{"id":104116,"date":"2026-09-11T21:18:03","date_gmt":"2026-09-11T13:18:03","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/104116.html"},"modified":"2026-09-11T21:18:03","modified_gmt":"2026-09-11T13:18:03","slug":"%e4%bb%8e8400%e5%bc%a0%e5%8d%a1%e7%89%87%e5%88%b0%e7%94%bb%e6%a1%86%e7%94%a8c%e8%b7%91%e9%80%9ayolo%e5%a7%bf%e6%80%81%e6%a8%a1%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/104116.html","title":{"rendered":"\u4ece8400\u5f20\u5361\u7247\u5230\u753b\u6846\u7528c++\u8dd1\u901ayolo\u59ff\u6001\u6a21\u578b"},"content":{"rendered":"

\u4ece 8400 \u5f20\u5361\u7247\u5230\u753b\u51fa\u4e00\u4e2a\u6846：\u6211\u7528 C++ \u8dd1\u901a YOLO \u59ff\u6001\u6a21\u578b（\u88c5\u7532\u677f\u68c0\u6d4b\u90e8\u7f72\u5b9e\u5f55）<\/h2>\n

\u6458\u8981：\u628a\u8bad\u7ec3\u597d\u7684 YOLO26-pose \u88c5\u7532\u677f\u6a21\u578b\u5bfc\u51fa ONNX，\u518d\u7528 C++ + onnxruntime \u5b9e\u73b0"\u9884\u5904\u7406 \u2192 \u63a8\u7406 \u2192 \u89e3\u7801 \u2192 \u53bb\u91cd \u2192 \u753b\u6846"\u5168\u6d41\u7a0b，\u5e76\u8bb0\u5f55\u4e2d\u95f4\u8e29\u8fc7\u7684\u5751\u3002
\n\u73af\u5883：Ubuntu 22.04 \/ OpenCV 4.5.4 \/ onnxruntime 1.23.2（CPU \u63a8\u7406）\/ RTX 4060 Laptop（\u8bad\u7ec3\u7528）<\/p>\n

\n

\u4e00\u3001\u5f15\u5165\u80cc\u666f<\/h3>\n

\u5728\u4f20\u7edf\u7684 OpenCV \u5b58\u5728\u8bb8\u591a\u7f3a\u70b9，\u50cf\u662f\u4e25\u683c\u7684\u5bfc\u5e08，\u5fc5\u987b\u8981\u6bcf\u4e00\u9053\u9898\u76ee\u90fd\u505a\u5bf9\u3001\u6bcf\u4e00\u4e2a\u903b\u8f91\u90fd\u901a\u8fc7\u5408\u9002\u624d\u80fd\u8fdb\u5165\u8001\u5e08\u7684\u6cd5\u773c，\u6240\u4ee5\u5927\u591a\u6570\u7684\u5b66\u751f（\u4e5f\u5c31\u662f\u88c5\u7532\u677f）\u90fd\u4e0d\u80fd\u901a\u8fc7\u8001\u5e08\u7684\u8003\u8bd5，\u6210\u4e3a\u6211\u4eec\u4e16\u4fd7\u4e2d\u4f18\u79c0\u7684\u5b66\u751f\u2014\u2014\u4e0d\u5355\u5355\u6307\u7684\u662f\u88c5\u7532\u677f，\u8fd8\u6709\u6211\u4eec\u3002<\/p>\n

\u4e8e\u662f\u6709\u4e86 YOLO \u7684\u68c0\u6d4b，\u5b83\u53ef\u4ee5\u5c3d\u53ef\u80fd\u5730\u53d1\u73b0\u4e00\u4e9b\u6709\u6f5c\u80fd\u7684\u5b66\u751f，\u800c\u4e0d\u662f\u7528\u4e00\u5806\u6b7b\u677f\u7684\u516b\u80a1\u6587\u6765\u675f\u7f1a\u4f60\u4eec，\u4ece\u800c OpenCV \u4e25\u683c\u7684\u5bfc\u5e08\u53ea\u9700\u8981\u68c0\u6d4b\u6700\u91cd\u8981\u7684\u90e8\u5206，\u800c\u4e0d\u662f"\u6b7b\u677f\u7684"\u6761\u6761\u6846\u6846\u3002<\/p>\n

\u6ce8：\u5e76\u4e0d\u662f\u8bf4 OpenCV \u843d\u540e\u7684\u610f\u601d，\u5728 OpenCV \u7684\u9608\u503c\u6cd5\u91cc\u9762\u9c81\u68d2\u6027\u592a\u5dee\u4e86，\u8fd9\u91cc\u53ea\u505a\u4e00\u4e2a\u7c7b\u6bd4，\u6ca1\u6709\u522b\u7684\u610f\u601d\u3002<\/p>\n

\u56e0\u4e3a\u662f\u8dd1\u5728\u673a\u5668\u4eba\u4e0a\u4f4d\u673a\u7b49\u7b49\u4e0a\u9762，\u6240\u4ee5\u7528 C++ \u662f\u4e3b\u6d41\u7684\u90e8\u7f72\u65b9\u5f0f\u3002<\/p>\n

.pt \u6587\u4ef6\u53ea\u6709 ultralytics \u624d\u80fd\u8bfb\u61c2，.onnx \u662f\u901a\u7528\u683c\u5f0f\u2014\u2014\u8f6c\u5316\u901a\u7528\u683c\u5f0f\u8fd9\u4e00\u70b9\u9700\u8981\u4e00\u76f4\u6ce8\u610f，\u540e\u9762\u4f1a\u63d0\u53ca\u5f88\u591a\u6b21\u3002<\/p>\n

\u8f7b\u5219\u62a5\u9519，\u91cd\u7684\u6839\u672c\u5f88\u96be\u6392\u67e5\u51fa\u539f\u56e0，\u5c31\u6bd4\u5982\u4ee5\u524d\u6392\u67e5\u89d2\u5ea6\u7684 armor.angle \u7684\u90a3\u4e00\u6b21\u62a5\u9519，\u4e5f\u662f\u5f88\u68d8\u624b\u7684\u3002<\/p>\n

\n

\u4e8c\u3001\u8f93\u5165：\u6a21\u578b\u5403\u4ec0\u4e48\u6837\u7684\u56fe<\/h3>\n

\u6211\u4eec\u8f93\u5165\u4e00\u4e2a\u5f20\u91cf\u2014\u2014\u4e0d\u9700\u8981\u7ba1\u4e3a\u4ec0\u4e48\u53eb\u505a\u5f20\u91cf，\u628a\u5b83\u60f3\u6210\u4e00\u4e2a"\u6253\u5305"\u7684\u610f\u601d\u5c31\u53ef\u4ee5\u4e86：<\/p>\n

{ 1 \u5f20\u56fe\u7247, 3 \u4e2a\u901a\u9053, 640 x 640 }<\/p>\n

\u56e0\u4e3a\u9700\u8981\u628a\u56fe\u7247\u6253\u5305\u6210\u6a21\u578b\u4eec\u7edf\u4e00\u7684\u7167\u7247，\u6240\u4ee5\u624d\u8fdb\u884c\u4ee5\u4e0b\u7684\u9884\u5904\u7406\u9636\u6bb5\u3002\u540c\u65f6\u6709\u5f88\u591a\u60c5\u51b5\u662f\u9075\u5faa\u4e00\u81f4\u6027\u539f\u5219\u7684\u3002<\/p>\n

letterbox：\u7b49\u6bd4\u7f29\u653e\u5230 640\u00d7640 \u4ee5\u5185，\u5c0f\u4e8e 640 \u5c31\u7528 114 \u8865\u9f50\u7070\u8fb9<\/h4>\n

\u8fd9\u4e5f\u662f\u7edf\u4e00\u6027\u539f\u5219\u2014\u2014\u8bad\u7ec3\u662f\u8fd9\u4e2a\u5927\u5c0f\u8bad\u7ec3，\u90a3\u4e48\u90e8\u7f72\u4e5f\u662f\u3002<\/p>\n

\/\/ \u7b49\u6bd4\u7f29\u653e + \u7070\u8fb9，\u8fd4\u56de 640×640 \u7684\u753b\u5e03（\u9884\u5904\u7406\u548c\u753b\u56fe\u5171\u7528\u540c\u4e00\u5f20）<\/span>
\ncv::<\/span>Mat makeLetterbox<\/span>(<\/span>const<\/span> cv::<\/span>Mat&<\/span> img,<\/span> float<\/span>&<\/span> scaleOut)<\/span> {<\/span>
\n const<\/span> float<\/span> scale =<\/span> std::<\/span>min<\/span>(<\/span>(<\/span>float<\/span>)<\/span>kInputSize \/<\/span> img.<\/span>cols,<\/span>
\n (<\/span>float<\/span>)<\/span>kInputSize \/<\/span> img.<\/span>rows)<\/span>;<\/span> \/\/ \u53d6\u5c0f\u7684，\u4fdd\u8bc1\u6574\u56fe\u88c5\u5f97\u4e0b<\/span>
\n scaleOut =<\/span> scale;<\/span> \/\/ \u8fd8\u8d26\u65f6\u8981\u7528\u8fd9\u4e2a\u500d\u6570<\/span>
\n cv::<\/span>Mat resized;<\/span>
\n cv::<\/span>resize<\/span>(<\/span>img,<\/span> resized,<\/span> cv::<\/span>Size<\/span>(<\/span>cvRound<\/span>(<\/span>img.<\/span>cols *<\/span> scale)<\/span>,<\/span>
\n cvRound<\/span>(<\/span>img.<\/span>rows *<\/span> scale)<\/span>)<\/span>)<\/span>;<\/span>
\n cv::<\/span>Mat canvas<\/span>(<\/span>kInputSize,<\/span> kInputSize,<\/span> CV_8UC3,<\/span>
\n cv::<\/span>Scalar<\/span>(<\/span>kPadValue,<\/span> kPadValue,<\/span> kPadValue)<\/span>)<\/span>;<\/span> \/\/ \u7070\u8fb9 114<\/span>
\n resized.<\/span>copyTo<\/span>(<\/span>canvas<\/span>(<\/span>cv::<\/span>Rect<\/span>(<\/span>0<\/span>,<\/span> 0<\/span>,<\/span> resized.<\/span>cols,<\/span> resized.<\/span>rows)<\/span>)<\/span>)<\/span>;<\/span>
\n return<\/span> canvas;<\/span>
\n}<\/span><\/p>\n

BGR \u2192 RGB \u8f6c\u5316\u4e5f\u662f\u540c\u7406\u7684（\u4e00\u81f4\u6027\u539f\u5219）<\/h4>\n

HWC \u8f6c\u5316\u6210 CHW \u662f\u4e00\u4e2a\u91cd\u70b9<\/h4>\n

\u8bf4\u7684\u662f\u4e00\u4e2a\u56fe\u7247\u7531 3 \u4e2a\u989c\u8272\u7ec4\u6210，\u4e5f\u5c31\u662f 3 \u539f\u8272\u7ec4\u6210\u7684，\u4f46\u662f\u673a\u5668\u4e0d\u80fd\u540c\u65f6\u8bc6\u522b，\u56e0\u4e3a\u8fd9\u662f 3 \u4e2a\u989c\u8272\u7684\u5e95\u7247\u91cd\u5408\u8d77\u6765\u624d\u7ec4\u6210\u7684\u771f\u5b9e\u56fe\u7247\u5f62\u6210\u7684\u6837\u5b50，\u673a\u5668\u770b\u4e0d\u61c2，\u673a\u5668\u53ea\u4f1a\u5b66\u4e60\u5176\u4e2d\u7684\u89c4\u5f8b，\u5f53\u7136\u53ea\u80fd\u4e00\u4e2a\u989c\u8272\u4e00\u4e2a\u989c\u8272\u5730\u770b，\u6240\u4ee5\u8981\u628a\u4e00\u5f20\u56fe\u7247\u62c6\u5f00，\u62c6\u6210 3 \u4e2a\u5e95\u8272\u30013 \u5f20\u56fe\u7247，\u5206\u522b\u662f RGB \u7684\u989c\u8272，\u518d\u7ed9\u673a\u5668\u8fdb\u884c\u5b66\u4e60\u3002<\/p>\n

\u4e13\u4e1a\u7684\u8bf4\u6cd5\u5c31\u53eb\u505a：\u5377\u79ef\u662f\u6309\u7167\u901a\u9053\u7684\u9762\u6765\u8fdb\u884c\u8ba1\u7b97\u7684，\u5728\u8fd9\u91cc\u662f 3 \u4e2a\u9762，\u5206\u6210 3 \u4e2a\u9762\u5c31\u66f4\u52a0\u7b26\u5408\u6846\u67b6\u7684\u89c4\u5b9a，\u8bfb\u5199\u4e5f\u66f4\u52a0\u9ad8\u6548\u3002<\/p>\n

\/\/ BGR->RGB + \u9664\u4ee5 255 + HWC->CHW（\u6309\u989c\u8272\u5206\u4e09\u518c）<\/span>
\nstd::<\/span>vector<<\/span>float<\/span>><\/span> toTensor<\/span>(<\/span>const<\/span> cv::<\/span>Mat&<\/span> bgrCanvas)<\/span> {<\/span>
\n cv::<\/span>Mat rgb;<\/span>
\n cv::<\/span>cvtColor<\/span>(<\/span>bgrCanvas,<\/span> rgb,<\/span> cv::<\/span>COLOR_BGR2RGB)<\/span>;<\/span><\/p>\n

std::<\/span>vector<<\/span>float<\/span>><\/span> input<\/span>(<\/span>3<\/span> *<\/span> kInputSize *<\/span> kInputSize)<\/span>;<\/span>
\n for<\/span> (<\/span>int<\/span> c =<\/span> 0<\/span>;<\/span> c <<\/span> 3<\/span>;<\/span> ++<\/span>c)<\/span> \/\/ c = \u7b2c\u51e0\u672c\u518c\u5b50（0\u7ea2 1\u7eff 2\u84dd）<\/span>
\n for<\/span> (<\/span>int<\/span> y =<\/span> 0<\/span>;<\/span> y <<\/span> kInputSize;<\/span> ++<\/span>y)<\/span>
\n for<\/span> (<\/span>int<\/span> x =<\/span> 0<\/span>;<\/span> x <<\/span> kInputSize;<\/span> ++<\/span>x)<\/span>
\n input[<\/span>c *<\/span> kInputSize *<\/span> kInputSize +<\/span> y *<\/span> kInputSize +<\/span> x]<\/span>
\n =<\/span> rgb.<\/span>at<\/span><<\/span>cv::<\/span>Vec3b><\/span><\/span><\/span>(<\/span>y,<\/span> x)<\/span>[<\/span>c]<\/span> \/<\/span> kNormScale;<\/span>
\n return<\/span> input;<\/span>
\n}<\/span><\/p>\n

\u6700\u540e\u9664\u4ee5 255 \u5f52\u4e00\u5316<\/h4>\n

\u4e3a\u4e86\u7edf\u4e00\u5c3a\u5ea6，\u4e5f\u4f7f\u5f97\u63a8\u7406\u548c\u8bad\u7ec3\u7684\u6570\u636e\u503c\u4fdd\u6301\u4e00\u81f4，\u6700\u540e\u7edf\u4e00\u9664\u4ee5 255，\u89c2\u5bdf 0~1 \u7684\u53d8\u5316\u66f4\u52a0\u53ef\u89c2\u3002<\/p>\n

\n

\u4e09\u3001\u8f93\u51fa：26 \u00d7 8400 \u5230\u5e95\u600e\u4e48\u8bfb<\/h3>\n

\u597d\u5947 8400 \u600e\u4e48\u6765\u7684？\u9996\u5148\u6211\u5217\u51fa：<\/p>\n

8400 = 80 x 80 + 40 x 40 + 20 x 20<\/p>\n

\u56e0\u4e3a\u6211\u4eec\u8bc6\u522b\u7684\u65f6\u5019\u5c31\u628a\u4e00\u5f20\u56fe\u7247\u5212\u5206\u6210\u50cf\u7d20\u70b9\u96c6\u5408\u3002\u6bd4\u5982\u4e00\u4e2a\u56fe\u7247\u8f93\u5165\u662f 640\u00d7640 \u7684\u8bdd，\u6211\u4eec\u6309\u7167\u4e00\u4e2a\u50cf\u7d20\u70b9\u4e3a\u5355\u4f4d\u90a3\u5c31\u5f88\u7ec6\u5316\u5206\u7c7b\u4e86，\u8bad\u7ec3\u8d77\u6765\u4f1a\u5f88\u4e45，\u6211\u7684\u7834\u7535\u8111\u4e5f\u8dd1\u4e0d\u52a8\u3002<\/p>\n

\u4e8e\u662f\u5c31\u51fa\u73b0\u4e86\u5212\u5206\u7684\u65b9\u6cd5，\u6309\u7167\u5927\u3001\u4e2d\u3001\u5c0f\u7684\u5f62\u5f0f\u6765\u5212\u5206，\u5206\u522b\u5bf9\u5e94 20\u300140\u300180\u3002\u56e0\u4e3a\u6309\u7167\u8f83\u5c11\u7684\u50cf\u7d20\u5212\u5206\u7684\u8bdd，\u5f97\u51fa\u6765\u7684\u4fe1\u606f\u66f4\u5927，\u6240\u4ee5\u662f 80\u3002<\/p>\n

\u90a3\u4e48\u4e3a\u4ec0\u4e48\u8fd9\u6837\u5206\u5462？\u68c0\u6d4b\/\u673a\u5668\u5b66\u4e60\u7684\u8fc7\u7a0b，\u628a\u4e00\u5f20\u56fe\u7247\u5206\u6210\u4e0d\u540c\u5c3a\u5ea6\u7684\u5224\u65ad，\u8fd9\u91cc\u4e3b\u8981\u662f\u4e3a\u4e86\u4e0d\u6f0f\u6389\u5927\u3001\u4e2d\u3001\u5c0f\u7684\u76ee\u6807\u5c3a\u5bf8\u3002<\/p>\n

\u8fd9\u6837\u76f8\u5f53\u4e8e\u8bad\u7ec3\u4e86 3 \u6b21（\u5e76\u4e0d\u662f），\u53ea\u662f\u4e00\u4efd\u4e3b\u5e72\u7684\u8bad\u7ec3\u6709 3 \u4e2a\u5c3a\u5ea6\u7684\u5224\u65ad\u89c4\u5219，\u6216\u8005\u8bf4 3 \u4e2a\u6444\u50cf\u5934，\u53ef\u4ee5\u8bc6\u522b\u8fd9\u4e2a\u7269\u4f53\u5728\u4e0d\u540c\u5c3a\u5ea6\u4e0b\u7684\u6837\u5b50，\u8bc6\u522b\u51fa\u6765，\u5f88\u5de7\u5999\u7684\u60f3\u6cd5\u3002<\/p>\n

\u8fd8\u6709\u4e3a\u4ec0\u4e48\u662f 26 \u00d7 8400 \u5462？26 \u662f\u54ea\u91cc\u6765\u7684？<\/h4>\n

26 = 4 + 14 + 8<\/p>\n

\u4e0b\u9762\u6765\u89e3\u91ca：<\/p>\n\n\u884c\u53f7（\u4ece 0 \u5f00\u59cb\u6570）\u5185\u5bb9\u8bf4\u660e<\/tr>\n\n\n\n\n
0 ~ 3<\/td>\ncx, cy, w, h<\/td>\n\u6846：\u4e2d\u5fc3 x\u3001\u4e2d\u5fc3 y\u3001\u5bbd\u3001\u9ad8<\/td>\n<\/tr>\n
4 ~ 17<\/td>\n14 \u4e2a\u88c5\u7532\u677f\u7c7b\u522b\u7684\u5206\u6570<\/td>\n\u5206\u6570\u8303\u56f4\u662f 0~1，\u6570\u5b57\u8d8a\u5927\u8bf4\u660e\u628a\u63e1\u8d8a\u5927（\u7f6e\u4fe1\u5ea6 conf）<\/td>\n<\/tr>\n
18 ~ 25<\/td>\n8 \u4e2a\u89d2\u70b9\u5750\u6807<\/td>\n\u5206\u522b\u662f\u5de6\u4e0a\u3001\u5de6\u4e0b\u3001\u53f3\u4e0b\u3001\u53f3\u4e0a（\u9006\u65f6\u9488），\u6bcf\u4e2a\u70b9\u6709 xy，\u6240\u4ee5\u662f 4\u00d72<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u7c7b\u53f7 = \u884c\u53f7 \u2212 4（\u56e0\u4e3a\u524d\u9762 4 \u884c\u662f\u6846）\u3002<\/p>\n

\u90a3\u5230\u65f6\u5019\u600e\u4e48\u53d6\u51fa\u5462？<\/h4>\n

\u6309\u7167\u76ee\u524d\u7684\u903b\u8f91，\u5b83\u50cf\u662f\u4e00\u4e2a\u77e9\u9635，\u4e5f\u5c31\u662f 26 \u884c 8400 \u5217\u3002\u653e\u5728\u7a0b\u5e8f\u91cc\u9762\u6211\u4eec\u9700\u8981\u5b83\u53d8\u6210 vector \u7c7b\u578b\u7684\u683c\u5f0f（vector<int> \u90a3\u79cd），\u628a\u4e00\u4e2a\u77e9\u9635\u53d8\u6210\u4e00\u884c\u7684\u6570\u636e，\u4e5f\u5c31\u662f\u628a\u6bcf\u4e00\u884c\u5f80\u524d\u9762\u6392\u3001\u6392\u6210\u4e00\u957f\u4e32\u3002<\/p>\n

\u5f88\u62bd\u8c61，\u4f46\u662f\u770b\u8fd9\u4e2a\u89e3\u6cd5\u2014\u2014\u53d6\u7b2c k \u884c\u7b2c i \u5217\u7684\u5199\u6cd5：<\/p>\n

\/\/ p \u662f\u90a3\u4e32\u6570\u5b57\u7684\u8d77\u70b9，total = 8400<\/span>
\np[<\/span>k *<\/span> total +<\/span> i]<\/span><\/p>\n

k * total \u4e5f\u5c31\u662f k * 8400，\u5f97\u51fa\u5230\u8fbe\u539f\u6765\u7684\u591a\u5c11\u884c；i \u662f\u539f\u6765\u7684\u591a\u5c11\u5217\u6570\u3002\u95ed\u4e0a\u773c\u775b\u60f3\u4e00\u60f3\u5c31\u53ef\u4ee5\u77e5\u9053，\u6211\u89c9\u5f97\u8fd9\u4e2a\u5f88\u5de7\u5999\u3002<\/p>\n

\u7a0b\u5e8f\u5c31\u662f\u628a\u903b\u8f91\u6982\u5ff5\u7ffb\u8bd1\u6210\u903b\u8f91\u8bed\u8a00，\u518d\u7ffb\u8bd1\u6210\u4f2a\u4ee3\u7801\u7684\u8bed\u8a00，\u6700\u540e\u53d8\u6210\u4ee3\u7801\u3002<\/p>\n

\n

\u56db\u3001\u89e3\u7801：\u8bfb\u5361 + \u7b5b\u5361<\/h3>\n

\u524d\u9762\u6211\u4eec\u77e5\u9053\u4e86 26 \u00d7 8400 \u7684\u7ed3\u6784，\u5230\u4e86\u73b0\u5728\u6211\u4eec\u8981\u8bfb\u53d6\u91cc\u9762\u7684\u6570\u636e\u5e76\u4e14\u7b5b\u9009\u51fa\u6765\u3002\u4ee3\u7801\u662f\u9009\u62e9\u91cc\u9762\u7684 14 \u4e2a\u7c7b\u522b\u7684\u7f6e\u4fe1\u5ea6\u6765\u7b5b\u9009\u7684\u3002<\/p>\n

P \u548c R \u7684"\u6027\u683c\u6309\u94ae"<\/h4>\n
    \n
  • P（\u7cbe\u786e\u7387）：\u62a5\u51fa\u6765\u7684\u4e1c\u897f\u91cc\u9762，\u771f\u7684\u5bf9\u7684\u6bd4\u4f8b\u5c31\u662f \u2192 \u5173\u6ce8\u8bef\u62a5<\/li>\n
  • R（\u53ec\u56de\u7387）：\u771f\u5b9e\u5b58\u5728\u7684\u677f\u5b50\u91cc\u9762，\u6211\u6293\u5230\u4e86\u591a\u5c11\u4e2a \u2192 \u5173\u6ce8\u6f0f\u62a5<\/li>\n<\/ul>\n

    \u5982\u679c conf \u8c03\u4f4e，R \u4e0a\u5347，\u6f0f\u7684\u5c11\u4e86，\u4f46\u662f P \u5c0f；\u540c\u7406\u53ef\u5f97，conf \u9ad8，P \u9ad8，\u4f46\u662f\u6f0f\u6389\u7684\u591a\u4e86\u5f88\u591a\u3002<\/p>\n

    \u4ee3\u7801\u8981\u5b9e\u73b0 2 \u5c42\u5faa\u73af（\u4e3a\u4ec0\u4e48\u662f 2 \u5c42？）<\/h4>\n

    \u8c03\u7528\u7684\u903b\u8f91\u548c\u4e0a\u9762\u7684\u8f93\u51fa\u4e00\u6837，\u7528 p[(4+k)*total + i] \u6765\u8c03\u7528\u3002<\/p>\n

    3 \u5c42\u7684\u5faa\u73af\u662f\u5728 toTensor \u91cc\u9762；\u89e3\u7801\u662f\u83b7\u5f97 conf \u7684，\u4e5f\u5c31\u662f\u77e5\u9053\u662f 14 \u7c7b\u522b\u91cc\u9762\u7684\u54ea\u4e00\u4e2a，\u7136\u540e\u89e3\u5f00\u770b（\u54e8\u4f4d i \u00d7 \u7c7b\u522b k）\u3002<\/p>\n

    \/\/ \u89e3\u7801：\u8bfb 8400 \u5f20\u5361，\u7b5b\u51fa\u5019\u9009<\/span>
    \nstd::<\/span>vector<<\/span>Det><\/span> decode<\/span>(<\/span>const<\/span> float<\/span>*<\/span> p,<\/span> int64_t<\/span> total)<\/span> {<\/span>
    \n std::<\/span>vector<<\/span>Det><\/span> dets;<\/span>
    \n for<\/span> (<\/span>int64_t<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> total;<\/span> ++<\/span>i)<\/span> {<\/span> \/\/ \u54e8\u4f4d i<\/span>
    \n float<\/span> best =<\/span> 0.f<\/span>;<\/span> int<\/span> bestCls =<\/span> –<\/span>1<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> k =<\/span> 0<\/span>;<\/span> k <<\/span> kNumClasses;<\/span> ++<\/span>k)<\/span> {<\/span> \/\/ \u7c7b\u522b k<\/span>
    \n const<\/span> float<\/span> score =<\/span> p[<\/span>(<\/span>kClassRow0 +<\/span> k)<\/span> *<\/span> total +<\/span> i]<\/span>;<\/span>
    \n if<\/span> (<\/span>score ><\/span> best)<\/span> {<\/span> best =<\/span> score;<\/span> bestCls =<\/span> k;<\/span> }<\/span>
    \n }<\/span>
    \n if<\/span> (<\/span>best <<\/span> kConfThr)<\/span> {<\/span> continue<\/span>;<\/span> }<\/span> \/\/ \u628a\u63e1\u4e0d\u591f \u2192 \u4e22\u6389<\/span>
    \n Det d;<\/span>
    \n d.<\/span>conf =<\/span> best;<\/span> d.<\/span>cls =<\/span> bestCls;<\/span>
    \n d.<\/span>cx =<\/span> p[<\/span>0<\/span> *<\/span> total +<\/span> i]<\/span>;<\/span> d.<\/span>cy =<\/span> p[<\/span>1<\/span> *<\/span> total +<\/span> i]<\/span>;<\/span>
    \n d.<\/span>w =<\/span> p[<\/span>2<\/span> *<\/span> total +<\/span> i]<\/span>;<\/span> d.<\/span>h =<\/span> p[<\/span>3<\/span> *<\/span> total +<\/span> i]<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> k =<\/span> 0<\/span>;<\/span> k <<\/span> kKptRows;<\/span> ++<\/span>k)<\/span>
    \n d.<\/span>kpts[<\/span>k]<\/span> =<\/span> p[<\/span>(<\/span>kKptRow0 +<\/span> k)<\/span> *<\/span> total +<\/span> i]<\/span>;<\/span>
    \n dets.<\/span>push_back<\/span>(<\/span>d)<\/span>;<\/span>
    \n }<\/span>
    \n return<\/span> dets;<\/span>
    \n}<\/span><\/p>\n

    conf \u8c03\u8282\u4fe1\u5fc3：conf \u8d8a\u5c0f\u7684\u8bdd，\u901a\u8fc7\u7684\u5019\u9009\u8005\u5c31\u66f4\u52a0\u591a\u4e86（\u53ec\u56de\u591a\u4e86，\u8bef\u62a5\u4e5f\u591a\u4e86）；\u8d8a\u5927\u7684\u8bdd（\u7cbe\u786e\u5ea6\u9ad8\u4e86，\u4f46\u662f\u6f0f\u62a5\u7684\u8d8a\u591a）\u3002\u8fd9\u662f\u4e00\u4e2a\u503c\u5f97\u6743\u8861\u7684\u70b9\u3002<\/p>\n

    \n

    \u4e94\u3001\u53bb\u91cd\u590d：IoU \u4e0e NMS<\/h3>\n

    \u56e0\u4e3a\u6709\u5927\u3001\u4e2d\u3001\u5c0f 3 \u5c42\u7684\u7b5b\u9009\u54e8\u5175\u6765\u5224\u65ad，\u5b66\u4e60\u7ed9\u6211\u4eec\u7684\u7ed3\u679c\u91cc，\u591a\u4e2a\u8bc6\u522b\u7ec4\u7ed9\u6211\u4eec\u7684\u53ef\u80fd\u662f\u540c\u4e00\u7c7b\u522b\u7684\u677f\u5b50，\u9700\u8981\u7528 IoU \u6765\u5224\u65ad\u662f\u4e0d\u662f\u540c\u4e00\u4e2a\u3002\u592a\u591a\u91cd\u590d\u7684\u4f1a\u5f71\u54cd\u540e\u9762\u7684\u5224\u65ad，\u592a\u591a\u91cd\u590d\u7684（\u4e5f\u5c31\u662f IoU \u91cd\u5408\u5ea6\u9ad8\u7684）\u4f1a\u5f71\u54cd\u5224\u65ad\u3002<\/p>\n

    \u4e0e conf \u662f\u76f8\u53cd\u7684：\u9996\u5148 IoU \u4e0d\u662f\u7b5b\u9009，\u53ea\u662f\u5224\u65ad\u662f\u5426\u6307\u5411\u540c\u4e00\u4e2a\u65b9\u5411\u7684\u610f\u601d，\u4e5f\u5c31\u662f\u662f\u5426\u540c\u7c07\u7684\u610f\u601d\u3002<\/p>\n

    \u6211\u7684\u9009\u62e9\u662f：\u7ecf\u8fc7\u6392\u5e8f\u4e4b\u540e\u518d\u9009\u62e9 top2\u3002\u5728\u4e00\u7fa4\u6570\u636e\u96c6\u5408\u4e2d\u53ea\u9009\u62e9 2 \u4e2a\u5c31\u884c，\u8fd9\u6837\u65e2\u4fdd\u5b58\u4e86\u4e00\u5b9a\u7684\u6837\u672c，\u53c8\u8d77\u5230\u7b5b\u9009\u4f5c\u7528\u3002\u5982\u679c\u53ea\u6709\u4e00\u4e2a\u7684\u8bdd\u6837\u672c\u592a\u5c11\u4e86，\u6211\u89c9\u5f97 2~3 \u4e2a\u5de6\u53f3\u6700\u597d\u2014\u2014\u9700\u8981\u9884\u7559\u51e0\u4e2a\u7ed9\u5230 OpenCV \u6765\u8fdb\u884c\u7b5b\u9009\u3002<\/p>\n

    \/\/ IoU：\u4e24\u4e2a\u6846\u7684\u91cd\u5408\u5ea6（0~1）<\/span>
    \nfloat<\/span> iou<\/span>(<\/span>const<\/span> Det&<\/span> a,<\/span> const<\/span> Det&<\/span> b)<\/span> {<\/span>
    \n const<\/span> float<\/span> ax1 =<\/span> a.<\/span>cx –<\/span> a.<\/span>w\/<\/span>2<\/span>,<\/span> ay1 =<\/span> a.<\/span>cy –<\/span> a.<\/span>h\/<\/span>2<\/span>;<\/span>
    \n const<\/span> float<\/span> ax2 =<\/span> a.<\/span>cx +<\/span> a.<\/span>w\/<\/span>2<\/span>,<\/span> ay2 =<\/span> a.<\/span>cy +<\/span> a.<\/span>h\/<\/span>2<\/span>;<\/span>
    \n const<\/span> float<\/span> bx1 =<\/span> b.<\/span>cx –<\/span> b.<\/span>w\/<\/span>2<\/span>,<\/span> by1 =<\/span> b.<\/span>cy –<\/span> b.<\/span>h\/<\/span>2<\/span>;<\/span>
    \n const<\/span> float<\/span> bx2 =<\/span> b.<\/span>cx +<\/span> b.<\/span>w\/<\/span>2<\/span>,<\/span> by2 =<\/span> b.<\/span>cy +<\/span> b.<\/span>h\/<\/span>2<\/span>;<\/span>
    \n const<\/span> float<\/span> ix1 =<\/span> std::<\/span>max<\/span>(<\/span>ax1,<\/span> bx1)<\/span>,<\/span> iy1 =<\/span> std::<\/span>max<\/span>(<\/span>ay1,<\/span> by1)<\/span>;<\/span>
    \n const<\/span> float<\/span> ix2 =<\/span> std::<\/span>min<\/span>(<\/span>ax2,<\/span> bx2)<\/span>,<\/span> iy2 =<\/span> std::<\/span>min<\/span>(<\/span>ay2,<\/span> by2)<\/span>;<\/span>
    \n const<\/span> float<\/span> iw =<\/span> std::<\/span>max<\/span>(<\/span>0.f<\/span>,<\/span> ix2 –<\/span> ix1)<\/span>,<\/span> ih =<\/span> std::<\/span>max<\/span>(<\/span>0.f<\/span>,<\/span> iy2 –<\/span> iy1)<\/span>;<\/span>
    \n const<\/span> float<\/span> inter =<\/span> iw *<\/span> ih;<\/span>
    \n const<\/span> float<\/span> uni =<\/span> (<\/span>ax2–<\/span>ax1)<\/span>*<\/span>(<\/span>ay2–<\/span>ay1)<\/span> +<\/span> (<\/span>bx2–<\/span>bx1)<\/span>*<\/span>(<\/span>by2–<\/span>by1)<\/span> –<\/span> inter;<\/span>
    \n return<\/span> (<\/span>uni ><\/span> 0.f<\/span>)<\/span> ?<\/span> inter \/<\/span> uni :<\/span> 0.f<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ NMS（\u5bbd\u677e\u7248）：\u6bcf\u7c07\u6700\u591a\u7559 kKeepTop \u4e2a\u5019\u9009（dets \u5df2\u6309 conf \u964d\u5e8f）<\/span>
    \nstd::<\/span>vector<<\/span>int<\/span>><\/span> nmsTopK<\/span>(<\/span>const<\/span> std::<\/span>vector<<\/span>Det><\/span>&<\/span> dets)<\/span> {<\/span>
    \n std::<\/span>vector<<\/span>int<\/span>><\/span> kept;<\/span>
    \n for<\/span> (<\/span>size_t i =<\/span> 0<\/span>;<\/span> i <<\/span> dets.<\/span>size<\/span>(<\/span>)<\/span>;<\/span> ++<\/span>i)<\/span> {<\/span>
    \n int<\/span> sameCluster =<\/span> 0<\/span>;<\/span>
    \n for<\/span> (<\/span>int<\/span> idx :<\/span> kept)<\/span>
    \n if<\/span> (<\/span>iou<\/span>(<\/span>dets[<\/span>i]<\/span>,<\/span> dets[<\/span>idx]<\/span>)<\/span> ><\/span> kIouThr)<\/span> {<\/span> ++<\/span>sameCluster;<\/span> }<\/span>
    \n if<\/span> (<\/span>sameCluster <<\/span> kKeepTop)<\/span> {<\/span> kept.<\/span>push_back<\/span>(<\/span>(<\/span>int<\/span>)<\/span>i)<\/span>;<\/span> }<\/span>
    \n }<\/span>
    \n return<\/span> kept;<\/span>
    \n}<\/span><\/p>\n

    \u8bb0\u4e00\u6761\u7ed3\u8bba：IoU \u9608\u503c\u65b9\u5411\u548c conf \u76f8\u53cd\u2014\u2014IoU \u662f"\u8d85\u8fc7\u9608\u503c\u5c31\u5220\u9664"，\u6240\u4ee5\u9608\u503c\u8d8a\u9ad8\u8d8a\u5c11\u5220\u3001\u7559\u5f97\u8d8a\u591a\u3002<\/p>\n

    \n

    \u516d\u3001\u5de5\u7a0b\u5316：\u628a\u4ee3\u7801\u62c6\u6210\u6a21\u5757<\/h3>\n

    \u6570\u636e\u6d41\u5411\u662f：<\/p>\n

    makeLetterbox \u2192 toTensor \u2192 \u6a21\u578b \u2192 decode \u2192 sort\/nmsTopK \u2192 draw<\/p>\n

    \u6bcf\u4e00\u6b21\u91cd\u6784\u4ee3\u7801\u7684\u65f6\u5019\u90fd\u8981\u60f3\u6e05\u695a：\u5206\u6a21\u5757\u7684\u8f93\u5165\u4ec0\u4e48\u3001\u8f93\u51fa\u662f\u4ec0\u4e48\u3001\u51fd\u6570\u8d77\u5230\u4ec0\u4e48\u4f5c\u7528\u3001\u9700\u8981\u5b8c\u6210\u4ec0\u4e48\u5177\u4f53\u903b\u8f91\u3002<\/p>\n

    \u4f7f\u4ee3\u7801\u66f4\u52a0\u7b80\u6d01\u548c\u66f4\u5bb9\u6613\u7406\u89e3，\u4e0d\u4f1a\u6709\u5197\u4f59\u7684\u611f\u89c9\u3002<\/p>\n

    \n

    \u4e03\u3001\u4f5c\u8005\u81ea\u5df1\u9047\u5230\u7684\u95ee\u9898（\u8e29\u5751\u5408\u96c6）<\/h3>\n
  • \n

    \u5728 onnxruntime \u63a8\u7406\u7684\u65f6\u5019，\u8981\u6c42\u9700\u8981\u5b89\u88c5 CUDA12 \u5168\u90e8；\u8bad\u7ec3\u7684 torch \u81ea\u5e26\u7684 13，\u7248\u672c\u53ea\u662f\u5dee\u4e86\u4e00\u4e2a\u6570\u5b57，\u5c31\u627e\u4e0d\u5230\u5e93\u4e86，\u76f4\u63a5\u3002<\/p>\n<\/li>\n

  • \n

    \u62a5\u9519 libonnxruntime.so.1 \u627e\u4e0d\u5230，\u662f\u56e0\u4e3a\u6709 SONAME \u5c0f\u540d\u3002\u52a8\u6001\u5e93\u91cc\u9762\u5185\u90e8\u767b\u8bb0\u7684\u4e00\u4e2a\u5c0f\u540d\u53eb\u505a SONAME，\u6bd4\u5982 libonnxruntime.so.1，\u7a0b\u5e8f\u8fd0\u884c\u65f6\u53ea\u8ba4\u5c0f\u540d；\u800c\u6587\u4ef6\u5939\u91cc\u5b9e\u9645\u53ea\u6709\u5168\u540d libonnxruntime.so.1.23.2 \u2192 \u62a5 cannot open shared object file\u3002
    \n\u89e3\u6cd5：\u7ed9\u5c0f\u540d\u5efa\u7acb\u8f6f\u94fe\u63a5：<\/p>\n<\/li>\n

    ln<\/span> -s<\/span> libonnxruntime.so.1.23.2 libonnxruntime.so.1<\/p>\n

  • \n

    C++ \u5934\u6587\u4ef6\u7684\u5f15\u7528\u62a5\u9519\u95ee\u9898，\u4ee5\u53ca\u5b66\u4f1a\u4e86\u8bfb\u65e5\u5fd7\u3001\u62a5\u9519\u81ea\u884c\u4fee\u590d bug \u548c\u95ee\u9898\u3002<\/p>\n<\/li>\n

  • \n

    \u53d8\u91cf\u906e\u853d\u7684\u95ee\u9898：\u5185\u5c42\u5faa\u73af\u58f0\u660e\u4e86\u591a\u4e00\u4e2a\u540c\u540d\u5b57\u7684\u53d8\u91cf，\u5bfc\u81f4\u628a\u5916\u5c42\u7684 i \u906e\u853d\u4e86\u3002<\/p>\n<\/li>\n

    for<\/span> (<\/span>size_t i =<\/span> 0<\/span>;<\/span> i <<\/span> n;<\/span> i++<\/span>)<\/span> {<\/span> \/\/ \u5916\u5c42 i<\/span>
    \n \/\/ …<\/span>
    \n for<\/span> (<\/span>size_t i =<\/span> 0<\/span>;<\/span> i <<\/span> n;<\/span> i++<\/span>)<\/span> {<\/span> \/\/ \u5185\u5c42\u53c8\u58f0\u660e i \u2192 \u906e\u853d<\/span>
    \n kept.<\/span>push_back<\/span>(<\/span>i)<\/span>;<\/span> \/\/ \u88ab\u91cd\u590d\u6dfb\u52a0<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

  • \u6b7b\u5faa\u73af：\u5728\u8fd0\u884c\u7a0b\u5e8f\u7684\u65f6\u5019，\u7ec8\u7aef\u8fd0\u884c\u4e86\u4f46\u662f\u8fdf\u8fdf\u6ca1\u6709\u8fd4\u56de\u7ed3\u679c，\u53ef\u80fd\u662f\u5361\u5728\u7a0b\u5e8f\u91cc\u9762\u6709\u4e2a\u6b7b\u5faa\u73af\u4e86\u3002<\/li>\n

    \/\/ \u51f6\u624b\u957f\u8fd9\u6837：\u81ea\u589e\u5199\u9519 + \u7ed3\u5c3e\u591a\u4e00\u4e2a\u5206\u53f7 = \u7a7a\u5faa\u73af\u4f53<\/span>
    \nfor<\/span> (<\/span>size_t j =<\/span> i +<\/span> 1<\/span>;<\/span> j <<\/span> dets.<\/span>size<\/span>(<\/span>)<\/span>;<\/span> i++<\/span>)<\/span>;<\/span><\/p>\n

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  • \u770b\u56fe\u7247\u3001\u8fd8\u6709\u663e\u793a\u51fa\u6765\u7684\u56fe\u7247（imshow）\u4f1a\u6b3a\u9a97\u4f60，\u53ef\u80fd\u662f\u65e7\u7684\u7f16\u8bd1\u4ea7\u7269，\u9700\u8981\u6253\u5370\u51fa\u6765\u7ec8\u7aef\u8fdb\u884c\u5224\u65ad\u3002<\/li>\n
    \n

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    \u4e0b\u4e00\u7bc7\u5199\u8bad\u7ec3：\u4ece\u96f6\u8bad\u7ec3 YOLO26-pose \u88c5\u7532\u677f\u6a21\u578b（14 \u7c7b \/ 4 \u89d2\u70b9），\u600e\u4e48\u8bfb\u8bad\u7ec3\u65e5\u5fd7\u91cc\u7684 loss \/ P \/ R \/ mAP，\u600e\u4e48\u8c03 conf，\u600e\u4e48\u5bfc\u51fa ONNX，\u4ee5\u53ca\u90e8\u7f72\u65f6\u8e29\u7684\u5751\u5408\u96c6\u3002<\/p>\n

    \u5982\u679c\u8fd9\u7bc7\u5bf9\u4f60\u6709\u5e2e\u52a9，\u6b22\u8fce\u70b9\u8d5e\u6536\u85cf；\u6709\u95ee\u9898\u8bc4\u8bba\u533a\u89c1\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u4ece 8400 \u5f20\u5361\u7247\u5230\u753b\u51fa\u4e00\u4e2a\u6846：\u6211\u7528 C \u8dd1\u901a YOLO \u59ff\u6001\u6a21\u578b（\u88c5\u7532\u677f\u68c0\u6d4b\u90e8\u7f72\u5b9e\u5f55）\u6458\u8981：\u628a\u8bad\u7ec3\u597d\u7684 YOLO26-pose \u88c5\u7532\u677f\u6a21\u578b\u5bfc\u51fa ONNX，\u518d\u7528 C onnxruntime \u5b9e\u73b0\\”\u9884\u5904\u7406 \u2192 \u63a8\u7406 \u2192 \u89e3\u7801 \u2192 \u53bb\u91cd \u2192 \u753b\u6846\\”\u5168\u6d41\u7a0b，\u5e76\u8bb0\u5f55\u4e2d\u95f4\u8e29\u8fc7\u7684\u5751\u3002
    \n\u73af\u5883：Ubuntu 22.04 \/ OpenCV 4.5.4 \/ onnxruntime 1.23.2&<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[55,156,190],"topic":[],"class_list":["post-104116","post","type-post","status-publish","format-standard","hentry","category-server","tag-c","tag-yolo","tag-190"],"yoast_head":"\n\u4ece8400\u5f20\u5361\u7247\u5230\u753b\u6846\u7528c++\u8dd1\u901ayolo\u59ff\u6001\u6a21\u578b - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/104116.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u4ece8400\u5f20\u5361\u7247\u5230\u753b\u6846\u7528c++\u8dd1\u901ayolo\u59ff\u6001\u6a21\u578b - 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