bgg35-50
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@ -1,6 +1,7 @@
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import cv2
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import numpy as np
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import os
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#from rknnlite.api import RKNNLite
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# ====================== 配置区 ======================
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@ -23,6 +24,34 @@ print(f"Scale factors: SCALE_X={SCALE_X:.3f} mm/px, SCALE_Y={SCALE_Y:.3f} mm/px"
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# 输入尺寸
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IMG_SIZE = (640, 640)
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# ====================== RKNN 单例管理 ======================
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_rknn_instance = None
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def init_rknn_once(model_path):
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"""只加载一次 RKNN 模型"""
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global _rknn_instance
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if _rknn_instance is None:
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_rknn_instance = RKNNLite(verbose=False)
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ret = _rknn_instance.load_rknn(model_path)
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if ret != 0:
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print(f"[ERROR] Failed to load RKNN: {ret}")
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_rknn_instance = None
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return None
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ret = _rknn_instance.init_runtime()
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if ret != 0:
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print(f"[ERROR] Failed to init RKNN runtime: {ret}")
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_rknn_instance = None
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return None
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return _rknn_instance
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def release_rknn():
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"""释放 RKNN 单例"""
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global _rknn_instance
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if _rknn_instance:
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_rknn_instance.release()
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_rknn_instance = None
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# ====================== 工具函数 ======================
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def letterbox_resize(image, size, bg_color=114):
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target_w, target_h = size
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@ -35,63 +64,43 @@ def letterbox_resize(image, size, bg_color=114):
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canvas[dy:dy + new_h, dx:dx + new_w] = resized
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return canvas, scale, dx, dy
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def safe_sigmoid(x):
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x = np.clip(x, -50, 50)
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return 1.0 / (1.0 + np.exp(-x))
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def softmax(x):
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x = x - np.max(x)
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e = np.exp(x)
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return e / e.sum()
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def dfl_to_xywh(loc, grid_x, grid_y, stride):
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"""将 DFL 输出解析为 xywh"""
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xywh_ = np.zeros(4)
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xywh = np.zeros(4)
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# 每个维度 16 bins 做 softmax
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for i in range(4):
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l = loc[i * 16:(i + 1) * 16]
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l = softmax(l)
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xywh_[i] = sum([j * l[j] for j in range(16)])
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# 对应公式
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xywh_[0] = (grid_x + 0.5) - xywh_[0]
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xywh_[1] = (grid_y + 0.5) - xywh_[1]
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xywh_[2] = (grid_x + 0.5) + xywh_[2]
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xywh_[3] = (grid_y + 0.5) + xywh_[3]
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# 转成中心点 + 宽高
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xywh[0] = ((xywh_[0] + xywh_[2]) / 2) * stride
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xywh[1] = ((xywh_[1] + xywh_[3]) / 2) * stride
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xywh[2] = (xywh_[2] - xywh_[0]) * stride
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xywh[3] = (xywh_[3] - xywh_[1]) * stride
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# 转为左上角坐标
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xywh[0] = xywh[0] - xywh[2] / 2
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xywh[1] = xywh[1] - xywh[3] / 2
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return xywh
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def parse_pose_outputs(outputs, conf_threshold=0.5, dx=0, dy=0, scale=1.0):
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"""
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完整解析 RKNN YOLO-Pose 输出
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返回 keypoints, class_id, obj_conf, bbox（已映射回原图）
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"""
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boxes = []
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obj_confs = []
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class_ids = []
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# 遍历前三个输出 tensor (det 输出)
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for idx in range(3):
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det = np.array(outputs[idx])[0] # (C,H,W)
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det = np.array(outputs[idx])[0]
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C, H, W = det.shape
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num_classes = C - 64 # 前64通道为 DFL bbox
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num_classes = C - 64
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stride = 640 // H
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for h in range(H):
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for w in range(W):
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for c in range(num_classes):
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@ -102,7 +111,6 @@ def parse_pose_outputs(outputs, conf_threshold=0.5, dx=0, dy=0, scale=1.0):
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boxes.append(xywh)
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obj_confs.append(conf)
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class_ids.append(c)
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if not obj_confs:
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best_box = np.array([0, 0, 0, 0])
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class_id = -1
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@ -112,21 +120,16 @@ def parse_pose_outputs(outputs, conf_threshold=0.5, dx=0, dy=0, scale=1.0):
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best_box = boxes[max_idx]
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class_id = class_ids[max_idx]
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obj_conf = obj_confs[max_idx]
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# 🔹 bbox 坐标映射回原图
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x, y, w, h = best_box
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x = (x - dx) / scale
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y = (y - dy) / scale
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w = w / scale
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h = h / scale
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best_box = np.array([x, y, w, h])
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# 🔹 关键点解析
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kpt_output = np.array(outputs[3])[0] # (num_kpts, 3, num_anchor)
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kpt_output = np.array(outputs[3])[0]
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confs = kpt_output[:, 2, :]
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best_anchor_idx = np.argmax(np.mean(confs, axis=0))
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kpt_data = kpt_output[:, :, best_anchor_idx]
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keypoints = []
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for i in range(kpt_data.shape[0]):
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x_img, y_img, vis_conf_raw = kpt_data[i]
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@ -134,10 +137,8 @@ def parse_pose_outputs(outputs, conf_threshold=0.5, dx=0, dy=0, scale=1.0):
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x_orig = (x_img - dx) / scale
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y_orig = (y_img - dy) / scale
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keypoints.append([x_orig, y_orig, vis_prob])
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return np.array(keypoints), class_id, obj_conf, best_box
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def compute_offset(keypoints, fixed_point, scale_x, scale_y):
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if len(keypoints) < 2:
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return None
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@ -148,28 +149,19 @@ def compute_offset(keypoints, fixed_point, scale_x, scale_y):
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dy_mm = (cy - fixed_point[1]) * scale_y
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return cx, cy, dx_mm, dy_mm
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def visualize_result(image, keypoints, bbox, fixed_point, offset_info, save_path):
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vis = image.copy()
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colors = [(0, 0, 255), (0, 255, 255)]
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cx, cy, dx_mm, dy_mm = offset_info
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fx, fy = map(int, fixed_point)
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# 绘制关键点
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for i, (x, y, conf) in enumerate(keypoints[:2]):
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if conf > 0.5:
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cv2.circle(vis, (int(x), int(y)), 6, colors[i], -1)
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if len(keypoints) >= 2:
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cv2.line(vis,
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(int(keypoints[0][0]), int(keypoints[0][1])),
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(int(keypoints[1][0]), int(keypoints[1][1])),
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(0, 255, 0), 2)
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# 绘制 bbox
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cv2.line(vis, (int(keypoints[0][0]), int(keypoints[0][1])),
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(int(keypoints[1][0]), int(keypoints[1][1])), (0, 255, 0), 2)
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x, y, w, h = bbox
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cv2.rectangle(vis, (int(x), int(y)), (int(x + w), int(y + h)), (255, 0, 0), 2)
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# 绘制中心点
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cv2.circle(vis, (int(cx), int(cy)), 10, (0, 255, 0), 3)
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cv2.circle(vis, (fx, fy), 12, (255, 255, 0), 3)
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cv2.arrowedLine(vis, (fx, fy), (int(cx), int(cy)), (255, 255, 0), 2, tipLength=0.05)
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@ -177,30 +169,26 @@ def visualize_result(image, keypoints, bbox, fixed_point, offset_info, save_path
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cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
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cv2.putText(vis, f"DeltaY={dy_mm:+.1f}mm", (fx + 30, fy + 30),
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cv2.FONT_HERSHEY_SIMPLEX, 0.8, (0, 255, 255), 2)
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cv2.imwrite(save_path, vis)
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# ====================== 主函数 ======================
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def calculate_offset_from_image(image_path, visualize=False):
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from rknnlite.api import RKNNLite
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orig = cv2.imread(image_path)
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orig=cv2.imread(image_path)
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if orig is None:
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return {'success': False, 'message': f'Failed to load image: {image_path}'}
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img_resized, scale, dx, dy = letterbox_resize(orig, IMG_SIZE)
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infer_img = np.expand_dims(img_resized[..., ::-1], 0).astype(np.uint8)
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rknn = RKNNLite(verbose=False)
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ret = rknn.load_rknn(MODEL_PATH)
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if ret != 0:
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return {'success': False, 'message': 'Failed to load RKNN model'}
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rknn = init_rknn_once(MODEL_PATH)
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if rknn is None:
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return {'success': False, 'message': 'Failed to init RKNN'}
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try:
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rknn.init_runtime(core_mask=RKNNLite.NPU_CORE_0)
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outputs = rknn.inference([infer_img])
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finally:
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rknn.release()
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except Exception as e:
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return {'success': False, 'message': f'RKNN inference error: {str(e)}'}
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try:
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keypoints, class_id, obj_conf, bbox = parse_pose_outputs(outputs, dx=dx, dy=dy, scale=scale)
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@ -222,16 +210,40 @@ def calculate_offset_from_image(image_path, visualize=False):
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'obj_conf': obj_conf, 'bbox': bbox,
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'message': 'Success'}
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# ====================== 使用示例 ======================
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# ====================== 示例调用 ======================
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if __name__ == "__main__":
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image_path = "11.jpg"
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result = calculate_offset_from_image(image_path, visualize=True)
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if result['success']:
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print(f"Center point: ({result['cx']:.1f}, {result['cy']:.1f})")
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print(f"Offset: DeltaX={result['dx_mm']:+.2f} mm, DeltaY={result['dy_mm']:+.2f} mm")
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print(f"Class ID: {result['class_id']}, Confidence: {result['obj_conf']:.3f}")
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print(f"BBox: {result['bbox']}")
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else:
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print("Error:", result['message'])
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time_start = time.time()
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camera = CameraUtil()
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for i in range(5):
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time_start = time.time()
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image_path=camera.save_img()
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time_end = time.time()
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print(f"Time cost22: {time_end - time_start:.3f} s")
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# image_path = "11.jpg"
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result = calculate_offset_from_image(image_path, visualize=False)
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if result['success']:
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print(f"Center point: ({result['cx']:.1f}, {result['cy']:.1f})")
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print(f"Offset: DeltaX={result['dx_mm']:+.2f} mm, DeltaY={result['dy_mm']:+.2f} mm")
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print(f"Class ID: {result['class_id']}, Confidence: {result['obj_conf']:.3f}")
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print(f"BBox: {result['bbox']}")
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else:
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print("Error:", result['message'])
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time_end = time.time()
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print(f"Time cost: {time_end - time_start:.3f} s")
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# image_path = "11.jpg"
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# orig = cv2.imread(image_path)
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# result = calculate_offset_from_image(orig, visualize=False)
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# if result['success']:
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# print(f"Center point: ({result['cx']:.1f}, {result['cy']:.1f})")
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# print(f"Offset: DeltaX={result['dx_mm']:+.2f} mm, DeltaY={result['dy_mm']:+.2f} mm")
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# print(f"Class ID: {result['class_id']}, Confidence: {result['obj_conf']:.3f}")
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# print(f"BBox: {result['bbox']}")
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# else:
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# print("Error:", result['message'])
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