首先将文件夹~/rknpu2/runtime/RK3588/Linux/librknn_api/aarch64/下的文件librknnrt.so复制到文件夹/usr/lib/下（该文件夹下原有的文件librknnrt.so是用来测试resnet50模型的，所以要替换成yolo模型的librknnrt.so），如下图所示：
然后在文件夹/home/rpdzkj/rknn-toolkit-lit2-examples/inference_with_lite/下放入以下3个文件：
bus.jpg best.rknn des.py
其中bus.jpg是要检测的图片，best.rknn是我们转换的yolov5的rknn模型，des.py是要运行的py代码，其代码如下：
# -*- coding: utf-8 -*-
# coding:utf-8import os
import urllib
import traceback
import time
import sys
import numpy as np
import cv2
import platform
from rknnlite.api import RKNNLite
from PIL import Image# Model from https://github.com/airockchip/rknn_model_zoo
RKNN_MODEL = 'best.rknn'
IMG_PATH = './bus.jpg'
DATASET = './dataset.txt'QUANTIZE_ON = True
BOX_THRESH = 0.5
OBJ_THRESH = 0.45
NMS_THRESH = 0.65
IMG_SIZE = 640CLASSES = ("car", "moto", "persons")# decice tree for rk356x/rk3588
DEVICE_COMPATIBLE_NODE = '/proc/device-tree/compatible'def get_host():# get platform and device typesystem = platform.system()machine = platform.machine()os_machine = system + '-' + machineif os_machine == 'Linux-aarch64':try:with open(DEVICE_COMPATIBLE_NODE) as f:device_compatible_str = f.read()host = 'RK3588'except IOError:print('Read device node {} failed.'.format(DEVICE_COMPATIBLE_NODE))exit(-1)else:host = os_machinereturn hostINPUT_SIZE = 640RK3588_RKNN_MODEL = 'best.rknn'def sigmoid(x):return 1 / (1 + np.exp(-x))def xywh2xyxy(x):# Convert [x, y, w, h] to [x1, y1, x2, y2]y = np.copy(x)y[:, 0] = x[:, 0] - x[:, 2] / 2 # top left xy[:, 1] = x[:, 1] - x[:, 3] / 2 # top left yy[:, 2] = x[:, 0] + x[:, 2] / 2 # bottom right xy[:, 3] = x[:, 1] + x[:, 3] / 2 # bottom right yreturn ydef process(input, mask, anchors):anchors = [anchors[i] for i in mask]grid_h, grid_w = map(int, input.shape[0:2])box_confidence = sigmoid(input[..., 4])box_confidence = np.expand_dims(box_confidence, axis=-1)box_class_probs = sigmoid(input[..., 5:])box_xy = sigmoid(input[..., :2]) * 2 - 0.5col = np.tile(np.arange(0, grid_w), grid_w).reshape(-1, grid_w)row = np.tile(np.arange(0, grid_h).reshape(-1, 1), grid_h)col = col.reshape(grid_h, grid_w, 1, 1).repeat(3, axis=-2)row = row.reshape(grid_h, grid_w, 1, 1).repeat(3, axis=-2)grid = np.concatenate((col, row), axis=-1)box_xy += gridbox_xy *= int(IMG_SIZE/grid_h)box_wh = pow(sigmoid(input[..., 2:4]) * 2, 2)box_wh = box_wh * anchorsbox = np.concatenate((box_xy, box_wh), axis=-1)return box, box_confidence, box_class_probsdef filter_boxes(boxes, box_confidences, box_class_probs):"""Filter boxes with box threshold. It's a bit different with origin yolov5 post process!# Argumentsboxes: ndarray, boxes of objects.box_confidences: ndarray, confidences of objects.box_class_probs: ndarray, class_probs of objects.# Returnsboxes: ndarray, filtered boxes.classes: ndarray, classes for boxes.scores: ndarray, scores for boxes."""boxes = boxes.reshape(-1, 4)box_confidences = box_confidences.reshape(-1)box_class_probs = box_class_probs.reshape(-1, box_class_probs.shape[-1])_box_pos = np.where(box_confidences >= OBJ_THRESH)boxes = boxes[_box_pos]box_confidences = box_confidences[_box_pos]box_class_probs = box_class_probs[_box_pos]class_max_score = np.max(box_class_probs, axis=-1)classes = np.argmax(box_class_probs, axis=-1)_class_pos = np.where(class_max_score >= OBJ_THRESH)boxes = boxes[_class_pos]classes = classes[_class_pos]scores = (class_max_score* box_confidences)[_class_pos]return boxes, classes, scoresdef nms_boxes(boxes, scores):"""Suppress non-maximal boxes.# Argumentsboxes: ndarray, boxes of objects.scores: ndarray, scores of objects.# Returnskeep: ndarray, index of effective boxes."""x = boxes[:, 0]y = boxes[:, 1]w = boxes[:, 2] - boxes[:, 0]h = boxes[:, 3] - boxes[:, 1]areas = w * horder = scores.argsort()[::-1]keep = []while order.size > 0:i = order[0]keep.append(i)xx1 = np.maximum(x[i], x[order[1:]])yy1 = np.maximum(y[i], y[order[1:]])xx2 = np.minimum(x[i] + w[i], x[order[1:]] + w[order[1:]])yy2 = np.minimum(y[i] + h[i], y[order[1:]] + h[order[1:]])w1 = np.maximum(0.0, xx2 - xx1 + 0.00001)h1 = np.maximum(0.0, yy2 - yy1 + 0.00001)inter = w1 * h1ovr = inter / (areas[i] + areas[order[1:]] - inter)inds = np.where(ovr <= NMS_THRESH)[0]order = order[inds + 1]keep = np.array(keep)return keepdef yolov5_post_process(input_data):masks = [[0, 1, 2], [3, 4, 5], [6, 7, 8]]anchors = [[15,20], [20, 75], [28, 25], [31,136], [44,42],[53,215], [75,76], [98,421], [148,226]]#anchors = [[10, 13], [16, 30], [33, 23], [30, 61], [62, 45],#[59, 119], [116, 90], [156, 198], [373, 326]]boxes, classes, scores = [], [], []for input, mask in zip(input_data, masks):b, c, s = process(input, mask, anchors)b, c, s = filter_boxes(b, c, s)boxes.append(b)classes.append(c)scores.append(s)boxes = np.concatenate(boxes)boxes = xywh2xyxy(boxes)classes = np.concatenate(classes)scores = np.concatenate(scores)nboxes, nclasses, nscores = [], [], []for c in set(classes):inds = np.where(classes == c)b = boxes[inds]c = classes[inds]s = scores[inds]keep = nms_boxes(b, s)nboxes.append(b[keep])nclasses.append(c[keep])nscores.append(s[keep])if not nclasses and not nscores:return None, None, Noneboxes = np.concatenate(nboxes)classes = np.concatenate(nclasses)scores = np.concatenate(nscores)return boxes, classes, scoresdef draw(image, boxes, scores, classes):"""Draw the boxes on the image.# Argument:image: original image.boxes: ndarray, boxes of objects.classes: ndarray, classes of objects.scores: ndarray, scores of objects.all_classes: all classes name."""for box, score, cl in zip(boxes, scores, classes):top, left, right, bottom = boxprint('class: {}, score: {}'.format(CLASSES[cl], score))print('box coordinate left,top,right,down: [{}, {}, {}, {}]'.format(top, left, right, bottom))top = int(top)left = int(left)right = int(right)bottom = int(bottom)cv2.rectangle(image, (top, left), (right, bottom), (255, 0, 0), 2)cv2.putText(image, '{0} {1:.2f}'.format(CLASSES[cl], score),(top, left - 6),cv2.FONT_HERSHEY_SIMPLEX,0.6, (0, 0, 255), 2)def letterbox(im, new_shape=(640, 640), color=(0, 0, 0)):# Resize and pad image while meeting stride-multiple constraintsshape = im.shape[:2] # current shape [height, width]if isinstance(new_shape, int):new_shape = (new_shape, new_shape)# Scale ratio (new / old)r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])# Compute paddingratio = r, r # width, height ratiosnew_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1] # wh paddingdw /= 2 # divide padding into 2 sidesdh /= 2if shape[::-1] != new_unpad: # resizeim = cv2.resize(im, new_unpad, interpolation=cv2.INTER_LINEAR)top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))left, right = int(round(dw - 0.1)), int(round(dw + 0.1))im = cv2.copyMakeBorder(im, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add borderreturn im, ratio, (dw, dh)if __name__ == '__main__':host_name = get_host()rknn_model = RK3588_RKNN_MODELrknn_lite = RKNNLite()# load RKNN modelprint('--> Load RKNN model')ret = rknn_lite.load_rknn(rknn_model)if ret != 0:print('Load RKNN model failed')exit(ret)print('done')#####ori_img = cv2.imread('./bus.jpg')######img = cv2.cvtColor(ori_img, cv2.COLOR_BGR2RGB)# init runtime environmentprint('--> Init runtime environment')# run on RK356x/RK3588 with Debian OS, do not need specify target.ret = rknn_lite.init_runtime(core_mask=RKNNLite.NPU_CORE_0)if ret != 0:print('Init runtime environment failed')exit(ret)print('done')# Set inputsimg = cv2.imread(IMG_PATH)img, ratio, (dw, dh) = letterbox(img, new_shape=(IMG_SIZE, IMG_SIZE))img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)img = cv2.resize(img, (IMG_SIZE, IMG_SIZE))# Inferenceprint('--> Running model')outputs = rknn_lite.inference(inputs=[img])#np.save('./onnx_yolov5_0.npy', outputs[0])#np.save('./onnx_yolov5_1.npy', outputs[1])#np.save('./onnx_yolov5_2.npy', outputs[2])print('done')# post processinput0_data = outputs[0]input1_data = outputs[1]input2_data = outputs[2]input0_data = input0_data.reshape([3, -1]+list(input0_data.shape[-2:]))input1_data = input1_data.reshape([3, -1]+list(input1_data.shape[-2:]))input2_data = input2_data.reshape([3, -1]+list(input2_data.shape[-2:]))input_data = list()input_data.append(np.transpose(input0_data, (2, 3, 0, 1)))input_data.append(np.transpose(input1_data, (2, 3, 0, 1)))input_data.append(np.transpose(input2_data, (2, 3, 0, 1)))boxes, classes, scores = yolov5_post_process(input_data)img_1 = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)if boxes is not None:draw(img_1, boxes, scores, classes)cv2.imwrite('result.jpg', img_1)rknn_lite.release()代码运行结果如下：
这里没有出车，是我训练的模型问题。
大家对以上代码是不是很熟悉，其实这部分代码的很多函数都是将onnx文件转换为rknn文件的代码，只是把它的from rknn.api import RKNN修改为from rknnlite.api import RKNNLite，并且将载入rknn模型的内容修改即可，数据的处理完全没变。
用这个代码的好处是，我们以后对相机进行检测目标时，只需要下载一次rknn模型，后续只需要处理图片即可。
二、下面再结合lidar数据的获取，我们可以同时获取雷达数据和检测rknn模型，代码如下：
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# coding:utf-8
import cv2import rospy
from sensor_msgs.msg import PointCloud2
import sensor_msgs.point_cloud2 as pc2
from std_msgs.msg import Header
from visualization_msgs.msg import Marker, MarkerArray
from geometry_msgs.msg import Point#import torch
import numpy as np
import sys
import time,datetime
print(sys.version)
#from recon_barriers_model import recon_barriers
#from pclpy import pcl
from queue import Queue
import open3d as o3dimport matplotlib
import matplotlib.pyplot as plt
from mpl_toolkits.mplot3d import Axes3D
#%matplotlib#from create_date_file import data_time
import threading
import time,datetime
import os#先初始化ros，再from rknnlite.api import RKNNLite，否则会报错
rospy.init_node('lidar_node')import os
import urllib
import traceback
import sys
import numpy as np
import platform
from rknnlite.api import RKNNLite
from PIL import Image#######################################################################################################
#1.==================================rknn模型检测=====================================================#
#######################################################################################################QUANTIZE_ON = True
BOX_THRESH = 0.5
OBJ_THRESH = 0.45
NMS_THRESH = 0.65
IMG_SIZE = 640CLASSES = ("car", "moto", "persons")# decice tree for rk356x/rk3588
DEVICE_COMPATIBLE_NODE = '/proc/device-tree/compatible'def get_host():# get platform and device typesystem = platform.system()machine = platform.machine()os_machine = system + '-' + machineif os_machine == 'Linux-aarch64':try:with open(DEVICE_COMPATIBLE_NODE) as f:device_compatible_str = f.read()host = 'RK3588'except IOError:print('Read device node {} failed.'.format(DEVICE_COMPATIBLE_NODE))exit(-1)else:host = os_machinereturn hostINPUT_SIZE = 640RK3588_RKNN_MODEL = 'best.rknn'def sigmoid(x):return 1 / (1 + np.exp(-x))def xywh2xyxy(x):# Convert [x, y, w, h] to [x1, y1, x2, y2]y = np.copy(x)y[:, 0] = x[:, 0] - x[:, 2] / 2 # top left xy[:, 1] = x[:, 1] - x[:, 3] / 2 # top left yy[:, 2] = x[:, 0] + x[:, 2] / 2 # bottom right xy[:, 3] = x[:, 1] + x[:, 3] / 2 # bottom right yreturn ydef process(input, mask, anchors):anchors = [anchors[i] for i in mask]grid_h, grid_w = map(int, input.shape[0:2])box_confidence = sigmoid(input[..., 4])box_confidence = np.expand_dims(box_confidence, axis=-1)box_class_probs = sigmoid(input[..., 5:])box_xy = sigmoid(input[..., :2]) * 2 - 0.5col = np.tile(np.arange(0, grid_w), grid_w).reshape(-1, grid_w)row = np.tile(np.arange(0, grid_h).reshape(-1, 1), grid_h)col = col.reshape(grid_h, grid_w, 1, 1).repeat(3, axis=-2)row = row.reshape(grid_h, grid_w, 1, 1).repeat(3, axis=-2)grid = np.concatenate((col, row), axis=-1)box_xy += gridbox_xy *= int(IMG_SIZE/grid_h)box_wh = pow(sigmoid(input[..., 2:4]) * 2, 2)box_wh = box_wh * anchorsbox = np.concatenate((box_xy, box_wh), axis=-1)return box, box_confidence, box_class_probsdef filter_boxes(boxes, box_confidences, box_class_probs):"""Filter boxes with box threshold. It's a bit different with origin yolov5 post process!# Argumentsboxes: ndarray, boxes of objects.box_confidences: ndarray, confidences of objects.box_class_probs: ndarray, class_probs of objects.# Returnsboxes: ndarray, filtered boxes.classes: ndarray, classes for boxes.scores: ndarray, scores for boxes."""boxes = boxes.reshape(-1, 4)box_confidences = box_confidences.reshape(-1)box_class_probs = box_class_probs.reshape(-1, box_class_probs.shape[-1])_box_pos = np.where(box_confidences >= OBJ_THRESH)boxes = boxes[_box_pos]box_confidences = box_confidences[_box_pos]box_class_probs = box_class_probs[_box_pos]class_max_score = np.max(box_class_probs, axis=-1)classes = np.argmax(box_class_probs, axis=-1)_class_pos = np.where(class_max_score >= OBJ_THRESH)boxes = boxes[_class_pos]classes = classes[_class_pos]scores = (class_max_score* box_confidences)[_class_pos]return boxes, classes, scoresdef nms_boxes(boxes, scores):"""Suppress non-maximal boxes.# Argumentsboxes: ndarray, boxes of objects.scores: ndarray, scores of objects.# Returnskeep: ndarray, index of effective boxes."""x = boxes[:, 0]y = boxes[:, 1]w = boxes[:, 2] - boxes[:, 0]h = boxes[:, 3] - boxes[:, 1]areas = w * horder = scores.argsort()[::-1]keep = []while order.size > 0:i = order[0]keep.append(i)xx1 = np.maximum(x[i], x[order[1:]])yy1 = np.maximum(y[i], y[order[1:]])xx2 = np.minimum(x[i] + w[i], x[order[1:]] + w[order[1:]])yy2 = np.minimum(y[i] + h[i], y[order[1:]] + h[order[1:]])w1 = np.maximum(0.0, xx2 - xx1 + 0.00001)h1 = np.maximum(0.0, yy2 - yy1 + 0.00001)inter = w1 * h1ovr = inter / (areas[i] + areas[order[1:]] - inter)inds = np.where(ovr <= NMS_THRESH)[0]order = order[inds + 1]keep = np.array(keep)return keepdef yolov5_post_process(input_data):masks = [[0, 1, 2], [3, 4, 5], [6, 7, 8]]anchors = [[15,20], [20, 75], [28, 25], [31,136], [44,42],[53,215], [75,76], [98,421], [148,226]]#anchors = [[10, 13], [16, 30], [33, 23], [30, 61], [62, 45],#[59, 119], [116, 90], [156, 198], [373, 326]]boxes, classes, scores = [], [], []for input, mask in zip(input_data, masks):b, c, s = process(input, mask, anchors)b, c, s = filter_boxes(b, c, s)boxes.append(b)classes.append(c)scores.append(s)boxes = np.concatenate(boxes)boxes = xywh2xyxy(boxes)classes = np.concatenate(classes)scores = np.concatenate(scores)nboxes, nclasses, nscores = [], [], []for c in set(classes):inds = np.where(classes == c)b = boxes[inds]c = classes[inds]s = scores[inds]keep = nms_boxes(b, s)nboxes.append(b[keep])nclasses.append(c[keep])nscores.append(s[keep])if not nclasses and not nscores:return None, None, Noneboxes = np.concatenate(nboxes)classes = np.concatenate(nclasses)scores = np.concatenate(nscores)return boxes, classes, scoresdef draw(image, boxes, scores, classes):"""Draw the boxes on the image.# Argument:image: original image.boxes: ndarray, boxes of objects.classes: ndarray, classes of objects.scores: ndarray, scores of objects.all_classes: all classes name."""for box, score, cl in zip(boxes, scores, classes):top, left, right, bottom = boxprint('class: {}, score: {}'.format(CLASSES[cl], score))print('box coordinate left,top,right,down: [{}, {}, {}, {}]'.format(top, left, right, bottom))top = int(top)left = int(left)right = int(right)bottom = int(bottom)cv2.rectangle(image, (top, left), (right, bottom), (255, 0, 0), 2)cv2.putText(image, '{0} {1:.2f}'.format(CLASSES[cl], score),(top, left - 6),cv2.FONT_HERSHEY_SIMPLEX,0.6, (0, 0, 255), 2)def letterbox(im, new_shape=(640, 640), color=(0, 0, 0)):# Resize and pad image while meeting stride-multiple constraintsshape = im.shape[:2] # current shape [height, width]if isinstance(new_shape, int):new_shape = (new_shape, new_shape)# Scale ratio (new / old)r = min(new_shape[0] / shape[0], new_shape[1] / shape[1])# Compute paddingratio = r, r # width, height ratiosnew_unpad = int(round(shape[1] * r)), int(round(shape[0] * r))dw, dh = new_shape[1] - new_unpad[0], new_shape[0] - new_unpad[1] # wh paddingdw /= 2 # divide padding into 2 sidesdh /= 2if shape[::-1] != new_unpad: # resizeim = cv2.resize(im, new_unpad, interpolation=cv2.INTER_LINEAR)top, bottom = int(round(dh - 0.1)), int(round(dh + 0.1))left, right = int(round(dw - 0.1)), int(round(dw + 0.1))im = cv2.copyMakeBorder(im, top, bottom, left, right, cv2.BORDER_CONSTANT, value=color) # add borderreturn im, ratio, (dw, dh)host_name = get_host()
rknn_model = RK3588_RKNN_MODELrknn_lite = RKNNLite()# load RKNN model
print('--> Load RKNN model')
ret = rknn_lite.load_rknn(rknn_model)
if ret != 0:print('Load RKNN model failed')exit(ret)
print('done')# init runtime environment
print('--> Init runtime environment')# run on RK356x/RK3588 with Debian OS, do not need specify target.
ret = rknn_lite.init_runtime(core_mask=RKNNLite.NPU_CORE_0)
if ret != 0:print('Init runtime environment failed')exit(ret)
print('done')#######################################################################################################
#1.==================================rknn模型检测=====================================================#
##############################################################################################################################################################################################################
#2.==================================雷达数据获取=====================================================#
########################################################################################################2.打开相机
cap = cv2.VideoCapture("/dev/video61")#1.根据时间自动创建文件夹
def data_time(root_path="img_lidar_save/"):# 1.鑾峰彇褰撳墠鏃堕棿瀛楃涓叉垨鏃堕棿鎴筹紙閮藉彲绮剧‘鍒板井绉掞級start_time=datetime.datetime.now().strftime(f'%Y-%m-%d %H:%M:%S{r".%f"}')times=start_time.split(" ")# 2.data_files锛氭牴鎹棩鏈熻幏鍙栬鍒涘缓鐨勬枃浠跺す鍚嶇О锛屾瘮濡備粖澶╂槸2023_12_07data_files=times[0]#3.鑾峰彇鏂囦欢澶硅矾寰勶細img_lidar_save/2023_12_07file_path=root_path+data_filescamera_file = file_path + "/" + "camera_data"lidar_file = file_path + "/" + "lidar_data"#4.濡傛灉浠婂ぉ杩樻病鏈夋枃浠跺す锛屽垯鍒涘缓鏂囦欢澶?鏂囦欢澶瑰悕绉颁负 2023_12_07if not os.path.exists(file_path):os.makedirs(file_path)#5.寤虹珛camera鍜宭idar鏂囦欢澶癸紝瀛樺彇鍚勮嚜鐨勬暟鎹?if not os.path.exists(camera_file):os.makedirs(camera_file)if not os.path.exists(lidar_file):os.makedirs(lidar_file)#6.寤虹珛鍚勮嚜鐨勫瓨鍙栧浘鐗囧拰瑙嗛鐨勬枃浠跺すimg_file=camera_file+ "/" +"image"vedios=camera_file+ "/" +"vedios"lidar_videos=lidar_file +"/" +"vedios"lidar_pcd=lidar_file +"/" +"image"if not os.path.exists(img_file):os.makedirs(img_file)if not os.path.exists(vedios):os.makedirs(vedios)if not os.path.exists(lidar_videos):os.makedirs(lidar_videos)if not os.path.exists(lidar_pcd):os.makedirs(lidar_pcd)return img_file,vedios,lidar_videos,lidar_pcd#1.聚类的数据处理
def cluster(points, radius=0.2):"""points: pointcloudradius: max cluster range"""items = []while len(points)>1:item = np.array([points[0]])base = points[0]points = np.delete(points, 0, 0)distance = (points[:,0]-base[0])**2+(points[:,1]-base[1])**2+(points[:,2]-base[2])**2infected_points = np.where(distance <= radius**2)item = np.append(item, points[infected_points], axis=0)border_points = points[infected_points]points = np.delete(points, infected_points, 0)while len(border_points) > 0:border_base = border_points[0]border_points = np.delete(border_points, 0, 0)border_distance = (points[:,0]-border_base[0])**2+(points[:,1]-border_base[1])**2border_infected_points = np.where(border_distance <= radius**2)item = np.append(item, points[border_infected_points], axis=0)border_points = points[border_infected_points]points = np.delete(points, border_infected_points, 0)items.append(item)return items#2.保存点云
def save_pointcloud(pointcloud_np, file_name="pointcloud.pcd"):point_cloud_o3d = o3d.geometry.PointCloud()point_cloud_o3d.points = o3d.utility.Vector3dVector(pointcloud_np[:, 0:3])o3d.io.write_point_cloud(file_name, point_cloud_o3d, write_ascii=False, compressed=True)#3.点云数据的处理
def lidars(msg,pcd_path):#4.点云数据的获取pcl_msg = pc2.read_points(msg, skip_nans=False, field_names=("x", "y", "z", "intensity","ring"))#5.点云数据的过滤np_p_2 = np.array(list(pcl_msg), dtype=np.float32)#print(np_p_2)#6.将过滤后的点云数据保存为pcd文件#print(pcd_path)save_pointcloud(np_p_2, file_name=pcd_path)#7.根据条件过滤点云数据ss=np.where([s[0]>2 and s[1]<3 and s[-1]>-3 and s[2]>-0.5 for s in np_p_2])ans=np_p_2[ss]#8.点云的聚类算法 item=cluster(ans, radius=0.2)m_item=[]#9.求每个类的均值，之后与目标进行匹配#hh=np.where([s.shape[0]>20 for s in item])#print("//",len(hh),len(item))for items in item:#print("..............",items.shape)#x,y,z=int(items[:,:1].sum().mean()) x,y,z,r=items[:,:1].mean(),items[:,1:2].mean(),items[:,2:3].mean(),items[:,3:4].mean()m_item.append([x,y,z]) #4.相机图片数据的处理
def images(frame,jpg_path):#1.保存jpg文件cv2.imwrite(jpg_path,frame)#5.对相机图片和点云数据的汇总处理
def velo_callback(msg):#1.自动生成当天保存文件的文件夹及保存文件的路径#img_file:存放图片的路径（jpg或者png文件）#vedios:存放相机视频的路径（mp4文件）#lidar_videos:存放雷达视频的路径（bag文件）#lidar_pcd:存放点云数据的pcd文件的视频（pcd文件）img_file,vedios,lidar_videos,lidar_pcd=data_time(root_path="img_lidar_save/")vedio_time=day_time()vedio_path=vedios+"/"+vedio_time+".avi"lidar_path=lidar_videos+"/"+vedio_time+".bag"ret, frame = cap.read()frame = cv2.rotate(frame, 0, dst=None) # 视频是倒着的，要对视频进行两次90度的翻转frame = cv2.rotate(frame, 0, dst=None) # 视频是倒着的，要对视频进行两次90度的翻转########################################################################################################1.==================================rknn模型检测=====================================================########################################################################################################img, ratio, (dw, dh) = letterbox(frame, new_shape=(IMG_SIZE, IMG_SIZE))img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)img = cv2.resize(img, (IMG_SIZE, IMG_SIZE))# Inferenceprint('--> Running model')outputs = rknn_lite.inference(inputs=[img])#np.save('./onnx_yolov5_0.npy', outputs[0])#np.save('./onnx_yolov5_1.npy', outputs[1])#np.save('./onnx_yolov5_2.npy', outputs[2])print('done')# post processinput0_data = outputs[0]input1_data = outputs[1]input2_data = outputs[2]input0_data = input0_data.reshape([3, -1]+list(input0_data.shape[-2:]))input1_data = input1_data.reshape([3, -1]+list(input1_data.shape[-2:]))input2_data = input2_data.reshape([3, -1]+list(input2_data.shape[-2:]))input_data = list()input_data.append(np.transpose(input0_data, (2, 3, 0, 1)))input_data.append(np.transpose(input1_data, (2, 3, 0, 1)))input_data.append(np.transpose(input2_data, (2, 3, 0, 1)))boxes, classes, scores = yolov5_post_process(input_data)img_1 = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)if boxes is not None:draw(img_1, boxes, scores, classes)cv2.imwrite('result.jpg', img_1)cv2.imshow("src_image", img_1)cv2.waitKey(1)########################################################################################################1.==================================rknn模型检测=====================================================#########################################################################################################显示视频#cv2.imshow("src_image", frame)#cv2.waitKey(1)#3.获取实时时间，作为保存jpg和pcd文件的名称now_time=day_time()print("------>",now_time)#4.获得存取pcd文件和jpg文件的路径pcd_path=lidar_pcd+"/"+now_time+".pcd"jpg_path=img_file+"/"+now_time+".jpg"#4.lidar和images数据的处理及保存,两个函数放在两个线程同时运行lidars(msg,pcd_path)#lidar数据的处理及保存images(frame,jpg_path)#images数据的处理及保存#根据时间给jpg和pcd文件命名
def day_time():start_time=datetime.datetime.now().strftime(f'%Y-%m-%d %H:%M:%S{r".%f"}')times=start_time.split(" ")mins=times[1].split(":")day_names=mins[0]+"_"+mins[1]+"_"+mins[2][:2]+"_"+mins[2][3:5]return day_namesif __name__ == '__main__':sub_ = rospy.Subscriber("livox/lidar", PointCloud2,velo_callback)print("ros_node has started!")rospy.spin()rknn_lite.release()注意，在该文件的同栏目需要建立一个文件夹 img_lidar_save，这个文件夹下面保存相机的jpg文件和pcd文件。效果如下：
以上是根据当天的实际时间自动保存的jig和pcd文件。下面是rknn模型检测的结果。
