计算机视觉知识点-车型识别

最新推荐文章于 2024-06-04 11:43:24 发布

蓝色的杯子

最新推荐文章于 2024-06-04 11:43:24 发布

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分类专栏：计算机视觉知识点文章标签： opencv 图像识别深度学习计算机视觉

本文链接：https://blog.csdn.net/wisdomfriend/article/details/107453382

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本篇博文是一个简单的车型识别介绍的例子，我参考了这个github，这个git中，对于车型识别，开放场景整理了1776种车型，并共享了数据，是这里（链接: https://pan.baidu.com/s/1ZtXvjwLzIMQodEp3SAbN8g 提取码: byhy ，大约4.5G）交通卡口版本支持4000多种车型，开源了模型，但是没有开源数据。

车型检测的流程为：

车辆检测采用mobile-ssd模型，车型识别采用一个20层左右的分类模型。项目的目录结构为：

vehicle_recg.cpp        //逻辑实现类，实现了图片加载，模型推理，结果输出
vehicle_recg.h          //头文件
label.txt               //车型标签文件
models                  //模型目录
    det.bin             //检测模型
    det.prototxt        //检测模型信息文件
    reg.bin             //识别模型
    reg.prototxt        //识别模型信息文件

经过检测模型后，就得到这样的车辆区域

得到上面的图片后，把这些车辆区域送入车型识别模型就可以得到车型类别了，为什么不直接用一个模型得到车型类别呢，因为这个任务中车型的类别有2000-4000个，普通的mobilessd检测模型不能很好的完成分类任务。

另外git上还提供了android的模型调用例子，安卓移植的时候可以参考一下。下面贴一下python版本推理代码和C++版本推理代码，方便大家查阅。

识别模型的python推理代码，使用opencv进行推理。一般cpu或安卓，使用opencv推理就可以。

import cv2
import numpy as np


def softmax(x):
    """Compute softmax values for each sets of scores in x."""
    pass  # TODO: Compute and return softmax(x)
    x = np.array(x)
    x = np.exp(x)
    x.astype('float32')
    if x.ndim == 1:
        sumcol = sum(x)
        for i in range(x.size):
            x[i] = x[i]/float(sumcol)
    if x.ndim > 1:
        sumcol = x.sum(axis = 0)
        for row in x:
            for i in range(row.size):
                row[i] = row[i]/float(sumcol[i])
    return x

def softmax_2(x):
    return np.exp(x)/np.sum(np.exp(x),axis=0)


model = cv2.dnn.readNetFromCaffe("model/vehicle_model.prototxt","model/vehicle_model.caffemodel")

mean_rgb = [123.68, 116.779, 103.939]
std_rgb = [58.393, 57.12, 57.375]


aligned = cv2.imread("data/p1.jpg")
aligned = cv2.resize(aligned,(224,224))

im_tensor = np.zeros((1, 3, 224,224))
for i in range(3):
    im_tensor[0, i, :, :] = (aligned[:, :, 2 - i] / 1.0- mean_rgb[2 - i]) / std_rgb[2 - i]

model.setInput(im_tensor)
_embedding = model.forward()[0]

print(_embedding.transpose().max())
idx = _embedding.transpose().argmax()
print(idx)
label = open("label.txt","r")
label_txt =label.readlines()
print(label_txt[idx])

c++版本的检测推理代码。

vehicle_recg.h

#pragma once

#ifndef __MOBILENET_DNN_H__
#define __MOBILENET_DNN_H__

#include <opencv2/opencv.hpp>
#include <string>
#include <vector>
#include <time.h>
#include <algorithm>
#include <map>
#include <iostream>


#include <opencv2/dnn.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/highgui.hpp>

using namespace cv;
using namespace dnn;

using namespace std;



class VEHICLE_RECG {

public:
	VEHICLE_RECG(const string &model_path);
	~VEHICLE_RECG();

	std::pair<std::string,float> detect(cv::Mat& img_);
	void recognize(cv::Mat& img_, cv::Rect& rect);
private:


	Net reg_net,det_net;
	
	std::vector<std::string> classes;
	const float detect_thresh = 0.6;
	const Scalar mean{ 123.68, 116.779, 103.939 };

};

#endif //__MOBILENET_DNN_H__

vehicle_recg.cpp

#include "vehicle_recg.h"

std::vector<std::string> loadLabel(std::string filename)
{
	std::ifstream fin(filename, std::ios::in);
	char line[1024] = { 0 };
	std::vector<std::string> labels;

	while (fin.getline(line, sizeof(line)))
	{
		std::stringstream word(line);
		std::string string;
		word >> string;
		labels.push_back(string);
	}
	fin.clear();
	fin.close();
	return labels;

}


VEHICLE_RECG::VEHICLE_RECG(const string &model_path){

	reg_net = readNetFromCaffe(model_path + "/reg.prototxt", model_path+ "/reg.bin");
	det_net = readNetFromCaffe(model_path + "/det.prototxt", model_path+"/det.bin");
	//String classesFile = model_path + "/list.txt";

	string car_list[] = { "DS_4S", "DS_5", "DS_5LS", "DS_5LS_2014款", "DS_5_2014款", "DS_6", "DS_6_2014款", "GMC_SAVANA", "Jeep_大切诺基", "Jeep_大切诺基_2014款", "Jeep_指南者", "Jeep_指南者_2011款", "Jeep_指南者_2012款", "Jeep_指南者_2013款", "Jeep_指南者_2015款", "Jeep_指挥官", "Jeep_牧马人", "Jeep_自由侠", "Jeep_自由侠_2016款", "Jeep_自由光", "Jeep_自由光_2016款", "Jeep_自由客", "Jeep_自由客_2014款", "MG3", "MG3_2011款", "MG3_2013款", "MG3_2014款", "MG5", "MG5_2012款", "MG6", "MG6_2010款", "MG6_2012款", "MG6_2013款", "MG6_2014款", "MG7", "MG_3SW", "MG_名爵6新能源", "MG_名爵ZS", "MG_名爵ZS_2017款", "MG_锐腾", "MG_锐腾_2015款", "MG_锐腾_2016款", "MG_锐行", "MINI", "MINI_2011款", "MINI_2014款", "MINI_2016款", "MINI_Clubman", "MINI_Clubman_2011款", "MINI_Countryman", "MINI_Countryman_2011款", "MINI_Coupe", "MINI_Paceman", "Smart_smart_forfour", "Smart_smart_fortwo", "Smart_smart_fortwo_2012款", "Smart_smart_fortwo_2015款", "WEY_VV5_2017款", "WEY_VV7_2017款", "一汽_佳宝V52", "一汽_佳宝V70_II代", "一汽_佳宝V75", "一汽_佳宝V80", "一汽_威姿", "一汽_威志", "一汽_威志V2", "一汽_威志V2_Cross", "一汽_威志V5", "一汽_森雅M80", "一汽_森雅R7", "一汽_森雅R7_2016款", "一汽_森雅S80", "一汽_骏派A70", "一汽_骏派D60", "一汽_骏派D60_2015款", "三菱_劲炫", "三菱_劲炫ASX", "三菱_劲炫ASX_2013款", "三菱_君阁", "三菱_帕杰罗", "三菱_帕杰罗·劲畅", "三菱_欧蓝德", "三菱_欧蓝德EX劲界", "三菱_欧蓝德_2016款", "三菱_欧蓝德经典", "三菱_祺智PHEV", "三菱_翼神", "三菱_翼神_2011款", "三菱_翼神_2012款", "三菱_翼神_2013款", "三菱_蓝瑟", "三菱_风迪思", "三菱劲炫ASX", "三菱戈蓝", "三菱风迪思", "上汽大通_大通D90_2017款", "上汽大通_大通G10", "上汽大通_大通RV80", "上汽大通_大通V80", "上汽大通大通G10", "东南DX3", "东南DX3_2016款", "东南DX7", "东南DX7_2015款", "东南_V3菱悦", "东南_V3菱悦_2012款", "东南_V3菱悦_2014款", "东南_V3菱悦_2015款", "东南_V5菱致", "东南_V5菱致_2015款", "东南_V6菱仕", "东南_希旺", "东风_帅客", "东风_景逸", "东风_景逸_2012款", "东风_风光330", "东风_风光360", "东风_风度MX6", "东风_风行CM7", "东风_风行S500_2016款", "东风_风行SX6", "东风小康C37", "东风小康K07S", "东风小康K07_II", "东风小康K17", "东风小康V27", "东风小康V29", "东风小康_东风风光330", "东风小康_东风风光330_2014款", "东风小康_东风风光360", "东风小康_东风风光370", "东风小康_东风风光580", "东风小康_东风风光580_2016款", "东风小康_东风风光S560", "东风小康_风光", "东风小康_风光580", "东风风度MX5", "东风风神A30", "东风风神A60", "东风风神AX3_2016款", "东风风神AX5", "东风风神AX7", "东风风神AX7_2015款", "东风风神AX7_2016款", "东风风神H30", "东风风神L60", "东风风神S30", "东风风行_景逸S50", "东风风行_景逸SUV", "东风风行_景逸X3", "东风风行_景逸X3_2014款", "东风风行_景逸X5", "东风风行_景逸X5_2013款", "东风风行_景逸X5_2015款", "东风风行_景逸X5_2016款", "东风风行_景逸X6", "东风风行_景逸XV", "东风风行_景逸XV_2015款", "东风风行_菱智", "东风风行_菱智_2013款", "东风风行_菱智_2014款", "东风风行_菱智_2015款", "东风风行_菱智_2016款", "东风风行_菱智_2018款", "中华H230", "中华H320", "中华H330_2013款", "中华H530", "中华H530_2011款", "中华V3_2015款", "中华V3_2016款", "中华V5", "中华V5_2012款", "中华_尊驰", "中华_骏捷", "中华_骏捷FRV", "中华_骏捷FSV_2011款", "丰田", "丰田4Runner", "丰田86", "丰田C-HR", "丰田Fortuner", "丰田Sienna", "丰田YARiS_L_致炫", "丰田_FJ酷路泽", "丰田_RAV4", "丰田_RAV4_2009款", "丰田_RAV4_2011款", "丰田_RAV4_2012款", "丰田_RAV4_2013款", "丰田_RAV4_2015款", "丰田_RAV4_2016款", "丰田_YARiS_L_致享_2017款", "丰田_YARiS_L_致炫", "丰田_YARiS_L_致炫_2014款", "丰田_YARiS_L_致炫_2015款", "丰田_YARiS_L_致炫_2016款", "丰田_兰德酷路泽", "丰田_凯美瑞", "丰田_凯美瑞_2009款", "丰田_凯美瑞_2010款", "丰田_凯美瑞_2011款", "丰田_凯美瑞_2012款", "丰田_凯美瑞_2013款", "丰田_凯美瑞_2015款", "丰田_凯美瑞_2016款", "丰田_卡罗拉", "丰田_卡罗拉_2007款", "丰田_卡罗拉_2008款", "丰田_卡罗拉_2011款", "丰田_卡罗拉_2012款", "丰田_卡罗拉_2013款", "丰田_卡罗拉_2014款", "丰田_卡罗拉_2016款", "丰田_卡罗拉_2017款", "丰田_坦途", "丰田_埃尔法", "丰田_威驰", "丰田_威驰FS_2017款", "丰田_威驰_2014款", "丰田_威驰_2016款", "丰田_威驰_2017款", "丰田_普拉多", "丰田_普拉多_2010款", "丰田_普拉多_2014款", "丰田_普拉多_2016款", "丰田_普锐斯", "丰田_汉兰达", "丰田_汉兰达_2009款", "丰田_汉兰达_2011款", "丰田_汉兰达_2012款", "丰田_汉兰达_2015款", "丰田_皇冠", "丰田_皇冠_2015款", "丰田_红杉", "丰田_花冠", "丰田_花冠_2009款", "丰田_花冠_2011款", "丰田_花冠_2013款", "丰田_逸致", "丰田_逸致_2011款", "丰田_逸致_2014款", "丰田_锐志", "丰田_锐志_2010款", "丰田_锐志_2012款", "丰田_锐志_2013款", "丰田_雅力士", "丰田_雅力士_2011款", "丰田_雷凌", "丰田_雷凌_2014款", "丰田_雷凌_2016款", "丰田_雷凌_2017款", "九龙_艾菲", "五十铃D-MAX", "五十铃_瑞迈", "五十铃_竞技者", "五十铃皮卡", "五菱之光", "五菱之光_2010款", "五菱宏光", "五菱宏光_2010款", "五菱宏光_2013款", "五菱宏光_2014款", "五菱宏光_2015款", "五菱征程", "五菱荣光", "五菱荣光V", "五菱荣光V_2016款", "五菱荣光_2011款", "众泰SR7_2016款", "众泰SR9", "众泰T200", "众泰T300", "众泰T600", "众泰T600_2014款", "众泰T600_2015款", "众泰T600_2016款", "众泰T600_Coupe_2017款", "众泰T700_2017款", "众泰Z300", "众泰Z500", "众泰Z700", "众泰_大迈X5", "众泰_大迈X5_2015款", "众泰_大迈X7", "众泰大迈X7", "传祺GA3", "传祺GA3S新能源", "传祺GA3S视界", "传祺GA3S视界_2014款", "传祺GA5", "传祺GA6", "传祺GA6_2016款", "传祺GA8", "传祺GM8", "传祺GS3", "传祺GS4", "传祺GS4_2015款", "传祺GS4_2016款", "传祺GS4_2017款", "传祺GS5_2012款", "传祺GS5_2013款", "传祺GS5_2014款", "传祺GS5_Super_2015款", "传祺GS7", "传祺GS8_2017款", "依维柯Power_Daily", "依维柯Turbo_Daily", "依维柯_都灵", "依维柯宝迪", "保时捷718", "保时捷911", "保时捷Boxster", "保时捷Cayenne", "保时捷Cayman", "保时捷Macan", "保时捷Panamera", "克莱斯勒300C", "克莱斯勒300S", "克莱斯勒_大捷龙", "兰博基尼Huracan", "凯翼C3", "凯翼C3R", "凯翼X3", "凯迪拉克ATS-L", "凯迪拉克ATS-L_2014款", "凯迪拉克ATS-L_2016款", "凯迪拉克ATS_2014款", "凯迪拉克CT6", "凯迪拉克CTS", "凯迪拉克SRX", "凯迪拉克SRX_2011款", "凯迪拉克SRX_2012款", "凯迪拉克SRX_2013款", "凯迪拉克SRX_2015款", "凯迪拉克XT5", "凯迪拉克XT5_2016款", "凯迪拉克XT5_2018款", "凯迪拉克XTS", "凯迪拉克XTS_2013款", "凯迪拉克XTS_2014款", "凯迪拉克XTS_2016款", "凯迪拉克_凯雷德", "凯迪拉克_赛威SLS", "别克GL6", "别克GL8", "别克GL8_2011款", "别克GL8_2012款", "别克GL8_2013款", "别克GL8_2014款", "别克GL8_2015款", "别克GL8_2017款", "别克_凯越", "别克_凯越_2008款", "别克_凯越_2011款", "别克_凯越_2013款", "别克_凯越_2015款", "别克_凯越旅行车", "别克_君威", "别克_君威_2009款", "别克_君威_2010款", "别克_君威_2011款", "别克_君威_2012款", "别克_君威_2013款", "别克_君威_2014款", "别克_君威_2015款", "别克_君威_2017款", "别克_君越", "别克_君越_2008款", "别克_君越_2010款", "别克_君越_2011款", "别克_君越_2012款", "别克_君越_2013款", "别克_君越_2014款", "别克_君越_2016款", "别克_威朗_2015款", "别克_威朗_2016款", "别克_威朗_2017款", "别克_威朗_2018款", "别克_昂科威", "别克_昂科威_2014款", "别克_昂科威_2016款", "别克_昂科威_2017款", "别克_昂科拉", "别克_昂科拉_2013款", "别克_昂科拉_2014款", "别克_昂科拉_2015款", "别克_昂科拉_2017款", "别克_昂科雷", "别克_林荫大道", "别克_英朗", "别克_英朗_2010款", "别克_英朗_2011款", "别克_英朗_2012款", "别克_英朗_2013款", "别克_英朗_2014款", "别克_英朗_2015款", "别克_英朗_2016款", "别克_英朗_2017款", "别克_阅朗", "别克威朗", "力帆320", "力帆330", "力帆520", "力帆620", "力帆720", "力帆X50", "力帆X60", "力帆_丰顺", "力帆_迈威", "北京BJ20_2016款", "北京BJ40", "北京BJ40_2016款", "北京BJ80", "北京汽车E系列_2012款", "北京汽车E系列_2013款", "北汽_BJ212", "北汽_战旗", "北汽_绅宝D20", "北汽_绅宝D50", "北汽_绅宝D50_2014款", "北汽_绅宝D70", "北汽_绅宝X25", "北汽_绅宝X25_2015款", "北汽_绅宝X35", "北汽_绅宝X55_2016款", "北汽_绅宝X65_2015款", "北汽威旺306", "北汽威旺307", "北汽威旺M20", "北汽威旺M20_2014款", "北汽威旺M30", "北汽威旺M35", "北汽威旺S50", "北汽幻速H2", "北汽幻速H2V", "北汽幻速H3", "北汽幻速H3F", "北汽幻速S2", "北汽幻速S3", "北汽幻速S3L", "北汽幻速S3_2014款", "北汽幻速S5", "北汽幻速S6", "北汽幻速S6_2016款", "北汽幻速S7", "北汽新能源_EC系列", "北汽新能源_EU系列", "北汽新能源_EV系列", "北汽新能源_EV系列_2016款", "华普_海域", "华泰_圣达菲", "华泰_圣达菲5", "华泰_圣达菲经典", "华泰_宝利格", "华泰_路盛E70", "华泰圣达菲", "华颂7", "双环SCEO", "双龙_享御", "双龙_柯兰多", "双龙_爱腾", "吉利EC8", "吉利GC7", "吉利GX2", "吉利GX7_2012款", "吉利GX7_2013款", "吉利GX7_2014款", "吉利GX7_2015款", "吉利SC3", "吉利SX7", "吉利_博瑞_2015款", "吉利_博瑞_2016款", "吉利_博瑞_2017款", "吉利_博越_2016款", "吉利_博越_2018款", "吉利_帝豪EV", "吉利_帝豪GL_2017款", "吉利_帝豪GL_2018款", "吉利_帝豪GS_2016款", "吉利_帝豪_2014款", "吉利_帝豪_2015款", "吉利_帝豪_2016款", "吉利_帝豪_2017款", "吉利_帝豪_2018款", "吉利_海景", "吉利_熊猫", "吉利_经典帝豪", "吉利_经典帝豪_2012款", "吉利_自由舰", "吉利_英伦C5", "吉利_英伦TX4", "吉利_豪情SUV", "吉利_远景", "吉利_远景S1", "吉利_远景SUV", "吉利_远景SUV_2016款", "吉利_远景X3", "吉利_远景_2015款", "吉利_远景_2016款", "吉利_远景_2017款", "吉利_金刚", "吉利_金刚_2016款", "吉利_金刚财富", "吉利_金鹰", "吉利博瑞", "吉利博越", "吉利金刚2代", "启辰D50", "启辰D50_2013款", "启辰D60", "启辰R50", "启辰R50X", "启辰R50_2013款", "启辰R50_2015款", "启辰T70", "启辰T70X", "启辰T70_2015款", "启辰T90", "启辰_晨风", "哈弗H1", "哈弗H1_2015款", "哈弗H1_2016款", "哈弗H2", "哈弗H2_2014款", "哈弗H2_2016款", "哈弗H2_2017款", "哈弗H2s", "哈弗H3", "哈弗H4", "哈弗H5", "哈弗H5_2012款", "哈弗H5_2013款", "哈弗H6_2011款", "哈弗H6_2012款", "哈弗H6_2013款", "哈弗H6_2014款", "哈弗H6_2015款", "哈弗H6_2016款", "哈弗H6_2017款", "哈弗H6_2018款", "哈弗H6_Coupe", "哈弗H6_Coupe_2015款", "哈弗H6_Coupe_2016款", "哈弗H7", "哈弗H7_2017款", "哈弗H8", "哈弗H8_2015款", "哈弗H9", "哈弗H9_2015款", "哈弗M6", "哈飞_民意", "哈飞赛豹III", "哈飞骏意", "夏利", "夏利N5", "夏利N7", "大众CC", "大众CC_2010款", "大众CC_2011款", "大众CC_2012款", "大众CC_2013款", "大众CC_2015款", "大众CC_2016款", "大众Eos", "大众POLO", "大众POLO_2009款", "大众POLO_2011款", "大众POLO_2012款", "大众POLO_2013款", "大众POLO_2014款", "大众POLO_2016款", "大众_2016款", "大众_Passat领驭", "大众_Passat领驭_2009款", "大众_凌渡_2015款", "大众_凌渡_2017款", "大众_凌渡_2018款", "大众_凯路威", "大众_夏朗", "大众_夏朗_2013款", "大众_宝来", "大众_宝来_2008款", "大众_宝来_2011款", "大众_宝来_2012款", "大众_宝来_2013款", "大众_宝来_2014款", "大众_宝来_2015款", "大众_宝来_2016款", "大众_宝来_2017款", "大众_宝来_2018款", "大众_尚酷", "大众_尚酷_2011款", "大众_帕萨特", "大众_帕萨特_2011款", "大众_帕萨特_2013款", "大众_帕萨特_2014款", "大众_帕萨特_2015款", "大众_帕萨特_2016款", "大众_帕萨特_2017款", "大众_捷达", "大众_捷达_2010款", "大众_捷达_2013款", "大众_捷达_2015款", "大众_捷达_2017款", "大众_朗境", "大众_朗行", "大众_朗行_2013款", "大众_朗行_2015款", "大众_朗逸", "大众_朗逸_2008款", "大众_朗逸_2011款", "大众_朗逸_2013款", "大众_朗逸_2015款", "大众_朗逸_2017款", "大众_桑塔纳", "大众_桑塔纳_2013款", "大众_桑塔纳_2015款", "大众_桑塔纳_2016款", "大众_桑塔纳志俊", "大众_桑塔纳志俊_2008款", "大众_桑塔纳经典", "大众_甲壳虫", "大众_甲壳虫_2013款", "大众_甲壳虫_2014款", "大众_蔚揽(进口)", "大众_蔚领", "大众_蔚领_2017款", "大众_辉昂", "大众_辉腾", "大众_迈特威", "大众_迈腾", "大众_迈腾_2009款", "大众_迈腾_2011款", "大众_迈腾_2012款", "大众_迈腾_2013款", "大众_迈腾_2015款", "大众_迈腾_2016款", "大众_迈腾_2017款", "大众_迈腾_2018款", "大众_途安", "大众_途安_2011款", "大众_途安_2013款", "大众_途安_2015款", "大众_途昂", "大众_途观", "大众_途观L", "大众_途观_2010款", "大众_途观_2012款", "大众_途观_2013款", "大众_途观_2015款", "大众_途观_2016款", "大众_途锐", "大众_途锐_2011款", "大众_速腾", "大众_速腾_2009款", "大众_速腾_2010款", "大众_速腾_2011款", "大众_速腾_2012款", "大众_速腾_2014款", "大众_速腾_2015款", "大众_速腾_2017款", "大众_速腾_2018款", "大众_高尔夫", "大众_高尔夫_2010款", "大众_高尔夫_2011款", "大众_高尔夫_2012款", "大众_高尔夫_2014款", "大众_高尔夫_2015款", "大众_高尔夫_2016款", "大众_高尔夫_2017款", "大众_高尔夫·嘉旅", "大众_高尔夫·嘉旅_2016款", "大众途观_2013款", "奇瑞A1", "奇瑞A3", "奇瑞A5", "奇瑞E3_2013款", "奇瑞E3_2015款", "奇瑞E5", "奇瑞E5_2012款", "奇瑞QQ", "奇瑞QQ3", "奇瑞X1", "奇瑞_旗云1", "奇瑞_旗云2", "奇瑞_旗云3", "奇瑞_瑞虎", "奇瑞_瑞虎3_2014款", "奇瑞_瑞虎3_2015款", "奇瑞_瑞虎3_2016款", "奇瑞_瑞虎5", "奇瑞_瑞虎5_2014款", "奇瑞_瑞虎5_2016款", "奇瑞_瑞虎5x", "奇瑞_瑞虎7", "奇瑞_瑞虎_2012款", "奇瑞_艾瑞泽3", "奇瑞_艾瑞泽5", "奇瑞_艾瑞泽5_2016款", "奇瑞_艾瑞泽7", "奇瑞_艾瑞泽7e", "奇瑞_风云2", "奇瑞_风云2_2010款", "奇瑞_风云2_2013款", "奇瑞eQ1", "奇瑞瑞虎", "奇瑞瑞虎3", "奇瑞瑞虎3X", "奇瑞艾瑞泽M7", "奇瑞风云2", "奔腾B30_2016款", "奔腾B50", "奔腾B50_2011款", "奔腾B50_2012款", "奔腾B50_2013款", "奔腾B70", "奔腾B70_2010款", "奔腾B70_2012款", "奔腾B70_2014款", "奔腾B90", "奔腾X40", "奔腾X80", "奔腾X80_2013款", "奔腾X80_2015款", "奔腾X80_2016款", "奔驰A级", "奔驰A级(进口)", "奔驰A级AMG", "奔驰B级", "奔驰B级_2009款", "奔驰B级_2012款", "奔驰B级_2015款", "奔驰CLA级", "奔驰CLA级AMG", "奔驰CLA级_2016款", "奔驰CLA级_2017款", "奔驰CLK级", "奔驰CLS级", "奔驰CLS级AMG", "奔驰C级", "奔驰C级AMG", "奔驰C级AMG_2012款", "奔驰C级_2010款", "奔驰C级_2011款", "奔驰C级_2013款", "奔驰C级_2015款", "奔驰C级_2016款", "奔驰C级_2017款", "奔驰C级_2018款", "奔驰E级", "奔驰E级_2010款", "奔驰E级_2011款", "奔驰E级_2012款", "奔驰E级_2013款", "奔驰E级_2014款", "奔驰E级_2015款", "奔驰E级_2016款", "奔驰GLA级", "奔驰GLA级_2015款", "奔驰GLA级_2016款", "奔驰GLC级", "奔驰GLC级_2016款", "奔驰GLE级", "奔驰GLE级AMG", "奔驰GLK级", "奔驰GLK级_2011款", "奔驰GLK级_2012款", "奔驰GLK级_2013款", "奔驰GLK级_2014款", "奔驰GLK级_2015款", "奔驰GLS级", "奔驰GL级", "奔驰G级", "奔驰M级", "奔驰R级", "奔驰R级_2010款", "奔驰SLK级", "奔驰S级", "奔驰S级AMG", "奔驰S级_2012款", "奔驰S级_2014款", "奔驰V级", "奔驰_唯雅诺", "奔驰_威霆", "奥迪A1", "奥迪A1_2012款", "奥迪A3", "奥迪A3_2012款", "奥迪A3_2014款", "奥迪A3_2016款", "奥迪A3_2017款", "奥迪A4", "奥迪A4L", "奥迪A4L_2010款", "奥迪A4L_2011款", "奥迪A4L_2012款", "奥迪A4L_2013款", "奥迪A4L_2015款", "奥迪A4L_2016款", "奥迪A4L_2018款", "奥迪A5", "奥迪A6", "奥迪A6L", "奥迪A6L_2010款", "奥迪A6L_2011款", "奥迪A6L_2012款", "奥迪A6L_2015款", "奥迪A6L_2016款", "奥迪A6L_2017款", "奥迪A7", "奥迪A8L", "奥迪A8L_2013款", "奥迪Q3", "奥迪Q3_2012款", "奥迪Q3_2013款", "奥迪Q3_2015款", "奥迪Q3_2016款", "奥迪Q5", "奥迪Q5_2010款", "奥迪Q5_2011款", "奥迪Q5_2012款", "奥迪Q5_2013款", "奥迪Q5_2015款", "奥迪Q5_2016款", "奥迪Q5_2017款", "奥迪Q7", "奥迪Q7_2012款", "奥迪S3", "奥迪S5", "奥迪TT", "奥迪TTS", "威麟V5", "宝沃汽车_宝沃BX5", "宝沃汽车_宝沃BX7", "宝沃汽车宝沃BX7", "宝马1系", "宝马1系_2008款", "宝马1系_2012款", "宝马1系_2013款", "宝马1系_2017款", "宝马2系", "宝马2系旅行车", "宝马3系", "宝马3系GT", "宝马3系_2010款", "宝马3系_2012款", "宝马3系_2013款", "宝马3系_2014款", "宝马3系_2015款", "宝马3系_2016款", "宝马3系_2017款", "宝马3系_2018款", "宝马4系", "宝马5系", "宝马5系GT", "宝马5系_2011款", "宝马5系_2012款", "宝马5系_2013款", "宝马5系_2014款", "宝马5系_2017款", "宝马6系", "宝马7系", "宝马7系_2009款", "宝马7系_2011款", "宝马7系_2013款", "宝马M系", "宝马X1_2010款", "宝马X1_2012款", "宝马X1_2013款", "宝马X1_2014款", "宝马X1_2015款", "宝马X1_2016款", "宝马X1_2018款", "宝马X3", "宝马X3_2012款", "宝马X3_2013款", "宝马X3_2014款", "宝马X4", "宝马X5", "宝马X5_2011款", "宝马X5_2013款", "宝马X5_2014款", "宝马X6", "宝马Z4", "宝骏310", "宝骏310W", "宝骏510", "宝骏510_2017款", "宝骏530", "宝骏560", "宝骏560_2016款", "宝骏560_2017款", "宝骏610", "宝骏630", "宝骏630_2013款", "宝骏730_2014款", "宝骏730_2015款", "宝骏730_2016款", "宝骏730_2017款", "宝骏_乐驰", "川汽_野马F10", "川汽_野马F16", "川汽_野马T70", "川汽_野马T70新能源", "川汽_野马T80", "广汽吉奥GX6", "广汽吉奥_奥轩GX5", "广汽吉奥_星朗", "康迪", "开瑞K50", "开瑞K60EV", "开瑞_优胜2代", "思铭", "捷豹F-PACE", "捷豹XE", "捷豹XF", "捷豹XFL", "捷豹XJ", "捷豹XJ_2016款", "斯威X7", "斯巴鲁BRZ", "斯巴鲁XV", "斯巴鲁XV_2012款", "斯巴鲁_傲虎", "斯巴鲁_力狮", "斯巴鲁_森林人", "斯巴鲁_森林人_2011款", "斯巴鲁_森林人_2012款", "斯巴鲁_森林人_2013款", "斯柯达Yeti", "斯柯达Yeti_2014款", "斯柯达_昊锐", "斯柯达_昊锐_2009款", "斯柯达_昊锐_2012款", "斯柯达_明锐", "斯柯达_明锐_2009款", "斯柯达_明锐_2010款", "斯柯达_明锐_2012款", "斯柯达_明锐_2013款", "斯柯达_明锐_2014款", "斯柯达_明锐_2015款", "斯柯达_明锐_2016款", "斯柯达_昕动_2014款", "斯柯达_昕动_2016款", "斯柯达_昕锐", "斯柯达_昕锐_2013款", "斯柯达_昕锐_2016款", "斯柯达_晶锐", "斯柯达_晶锐_2011款", "斯柯达_晶锐_2012款", "斯柯达_晶锐_2014款", "斯柯达_柯珞克", "斯柯达_柯米克", "斯柯达_柯迪亚克_2018款", "斯柯达_速派", "斯柯达_速派_2013款", "斯柯达_速派_2016款", "斯柯达昕动", "斯达泰克-卫士", "日产", "日产GT-R", "日产NV200", "日产_劲客", "日产_天籁", "日产_天籁_2008款", "日产_天籁_2011款", "日产_天籁_2013款", "日产_天籁_2016款", "日产_奇骏", "日产_奇骏_2010款", "日产_奇骏_2012款", "日产_奇骏_2014款", "日产_奇骏_2015款", "日产_奇骏_2017款", "日产_帕拉丁", "日产_楼兰", "日产_玛驰_2010款", "日产_蓝鸟_2016款", "日产_轩逸", "日产_轩逸_2009款", "日产_轩逸_2012款", "日产_轩逸_2014款", "日产_轩逸_2016款", "日产_轩逸_2018款", "日产_逍客", "日产_逍客_2011款", "日产_逍客_2012款", "日产_逍客_2015款", "日产_逍客_2016款", "日产_逍客_2017款", "日产_途乐", "日产_阳光", "日产_阳光_2011款", "日产_阳光_2014款", "日产_阳光_2015款", "日产_颐达", "日产_颐达_2008款", "日产_骊威", "日产_骊威_2010款", "日产_骊威_2013款", "日产_骊威_2015款", "日产_骏逸", "日产_骐达", "日产_骐达_2008款", "日产_骐达_2011款", "日产_骐达_2014款", "昌河M50", "昌河M70", "昌河Q35", "昌河_福瑞达", "本田CR-V", "本田CR-V_2010款", "本田CR-V_2012款", "本田CR-V_2013款", "本田CR-V_2015款", "本田CR-V_2016款", "本田UR-V_2017款", "本田XR-V_2015款", "本田XR-V_2017款", "本田_冠道_2017款", "本田_凌派", "本田_凌派_2013款", "本田_凌派_2015款", "本田_凌派_2016款", "本田_哥瑞_2016款", "本田_奥德赛", "本田_奥德赛_2015款", "本田_思域", "本田_思域_2009款", "本田_思域_2012款", "本田_思域_2016款", "本田_思铂睿", "本田_思铂睿_2009款", "本田_思铂睿_2015款", "本田_杰德", "本田_杰德_2013款", "本田_杰德_2014款", "本田_杰德_2016款", "本田_歌诗图", "本田_歌诗图_2012款", "本田_歌诗图_2014款", "本田_竞瑞", "本田_缤智", "本田_缤智_2015款", "本田_艾力绅", "本田_艾力绅_2015款", "本田_艾力绅_2016款", "本田_锋范_2015款", "本田_锋范_2017款", "本田_锋范经典", "本田_锋范经典_2008款", "本田_锋范经典_2012款", "本田_雅阁", "本田_雅阁_2010款", "本田_雅阁_2011款", "本田_雅阁_2012款", "本田_雅阁_2013款", "本田_雅阁_2014款", "本田_雅阁_2015款", "本田_雅阁_2016款", "本田_飞度", "本田_飞度_2011款", "本田_飞度_2014款", "本田_飞度_2016款", "本田_飞度_2018款", "林肯MKC", "林肯MKT", "林肯MKX", "林肯MKZ", "林肯_领航员", "林肯大陆", "标致2008", "标致2008_2014款", "标致207", "标致207_2011款", "标致3008", "标致3008_2013款", "标致3008_2015款", "标致301", "标致301_2014款", "标致301_2016款", "标致307", "标致307_2010款", "标致307_2012款", "标致308", "标致308S_2015款", "标致308_2012款", "标致308_2013款", "标致308_2014款", "标致308_2016款", "标致308_SW", "标致4008", "标致407", "标致408", "标致408_2011款", "标致408_2013款", "标致408_2014款", "标致408_2015款", "标致408_2016款", "标致5008", "标致508_2011款", "标致508_2012款", "标致508_2013款", "标致508_2015款", "欧宝_安德拉", "欧宝_雅特", "欧宝安德拉", "欧朗", "比亚迪F0", "比亚迪F3", "比亚迪F3R", "比亚迪F3_2011款", "比亚迪F3_2012款", "比亚迪F3_2013款", "比亚迪F3_2015款", "比亚迪F3_2016款", "比亚迪F6", "比亚迪F6_2010款", "比亚迪G3", "比亚迪G3R", "比亚迪G5_2014款", "比亚迪G6", "比亚迪L3", "比亚迪L3_2012款", "比亚迪M6", "比亚迪S6_2011款", "比亚迪S6_2012款", "比亚迪S6_2013款", "比亚迪S6_2014款", "比亚迪S7", "比亚迪S7_2015款", "比亚迪S7_2016款", "比亚迪_元", "比亚迪_元_2016款", "比亚迪_唐", "比亚迪_唐_2015款", "比亚迪_宋", "比亚迪_宋MAX", "比亚迪_宋_2016款", "比亚迪_思锐", "比亚迪_秦_2014款", "比亚迪_秦_2015款", "比亚迪_秦_2017款", "比亚迪_速锐", "比亚迪_速锐_2012款", "比亚迪_速锐_2014款", "比亚迪_速锐_2015款", "比亚迪秦", "比速汽车_比速M3", "比速汽车_比速T3", "比速汽车_比速T5", "汇众_伊思坦纳", "汉腾X7", "江淮_同悦", "江淮_同悦RS", "江淮_和悦", "江淮_和悦A30", "江淮_瑞风", "江淮_瑞风M2", "江淮_瑞风M3", "江淮_瑞风M3_2015款", "江淮_瑞风M4", "江淮_瑞风M5", "江淮_瑞风M5_2013款", "江淮_瑞风M6", "江淮_瑞风R3", "江淮_瑞风S2", "江淮_瑞风S2_2015款", "江淮_瑞风S3", "江淮_瑞风S3_2014款", "江淮_瑞风S3_2016款", "江淮_瑞风S5", "江淮_瑞风S5_2013款", "江淮_瑞风S7", "江淮_瑞风_2011款", "江淮_瑞风_2012款", "江淮_瑞鹰", "江淮iEV", "江铃_域虎", "江铃_宝典", "江铃_驭胜S330", "江铃_驭胜S350", "江铃考斯特", "江铃集团新能源_江淮iEV6E", "江铃集团新能源_江铃E200", "江铃集团轻汽_骐铃T100", "江铃集团轻汽_骐铃T3", "沃尔沃C30", "沃尔沃S40", "沃尔沃S60", "沃尔沃S60L", "沃尔沃S60L_2015款", "沃尔沃S60L_2016款", "沃尔沃S60L_2018款", "沃尔沃S80L", "沃尔沃S90", "沃尔沃V40", "沃尔沃V60", "沃尔沃XC60", "沃尔沃XC60_2011款", "沃尔沃XC60_2015款", "沃尔沃XC90", "沃尔沃XC_Classic", "海马M3", "海马M6", "海马M8", "海马S5", "海马S5_2015款", "海马S5_2016款", "海马S5_Young", "海马S5青春版", "海马S7", "海马S7_2013款", "海马V70", "海马_丘比特", "海马_普力马", "海马_欢动", "海马_海福星", "海马_福仕达鸿达", "海马_福美来", "海马_福美来MPV", "海马_福美来_2014款", "海马_福美来_2015款", "海马爱尚", "海马骑士", "特斯拉MODEL_S", "猎豹6481", "猎豹CS10", "猎豹CS10_2015款", "猎豹CS10_2017款", "猎豹CS7", "猎豹CS9", "猎豹Q6", "猎豹_飞腾", "猎豹黑金刚", "玛莎拉蒂Ghibli", "玛莎拉蒂Levante", "玛莎拉蒂_总裁", "玛莎拉蒂总裁", "现代_伊兰特", "现代_伊兰特_2007款", "现代_全新胜达", "现代_全新胜达_2013款", "现代_全新胜达_2015款", "现代_劳恩斯_酷派", "现代_名图_2014款", "现代_名图_2016款", "现代_名图_2017款", "现代_名驭", "现代_悦动", "现代_悦动_2010款", "现代_悦动_2011款", "现代_悦纳_2016款", "现代_新胜达", "现代_朗动_2012款", "现代_朗动_2013款", "现代_朗动_2015款", "现代_朗动_2016款", "现代_格越", "现代_瑞奕", "现代_瑞奕_2014款", "现代_瑞纳", "现代_瑞纳_2010款", "现代_瑞纳_2014款", "现代_瑞纳_2016款", "现代_索纳塔", "现代_索纳塔九", "现代_索纳塔九_2015款", "现代_索纳塔八", "现代_索纳塔八_2011款", "现代_索纳塔八_2013款", "现代_索纳塔八_2014款", "现代_维拉克斯", "现代_途胜", "现代_途胜_2009款", "现代_途胜_2013款", "现代_途胜_2015款", "现代_雅尊", "现代_雅绅特", "现代_领动", "现代_领动_2016款", "现代_领翔", "现代_飞思", "现代i30", "现代ix25", "现代ix25_2015款", "现代ix35", "现代ix35_2010款", "现代ix35_2012款", "现代ix35_2013款", "现代ix35_2015款", "现代全新胜达", "现代名图", "现代悦动_2011款", "现代朗动", "现代飞思", "理念S1", "瑞麒G3", "瑞麒G5", "知豆D2", "福特", "福特Mustang", "福特S-MAX", "福特_全顺", "福特_嘉年华", "福特_嘉年华_2009款", "福特_嘉年华_2011款", "福特_嘉年华_2013款", "福特_探险者", "福特_探险者_2013款", "福特_探险者_2016款", "福特_撼路者", "福特_新世代全顺", "福特_猛禽", "福特_福克斯", "福特_福克斯_2009款", "福特_福克斯_2011款", "福特_福克斯_2012款", "福特_福克斯_2013款", "福特_福克斯_2015款", "福特_福克斯_2017款", "福特_福克斯_2018款", "福特_福睿斯", "福特_福睿斯_2015款", "福特_福睿斯_2017款", "福特_经典全顺", "福特_翼搏", "福特_翼搏_2013款", "福特_翼虎", "福特_翼虎_2013款", "福特_翼虎_2015款", "福特_翼虎_2017款", "福特_致胜_2013款", "福特_蒙迪欧", "福特_蒙迪欧-致胜", "福特_蒙迪欧-致胜_2010款", "福特_蒙迪欧-致胜_2011款", "福特_蒙迪欧_2013款", "福特_蒙迪欧_2017款", "福特_途睿欧", "福特_野马", "福特_野马_2017款", "福特_金牛座", "福特_金牛座_2015款", "福特_锐界", "福特_锐界_2012款", "福特_锐界_2015款", "福特_锐界_2016款", "福特福克斯_2012款", "福特翼搏_2013款", "福特翼虎_2013款", "福特蒙迪欧-致胜", "福特蒙迪欧_2013款", "福田_伽途ix7", "福田_拓陆者", "福田_蒙派克E", "福田_迷迪", "福田_风景", "福迪_探索者6", "福迪_揽福", "红旗H7", "纳智捷_U5_SUV", "纳智捷_优6_SUV", "纳智捷_优6_SUV_2014款", "纳智捷_优6_SUV_2015款", "纳智捷_优6_SUV_2016款", "纳智捷_大7_MPV", "纳智捷_大7_SUV", "纳智捷_大7_SUV_2011款", "纳智捷_大7_SUV_2013款", "纳智捷_大7_SUV_2014款", "纳智捷_纳5", "纳智捷_纳5_2013款", "纳智捷_纳5_2015款", "纳智捷_锐3", "纳智捷优6_SUV", "纳智捷大7_MPV", "纳智捷大7_SUV", "美佳", "英致737", "英致G3", "英致G5", "英菲尼迪ESQ_2014款", "英菲尼迪EX系列", "英菲尼迪FX系列", "英菲尼迪G系列", "英菲尼迪JX35", "英菲尼迪M系列", "英菲尼迪Q50", "英菲尼迪Q50L", "英菲尼迪Q50L_2016款", "英菲尼迪Q70L", "英菲尼迪QX30", "英菲尼迪QX50", "英菲尼迪QX50_2015款", "英菲尼迪QX60", "英菲尼迪QX70", "荣威350_2010款", "荣威350_2011款", "荣威350_2012款", "荣威350_2013款", "荣威350_2014款", "荣威350_2015款", "荣威360", "荣威360_2015款", "荣威360_2017款", "荣威550", "荣威550_2009款", "荣威550_2010款", "荣威550_2012款", "荣威550_2013款", "荣威550_2014款", "荣威750", "荣威950_2012款", "荣威RX3", "荣威RX5_2016款", "荣威RX5_2018款", "荣威RX8", "荣威W5", "荣威e550", "荣威eRX5", "荣威ei6_2017款", "荣威i6", "菲亚特500", "菲亚特_博悦", "菲亚特_致悦", "菲亚特_致悦_2014款", "菲亚特_菲翔", "菲亚特_菲翔_2012款", "菲亚特_菲翔_2015款", "菲亚特_菲跃", "西雅特_西亚特LEON", "观致3", "观致5", "讴歌CDX", "讴歌MDX", "讴歌RDX", "讴歌RL", "讴歌TLX", "讴歌ZDX", "起亚", "起亚K2", "起亚K2_2011款", "起亚K2_2012款", "起亚K2_2015款", "起亚K3", "起亚K3S_2014款", "起亚K3_2013款", "起亚K3_2015款", "起亚K3_2016款", "起亚K4", "起亚K4_2014款", "起亚K5", "起亚K5_2011款", "起亚K5_2012款", "起亚K5_2014款", "起亚K5_2016款", "起亚KX3", "起亚KX3_2015款", "起亚KX5_2016款", "起亚KX7", "起亚KX_CROSS", "起亚_2015款", "起亚_佳乐", "起亚_凯尊", "起亚_新佳乐", "起亚_智跑_2011款", "起亚_智跑_2012款", "起亚_智跑_2014款", "起亚_智跑_2015款", "起亚_智跑_2016款", "起亚_极睿", "起亚_欧菲莱斯", "起亚_焕驰", "起亚_狮跑", "起亚_狮跑_2011款", "起亚_狮跑_2012款", "起亚_狮跑_2013款", "起亚_福瑞迪_2009款", "起亚_福瑞迪_2011款", "起亚_福瑞迪_2012款", "起亚_福瑞迪_2014款", "起亚_秀尔", "起亚_秀尔_2013款", "起亚_索兰托", "起亚_索兰托_2012款", "起亚_索兰托_2013款", "起亚_赛拉图", "起亚_赛拉图_欧风", "起亚_速迈", "起亚_锐欧", "起亚_霸锐", "起亚智跑", "起亚福瑞迪", "起亚索兰托L", "路虎_发现", "路虎_发现_2015款", "路虎_发现神行", "路虎_发现神行_2016款", "路虎_发现神行_2018款", "路虎_揽胜", "路虎_揽胜极光", "路虎_揽胜极光_2014款", "路虎_揽胜极光_2015款", "路虎_揽胜运动版", "路虎_神行者2", "路虎_神行者2_2013款", "道奇_酷威", "道奇_酷威_2013款", "道奇_酷搏", "道奇_锋哲", "金杯750", "金杯S50", "金杯_智尚S30", "金杯_智尚S35", "金杯_海狮", "金杯_海狮X30L", "金杯_海狮_2014款", "金杯_蒂阿兹", "金杯_阁瑞斯", "金龙_凯歌", "金龙_凯特", "金龙_金威", "铃木_凯泽西", "铃木_利亚纳", "铃木_利亚纳A6", "铃木_北斗星", "铃木_北斗星X5", "铃木_吉姆尼", "铃木_启悦_2015款", "铃木_天语_SX4", "铃木_天语_SX4_2009款", "铃木_天语_SX4_2011款", "铃木_天语_SX4_2013款", "铃木_天语_尚悦", "铃木_天语_尚悦_2011款", "铃木_奥拓", "铃木_奥拓_2013款", "铃木_派喜", "铃木_维特拉_2016款", "铃木_羚羊", "铃木_超级维特拉", "铃木_锋驭_2014款", "铃木_雨燕", "铃木_雨燕_2011款", "铃木_雨燕_2013款", "铃木_雨燕_2014款", "铃木_雨燕_2016款", "铃木_骁途", "铃木天语_SX4", "铃木天语_尚悦", "铃木奥拓", "铃木维特拉", "铃木羚羊", "长城C20R", "长城C30", "长城C30_2010款", "长城C50", "长城C50_2013款", "长城M1", "长城M2", "长城M4", "长城M4_2012款", "长城M4_2014款", "长城V80", "长城_炫丽", "长城_精灵", "长城_酷熊", "长城_金迪尔", "长城_风骏5", "长城_风骏6", "长安CS15_2016款", "长安CS35_2012款", "长安CS35_2014款", "长安CS35_2015款", "长安CS35_2016款", "长安CS35_2017款", "长安CS55", "长安CS75", "长安CS75_2014款", "长安CS75_2016款", "长安CS75_2017款", "长安CS95", "长安CX20_2011款", "长安CX20_2014款", "长安_凌轩", "长安_奔奔", "长安_奔奔_2014款", "长安_奔奔_2015款", "长安_奔奔mini", "长安_悦翔", "长安_悦翔V3", "长安_悦翔V5_2012款", "长安_悦翔V7_2015款", "长安_悦翔V7_2016款", "长安_睿骋", "长安_睿骋_2014款", "长安_逸动", "长安_逸动DT", "长安_逸动_2012款", "长安_逸动_2013款", "长安_逸动_2014款", "长安_逸动_2015款", "长安_逸动_2016款", "长安商用", "长安商用V5", "长安商用_欧力威", "长安商用_欧尚", "长安商用_欧尚_2016款", "长安商用_欧诺", "长安商用_欧诺_2014款", "长安商用_睿行", "长安商用_睿行S50", "长安商用_神骐F30", "长安商用_金牛星", "长安商用_金牛星_2011款", "长安商用_长安CX70", "长安商用_长安之星", "长安商用_长安之星2", "长安商用_长安之星3", "长安商用_长安之星7", "长安商用_长安之星S460", "长安商用_长安星光", "长安商用_长安星光4500", "长安商用长安之星2", "长安悦翔V3", "长安欧尚_欧尚A800", "长安欧尚_欧尚X70A", "长安跨越", "陆程", "陆风X2", "陆风X5", "陆风X5_2013款", "陆风X7", "陆风X7_2015款", "陆风X7_2016款", "陆风X8", "陆风X9", "雪佛兰", "雪佛兰Express", "雪佛兰_2015款", "雪佛兰_乐风", "雪佛兰_乐风RV", "雪佛兰_乐风_2010款", "雪佛兰_乐驰", "雪佛兰_乐骋", "雪佛兰_创酷", "雪佛兰_创酷_2014款", "雪佛兰_创酷_2016款", "雪佛兰_探界者", "雪佛兰_景程", "雪佛兰_景程_2010款", "雪佛兰_景程_2013款", "雪佛兰_爱唯欧", "雪佛兰_爱唯欧_2011款", "雪佛兰_爱唯欧_2014款", "雪佛兰_科帕奇", "雪佛兰_科帕奇_2010款", "雪佛兰_科帕奇_2011款", "雪佛兰_科帕奇_2012款", "雪佛兰_科帕奇_2014款", "雪佛兰_科帕奇_2015款", "雪佛兰_科沃兹", "雪佛兰_科沃兹_2016款", "雪佛兰_科鲁兹", "雪佛兰_科鲁兹_2009款", "雪佛兰_科鲁兹_2010款", "雪佛兰_科鲁兹_2011款", "雪佛兰_科鲁兹_2012款", "雪佛兰_科鲁兹_2013款", "雪佛兰_科鲁兹_2015款", "雪佛兰_科鲁兹_2016款", "雪佛兰_科鲁兹_2017款", "雪佛兰_赛欧", "雪佛兰_赛欧_2010款", "雪佛兰_赛欧_2013款", "雪佛兰_迈锐宝", "雪佛兰_迈锐宝XL", "雪佛兰_迈锐宝XL_2016款", "雪佛兰_迈锐宝_2012款", "雪佛兰_迈锐宝_2013款", "雪佛兰_迈锐宝_2014款", "雪佛兰_迈锐宝_2016款", "雪佛兰_迈锐宝_2017款", "雪佛兰科鲁兹_2012款", "雪铁龙C2", "雪铁龙C3-XR", "雪铁龙C3-XR_2015款", "雪铁龙C4L_2013款", "雪铁龙C4L_2014款", "雪铁龙C4L_2015款", "雪铁龙C4_Aircross", "雪铁龙C5", "雪铁龙C5_2011款", "雪铁龙C5_2012款", "雪铁龙C5_2013款", "雪铁龙C5_2014款", "雪铁龙_C4世嘉", "雪铁龙_C4世嘉_2016款", "雪铁龙_世嘉", "雪铁龙_世嘉_2011款", "雪铁龙_世嘉_2012款", "雪铁龙_世嘉_2013款", "雪铁龙_世嘉_2014款", "雪铁龙_世嘉_2016款", "雪铁龙_凯旋", "雪铁龙_毕加索", "雪铁龙_爱丽舍", "雪铁龙_爱丽舍_2014款", "雪铁龙_爱丽舍_2015款", "雪铁龙_爱丽舍_2016款", "雷克萨斯CT", "雷克萨斯CT_2014款", "雷克萨斯ES", "雷克萨斯ES_2013款", "雷克萨斯ES_2015款", "雷克萨斯GS", "雷克萨斯GX", "雷克萨斯IS", "雷克萨斯LX", "雷克萨斯NX", "雷克萨斯NX_2015款", "雷克萨斯RC", "雷克萨斯RX", "雷克萨斯RX经典", "雷克萨斯RX经典_2013款", "雷诺", "雷诺_卡缤", "雷诺_塔利斯曼", "雷诺_科雷傲", "雷诺_科雷傲_2012款", "雷诺_科雷嘉", "雷诺_科雷嘉_2016款", "雷诺_风朗", "雷诺科雷傲", "青年莲花_莲花L3", "青年莲花_莲花L5", "领克01", "风骏房车", "马自达2", "马自达2劲翔", "马自达3", "马自达3_2010款", "马自达3星骋", "马自达3星骋_2011款", "马自达3星骋_2012款", "马自达3星骋_2013款", "马自达5", "马自达6", "马自达6_2008款", "马自达6_2011款", "马自达6_2012款", "马自达6_2013款", "马自达6_2015款", "马自达8", "马自达CX-4", "马自达CX-4_2016款", "马自达CX-5", "马自达CX-5_2013款", "马自达CX-5_2014款", "马自达CX-5_2015款", "马自达CX-7", "马自达_昂克赛拉_2014款", "马自达_昂克赛拉_2016款", "马自达_昂克赛拉_2017款", "马自达_睿翼", "马自达_睿翼_2009款", "马自达_睿翼_2010款", "马自达_睿翼_2012款", "马自达_阿特兹", "马自达_阿特兹_2014款", "马自达_阿特兹_2015款", "马自达昂克赛拉", "马自达阿特兹", "黄海_旗胜V3" };

	
	for (int i = 0; i < 1776; i++)
	{
		classes.push_back(car_list[i]);
	}
	//classes = loadLabel(classesFile);
}


VEHICLE_RECG::~VEHICLE_RECG(){

}

std::pair<std::string,float> VEHICLE_RECG::detect(cv::Mat& img_)
{


	Mat image = img_;
	cv::Rect rect;
	det_net.setInput(blobFromImage(image, 1.0 / 127.5, Size(300, 300), Scalar(127.5, 127.5, 127.5), true, false));
	Mat cvOut = det_net.forward();
	int max_h = 0;
	int max_w = 0;
	Mat detectionMat(cvOut.size[2], cvOut.size[3], CV_32F, cvOut.ptr<float>());
	for (int i = 0; i < detectionMat.rows; i++)
	{
		int obj_class = detectionMat.at<float>(i, 1);
		float confidence = detectionMat.at<float>(i, 2);
		
		if (confidence > detect_thresh && obj_class == 7)
		{
			size_t objectClass = (size_t)(detectionMat.at<float>(i, 1));

			int xLeftBottom = static_cast<int>(detectionMat.at<float>(i, 3) * image.cols);
			int yLeftBottom = static_cast<int>(detectionMat.at<float>(i, 4) * image.rows);
			int xRightTop = static_cast<int>(detectionMat.at<float>(i, 5) * image.cols);
			int yRightTop = static_cast<int>(detectionMat.at<float>(i, 6) * image.rows);

			Rect object((int)xLeftBottom, (int)yLeftBottom, (int)(xRightTop - xLeftBottom), (int)(yRightTop - yLeftBottom));
			if ((int)(xRightTop - xLeftBottom)*(int)(yRightTop - yLeftBottom) > max_h*max_w)
			{
				max_h = (int)(yRightTop - yLeftBottom);
				max_w = (int)(xRightTop - xLeftBottom);
				rect = object;
			}			
			//rectangle(image, object, Scalar(0, 0, 255), 2);
		}
	}
	if (rect.x < 0)
	{
		rect.x = 0;
	}
	if (rect.y < 0)
	{
		rect.y = 0;
	}
	if (rect.width > image.cols)
	{
		rect.width = image.cols;

	}
	if (rect.height > image.rows)
	{
		rect.height = image.rows;
	}
	if (rect.x + rect.width > image.cols)
	{
		rect.width = image.cols - rect.x;
	}
	if (rect.y + rect.height > image.rows)
	{
		rect.height = image.rows - rect.y;
	}
	if (rect.width > 0)
	{

		Mat frame = img_(rect);
		auto blob = cv::dnn::blobFromImage(frame, 1.0, Size(frame.cols * (224.0 / frame.rows), 224),cv::Scalar(0.0,0.0,0.0) , true, false);
		rectangle(img_, rect, Scalar(0, 0, 255), 2);

//		float mean_rgb[3]= {123.68, 116.779, 103.939};
//		float std_rgb[3] = {58.393, 57.12, 57.375};

		float mean_rgb[3]= { 116.779, 103.939 , 123.68};
		float std_rgb[3] = { 57.12, 57.375,58.393};

		float scale = 1.0;

        	float* header = (float*)blob.data;

		int size = blob.size[2]*blob.size[3];

		for(int c =  0 ; c  < 3 ;c++)
		{
			for(int k  = 0 ; k< size ; k++)
            			header[c*size  +  k ]  = static_cast<float>((header[c*size  +  k ]/scale - mean_rgb[c])/std_rgb[c]);
		}


		reg_net.setInput(blob);
		Mat prob = reg_net.forward();
		Point classIdPoint;
		double confidence;
		minMaxLoc(prob.reshape(1, 1), 0, &confidence, 0, &classIdPoint);
		int classId = classIdPoint.x;

		//python -m SimpleHTTPServer 8003

        std::pair<std::string,float> res(classes[classId],confidence);

        return res;
	}
	else
	{
		std::pair<std::string,float> res("None",-1);
	}


}

void VEHICLE_RECG::recognize(cv::Mat& img_, cv::Rect& rect)
{
	Mat frame = img_(rect);
	//imshow("img", frame);
	//waitKey(0);
	auto blob = cv::dnn::blobFromImage(frame, 1.0, Size(frame.cols * (224.0 / frame.rows), 224),cv::Scalar(0.0,0.0,0.0) , true, false);

	rectangle(img_, rect, Scalar(0, 0, 255), 2);


	//float mean_rgb[3]= {123.68, 116.779, 103.939};
	//float std_rgb[3] = {58.393, 57.12, 57.375};

	float mean_rgb[3]= { 116.779, 103.939 , 123.68};
	float std_rgb[3] = { 57.12, 57.375,58.393};

	float scale = 1.0;

        float* header = (float*)blob.data;

	int size = blob.size[2]*blob.size[3];

	for(int c =  0 ; c  < 3 ;c++)
	{
		for(int k  = 0 ; k< size ; k++)
            		header[c*size  +  k ]  = static_cast<float>((header[c*size  +  k ]/scale - mean_rgb[c])/std_rgb[c]);
	}

	reg_net.setInput(blob);

	Mat prob = reg_net.forward();

	Point classIdPoint;
	double confidence;
	minMaxLoc(prob.reshape(1, 1), 0, &confidence, 0, &classIdPoint);
	int classId = classIdPoint.x;

	cout << classes[classId] << endl;
	std::cout<<confidence<<std::endl;




}

最后的话:

我是一个工作10年的程序员,工作中经常会遇到需要查一些关键技术,但是很多技术名词的介绍都写的很繁琐,为什么没有一个简单的/5分钟能说清楚的博客呢. 我打算有空就写写这种风格的指南文档.CSDN上搜蓝色的杯子, 没事多留言,指出我写的不对的地方,写的排版风格之类的问题,让我们一起爱智求真吧.wisdomfriend@126.com是我的邮箱,也可以给我邮箱留言.

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