障碍物检测，运行代码fps低的离谱，是什么问题造成的，是我训练转出来的bin文件有问题吗还是代码的问题？

Yoona · 2025 年7 月 8 日 10:47

[racing_obstacle_detection_yolo-1] [WARN] [1751971240.459097470] [ObstacleDetectionNode]: input fps: 0.06, out fps: 0.06, infer time ms: 17027, post process time ms: 16909

这是第一个image_utils.cpp:
// Copyright (c) 2022，Horizon Robotics.
//
// Licensed under the Apache License, Version 2.0 (the “License”);
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an “AS IS” BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include “racing_obstacle_detection/image_utils.h”

#include
#include
#include
#include
#include
#include

#include “dnn/hb_sys.h”

static int32_t BGRToNv12(cv::Mat &bgr_mat, cv::Mat &img_nv12) {
auto height = bgr_mat.rows;
auto width = bgr_mat.cols;

if (height % 2 || width % 2) {
std::cerr << “input img height and width must aligned by 2!”;
return -1;
}
cv::Mat yuv_mat;
cv::cvtColor(bgr_mat, yuv_mat, cv::COLOR_BGR2YUV_I420);
if (yuv_mat.data == nullptr) {
std::cerr << “yuv_mat.data is null pointer” << std::endl;
return -1;
}

auto *yuv = yuv_mat.ptr<uint8_t>();
if (yuv == nullptr) {
std::cerr << “yuv is null pointer” << std::endl;
return -1;
}
img_nv12 = cv::Mat(height * 3 / 2, width, CV_8UC1);
auto *ynv12 = img_nv12.ptr<uint8_t>();

int32_t uv_height = height / 2;
int32_t uv_width = width / 2;

// copy y data
int32_t y_size = height * width;
memcpy(ynv12, yuv, y_size);

// copy uv data
uint8_t *nv12 = ynv12 + y_size;
uint8_t *u_data = yuv + y_size;
uint8_t *v_data = u_data + uv_height * uv_width;

for (int32_t i = 0; i < uv_width * uv_height; i++) {
*nv12++ = *u_data++;
*nv12++ = *v_data++;
}
return 0;
}

std::shared_ptr ImageUtils::GetNV12Pyramid(
const cv::Mat &bgr_mat, int scaled_img_height, int scaled_img_width) {
cv::Mat nv12_mat;
cv::Mat mat_tmp;
mat_tmp.create(scaled_img_height, scaled_img_width, bgr_mat.type());
cv::resize(bgr_mat, mat_tmp, mat_tmp.size(), 0, 0);
// cv::imwrite(“resized_img.jpg”, mat_tmp);
auto ret = BGRToNv12(mat_tmp, nv12_mat);
if (ret) {
std::cout << "get nv12 image failed " << std::endl;
return nullptr;
}

auto *y = new hbSysMem;
auto *uv = new hbSysMem;

auto w_stride = ALIGN_16(scaled_img_width);
hbSysAllocCachedMem(y, scaled_img_height * w_stride);
hbSysAllocCachedMem(uv, scaled_img_height / 2 * w_stride);

uint8_t *data = nv12_mat.data;
auto *hb_y_addr = reinterpret_cast<uint8_t *>(y->virAddr);
auto *hb_uv_addr = reinterpret_cast<uint8_t *>(uv->virAddr);

// padding y
for (int h = 0; h < scaled_img_height; ++h) {
auto *raw = hb_y_addr + h * w_stride;
for (int w = 0; w < scaled_img_width; ++w) {
*raw++ = *data++;
}
}

// padding uv
auto uv_data = nv12_mat.data + scaled_img_height * scaled_img_width;
for (int32_t h = 0; h < scaled_img_height / 2; ++h) {
auto *raw = hb_uv_addr + h * w_stride;
for (int32_t w = 0; w < scaled_img_width; ++w) {
*raw++ = *uv_data++;
}
}

hbSysFlushMem(y, HB_SYS_MEM_CACHE_CLEAN);
hbSysFlushMem(uv, HB_SYS_MEM_CACHE_CLEAN);
auto pyramid = new NV12PyramidInput;
pyramid->width = scaled_img_width;
pyramid->height = scaled_img_height;
pyramid->y_vir_addr = y->virAddr;
pyramid->y_phy_addr = y->phyAddr;
pyramid->y_stride = w_stride;
pyramid->uv_vir_addr = uv->virAddr;
pyramid->uv_phy_addr = uv->phyAddr;
pyramid->uv_stride = w_stride;
return std::shared_ptr(pyramid,
[y, uv](NV12PyramidInput *pyramid) {
// Release memory after deletion
hbSysFreeMem(y);
hbSysFreeMem(uv);
delete y;
delete uv;
delete pyramid;
});
}
这是第二个parser.cpp：
// Copyright (c) 2022，Horizon Robotics.
//
// Licensed under the Apache License, Version 2.0 (the “License”);
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an “AS IS” BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.