yolov5+stereo双目识别原始测距代码

<a href="https://apps.apple.com/app/id1452689527" target="_blank"> <img src="https://user-images.githubusercontent.com/26833433/98699617-a1595a00-2377-11eb-8145-fc674eb9b1a7.jpg" width="1000"></a> &nbsp <a href="https://github.com/ultralytics/yolov5/actions"><img src="https://github.com/ultralytics/yolov5/workflows/CI%20CPU%20testing/badge.svg" alt="CI CPU testing"></a> This repository represents Ultralytics open-source research into future object detection methods, and incorporates lessons learned and best practices evolved over thousands of hours of training and evolution on anonymized client datasets. **All code and models are under active development, and are subject to modification or deletion without notice.** Use at your own risk. <img src="https://user-images.githubusercontent.com/26833433/103594689-455e0e00-4eae-11eb-9cdf-7d753e2ceeeb.png" width="1000">** GPU Speed measures end-to-end time per image averaged over 5000 COCO val2017 images using a V100 GPU with batch size 32, and includes image preprocessing, PyTorch FP16 inference, postprocessing and NMS. EfficientDet data from [google/automl](https://github.com/google/automl) at batch size 8. - **January 5, 2021**: [v4.0 release](https://github.com/ultralytics/yolov5/releases/tag/v4.0): nn.SiLU() activations, [Weights & Biases](https://wandb.ai/) logging, [PyTorch Hub](https://pytorch.org/hub/ultralytics_yolov5/) integration. - **August 13, 2020**: [v3.0 release](https://github.com/ultralytics/yolov5/releases/tag/v3.0): nn.Hardswish() activations, data autodownload, native AMP. - **July 23, 2020**: [v2.0 release](https://github.com/ultralytics/yolov5/releases/tag/v2.0): improved model definition, training and mAP. - **June 22, 2020**: [PANet](https://arxiv.org/abs/1803.01534) updates: new heads, reduced parameters, improved speed and mAP [364fcfd](https://github.com/ultralytics/yolov5/commit/364fcfd7dba53f46edd4f04c037a039c0a287972). - **June 19, 2020**: [FP16](https://pytorch.org/docs/stable/nn.html#torch.nn.Module.half) as new default for smaller checkpoints and faster inference [d4c6674](https://github.com/ultralytics/yolov5/commit/d4c6674c98e19df4c40e33a777610a18d1961145). ## Pretrained Checkpoints | Model | size | AP^val | AP^test | AP₅₀ | Speed_V100 | FPS_V100 || params | GFLOPS | |---------- |------ |------ |------ |------ | -------- | ------| ------ |------ | :------: | | [YOLOv5s](https://github.com/ultralytics/yolov5/releases) |640 |36.8 |36.8 |55.6 |**2.2ms** |**455** ||7.3M |17.0 | [YOLOv5m](https://github.com/ultralytics/yolov5/releases) |640 |44.5 |44.5 |63.1 |2.9ms |345 ||21.4M |51.3 | [YOLOv5l](https://github.com/ultralytics/yolov5/releases) |640 |48.1 |48.1 |66.4 |3.8ms |264 ||47.0M |115.4 | [YOLOv5x](https://github.com/ultralytics/yolov5/releases) |640 |**50.1** |**50.1** |**68.7** |6.0ms |167 ||87.7M |218.8 | | | | | | | || | | [YOLOv5x](https://github.com/ultralytics/yolov5/releases) + TTA |832 |**51.9** |**51.9** |**69.6** |24.9ms |40 ||87.7M |1005.3 <!--- | [YOLOv5l6](https://github.com/ultralytics/yolov5/releases) |640 |49.0 |49.0 |67.4 |4.1ms |244 ||77.2M |117.7 | [YOLOv5l6](https://github.com/ultralytics/yolov5/releases) |1280 |53.0 |53.0 |70.8 |12.3ms |81 ||77.2M |117.7 ---> ** AP^test denotes COCO [test-dev2017](http://cocodataset.org/#upload) server results, all other AP results denote val2017 accuracy. ** All AP numbers are for single-model single-scale without ensemble or TTA. **Reproduce mAP** by `python test.py --data coco.yaml --img 640 --conf 0.001 --iou 0.65` ** Speed_GPU averaged over 5000 COCO val2017 images using a GCP [n1-standard-16](https://cloud.google.com/compute/docs/machine-types#n1_standard_machine_types) V100 instance, and includes image preprocessing, FP16 inference, postprocessing and NMS. NMS is 1-2ms/img. **Reproduce speed** by `python test.py --data coco.yaml --img 640 --conf 0.25 --iou 0.45` ** All checkpoints are trained to 300 epochs with default settings and hyperparameters (no autoaugmentation). ** Test Time Augmentation ([TTA](https://github.com/ultralytics/yolov5/issues/303)) runs at 3 image sizes. **Reproduce TTA** by `python test.py --data coco.yaml --img 832 --iou 0.65 --augment` ## Requirements Python 3.8 or later with all [requirements.txt](https://github.com/ultralytics/yolov5/blob/master/requirements.txt) dependencies installed, including `torch>=1.7`. To install run: ```bash $ pip install -r requirements.txt ``` ## Tutorials * [Train Custom Data](https://github.com/ultralytics/yolov5/wiki/Train-Custom-Data)&nbsp; 🚀 RECOMMENDED * [Weights & Biases Logging](https://github.com/ultralytics/yolov5/issues/1289)&nbsp; 🌟 NEW * [Multi-GPU Training](https://github.com/ultralytics/yolov5/issues/475) * [PyTorch Hub](https://github.com/ultralytics/yolov5/issues/36)&nbsp; ⭐ NEW * [ONNX and TorchScript Export](https://github.com/ultralytics/yolov5/issues/251) * [Test-Time Augmentation (TTA)](https://github.com/ultralytics/yolov5/issues/303) * [Model Ensembling](https://github.com/ultralytics/yolov5/issues/318) * [Model Pruning/Sparsity](https://github.com/ultralytics/yolov5/issues/304) * [Hyperparameter Evolution](https://github.com/ultralytics/yolov5/issues/607) * [Transfer Learning with Frozen Layers](https://github.com/ultralytics/yolov5/issues/1314)&nbsp; ⭐ NEW * [TensorRT Deployment](https://github.com/wang-xinyu/tensorrtx) ## Environments YOLOv5 may be run in any of the following up-to-date verified environments (with all dependencies including [CUDA](https://developer.nvidia.com/cuda)/[CUDNN](https://developer.nvidia.com/cudnn), [Python](https://www.python.org/) and [PyTorch](https://pytorch.org/) preinstalled): - **Google Colab and Kaggle** notebooks with free GPU: <a href="https://colab.research.google.com/github/ultralytics/yolov5/blob/master/tutorial.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"></a> <a href="https://www.kaggle.com/ultralytics/yolov5"><img src="https://kaggle.com/static/images/open-in-kaggle.svg" alt="Open In Kaggle"></a> - **Google Cloud** Deep Learning VM. See [GCP Quickstart Guide](https://github.com/ultralytics/yolov5/wiki/GCP-Quickstart) - **Amazon** Deep Learning AMI. See [AWS Quickstart Guide](https://github.com/ultralytics/yolov5/wiki/AWS-Quickstart) - **Docker Image**. See [Docker Quickstart Guide](https://github.com/ultralytics/yolov5/wiki/Docker-Quickstart) <a href="https://hub.docker.com/r/ultralytics/yolov5"><img src="https://img.shields.io/docker/pulls/ultralytics/yolov5?logo=docker" alt="Docker Pulls"></a> ## Inference detect.py runs inference on a variety of sources, downloading models automatically from the [latest YOLOv5 release](https://github.com/ultralytics/yolov5/releases) and saving results to `runs/detect`. ```bash $ python detect.py --source 0 # webcam file.jpg # image file.mp4 # video path/ # directory path/*.jpg # glob rtsp://170.93.143.139/rtplive/470011e600ef003a004ee33696235daa # rtsp stream rtmp://192.168.1.105/live/test # rtmp stream http://112.50.243.8/PLTV/88888888/224/3221225900/1.m3u8 # http stream ``` To run inference on example images in `data/images`: ```bash $ python detect.py --source data/images --weights yolov5s.pt --conf 0.25 Namespace(agnostic_nms=False, augment=False, classes=None, conf_thres=0.25, device='', exist_ok=False, img_size=640, iou_thres=0.45, name='exp', project='runs/detect', save_conf=False, save_txt=False, source='data/images/', update=False, view_img=False, weights=['yolov5s.pt']) YOLOv5 v4.0-96-g83dc1b4 torch 1.7.0+cu101 CUDA:0 (Tesla V100-SXM2-16GB, 16160.5MB