[深度学习] 使用深度学习开发的循线小车(3)，零基础也能看得懂

最新推荐文章于 2024-09-16 16:34:53 发布

洪湖顶级程序员

最新推荐文章于 2024-09-16 16:34:53 发布

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分类专栏： 2024年程序员学习文章标签：深度学习人工智能

本文链接：https://blog.csdn.net/m0_61549984/article/details/137418065

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本文介绍了如何使用深度学习开发循线小车，详细阐述了模型编译生成定点模型的过程，包括数据集准备、模型转换和校准数据的生成。接着，说明了模型部署步骤，涉及定点模型的复制和在目标设备上的应用。适合对深度学习和嵌入式系统感兴趣的读者。

摘要由CSDN通过智能技术生成

解压缩之前下载好的AI工具链的docker镜像和OE包，OE包目录结构如下：

 
. 
├── bsp 
│   └── X3J3-Img-PL2.2-V1.1.0-20220324.tgz 
├── ddk 
│   ├── package 
│   ├── samples 
│   └── tools 
├── doc 
│   ├── cn 
│   ├── ddk_doc 
│   └── en 
├── release_note-CN.txt 
├── release_note-EN.txt 
├── run_docker.sh 
└── tools 
    ├── 0A_CP210x_USB2UART_Driver.zip 
    ├── 0A_PL2302-USB-to-Serial-Comm-Port.zip 
    ├── 0A_PL2303-M_LogoDriver_Setup_v202_20200527.zip 
    ├── 0B_hbupdate_burn_secure-key1.zip 
    ├── 0B_hbupdate_linux_cli_v1.1.tgz 
    ├── 0B_hbupdate_linux_gui_v1.1.tgz 
    ├── 0B_hbupdate_mac_v1.0.5.app.tar.gz 
    └── 0B_hbupdate_win64_v1.1.zip

将 originbot_desktop 代码仓库中的 10_model_convert 包拷贝到至OE开发包 ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/ 目录下。

再把 line_follower_model 功能包下标注好的数据集文件夹 image_dataset 和生成的 best_line_follower_model_xy.onnx 模型拷贝到以上 ddk/samples/ai_toolchain/horizon_model_convert_sample/03_classification/10_model_convert/mapper/ 目录下，数据集文件夹 image_dataset 保留100张左右的数据用于校准：

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_x