{"id":86106,"date":"2026-07-28T04:56:30","date_gmt":"2026-07-27T20:56:30","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/86106.html"},"modified":"2026-07-28T04:56:30","modified_gmt":"2026-07-27T20:56:30","slug":"%e8%be%b9%e7%bc%98%e7%ab%af%e5%95%86%e5%93%81%e8%af%86%e5%88%ab%e7%b3%bb%e7%bb%9f%e6%9e%84%e5%bb%ba%e5%ae%9e%e6%88%98%ef%bc%9a%e5%9f%ba%e4%ba%8eyolo%e7%b3%bb%e5%88%97%e7%9a%84%e8%b4%a7%e6%9e%b6","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/86106.html","title":{"rendered":"\u8fb9\u7f18\u7aef\u5546\u54c1\u8bc6\u522b\u7cfb\u7edf\u6784\u5efa\u5b9e\u6218\uff1a\u57fa\u4e8eYOLO\u7cfb\u5217\u7684\u8d27\u67b6\u7f3a\u8d27\u68c0\u6d4b\u65b9\u6848\u4ece\u8bad\u7ec3\u5230\u90e8\u7f72\u5b8c\u6574\u8bb0\u5f55"},"content":{"rendered":"<h2>\u8fb9\u7f18\u7aef\u5546\u54c1\u8bc6\u522b\u7cfb\u7edf\u6784\u5efa\u5b9e\u6218&#xff1a;\u57fa\u4e8eYOLO\u7cfb\u5217\u7684\u8d27\u67b6\u7f3a\u8d27\u68c0\u6d4b\u65b9\u6848\u4ece\u8bad\u7ec3\u5230\u90e8\u7f72\u5b8c\u6574\u8bb0\u5f55<\/h2>\n<h3>\u4e00\u3001\u9879\u76ee\u80cc\u666f\u4e0e\u9700\u6c42\u5b9a\u4e49<\/h3>\n<p>\u96f6\u552e\u95e8\u5e97\u7684\u8d27\u67b6\u7f3a\u8d27\u68c0\u6d4b\u662f\u5e93\u5b58\u7ba1\u7406\u4e2d\u7684\u6838\u5fc3\u75db\u70b9\u3002\u4f20\u7edf\u65b9\u6848\u4f9d\u8d56\u4eba\u5de5\u5de1\u68c0&#xff0c;\u5e73\u5747\u6bcf\u5e97\u6bcf\u65e5\u8017\u8d392.5\u5c0f\u65f6\u5de1\u68c0\u5de5\u65f6&#xff0c;\u6f0f\u68c0\u7387\u9ad8\u8fbe18%\u3002\u5c06\u89c6\u89c9\u68c0\u6d4b\u80fd\u529b\u90e8\u7f72\u81f3\u8fb9\u7f18\u8bbe\u5907&#xff0c;\u53ef\u5728\u6444\u50cf\u5934\u7aef\u5b9e\u65f6\u5224\u5b9a\u7f3a\u8d27\u72b6\u6001\u5e76\u4e0a\u62a5\u4e91\u7aef&#xff0c;\u5c06\u5de1\u68c0\u54cd\u5e94\u5468\u671f\u4ece\u5c0f\u65f6\u7ea7\u7f29\u77ed\u81f3\u79d2\u7ea7\u3002<\/p>\n<p>\u672c\u9879\u76ee\u76ee\u6807\u53c2\u6570\u5982\u4e0b&#xff1a;<\/p>\n<table>\n<tr>\u6307\u6807\u76ee\u6807\u503c<\/tr>\n<tbody>\n<tr>\n<td>\u7f3a\u8d27\u68c0\u6d4b\u51c6\u786e\u7387<\/td>\n<td>\u226595%&#xff08;mAP&#064;0.5&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>\u5355\u5e27\u63a8\u7406\u5ef6\u8fdf<\/td>\n<td>\u2264120ms&#xff08;ARM Cortex-A72\u5e73\u53f0&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>\u6a21\u578b\u53c2\u6570\u91cf<\/td>\n<td>\u22648MB&#xff08;INT8\u91cf\u5316\u540e&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>\u8fde\u7eed\u8fd0\u884c\u529f\u8017<\/td>\n<td>\u22645W<\/td>\n<\/tr>\n<tr>\n<td>\u65e5\u5747\u4e0a\u62a5\u9891\u7387<\/td>\n<td>\u6bcf15\u5206\u949f\u4e00\u6b21\u72b6\u6001\u5feb\u7167<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u786c\u4ef6\u9009\u578b\u4e3a\u745e\u82af\u5faeRK3568&#xff08;4\u00d7A72&#064;2.0GHz &#043; NPU 0.8TOPS&#xff09;&#xff0c;\u914d\u54082MP\u5bbd\u52a8\u6001\u6444\u50cf\u5934\u6a21\u7ec4\u3002NPU\u652f\u6301INT8\u5377\u79ef\u52a0\u901f&#xff0c;\u4f46\u540e\u5904\u7406\u7b97\u5b50\u9700\u5728CPU\u4fa7\u5b8c\u6210&#xff0c;\u8fd9\u662f\u540e\u7eed\u90e8\u7f72\u8c03\u4f18\u7684\u5173\u952e\u7ea6\u675f\u70b9\u3002<\/p>\n<h3>\u4e8c\u3001\u6570\u636e\u91c7\u96c6\u4e0e\u6a21\u578b\u8bad\u7ec3<\/h3>\n<p>\u6570\u636e\u96c6\u6784\u5efa\u6d41\u7a0b&#xff1a;<\/p>\n<p>\u5b9e\u9645\u91c7\u96c6\u8986\u76d66\u5bb6\u95e8\u5e97\u300142\u4e2a\u8d27\u67b6\u4f4d&#xff0c;\u5171\u6807\u6ce812,800\u5e27\u56fe\u50cf\u3002\u7f3a\u8d27\u6837\u672c\u5360\u6bd4\u7ea622%&#xff0c;\u5728\u67b656%&#xff0c;\u906e\u632122%\u3002\u6570\u636e\u589e\u5f3a\u7b56\u7565\u6a21\u62df\u4e86\u8d27\u67b6\u706f\u5149\u95ea\u70c1&#xff08;\u4eae\u5ea6\u00b130%&#xff09;\u3001\u987e\u5ba2\u906e\u6321&#xff08;\u968f\u673a\u77e9\u5f62\u63a9\u7801&#xff09;\u4ee5\u53ca\u6392\u5217\u4e0d\u9f50&#xff08;\u6c34\u5e73\u5e73\u79fb\u00b15%&#xff09;\u7b49\u771f\u5b9e\u573a\u666f\u5e72\u6270\u3002<\/p>\n<p>\u8bad\u7ec3\u914d\u7f6e\u9009\u7528YOLOv8s&#xff08;11.2M\u53c2\u6570&#xff09;&#xff0c;\u8f93\u5165\u5206\u8fa8\u7387640\u00d7640&#xff0c;batch&#061;32&#xff0c;\u5b66\u4e60\u7387cosine\u8870\u51cf\u4ece0.01\u81f30.001&#xff0c;\u5171300 epoch\u3002\u9a8c\u8bc1\u96c6mAP&#064;0.5\u8fbe\u52300.963&#xff0c;\u6d4b\u8bd5\u96c60.951&#xff0c;\u6ee1\u8db3\u90e8\u7f72\u6307\u6807\u3002<\/p>\n<p># \u8bad\u7ec3\u542f\u52a8\u811a\u672c\u5173\u952e\u914d\u7f6e<br \/>\nimport ultralytics<\/p>\n<p>model &#061; ultralytics.YOLO(&#034;yolov8s.pt&#034;)<br \/>\nresult &#061; model.train(<br \/>\n    data&#061;&#034;shelf_empty.yaml&#034;,       # \u6570\u636e\u96c6\u63cf\u8ff0\u6587\u4ef6<br \/>\n    epochs&#061;300,<br \/>\n    imgsz&#061;640,<br \/>\n    batch&#061;32,<br \/>\n    lr0&#061;0.01,<br \/>\n    lrf&#061;0.001,<br \/>\n    augment&#061;True,<br \/>\n    device&#061;&#034;0&#034;,                     # GPU\u8bad\u7ec3<br \/>\n    workers&#061;8,<br \/>\n    project&#061;&#034;shelf_detect&#034;,<br \/>\n    name&#061;&#034;yolov8s_v1&#034;,<br \/>\n)<br \/>\nif result is None:<br \/>\n    raise RuntimeError(&#034;\u8bad\u7ec3\u8fc7\u7a0b\u5f02\u5e38\u7ec8\u6b62&#xff0c;\u8bf7\u68c0\u67e5\u6570\u636e\u96c6\u8def\u5f84\u4e0eGPU\u72b6\u6001&#034;)<\/p>\n<h3>\u4e09\u3001\u6a21\u578b\u91cf\u5316\u4e0e\u8fb9\u7f18\u90e8\u7f72<\/h3>\n<p>ONNX\u6a21\u578b\u7ecfonnxruntime\u9a8c\u8bc1\u65e0\u8bef\u540e&#xff0c;\u901a\u8fc7RKNN-Toolkit2\u5b8c\u6210INT8\u91cf\u5316\u3002\u91cf\u5316\u6821\u51c6\u6570\u636e\u53d6\u9a8c\u8bc1\u96c6\u7684200\u5e27&#xff0c;\u8986\u76d6\u4e0d\u540c\u5149\u7167\u6761\u4ef6\u3002<\/p>\n<p>\u91cf\u5316\u540e\u6a21\u578b\u4f53\u79ef\u4ece28.3MB\u538b\u7f29\u81f37.8MB&#xff0c;mAP&#064;0.5\u4ece0.951\u964d\u81f30.931&#xff08;\u4e0b\u964d2.1%&#xff09;&#xff0c;\u4ecd\u5728\u53ef\u63a5\u53d7\u8303\u56f4\u5185\u3002\u677f\u7aef\u5355\u5e27\u63a8\u7406\u8017\u65f698ms&#xff0c;\u6ee1\u8db3\u2264120ms\u6307\u6807\u3002<\/p>\n<p>\/\/ RKNN\u6a21\u578b\u52a0\u8f7d\u4e0e\u63a8\u7406\u6838\u5fc3\u4ee3\u7801<br \/>\n#include &#034;rknn_api.h&#034;<\/p>\n<p>int run_shelf_detect(const char *model_path, const uint8_t *frame_buf,<br \/>\n                     int width, int height, rknn_output *outputs)<br \/>\n{<br \/>\n    rknn_context ctx &#061; 0;<br \/>\n    int ret &#061; rknn_init(&amp;ctx, model_path, NULL, 0, NULL);<br \/>\n    if (ret !&#061; RKNN_SUCC) {<br \/>\n        fprintf(stderr, &#034; rknn_init \u5931\u8d25, \u9519\u8bef\u7801: %d\\\\n&#034;, ret);<br \/>\n        return -1;<br \/>\n    }<\/p>\n<p>    rknn_input input &#061; {<br \/>\n        .index &#061; 0,<br \/>\n        .buf   &#061; frame_buf,<br \/>\n        .size  &#061; width * height * 3,<br \/>\n        .pass_through &#061; 0,<br \/>\n        .type  &#061; RKNN_TENSOR_UINT8,<br \/>\n        .fmt   &#061; RKNN_TENSOR_NHWC,<br \/>\n    };<br \/>\n    ret &#061; rknn_inputs_set(ctx, 1, &amp;input);<br \/>\n    if (ret !&#061; RKNN_SUCC) {<br \/>\n        fprintf(stderr, &#034; rknn_inputs_set \u5931\u8d25, \u9519\u8bef\u7801: %d\\\\n&#034;, ret);<br \/>\n        rknn_destroy(ctx);<br \/>\n        return -2;<br \/>\n    }<\/p>\n<p>    ret &#061; rknn_run(ctx, NULL);<br \/>\n    if (ret !&#061; RKNN_SUCC) {<br \/>\n        fprintf(stderr, &#034; rknn_run \u5931\u8d25, \u9519\u8bef\u7801: %d\\\\n&#034;, ret);<br \/>\n        rknn_destroy(ctx);<br \/>\n        return -3;<br \/>\n    }<\/p>\n<p>    ret &#061; rknn_outputs_get(ctx, 3, outputs, NULL);<br \/>\n    if (ret !&#061; RKNN_SUCC) {<br \/>\n        fprintf(stderr, &#034; rknn_outputs_get \u5931\u8d25\\\\n&#034;);<br \/>\n        rknn_destroy(ctx);<br \/>\n        return -4;<br \/>\n    }<\/p>\n<p>    rknn_destroy(ctx);<br \/>\n    return 0;<br \/>\n}<\/p>\n<h3>\u56db\u3001\u540e\u5904\u7406\u4f18\u5316\u4e0e\u7cfb\u7edf\u96c6\u6210<\/h3>\n<p>NPU\u8f93\u51fa\u7684\u539f\u59cb\u68c0\u6d4b\u7ed3\u679c\u9700\u7ecfNMS&#xff08;\u975e\u6781\u5927\u503c\u6291\u5236&#xff09;\u8fc7\u6ee4\u540e\u65b9\u53ef\u7528\u3002\u539f\u59cbNMS\u5728A72\u5355\u6838\u8017\u65f6\u7ea615ms&#xff0c;\u901a\u8fc7\u4ee5\u4e0b\u4f18\u5316\u964d\u81f34ms&#xff1a;<\/p>\n<li>\u9884\u8bbe\u7f6e\u4fe1\u5ea6\u9608\u503c0.45&#xff0c;\u76f4\u63a5\u5254\u9664\u4f4e\u5206\u5019\u9009\u6846&#xff0c;\u51cf\u5c11\u6392\u5e8f\u91cf<\/li>\n<li>\u91c7\u7528\u5355\u7c7bNMS&#xff08;\u8d27\u67b6\u7f3a\u8d27\u4e3a\u5355\u7c7b\u68c0\u6d4b\u573a\u666f&#xff09;&#xff0c;\u907f\u514d\u591a\u7c7b\u5e76\u884c\u8ba1\u7b97<\/li>\n<li>\u5c06IoU\u8ba1\u7b97\u6539\u4e3a\u6574\u6570\u8fd1\u4f3c&#xff0c;\u727a\u7272&lt;0.5%\u7cbe\u5ea6\u6362\u53d62\u500d\u52a0\u901f<\/li>\n<p>\/\/ \u5355\u7c7bNMS\u5feb\u901f\u5b9e\u73b0&#xff08;\u6574\u6570IoU\u8fd1\u4f3c&#xff09;<br \/>\nstatic int fast_nms(box_t *boxes, int num, float iou_thresh, box_t *out, int max_out)<br \/>\n{<br \/>\n    if (num &lt;&#061; 0 || boxes &#061;&#061; NULL || out &#061;&#061; NULL) {<br \/>\n        fprintf(stderr, &#034; fast_nms \u8f93\u5165\u53c2\u6570\u5f02\u5e38\\\\n&#034;);<br \/>\n        return 0;<br \/>\n    }<\/p>\n<p>    \/\/ \u6309\u7f6e\u4fe1\u5ea6\u964d\u5e8f\u6392\u5e8f&#xff08;\u90e8\u5206\u6392\u5e8f&#xff0c;\u53d6\u524dmax_out\u4e2a\u5373\u53ef&#xff09;<br \/>\n    int effective &#061; (num &lt; max_out) ? num : max_out;<br \/>\n    for (int i &#061; 0; i &lt; effective; i&#043;&#043;) {<br \/>\n        int best &#061; i;<br \/>\n        for (int j &#061; i &#043; 1; j &lt; num; j&#043;&#043;) {<br \/>\n            if (boxes[j].score &gt; boxes[best].score) best &#061; j;<br \/>\n        }<br \/>\n        box_t tmp &#061; boxes[i]; boxes[i] &#061; boxes[best]; boxes[best] &#061; tmp;<br \/>\n    }<\/p>\n<p>    int keep &#061; 0;<br \/>\n    uint8_t suppressed[256] &#061; {0};  \/\/ \u6807\u8bb0\u88ab\u6291\u5236\u7684\u5019\u9009\u6846<\/p>\n<p>    for (int i &#061; 0; i &lt; effective; i&#043;&#043;) {<br \/>\n        if (suppressed[i]) continue;<br \/>\n        out[keep&#043;&#043;] &#061; boxes[i];<br \/>\n        for (int j &#061; i &#043; 1; j &lt; effective; j&#043;&#043;) {<br \/>\n            \/\/ \u6574\u6570IoU\u8fd1\u4f3c: (\u4ea4\u96c6\u9762\u79ef * 256) \/ (\u5e76\u96c6\u9762\u79ef)<br \/>\n            int inter &#061; box_intersection_q8(boxes[i], boxes[j]);<br \/>\n            int union_ &#061; box_area_q8(boxes[i]) &#043; box_area_q8(boxes[j]) &#8211; inter;<br \/>\n            if (union_ &#061;&#061; 0) continue;<br \/>\n            int iou_q8 &#061; (inter &lt;&lt; 8) \/ union_;<br \/>\n            int thresh_q8 &#061; (int)(iou_thresh * 256);<br \/>\n            if (iou_q8 &gt; thresh_q8) suppressed[j] &#061; 1;<br \/>\n        }<br \/>\n    }<br \/>\n    return keep;<br 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