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72、结合无人机进行rk3588oak-lite跟踪目标物体进行识别、跟踪、保持距离

article 2024/9/24 5:25:58

基本思想：

搭建仿真转换模型环境，主要python版本和我下载的rknn2的版本

(rk3588) ubuntu@ubuntu:~/Downloads/rknn-toolkit2-1.5.0/packages$ python3
Python 3.8.0 (default, Nov  6 2019, 21:49:08) 
[GCC 7.3.0] :: Anaconda, Inc. on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> import rknn
>>> exit()

截取shape节点，输出模型

其中安装的whl版本

from rknn.api import RKNN

ONNX_MODEL = '/home/ubuntu/yolov7/runs/train/exp3/weights/best.onnx'
RKNN_MODEL = '/home/ubuntu/yolov7/runs/train/exp3/weights/best.rknn'

if __name__ == '__main__':

    # Create RKNN object
    rknn = RKNN(verbose=True)

    # pre-process config
    print('--> config model')
    rknn.config(mean_values=[[0, 0, 0]], std_values=[[255, 255, 255]],
                target_platform='rk3588',
                quantized_dtype='asymmetric_quantized-8')
    print('done')

    print('--> Loading model')
    ret = rknn.load_onnx(model=ONNX_MODEL, outputs=["/model.77/Reshape_2_output_0", "/model.77/Reshape_1_output_0",
                                                    "/model.77/Reshape_output_0"])
    if ret != 0:
        print('Load model  failed!')
        exit(ret)
    print('done')

    # Build model
    print('--> Building model')
    ret = rknn.build(do_quantization=True, dataset='dataset.txt')  # ,pre_compile=True
    if ret != 0:
        print('Build yolov5s failed!')
        exit(ret)
    print('done')

    # Export rknn model
    print('--> Export RKNN model')
    ret = rknn.export_rknn(RKNN_MODEL)
    if ret != 0:
        print('Export yolov5s.rknn failed!')
        exit(ret)
    print('done')

    rknn.release()

so库也要对应转模型的whl

连接开发板

neardi 用户密码：lindikeji 或 neardi

ubuntu@ubuntu:~$ ssh neardi@192.168.2.29
neardi@192.168.2.29's password: 
Welcome to Ubuntu 20.04.5 LTS (GNU/Linux 5.10.110 aarch64)

 * Documentation:  https://help.ubuntu.com
 * Management:     https://landscape.canonical.com
 * Support:        https://ubuntu.com/advantage

The programs included with the Ubuntu system are free software;
the exact distribution terms for each program are described in the
individual files in /usr/share/doc/*/copyright.

Ubuntu comes with ABSOLUTELY NO WARRANTY, to the extent permitted by
applicable law.

neardi@LPA3588:~$ sudo apt-get install cmake gcc g++ ffmpeg

测试一下代码

cmakelists.txt

mian.cpp

参考

Ubuntu新手入门 — Neardi Linux 用户手册 v1.1.2 documentation

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