引言
下面展示的是我们在智能车运行过程中的前端推理实现，通过摄像头捕捉图像并实时进行推理处理。本部分记录了前端推理实现的详细步骤和代码示例。
前端推理实现
前端推理程序是智能车实时处理图像数据的重要部分，通过调用后台推理服务，实现对图像的实时分析与处理。以下是前端推理实现的代码。
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导入必要的库 首先，我们需要导入相关库：
#!/usr/bin/python # -*- coding: utf-8 -*- import zmq import cv2 import numpy as np import time import json import subprocess import os, sys # 添加上两层目录 sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", ".."))) import psutil from log_info import logger
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zmq用于网络通信。 -
cv2用于图像处理。 -
numpy用于数组操作。 -
time用于时间控制。 -
json用于处理JSON格式的数据。 -
subprocess用于执行系统命令。 -
os和sys用于操作系统相关功能。 -
psutil用于获取系统进程信息。 -
logger用于记录日志。
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辅助函数 定义一些辅助函数，用于获取ZMQ客户端和Python进程信息：
def get_zmp_client(port):
context = zmq.Context()
socket = context.socket(zmq.REQ)
res = socket.connect(f"tcp://127.0.0.1:{port}")
return socket
def get_python_processes():
python_processes = []
for proc in psutil.process_iter(['pid', 'name', 'cmdline']):
try:
if 'python' in proc.info['name'].lower() and len(proc.info['cmdline']) > 1 and len(proc.info['cmdline'][1]) < 100:
info = [proc.info['pid'], proc.info['cmdline'][1]]
python_processes.append(info)
except (psutil.NoSuchProcess, psutil.AccessDenied, psutil.ZombieProcess):
pass
return python_processes
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定义Bbox类 编写
Bbox类，用于处理边界框的转换和归一化：
class Bbox: def __init__(self, box=None, rect=None, size=[640, 480]) -> None: self.size = np.array(size) / 2 self.size_concat = np.concatenate((self.size, self.size)) if box is not None: box_np = np.array(box) if (np.abs(box_np) < 2).all(): self.box_normalise = box_np self.box = self.denormalise(box_np, self.size) else: self.box = box_np self.box_normalise = self.normalise(box_np, self.size) self.rect = self.box_to_rect(self.box, self.size) elif rect is not None: self.rect = np.array(rect) self.box = self.rect_to_box(self.rect, self.size) self.box_normalise = self.normalise(self.box, self.size) def get_rect(self): return self.rect def get_box(self): return self.box @staticmethod def normalise(box, size): return box / np.concatenate((size, size)) @staticmethod def denormalise(box_nor, size): return (box_nor * np.concatenate((size, size))).astype(np.int32) @staticmethod def rect_to_box(rect, size): pt_tl = rect[:2] pt_br = rect[2:] pt_center = (pt_tl + pt_br) / 2 - size box_wd = pt_br - pt_tl return np.concatenate((pt_center, box_wd)).astype(np.int32) @staticmethod def box_to_rect(box, size): pt_center = box[:2] box_wd = box[2:] pt_tl = (size + pt_center - box_wd / 2).astype(np.int32) pt_br = (size + pt_center + box_wd / 2).astype(np.int32) rect = np.concatenate((pt_tl, pt_br)) max_size = np.concatenate((size, size))*2 np.clip(rect, 0, max_size, out=rect) return rect
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定义客户端接口类 编写
ClintInterface类，用于与后台推理服务进行通信：
class ClintInterface:
configs = [
{'name':'lane', 'infer_type': 'LaneInfer', 'params': [], 'port':5001, 'img_size':[128, 128]},
{'name':'task', 'infer_type': 'YoloeInfer', 'params': ['task_model3'], 'port':5002, 'img_size':[416, 416]},
{'name':'front', 'infer_type':'YoloeInfer', 'params': ['front_model2'], 'port':5003, 'img_size':[416, 416]},
{'name':'ocr', 'infer_type':'OCRReco', 'params': [], 'port':5004,'img_size':None},
{'name':'humattr', 'infer_type':'HummanAtrr', 'params': [], 'port':5005, 'img_size':None},
{'name':'mot', 'infer_type':'MotHuman', 'params': [], 'port':5006, 'img_size':None}
]
def __init__(self, name):
logger.info("{}连接服务器...".format(name))
model_cfg = self.get_config(name)
self.img_size = model_cfg['img_size']
self.client = self.get_zmp_client(model_cfg['port'])
infer_back_end_file = "infer_back_end.py"
self.check_back_python(infer_back_end_file)
flag = False
while True:
if self.get_state():
if flag:
logger.info("")
break
print('.', end='', flush=True)
time.sleep(1)
flag = True
logger.info("{}连接服务器成功".format(name))
def check_back_python(self, file_name):
dir_file = os.path.abspath(os.path.dirname(__file__))
file_path = os.path.join(dir_file, file_name)
if not os.path.exists(file_path):
raise Exception("后台脚本文件不存在")
py_lists = get_python_processes()
for py_iter in py_lists:
if file_name in py_iter[1]:
return
else:
logger.info("开启{}脚本, 后台运行中, 请等待".format(file_name))
cmd_str = 'python3 ' + file_path + ' &'
subprocess.Popen(cmd_str, shell=True, stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
time.sleep(1)
def get_config(self, name):
for conf in self.configs:
if conf['name'] == name:
return conf
@staticmethod
def get_zmp_client(port):
context = zmq.Context()
socket = context.socket(zmq.REQ)
res = socket.connect(f"tcp://127.0.0.1:{port}")
return socket
def __call__(self, *args, **kwds):
return self.get_infer(*args, **kwds)
def get_state(self):
data = bytes('ATATA', encoding='utf-8')
self.client.send(data)
response = self.client.recv()
response = json.loads(response)
return response
def get_infer(self, img):
if self.img_size is not None:
img = cv2.resize(img, self.img_size)
img = cv2.imencode('.jpg', img)[1].tobytes()
data = bytes('image', encoding='utf-8') + img
self.client.send(data)
response = self.client.recv()
response = json.loads(response)
return response
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主函数 编写主函数，启动前端推理客户端：
def main_client():
from camera import Camera
cap = Camera(2, 640, 480)
infer_client = ClintInterface("ocr")
last_time = time.time()
while True:
img = cap.read()
dets_ret = infer_client.get_infer(img[300:, 200:460])
print(dets_ret)
cv2.imshow("img", img)
key = cv2.waitKey(1)
if key == ord('q'):
break
fps = 1 / (time.time() - last_time)
last_time = time.time()
print("fps:", fps)
cap.close()
cv2.destroyAllWindows()
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停止进程函数 编写停止进程的函数：
def stop_process(py_str): py_lists = get_python_processes() for py_procees in py_lists: pid_id, py_name = py_procees[0], py_procees[1] if py_str in py
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