Yolov5学习笔记(2)——部署在jetson nano上

本教程系列将从模型训练开始，从0开始带领你部署Yolov5模型到jetson nano上

这是本系列的第二部分内容

 目录

 1.更换源

2.更改环境变量

 2.2测试CUDA

 2.3安装pip3

2 .4安装GPU版的tensorflow

 2.5安装pycuda 

 3.1下载tensorrtx的源码

3.2模型测试 

---

 1.更换源

Ubuntu跟Windows不同，能从官方指定的源服务器上下载安装各种软件,不用满世界找，但是默认的源可能在国外，速度很慢，有

的包无法安装。所谓换源就是更改源服务器，一般换成国内的。

简单通俗点来说就是，如果你希望加快下载各种包的速度要做的事情

我用的一般都是清华源，也有用中科大的源

先备份本身的源，防止误操作后无法删除

这里没有用vim，gedit更加方便

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bak    #为防止误操作后无法恢复，先备份原文件sources.list
sudo gedit /etc/apt/sources.list 

然后删除所有内容，复制以下内容，保存

deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe

别忘记更新一下哦

sudo apt-get update

2.更改环境变量

在更改环境变量之前，记得确定好cuda的版本，在添加环境变量的时候，因为cuda的版本原因导致的错误很常见，输入下面路径查看cuda版本

cd /usr/local
ls

如上图所示，cuda版本为10.2，那么路径也为cuda-10.2现在就可以添加环境变量了

sudo gedit  ~/.bashrc

在文本的最后添加以下三行：

export PATH=/usr/local/cuda-10.2/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
export CUDA_HOME=$CUDA_HOME:/usr/local/cuda-10.2

重新执行.bashrc文件，可以直接生效；

source ~/.bashrc

 输入nvcc -V命令测试环境变量是否正确

nvcc -V

 

 2.2测试CUDA

依次输入下面的命令测试cuda

cd /usr/src/cudnn_samples_v8/mnistCUDNN
sudo make
sudo chmod a+x mnistCUDNN
./mnistCUDNN

 等待片刻后，出现test passed表明成功（如下图）

 2.3安装pip3

可能有同学要问了，pip是个啥，其实这不重要，你可以把他当作一个下载器，pip是Python 的包管理器，python已经来到了3.0版本，如果用pip的话，下载下来的包会保存在python2.7版本的路径下，总之，最后用pip3来下载安装python的各类包，避免后期出现麻烦

sudo apt-get install python3-pip python3-dev

如果在使用的过程中出现报不能导入’main’错误

 打开路径 "/usr/bin/"下的pip3文件，
将内容

from pip import main
if __name__ == '__main__':
    sys.exit(main())

修改为

from pip import __main__
if __name__ == '__main__':
    sys.exit(__main__._main())

2 .4安装GPU版的tensorflow

首先得安装一些依赖

sudo apt-get install libhdf5-serial-dev hdf5-tools

安装GPU版本的tensorflow

pip3 install --extra-index-url https://developer.download.nvidia.com/compute/redist/jp/v42 tensorflow-gpu==1.13.1+nv19.3 --user

如果说你对自己安装的tensorflow版本不太放心，或者在下载过程中网络断开的话，不妨用下面的代码测试一下 

import tensorflow as tf
 
with tf.device('/cpu:0'):
    a = tf.constant([1.0,2.0,3.0],shape=[3],name='a')
    b = tf.constant([1.0,2.0,3.0],shape=[3],name='b')
with tf.device('/gpu:1'):
    c = a+b
   
sess = tf.Session(config=tf.ConfigProto(allow_soft_placement=True,log_device_placement=True))
sess.run(tf.global_variables_initializer())
print(sess.run(c))

安装一些机器学习常用的库

sudo apt-get install python3-numpy
sudo apt-get install python3-scipy
sudo apt-get install python3-pandas
sudo apt-get install python3-matplotlib
sudo apt-get install python3-sklearn

 2.5安装pycuda 

pycuda-2019.1.2点击下载pycuda2019版本pycuda-2019.1.2 这里有pycuda的github源码，里面有各种pycuda版本，但是可能会出现一些版本不兼容的问题

https://github.com/inducer/pycuda

 下载完成后来到下载好的路径下，终端打开，依次输入下解压安装

tar zxvf pycuda-2019.1.2.tar.gz    
cd pycuda-2019.1.2/  
python3 configure.py --cuda-root=/usr/local/cuda-10.2
sudo python3 setup.py install

 安装过程中出现类似下图中的内容可以暂时忽略

 稍作等待几分钟，直到出现安装完成

 3.1下载tensorrtx的源码

很高兴你能来到这里，到这里已经完成了一半，是不是觉得很麻烦，别担心，当你完成了部署结果一定会让你很兴奋的

进入tensorrtx的官网，下载你训练时对应的yolov5的版本，点击左上角的master-->tags-->yolov5

如：yolov5-4.0版本的模型，要下载yolo5版本的tensorrtx进行部署，否则在生成引擎文件时会出现报错

点击右边绿色的Code，然后Download ZIP

下载完成后，来到下载目录下，输入以下命令解压,我这里是v5.0版本

unzip tensorrtx-yolov5-v5.0.zip

 把之前训练的模型生成的wts权重文件放到tensorrtx的yolov5文件夹中

没有wts文件只是想体验强大的jetson nano的同学可以先下载一下我的五类垃圾分类权重文件

链接: https://pan.baidu.com/s/1nciB7Xn1vXj9ZfBAoj39Bw 提取码: r74h 

 来到tensorrtx的yolov5文件夹，打开yololayer.h的代码，修改CLASS_NUM

创建进入文件夹build并cmake ..

mkdir build
cd build
cmake ..

make -j6

 生成引擎文件

sudo ./yolov5 -s ../best.wts best.engine s 

这一段模型引擎生成的命令解释如下

sudo ./yolov5 -s/ [.wts文件路径] [.engine文件名称] [s/m/l/x/s6/m6/l6/x6 or c/c6 gd gw]

稍作等待后，出现Build engine successfully！表示生成完成，这时build文件夹里面会多出一个best.engine文件

3.2模型测试 

到这里，恭喜你已经完成了模型的部署，我们放自己根据官方的yolov5_trt改的代码来测试一下 

是不是很棒！

"""
# Yolov5 基于pytorch，修改起来更加方便快捷；
# yolov5自带anchor生成器，自动为你的数据集生成最优化的anchor；
# yolov5的整体AP比yolov4更高。
"""
import ctypes
import os
import random
import sys
import threading
import time
# 安装串口函数库 sudo pip3 install pyserial
import serial as ser  # 导入串口库
import cv2
import numpy as np  # 构造ndarray对象
import pycuda.autoinit
import pycuda.driver as cuda
import tensorrt as trt
from time import sleep 


# from jetcam.csi_camera import CSICamera
# import torch
# import torchvision#在nano上安装这两个库是有些麻烦的特别是torchvision。

INPUT_W = 640
INPUT_H = 640
CONF_THRESH = 0.8  # 概率阈值
IOU_THRESHOLD = 0.1


# 定义画框函数
def plot_one_box(x, img, color=None, label=None, line_thickness=None):
    '''
    description: Plots one bounding box on image img,
                 this function comes from YoLov5 project.
    param: 
        x:      a box likes [x1,y1,x2,y2]
        img:    a opencv image object
        
        label:  str
        line_thickness: int
    return:
        no return
    '''
    
    # img, result_boxes, result_scores, result_classid = yolov5_wrapper.infer(img)
    # img = draw_boxes(img, result_boxes, result_scores, result_classid)
    tl = (
            line_thickness or round(0.002 * (img.shape[0] + img.shape[1]) / 2) + 1
    )  # line/font thickness
    color = color or [random.randint(0, 255) for _ in range(3)]
    c1, c2 = (int(x[0]), int(x[1])), (int(x[2]), int(x[3]))
    cv2.rectangle(img, c1, c2, color, thickness=tl, lineType=cv2.LINE_AA)
    # print("left:(" + str(c1[0]) + "," + str(c1[1]) +")","right:(" + str(c2[0]) + "," + str(c2[1])+ ")")
    a = int(c1[0])
    b = int(c2[0])
    c = int(c1[1])
    d = int(c2[1])
    x1 = (b + a) / 2

    x = int(x1)
    y1 = (d + c) / 2
    y = int(y1)
    r = label[2:6] #rate
    sleep(0.0009)
    c =str(label[0]) #class
    # print(c)
    # if(c == 0):
    #     r0 = label[2:6]
    # elif(c == 1):
    #     r1 = label[2:6]
    # elif(c == 2):
    #     r2 = label[2:6]
    # elif(c == 3):
    #     r3 = label[2:6]
    # elif(c == 4):
    #     r4 = label[2:6]

    # # output_str = ('[' + str(x) + ',' + str(y) + ',' +str(c) + ']'+'\r\n')
    # if(c == 3 or r3>r0 or r3>r2 or r3>r1 or r3>r4):
    #     print('[' + str(x) + ',' + str(y) + ',' +str(3) + ']'+'\r\n')
    # else:
    #     print(r)


    # print(x,y)
    #se.write(str(label))
    #print(label[0])
    #print(r)#label rate
    #se.write((int(x) + ',' + int(y) + ',' +int(label[0]) + '\r\n').encode())
    # output_str = ('[' + str(x) + ',' + str(y) + ',' +str(label[0]) + ']'+'\r\n')
    # print(output_str)
    # print(r)
    # se.write(output_str.encode())
    # sleep(0.0009)
    # se.write((x + y  + '\r\n').encode())

    if label:
        tf = max(tl - 1, 1)  # font thickness
        t_size = cv2.getTextSize(label, 0, fontScale=tl / 3, thickness=tf)[0]
        c2 = c1[0] + t_size[0], c1[1] - t_size[1] - 3
        cv2.rectangle(img, c1, c2, color, -1, cv2.LINE_AA)  # filled
        cv2.putText(
            img,
            label,
            (c1[0], c1[1] - 2),
            0,
            tl / 3,
            [225, 255, 255],
            thickness=tf,
            lineType=cv2.LINE_AA,
        )
    return x, y


# 画框函数
def draw_boxes(image_raw, result_boxes, result_scores, result_classid):
    max_scores = -1
    max_index = -1
    max_x,max_y = -1,-1
    for i in range(len(result_boxes)):
        box = result_boxes[i]
        x, y = plot_one_box(
            box,
            image_raw,
            label="{}:{:.2f}".format(
                categories[int(result_classid[i])], result_scores[i]
            )
        )
        # print(result_classid[i])
        # se.write((str(x) + ',' + str(y) + ',' + str(result_classid[i]) + '\r\n').encode())
        # global max_score
        if result_boxes.all() > max_scores:
            max_scores = result_scores[i]
            max_index = i
            max_x, max_y = x, y

    if max_scores != -1:
        c = int(result_classid[max_index])
        output_str = ('[' + str(x) + ',' + str(y) + ',' +str(c) + ']'+'\r\n')
        print(output_str)
        se.write(output_str.encode())
        sleep(0.0009)        

    return image_raw


# yolov5模型转到TensorRT中推理
# 定义yolov5转trt的类 start
class YoLov5TRT(object):
    """
    description: A YOLOv5 class that warps TensorRT ops, preprocess and postprocess ops.
    """

    def __init__(self, engine_file_path):
        # Create a Context on this device,
        self.ctx = cuda.Device(0).make_context()
        stream = cuda.Stream()
        TRT_LOGGER = trt.Logger(trt.Logger.INFO)
        runtime = trt.Runtime(TRT_LOGGER)

        # Deserialize the engine from file
        with open(engine_file_path, "rb") as f:
            engine = runtime.deserialize_cuda_engine(f.read())
        context = engine.create_execution_context()

        host_inputs = []
        cuda_inputs = []
        host_outputs = []
        cuda_outputs = []
        bindings = []

        for binding in engine:
            size = trt.volume(engine.get_binding_shape(binding)) * engine.max_batch_size
            dtype = trt.nptype(engine.get_binding_dtype(binding))
            # Allocate host and device buffers
            host_mem = cuda.pagelocked_empty(size, dtype)
            cuda_mem = cuda.mem_alloc(host_mem.nbytes)
            # Append the device buffer to device bindings.
            bindings.append(int(cuda_mem))
            # Append to the appropriate list.
            if engine.binding_is_input(binding):
                host_inputs.append(host_mem)
                cuda_inputs.append(cuda_mem)
            else:
                host_outputs.append(host_mem)
                cuda_outputs.append(cuda_mem)

        # Store
        self.stream = stream
        self.context = context
        self.engine = engine
        self.host_inputs = host_inputs
        self.cuda_inputs = cuda_inputs
        self.host_outputs = host_outputs
        self.cuda_outputs = cuda_outputs
        self.bindings = bindings

    # 释放引擎，释放GPU显存，释放CUDA流
    def __del__(self):
        print("delete object to release memory")

    def infer(self, input_image_path):
        threading.Thread.__init__(self)
        # Make self the active context, pushing it on top of the context stack.
        self.ctx.push()
        # Restore
        stream = self.stream
        context = self.context
        engine = self.engine
        host_inputs = self.host_inputs
        cuda_inputs = self.cuda_inputs
        host_outputs = self.host_outputs
        cuda_outputs = self.cuda_outputs
        bindings = self.bindings
        # Do image preprocess
        input_image, image_raw, origin_h, origin_w = self.preprocess_image(
            input_image_path
        )
        # Copy input image to host buffer
        np.copyto(host_inputs[0], input_image.ravel())
        start = time.time()
        # Transfer input data  to the GPU.
        cuda.memcpy_htod_async(cuda_inputs[0], host_inputs[0], stream)
        # Run inference.
        context.execute_async(bindings=bindings, stream_handle=stream.handle)
        # Transfer predictions back from the GPU.
        cuda.memcpy_dtoh_async(host_outputs[0], cuda_outputs[0], stream)
        # Synchronize the stream
        stream.synchronize()
        end = time.time()
        # Remove any context from the top of the context stack, deactivating it.
        self.ctx.pop()
        # Here we use the first row of output in that batch_size = 1
        output = host_outputs[0]
        # Do postprocess
        result_boxes, result_scores, result_classid = self.post_process(
            output, origin_h, origin_w
        )
        # Draw rectangles and labels on the original image
        # for i in range(len(result_boxes)):
        #    box = result_boxes[i]
        #    plot_one_box(
        #        box,
        #        image_raw,
        #        label="{}:{:.2f}".format(
        #            categories[int(result_classid[i])], result_scores[i]
        #        ),
        #    )
        # parent, filename = os.path.split(input_image_path)
        # save_name = os.path.join(parent, "output_" + filename)
        ## Save image
        # cv2.imwrite(save_name, image_raw)
        # print('{:.2f}ms, saving {}'.format((end - start) * 1000, save_name))
        return image_raw, result_boxes, result_scores, result_classid

    def destroy(self):
        # Remove any context from the top of the context stack, deactivating it.
        self.ctx.pop()

    def preprocess_image(self, image_raw):
        """
        description: Read an image from image path, convert it to RGB,
                     resize and pad it to target size, normalize to [0,1],
                     transform to NCHW format.
        param:
            input_image_path: str, image path
        return:
            image:  the processed image
            image_raw: the original image
            h: original height
            w: original width
        """
        h, w, c = image_raw.shape
        image = cv2.cvtColor(image_raw, cv2.COLOR_BGR2RGB)
        # Calculate widht and height and paddings
        r_w = INPUT_W / w
        r_h = INPUT_H / h
        if r_h > r_w:
            tw = INPUT_W
            th = int(r_w * h)
            tx1 = tx2 = 0
            ty1 = int((INPUT_H - th) / 2)
            ty2 = INPUT_H - th - ty1
        else:
            tw = int(r_h * w)
            th = INPUT_H
            tx1 = int((INPUT_W - tw) / 2)
            tx2 = INPUT_W - tw - tx1
            ty1 = ty2 = 0
        # Resize the image with long side while maintaining ratio
        image = cv2.resize(image, (tw, th))
        # Pad the short side with (128,128,128)
        image = cv2.copyMakeBorder(
            image, ty1, ty2, tx1, tx2, cv2.BORDER_CONSTANT, (128, 128, 128)
        )
        image = image.astype(np.float32)
        # Normalize to [0,1]
        image /= 255.0
        # HWC to CHW format:
        image = np.transpose(image, [2, 0, 1])
        # CHW to NCHW format
        image = np.expand_dims(image, axis=0)
        # Convert the image to row-major order, also known as "C order":
        image = np.ascontiguousarray(image)
        return image, image_raw, h, w

    def xywh2xyxy(self, origin_h, origin_w, x):
        """
        description:    Convert nx4 boxes from [x, y, w, h] to [x1, y1, x2, y2] where xy1=top-left, xy2=bottom-right
        param:
            origin_h:   height of original image
            origin_w:   width of original image
            x:          A boxes tensor, each row is a box [center_x, center_y, w, h]
        return:
            y:          A boxes tensor, each row is a box [x1, y1, x2, y2]
        """
        y = np.zeros_like(x)
        # y = torch.zeros_like(x) if isinstance(x, torch.Tensor) else np.zeros_like(x)
        r_w = INPUT_W / origin_w
        r_h = INPUT_H / origin_h
        if r_h > r_w:
            y[:, 0] = x[:, 0] - x[:, 2] / 2
            y[:, 2] = x[:, 0] + x[:, 2] / 2
            y[:, 1] = x[:, 1] - x[:, 3] / 2 - (INPUT_H - r_w * origin_h) / 2
            y[:, 3] = x[:, 1] + x[:, 3] / 2 - (INPUT_H - r_w * origin_h) / 2
            y /= r_w
        else:
            y[:, 0] = x[:, 0] - x[:, 2] / 2 - (INPUT_W - r_h * origin_w) / 2
            y[:, 2] = x[:, 0] + x[:, 2] / 2 - (INPUT_W - r_h * origin_w) / 2
            y[:, 1] = x[:, 1] - x[:, 3] / 2
            y[:, 3] = x[:, 1] + x[:, 3] / 2
            y /= r_h

        return y

    # 往YoLov5TRT这个类中加入一个方法，此处是用numpy的方式实现nms
    def nms(self, boxes, scores, iou_threshold=IOU_THRESHOLD):  # 非极大值抑制，是目标检测框架中的后处理模块
        # 空间距离结合并交比(IOU)完成聚类划分
        x1 = boxes[:, 0]
        y1 = boxes[:, 1]
        x2 = boxes[:, 2]
        y2 = boxes[:, 3]
        areas = (y2 - y1 + 1) * (x2 - x1 + 1)
        scores = scores
        keep = []
        index = scores.argsort()[::-1]
        while index.size > 0:
            i = index[0]  # every time the first is the biggst, and add it directly
            keep.append(i)

            x11 = np.maximum(x1[i], x1[index[1:]])  # calculate the points of overlap
            y11 = np.maximum(y1[i], y1[index[1:]])
            x22 = np.minimum(x2[i], x2[index[1:]])
            y22 = np.minimum(y2[i], y2[index[1:]])

            w = np.maximum(0, x22 - x11 + 1)  # the weights of overlap
            h = np.maximum(0, y22 - y11 + 1)  # the height of overlap

            overlaps = w * h
            ious = overlaps / (areas[i] + areas[index[1:]] - overlaps)

            idx = np.where(ious <= iou_threshold)[0]
            index = index[idx + 1]  # because index start from 1
            # print(overlaps)
            # print(x1)
            # sleep(1)

        return keep

    # 把nms的结果赋值给indices变量，改写post_process函数
    def post_process(self, output, origin_h, origin_w):
        """
        description: postprocess the prediction
        param:
            output:     A tensor likes [num_boxes,cx,cy,w,h,conf,cls_id, cx,cy,w,h,conf,cls_id, ...] 
            origin_h:   height of original image
            origin_w:   width of original image
        return:
            result_boxes: finally boxes, a boxes tensor, each row is a box [x1, y1, x2, y2]
            result_scores: finally scores, a tensor, each element is the score correspoing to box
            result_classid: finally classid, a tensor, each element is the classid correspoing to box
        """
        # Get the num of boxes detected
        num = int(output[0])
        # Reshape to a two dimentional ndarray
        pred = np.reshape(output[1:], (-1, 6))[:num, :]
        # to a torch Tensor
        # pred = torch.Tensor(pred).cuda()#去掉这行，用torchvision库中的nms方法来完成非极大值抑制。
        # Get the boxes
        boxes = pred[:, :4]
        # Get the scores
        scores = pred[:, 4]
        # Get the classid
        classid = pred[:, 5]
        # Choose those boxes that score > CONF_THRESH
        si = scores > CONF_THRESH
        boxes = boxes[si, :]
        scores = scores[si]
        classid = classid[si]
        # Trandform bbox from [center_x, center_y, w, h] to [x1, y1, x2, y2]
        boxes = self.xywh2xyxy(origin_h, origin_w, boxes)
        # Do nms
        # 去掉cpu方法，因为ndarray没有这个方法
        # indices = torchvision.ops.nms(boxes, scores, iou_threshold=IOU_THRESHOLD).cpu()
        # result_boxes = boxes[indices, :].cpu()
        # result_scores = scores[indices].cpu()
        # result_classid = classid[indices].cpu()

        indices = self.nms(boxes, scores, IOU_THRESHOLD)
        result_boxes = boxes[indices, :]
        result_scores = scores[indices]
        result_classid = classid[indices]
        # print(result_boxes)
        # print(result_classid)

        return result_boxes, result_scores, result_classid


class myThread(threading.Thread):
    def __init__(self, func, args):
        threading.Thread.__init__(self)
        self.func = func
        self.args = args

    def run(self):
        self.func(*self.args)


# 摄像头检测
def detect_camera(camera, yolov5_wrapper):
    # def detect_camera(x,camera, yolov5_wrapper):
    count = 0
    # c1, c2 = (int(x[0]), int(x[1])), (int(x[2]), int(x[3]))
    # cv2.rectangle(img, c1, c2, color, thickness=tl, lineType=cv2.LINE_AA)
    # print("left:(" + str(c1[0]) + "," + str(c1[1]) +")","right:(" + str(c2[0]) + "," + str(c2[1])+ ")")
    # x = str(c1[0])
    # y = str(c1[1])
    # print(x)
    # 开始循环检测
    while True:
        # img = camera.read()#CSI摄像头
        ret, img = camera.read()  # usb摄像头用这个
        img, result_boxes, result_scores, result_classid = yolov5_wrapper.infer(img)
        img = draw_boxes(img, result_boxes, result_scores, result_classid)

        count = count + 1

        cv2.imshow("result", img)  # 显示结果
        if cv2.waitKey(1) == ord('q'):
            break


# 定义摄像头函数
def main_camera():
    camera = cv2.VideoCapture(0)  # usb摄像头用这个
    # camera = CSICamera(capture_device=0, width=640, height=480)
    # load custom plugins
    camera.set(3, 640)
    camera.set(4, 480)
    PLUGIN_LIBRARY = "build/libmyplugins.so"
    ctypes.CDLL(PLUGIN_LIBRARY)
    engine_file_path = "build/yolov5s.engine"

    # YoLov5TRT instance
    yolov5_wrapper = YoLov5TRT(engine_file_path)
    print("start detection!")
    detect_camera(camera, yolov5_wrapper)
    # camera.release() #  使用cv方法打开摄像头才需要这句
    cv2.destroyAllWindows()
    print("\nfinish!")


if __name__ == "__main__":
    # load custom plugins      修改成你build出来的引擎的相对路径
    PLUGIN_LIBRARY = "build/libmyplugins.so"
    ctypes.CDLL(PLUGIN_LIBRARY)
    engine_file_path = "build/yolov5s.engine"
    se = ser.Serial('/dev/ttyTHS1', 115200, timeout=0.5)  # 设置使用的引脚、波特率和超时时间 8接R,10接T
    # load coco labels

    # categories = ['battery', 'orange', 'bottle', 'paper_cup', 'spitball']  # 垃圾种类
    categories = ['0', '1', '2', '3', '4']  # 垃圾种类

    # a  YoLov5TRT instance
    # yolov5_wrapper = YoLov5TRT(engine_file_path)

    # input_image_paths = ["samples/zidane.jpg", "samples/bus.jpg"]

    # for input_image_path in input_image_paths:
    #    # create a new thread to do inference
    #    thread1 = myThread(yolov5_wrapper.infer, [input_image_path])
    #    thread1.start()
    #    thread1.join()
    #writen by lyj
    ## destroy the instance
    # yolov5_wrapper.destroy()
    main_camera()
    #context.pop()

参考文章

jetson nano安装pycuda！！！_帅的发光发亮的博客-CSDN博客_jetson nano安装pycuda

(26条消息) Jetson Nano配置与使用（5）cuda测试及tensorflow gpu安装_u013617229的博客-CSDN博客