• 工程設計專題(114學年)

客製作模型部署(以機器車應用為例)

• 講義

• 待完成

  • 模型部署基本操作流程

    按照以下路徑將nb檔放入對應任務的資料夾中

    

    在這個資料夾內只能放一個nb檔
     

    

    開啟ObjectDetectionLoop的程式碼
     

    

    將以下程式碼貼至ObjectDetectionLoop的.ino檔內

    #include "StreamIO.h"
    #include "VideoStream.h"
    #include "NNObjectDetection.h"
    #include "VideoStreamOverlay.h"
    #include "ObjectClassList.h"
    #include "AmebaServo.h"
    #define CHANNEL   0
    #define CHANNELNN 3
    
    #define NNWIDTH  640
    #define NNHEIGHT 640
    
    VideoSetting config(VIDEO_FHD, 30, VIDEO_H264, 0);
    VideoSetting configNN(NNWIDTH, NNHEIGHT, 10, VIDEO_RGB, 0);
    NNObjectDetection ObjDet;
    StreamIO videoStreamer(1, 1);
    StreamIO videoStreamerNN(1, 1);
    
    // PWM 腳位
    int a = 1;
    int b = 2;
    int c = 3;
    int d = 4;
    
    // PWM 控制參數
    const int maxPWM = 180;
    const int turnMaxPWM = 90;
    
    void setup()
    {
        Serial.begin(115200);
        pinMode(a, OUTPUT);
        pinMode(b, OUTPUT);
        pinMode(c, OUTPUT);
        pinMode(d, OUTPUT);
    
        config.setBitrate(2 * 1024 * 1024);
        Camera.configVideoChannel(CHANNEL, config);
        Camera.configVideoChannel(CHANNELNN, configNN);
        Camera.videoInit();
    
        ObjDet.configVideo(configNN);
        ObjDet.modelSelect(OBJECT_DETECTION, CUSTOMIZED_YOLOV7TINY, NA_MODEL, NA_MODEL);
        ObjDet.configThreshold(0.2, 0.2);
        ObjDet.begin();
    
        videoStreamer.registerInput(Camera.getStream(CHANNEL));
        if (videoStreamer.begin() != 0) {
            Serial.println("StreamIO link start failed");
        }
    
        Camera.channelBegin(CHANNEL);
    
        videoStreamerNN.registerInput(Camera.getStream(CHANNELNN));
        videoStreamerNN.setStackSize();
        videoStreamerNN.setTaskPriority();
        videoStreamerNN.registerOutput(ObjDet);
        if (videoStreamerNN.begin() != 0) {
            Serial.println("StreamIO link start failed");
        }
    
        Camera.channelBegin(CHANNELNN);
    }
    
    void loop()
    {
        std::vector<ObjectDetectionResult> results = ObjDet.getResult();
        uint16_t im_w = config.width();
    
        if (ObjDet.getResultCount() > 0) {
            int bestIndex = -1;
            float highestScore = -1.0;
    
            for (int i = 0; i < ObjDet.getResultCount(); i++) {
                if (results[i].score() > highestScore) {
                    highestScore = results[i].score();
                    bestIndex = i;
                }
            }
    
            if (bestIndex != -1) {
                int obj_type = results[bestIndex].type();
                if (itemList[obj_type].filter) {
                    ObjectDetectionResult item = results[bestIndex];
                    int xmin = (int)(item.xMin() * im_w);
                    int xmax = (int)(item.xMax() * im_w);
                    int xcenter = (xmin + xmax) / 2;
    
                    const char* position;
                    if (xcenter < im_w / 3) {
                        position = "左半部";
                    } else if (xcenter > 2 * im_w / 3) {
                        position = "右半部";
                    } else {
                        position = "中間";
                    }
    
                    if (position == "中間") { // 前進
                        analogWrite(a, 0);         // 右後停
                        analogWrite(b, maxPWM);    // 右前轉
                        analogWrite(c, 0);         // 左後停
                        analogWrite(d, maxPWM);    // 左前轉
                    }
                    else if (position == "右半部") { // 右轉
                        analogWrite(a, 0);
                        analogWrite(b, turnMaxPWM);    // 右前較慢
                        analogWrite(c, 0);
                        analogWrite(d, maxPWM);        // 左前較快
                    }
                    else if (position == "左半部") { // 左轉
                        analogWrite(a, 0);
                        analogWrite(b, maxPWM);        // 右前較快
                        analogWrite(c, 0);
                        analogWrite(d, turnMaxPWM);    // 左前較慢
                    }
                    else {
                        analogWrite(a, 0);
                        analogWrite(b, 0);
                        analogWrite(c, 0);
                        analogWrite(d, 0);
                    }
    
                    delay(200); // 保持動作一段時間
    
                    // 停車
                    analogWrite(a, 0);
                    analogWrite(b, 0);
                    analogWrite(c, 0);
                    analogWrite(d, 0);
                }
            }
        }
    
        delay(100);
    }

    最後將.h檔內的itemList改成你要偵測的物品數量和物品名稱就可以執行了                (多的刪掉)
     

    

    電路連接方式