{"id":438,"date":"2024-07-25T15:22:01","date_gmt":"2024-07-25T07:22:01","guid":{"rendered":"https:\/\/ciscohe.cc\/blog\/?p=438"},"modified":"2024-08-14T16:44:59","modified_gmt":"2024-08-14T08:44:59","slug":"training-and-deploying-yolov8-vision-model-on-hailo-8l-ai-accelerator","status":"publish","type":"post","link":"https:\/\/ciscohe.cc\/blog\/training-and-deploying-yolov8-vision-model-on-hailo-8l-ai-accelerator\/","title":{"rendered":"Training and Deploying YOLOv8 Vision Model on Hailo-8L AI Accelerator + ROS2 Support"},"content":{"rendered":"\n<p class=\"has-text-align-center\"><strong>\u2014\u2014\u2014This Project is completed and has been closed\u2014\u2014\u2014<\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\">\u8bad\u7ec3AI\u89c6\u89c9\u6a21\u578b\u4ec0\u4e48\u7684\u8f7b\u8f7b\u677e\u677e\uff0c\u6709\u624b\u548c\u94b1\uff08\u8001\u9ec4\u306e\u663e\u5361\uff09\u5c31\u884c\u3010\u66b4\u8bba\u3011\u3002<\/p>\n\n\n\n<p>\u597d\u5427\uff0c\u8fd8\u8981\u73a9\u4e86\u591a\u5e74\u7684Linux(&lt;&#8211;\u8fd8\u597d\u6ca1\u6709\u641e\u5d29\u7cfb\u7edf)\u624b\u827a\u548cDocker(&lt;&#8211;\u4e00\u76f4\u90fd\u4e0d\u4f1a+\u5f3a\u884c\u786c\u5543)\u6574\u6d3b <\/p>\n\n\n\n<p>\u6b63\u5728\u5199\u7684Documentation:<\/p>\n\n\n\n<p class=\"has-text-align-center\"><a href=\"https:\/\/1drv.ms\/f\/s!AjQ45hoq2kxPs0sQhuat3JfHVHbg?e=SGl9OA\">Current<\/a><\/p>\n\n\n\n<p>Training and Deploying YOLOv8 Vision Model on Hailo-8L AI Accelerator (Raspberry Pi AI Kit):<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Training and Deploying YOLOv8 Vision Model on Hailo-8L AI Accelerator (Raspberry Pi AI Kit)\" width=\"500\" height=\"281\" src=\"https:\/\/www.youtube.com\/embed\/videoseries?list=PLEiYGfCdhjVp7N51E6HJobjFeVI6dE3vu\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><strong>9\/8\/2024:<\/strong><\/p>\n\n\n\n<p>\u95ee\u9898\u89e3\u51b3\u4e86\u3002\u5f88\u7b80\u5355\uff0ctimer\u8bbe\u5b9a\u7684\u65f6\u95f4\u592a\u77ed\u5bfc\u81f4publish\u6570\u636e\u4f1a\u5931\u8d25\u5d29\u6e83\uff0c\u56e0\u4e3a\u6211\u662f\u60f3\u7740\u6bcf0.032s (1\/0.032=~30Hz (fps\/\u5e27\u6570))\u6765publish frame image\uff0c\u4e0d\u8fc7\u592a\u5feb\u4f3c\u4e4e\u7cfb\u7edf\u5403\u4e0d\u6d88\uff0c\u56e0\u6b64\u6539\u6210\u4e86\u6bcf0.1s (1\/0.1=10Hz) 10\u5e27\u6bcf\u79d2\u6765\u53d1\u5e03\u89c6\u9891\u6d41\uff0c\u5f97\u4ee5\u51cf\u7f13\u4e86\u7cfb\u7edf\u7684\u538b\u529b\u3002<\/p>\n\n\n\n<p>\u9664\u6b64\u4e4b\u5916\uff0c\u6d4b\u8bd5\u65f6\u89c2\u5bdf\u4e86\u5185\u5b58\u5360\u7528\uff0c\u770b\u8d77\u6765\u4e5f\u6ca1\u6709\u5185\u5b58\u6cc4\u6f0f\uff0c\u5e94\u8be5\u4e0d\u4f1a\u518d\u5d29\u6e83\u4e86\u3002<\/p>\n\n\n\n<figure class=\"wp-block-video\"><video height=\"1080\" style=\"aspect-ratio: 1728 \/ 1080;\" width=\"1728\" controls src=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/Demo_Topics-8-8-2024-1.mp4\"><\/video><\/figure>\n\n\n\n<p>\u597d\u8036\uff0c\u8981\u89e3\u51b3\u7684\u95ee\u9898\u5168\u5b8c\u6210\u4e86\uff0c\u5199\u5b8cdocumentation\u5c31\u53ef\u4ee5close\u8fd9\u4e2aproject\u4e86\u3002<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong>8\/8\/2024:<\/strong><\/p>\n\n\n\n<p class=\"has-text-align-left\">\u4eca\u5929\u628a\u300a\u4e0d\u7528display server\u542f\u52a8GStreamer\u7684\u95ee\u9898\u300b\u89e3\u51b3\u4e86\u3002\u6211\u592a\u96be\u4e86\uff0c\u6211\u5dee\u4e0d\u591a\u628aGStreamer Pipeline\u548cVideo Sink (xvimagesink, <a href=\"https:\/\/gstreamer.freedesktop.org\/documentation\/coreelements\/fakesink.html?gi-language=c\">fakesink<\/a>) \u90fd\u5927\u6982\u770b\u4e86\u4e00\u904d\u4e5f\u624d\u61c2\u4e860.01%\u3002<\/p>\n\n\n\n<p class=\"has-text-align-left\">\u5e78\u8fd0\u7684\u662f\uff0c\u4ee5\u540e\u53ef\u4ee5\u76f4\u63a5\u5728\u7ec8\u7aef\u64cd\u4f5c\u4e00\u5207\uff0c\u6811\u8393\u6d3e\u4e0d\u7528\u518d\u7279\u767b\u9700\u8981\u8fde\u63a5\u4e00\u4e2aHDMI\u663e\u793a\u5668\u624d\u80fd\u8fd0\u884cobject detection\uff0c\u90a3\u6bd4\u8d5b\u65f6\u5bc6\u5c01\u4ed3\u91cc\u9762\u4e5f\u4e0d\u7528\u518d\u653e\u4e2a\u4fbf\u643a\u5f0f\u663e\u793a\u5c4f\u6765\u8fd0\u4f5c\u81ea\u52a8\u673a\u5668\u4eba\u7a0b\u5e8f\u54af~<\/p>\n\n\n\n<figure class=\"wp-block-video aligncenter\"><video height=\"1080\" style=\"aspect-ratio: 1728 \/ 1080;\" width=\"1728\" controls src=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/Demo_Topics-8-8-2024.mp4\"><\/video><\/figure>\n\n\n\n<p>\u4f46\u662f\u53c8\u83ab\u540d\u7684bug\uff1fresults object\u4f20\u7740\u4f20\u7740\u53d8\u6210None Type\u4e86\uff1f\u660e\u5929\u7814\u7a76\u4e00\u4e0b\u600e\u4e48\u89e3\u51b3\uff0c\u89e3\u51b3\u5b8c\u8fd9\u4e2a\u95ee\u9898\u8fd9\u4e2aROS2 Node Package\u53ef\u4ee5\u5356\u94b1\u4e86(\/\/\u25cf\u2070\u0c6a\u2070\u25cf)\/\/\uff08\u9192\u9192\u522b\u53d1\u767d\u65e5\u68a6\uff09<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-11-1024x455.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"455\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-11-1024x455.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-604\"  sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/div><figcaption class=\"wp-element-caption\">\u5403\u665a\u996d\u7684\u65f6\u5019\u60f3\u4e86\u4e00\u4e0b\u903b\u8f91\uff0c\u5199\u4e86\u8fd9\u6bb5\u51fa\u6765\u3002\u8fd9\u4e2a\u903b\u8f91\u5e94\u8be5\u80fd\u89e3\u51b3detection node\u5d29\u6e83\u7684\u95ee\u9898<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"has-text-align-center\"><strong>7\/8\/2024:<\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\">\u6211\u7ec8\u4e8e\u6210\u4e86\uff01\uff01\uff01\u3010\u6478\u9c7cmax\u542f\u52a8\u3011<\/p>\n\n\n\n<p>\u6211\u54ed\u6b7b\uff08again\uff09\uff0c\u7ecf\u8fc7\u4e86\u6628\u5929\u4e0b\u5348\u548c\u4eca\u5929\u65e9\u4e0a\u52a0\u4e0b\u5348\u4e0d\u77e5\u9053\u6709\u6ca1\u670930\u6b21\u7684\u7ec4\u5408\u5c1d\u8bd5\uff0c\u6211\u7ec8\u4e8e\u627e\u5230ROS2\u4e3a\u4ec0\u4e48publish\u4e0d\u51fadetection results\u7684\u6570\u636e (ROS2\u7684callback\u51fd\u6570\u4e0d\u80af\u52a8)\u800c\u5bfc\u81f4\u53e6\u4e00\u4e2aROS2 node\u4e5f\u8ba2\u9605\u4e0d\u5230\u6570\u636e\u4e86\u3002<\/p>\n\n\n\n<p class=\"has-text-align-center\">\u539f\u6765\uff0c\u95ee\u9898\u5c31\u51fa\u5728\u8fd9\u52fe\u516b\uff1a<strong><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-vivid-red-color\">rclpy.spin()<\/mark><\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\">\u4e00\u52a0\u4e0a\u5b83\uff0c\u4ec0\u4e48\u56f0\u60d1\u70e6\u607c\u90fd\u89e3\u51b3\u4e86 \u253b\u2501\u253b\u2570(\u8279\u76bf\u8279 )\u2584\ufe3b\u253b\u2533\u2550\u4e00<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-7.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"2375\" height=\"1172\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-7.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-565\" style=\"width:700px\"  sizes=\"auto, (max-width: 2375px) 100vw, 2375px\" \/><\/div><\/figure>\n<\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-8.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1788\" height=\"900\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-8.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-566\" style=\"width:700px\"  sizes=\"auto, (max-width: 1788px) 100vw, 1788px\" \/><\/div><\/figure>\n<\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-9.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1489\" height=\"934\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-9.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-567\" style=\"width:500px\"  sizes=\"auto, (max-width: 1489px) 100vw, 1489px\" \/><\/div><\/figure>\n<\/div>\n\n\n<p>\u6211\u771f\u7684\u4ece\u53bb\u5e74\u505aFYP\u5230\u73b0\u5728\u90fd\u8fd8\u6ca1\u641e\u61c2\u8fd9\u4e2aROS2 Client Python (rclpy)\u4e2d\u7684spin()\u5230\u5e95\u600e\u4e48\u7528\uff0c\u95eeAI\u4e5f\u662f\u5446\u5934\u5446\u8111\uff08\u7f16\u7a0b\u903b\u8f91\u5883\u754c\u4e0d\u591f\uff09\u3002\u4ee5\u6211\u73b0\u5728\u7684\u6d45\u8584\u7684\u7406\u89e3\u6765\u770b\uff0c\u5e94\u8be5\u662f\u8bbe\u5b9a\u65f6\u95f4\u8ba9callback function\u5728\u671f\u9650\u5185\u88abtrigger\uff08\u4f8b\u5982timer\u8bbe\u7acb\u7684callback\uff09\uff0c\u5426\u5219\u8fc7\u4e86\u8fd9\u4e2a\u65f6\u95f4\u5c31\u4f1a\u51fa\u4e8b\uff08\uff1f\uff1f\uff09\u5361\u6b7b\uff08\uff1f\uff1f\uff1f\uff09<\/p>\n\n\n\n<p>\u4e0d\u8fc7\u89e3\u51b3\u4e86\u5c31\u53ef\u4ee5\uff01\u679c\u7136\u60f3\u8c61\u529b\u5f88\u91cd\u8981\uff0c\u6709\u65f6\u5019\u65e0\u5fc3\u6458\u82b1\u8fd9\u6837\u8bd5\u539f\u672c\u89c9\u5f97\u4e0d\u53ef\u80fd\u4f46\u5b9e\u9645\u662f\u6b63\u786e\u7684\u65b9\u6cd5\u786e\u5b9e\u53ef\u4ee5\u8282\u7701\u5f88\u591a\u65f6\u95f4~<\/p>\n\n\n\n<p class=\"has-text-align-center\">\u4e5f\u7b97\u4e0d\u9519\uff0c3\u5929\u628a\u628a\u5de5\u4f5c\u4efb\u52a1\u505a\u5b8c\u4e86 (\u204e\u204d\u0334\u031b\u1d17\u204d\u0334\u031b\u204e)<\/p>\n\n\n\n<p>\u4e0ademo:<\/p>\n\n\n\n<figure class=\"wp-block-video aligncenter\"><video height=\"1080\" style=\"aspect-ratio: 1920 \/ 1080;\" width=\"1920\" controls preload=\"auto\" src=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/Demo_Topics.mp4\"><\/video><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><strong>6\/8\/2024:<\/strong><\/p>\n\n\n\n<p>\u6211\u54ed\u6b7b\uff0c\u7ecf\u8fc7\u4e86\u6628\u5929\u4e0b\u5348\u548c\u4eca\u5929\u65e9\u4e0a\u4e0d\u77e5\u9053\u6709\u6ca1\u670950\u6b21\u7684\u7ec4\u5408\u5c1d\u8bd5\uff0c\u6211\u7ec8\u4e8e\u628acallback function (called when detection data is available from the Hailo pipeline)\u7684detection results (\u68c0\u6d4b\u7269\u4f53\u7ed3\u679c\u540e\u4f20\u56de\u6765\u7684<a href=\"https:\/\/github.com\/hailo-ai\/tappas\/blob\/master\/docs\/write_your_own_application\/hailo-objects-api.rst#hailobbox\">HailoBBox<\/a> object\uff0c\u4f8b\u5982\u5305\u542b\u5750\u6807\/coordinates\u548c\u68c0\u6d4b\u7684confidence) \u4f20\u7ed9\u4e86ROS2 Node\u5b9e\u4f8b\u4e2d\u540d\u4e3acoordinates\u7684\u53d8\u91cf\u3002<\/p>\n\n\n\n<p>\u539f\u6765\u7684\u95ee\u9898\u662f\uff0c\u6267\u884c\u540eROS2 Node\u7684\u53d8\u91cf(coordinates)\u4e00\u76f4\u4fdd\u6301\u4e0d\u53d8\uff0c\u6ca1\u6709\u88abcallback\u4fee\u6539\uff0c\u8fd9\u6837\u6211\u65e0\u6cd5\u5728ROS2 Node\u5f97\u5230\u6700\u65b0\u6570\u636e\u7136\u540e\u7528Topics\u4f20\u9001\u51fa\u53bb\u3002\u540e\u6765\u53d1\u73b0\uff0c\u539f\u6765\u628aNode\u5b9a\u4e49\u7684coordinates\u653e\u5728\u4e0a\u9762\uff0c\u4e0d\u8981\u653e\u5728__init__(self)\u5c31\u89e3\u51b3\u4e86\uff1f\uff1f\uff1f<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-1.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1540\" height=\"538\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-1.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-523\" style=\"width:600px\"  sizes=\"auto, (max-width: 1540px) 100vw, 1540px\" \/><\/div><\/figure>\n<\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/\u56fe\u7247_20240806123942.jpg'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1280\" height=\"959\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/\u56fe\u7247_20240806123942.jpg\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-524\" style=\"width:600px\"  sizes=\"auto, (max-width: 1280px) 100vw, 1280px\" \/><\/div><figcaption class=\"wp-element-caption\">\u53ef\u4ee5\u7528ROS2\u7684get_logger().info\u6765\u5728main\u51fd\u6570\u6253\u5370\u6700\u65b0\u7684detection results<\/figcaption><\/figure>\n<\/div>\n\n\n<p class=\"has-text-align-center\">\u6211\uff1f\uff1f\uff1f\u771f\u7684\u4e0d\u61c2\u4e3a\u4ec0\u4e48\u554a\uff1f\uff1f\u5199\u5728__init__(self)\u91cc\u7684\u8bdd\u6743\u9650\u4e0d\u591f\uff1f<\/p>\n\n\n\n<p>\u8ba9\u6211\u95ee\u95eeAI\u6574\u7406\u4e00\u4e0b\u539f\u56e0\u3002<\/p>\n\n\n\n<p>\u597d\u50cf\u7406\u89e3\uff0c\u786e\u5b9e\u662f\u6743\u9650\u95ee\u9898\uff0c\u5982\u679c\u628acoordinates\u653e\u5728__init__()\u4e2d\u521d\u59cb\u5316\uff0c\u5219\u662f\u5b9e\u4f8b\u7684\u79c1\u6709\u8d44\u6e90\uff08\u79c1\u6709\u5c5e\u6027\uff09\uff0c\u9664\u4e86main()\u4ee5\u5916\u5176\u4ed6\u51fd\u6570\u4e0d\u80fd\u76f4\u63a5\u8bbf\u95ee\uff0c\u800c\u6211\u653e\u5728\u5916\u9762\u5219\u53d8\u6210\u4e86\u516c\u5171\u8d44\u6e90\uff08\u516c\u5171\u5c5e\u6027\uff09\u5219\u53ef\u4ee5\u4efb\u7531\u5176\u4ed6\u51fd\u6570\u4fee\u6539\uff08\u516c\u5171\u6743\u9650\uff09\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-3.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1256\" height=\"1032\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-3.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-528\" style=\"width:500px\"  sizes=\"auto, (max-width: 1256px) 100vw, 1256px\" \/><\/div><\/figure>\n<\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-4.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1266\" height=\"1135\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-4.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-529\" style=\"width:500px\"  sizes=\"auto, (max-width: 1266px) 100vw, 1266px\" \/><\/div><\/figure>\n<\/div>\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-2.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1571\" height=\"1278\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-2.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-527\" style=\"width:500px\"  sizes=\"auto, (max-width: 1571px) 100vw, 1571px\" \/><\/div><\/figure>\n<\/div>\n\n\n<p>\u8fd9\u4e48\u8bf4\u7684\u8bdd\uff0c\u5176\u5b9eclass\u7684public\/private\u6982\u5ff5\u6211\u5176\u5b9e\u5b66C++\u4e5f\u5b66\u8fc7\uff0c\u5728Python\u4e5f\u5b58\u5728\u8fd9\u6837\u7684\u6982\u5ff5\uff0c\u5199\u5728init\u91cc\u7684\u662f\u53ef\u8bfb\u4e0d\u53ef\u5199\uff0c\u5199\u5728init\u5916\u9762\u7684\u662f\u53ef\u8bfb\u53ef\u5199\uff0c\u5199\u5728init\u5916\u9762\u548c\u5199\u6210 _variable\u662f\u4e0d\u53ef\u8bfb\u4e0d\u53ef\u5199\uff08\u5427\uff1f\uff09\u3002<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-6.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1284\" height=\"1154\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image-6.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-531\" style=\"width:500px\"  sizes=\"auto, (max-width: 1284px) 100vw, 1284px\" \/><\/div><\/figure>\n<\/div>\n\n\n<p>\u4e0d\u8fc7\uff0c\u6211\u8bd5\u4e86\u4e00\u4e0b\u628acoordinates\u653e\u8fdbinit()\uff0c\u7136\u540eset_attribute\u7684\u65b9\u6cd5\u6765\u8ba9callback function\u6765\u8c03\u7528 (pass bbox to set_coordinates(self, object): self.coordinates = object)\u4f46\u662f\u4f3c\u4e4e\u6ca1\u6709\u4efb\u4f55\u7528\u6b38\u3002<\/p>\n\n\n\n<p class=\"has-text-align-center\">\u7b97\u8fbd\uff0c\u628acoordinates\u653e\u5728\u516c\u5171\u8d44\u6e90\u533a\u6ca1\u6240\u8c13\u554a\u6709\u6ca1\u6709\u5b89\u5168\u79c1\u9690\u95ee\u9898\u5bf9\u5427\uff1f\u4e00\u5806\u5750\u6807\u5728\u88f8\u5954\u53c8\u6709\u4ec0\u4e48\u6240\u8c13\u5462<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong>\u66f4\u91cd\u8981\u7684\u662f\uff0c\u539f\u672c\u7ed9\u81ea\u5df1\u5b9a\u76844\u5929\u671f\u9650\u6700\u540e2\u5929\u505a\u5b8c\uff0c\u53c8\u5230\u4e86\u6211\u559c\u7231\u7684\u6478\u9c7c\u73af\u8282(\u30fb\u2200\u30fb)<\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong>5\/8\/2024\uff1a<\/strong><\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1115\" height=\"628\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/image.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-511\"  sizes=\"auto, (max-width: 1115px) 100vw, 1115px\" \/><\/div><figcaption class=\"wp-element-caption\">\u75db\u82e6\u9762\u5177 (\u524d\u671f\u5f04ROS2 nodes\u914d\u7f6e\u6587\u4ef6\u662f\u771f\u7684\u89c1\u4e00\u6b21\u60f3\u6b7b\u4e00\u6b21)<\/figcaption><\/figure>\n<\/div>\n\n\n<p><\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong>3\/8\/2024:<\/strong><\/p>\n\n\n\n<p class=\"has-text-align-center\">\u554a\uff0c\u75db\u82e6\u9762\u5177\u3002\u65e9\u77e5\u9053\u4e0b\u793c\u62dc\u4e00\u624d\u8ddf\u4ed6\u8bf4\u597d\u4e86\uff0c\u6211\u597d\u60f3\u6478\u66f4\u591a\u7684\u9c7c (\u2022\u0348\u2314\u2022\u0348\u2445)<\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722682373-image.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1125\" height=\"1873\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722682373-image.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-456\" style=\"width:300px\"  sizes=\"auto, (max-width: 1125px) 100vw, 1125px\" \/><\/div><\/figure>\n<\/div>\n\n\n<p class=\"has-text-align-center\">\u8981\u628aHailo\u7684example code\u6539\u6210ROS2\u7684\u65b9\u6cd5\uff0c<strong><mark style=\"background-color:rgba(0, 0, 0, 0)\" class=\"has-inline-color has-luminous-vivid-orange-color\">\u8fd9\u662f\u505a\u591a\u4e00\u6b21FYP\u554a\uff08\u54ed\uff09<\/mark><\/strong><\/p>\n\n\n\n<p>\u4e0d\u8fc7\u4eca\u5929\u65e0\u804a\u770b\u4e86\u4e00\u4e0b\uff0c\u611f\u89c9\u539f<a href=\"https:\/\/github.com\/hailo-ai\/hailo-rpi5-examples\/blob\/main\/basic_pipelines\/detection.py\"><strong>\u6267\u884c\u4ee3\u7801<\/strong><\/a>\u7ed3\u6784\u4e0a\u5e94\u8be5\u4e0d\u96be\u79fb\u690d\uff0c\u5f88\u591aclass\u90fd\u662finherit\u53e6\u5916\u4e00\u4e2a<a href=\"https:\/\/github.com\/hailo-ai\/hailo-rpi5-examples\/blob\/main\/basic_pipelines\/hailo_rpi_common.py\"><strong>\u5b98\u65b9\u4f9d\u8d56\u5305<\/strong><\/a>(library)\uff0c\u6211\u53ea\u9700\u8981\u628a\u539f\u672c\u7684\u4ee3\u7801\u548clibrary\u7684\u4ee3\u7801\u4e2d\u9700\u8981\u7684\u4e00\u5806\u542f\u52a8\u53c2\u6570\uff08arguments\uff09\u6539\u6210\u9ed8\u8ba4\u5c5e\u6027\uff08\u4f8b\u5982default input\u6307\u5411rpi\u6216\u8005\/dev\/video0\u6765\u4f7f\u7528\u6811\u8393\u6d3e\u7684\u6444\u50cf\u5934\uff08\u53c8\u6216\u8005\u9b54\u6539\u6210\u7528ROS2 Parameters\u6765\u8bbe\u7f6e\uff09\uff0cYOLOv8\u7684Halio HEF path\u6539\u6210\u6a21\u578b\u9ed8\u8ba4\u5b58\u653e\u7684\u8def\u5f84\u7b49\u4f8b\u5982~\/Downloads\/gate.hef\uff0c\u8fd9\u6837\u4e0d\u7528\u52a0argument\uff09\u7136\u540e\u628aROS2 Node\u585e\u8fdb\u53bb\uff0c\u5b9a\u65f6\u7528ROS2 Topics publish detection results (bounding box\u7684xmin, ymin, xmax, ymax, width\u548cheight)\u5c31\u53ef\u4ee5\u4e86(?\u6211\u771f\u7684\u4e0d\u80af\u5b9a)<\/p>\n\n\n\n<p class=\"has-text-align-center\">\u3010\u5982\u679c\u8fd9\u4e2aROS2\u5de5\u5177\u505a\u51fa\u6765\u4e86\u5f88\u591aSAUVC\u961f\u4f0d\u5e94\u8be5\u4e5f\u60f3\u8981\u5427\uff08\u5f00\u4e0d\u5f00\u6e90\u597d\u5462\uff09\uff08\u4e0d\uff0c\u6211\u8981\u4ed6\u4eec100USD Paypal\u6350\u8d60\u6211n\u676f\u5496\u5561\/\u4e00\u7bb1PLA\u8017\u6750\uff09\uff08\u522b\u5e7b\u60f3\u4e86\u50bb\u903c\u8fd9\u4e2a\u4e1c\u897f\u53c8\u4e0d\u96be\u5b9e\u73b0\uff09\u3011<\/p>\n\n\n\n<p class=\"has-text-align-center\">(\u256f\u2035\u25a1\u2032)\u256f\ufe35\u2534\u2500\u2534<\/p>\n\n\n\n<p class=\"has-text-align-center\">\u4e0b\u4e00\u5c4aFYP topic\u662fROS2-related\u7684\u540c\u5b66\u8981\u611f\u8c22\u6211\u9020\u7684\u8f6e\u5b50\u4e86(\u30fb\u2200\u30fb)<\/p>\n\n\n\n<p class=\"has-text-align-center\"><strong>1\/8\/2024<\/strong>:<\/p>\n\n\n\n<p>\u54c8\u54c8\u55e8\uff0c4\u5929\u671f\u9650\u7684\u4efb\u52a1\u548c\u95ee\u9898\u63a2\u8ba82\u5929\u5c31\u5b8c\u6210\u89e3\u51b3\u4e86 (\u627e\u51faboundary box\u7684coordinate)\uff0c\u8fd9\u6837\u5b50\u6211\u53ef\u4ee5\u6478\u9c7c\u4e00\u6574\u5929\uff08\u7cd6\u8c46\u4eba\u542f\u52a8\uff09\u7136\u540e\u6700\u540e\u4e00\u5929\u5199documentation \u30fe(\u00b4\ufe36`*)\uff89\u266c<\/p>\n\n\n\n<p>\u8d77\u521d\u53d1\u73b0\u8fd9\u4e2aHailo AI Python\u5e93\u8c03\u7528\u7684\u662fC++\u6211\u771f\u7684\u51cb\u8c22\u548c\u5934\u5927\u4e0d\u77e5\u9053\u600e\u4e48\u5f04<\/p>\n\n\n\n<p>\u611f\u8c22ChatGLM\u6559\u6211\u600e\u4e48\u5199\u548c\u600e\u4e48\u7528\u5b98\u65b9API (\u76f4\u63a5\u628a\u6574\u4e2a\u5b98\u65b9API\u6587\u6863\u4e22\u7ed9\u5b83\u5206\u6790\u95ee\u4ed6\u600e\u4e48\u5904\u7406\uff0c\u7136\u540e\u53ebAI\u5199\u65b9\u6cd5\u548c\u6559\u6211\u3002AI\u771f\u806a\u660e\uff0c\u5b83\u751a\u81f3\u6559\u4f1a\u6211\u8c03\u7528CV\u5e93\u548c\u7528CV\u7684\u5e93\u6765\u753bboundary box\uff08\u6240\u4ee5\u505a\u51fa\u4e86\u4e24\u4e2asolutions\uff09\u3002<\/p>\n\n\n\n<p>\u6211\u6df1\u611f\u6211\u662f\u5783\u573e\u5e9f\u7269\uff0c\u6211\u53ea\u662f\u6beb\u65e0\u5b9e\u529b\u9a97\u94b1\u63a2\u8ba8\u65b9\u6cd5\u7684\u642c\u8fd0\u5de5\uff08AI\u5feb\u5e2e\u6211\u8d5a\u94b1\uff09<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488229-Screenshot-17.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488229-Screenshot-17.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-446\"  sizes=\"auto, (max-width: 1920px) 100vw, 1920px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488300-Screenshot-20.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488300-Screenshot-20.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-447\"  sizes=\"auto, (max-width: 1920px) 100vw, 1920px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488321-Screenshot-21.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488321-Screenshot-21.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-448\"  sizes=\"auto, (max-width: 1920px) 100vw, 1920px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488583-Screenshot-22.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"1920\" height=\"1080\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722488583-Screenshot-22.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-449\"  sizes=\"auto, (max-width: 1920px) 100vw, 1920px\" \/><\/div><\/figure>\n\n\n\n<figure class=\"wp-block-image size-full\"><div class='fancybox-wrapper lazyload-container-unload' data-fancybox='post-images' href='https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722489128-image.png'><img class=\"lazyload lazyload-style-8\" src=\"data:image\/svg+xml;base64,PCEtLUFyZ29uTG9hZGluZy0tPgo8c3ZnIHdpZHRoPSIxIiBoZWlnaHQ9IjEiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyIgc3Ryb2tlPSIjZmZmZmZmMDAiPjxnPjwvZz4KPC9zdmc+\"  loading=\"lazy\" decoding=\"async\" width=\"3024\" height=\"3213\" data-original=\"https:\/\/ciscohe.cc\/blog\/wp-content\/uploads\/2024\/07\/1722489128-image.png\" src=\"data:image\/png;base64,iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAYAAAAfFcSJAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAAAAJcEhZcwAADsQAAA7EAZUrDhsAAAANSURBVBhXYzh8+PB\/AAffA0nNPuCLAAAAAElFTkSuQmCC\" alt=\"\" class=\"wp-image-452\"  sizes=\"auto, (max-width: 3024px) 100vw, 3024px\" \/><\/div><\/figure>\n\n\n\n<p class=\"has-text-align-center\"><strong>\u6211\u8212(tang)\u670d(ping)\u4e86 <\/strong><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u2014\u2014\u2014This Project is completed and has been closed\u2014\u2014\u2014 \u8bad\u7ec3A [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":496,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[6],"tags":[],"class_list":["post-438","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-6"],"_links":{"self":[{"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/posts\/438","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/comments?post=438"}],"version-history":[{"count":0,"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/posts\/438\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/media\/496"}],"wp:attachment":[{"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/media?parent=438"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/categories?post=438"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ciscohe.cc\/blog\/wp-json\/wp\/v2\/tags?post=438"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}