YOLOv7_pose-Openvino和ONNXRuntime推理【CPU】

纯检测系列：
YOLOv5-Openvino和ONNXRuntime推理【CPU】
YOLOv6-Openvino和ONNXRuntime推理【CPU】
YOLOv8-Openvino和ONNXRuntime推理【CPU】
YOLOv7-Openvino和ONNXRuntime推理【CPU】
YOLOv9-Openvino和ONNXRuntime推理【CPU】
跟踪系列：
YOLOv5/6/7-Openvino-ByteTrack【CPU】
YOLOv8/9-Openvino-ByteTrack【CPU】
分割系列：
YOLOv5_seg-Openvino和ONNXRuntime推理【CPU】
YOLOv8_seg-Openvino和ONNXRuntime推理【CPU】
关键点系列：
YOLOv7_pose-Openvino和ONNXRuntime推理【CPU】
YOLOv8_pose-Openvino和ONNXRuntime推理【CPU】

注：YOLOv5、YOLOv6和YOLOv7代码内容基本一致！YOLOv8和YOLOv9代码内容基本一致！
全部代码Github：https://github.com/Bigtuo/YOLOv8_Openvino

1 环境：

CPU：i5-12500
Python：3.8.18

2 安装Openvino和ONNXRuntime

2.1 Openvino简介

Openvino是由Intel开发的专门用于优化和部署人工智能推理的半开源的工具包，主要用于对深度推理做优化。

Openvino内部集成了Opencv、TensorFlow模块，除此之外它还具有强大的Plugin开发框架，允许开发者在Openvino之上对推理过程做优化。

Openvino整体框架为：Openvino前端→ Plugin中间层→ Backend后端
Openvino的优点在于它屏蔽了后端接口，提供了统一操作的前端API，开发者可以无需关心后端的实现，例如后端可以是TensorFlow、Keras、ARM-NN，通过Plugin提供给前端接口调用，也就意味着一套代码在Openvino之上可以运行在多个推理引擎之上，Openvino像是类似聚合一样的开发包。

2.2 ONNXRuntime简介

ONNXRuntime是微软推出的一款推理框架，用户可以非常便利的用其运行一个onnx模型。ONNXRuntime支持多种运行后端包括CPU，GPU，TensorRT，DML等。可以说ONNXRuntime是对ONNX模型最原生的支持。

虽然大家用ONNX时更多的是作为一个中间表示，从pytorch转到onnx后直接喂到TensorRT或MNN等各种后端框架，但这并不能否认ONNXRuntime是一款非常优秀的推理框架。而且由于其自身只包含推理功能（最新的ONNXRuntime甚至已经可以训练），通过阅读其源码可以解深度学习框架的一些核心功能原理（op注册，内存管理，运行逻辑等）
总体来看，整个ONNXRuntime的运行可以分为三个阶段，Session构造，模型加载与初始化和运行。和其他所有主流框架相同，ONNXRuntime最常用的语言是python，而实际负责执行框架运行的则是C++。

2.3 安装

pip install openvino -i  https://pypi.tuna.tsinghua.edu.cn/simple
pip install onnxruntime -i  https://pypi.tuna.tsinghua.edu.cn/simple

3 YOLOv7介绍

YOLOv7详解-可爱版
YOLOv7官网

# pt2onnx，加grid是将三个头整合一起，不加则推理输出是各个头部输出，需要自己再写处理；end2end加了是包含nms，这里不加！
python export.py --weights yolov7.pt --grid

4 基于Openvino和ONNXRuntime推理

下面代码整个处理过程主要包括：预处理—>推理—>后处理—>画图（矩形框和关键点）。
假设图像resize为640×640，
前处理输出结果维度：(1, 3, 640, 640)；
推理输出结果维度：(1, 25500, 57)，其中57表示4个box坐标信息+置信度分数+1个类别概率+17个关键点信息(x,y,visibility)，8400表示80×80+40×40+20×20+10×10；
后处理输出结果维度：(-1, 56)，其中第一个维度表示检测的目标数量，第二个维度56表示(x1, y1, x2, y2, conf, 17×3)；

注：该YOLOv7w6-pose包括P6输出头。

4.1 全部代码

import argparse
import time 
import cv2
import numpy as np
from openvino.runtime import Core  # pip install openvino -i  https://pypi.tuna.tsinghua.edu.cn/simple
import onnxruntime as ort  # 使用onnxruntime推理用上，pip install onnxruntime，默认安装CPU# Pose默认的person类
CLASSES = ['person']class OpenvinoInference(object):def __init__(self, onnx_path):self.onnx_path = onnx_pathie = Core()self.model_onnx = ie.read_model(model=self.onnx_path)self.compiled_model_onnx = ie.compile_model(model=self.model_onnx, device_name="CPU")self.output_layer_onnx = self.compiled_model_onnx.output(0)def predict(self, datas):predict_data = self.compiled_model_onnx([datas])[self.output_layer_onnx]return predict_dataclass KeyPoint_draw(object):def __init__(self):# 定义一个调色板数组，其中每个元素是一个包含RGB值的列表，用于表示不同的颜色self.palette = np.array([[255, 128, 0], [255, 153, 51], [255, 178, 102],[230, 230, 0], [255, 153, 255], [153, 204, 255],[255, 102, 255], [255, 51, 255], [102, 178, 255],[51, 153, 255], [255, 153, 153], [255, 102, 102],[255, 51, 51], [153, 255, 153], [102, 255, 102],[51, 255, 51], [0, 255, 0], [0, 0, 255], [255, 0, 0],[255, 255, 255]])# 定义人体17个关键点的连接顺序，每个子列表包含两个数字，代表要连接的关键点的索引, 1鼻子 2左眼 3右眼 4左耳 5右耳 6左肩 7右肩# 8左肘 9右肘 10左手腕 11右手腕 12左髋 13右髋 14左膝 15右膝 16左踝 17右踝self.skeleton = [[16, 14], [14, 12], [17, 15], [15, 13], [12, 13], [6, 12],[7, 13], [6, 7], [6, 8], [7, 9], [8, 10], [9, 11], [2, 3],[1, 2], [1, 3], [2, 4], [3, 5], [4, 6], [5, 7]]# 通过索引从调色板中选择颜色，用于绘制人体骨架的线条，每个索引对应一种颜色self.pose_limb_color = self.palette[[9, 9, 9, 9, 7, 7, 7, 0, 0, 0, 0, 0, 16, 16, 16, 16, 16, 16, 16]]# 通过索引从调色板中选择颜色，用于绘制人体的关键点，每个索引对应一种颜色self.pose_kpt_color = self.palette[[16, 16, 16, 16, 16, 0, 0, 0, 0, 0, 0, 9, 9, 9, 9, 9, 9]]def plot_skeleton_kpts(self, im, kpts, steps=3):num_kpts = len(kpts) // steps  # 51 / 3 =17# 画点for kid in range(num_kpts):r, g, b = self.pose_kpt_color[kid]x_coord, y_coord = kpts[steps * kid], kpts[steps * kid + 1]conf = kpts[steps * kid + 2]if conf > 0.5:  # 关键点的置信度必须大于 0.5cv2.circle(im, (int(x_coord), int(y_coord)), 10, (int(r), int(g), int(b)), -1)# 画骨架for sk_id, sk in enumerate(self.skeleton):r, g, b = self.pose_limb_color[sk_id]pos1 = (int(kpts[(sk[0] - 1) * steps]), int(kpts[(sk[0] - 1) * steps + 1]))pos2 = (int(kpts[(sk[1] - 1) * steps]), int(kpts[(sk[1] - 1) * steps + 1]))conf1 = kpts[(sk[0] - 1) * steps + 2]conf2 = kpts[(sk[1] - 1) * steps + 2]if conf1 > 0.5 and conf2 > 0.5:  # 对于肢体，相连的两个关键点置信度 必须同时大于 0.5cv2.line(im, pos1, pos2, (int(r), int(g), int(b)), thickness=2)class YOLOv7_pose:"""YOLOv7_pose detection model class for handling inference and visualization."""def __init__(self, onnx_model, imgsz=(640, 640), infer_tool='openvino'):"""Initialization.Args:onnx_model (str): Path to the ONNX model."""self.infer_tool = infer_toolif self.infer_tool == 'openvino':# 构建openvino推理引擎self.openvino = OpenvinoInference(onnx_model)self.ndtype = np.singleelse:# 构建onnxruntime推理引擎self.ort_session = ort.InferenceSession(onnx_model,providers=['CUDAExecutionProvider', 'CPUExecutionProvider']if ort.get_device() == 'GPU' else ['CPUExecutionProvider'])# Numpy dtype: support both FP32 and FP16 onnx modelself.ndtype = np.half if self.ort_session.get_inputs()[0].type == 'tensor(float16)' else np.singleself.classes = CLASSES  # 加载模型类别self.model_height, self.model_width = imgsz[0], imgsz[1]  # 图像resize大小self.color = (0, 0, 255)  # 为类别生成调色板def __call__(self, im0, conf_threshold=0.4, iou_threshold=0.45):"""The whole pipeline: pre-process -> inference -> post-process.Args:im0 (Numpy.ndarray): original input image.conf_threshold (float): confidence threshold for filtering predictions.iou_threshold (float): iou threshold for NMS.Returns:boxes (List): list of bounding boxes."""# 前处理Pre-processt1 = time.time()im, ratio, (pad_w, pad_h) = self.preprocess(im0)print('预处理时间：{:.3f}s'.format(time.time() - t1))# 推理 inferencet2 = time.time()if self.infer_tool == 'openvino':preds = self.openvino.predict(im)else:preds = self.ort_session.run(None, {self.ort_session.get_inputs()[0].name: im})[0]print('推理时间：{:.2f}s'.format(time.time() - t2))# 后处理Post-processt3 = time.time()boxes = self.postprocess(preds,im0=im0,ratio=ratio,pad_w=pad_w,pad_h=pad_h,conf_threshold=conf_threshold,iou_threshold=iou_threshold,)print('后处理时间：{:.3f}s'.format(time.time() - t3))return boxes# 前处理，包括：resize, pad, HWC to CHW，BGR to RGB，归一化，增加维度CHW -> BCHWdef preprocess(self, img):"""Pre-processes the input image.Args:img (Numpy.ndarray): image about to be processed.Returns:img_process (Numpy.ndarray): image preprocessed for inference.ratio (tuple): width, height ratios in letterbox.pad_w (float): width padding in letterbox.pad_h (float): height padding in letterbox."""# Resize and pad input image using letterbox() (Borrowed from Ultralytics)shape = img.shape[:2]  # original image shapenew_shape = (self.model_height, self.model_width)r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])ratio = r, rnew_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))pad_w, pad_h = (new_shape[1] - new_unpad[0]) / 2, (new_shape[0] - new_unpad[1]) / 2  # wh paddingif shape[::-1] != new_unpad:  # resizeimg = cv2.resize(img, new_unpad, interpolation=cv2.INTER_LINEAR)top, bottom = int(round(pad_h - 0.1)), int(round(pad_h + 0.1))left, right = int(round(pad_w - 0.1)), int(round(pad_w + 0.1))img = cv2.copyMakeBorder(img, top, bottom, left, right, cv2.BORDER_CONSTANT, value=(114, 114, 114))  # 填充# Transforms: HWC to CHW -> BGR to RGB -> div(255) -> contiguous -> add axis(optional)img = np.ascontiguousarray(np.einsum('HWC->CHW', img)[::-1], dtype=self.ndtype) / 255.0img_process = img[None] if len(img.shape) == 3 else imgreturn img_process, ratio, (pad_w, pad_h)# 后处理，包括：阈值过滤与NMSdef postprocess(self, preds, im0, ratio, pad_w, pad_h, conf_threshold, iou_threshold):"""Post-process the prediction.Args:preds (Numpy.ndarray): predictions come from ort.session.run().im0 (Numpy.ndarray): [h, w, c] original input image.ratio (tuple): width, height ratios in letterbox.pad_w (float): width padding in letterbox.pad_h (float): height padding in letterbox.conf_threshold (float): conf threshold.iou_threshold (float): iou threshold.Returns:boxes (List): list of bounding boxes."""x = preds  # outputs: predictions (1, 25500, 57)，其中57=4+1+1+17*3，17个关键点(x,y,visibility)# Predictions filtering by conf-thresholdx = x[x[..., 4] > conf_threshold]# Create a new matrix which merge these(box, score, pose) into one# For more details about `numpy.c_()`: https://numpy.org/doc/1.26/reference/generated/numpy.c_.htmlx = np.c_[x[..., :4], x[..., 4], x[..., 6:]]# NMS filtering# 经过NMS后的值, np.array([[x, y, w, h, conf, pose], ...]), shape=(-1, 4 + 1 + 17*3)x = x[cv2.dnn.NMSBoxes(x[:, :4], x[:, 4], conf_threshold, iou_threshold)]# 重新缩放边界框，为画图做准备if len(x) > 0:# Bounding boxes format change: cxcywh -> xyxyx[..., [0, 1]] -= x[..., [2, 3]] / 2x[..., [2, 3]] += x[..., [0, 1]]# Rescales bounding boxes from model shape(model_height, model_width) to the shape of original imagex[..., :4] -= [pad_w, pad_h, pad_w, pad_h]x[..., :4] /= min(ratio)# Bounding boxes boundary clampx[..., [0, 2]] = x[:, [0, 2]].clip(0, im0.shape[1])  # clip避免边界框超出图像边界x[..., [1, 3]] = x[:, [1, 3]].clip(0, im0.shape[0])# 关键点坐标映射到原图上，从[:, 5:]开始算num_kpts = x.shape[1] // 3  # 56 // 3 = 18for kid in range(2, num_kpts + 1):x[:, kid * 3 - 1] = (x[:, kid * 3 - 1] - pad_w) / min(ratio)x[:, kid * 3] = (x[:, kid * 3] - pad_h) / min(ratio)return xelse:return []# 绘框def draw_and_visualize(self, im, bboxes, keypoint_draw, vis=False, save=True):"""Draw and visualize results.Args:im (np.ndarray): original image, shape [h, w, c].bboxes (numpy.ndarray): [n, 56], n is number of bboxes.vis (bool): imshow using OpenCV.save (bool): save image annotated.Returns:None"""# Draw rectangles for bbox in bboxes:box, conf, kpts = bbox[:4], bbox[4], bbox[5:]# draw bbox rectanglecv2.rectangle(im, (int(box[0]), int(box[1])), (int(box[2]), int(box[3])),self.color, 1, cv2.LINE_AA)cv2.putText(im, f'{self.classes[0]}: {conf:.3f}', (int(box[0]), int(box[1] - 9)),cv2.FONT_HERSHEY_SIMPLEX, 0.7, self.color, 2, cv2.LINE_AA)# 画关键点，连线keypoint_draw.plot_skeleton_kpts(im, kpts)# Show imageif vis:cv2.imshow('demo', im)cv2.waitKey(0)cv2.destroyAllWindows()# Save imageif save:cv2.imwrite('demo.jpg', im)if __name__ == '__main__':# Create an argument parser to handle command-line argumentsparser = argparse.ArgumentParser()parser.add_argument('--model', type=str, default='weights/yolov7-w6-pose.onnx', help='Path to ONNX model')parser.add_argument('--source', type=str, default=str('bus.jpg'), help='Path to input image')parser.add_argument('--imgsz', type=tuple, default=(640, 640), help='Image input size')parser.add_argument('--conf', type=float, default=0.25, help='Confidence threshold')parser.add_argument('--iou', type=float, default=0.45, help='NMS IoU threshold')parser.add_argument('--infer_tool', type=str, default='openvino', choices=("openvino", "onnxruntime"), help='选择推理引擎')args = parser.parse_args()# Build modelmodel = YOLOv7_pose(args.model, args.imgsz, args.infer_tool)keypoint_draw = KeyPoint_draw()  # 可视化关键点# Read image by OpenCVimg = cv2.imread(args.source)# Inferenceboxes = model(img, conf_threshold=args.conf, iou_threshold=args.iou)# Visualizeif len(boxes) > 0:model.draw_and_visualize(img, boxes, keypoint_draw, vis=False, save=True)