实操教程｜详细记录solov2的ncnn实现和优化

SOLOV2简介

solo大家都知道，核心思想是：将分割问题转化为位置分类问题，从而做到不需要anchor，不需要normalization，不需要bounding box detections的实例分割。

https://github.com/Epiphqny/SOLOv2

缘由

目前solo系列在github中没有转ncnn的项目

solov2的思想比较简单明了，但是转ncnn还是需要很多比较复杂操作，想在用ncnn实现更加了解solov2内部的算法流程，也熟悉ncnn的一些其他op操作

文字有很多干货：param手动修改、动态op、加速技巧等等

1 、torch导出onnx

在导出onnx之前有几部操作：

• 修改split_feats: onnx不支持F.interpolate() 中 scale_factor < 1 ；因此对split_feats做了修改为nn.Maxpool 卷积，后面转ncnn手动修改；

def split_feats(self, feats):     return [            self.maxpool(feats[0]),            # F.interpolate(feats[0],scale_factor=0.5,mode='bilinear'),            feats[1],            feats[2],            feats[3],            F.interpolate(feats[4], size=feats[3].shape[-2:], mode='bilinear')]

• 添加输入参数:

添加onnx参数，金生coord改为手动输入

def forward(self, feats, eval=False,onnx=False):        if onnx:            feats,p3_input,p4_input,p5_input = feats        new_feats = self.split_feats(feats)
        featmap_sizes = [featmap.size()[-2:] for featmap in new_feats]        if onnx:            new_feats[0] = [new_feats[0],p3_input]            new_feats[1] = [new_feats[1],p3_input]            new_feats[2] = [new_feats[2],p4_input]            new_feats[3] = [new_feats[3],p5_input]            new_feats[4] = [new_feats[4],p5_input]

• 实现转换代码

实现转换代码，并onnxsim优化，这里需要注意的是输入尽量小一点，因为solo的四个输出头的size比较小（40，36，24，16，12），输入较大时会使F.interpolate() 中 scale_factor < 1 ，input_size = 256时fpn最后一层上采样的scale_factor刚好可以等于2（256%64=0）

from torch import nnimport torchfrom mmcv import  Configfrom mmdet.models.builder import build_backbone,build_head,build_neck
class SOLOV2(nn.Module):    def __init__(self,confg):        super(SOLOV2,self).__init__()        self.cfg = Config.fromfile(confg)        self.cfg = self.cfg["model"]        self.backbone = build_backbone(self.cfg["backbone"])        self.neck = build_neck(self.cfg["neck"])        self.bbox_head = build_head(self.cfg["bbox_head"])    def forward(self,x,p3_input,p4_input,p5_input):        x = self.backbone(x)        x = self.neck(x)        feature_pred,kernel_pred,cate_pred = self.bbox_head([x,p3_input,p4_input,p5_input],eval=True,onnx=True)        return feature_pred,kernel_pred,cate_pred
cfg = "./configs/solov2/solov2_r101_3x.py"pretrained = "./weights/solov2.pth"#net = SOLOV2(cfg)state_dict = torch.load(pretrained, map_location=lambda storage, loc: storage)["state_dict"]res = net.load_state_dict(state_dict,strict=False)net.eval()
input_size = 256dummy_input1 = torch.randn(1, 3, input_size, input_size)dummy_input2 = torch.randn(1, 2, input_size//8, input_size//8)dummy_input3 = torch.randn(1, 2, input_size//16, input_size//16)dummy_input4 = torch.randn(1, 2, input_size//32, input_size//32)input_names = ["input","p3_input","p4_input","p5_input"]output_names = ["feature_pred","kernel_pred1","kernel_pred2","kernel_pred3","kernel_pred4","kernel_pred5",                "cate_pred1","cate_pred2","cate_pred3","cate_pred4","cate_pred5"   ]save_name = "./onnx/solov2.onnx"# torch.onnx.export(model, (dummy_input1, dummy_input2, dummy_input3), "C3AE.onnx", verbose=True, input_names=input_names, output_names=output_names)torch.onnx.export(net, (dummy_input1,dummy_input2,dummy_input3,dummy_input4),save_name , verbose=False, input_names=input_names,                  output_names=output_names)
import osos.system("python -m onnxsim {0} {0}".format(save_name))

2、onnx转ncnn

• onnx2ncnn

./onnx2ncnn solov2.onnx solov2.param solov2.bin

• ncnn 参数手工优化

1. 将之前转onnx时的maxpool改为上采样操作：

改为

2、将所有的kernel_pred和cate_pred之前的Interp参数改为对用的w和h：

改为

对应40尺寸的改好了，后面32、24、26、12也是类似的；

3、ncnn推理实现

• coord输入实现

对比torch半的coord实现：

      x_range = torch.linspace(-1, 1, kernel_feat.shape[-1], device=kernel_feat.device)      y_range = torch.linspace(-1, 1, kernel_feat.shape[-2], device=kernel_feat.device)      y, x = torch.meshgrid(y_range, x_range)      y = y.expand([kernel_feat.shape[0], 1, -1, -1])      x = x.expand([kernel_feat.shape[0], 1, -1, -1])      coord_feat = torch.cat([x, y], 1)

因为对应stride只有8、16、32，因此ncnn需要生成3个对应尺寸的Mat：

size_t elemsize = sizeof(float);
    ncnn::Mat x_p3;    ncnn::Mat x_p4;    ncnn::Mat x_p5;    // coord conv    int pw = int(target_w / 8);    int ph = int(target_h / 8);    x_p3.create(pw, ph, 2, elemsize);    float step_h = 2.f / (ph - 1);    float step_w = 2.f / (pw - 1);    for (int h = 0; h < ph; h++) {        for (int w = 0; w < pw; w++) {            x_p3.channel(0)[h * pw + w] = -1.f + step_w * (float) w;            x_p3.channel(1)[h * pw + w] = -1.f + step_h * (float) h;        }    }
    pw = int(target_w / 16);    ph = int(target_h / 16);    x_p4.create(pw, ph, 2, elemsize);    step_h = 2.f / (ph - 1);    step_w = 2.f / (pw - 1);    for (int h = 0; h < ph; h++) {        for (int w = 0; w < pw; w++) {            x_p4.channel(0)[h * pw + w] = -1.f + step_w * (float) w;            x_p4.channel(1)[h * pw + w] = -1.f + step_h * (float) h;        }    }
    pw = int(target_w / 32);    ph = int(target_h / 32);    x_p5.create(pw, ph, 2, elemsize);    step_h = 2.f / (ph - 1);    step_w = 2.f / (pw - 1);    for (int h = 0; h < ph; h++) {        for (int w = 0; w < pw; w++) {            x_p5.channel(0)[h * pw + w] = -1.f + step_w * (float) w;            x_p5.channel(1)[h * pw + w] = -1.f + step_h * (float) h;        }    }

将其作为输入：

    ncnn::Extractor ex = solov2.create_extractor();    ex.input("input", in);    ex.input("p3_input", x_p3);    ex.input("p4_input", x_p4);    ex.input("p5_input", x_p5);

• 抽取feature_pred、kernerl_pred、cate_pred特征：

    ncnn::Mat feature_pred, cate_pred1, cate_pred2, cate_pred3, cate_pred4, cate_pred5, kernel_pred1, kernel_pred2, kernel_pred3, kernel_pred4, kernel_pred5;
    ex.extract("cate_pred1", cate_pred1);    ex.extract("cate_pred2", cate_pred2);    ex.extract("cate_pred3", cate_pred3);    ex.extract("cate_pred4", cate_pred4);    ex.extract("cate_pred5", cate_pred5);    ex.extract("kernel_pred1", kernel_pred1);    ex.extract("kernel_pred2", kernel_pred2);    ex.extract("kernel_pred3", kernel_pred3);    ex.extract("kernel_pred4", kernel_pred4);    ex.extract("kernel_pred5", kernel_pred5);    ex.extract("feature_pred", feature_pred);

• 生成分割mask图

前面已经有了kernel_pred和feature_pred，接下来就是生成mask图，这就用到了low-level op api<这里说一句ncnn真灵活，谁用谁知道>，目的是实现torch中的动态conv2d，对应torch实现为：

ins_i = F.conv2d(feature_pred, kernel, groups=N).view(N, self.seg_num_grids[i] ** 2, h, w)

ncnn的low-level op api使用wiki：

https://github.com/Tencent/ncnn/wiki

创建ncnn::Option

    ncnn::Option opt;    opt.num_threads = num_threads;    opt.use_fp16_storage = false;    opt.use_packing_layout = false;

实现分割的预测功能函数

static void ins_decode(const ncnn::Mat &kernel_pred, const ncnn::Mat &feature_pred, ncnn::Mat *ins_pred, int c_in, int c_out,           ncnn::Option &opt) {
    ncnn::Layer *op = ncnn::create_layer("Convolution");    ncnn::ParamDict pd;    pd.set(0, c_out);    pd.set(1, 1);    pd.set(6, c_in * c_out);    op->load_param(pd);    ncnn::Mat weights[1];    weights[0].create(c_in * c_out);    float *kernel_pred_data = (float *) kernel_pred.data;
    for (int i = 0; i < c_in * c_out; i++) {        weights[0][i] = kernel_pred_data[i];    }
    op->load_model(ncnn::ModelBinFromMatArray(weights));    op->create_pipeline(opt);    ncnn::Mat temp_ins;    op->forward(feature_pred, temp_ins, opt);    *ins_pred = temp_ins;    op->destroy_pipeline(opt);    delete op;}

将每个kernel_pre转换为分割图：

    ncnn::Mat ins_pred1, ins_pred2, ins_pred3, ins_pred4, ins_pred5;    int c_in = feature_pred.c;
    ins_decode(kernel_pred1, feature_pred, &ins_pred1, c_in, 40 * 40,opt);    ins_decode(kernel_pred2, feature_pred, &ins_pred2, c_in, 36 * 36,opt);    ins_decode(kernel_pred3, feature_pred, &ins_pred3, c_in, 24 * 24,opt);    ins_decode(kernel_pred4, feature_pred, &ins_pred4, c_in, 16 * 16,opt);    ins_decode(kernel_pred5, feature_pred, &ins_pred5, c_in, 12 * 12,opt);

• 后处理

有了这一切后就是后处理啦，贴代码：

功能函数

void generate_res(ncnn::Mat &cate_pred, ncnn::Mat &ins_pred, std::vector <std::vector<Object>> &objects, float cate_thresh,             float conf_thresh, int img_w, int img_h, int num_class, float stride) {    int w = cate_pred.w;    int h = cate_pred.h;    int w_ins = ins_pred.w;    int h_ins = ins_pred.h;    for (int q = 0; q < num_class; q++) {        const float *cate_ptr = cate_pred.channel(q);        for (int i = 0; i < h; i++) {            for (int j = 0; j < w; j++) {                int index = i * w + j;                float cate_socre = cate_ptr[index];                if (cate_socre < cate_thresh) {                    continue;                }                const float *ins_ptr = ins_pred.channel(index);                cv::Mat mask(h_ins, w_ins, CV_32FC1);                float sum_mask = 0.f;                int count_mask = 0;                {                    mask = cv::Scalar(0.f);                    float *mp = (float *) mask.data;                    for (int m = 0; m < w_ins * h_ins; m++) {                        float mask_score = sigmoid(ins_ptr[m]);
                        if (mask_score > 0.5) {                            mp[m] += mask_score;                            sum_mask += mask_score;                            count_mask++;                        }                    }                }                if (count_mask < stride) {                    continue;                }                float mask_score = sum_mask / (float(count_mask) + 1e-6);
//                float socre = mask_score * cate_socre;                float socre = mask_score * cate_socre;
                if (socre < conf_thresh) {                    continue;                }
                cv::Mat mask2;                cv::resize(mask, mask2, cv::Size(img_w, img_h));                Object obj;                obj.mask = cv::Mat(img_h, img_w, CV_8UC1);                float sum_mask_y = 0.f;                float sum_mask_x = 0.f;                int area = 0;                {                    obj.mask = cv::Scalar(0);                    for (int y = 0; y < img_h; y++) {                        const float *mp2 = mask2.ptr<const float>(y);                        uchar *bmp = obj.mask.ptr<uchar>(y);                        for (int x = 0; x < img_w; x++) {
                            if (mp2[x] > 0.5f) {                                bmp[x] = 255;                                sum_mask_y += (float) y;                                sum_mask_x += (float) x;                                area++;
                            } else bmp[x] = 0;                        }                    }                }                obj.cx = int(sum_mask_x / area);                obj.cy = int(sum_mask_y / area);                obj.label = q + 1;                obj.prob = socre;                objects[q].push_back(obj);
            }        }    }
}

每个head的解码：

std::vector <std::vector<Object>> class_candidates;    class_candidates.resize(num_class);    generate_res(cate_pred1,ins_pred1,class_candidates,cate_thresh,confidence_thresh,img_w,img_h,num_class,8.f);    generate_res(cate_pred2,ins_pred2,class_candidates,cate_thresh,confidence_thresh,img_w,img_h,num_class,8.f);    generate_res(cate_pred3,ins_pred3,class_candidates,cate_thresh,confidence_thresh,img_w,img_h,num_class,16.f);    generate_res(cate_pred4,ins_pred4,class_candidates,cate_thresh,confidence_thresh,img_w,img_h,num_class,32.f);    generate_res(cate_pred5,ins_pred5,class_candidates,cate_thresh,confidence_thresh,img_w,img_h,num_class,32.f);

最后就是nms了，nms实现的比较低效：

    objects.clear();    for (int i = 0; i < (int) class_candidates.size(); i++) {        std::vector <Object> &candidates = class_candidates[i];
        qsort_descent_inplace(candidates);
        std::vector<int> picked;        nms_sorted_segs(candidates, picked, nms_threshold,img_w,img_h);
        for (int j = 0; j < (int) picked.size(); j++) {            int z = picked[j];            objects.push_back(candidates[z]);        }    }
    qsort_descent_inplace(objects);

至此，已经基本完成了所有工作啦：来预测一张图看看：

可以看出来结果还是非常好的QAQ

速度优化

重中之重来啦，本人针对SOLO的特点做了一处优化，就是kernel_pred的部分，在kernel_pred1部分输出特征图为256x40x40，转换为cond2d的核就为1600x256，1600的通道在stride=4的特征图上耗时巨大，那怎么来优化呢。

SOLO预测的cate_pred1分支预测了40x40=1600个网格，但并不是所有网格都是需要的，只有大于预值得才需要，那么在kernel_pred1的输出部分仅仅只需要cate_pred1大于阈值对应的核就好，基于这个思想就能减少非常多的通道，进而减少计算量。

话不多说，具体这样实现：

• 首先获取cate_pred大于阈值的index：

功能函数为：

static void kernel_pick(const ncnn::Mat &cate_pred, std::vector<int> &picked, int num_class, float cate_thresh){    int w = cate_pred.w;    int h = cate_pred.h;    for (int q = 0; q < num_class; q++) {        const float *cate_ptr = cate_pred.channel(q);        for (int i = 0; i < h; i++) {            for (int j = 0; j < w; j++) {                int index = i * w + j;                float cate_score = cate_ptr[index];                if (cate_score < cate_thresh) {                    continue;                }                else  picked.push_back(index);            }        }    }}

获取每个cate_pred分支的index结果：

    std::vector<int> kernel_picked1, kernel_picked2, kernel_picked3, kernel_picked4, kernel_picked5;    kernel_pick(cate_pred1, kernel_picked1, num_class, cate_thresh);    kernel_pick(cate_pred2, kernel_picked2, num_class, cate_thresh);    kernel_pick(cate_pred3, kernel_picked3, num_class, cate_thresh);    kernel_pick(cate_pred4, kernel_picked4, num_class, cate_thresh);    kernel_pick(cate_pred5, kernel_picked5, num_class, cate_thresh);

• 在ins_decode功能函数中加入map，来保存index和ins_pred的通道索引的映射关系

static void ins_decode(const ncnn::Mat &kernel_pred, const ncnn::Mat &feature_pred, std::vector<int> &kernel_picked,                       std::map<int, int> &kernel_map, ncnn::Mat *ins_pred, int c_in,                       ncnn::Option &opt) {    std::set<int> kernel_pick_set;    kernel_pick_set.insert(kernel_picked.begin(), kernel_picked.end());    int c_out = kernel_pick_set.size();    if (c_out > 0) {        ncnn::Layer *op = ncnn::create_layer("Convolution");        ncnn::ParamDict pd;        pd.set(0, c_out);        pd.set(1, 1);        pd.set(6, c_in * c_out);        op->load_param(pd);        ncnn::Mat weights[1];        weights[0].create(c_in * c_out);        float *kernel_pred_data = (float *) kernel_pred.data;        std::set<int>::iterator pick_c;        int count_c = 0;        for (pick_c = kernel_pick_set.begin(); pick_c != kernel_pick_set.end(); pick_c++)        {            kernel_map[*pick_c] = count_c;            for (int j = 0; j < c_in; j++) {                weights[0][count_c * c_in + j] = kernel_pred_data[c_in * (*pick_c) + j];            }
            count_c++;        }
        op->load_model(ncnn::ModelBinFromMatArray(weights));        op->create_pipeline(opt);        ncnn::Mat temp_ins;        op->forward(feature_pred, temp_ins, opt);        *ins_pred = temp_ins;        op->destroy_pipeline(opt);        delete op;    }}

这样后面generate_res里面通过map来获取ins_pred的特征：

• 速度对比

先来打印一下ins_pred的通道

std::cout << ins_pred1.h << "," << ins_pred1.w << "," << ins_pred1.c << std::endl;    std::cout << ins_pred2.h << "," << ins_pred2.w << "," << ins_pred2.c << std::endl;    std::cout << ins_pred3.h << "," << ins_pred3.w << "," << ins_pred3.c << std::endl;    std::cout << ins_pred4.h << "," << ins_pred4.w << "," << ins_pred4.c << std::endl;    std::cout << ins_pred5.h << "," << ins_pred5.w << "," << ins_pred5.c << std::endl;

没做通道筛选之前：

做了通道筛选后：

从1600+1296+576+256+144 = 3872 -> 62+40 = 102 ,对于stride=4的特征图这计算量减少了许多，如果在cate_pred的输出做maxpool的nms，通道数还会减少几倍。

resnet_r101的backbone下，耗时6825.4ms ->5226.95ms(backbone太厚了，本人训练一个mbv2版本，已经上传百度云，700ms左右的样子，14年老mac cpu单线程)

总结

实践下如何在ncnn上使用动态op和corrd_conv，以及后处理后处理优化的一些策略，给需要的人一点借鉴。

项目地址

https://github.com/DayBreak-u/SOLOV2_ncnn