< -o $@

$(OBJDIR)%.o: %.cpp $(DEPS)

$(CPP)

-std=c++11 $(COMMON) $(CFLAGS) -c $< -o $@

$(OBJDIR)%.o: %.cu $(DEPS)

$(NVCC)

$(ARCH) ( C O M M O N ) − − c o m p i l e r − o p t i o n s " (COMMON) --compiler-options " (COMMON)compileroptions"(CFLAGS)" -c $< -o $@

$(OBJDIR):

mkdir -p

$(OBJDIR)

backup:

mkdir -p

backup

results:

mkdir -p results

setchmod:

chmod +x *.sh

.PHONY: clean

clean:

rm -rf

$(OBJS) $(EXEC) $(LIBNAMESO) $(APPNAMESO)

SPP结构

在这里插入图片描述

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