[深度学习] 使用深度学习开发的循线小车(1)，2024年Linux运维面试题

然后回到OE包的根目录下，加载AI工具链的docker镜像：

cd /home/thomas/Me/deeplearning/horizon_xj3_open_explorer_v2.3.3_20220727/
sh run_docker.sh /data/ 

生成校准数据

在启动的Docker镜像中，完成如下操作：

cd ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper 
sh 02_preprocess.sh 

命令执行过程如下：

thomas@J-35:~/Me/deeplearning/horizon_xj3_open_explorer_v2.3.3_20220727$ sudo sh run_docker.sh /data/ 
[sudo] password for thomas: 
run_docker.sh: 14: [: unexpected operator
run_docker.sh: 23: [: openexplorer/ai_toolchain_centos_7_xj3: unexpected operator
docker version is v2.3.3
dataset path is /data
open_explorer folder path is /home/thomas/Me/deeplearning/horizon_xj3_open_explorer_v2.3.3_20220727
[root@1e1a1a7e24f4 open_explorer]# cd ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper 
[root@1e1a1a7e24f4 mapper]# sh 02_preprocess.sh 

cd $(dirname $0) || exit

python3 ../../../data_preprocess.py \
  --src_dir ./image_dataset \
  --dst_dir ./calibration_data_bgr_f32 \
  --pic_ext .rgb \
  --read_mode opencv
Warning please note that the data type is now determined by the name of the folder suffix
Warning if you need to set it explicitly, please configure the value of saved_data_type in the preprocess shell script
regular preprocess
write:./calibration_data_bgr_f32/xy_008_160_31a8e30a-eca6-11ee-bb07-dfd665df7b81.rgb
write:./calibration_data_bgr_f32/xy_009_160_39c18c40-eca6-11ee-bb07-dfd665df7b81.rgb
write:./calibration_data_bgr_f32/xy_028_092_3327df66-ec9b-11ee-bb07-dfd665df7b81.rgb

模型编译生成定点模型

接下来执行以下命令生成定点模型文件，稍后会在机器人上部署：

cd ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper
sh 03_build.sh

命令执行过程如下：

[root@1e1a1a7e24f4 mapper]# sh 03_build.sh
2024-04-02 21:46:50,078 INFO Start hb_mapper....
2024-04-02 21:46:50,079 INFO log will be stored in /open_explorer/ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper/hb_mapper_makertbin.log
2024-04-02 21:46:50,079 INFO hbdk version 3.37.2
2024-04-02 21:46:50,080 INFO horizon_nn version 0.14.0
2024-04-02 21:46:50,080 INFO hb_mapper version 1.9.9
2024-04-02 21:46:50,081 INFO Start Model Convert....
2024-04-02 21:46:50,100 INFO Using abs path /open_explorer/ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper/best_line_follower_model_xy.onnx
2024-04-02 21:46:50,102 INFO validating model_parameters...
2024-04-02 21:46:50,231 WARNING User input 'log_level' deleted，Please do not use this parameter again
2024-04-02 21:46:50,231 INFO Using abs path /open_explorer/ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper/model_output
2024-04-02 21:46:50,232 INFO validating model_parameters finished
2024-04-02 21:46:50,232 INFO validating input_parameters...
2024-04-02 21:46:50,232 INFO input num is set to 1 according to input_names
2024-04-02 21:46:50,233 INFO model name missing, using model name from model file: ['input']
2024-04-02 21:46:50,233 INFO model input shape missing, using shape from model file: [[1, 3, 224, 224]]
2024-04-02 21:46:50,233 INFO validating input_parameters finished
2024-04-02 21:46:50,233 INFO validating calibration_parameters...
2024-04-02 21:46:50,233 INFO Using abs path /open_explorer/ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper/calibration_data_bgr_f32
2024-04-02 21:46:50,234 INFO validating calibration_parameters finished
2024-04-02 21:46:50,234 INFO validating custom_op...
2024-04-02 21:46:50,234 INFO custom_op does not exist, skipped
2024-04-02 21:46:50,234 INFO validating custom_op finished
2024-04-02 21:46:50,234 INFO validating compiler_parameters...
2024-04-02