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<a class="article-title" href="/2020/09/02/deepvision/">【已开源】如何快速部署CV算法--DeepVision CV推理框架</a>
</h1>
<a href="/2020/09/02/deepvision/" class="archive-article-date">
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<h2 id="前言"><a href="#前言" class="headerlink" title="前言"></a>前言</h2><p>一个算法模型的落地需要经历从算法任务确立，到方法调研、模型选型和优化、数据采集标定、模型训练、部署验证等一整个pipeline，其中对于绝大多数的算法工程师，模型的训练和输出是没有问题的，但是要快速地进行模型在移动设备上的效果验证，则需要移动端开发人员和配合才能完成。另一方面，考虑到团队内CV算法研究方向很多，如果每个模型都单独在移动端开发一套验证APP的话显然费时费力，重复造轮子。</p>
<p><img src="/img/deepvision1.jpg" alt=""></p>
<p>为了解决模型移动端部署验证困难，以及每个模型都单独在移动端开发一套验证APP带来的重复工作的问题，本项目实现了CV算法快速验证框架项目，旨在提供一套通用的CV算法验证框架。框架经过本人一年多的开发和维护，目前已经完成绝大部分API的开发，实现包括实时视频流模块、单帧图像处理模块、3D场景模块、云端推理模块等众多功能。</p>
<blockquote>
<p><strong>大家可以看到我做的很多其他项目都用到了这个框架，比如L-ink、火星车等，本仓库将这个框架的非核心部分开源出来，代码里整合了重新编译的OpenCV native和JAVA库，大家可以自己扩展用于实现自己的项目。</strong></p>
</blockquote>
<h2 id="CV算法验证框架设计"><a href="#CV算法验证框架设计" class="headerlink" title="CV算法验证框架设计"></a>CV算法验证框架设计</h2><p>构建包含推理的应用程序所涉及的不仅仅是运行深度学习推理模型，开发者还需要做到以下几点：</p>
<ul>
<li>利用各种设备的功能</li>
<li>平衡设备资源使用和推理结果的质量</li>
<li>通过流水线并行运行多个操作</li>
<li>确保时间序列数据同步正确</li>
</ul>
<p>本框架解决了这些挑战，将上述软件框架解耦为<code>数据流控制层</code>、<code>nn推理引擎层</code>，以及<code>UI层</code>进行框架实现，把数据流处理管道构建为模块化组件，包括推理处理模型和媒体处理功能等。</p>
<ul>
<li><p>其中数据流控制层包含三个大的模块 – 视频流模块、图片和编辑模块、3D场景模块，每个模块提供可供配置的数据流参数接口，同时提供了一些常用的工具包如<code>OpenCV</code>、<code>QVision</code>等用于作为模型的数据输入和预处理。</p>
</li>
<li><p>nn推理引擎层则集成了一些移动端常用的推理框架比如<code>SNPE</code>、<code>TensorFlow Lite</code>等，并提供统一模板便于后续持续维护扩展其他推理框架。</p>
</li>
<li>UI层则封装好了图像渲染模块，以及各种调试控件。在API方面，该算法验证框架提供了Native/JAVA/Script三个层次的API，前两者可以在Android工程中进行快速模型集成，Script API则不需要编写任何APP 代码，通过文本脚本解析的形式配置模型推理选项。</li>
</ul>
<p>通过以上功能使开发者可以专注于算法或模型开发，并使用本框架作为迭代改进其应用程序的环境，其结果可在不同的设备和平台上重现。</p>
<p>下图是本框架的模块划分架构图：</p>
<p><img src="/img/deepvision2.jpg" alt=""></p>
<h2 id="API接口说明"><a href="#API接口说明" class="headerlink" title="API接口说明"></a>API接口说明</h2><p>从图中各个模块的名字可以看出个模块的功能，输入是转换好的算法模型，以及图像数据流，其中图像数据流分为摄像头采集的视频数据帧、相册选取的单帧图像，以及应用于3DCNN的3维模型文件。</p>
<p>本框架提供了Native/JAVA/Script三个层次的API，前两者可以在Android工程中进行快速模型集成，其中Native为C/C++接口，提供JNI模板以及封装好的通信组件便于和JAVA进行数据交互；JAVA层则为Android API，使用和C++一样风格的进行封装，此外提供一些UI绘制函数接口；Script API则不需要编写任何APP 代码，通过文本脚本解析的形式配置模型推理选项。</p>
<p>举例在JAVA API下，算法模型在代码中的初始化方式如下，以高通平台的SNPE Runtime为例，只需要几行非常简单的代码即可加载并初始化模型：</p>
<p><img src="/img/deepvision3.jpg" alt=""></p>
<p>如代码所示，模型文件的加载方式比较灵活，可以作为FileInputStream加载，也可以作为APP的Asset进行加载。</p>
<p>而图像数据的预处理和结果回调使用也非常简单，通过提供的OpenCV、QVison等CV库封装接口，可以方便地调取很多图像处理函数：</p>
<p><img src="/img/deepvision4.jpg" alt=""></p>
<p>其中常用的一些操作比如数据的归一化等函数都经过底层优化，保证数据一致性和高效性，比如数据类型的转换使用了zero-copy：</p>
<p><img src="/img/deepvision5.jpg" alt=""></p>
<p>同时OpenCV的编译开启了NEON指令、OpenMP多核等加速选项，对于图像的归一化等操作可以做到并行化加速。</p>
<p><strong>具体的接口reference说明请参考工程代码。</strong></p>
<h2 id="模型优化算法实现和工具封装"><a href="#模型优化算法实现和工具封装" class="headerlink" title="模型优化算法实现和工具封装"></a>模型优化算法实现和工具封装</h2><p>除了APP侧的接口外，本CV算法验证框架提供了一套配套的模型优化工具（暂未开放），包括：</p>
<ul>
<li>模型8bit量化工具</li>
<li>模型结构化剪枝工具</li>
<li>模型转换工具</li>
</ul>
<p>使用TensorFlow或者PyTorch等Training框架训练好的pb、pth、onnx等模型文件并不能直接在移动端进行部署运行，而是需要做一些模型转换工作，本框架将各种转换工具打包，提供了一套方便的模型转换工具。</p>
<p>其中的模型量化工具基于TensorFlow的TOCO、Pytorch的QNNPACK等实现。</p>
<p>剪枝工具则是根据论文<strong>Learning Efficient Convolutional Networks Through Network Slimming (ICCV 2017)</strong>提到的模型剪枝方法进行复现实现的。</p>
<p>模型转换工具和具体的Inference Runtime有关，比如SNPE则是使用DLC转换脚本、TensorFlow使用的是TF Lite转换工具等等。</p>
<p><img src="/img/deepvision6.jpg" alt=""></p>
<p>如上图所示，除了模型优化工具，框架的工具包中还提供了一些预训练和部署好的Model Zoo，用于做同平台性能对比测试的Baseline，目前以及实现部署好的有YOLO、MTCNN、Openpose等模型。</p>
<h2 id="API文档"><a href="#API文档" class="headerlink" title="API文档"></a>API文档</h2><p><strong>待补充，另外框架工具代码也还在整理中。</strong></p>
<h2 id="框架在移动端的实际效果"><a href="#框架在移动端的实际效果" class="headerlink" title="框架在移动端的实际效果"></a>框架在移动端的实际效果</h2><blockquote>
<ul>
<li><p>Camera视频流、单帧图像，以及3D场景模块选择</p>
</li>
<li><p>同一框架下可以同时验证多个算法模型</p>
</li>
<li>模型实际运行效果</li>
</ul>
</blockquote>
<p><img src="/img/deepvision7.jpg" alt=""></p>
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<a class="article-title" href="/2020/07/02/foc/">【自制FOC驱动器】深入浅出讲解FOC算法与SVPWM技术</a>
</h1>
<a href="/2020/07/02/foc/" class="archive-article-date">
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<p><img src="/img/foc1.jpg" alt=""></p>
<h2 id="0-前言"><a href="#0-前言" class="headerlink" title="0.前言"></a>0.前言</h2><p>前阵子工作太忙，好久没做个人项目了，最近久违地想做一个机器人项目，设计中需要用到高性能超小体积的伺服电机。</p>
<p>电机这一块性能满足项目需求的基本上只有<strong>无刷电机</strong>可以选了–又要大功率、大扭矩，又要体积小，成本还最好不要太高，选择低KV值的无刷电机显然是最合适的。我预计的方案中计划把减速器也省略了，采用扭矩无刷电机直驱。那么作为机器人硬件三大核心部件（<strong>电机</strong>、<strong>减速器</strong>、<strong>驱动器</strong>）之一的驱动器，我感觉是有必要自己设计一下的，因此这里把我学习FOC过程中看到的一些有关无刷电机矢量控制的资料和个人理解整理分享出来。</p>
<h3 id="0-1-什么是FOC？"><a href="#0-1-什么是FOC？" class="headerlink" title="0.1 什么是FOC？"></a><strong>0.1 什么是FOC？</strong></h3><p><strong>FOC（Field-Oriented Control）</strong>，直译是磁场定向控制，也被称作矢量控制<strong>（VC，Vector Control）</strong>，是目前无刷直流电机（BLDC）和永磁同步电机（PMSM）高效控制的最优方法之一。FOC旨在通过精确地控制磁场大小与方向，使得电机的运动转矩平稳、噪声小、效率高，并且具有高速的动态响应。</p>
<p>简单来说就是，FOC是一种对无刷电机的驱动控制方法，它可以让我们对无刷电机进行“<strong>像素级”</strong>控制，实现很多传统电机控制方法所无法达到的效果~</p>
<h3 id="0-2-FOC驱动器和无刷电调的区别"><a href="#0-2-FOC驱动器和无刷电调的区别" class="headerlink" title="0.2 FOC驱动器和无刷电调的区别"></a><strong>0.2 FOC驱动器和无刷电调的区别</strong></h3><p>玩过航模的同学可能对无刷电机很熟悉，也应该知道航模中对于无刷电机的驱动使用的是<strong>电子调速器（ESC）</strong>也就是我们常说的电调，那么这个FOC驱动器和普通的电调有什么区别呢？</p>
<p><img src="https://pic2.zhimg.com/80/v2-2b563a98a992590b653d8380f1733481_720w.jpg" alt="img">航模中的无刷电调</p>
<p><strong>FOC的优势：</strong></p>
<ol>
<li><strong>低转速下控制</strong><br>由于控制原理的区别，无刷电调只能控制电机工作在高转速下，低速下无法控制；而FOC控制器则完全没有这个限制，不论在什么转速下都可以实现精确控制。</li>
<li><strong>电机换向</strong><br>同上面的理由，由于电调无法反馈转子位置，因此很难实现电机正反转的换向（当然有感电调可以实现）；而FOC驱动器的换向性能极其优秀，最高转速下正反转切换可以非常顺畅；此外FOC还可以以能量回收的形式进行刹车控制。</li>
<li><strong>力矩控制</strong><br>普通电调都只能控制电机转速，而FOC可以进行电流（力矩）、速度、位置三个闭环控制。</li>
<li><strong>噪音</strong><br>FOC驱动器的噪音会比电调小很多，原因是普通电调采用方波驱动，而FOC是正弦波。</li>
</ol>
<p><strong>电调的优势：</strong></p>
<ol>
<li><strong>兼容性</strong><br>电调驱动不同的BLDC不需要进行参数整定，而FOC需要。</li>
<li><strong>算法复杂度</strong><br>电调的算法实现更简单，运算量少，很适合需要提高带宽的超高转速电机。</li>
<li><strong>成本</strong><br>电调的成本比FOC低很多。</li>
</ol>
<p>综上大家应该可以看出来，FOC驱动器在控制性能上是要比电调强大得多的，其优异的性能和<strong>磁场定向控制</strong>的原理是密不可分的，下面就会详细介绍FOC控制的实现方法。</p>
<h2 id="1-从电机原理说起"><a href="#1-从电机原理说起" class="headerlink" title="1.从电机原理说起"></a><strong>1.从电机原理说起</strong></h2>
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<a class="article-title" href="/2020/03/25/unit/">如何从零制作一个硬币大小的AI小电视</a>
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<a href="/2020/03/25/unit/" class="archive-article-date">
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<p>这是博主最近业余花费三个月时间设计制作的一个超迷你Linux电脑，构思这个项目的缘由在前面【Project Quantum】的文章视频里有提及。</p>
<p>本次项目做完之后视频在网上引发了不少关注，本文后面的采访部分来自<a href="https://mp.weixin.qq.com/s/cczMIZ2WmLME-9PkG7eQWA" target="_blank" rel="external">【量子位】近期对我的专访</a>，文章里分享了一些我个人的心路历程和对开发者的建议，供大家参考~</p>
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<a class="article-title" href="/2020/01/01/happynewyear2020/">2020新年快乐！</a>
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<p>新年的第一天都快结束了才发出来，可能发得有点晚~本来是觉得剪辑麻烦，但是翻了翻手机里的照片，还是决定不浪费这些宝贵的素材了，谨以此作为19年的个人总结，激励自己在2020更加努力学习、用心生活，也祝大家新年快乐，新年一起加油～</p>
</blockquote>
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<a class="article-title" href="/2019/12/20/linuxcard/">【已开源】自制超迷你模组化Linux卡片电脑【Project Quantum】</a>
</h1>
<a href="/2019/12/20/linuxcard/" class="archive-article-date">
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<h2 id="这又是个啥？"><a href="#这又是个啥？" class="headerlink" title="这又是个啥？"></a>这又是个啥？</h2><p>大家知道，我大概两年前在学校的时候仿造“树莓派”设计过一款硬币大小的Linux卡片电脑，叫MiniPi：<a href="http://www.pengzhihui.xyz/2018/04/08/minipi/" target="_blank" rel="external">如何自制一块“树莓派”–DIY ARM-Linux卡片电脑</a></p>
<p><img src="/img/MiniPi12-1579751787178.jpg" alt="加载失败,请刷新"></p>
<p>但是时过境迁当我再度审视这款作品的时候，又发现了很多可改进之处：</p>
<ul>
<li>首先Mini-PCIE的封装接口IO数有限，使得大部分的IO都没能从核心板引出</li>
<li>其次大家可以发现其实这块核心板的固定方式比较尴尬，由于USB插口处一侧没有螺丝孔位，所以只能靠一个打印的塑料卡扣来固定板子</li>
<li>再有就是虽然核心板很小，但是必须加上底板才能作为完整的卡片电脑使用，而一旦加上底板，整个卡片电脑的尺寸就变得一点也不Mini了…</li>
</ul>
<p>于是今年8月份的时候，我用邮<code>票孔核心板</code>+<code>底板</code>的方式重新设计了一款卡片电脑，取名为<code>Linux-Card</code>，<strong>演示视频如下↓</strong></p>
<div style="height: 0;padding-bottom:65%;position: relative;"><br><iframe width="760" height="510" src="//player.bilibili.com/player.html?aid=65365123&cid=113440040&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen style="position: absolute;height: 105%;width: 100%;"> </iframe><br></div>
<p><br></p>
<blockquote>
<p>可以看到整个板子的体积有了质的变化，在板载<code>USB-Type-C</code>、<code>USB串口</code>、<code>2个USB-A口</code>、<code>WiFi模块</code>、<code>OLED屏幕</code>和<code>SD插槽</code>的情况下，整体体积（包括厚度）几乎控制到了极限。</p>
</blockquote>
<p><img src="/img/v2-f4f986711bc44f375e64d16d85bddd26_hd.jpg" alt="img"></p>
<h3 id="然后你们以为事情就结束了吗？"><a href="#然后你们以为事情就结束了吗？" class="headerlink" title="然后你们以为事情就结束了吗？"></a>然后你们以为事情就结束了吗？</h3><p>并没有！<strong>某男子业余制造卡片电脑得寸进尺，竟还想集成更多功能！</strong></p>
<p>光增加功能还不算，我掐指一想：既然都已经把核心板压缩到这个程度了，为何不把其他模块和外设也做成邮票孔的形式以实现更紧凑的布局呢？</p>
<p>我们知道软件开发里面有<code>封装</code>、<code>抽象</code>、<code>解耦</code>等概念，我为什么不试试把硬件设计也来个<code>High-Level-PCB-Design</code>呢？通过这样模块化的PCB设计，以后我想基于这款卡片电脑做任何项目的时候，岂不是就都能拼积木一般easy了？</p>
<p><strong>说干就干！</strong></p>
<p>于是<strong>【Project Quantum】</strong>量子计划就诞生了！直接看下面的视频介绍↓</p>
<div style="height: 0;padding-bottom:65%;position: relative;"><br><iframe width="760" height="510" src="//player.bilibili.com/player.html?aid=79918470&cid=136773359&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen style="position: absolute;height: 105%;width: 100%;"> </iframe><br></div>
<p><br></p>
<blockquote>
<p>更多的项目细节我会在后面完成项目的过程中逐渐补充，怕错过的同学可以关注我的<strong>知乎</strong>和<strong>B站</strong>获取最新动态（在本博客标题下面有链接）。</p>
</blockquote>
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