{"id":108049,"date":"2026-09-20T21:08:35","date_gmt":"2026-09-20T13:08:35","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/108049.html"},"modified":"2026-09-20T21:08:35","modified_gmt":"2026-09-20T13:08:35","slug":"pnp%e8%a7%a3%e7%ae%97-%e8%a2%ab%e4%b8%80%e4%b8%aa%e6%95%b4%e6%95%b0%e7%9a%84bug","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/108049.html","title":{"rendered":"PnP\u89e3\u7b97 --- \u88ab\u4e00\u4e2a\u6574\u6570\u7684bug"},"content":{"rendered":"

\u4ece 4 \u4e2a\u89d2\u70b9\u7b97\u503e\u89d2，\u4ee5\u53ca\u4e00\u4e2a\u88ab"\u6574\u6570"\u5403\u6389\u7684 bug<\/h2>\n

\u4e00\u3001\u4e3a\u4ec0\u4e48\u677f\u5b50\u8981\u7b97\u503e\u89d2<\/h3>\n

\u6211\u4eec\u68c0\u6d4b\u88c5\u7532\u677f\u7684\u65f6\u5019，\u5149\u77e5\u9053"\u5b83\u5728\u54ea\u3001\u662f\u54ea\u4e00\u7c7b"\u662f\u4e0d\u591f\u7684，\u8fd8\u5f97\u77e5\u9053\u5b83\u6b6a\u4e86\u591a\u5c11\u5ea6，\u4e0b\u4e00\u6b65\u624d\u597d\u51b3\u5b9a\u6253\u4e0d\u6253\u3002<\/p>\n

\u6bd4\u5982\u503e\u89d2\u592a\u5927\u5c31\u4e0d\u6253\u4e86，\u6216\u8005\u8bf4\u6253\u7684\u98ce\u9669\u592a\u5927\u4e86\u3002\u4e0d\u53ea\u662f\u6253\u88c5\u7532\u677f，\u50cf\u65e0\u4eba\u673a\u81ea\u4e3b\u964d\u843d\u3001\u673a\u68b0\u81c2\u6293\u53d6\u8fd9\u4e9b，\u90fd\u5f97\u5148\u8bc6\u522b\u51fa\u4f4d\u59ff\u624d\u80fd\u505a\u4e0b\u4e00\u6b65\u5224\u65ad\u3002<\/p>\n

\u8fd9\u4e00\u7ae0\u7528\u4e0d\u5230\u4e0a\u4e00\u7bc7\u6807\u5b9a\u7684\u76f8\u673a\u5185\u53c2，\u6211\u5148\u628a\u524d\u9762\u51e0\u7bc7\u7684\u5173\u7cfb\u634b\u4e00\u4e0b，\u514d\u5f97\u6df7\u3002<\/p>\n

\u6807\u5b9a\u662f\u628a\u76f8\u673a\u7684\u53c2\u6570\u63d0\u524d\u6d4b\u51fa\u6765\u3002\u524d\u9762\u8bf4\u8fc7，\u76f8\u673a\u8ddf\u5916\u754c\u6253\u4ea4\u9053，\u9760\u7684\u5c31\u662f\u8fd9\u4e9b\u53c2\u6570\u642d\u8d77\u6765\u7684\u6865\u3002\u6865\u642d\u597d\u4e86，\u540e\u9762\u4e0d\u7ba1\u505a\u4ec0\u4e48\u8bc6\u522b\u90fd\u4f1a\u66f4\u51c6\u3002<\/p>\n

ROS2 \u5c31\u7b80\u5355\u4e86，\u5b83\u53ea\u8d1f\u8d23\u628a\u7b97\u5b8c\u7684\u7ed3\u679c（\u6216\u8005\u89c6\u9891\u56fe\u50cf）\u53d1\u5230\u8bdd\u9898\u4e0a，\u8c01\u9700\u8981\u8c01\u53bb\u8ba2\u9605\u8bfb\u3002<\/p>\n

\u503e\u89d2\u7b97\u51fa\u6765\u5462，\u662f\u7ed9\u4e91\u53f0\u8fd9\u4e9b\u4e0b\u4f4d\u673a\u505a\u540e\u7eed\u63a7\u5236\u7684\u3002<\/p>\n

\u8fd9\u91cc\u6709\u4e2a\u5730\u65b9\u6211\u81ea\u5df1\u4e00\u5f00\u59cb\u4e5f\u7ed5\u8fdb\u53bb\u4e86：\u7b97\u503e\u89d2\u4e0d\u9700\u8981\u5185\u53c2，\u4f46 PnP \u89e3\u7b97\u5fc5\u987b\u8981\u5185\u53c2\u3002PnP \u5c31\u662f\u9760\u5185\u53c2\u624d\u80fd\u6c42\u51fa\u5916\u53c2（\u677f\u5b50\u76f8\u5bf9\u76f8\u673a\u7684\u4f4d\u7f6e\u548c\u59ff\u6001）\u3002\u5185\u53c2\u6807\u5b9a\u597d\u653e\u5728\u90a3\u513f\u4e0d\u52a8，\u7b49\u5230\u505a PnP \u7684\u65f6\u5019\u76f4\u63a5\u62ff\u6765\u7528\u3002\u8fd9\u4e00\u7ae0\u4e0d\u78b0\u5b83，\u4e0d\u4ee3\u8868\u5b83\u6ca1\u7528\u3002<\/p>\n

\u4e8c\u30014 \u4e2a\u89d2\u70b9\u7684\u987a\u5e8f\u4e0d\u80fd\u4e71<\/h3>\n

\u524d\u9762\u8bf4\u8fc7，\u5173\u952e\u70b9\u7684\u987a\u5e8f\u662f：<\/p>\n

\u5de6\u4e0a \u2192 \u5de6\u4e0b \u2192 \u53f3\u4e0b \u2192 \u53f3\u4e0a
\nleft_top, left_bottom, right_bottom, right_top<\/p>\n

\u8fd9\u4e2a\u987a\u5e8f\u5fc5\u987b\u548c\u524d\u9762\u51fd\u6570\u8f93\u51fa\u7684\u4e00\u81f4，\u4e0d\u7136\u6570\u636e\u5c31\u5bf9\u4e0d\u4e0a\u3002\u987a\u5e8f\u9519\u4e86，\u540e\u9762\u7b97\u51fa\u6765\u7684\u4e00\u5207\u90fd\u662f\u9519\u7684\u3002<\/p>\n

\u4e09\u3001\u89d2\u5ea6\u662f\u8fd9\u4e48\u7b97\u51fa\u6765\u7684<\/h3>\n

\u6211\u4eec\u53d6\u5de6\u8fb9\u706f\u6761\u7684\u4e24\u4e2a\u7aef\u70b9，\u6765\u7b97\u5b83\u7684\u65b9\u5411\u89d2\u5ea6：<\/p>\n

dx = x\u2082 \u2212 x\u2081 dy = y\u2082 \u2212 y\u2081
\nangle = atan2(dx, dy)<\/p>\n

\u6211\u4eec\u9ed8\u8ba4"\u7ad6\u76f4\u7684\u65f6\u5019\u662f 0 \u5ea6"\u5f53\u57fa\u51c6\u3002 \u6240\u4ee5\u677f\u5b50\u7acb\u6b63\u7684\u65f6\u5019，dx \u5dee\u4e0d\u591a\u662f 0，dy \u662f\u5927\u4e8e 0 \u7684，\u7b97\u51fa\u6765 angle \u7ea6\u7b49\u4e8e 0，\u5f88\u76f4\u89c2\u3002<\/p>\n

\u8981\u662f\u53cd\u8fc7\u6765\u5199\u6210 atan2(dy, dx) \u5462？\u7ad6\u76f4\u7684\u65f6\u5019\u7b97\u51fa\u6765\u662f 90 \u5ea6\u3002\u8fd9\u6ca1\u6bdb\u75c5，\u4e5f\u662f\u4e8b\u5b9e，\u4f46\u4f60\u89c2\u5bdf\u6570\u636e\u53d8\u5316\u7684\u65f6\u5019\u5c31\u5f88\u96be\u53d7\u4e86\u3002\u6211\u4eec\u4e60\u60ef\u62ff 0 \u5f53\u6807\u51c6，\u6570\u636e\u5f80\u54ea\u8fb9\u504f\u4e00\u773c\u5c31\u770b\u51fa\u6765\u3002<\/p>\n

dx \u548c dy \u90fd\u662f\u4e0b\u9762\u7684\u70b9\u51cf\u4e0a\u9762\u7684\u70b9\u3002\u4f60\u60f3\u60f3\u4e09\u89d2\u5f62\u7684\u89d2\u5ea6\u5173\u7cfb\u5c31\u660e\u767d\u4e86：\u5de6\u8fb9\u706f\u6761\u7684\u4e0a\u7aef\u5f80\u5de6\u6b6a\u7684\u65f6\u5019，\u706f\u6761\u548c\u7ad6\u76f4\u65b9\u5411\u5939\u7684\u90a3\u4e2a\u9510\u89d2，\u5c31\u662f\u6211\u4eec\u8981\u7684\u89d2\u5ea6\u3002\u7528 tan \u6c42\u51fa\u6bd4\u4f8b，\u518d\u8f6c\u6210\u89d2\u5ea6\u6253\u5370\u51fa\u6765\u3002<\/p>\n

\u5176\u5b9e\u5de6\u53f3\u4e24\u4e2a\u706f\u6761\u662f\u5bf9\u79f0\u7684，\u53d6\u54ea\u4e00\u4e2a\u90fd\u884c\u3002<\/p>\n

\u56db\u3001\u4ee3\u7801\u5c31\u8fd9\u51e0\u884c，\u987a\u4fbf\u804a\u804a auto<\/h3>\n

\u4f4d\u7f6e\u5728 02-onnx-inference\/draw_refactored.cpp \u7684 processFrame \u51fd\u6570\u91cc：<\/p>\n

\/\/ 4 \u4e2a\u89d2\u70b9（\u9664\u4ee5 scale \u8fd8\u539f\u5230\u539f\u56fe\u5750\u6807）<\/span>
\nauto<\/span> left_top =<\/span> cv::<\/span>Point2f<\/span>(<\/span>dets[<\/span>idx]<\/span>.<\/span>kpts[<\/span>0<\/span>]<\/span>\/<\/span>scale,<\/span> dets[<\/span>idx]<\/span>.<\/span>kpts[<\/span>1<\/span>]<\/span>\/<\/span>scale)<\/span>;<\/span>
\nauto<\/span> left_bottom =<\/span> cv::<\/span>Point2f<\/span>(<\/span>dets[<\/span>idx]<\/span>.<\/span>kpts[<\/span>2<\/span>]<\/span>\/<\/span>scale,<\/span> dets[<\/span>idx]<\/span>.<\/span>kpts[<\/span>3<\/span>]<\/span>\/<\/span>scale)<\/span>;<\/span>
\n\/\/ right_bottom \/ right_top \u540c\u7406<\/span><\/p>\n

auto<\/span> dx =<\/span> left_bottom.<\/span>x –<\/span> left_top.<\/span>x;<\/span>
\nauto<\/span> dy =<\/span> left_bottom.<\/span>y –<\/span> left_top.<\/span>y;<\/span>
\nauto<\/span> angle_rad =<\/span> atan2<\/span>(<\/span>dx,<\/span> dy)<\/span>;<\/span>
\nauto<\/span> angle_deg =<\/span> angle_rad *<\/span> 180<\/span> \/<\/span> CV_PI;<\/span><\/p>\n

\u8fd9\u4e2a auto \u6211\u4e5f\u662f\u4ece\u540c\u5b66\u548c\u522b\u4eba\u7684\u4ee3\u7801\u91cc\u5b66\u6765\u7684\u3002\u4e00\u5f00\u59cb\u7528\u7740\u633a\u723d\u7684，\u6839\u672c\u4e0d\u7528\u7ba1\u7c7b\u578b，auto auto auto \u5b8c\u4e8b\u3002<\/p>\n

\u4f46\u4f60\u5199\u4e86 auto，\u4f60\u5c31\u4e0d\u77e5\u9053\u8fd9\u4e2a\u53c2\u6570\u5230\u5e95\u662f\u4ec0\u4e48\u7c7b\u578b\u4e86，\u8fd9\u662f\u5b83\u6700\u5927\u7684\u574f\u5904\u3002\u6211\u8fd9\u6b21\u51fd\u6570\u5199\u5f97\u591a，\u53c2\u6570\u7c7b\u578b\u53c8\u4e71，\u6392\u67e5\u7684\u65f6\u5019\u7279\u522b\u96be\u53d7\u3002\u6240\u4ee5\u6211\u4e0d\u592a\u5efa\u8bae\u5168\u90fd\u7528 auto，C++ \u672c\u6765\u5c31\u662f\u5f3a\u7c7b\u578b\u8bed\u8a00，\u7c7b\u578b\u672c\u8eab\u5c31\u662f\u4fe1\u606f\u3002<\/p>\n

\u8fd8\u6709 atan2 \u51fa\u6765\u7684\u662f\u5f27\u5ea6，\u6211\u4eec\u770b\u6570\u636e\u7edf\u4e00\u7528\u89d2\u5ea6，\u6240\u4ee5\u8981\u4e58 180 \/ CV_PI \u8f6c\u4e00\u4e0b\u3002<\/p>\n

\u4e94\u3001\u5148\u62ff\u4e00\u5f20\u56fe\u7247\u8bd5\u9519，\u522b\u76f4\u63a5\u8dd1\u89c6\u9891<\/h3>\n

\u6211\u662f\u5148\u628a\u4e00\u5f20\u56fe\u7247\u8dd1\u901a\u7684\u3002<\/p>\n

\u56e0\u4e3a\u89c6\u9891\u8bf4\u767d\u4e86\u5c31\u662f\u5faa\u73af\u64ad\u653e\u7684\u56fe\u7247，\u56fe\u7247\u8dd1\u901a\u4e86，\u5957\u4e0a\u5faa\u73af\u5c31\u662f\u89c6\u9891\u3002\u524d\u63d0\u662f\u4f60\u8981\u5206\u6e05\u695a：\u54ea\u4e9b\u4e1c\u897f\u5f97\u653e\u5728\u5faa\u73af\u91cc\u53cd\u590d\u7528，\u54ea\u4e9b\u53ea\u8981\u5728\u5faa\u73af\u5916\u9762\u6253\u5f00\u4e00\u6b21\u5c31\u591f\u4e86（\u6bd4\u5982\u6a21\u578b\u3001\u89c6\u9891\u5bf9\u8c61）\u3002<\/p>\n

\u800c\u4e14\u4ee3\u4ef7\u5dee\u592a\u591a\u4e86\u3002\u8dd1\u4e00\u5f20\u56fe\u7247\u51e0\u79d2\u949f，\u8dd1\u4e00\u6574\u6bb5\u89c6\u9891\u597d\u4e45\u3002\u8981\u662f\u4e00\u4e0a\u6765\u5c31\u76f4\u63a5\u8dd1\u89c6\u9891，\u62a5\u9519\u4e86\u8fd8\u8d3c\u9ebb\u70e6\u3002\u6240\u4ee5\u5148\u7528\u56fe\u7247\u628a\u8303\u56f4\u7f29\u5c0f，\u770b\u770b\u5230\u5e95\u662f\u54ea\u513f\u7684\u95ee\u9898\u3002<\/p>\n

\u516d\u3001\u6253\u5f00 CSV，\u6211\u4eba\u50bb\u4e86<\/h3>\n

\u8dd1\u4e86\u4e4b\u540e\u624d\u77e5\u9053\u6709\u95ee\u9898\u3002\u6253\u5f00 CSV \u4e00\u770b，\u6709\u4e00\u5806\u5168\u662f 0\u3002<\/p>\n

\u5f88\u591a 0\u3002\u800c\u4e14\u6700\u8981\u547d\u7684\u662f，0 \u548c 1 \u4e4b\u95f4\u662f\u7a7a\u767d\u7684，\u4e00\u4e2a\u5176\u4ed6\u6570\u636e\u90fd\u6ca1\u6709\u3002<\/p>\n

\u6211\u5f53\u65f6\u5c31\u731c\u5230\u53ef\u80fd\u662f int \u7c7b\u578b\u6ca1\u6539\u6210 float，\u800c\u4e14\u662f point \u7684\u95ee\u9898\u3002<\/p>\n

\u4e3a\u4ec0\u4e48\u8fd9\u4e48\u60f3？\u56e0\u4e3a\u8ba1\u7b97\u673a\u7b97\u6570\u662f\u4e0d\u4f1a\u90a3\u4e48\u51d1\u5de7\u7684\u3002\u89c6\u9891\u91cc\u7684\u753b\u9762\u4e00\u76f4\u5728\u52a8，\u7406\u8bba\u4e0a\u603b\u8be5\u6709\u4e00\u70b9\u503e\u89d2\u3002\u5982\u679c\u8981\u662f\u4e00\u6bb5\u89c6\u9891\u91cc\u53ea\u6709\u6781\u4e2a\u522b\u51e0\u4e2a 0，\u90a3\u80fd\u89e3\u91ca\u6210"\u677f\u5b50\u90a3\u4f1a\u513f\u786e\u5b9e\u7acb\u6b63\u4e86"，\u6b63\u5e38\u3002\u4f46\u5927\u591a\u6570\u90fd\u662f 0，\u90a3\u5c31\u4e0d\u662f\u5de7\u5408\u4e86\u3002<\/p>\n

\u66f4\u5173\u952e\u7684\u662f"0 \u5230 1 \u5ea6\u4e4b\u95f4\u6574\u6bb5\u7a7a\u767d"\u8fd9\u4ef6\u4e8b\u2014\u2014\u4e00\u4e2a\u8fde\u7eed\u53d8\u5316\u7684\u91cf，\u4e0d\u53ef\u80fd\u521a\u597d\u5728 0 \u548c 1 \u4e4b\u95f4\u4e00\u4e2a\u6570\u90fd\u4e0d\u51fa\u73b0\u3002\u8fd9\u4e2a\u6211\u6ca1\u6cd5\u89e3\u91ca\u3002<\/p>\n

\u4e03\u3001\u5f80\u56de\u67e5：Point \u628a\u5c0f\u6570\u541e\u6389\u4e86<\/h3>\n

\u987a\u7740\u524d\u9762 auto \u90a3\u4e2a\u574f\u5904，\u6211\u56de\u5230\u4ee3\u7801\u91cc\u4e00\u8def\u5f80\u56de\u67e5，\u770b\u5230\u8ba1\u7b97\u7684\u65f6\u5019\u5168\u662f Point，\u8f93\u51fa\u5c31\u662f\u6574\u6570 int，\u5c0f\u6570\u90e8\u5206\u5168\u88ab\u541e\u6389\u4e86\u3002cv::Point \u5c31\u662f Point_<int>\u3002<\/p>\n

\u8fd9\u65f6\u5019\u624d\u53d1\u73b0，\u524d\u9762\u90a3\u4e00\u5806 auto \u6839\u672c\u770b\u4e0d\u51fa\u95ee\u9898，\u53ea\u80fd\u76ef\u7740\u7b49\u53f7\u53f3\u8fb9\u770b\u3002\u67e5\u4e0b\u53bb\u624d\u77e5\u9053，\u540e\u9762\u7684\u6570\u636e\u5168\u88ab\u6c61\u67d3\u4e86\u3002<\/p>\n

\u600e\u4e48\u8bc1\u660e\u662f\u5b83？\u6211\u628a CSV \u91cc\u7684\u89d2\u5ea6\u62ff\u53bb\u505a\u53cd\u63a8\u3002<\/p>\n

\u5982\u679c\u771f\u662f\u6574\u6570\u622a\u65ad，\u90a3\u6bcf\u4e00\u4e2a\u89d2\u5ea6\u90fd\u5e94\u8be5\u80fd\u7531\u4e24\u4e2a\u6574\u6570\u7b97\u51fa\u6765\u3002\u6211\u6311\u4e86\u51e0\u4e2a\u9ad8\u9891\u7684\u89d2\u5ea6\u503c\u53bb\u8bd5：<\/p>\n\nCSV \u91cc\u7684\u89d2\u5ea6\u53cd\u63a8\u51fa\u6765\u7684\u6574\u6570\u5bf9\u56de\u4ee3\u9a8c\u8bc1<\/tr>\n\n\n\n\n\n\n\n\n\n
-1.363930<\/td>\ndx = -1, dy = 42<\/td>\natan2(-1,42) = -1.363928<\/td>\n<\/tr>\n
0.000000<\/td>\ndx = 0, dy = 1<\/td>\n0.000000<\/td>\n<\/tr>\n
-1.397180<\/td>\ndx = -1, dy = 41<\/td>\n-1.397181<\/td>\n<\/tr>\n
1.332220<\/td>\ndx = 1, dy = 43<\/td>\n1.332220<\/td>\n<\/tr>\n
-4.184920<\/td>\ndx = -3, dy = 41<\/td>\n-4.184916<\/td>\n<\/tr>\n
-2.726310<\/td>\ndx = -1, dy = 21<\/td>\n-2.726311<\/td>\n<\/tr>\n
-6.340190<\/td>\ndx = -1, dy = 9<\/td>\n-6.340192<\/td>\n<\/tr>\n
-2.792700<\/td>\ndx = -2, dy = 41<\/td>\n-2.792702<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

8 \u4e2a\u5168\u4e2d，\u8bef\u5dee\u90fd\u5728 0.00001 \u5ea6\u4ee5\u5185\u3002<\/p>\n

\u8fd9\u5c31\u5b9e\u9524\u4e86：dx \u548c dy \u90fd\u662f\u6574\u6570，\u90a3\u89d2\u5ea6\u600e\u4e48\u53ef\u80fd\u4e0d\u662f\u88ab\u7b97\u51fa\u6765\u7684\u79bb\u6563\u503c\u3002<\/p>\n

\u516b\u3001\u6211\u4ee5\u4e3a\u6539\u597d\u4e86，\u7ed3\u679c\u767d\u9ad8\u5174\u4e00\u573a<\/h3>\n

\u6211\u628a cv::Point \u6539\u6210\u4e86 cv::Point2i，\u91cd\u65b0\u8dd1\u4e86\u4e00\u904d，\u7136\u540e\u770b CSV\u2014\u2014\u4e00\u70b9\u53d8\u5316\u90fd\u6ca1\u6709\u3002<\/p>\n

\u6211\u7b2c\u4e00\u53cd\u5e94\u662f\u4e0d\u662f\u6ca1\u4fdd\u5b58\u3002\u91cd\u65b0\u7f16\u8bd1\u3001\u91cd\u65b0\u8fd0\u884c，\u518d\u770b\u7ed3\u679c\u8fd8\u662f\u6ca1\u53d8\u3002\u7136\u540e\u53bb\u67e5\u4e86\u4e00\u4e0b\u624d\u77e5\u9053：<\/p>\n

Point2i \u548c Point \u662f\u540c\u4e00\u4e2a\u4e1c\u897f，\u90fd\u662f int \u7c7b\u578b，\u53ea\u662f\u4e00\u4e2a\u522b\u540d\u3002<\/p>\n

\u7b11\u5230\u6211\u4e86\u3002Point2f \u624d\u662f\u6d6e\u70b9\u7c7b\u578b\u3002<\/p>\n

\u4e5d\u3001\u6539\u5b8c\u4e4b\u540e，\u6570\u636e\u53d8\u6210\u4ec0\u4e48\u6837<\/h3>\n

\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"<\/p>\n\n\u6307\u6807\u4fee\u590d\u524d（Point，\u6574\u6570）\u4fee\u590d\u540e（Point2f，\u6d6e\u70b9）<\/tr>\n\n\n\n\n\n
\u6070\u597d == 0<\/td>\n546 \u6761（5.05%）<\/td>\n0 \u6761<\/td>\n<\/tr>\n
0 ~ 1 \u5ea6<\/td>\n0 \u6761（\u6574\u6bb5\u7a7a\u767d）<\/td>\n1169 \u6761（10.81%）<\/td>\n<\/tr>\n
\u6700\u5c0f\u975e\u96f6\u89d2\u5ea6<\/td>\n1.245360 \u5ea6<\/td>\n0.000083 \u5ea6<\/td>\n<\/tr>\n
\u4e0d\u540c\u53d6\u503c\u7684\u4e2a\u6570<\/td>\n359 \u4e2a<\/td>\n10774 \u4e2a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

\u4e0d\u540c\u53d6\u503c\u7684\u4e2a\u6570\u4ece 359 \u6da8\u5230 10774，\u6570\u636e\u4e00\u4e0b\u5b50\u7ec6\u4e86\u5f88\u591a\u3002<\/p>\n

int \u7c7b\u578b\u6ca1\u6709\u5c0f\u6570\u70b9，float \u6709，\u6539\u5b8c\u4e4b\u540e\u4e00\u773c\u5c31\u80fd\u770b\u51fa\u6765\u4e4b\u524d\u662f\u91cf\u5316（\u622a\u65ad）\u51fa\u7684\u95ee\u9898\u3002\u8fd9\u4e2a\u7ed3\u8bba\u662f\u4ece\u6570\u636e\u53d8\u5316\u91cc\u770b\u51fa\u6765\u7684，\u4e0d\u662f\u9760\u731c\u3002<\/p>\n

\u5341\u3001\u8fd9\u4ef6\u4e8b\u6211\u5b66\u5230\u4e86\u4ec0\u4e48<\/h3>\n

\u770b\u5230\u6570\u636e\u91cc\u6709"\u7a7a\u767d"，\u5c31\u53ef\u4ee5\u987a\u7740\u5f80\u4e0b\u60f3：\u662f\u4e0d\u662f\u4e22\u4e86\u4e1c\u897f？\u4e22\u7684\u662f\u4ec0\u4e48？\u5728\u54ea\u513f\u4e22\u7684？\u4ec0\u4e48\u65f6\u5019\u4e22\u7684？\u662f\u4ee3\u7801\u91cc\u7684\u95ee\u9898，\u8fd8\u662f\u522b\u7684\u539f\u56e0？\u662f\u903b\u8f91\u9519\u4e86\u5417\u2014\u2014\u903b\u8f91\u6ca1\u9519\u3002\u90a3\u662f\u6570\u636e\u5806\u79ef\u4e86\u5417\u2014\u2014\u662f\u3002<\/p>\n

\u7136\u540e\u4ece\u62a5\u9519\u7684\u5730\u65b9，\u56de\u5230\u6253\u5370\u6570\u636e\u7684\u90a3\u4e00\u5904，\u91cd\u65b0\u770b\u6570\u636e\u662f\u600e\u4e48\u5904\u7406\u7684\u3002<\/p>\n

\u8fd9\u65f6\u5019 auto \u5c31\u6709\u70b9\u70e6\u4e86，\u6392\u67e5\u6570\u636e\u7c7b\u578b\u7684\u65f6\u5019\u7279\u522b\u9ebb\u70e6，\u4f60\u4ece\u53d8\u91cf\u540d\u4e0a\u6839\u672c\u770b\u4e0d\u51fa\u5b83\u662f\u4ec0\u4e48\u7c7b\u578b\u3002<\/p>\n

\u8fd8\u6709\u4e2a\u6559\u8bad\u662f：\u7a0b\u5e8f\u80fd\u8dd1\u901a，\u4e0d\u4ee3\u8868\u6ca1\u95ee\u9898\u3002\u8981\u770b\u56fe\u3001\u770b\u8b66\u544a\u3001\u770b\u6570\u636e\u3002\u7a0b\u5e8f\u5c31\u7b97\u4e0a\u7ebf\u4e86\u4e5f\u53ea\u662f\u6d4b\u8bd5\u7248\u672c，\u4f60\u6c38\u8fdc\u4e0d\u77e5\u9053\u54ea\u513f\u8fd8\u85cf\u7740\u95ee\u9898\u3002\u7a0b\u5e8f\u80fd\u8dd1\u4f46\u662f\u7ed3\u679c\u4e0d\u5bf9，\u8fd9\u4e2a\u624d\u662f\u6700\u6050\u6016\u7684\u3002<\/p>\n

\u540e\u6765\u6211\u7ed9\u81ea\u5df1\u5b9a\u4e86\u4e00\u5957"\u6570\u636e\u4f53\u68c0"，\u4e13\u95e8\u7528\u6765\u770b\u8fd9\u79cd\u4e0d\u62a5\u9519\u4f46\u7ed3\u679c\u4e0d\u5bf9\u7684\u95ee\u9898，\u56db\u53e5\u8bdd：<\/p>\n

  • \u884c\u6570\u5bf9\u4e0d\u5bf9<\/li>\n
  • \u5173\u952e\u5217\u7684\u8303\u56f4\u5bf9\u4e0d\u5bf9<\/li>\n
  • \u6709\u6ca1\u6709"\u6070\u597d\u7b49\u4e8e\u67d0\u4e2a\u503c"\u7684\u5927\u91cf\u5806\u79ef<\/li>\n
  • \u5206\u5e03\u91cc\u6709\u6ca1\u6709\u7a7a\u7f3a<\/li>\n

    \u8fd9\u56db\u53e5\u8bdd\u4e0d\u7528\u6539\u4ee3\u7801，\u6253\u5f00 CSV \u5341\u79d2\u5c31\u80fd\u770b\u5b8c\u3002<\/p>\n

    \u5341\u4e00\u3001\u60f3\u81ea\u5df1\u590d\u73b0\u4e00\u4e0b<\/h3>\n

    \u8fd9\u4e2a bug \u662f\u53ef\u4ee5\u590d\u73b0\u7684，\u800c\u4e14\u53ea\u8981\u6539\u4e00\u4e2a\u7c7b\u578b：<\/p>\n

    # 1. \u628a draw_refactored.cpp \u7b2c 214~217 \u884c\u7684 cv::Point2f \u6539\u6210 cv::Point（\u6216 Point2i，\u7b49\u4ef7）<\/span>
    \n# 2. \u7f16\u8bd1（\u8bb0\u5f97\u6838\u5bf9\u4e8c\u8fdb\u5236\u65f6\u95f4\u6233，\u5fc5\u987b\u6bd4\u6e90\u7801\u65b0）<\/span>
    \nbash<\/span> build.sh<\/p>\n

    # 3. \u8dd1\u540c\u4e00\u4e2a\u89c6\u9891（\u7ea6 4 \u5206\u949f）<\/span>
    \n.\/draw_refactored best.onnx test.mp4<\/p>\n

    # 4. \u770b\u5206\u5e03<\/span>
    \nawk<\/span> -F, 'NR>1{n++; a=$7+0; if(a<0)a=-a;
    \n if(a==0)b0++; else if(a<1)b1++} END{
    \n printf "\u603b\u6570 %d | \u6070\u597d0: %d (%.2f%%) | 0~1\u5ea6: %d (%.2f%%)\\\\n", n,b0,100*b0\/n,b1,100*b1\/n}'<\/span> angles.csv<\/p>\n

    \u8dd1\u51fa\u6765\u4f60\u4f1a\u770b\u5230 0~1\u5ea6: 0 (0.00%)，\u800c"\u6070\u597d 0"\u90a3\u4e00\u9879\u7a81\u7136\u5192\u51fa\u4e00\u5343\u591a\u6761\u3002<\/p>\n

    \u590d\u73b0\u5b8c\u8bb0\u5f97\u6539\u56de Point2f \u518d\u7f16\u8bd1\u4e00\u6b21，\u4e0d\u7136\u540e\u9762\u5168\u662f\u6574\u6570\u89d2\u5ea6\u3002<\/p>\n

    \u5341\u4e8c\u3001\u8fd9\u4e00\u7ae0\u6211\u8e29\u7684\u5751<\/h3>\n
  • auto \u4e0d\u80fd\u6ee5\u7528 \u2014\u2014 \u5b83\u628a\u7c7b\u578b\u85cf\u8d77\u6765\u4e86，\u6392\u67e5\u7c7b\u578b\u95ee\u9898\u7684\u65f6\u5019\u4f60\u6839\u672c\u770b\u4e0d\u51fa\u6765<\/li>\n
  • \u6574\u6570\u622a\u65ad \u2014\u2014 cv::Point \u548c Point2i \u90fd\u662f\u6574\u6570，\u5c0f\u6570\u88ab\u541e\u6389<\/li>\n
  • \u7c7b\u578b\u6539\u9519\u4e86\u8fd8\u4ee5\u4e3a\u662f\u6ca1\u7f16\u8bd1 \u2014\u2014 Point2i \u5c31\u662f Point，\u6539\u4e86\u4e2a\u5bc2\u5bde<\/li>\n
  • \u53ea\u770b"\u8dd1\u901a\u4e86"\u5c31\u4ee5\u4e3a\u6ca1\u4e8b \u2014\u2014 \u7a0b\u5e8f\u8dd1\u901a\u3001\u753b\u9762\u4e5f\u5bf9，\u4f46\u6570\u636e\u662f\u9519\u7684\u3002\u8981\u4e0d\u662f\u53bb\u6253\u4e86\u4e00\u4efd CSV \u770b\u5206\u5e03，\u8fd9\u4e2a bug \u5c31\u4e00\u76f4\u5e26\u7740\u8d70\u4e86<\/li>\n
    \n

    \u4e0b\u4e00\u7bc7：\u8ba9 NMS \u628a\u5206\u7ec4\u4fe1\u606f\u66b4\u9732\u51fa\u6765，\u505a\u5230\u4e00\u4e2a\u76ee\u6807\u53ea\u7559\u4e00\u6761\u89c2\u6d4b，\u518d\u52a0\u4e00\u9053\u51e0\u4f55\u4e8c\u6b21\u9a8c\u8bc1\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

    \u4ece 4 \u4e2a\u89d2\u70b9\u7b97\u503e\u89d2，\u4ee5\u53ca\u4e00\u4e2a\u88ab\\”\u6574\u6570\\”\u5403\u6389\u7684 bug
    \n\u4e00\u3001\u4e3a\u4ec0\u4e48\u677f\u5b50\u8981\u7b97\u503e\u89d2
    \n\u6211\u4eec\u68c0\u6d4b\u88c5\u7532\u677f\u7684\u65f6\u5019，\u5149\u77e5\u9053\\”\u5b83\u5728\u54ea\u3001\u662f\u54ea\u4e00\u7c7b\\”\u662f\u4e0d\u591f\u7684，\u8fd8\u5f97\u77e5\u9053\u5b83\u6b6a\u4e86\u591a\u5c11\u5ea6，\u4e0b\u4e00\u6b65\u624d\u597d\u51b3\u5b9a\u6253\u4e0d\u6253\u3002
    \n\u6bd4\u5982\u503e\u89d2\u592a\u5927\u5c31\u4e0d\u6253\u4e86，\u6216\u8005\u8bf4\u6253\u7684\u98ce\u9669\u592a\u5927\u4e86\u3002\u4e0d\u53ea\u662f\u6253\u88c5\u7532\u677f，\u50cf\u65e0\u4eba\u673a\u81ea\u4e3b\u964d\u843d\u3001\u673a\u68b0\u81c2\u6293\u53d6\u8fd9\u4e9b，\u90fd\u5f97\u5148\u8bc6\u522b\u51fa\u4f4d\u59ff\u624d\u80fd\u505a\u4e0b\u4e00\u6b65\u5224\u65ad\u3002
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