【特训营第三期】无人机高空红外检测

本文主要是介绍【特训营第三期】无人机高空红外检测，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

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1. 项目介绍

数据集包含从43470帧中提取的2898幅红外热图像，这些图像由无人机从不同场景（学校、停车场、道路、操场等）捕捉到，涵盖范围广泛，包括物体（人、自行车、汽车、其他车辆）、飞行高度数据（60至130米）、相机透视数据（30至90度）和日光强度（白天和晚上），该次任务主要是自行调整数据集格式，并将给定数据集按7:3的比例划分为训练集和验证集，选择合适的模型，并且在划分的验证集下面评估的map达到0.8以上

2. 环境准备

Clone 代码库和安装 requirements.txt，环境需要在一个 Python>=3.7.0 下的环境，且需要安装 PaddlePaddle>=2.3.2。将代码clone到work目录下去，我们选择的是PaddleDetection,PaddleDetection相关介绍可以参考:https://github.com/PaddlePaddle/PaddleDetection, 进行clone PaddleDetection代码，我这里已经下载好了，直接解压就行，按照要求进行准备环境

#!cd work && git clone https://github.com/PaddlePaddle/PaddleDetection.git  # clone
# !cd work && unzip PaddleDetection.zip
# 如果需要进行持久化安装, 需要使用持久化路径, 如下方代码示例:
# !mkdir /home/aistudio/external-libraries
!cd work/PaddleDetection-release-2.6 && pip install -r requirements.txt

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3. 数据准备

3.1 分析数据

数据挂载的目录为/home/aistudio/data/data191179/HIT-UAV.zip，将挂载的数据集解压到work/datasets/到目录下去

!mkdir work/datasets
!unzip -d work/datasets/ /home/aistudio/data/data191179/HIT-UAV.zip

数据集部分图片展示如下：

解压后的数据集路径为/home/aistudio/work/datasets/hit-uav,观察数据集，发现数据集已经划分为了test,train,val三个部分，图片数量为571, 2008, 287，不满足7:3比例的训练集和验证集，所以我们需要调整这个数据集，来达到我们任务的需求,先将所有的数据融合在一起，执行以下代码:

!mv /home/aistudio/work/datasets/hit-uav/images/test/* /home/aistudio/work/datasets/hit-uav/images/val/
!mv /home/aistudio/work/datasets/hit-uav/labels/test/* /home/aistudio/work/datasets/hit-uav/labels/val/!mv /home/aistudio/work/datasets/hit-uav/images/val/* /home/aistudio/work/datasets/hit-uav/images/train/
!mv /home/aistudio/work/datasets/hit-uav/labels/val/* /home/aistudio/work/datasets/hit-uav/labels/train/

同时观察数据格式是yolo格式，不满足paddleDetection需要的voc或者coco的数据格式，这里需要做一个数据格式转换，转换脚本可以参考adjustData.py:

from xml.dom.minidom import Document
import os
import cv2# def makexml(txtPath, xmlPath, picPath):  # txt所在文件夹路径，xml文件保存路径，图片所在文件夹路径
def makexml(picPath, txtPath, xmlPath):  # txt所在文件夹路径，xml文件保存路径，图片所在文件夹路径"""此函数用于将yolo格式txt标注文件转换为voc格式xml标注文件在自己的标注图片文件夹下建三个子文件夹，分别命名为picture、txt、xml"""dic = {'0': "Person",'1': "Car",  # 创建字典用来对类型进行转换'2': "Bicycle",  # 此处的字典要与自己的classes.txt文件中的类对应，且顺序要一致'3': "OtherVehicle",'4': "DontCare"}files = os.listdir(txtPath)for i, name in enumerate(files):xmlBuilder = Document()annotation = xmlBuilder.createElement("annotation")  # 创建annotation标签xmlBuilder.appendChild(annotation)txtFile = open(txtPath + name)txtList = txtFile.readlines()img = cv2.imread(picPath + name[0:-4] + ".jpg")Pheight, Pwidth, Pdepth = img.shapefolder = xmlBuilder.createElement("folder")  # folder标签foldercontent = xmlBuilder.createTextNode("driving_annotation_dataset")folder.appendChild(foldercontent)annotation.appendChild(folder)  # folder标签结束filename = xmlBuilder.createElement("filename")  # filename标签filenamecontent = xmlBuilder.createTextNode(name[0:-4] + ".jpg")filename.appendChild(filenamecontent)annotation.appendChild(filename)  # filename标签结束size = xmlBuilder.createElement("size")  # size标签width = xmlBuilder.createElement("width")  # size子标签widthwidthcontent = xmlBuilder.createTextNode(str(Pwidth))width.appendChild(widthcontent)size.appendChild(width)  # size子标签width结束height = xmlBuilder.createElement("height")  # size子标签heightheightcontent = xmlBuilder.createTextNode(str(Pheight))height.appendChild(heightcontent)size.appendChild(height)  # size子标签height结束depth = xmlBuilder.createElement("depth")  # size子标签depthdepthcontent = xmlBuilder.createTextNode(str(Pdepth))depth.appendChild(depthcontent)size.appendChild(depth)  # size子标签depth结束annotation.appendChild(size)  # size标签结束for j in txtList:oneline = j.strip().split(" ")object = xmlBuilder.createElement("object")  # object 标签picname = xmlBuilder.createElement("name")  # name标签namecontent = xmlBuilder.createTextNode(dic[oneline[0]])picname.appendChild(namecontent)object.appendChild(picname)  # name标签结束pose = xmlBuilder.createElement("pose")  # pose标签posecontent = xmlBuilder.createTextNode("Unspecified")pose.appendChild(posecontent)object.appendChild(pose)  # pose标签结束truncated = xmlBuilder.createElement("truncated")  # truncated标签truncatedContent = xmlBuilder.createTextNode("0")truncated.appendChild(truncatedContent)object.appendChild(truncated)  # truncated标签结束difficult = xmlBuilder.createElement("difficult")  # difficult标签difficultcontent = xmlBuilder.createTextNode("0")difficult.appendChild(difficultcontent)object.appendChild(difficult)  # difficult标签结束bndbox = xmlBuilder.createElement("bndbox")  # bndbox标签xmin = xmlBuilder.createElement("xmin")  # xmin标签mathData = int(((float(oneline[1])) * Pwidth + 1) - (float(oneline[3])) * 0.5 * Pwidth)xminContent = xmlBuilder.createTextNode(str(mathData))xmin.appendChild(xminContent)bndbox.appendChild(xmin)  # xmin标签结束ymin = xmlBuilder.createElement("ymin")  # ymin标签mathData = int(((float(oneline[2])) * Pheight + 1) - (float(oneline[4])) * 0.5 * Pheight)yminContent = xmlBuilder.createTextNode(str(mathData))ymin.appendChild(yminContent)bndbox.appendChild(ymin)  # ymin标签结束xmax = xmlBuilder.createElement("xmax")  # xmax标签mathData = int(((float(oneline[1])) * Pwidth + 1) + (float(oneline[3])) * 0.5 * Pwidth)xmaxContent = xmlBuilder.createTextNode(str(mathData))xmax.appendChild(xmaxContent)bndbox.appendChild(xmax)  # xmax标签结束ymax = xmlBuilder.createElement("ymax")  # ymax标签mathData = int(((float(oneline[2])) * Pheight + 1) + (float(oneline[4])) * 0.5 * Pheight)ymaxContent = xmlBuilder.createTextNode(str(mathData))ymax.appendChild(ymaxContent)bndbox.appendChild(ymax)  # ymax标签结束object.appendChild(bndbox)  # bndbox标签结束annotation.appendChild(object)  # object标签结束f = open(xmlPath + name[0:-4] + ".xml", 'w')xmlBuilder.writexml(f, indent='\t', newl='\n', addindent='\t', encoding='utf-8')f.close()if __name__ == "__main__":picPath = "/home/aistudio/work/datasets/hit-uav/images/train/"txtPath = "/home/aistudio/work/datasets/hit-uav/labels/train/"xmlPath = "/home/aistudio/work/datasets/hit-uav/labels/Annotations/"if not os.path.exists(xmlPath):os.mkdir(xmlPath)makexml(picPath, txtPath, xmlPath)

3.2 整理数据

将数据转换完成后，我们按照训练集和测试集7:3的比例进行分割图片和标签，并按照voc的目录结构整理数据集，voc数据集目录如下:

dataset/xxx/
├── annotations
│   ├── xxx1.xml
│   ├── xxx2.xml
│   ├── xxx3.xml
│   |   ...
├── images
│   ├── xxx1.jpg
│   ├── xxx2.jpg
│   ├── xxx3.jpg
│   |   ...
├── label_list.txt (必须提供，且文件名称必须是label_list.txt )
├── train.txt (训练数据集文件列表, ./images/xxx1.jpg ./annotations/xxx1.xml)
└── valid.txt (测试数据集文件列表)

!cd /home/aistudio/work/datasets/hit-uav/images && rm -r test val && mv train/* ./ && rm -r train !cd /home/aistudio/work/datasets/hit-uav/labels && rm -r test val train && mv Annotations/* ./ && rm -r Annotations

使用脚本将数据集划分，参考脚本SplitData.py，制作train.txt与valid.txt:

import os
import random
imgs_path = r"/home/aistudio/work/datasets/hit-uav/images"  #所有数据图片
xmls_path = r"/home/aistudio/work/datasets/hit-uav/labels" #所有xml
save_path = r"/home/aistudio/work/datasets/hit-uav"def write_File(txt_path, imgsList):with open(txt_path, "w") as F:for img_name in imgsList:xml_name = img_name.split(".")[0] + ".xml"img_path = os.path.join(imgs_path, img_name)xml_path = os.path.join(xmls_path, xml_name)F.write(f"{img_path} {xml_path}\n")imgsList = os.listdir(imgs_path)
dataLen = len(imgsList)
rate = 0.7
trainNum = int(dataLen * rate)trainList = random.sample(imgsList,trainNum)
for name in trainList:imgsList.remove(name)
valList = imgsListtrain_txt_path = os.path.join(save_path, "train.txt")
val_txt_path = os.path.join(save_path, "valid.txt")write_File(train_txt_path, trainList)
write_File(val_txt_path, valList)

接着制作label_list.txt,label_list.txt主要是放标签的类别，这里参考dataset.yaml文件，直接写一个label_list.txt的文件即可，放在/home/aistudio/work/datasets/hit-uav目录下，至此，所有的txt都已经准备好了

!cp /home/aistudio/work/label_list.txt /home/aistudio/work/datasets/hit-uav/

4. 训练

4.1 选取模型

大致观察了一下数据集的内容，发现这个任务是一个比较简单目标检测的任务，我这里选用的是PP-YOLOE来进行训练

4.2 修改配置文件

对应的配置文件路径为configs/ppyoloe/voc/ppyoloe_plus_crn_s_30e_voc.yml,可以打开发现使用的voc配置文件路径为configs/datasets/voc.yml，将其中的数据集路径和类别改为自己数据集:

metric: VOC
map_type: 11point
num_classes: 5TrainDataset:name: VOCDataSetdataset_dir: /home/aistudio/work/datasets/hit-uavanno_path: train.txtlabel_list: label_list.txtdata_fields: ['image', 'gt_bbox', 'gt_class', 'difficult']EvalDataset:name: VOCDataSetdataset_dir: /home/aistudio/work/datasets/hit-uavanno_path: valid.txtlabel_list: label_list.txtdata_fields: ['image', 'gt_bbox', 'gt_class', 'difficult']TestDataset:name: ImageFolderanno_path: /home/aistudio/work/datasets/hit-uav/label_list.txt

4.3开始训练

训练命令参考如下:

!pip install pycocotools
!cd /home/aistudio/work/PaddleDetection-release-2.6 && python -m paddle.distributed.launch tools/train.py -c configs/ppyoloe/voc/ppyoloe_plus_crn_s_30e_voc.yml --eval

[03/27 17:46:39] ppdet.engine INFO: Epoch: [99] [  0/250] learning_rate: 0.000000 loss: 1.478661 loss_cls: 0.675399 loss_iou: 0.190062 loss_dfl: 0.650721 loss_l1: 0.242178 eta: 0:01:30 batch_cost: 0.3718 data_cost: 0.0218 ips: 21.5151 images/s
[03/27 17:47:28] ppdet.engine INFO: Epoch: [99] [100/250] learning_rate: 0.000000 loss: 1.461851 loss_cls: 0.679879 loss_iou: 0.182444 loss_dfl: 0.655111 loss_l1: 0.234927 eta: 0:00:54 batch_cost: 0.3825 data_cost: 0.0017 ips: 20.9153 images/s
[03/27 17:48:15] ppdet.engine INFO: Epoch: [99] [200/250] learning_rate: 0.000000 loss: 1.503901 loss_cls: 0.688840 loss_iou: 0.193698 loss_dfl: 0.650233 loss_l1: 0.251345 eta: 0:00:18 batch_cost: 0.3548 data_cost: 0.0011 ips: 22.5503 images/s
[03/27 17:48:38] ppdet.utils.checkpoint INFO: Save checkpoint: output/ppyoloe_plus_crn_s_30e_voc
[03/27 17:48:38] ppdet.engine INFO: Eval iter: 0
[03/27 17:48:55] ppdet.engine INFO: Eval iter: 100
[03/27 17:49:10] ppdet.engine INFO: Eval iter: 200
[03/27 17:49:12] ppdet.metrics.metrics INFO: Accumulating evaluatation results...
[03/27 17:49:14] ppdet.metrics.metrics INFO: mAP(0.50, 11point) = 76.57%
[03/27 17:49:14] ppdet.engine INFO: Total sample number: 860, average FPS: 25.12995198704822
[03/27 17:49:14] ppdet.engine INFO: Best test bbox ap is 0.766.
LAUNCH INFO 2023-03-27 17:49:18,173 Pod completed
LAUNCH INFO 2023-03-27 17:49:18,174 Exit code 0

4.4 开始评估

这里选用训练时综合表现最好的模型进行评估

# !pip install pycocotools
!cd /home/aistudio/work/PaddleDetection-release-2.6 && python tools/eval.py -c configs/ppyoloe/voc/ppyoloe_plus_crn_s_30e_voc.yml -o weights=output/ppyoloe_plus_crn_s_30e_voc/best_model.pdparams

评估结果如下:

W0327 22:50:30.666767   800 gpu_resources.cc:61] Please NOTE: device: 0, GPU Compute Capability: 7.0, Driver API Version: 11.2, Runtime API Version: 11.2
W0327 22:50:30.671360   800 gpu_resources.cc:91] device: 0, cuDNN Version: 8.2.
[03/27 22:50:33] ppdet.utils.checkpoint INFO: Finish loading model weights: output/ppyoloe_plus_crn_s_30e_voc/best_model.pdparams
[03/27 22:50:35] ppdet.engine INFO: Eval iter: 0
[03/27 22:50:46] ppdet.engine INFO: Eval iter: 100
[03/27 22:50:58] ppdet.engine INFO: Eval iter: 200
[03/27 22:50:59] ppdet.metrics.metrics INFO: Accumulating evaluatation results...
[03/27 22:51:01] ppdet.metrics.metrics INFO: mAP(0.50, 11point) = 76.60%
[03/27 22:51:01] ppdet.engine INFO: Total sample number: 860, average FPS: 32.777653149867966

4.5 开始预测

训练完成后，在/home/aistudio/work/PaddleDetection-release-2.6/output/ppyoloe_plus_crn_s_30e_voc路径下保存了训练之后的权重文件，我们使用表现最好的模型进行预测，预测命令参考如下:

# inference single image
!cd /home/aistudio/work/PaddleDetection-release-2.6 && CUDA_VISIBLE_DEVICES=0 python tools/infer.py -c configs/ppyoloe/voc/ppyoloe_plus_crn_s_30e_voc.yml -o weights=/home/aistudio/work/PaddleDetection-release-2.6/output/ppyoloe_plus_crn_s_30e_voc/best_model.pdparams --infer_img=/home/aistudio/work/datasets/hit-uav/images/0_100_80_0_08238.jpg

/opt/conda/envs/python35-paddle120-env/lib/python3.7/site-packages/matplotlib/__init__.py:107: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated, and in 3.8 it will stop workingfrom collections import MutableMapping
/opt/conda/envs/python35-paddle120-env/lib/python3.7/site-packages/matplotlib/rcsetup.py:20: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated, and in 3.8 it will stop workingfrom collections import Iterable, Mapping
/opt/conda/envs/python35-paddle120-env/lib/python3.7/site-packages/matplotlib/colors.py:53: DeprecationWarning: Using or importing the ABCs from 'collections' instead of from 'collections.abc' is deprecated, and in 3.8 it will stop workingfrom collections import Sized
Warning: Unable to use MOT metric, please install motmetrics, for example: `pip install motmetrics`, see https://github.com/longcw/py-motmetrics
Warning: Unable to use MCMOT metric, please install motmetrics, for example: `pip install motmetrics`, see https://github.com/longcw/py-motmetrics
Warning: import ppdet from source directory without installing, run 'python setup.py install' to install ppdet firstly
W0316 19:06:54.391429 28048 gpu_resources.cc:61] Please NOTE: device: 0, GPU Compute Capability: 7.0, Driver API Version: 11.2, Runtime API Version: 11.2
W0316 19:06:54.396050 28048 gpu_resources.cc:91] device: 0, cuDNN Version: 8.2.
[03/16 19:06:56] ppdet.utils.checkpoint INFO: Finish loading model weights: /home/aistudio/work/PaddleDetection-release-2.6/output/ppyoloe_plus_crn_s_30e_voc/best_model.pdparams
100%|█████████████████████████████████████████████| 1/1 [00:01<00:00,  1.30s/it]
[03/16 19:06:57] ppdet.engine INFO: Detection bbox results save in output/0_100_80_0_08238.jpg

t]
[03/16 19:06:57] ppdet.engine INFO: Detection bbox results save in output/0_100_80_0_08238.jpg

预测结果如下: