{"id":10021296,"date":"2026-03-07T12:26:35","date_gmt":"2026-03-07T04:26:35","guid":{"rendered":"https:\/\/itmax.cn\/?p=10021296"},"modified":"2026-03-07T12:26:35","modified_gmt":"2026-03-07T04:26:35","slug":"%e5%9b%be%e5%83%8f%e5%a4%84%e7%90%86%e5%92%8c%e8%ae%a1%e7%ae%97%e6%9c%ba%e8%a7%86%e8%a7%89","status":"publish","type":"post","link":"https:\/\/itmax.cn\/?p=10021296","title":{"rendered":"\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9"},"content":{"rendered":"<p>\u5927\u5bb6\u597d\uff0c\u6211\u662f\u826f\u8bb8\u3002<\/p>\n<p>\u4f5c\u4e3a\u4e00\u540d\u5d4c\u5165\u5f0f\u7a0b\u5e8f\u5458\uff0c\u6211\u5728\u5de5\u4f5c\u4e2d\u7ecf\u5e38\u4f1a\u63a5\u89e6\u5230\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u9879\u76ee\u3002<\/p>\n<p>\u7279\u522b\u662f\u5728\u6c7d\u8f66\u7535\u5b50\u9886\u57df\uff0c\u50cf\u81ea\u52a8\u9a7e\u9a76\u8f85\u52a9\u7cfb\u7edf\uff08ADAS\uff09\u3001\u8f66\u9053\u504f\u79bb\u9884\u8b66\u3001\u884c\u4eba\u68c0\u6d4b\u7b49\u529f\u80fd\uff0c\u90fd\u79bb\u4e0d\u5f00\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u6280\u672f\u3002<\/p>\n<p>\u4eca\u5929\u5c31\u548c\u5927\u5bb6\u804a\u804a\u8fd9\u4e24\u4e2a\u65e2\u76f8\u5173\u53c8\u6709\u533a\u522b\u7684\u6280\u672f\u9886\u57df\u3002<\/p>\n<h2>1. 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\u4ec0\u4e48\u662f\u8ba1\u7b97\u673a\u89c6\u89c9<\/h3>\n<p>\u8ba1\u7b97\u673a\u89c6\u89c9\uff08Computer Vision\uff09\u5219\u66f4\u8fdb\u4e00\u6b65\uff0c\u5b83\u7684\u76ee\u6807\u662f\u8ba9\u8ba1\u7b97\u673a\u80fd\u591f&#8221;\u7406\u89e3&#8221;\u56fe\u50cf\u4e2d\u7684\u5185\u5bb9\u3002<\/p>\n<p>\u8ba1\u7b97\u673a\u89c6\u89c9\u4e0d\u4ec5\u4ec5\u662f\u5904\u7406\u56fe\u50cf\uff0c\u66f4\u91cd\u8981\u7684\u662f\u4ece\u56fe\u50cf\u4e2d\u63d0\u53d6\u6709\u610f\u4e49\u7684\u4fe1\u606f\uff0c\u505a\u51fa\u5224\u65ad\u548c\u51b3\u7b56\u3002<\/p>\n<p>\u4e3e\u4e2a\u4f8b\u5b50\uff0c\u5728\u6211\u53c2\u4e0e\u7684\u8f66\u9053\u504f\u79bb\u9884\u8b66\u7cfb\u7edf\u4e2d\uff0c\u6444\u50cf\u5934\u62cd\u6444\u5230\u7684\u9053\u8def\u56fe\u50cf\u9700\u8981\u7ecf\u8fc7\u4e00\u7cfb\u5217\u5904\u7406\uff1a\u9996\u5148\u7528\u56fe\u50cf\u5904\u7406\u6280\u672f\u5bf9\u56fe\u50cf\u8fdb\u884c\u9884\u5904\u7406\uff0c\u7136\u540e\u901a\u8fc7\u8ba1\u7b97\u673a\u89c6\u89c9\u7b97\u6cd5\u8bc6\u522b\u51fa\u8f66\u9053\u7ebf\u7684\u4f4d\u7f6e\uff0c\u5224\u65ad\u8f66\u8f86\u662f\u5426\u504f\u79bb\u8f66\u9053\uff0c\u6700\u540e\u7ed9\u51fa\u9884\u8b66\u4fe1\u53f7\u3002<\/p>\n<p>\u8fd9\u6574\u4e2a\u8fc7\u7a0b\u5c31\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u5e94\u7528\u3002<\/p>\n<p>\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u5178\u578b\u5e94\u7528\u5305\u62ec\uff1a<\/p>\n<ul>\n<li>\u7269\u4f53\u68c0\u6d4b\u4e0e\u8bc6\u522b<\/li>\n<li>\u4eba\u8138\u8bc6\u522b<\/li>\n<li>\u76ee\u6807\u8ddf\u8e2a<\/li>\n<li>\u573a\u666f\u7406\u89e3<\/li>\n<li>\u4e09\u7ef4\u91cd\u5efa<\/li>\n<\/ul>\n<h3>1.3 \u4e24\u8005\u7684\u5173\u7cfb<\/h3>\n<p>\u53ef\u4ee5\u8fd9\u6837\u7406\u89e3\uff1a\u56fe\u50cf\u5904\u7406\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u57fa\u7840\uff0c\u8ba1\u7b97\u673a\u89c6\u89c9\u662f\u56fe\u50cf\u5904\u7406\u7684\u9ad8\u7ea7\u5e94\u7528\u3002<\/p>\n<p>\u56fe\u50cf\u5904\u7406\u63d0\u4f9b\u4e86\u5404\u79cd\u5de5\u5177\u548c\u65b9\u6cd5\u6765\u64cd\u4f5c\u56fe\u50cf\uff0c\u800c\u8ba1\u7b97\u673a\u89c6\u89c9\u5219\u5229\u7528\u8fd9\u4e9b\u5de5\u5177\u6765\u5b9e\u73b0\u66f4\u9ad8\u5c42\u6b21\u7684\u7406\u89e3\u548c\u51b3\u7b56\u3002<\/p>\n<p>\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\uff0c\u8fd9\u4e24\u8005\u5f80\u5f80\u662f\u7ed3\u5408\u4f7f\u7528\u7684\u3002<\/p>\n<p>\u6bd4\u5982\u5728\u505a\u884c\u4eba\u68c0\u6d4b\u65f6\uff0c\u6211\u4eec\u9996\u5148\u9700\u8981\u5bf9\u56fe\u50cf\u8fdb\u884c\u9884\u5904\u7406\uff08\u56fe\u50cf\u5904\u7406\uff09\uff0c\u7136\u540e\u4f7f\u7528\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\u6765\u8bc6\u522b\u884c\u4eba\uff08\u8ba1\u7b97\u673a\u89c6\u89c9\uff09\uff0c\u6700\u540e\u53ef\u80fd\u8fd8\u9700\u8981\u5bf9\u68c0\u6d4b\u7ed3\u679c\u8fdb\u884c\u540e\u5904\u7406\u4f18\u5316\uff08\u56fe\u50cf\u5904\u7406\uff09\u3002<\/p>\n<h2>2. \u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u7684\u56fe\u50cf\u5904\u7406\u5b9e\u8df5<\/h2>\n<h3>2.1 \u786c\u4ef6\u5e73\u53f0\u9009\u62e9<\/h3>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u505a\u56fe\u50cf\u5904\u7406\uff0c\u786c\u4ef6\u5e73\u53f0\u7684\u9009\u62e9\u975e\u5e38\u5173\u952e\u3002<\/p>\n<p>\u6211\u63a5\u89e6\u8fc7\u7684\u5e73\u53f0\u4e3b\u8981\u6709\u4ee5\u4e0b\u51e0\u79cd\uff1a<\/p>\n<p><strong>2.1.1 \u57fa\u4e8e STM32 \u7684\u65b9\u6848<\/strong><\/p>\n<p>\u5bf9\u4e8e\u4e00\u4e9b\u7b80\u5355\u7684\u56fe\u50cf\u5904\u7406\u4efb\u52a1\uff0cSTM32 \u7cfb\u5217 MCU \u914d\u5408\u6444\u50cf\u5934\u6a21\u5757\u5c31\u80fd\u80dc\u4efb\u3002<\/p>\n<p>\u6bd4\u5982\u6211\u66fe\u7ecf\u7528 STM32F429 \u505a\u8fc7\u4e00\u4e2a\u7b80\u5355\u7684\u4e8c\u7ef4\u7801\u8bc6\u522b\u9879\u76ee\uff0c\u867d\u7136\u5904\u7406\u901f\u5ea6\u4e0d\u5feb\uff0c\u4f46\u5bf9\u4e8e\u4f4e\u6210\u672c\u3001\u4f4e\u529f\u8017\u7684\u5e94\u7528\u573a\u666f\u6765\u8bf4\u5df2\u7ecf\u8db3\u591f\u4e86\u3002<\/p>\n<p>\u4e0b\u9762\u662f\u4e00\u4e2a\u4f7f\u7528 STM32 HAL \u5e93\u8bfb\u53d6\u6444\u50cf\u5934\u6570\u636e\u7684\u793a\u4f8b\u4ee3\u7801\uff1a<\/p>\n<pre><code>\/\/ \u6444\u50cf\u5934\u521d\u59cb\u5316\nvoid Camera_Init(void)\n{\n    \/\/ \u914d\u7f6eDCMI\u63a5\u53e3\n    DCMI_HandleTypeDef hdcmi;\n    hdcmi.Instance = DCMI;\n    hdcmi.Init.SynchroMode = DCMI_SYNCHRO_HARDWARE;\n    hdcmi.Init.PCKPolarity = DCMI_PCKPOLARITY_RISING;\n    hdcmi.Init.VSPolarity = DCMI_VSPOLARITY_LOW;\n    hdcmi.Init.HSPolarity = DCMI_HSPOLARITY_LOW;\n    hdcmi.Init.CaptureRate = DCMI_CR_ALL_FRAME;\n    hdcmi.Init.ExtendedDataMode = DCMI_EXTEND_DATA_8B;\n    \n    if (HAL_DCMI_Init(&amp;hdcmi) != HAL_OK)\n    {\n        Error_Handler();\n    }\n}\n\u200b\n\/\/ \u542f\u52a8\u56fe\u50cf\u91c7\u96c6\nvoid Camera_Start_Capture(uint32_t *pData, uint32_t Length)\n{\n    HAL_DCMI_Start_DMA(&amp;hdcmi, DCMI_MODE_CONTINUOUS, \n                       (uint32_t)pData, Length);\n}\n\u200b\n\/\/ DMA\u4f20\u8f93\u5b8c\u6210\u56de\u8c03\nvoid HAL_DCMI_FrameEventCallback(DCMI_HandleTypeDef *hdcmi)\n{\n    \/\/ \u56fe\u50cf\u91c7\u96c6\u5b8c\u6210\uff0c\u53ef\u4ee5\u8fdb\u884c\u5904\u7406\n    Image_Process();\n}<\/code><\/pre>\n<p><strong>2.1.2 \u57fa\u4e8e Linux \u7684\u65b9\u6848<\/strong><\/p>\n<p>\u5bf9\u4e8e\u66f4\u590d\u6742\u7684\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u4efb\u52a1\uff0c\u6211\u901a\u5e38\u4f1a\u9009\u62e9\u8fd0\u884c Linux \u7684\u5d4c\u5165\u5f0f\u5e73\u53f0\uff0c\u6bd4\u5982\u6811\u8393\u6d3e\u3001NVIDIA Jetson \u7cfb\u5217\u7b49\u3002<\/p>\n<p>\u8fd9\u4e9b\u5e73\u53f0\u6027\u80fd\u66f4\u5f3a\uff0c\u800c\u4e14\u53ef\u4ee5\u65b9\u4fbf\u5730\u4f7f\u7528 OpenCV \u7b49\u6210\u719f\u7684\u56fe\u50cf\u5904\u7406\u5e93\u3002<\/p>\n<p>\u5728\u6211\u76ee\u524d\u7684\u5de5\u4f5c\u4e2d\uff0c\u6211\u4eec\u4f7f\u7528\u7684\u662f\u57fa\u4e8e ARM Cortex-A \u7cfb\u5217\u5904\u7406\u5668\u7684\u5e73\u53f0\uff0c\u8fd0\u884c\u5d4c\u5165\u5f0f Linux \u7cfb\u7edf\u3002<\/p>\n<p>\u8fd9\u6837\u7684\u5e73\u53f0\u65e2\u6709\u8db3\u591f\u7684\u8ba1\u7b97\u80fd\u529b\uff0c\u53c8\u80fd\u4fdd\u6301\u76f8\u5bf9\u8f83\u4f4e\u7684\u529f\u8017\u548c\u6210\u672c\u3002<\/p>\n<h3>2.2 \u5e38\u7528\u56fe\u50cf\u5904\u7406\u7b97\u6cd5\u5b9e\u73b0<\/h3>\n<p><strong>2.2.1 \u56fe\u50cf\u6ee4\u6ce2<\/strong><\/p>\n<p>\u56fe\u50cf\u6ee4\u6ce2\u662f\u6700\u57fa\u7840\u4e5f\u662f\u6700\u5e38\u7528\u7684\u56fe\u50cf\u5904\u7406\u64cd\u4f5c\u3002<\/p>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u6211\u4eec\u7ecf\u5e38\u9700\u8981\u5bf9\u6444\u50cf\u5934\u91c7\u96c6\u7684\u56fe\u50cf\u8fdb\u884c\u53bb\u566a\u5904\u7406\u3002<\/p>\n<p>\u4e0b\u9762\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u5747\u503c\u6ee4\u6ce2\u5b9e\u73b0\uff1a<\/p>\n<pre><code>\/\/ 3x3\u5747\u503c\u6ee4\u6ce2\nvoid Mean_Filter(uint8_t *src, uint8_t *dst, int width, int height)\n{\n    int i, j, m, n;\n    int sum;\n    \n    for (i = 1; i &lt; height - 1; i++)\n    {\n        for (j = 1; j &lt; width - 1; j++)\n        {\n            sum = 0;\n            \/\/ \u8ba1\u7b973x3\u90bb\u57df\u7684\u5e73\u5747\u503c\n            for (m = -1; m &lt;= 1; m++)\n            {\n                for (n = -1; n &lt;= 1; n++)\n                {\n                    sum += src[(i + m) * width + (j + n)];\n                }\n            }\n            dst[i * width + j] = sum \/ 9;\n        }\n    }\n}<\/code><\/pre>\n<p>\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\uff0c\u4e3a\u4e86\u63d0\u9ad8\u5904\u7406\u901f\u5ea6\uff0c\u6211\u4eec\u901a\u5e38\u4f1a\u4f7f\u7528\u786c\u4ef6\u52a0\u901f\u6216\u8005 SIMD \u6307\u4ee4\u6765\u4f18\u5316\u8fd9\u4e9b\u7b97\u6cd5\u3002<\/p>\n<p><strong>2.2.2 \u8fb9\u7f18\u68c0\u6d4b<\/strong><\/p>\n<p>\u8fb9\u7f18\u68c0\u6d4b\u5728\u5f88\u591a\u5e94\u7528\u4e2d\u90fd\u975e\u5e38\u91cd\u8981\uff0c\u6bd4\u5982\u8f66\u9053\u7ebf\u68c0\u6d4b\u3001\u7269\u4f53\u8f6e\u5ed3\u63d0\u53d6\u7b49\u3002<\/p>\n<p>Sobel \u7b97\u5b50\u662f\u4e00\u79cd\u5e38\u7528\u7684\u8fb9\u7f18\u68c0\u6d4b\u65b9\u6cd5\uff1a<\/p>\n<pre><code>\/\/ Sobel\u8fb9\u7f18\u68c0\u6d4b\nvoid Sobel_Edge_Detection(uint8_t *src, uint8_t *dst, \n                          int width, int height)\n{\n    int i, j;\n    int gx, gy, gradient;\n    \n    \/\/ Sobel\u7b97\u5b50\n    int sobel_x[3][3] = {{-1, 0, 1}, {-2, 0, 2}, {-1, 0, 1}};\n    int sobel_y[3][3] = {{-1, -2, -1}, {0, 0, 0}, {1, 2, 1}};\n    \n    for (i = 1; i &lt; height - 1; i++)\n    {\n        for (j = 1; j &lt; width - 1; j++)\n        {\n            gx = 0;\n            gy = 0;\n            \n            \/\/ \u8ba1\u7b97x\u65b9\u5411\u548cy\u65b9\u5411\u7684\u68af\u5ea6\n            for (int m = -1; m &lt;= 1; m++)\n            {\n                for (int n = -1; n &lt;= 1; n++)\n                {\n                    int pixel = src[(i + m) * width + (j + n)];\n                    gx += pixel * sobel_x[m + 1][n + 1];\n                    gy += pixel * sobel_y[m + 1][n + 1];\n                }\n            }\n            \n            \/\/ \u8ba1\u7b97\u68af\u5ea6\u5e45\u503c\n            gradient = (int)sqrt(gx * gx + gy * gy);\n            \n            \/\/ \u9650\u5236\u57280-255\u8303\u56f4\u5185\n            if (gradient &gt; 255) gradient = 255;\n            if (gradient &lt; 0) gradient = 0;\n            \n            dst[i * width + j] = (uint8_t)gradient;\n        }\n    }\n}<\/code><\/pre>\n<h3>2.3 \u4f7f\u7528 OpenCV \u5e93<\/h3>\n<p>\u5728\u5d4c\u5165\u5f0f Linux \u5e73\u53f0\u4e0a\uff0cOpenCV \u662f\u6700\u5e38\u7528\u7684\u56fe\u50cf\u5904\u7406\u5e93\u3002<\/p>\n<p>\u5b83\u63d0\u4f9b\u4e86\u4e30\u5bcc\u7684\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u7b97\u6cd5\uff0c\u800c\u4e14\u7ecf\u8fc7\u4e86\u5145\u5206\u7684\u4f18\u5316\u3002<\/p>\n<p>\u4e0b\u9762\u662f\u4e00\u4e2a\u4f7f\u7528 OpenCV \u8fdb\u884c\u56fe\u50cf\u5904\u7406\u7684\u793a\u4f8b\uff1a<\/p>\n<pre><code>#include &lt;opencv2\/opencv.hpp&gt;\n#include &lt;iostream&gt;\n\u200b\nusing namespace cv;\nusing namespace std;\n\u200b\nint main()\n{\n    \/\/ \u6253\u5f00\u6444\u50cf\u5934\n    VideoCapture cap(0);\n    if (!cap.isOpened())\n    {\n        cout &lt;&lt; &quot;\u65e0\u6cd5\u6253\u5f00\u6444\u50cf\u5934&quot; &lt;&lt; endl;\n        return -1;\n    }\n    \n    Mat frame, gray, edges;\n    \n    while (true)\n    {\n        \/\/ \u8bfb\u53d6\u4e00\u5e27\u56fe\u50cf\n        cap &gt;&gt; frame;\n        if (frame.empty())\n            break;\n        \n        \/\/ \u8f6c\u6362\u4e3a\u7070\u5ea6\u56fe\n        cvtColor(frame, gray, COLOR_BGR2GRAY);\n        \n        \/\/ \u9ad8\u65af\u6ee4\u6ce2\u53bb\u566a\n        GaussianBlur(gray, gray, Size(5, 5), 1.5);\n        \n        \/\/ Canny\u8fb9\u7f18\u68c0\u6d4b\n        Canny(gray, edges, 50, 150);\n        \n        \/\/ \u663e\u793a\u7ed3\u679c\n        imshow(&quot;\u539f\u59cb\u56fe\u50cf&quot;, frame);\n        imshow(&quot;\u8fb9\u7f18\u68c0\u6d4b&quot;, edges);\n        \n        \/\/ \u6309ESC\u952e\u9000\u51fa\n        if (waitKey(30) == 27)\n            break;\n    }\n    \n    return 0;\n}<\/code><\/pre>\n<h2>3. \u8ba1\u7b97\u673a\u89c6\u89c9\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528<\/h2>\n<h3>3.1 \u76ee\u6807\u68c0\u6d4b<\/h3>\n<p>\u76ee\u6807\u68c0\u6d4b\u662f\u8ba1\u7b97\u673a\u89c6\u89c9\u4e2d\u6700\u91cd\u8981\u7684\u5e94\u7528\u4e4b\u4e00\u3002<\/p>\n<p>\u5728\u6c7d\u8f66\u7535\u5b50\u9886\u57df\uff0c\u6211\u4eec\u9700\u8981\u68c0\u6d4b\u884c\u4eba\u3001\u8f66\u8f86\u3001\u4ea4\u901a\u6807\u5fd7\u7b49\u5404\u79cd\u76ee\u6807\u3002<\/p>\n<p><strong>3.1.1 \u4f20\u7edf\u65b9\u6cd5<\/strong><\/p>\n<p>\u5728\u6df1\u5ea6\u5b66\u4e60\u666e\u53ca\u4e4b\u524d\uff0c\u6211\u4eec\u4e3b\u8981\u4f7f\u7528\u4f20\u7edf\u7684\u76ee\u6807\u68c0\u6d4b\u65b9\u6cd5\uff0c\u6bd4\u5982 HOG\uff08\u65b9\u5411\u68af\u5ea6\u76f4\u65b9\u56fe\uff09+ SVM\uff08\u652f\u6301\u5411\u91cf\u673a\uff09\u3002<\/p>\n<p>\u8fd9\u79cd\u65b9\u6cd5\u7684\u4f18\u70b9\u662f\u8ba1\u7b97\u91cf\u76f8\u5bf9\u8f83\u5c0f\uff0c\u9002\u5408\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e0a\u8fd0\u884c\u3002<\/p>\n<p><strong>3.1.2 \u6df1\u5ea6\u5b66\u4e60\u65b9\u6cd5<\/strong><\/p>\n<p>\u73b0\u5728\uff0c\u6df1\u5ea6\u5b66\u4e60\u5df2\u7ecf\u6210\u4e3a\u76ee\u6807\u68c0\u6d4b\u7684\u4e3b\u6d41\u65b9\u6cd5\u3002<\/p>\n<p>YOLO\u3001SSD\u3001Faster R-CNN \u7b49\u7b97\u6cd5\u5728\u51c6\u786e\u7387\u548c\u901f\u5ea6\u4e0a\u90fd\u6709\u5f88\u5927\u4f18\u52bf\u3002<\/p>\n<p>\u4f46\u662f\uff0c\u8fd9\u4e9b\u7b97\u6cd5\u901a\u5e38\u9700\u8981\u8f83\u5f3a\u7684\u8ba1\u7b97\u80fd\u529b\uff0c\u6240\u4ee5\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e0a\u90e8\u7f72\u65f6\u9700\u8981\u8fdb\u884c\u6a21\u578b\u4f18\u5316\u3002<\/p>\n<p>\u6211\u4eec\u5728\u9879\u76ee\u4e2d\u4f7f\u7528\u7684\u662f YOLOv5 \u7684\u8f7b\u91cf\u7ea7\u7248\u672c\uff0c\u901a\u8fc7\u6a21\u578b\u91cf\u5316\u548c\u526a\u679d\uff0c\u53ef\u4ee5\u5728\u5d4c\u5165\u5f0f\u5e73\u53f0\u4e0a\u5b9e\u73b0\u5b9e\u65f6\u68c0\u6d4b\u3002\u4e0b\u9762\u662f\u4e00\u4e2a\u7b80\u5316\u7684\u63a8\u7406\u4ee3\u7801\u793a\u4f8b\uff1a<\/p>\n<pre><code>#include &lt;opencv2\/opencv.hpp&gt;\n#include &lt;opencv2\/dnn.hpp&gt;\n\u200b\nusing namespace cv;\nusing namespace cv::dnn;\n\u200b\n\/\/ \u52a0\u8f7dYOLO\u6a21\u578b\nNet net = readNetFromONNX(&quot;yolov5s.onnx&quot;);\n\u200b\n\/\/ \u76ee\u6807\u68c0\u6d4b\u51fd\u6570\nvoid Detect_Objects(Mat &amp;frame)\n{\n    Mat blob;\n    \/\/ \u9884\u5904\u7406\uff1a\u8c03\u6574\u5927\u5c0f\u5e76\u5f52\u4e00\u5316\n    blobFromImage(frame, blob, 1\/255.0, Size(640, 640), \n                  Scalar(0,0,0), true, false);\n    \n    \/\/ \u8bbe\u7f6e\u8f93\u5165\n    net.setInput(blob);\n    \n    \/\/ \u524d\u5411\u63a8\u7406\n    vector&lt;Mat&gt; outputs;\n    net.forward(outputs, net.getUnconnectedOutLayersNames());\n    \n    \/\/ \u540e\u5904\u7406\uff1a\u89e3\u6790\u68c0\u6d4b\u7ed3\u679c\n    float conf_threshold = 0.5;\n    float nms_threshold = 0.4;\n    \n    vector&lt;Rect&gt; boxes;\n    vector&lt;float&gt; confidences;\n    vector&lt;int&gt; class_ids;\n    \n    for (size_t i = 0; i &lt; outputs.size(); i++)\n    {\n        float* data = (float*)outputs[i].data;\n        for (int j = 0; j &lt; outputs[i].rows; j++, data += outputs[i].cols)\n        {\n            float confidence = data[4];\n            if (confidence &gt;= conf_threshold)\n            {\n                \/\/ \u63d0\u53d6\u8fb9\u754c\u6846\u548c\u7c7b\u522b\u4fe1\u606f\n                int center_x = (int)(data[0] * frame.cols);\n                int center_y = (int)(data[1] * frame.rows);\n                int width = (int)(data[2] * frame.cols);\n                int height = (int)(data[3] * frame.rows);\n                int left = center_x - width \/ 2;\n                int top = center_y - height \/ 2;\n                \n                boxes.push_back(Rect(left, top, width, height));\n                confidences.push_back(confidence);\n                \n                \/\/ \u83b7\u53d6\u7c7b\u522bID\n                Mat scores = outputs[i].row(j).colRange(5, outputs[i].cols);\n                Point class_id_point;\n                double max_class_score;\n                minMaxLoc(scores, 0, &amp;max_class_score, 0, &amp;class_id_point);\n                class_ids.push_back(class_id_point.x);\n            }\n        }\n    }\n    \n    \/\/ \u975e\u6781\u5927\u503c\u6291\u5236\n    vector&lt;int&gt; indices;\n    NMSBoxes(boxes, confidences, conf_threshold, nms_threshold, indices);\n    \n    \/\/ \u7ed8\u5236\u68c0\u6d4b\u7ed3\u679c\n    for (size_t i = 0; i &lt; indices.size(); i++)\n    {\n        int idx = indices[i];\n        Rect box = boxes[idx];\n        rectangle(frame, box, Scalar(0, 255, 0), 2);\n    }\n}<\/code><\/pre>\n<h3>3.2 \u56fe\u50cf\u5206\u7c7b<\/h3>\n<p>\u56fe\u50cf\u5206\u7c7b\u662f\u5224\u65ad\u56fe\u50cf\u5c5e\u4e8e\u54ea\u4e2a\u7c7b\u522b\u7684\u4efb\u52a1\u3002<\/p>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u6211\u4eec\u53ef\u80fd\u9700\u8981\u8bc6\u522b\u4ea4\u901a\u6807\u5fd7\u3001\u5224\u65ad\u9053\u8def\u7c7b\u578b\u7b49\u3002<\/p>\n<p>\u5bf9\u4e8e\u5d4c\u5165\u5f0f\u5e73\u53f0\uff0c\u6211\u4eec\u901a\u5e38\u4f1a\u4f7f\u7528 MobileNet\u3001SqueezeNet \u7b49\u8f7b\u91cf\u7ea7\u7f51\u7edc\u6a21\u578b\u3002<\/p>\n<p>\u8fd9\u4e9b\u6a21\u578b\u5728\u4fdd\u6301\u8f83\u9ad8\u51c6\u786e\u7387\u7684\u540c\u65f6\uff0c\u5927\u5927\u51cf\u5c11\u4e86\u8ba1\u7b97\u91cf\u548c\u6a21\u578b\u5927\u5c0f\u3002<\/p>\n<h3>3.3 \u76ee\u6807\u8ddf\u8e2a<\/h3>\n<p>\u5728\u5f88\u591a\u5e94\u7528\u573a\u666f\u4e2d\uff0c\u6211\u4eec\u4e0d\u4ec5\u9700\u8981\u68c0\u6d4b\u76ee\u6807\uff0c\u8fd8\u9700\u8981\u8ddf\u8e2a\u76ee\u6807\u7684\u8fd0\u52a8\u8f68\u8ff9\u3002<\/p>\n<p>\u6bd4\u5982\u5728\u8f66\u8f86\u9632\u78b0\u649e\u7cfb\u7edf\u4e2d\uff0c\u9700\u8981\u6301\u7eed\u8ddf\u8e2a\u524d\u65b9\u8f66\u8f86\u7684\u4f4d\u7f6e\u548c\u901f\u5ea6\u3002<\/p>\n<p>\u5e38\u7528\u7684\u8ddf\u8e2a\u7b97\u6cd5\u5305\u62ec KCF\uff08\u6838\u76f8\u5173\u6ee4\u6ce2\uff09\u3001SORT\uff08\u7b80\u5355\u5728\u7ebf\u5b9e\u65f6\u8ddf\u8e2a\uff09\u7b49\u3002<\/p>\n<p>OpenCV \u63d0\u4f9b\u4e86\u591a\u79cd\u8ddf\u8e2a\u5668\u7684\u5b9e\u73b0\uff1a<\/p>\n<pre><code>#include &lt;opencv2\/tracking.hpp&gt;\n\u200b\n\/\/ \u521b\u5efa\u8ddf\u8e2a\u5668\nPtr&lt;Tracker&gt; tracker = TrackerKCF::create();\n\u200b\n\/\/ \u521d\u59cb\u5316\u8ddf\u8e2a\u5668\nRect2d bbox = selectROI(frame);  \/\/ \u9009\u62e9\u8981\u8ddf\u8e2a\u7684\u76ee\u6807\ntracker-&gt;init(frame, bbox);\n\u200b\n\/\/ \u5728\u540e\u7eed\u5e27\u4e2d\u66f4\u65b0\u8ddf\u8e2a\nwhile (true)\n{\n    cap &gt;&gt; frame;\n    \n    \/\/ \u66f4\u65b0\u8ddf\u8e2a\u5668\n    bool ok = tracker-&gt;update(frame, bbox);\n    \n    if (ok)\n    {\n        \/\/ \u7ed8\u5236\u8ddf\u8e2a\u6846\n        rectangle(frame, bbox, Scalar(255, 0, 0), 2);\n    }\n    \n    imshow(&quot;\u8ddf\u8e2a&quot;, frame);\n    if (waitKey(1) == 27) break;\n}<\/code><\/pre>\n<h2>4. \u6027\u80fd\u4f18\u5316\u6280\u5de7<\/h2>\n<h3>4.1 \u7b97\u6cd5\u4f18\u5316<\/h3>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u6027\u80fd\u4f18\u5316\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<p>\u4ee5\u4e0b\u662f\u6211\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u603b\u7ed3\u7684\u4e00\u4e9b\u4f18\u5316\u6280\u5de7\uff1a<\/p>\n<p><strong>4.1.1 \u964d\u4f4e\u56fe\u50cf\u5206\u8fa8\u7387<\/strong><\/p>\n<p>\u5f88\u591a\u65f6\u5019\uff0c\u6211\u4eec\u4e0d\u9700\u8981\u5904\u7406\u5168\u5206\u8fa8\u7387\u7684\u56fe\u50cf\u3002<\/p>\n<p>\u901a\u8fc7\u964d\u4f4e\u5206\u8fa8\u7387\uff0c\u53ef\u4ee5\u5927\u5e45\u51cf\u5c11\u8ba1\u7b97\u91cf\u3002<\/p>\n<p>\u6bd4\u5982\u539f\u672c 1920&#215;1080 \u7684\u56fe\u50cf\uff0c\u964d\u91c7\u6837\u5230 640&#215;480 \u540e\uff0c\u8ba1\u7b97\u91cf\u51cf\u5c11\u5230\u539f\u6765\u7684 1\/9 \u5de6\u53f3\u3002<\/p>\n<p><strong>4.1.2 \u611f\u5174\u8da3\u533a\u57df\uff08ROI\uff09\u5904\u7406<\/strong><\/p>\n<p>\u53ea\u5904\u7406\u56fe\u50cf\u4e2d\u611f\u5174\u8da3\u7684\u533a\u57df\uff0c\u800c\u4e0d\u662f\u6574\u5e45\u56fe\u50cf\u3002<\/p>\n<p>\u6bd4\u5982\u5728\u8f66\u9053\u7ebf\u68c0\u6d4b\u4e2d\uff0c\u6211\u4eec\u53ea\u9700\u8981\u5904\u7406\u56fe\u50cf\u4e0b\u534a\u90e8\u5206\u7684\u9053\u8def\u533a\u57df\u3002<\/p>\n<p><strong>4.1.3 \u591a\u7ea7\u5904\u7406\u7b56\u7565<\/strong><\/p>\n<p>\u5148\u7528\u7b80\u5355\u5feb\u901f\u7684\u7b97\u6cd5\u8fdb\u884c\u7c97\u68c0\u6d4b\uff0c\u518d\u5bf9\u53ef\u7591\u533a\u57df\u8fdb\u884c\u7cbe\u7ec6\u5904\u7406\u3002<\/p>\n<p>\u8fd9\u6837\u53ef\u4ee5\u5728\u4fdd\u8bc1\u51c6\u786e\u7387\u7684\u540c\u65f6\u63d0\u9ad8\u5904\u7406\u901f\u5ea6\u3002<\/p>\n<h3>4.2 \u786c\u4ef6\u52a0\u901f<\/h3>\n<p><strong>4.2.1 \u4f7f\u7528 GPU<\/strong><\/p>\n<p>\u5982\u679c\u5e73\u53f0\u652f\u6301 GPU\uff0c\u53ef\u4ee5\u5229\u7528 CUDA\u3001OpenCL \u7b49\u6280\u672f\u8fdb\u884c\u52a0\u901f\u3002<\/p>\n<p>OpenCV \u7684\u5f88\u591a\u51fd\u6570\u90fd\u652f\u6301 GPU \u52a0\u901f\uff0c\u53ea\u9700\u8981\u7b80\u5355\u4fee\u6539\u4ee3\u7801\u5373\u53ef\u3002<\/p>\n<p><strong>4.2.2 \u4f7f\u7528 DSP \u6216 NPU<\/strong><\/p>\n<p>\u4e00\u4e9b\u5d4c\u5165\u5f0f\u5e73\u53f0\u96c6\u6210\u4e86 DSP\uff08\u6570\u5b57\u4fe1\u53f7\u5904\u7406\u5668\uff09\u6216 NPU\uff08\u795e\u7ecf\u7f51\u7edc\u5904\u7406\u5355\u5143\uff09\uff0c\u4e13\u95e8\u7528\u4e8e\u52a0\u901f\u56fe\u50cf\u5904\u7406\u548c\u6df1\u5ea6\u5b66\u4e60\u63a8\u7406\u3002<\/p>\n<p>\u5145\u5206\u5229\u7528\u8fd9\u4e9b\u786c\u4ef6\u8d44\u6e90\u53ef\u4ee5\u5927\u5e45\u63d0\u5347\u6027\u80fd\u3002<\/p>\n<p><strong>4.2.3 \u4f7f\u7528 DMA<\/strong><\/p>\n<p>\u5728\u6570\u636e\u4f20\u8f93\u8fc7\u7a0b\u4e2d\u4f7f\u7528 DMA\uff08\u76f4\u63a5\u5185\u5b58\u8bbf\u95ee\uff09\uff0c\u53ef\u4ee5\u51cf\u5c11 CPU \u7684\u8d1f\u62c5\uff0c\u63d0\u9ad8\u6570\u636e\u4f20\u8f93\u6548\u7387\u3002<\/p>\n<p>\u524d\u9762 STM32 \u7684\u793a\u4f8b\u4ee3\u7801\u4e2d\u5c31\u4f7f\u7528\u4e86 DMA \u6765\u4f20\u8f93\u6444\u50cf\u5934\u6570\u636e\u3002<\/p>\n<h3>4.3 \u4ee3\u7801\u4f18\u5316<\/h3>\n<p><strong>4.3.1 \u4f7f\u7528\u5b9a\u70b9\u8fd0\u7b97\u4ee3\u66ff\u6d6e\u70b9\u8fd0\u7b97<\/strong><\/p>\n<p>\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d\uff0c\u5b9a\u70b9\u8fd0\u7b97\u901a\u5e38\u6bd4\u6d6e\u70b9\u8fd0\u7b97\u5feb\u5f97\u591a\u3002<\/p>\n<p>\u53ef\u4ee5\u5c06\u6d6e\u70b9\u6570\u8f6c\u6362\u4e3a\u5b9a\u70b9\u6570\u8fdb\u884c\u8ba1\u7b97\u3002<\/p>\n<p><strong>4.3.2 \u5faa\u73af\u5c55\u5f00<\/strong><\/p>\n<p>\u5bf9\u4e8e\u4e00\u4e9b\u5173\u952e\u7684\u5faa\u73af\uff0c\u53ef\u4ee5\u8fdb\u884c\u5faa\u73af\u5c55\u5f00\u4f18\u5316\uff0c\u51cf\u5c11\u5faa\u73af\u63a7\u5236\u7684\u5f00\u9500\u3002<\/p>\n<p><strong>4.3.3 \u4f7f\u7528\u67e5\u627e\u8868<\/strong><\/p>\n<p>\u5bf9\u4e8e\u4e00\u4e9b\u590d\u6742\u7684\u6570\u5b66\u8fd0\u7b97\uff0c\u53ef\u4ee5\u9884\u5148\u8ba1\u7b97\u597d\u7ed3\u679c\u5b58\u50a8\u5728\u67e5\u627e\u8868\u4e2d\uff0c\u4f7f\u7528\u65f6\u76f4\u63a5\u67e5\u8868\uff0c\u907f\u514d\u91cd\u590d\u8ba1\u7b97\u3002<\/p>\n<h2>5. \u5b9e\u9645\u9879\u76ee\u7ecf\u9a8c\u5206\u4eab<\/h2>\n<p>\u5728\u6211\u53c2\u4e0e\u7684\u6c7d\u8f66\u7535\u5b50\u9879\u76ee\u4e2d\uff0c\u6709\u4e00\u4e2a\u8f66\u9053\u504f\u79bb\u9884\u8b66\u7cfb\u7edf\u7684\u6848\u4f8b\uff0c\u53ef\u4ee5\u5f88\u597d\u5730\u5c55\u793a\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u7684\u7efc\u5408\u5e94\u7528\u3002<\/p>\n<p>\u6574\u4e2a\u7cfb\u7edf\u7684\u5904\u7406\u6d41\u7a0b\u5982\u4e0b\uff1a<\/p>\n<p><strong>5.1 \u56fe\u50cf\u91c7\u96c6<\/strong><\/p>\n<p>\u4f7f\u7528\u524d\u7f6e\u6444\u50cf\u5934\u91c7\u96c6\u9053\u8def\u56fe\u50cf\uff0c\u5e27\u7387\u4e3a 30fps\uff0c\u5206\u8fa8\u7387\u4e3a 1280&#215;720\u3002<\/p>\n<p><strong>5.2 \u56fe\u50cf\u9884\u5904\u7406<\/strong><\/p>\n<p>\u9996\u5148\u5bf9\u56fe\u50cf\u8fdb\u884c\u7070\u5ea6\u5316\u5904\u7406\uff0c\u7136\u540e\u4f7f\u7528\u9ad8\u65af\u6ee4\u6ce2\u53bb\u566a\u3002<\/p>\n<p>\u63a5\u7740\u63d0\u53d6\u56fe\u50cf\u4e0b\u534a\u90e8\u5206\u4f5c\u4e3a\u611f\u5174\u8da3\u533a\u57df\uff0c\u56e0\u4e3a\u8f66\u9053\u7ebf\u4e3b\u8981\u51fa\u73b0\u5728\u8fd9\u4e2a\u533a\u57df\u3002<\/p>\n<p><strong>5.3 \u8fb9\u7f18\u68c0\u6d4b<\/strong><\/p>\n<p>\u4f7f\u7528 Canny \u7b97\u5b50\u68c0\u6d4b\u56fe\u50cf\u4e2d\u7684\u8fb9\u7f18\uff0c\u8f66\u9053\u7ebf\u901a\u5e38\u8868\u73b0\u4e3a\u5f3a\u8fb9\u7f18\u3002<\/p>\n<p><strong>5.4 \u8f66\u9053\u7ebf\u68c0\u6d4b<\/strong><\/p>\n<p>\u4f7f\u7528\u970d\u592b\u53d8\u6362\u68c0\u6d4b\u76f4\u7ebf\uff0c\u7b5b\u9009\u51fa\u7b26\u5408\u8f66\u9053\u7ebf\u7279\u5f81\u7684\u76f4\u7ebf\u3002<\/p>\n<p>\u5bf9\u4e8e\u5f2f\u9053\u60c5\u51b5\uff0c\u6211\u4eec\u4f7f\u7528\u591a\u9879\u5f0f\u62df\u5408\u6765\u68c0\u6d4b\u66f2\u7ebf\u8f66\u9053\u7ebf\u3002<\/p>\n<p><strong>5.5 \u8f66\u9053\u504f\u79bb\u5224\u65ad<\/strong><\/p>\n<p>\u6839\u636e\u68c0\u6d4b\u5230\u7684\u8f66\u9053\u7ebf\u4f4d\u7f6e\uff0c\u8ba1\u7b97\u8f66\u8f86\u5728\u8f66\u9053\u4e2d\u7684\u4f4d\u7f6e\u3002<\/p>\n<p>\u5982\u679c\u8f66\u8f86\u504f\u79bb\u8f66\u9053\u4e2d\u5fc3\u8d85\u8fc7\u9608\u503c\uff0c\u5c31\u53d1\u51fa\u9884\u8b66\u4fe1\u53f7\u3002<\/p>\n<p><strong>5.6 \u7ed3\u679c\u8f93\u51fa<\/strong><\/p>\n<p>\u5c06\u68c0\u6d4b\u7ed3\u679c\u901a\u8fc7 CAN \u603b\u7ebf\u53d1\u9001\u7ed9\u5176\u4ed6\u63a7\u5236\u5355\u5143\uff0c\u540c\u65f6\u5728\u663e\u793a\u5c4f\u4e0a\u7ed8\u5236\u8f66\u9053\u7ebf\u548c\u9884\u8b66\u4fe1\u606f\u3002<\/p>\n<p>\u8fd9\u4e2a\u9879\u76ee\u7684\u96be\u70b9\u5728\u4e8e\u5982\u4f55\u5728\u6709\u9650\u7684\u8ba1\u7b97\u8d44\u6e90\u4e0b\u5b9e\u73b0\u5b9e\u65f6\u5904\u7406\uff0c\u540c\u65f6\u4fdd\u8bc1\u8db3\u591f\u7684\u51c6\u786e\u7387\u3002<\/p>\n<p>\u6211\u4eec\u901a\u8fc7\u7b97\u6cd5\u4f18\u5316\u3001\u786c\u4ef6\u52a0\u901f\u3001\u591a\u7ebf\u7a0b\u5e76\u884c\u7b49\u624b\u6bb5\uff0c\u6700\u7ec8\u5b9e\u73b0\u4e86\u7a33\u5b9a\u53ef\u9760\u7684\u7cfb\u7edf\u6027\u80fd\u3002<\/p>\n<h2>6. \u672a\u6765\u53d1\u5c55\u8d8b\u52bf<\/h2>\n<p>\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u6280\u672f\u8fd8\u5728\u4e0d\u65ad\u53d1\u5c55\uff0c\u7279\u522b\u662f\u5728\u5d4c\u5165\u5f0f\u9886\u57df\uff0c\u6709\u4ee5\u4e0b\u51e0\u4e2a\u503c\u5f97\u5173\u6ce8\u7684\u8d8b\u52bf\uff1a<\/p>\n<p><strong>6.1 \u8fb9\u7f18\u8ba1\u7b97<\/strong><\/p>\n<p>\u8d8a\u6765\u8d8a\u591a\u7684\u8ba1\u7b97\u4efb\u52a1\u4ece\u4e91\u7aef\u8f6c\u79fb\u5230\u8fb9\u7f18\u8bbe\u5907\uff0c\u8fd9\u5bf9\u5d4c\u5165\u5f0f\u7cfb\u7edf\u7684\u8ba1\u7b97\u80fd\u529b\u63d0\u51fa\u4e86\u66f4\u9ad8\u8981\u6c42\u3002<\/p>\n<p>\u540c\u65f6\u4e5f\u63a8\u52a8\u4e86\u4e13\u7528 AI \u82af\u7247\u7684\u53d1\u5c55\u3002<\/p>\n<p><strong>6.2 \u8f7b\u91cf\u5316\u6a21\u578b<\/strong><\/p>\n<p>\u4e3a\u4e86\u5728\u5d4c\u5165\u5f0f\u8bbe\u5907\u4e0a\u90e8\u7f72\u6df1\u5ea6\u5b66\u4e60\u6a21\u578b\uff0c\u7814\u7a76\u4eba\u5458\u5f00\u53d1\u4e86\u5404\u79cd\u8f7b\u91cf\u5316\u6280\u672f\uff0c\u5982\u6a21\u578b\u538b\u7f29\u3001\u77e5\u8bc6\u84b8\u998f\u3001\u795e\u7ecf\u7f51\u7edc\u67b6\u6784\u641c\u7d22\u7b49\u3002<\/p>\n<p><strong>6.3 \u591a\u6a21\u6001\u878d\u5408<\/strong><\/p>\n<p>\u5355\u4e00\u7684\u89c6\u89c9\u4fe1\u606f\u6709\u65f6\u4e0d\u591f\u51c6\u786e\uff0c\u672a\u6765\u4f1a\u66f4\u591a\u5730\u878d\u5408\u96f7\u8fbe\u3001\u6fc0\u5149\u96f7\u8fbe\u7b49\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\uff0c\u63d0\u9ad8\u7cfb\u7edf\u7684\u9c81\u68d2\u6027\u3002<\/p>\n<p><strong>6.4 \u5b9e\u65f6\u6027\u8981\u6c42\u63d0\u5347<\/strong><\/p>\n<p>\u968f\u7740\u81ea\u52a8\u9a7e\u9a76\u7b49\u5e94\u7528\u7684\u53d1\u5c55\uff0c\u5bf9\u5b9e\u65f6\u6027\u7684\u8981\u6c42\u8d8a\u6765\u8d8a\u9ad8\u3002<\/p>\n<p>\u8fd9\u9700\u8981\u6211\u4eec\u5728\u7b97\u6cd5\u548c\u786c\u4ef6\u4e24\u65b9\u9762\u90fd\u8fdb\u884c\u4f18\u5316\u3002<\/p>\n<p>\u4f5c\u4e3a\u5d4c\u5165\u5f0f\u7a0b\u5e8f\u5458\uff0c\u6211\u4eec\u9700\u8981\u4e0d\u65ad\u5b66\u4e60\u65b0\u6280\u672f\uff0c\u540c\u65f6\u4e5f\u8981\u6df1\u5165\u7406\u89e3\u5e95\u5c42\u539f\u7406\uff0c\u624d\u80fd\u5728\u8fd9\u4e2a\u5feb\u901f\u53d1\u5c55\u7684\u9886\u57df\u4e2d\u4fdd\u6301\u7ade\u4e89\u529b\u3002<\/p>\n<p>\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u6280\u672f\u6b63\u5728\u6539\u53d8\u6211\u4eec\u7684\u751f\u6d3b\uff0c\u800c\u5d4c\u5165\u5f0f\u7cfb\u7edf\u5219\u662f\u8fd9\u4e9b\u6280\u672f\u843d\u5730\u7684\u91cd\u8981\u8f7d\u4f53\u3002<\/p>\n<p>\u5e0c\u671b\u8fd9\u7bc7\u6587\u7ae0\u80fd\u591f\u5e2e\u52a9\u5927\u5bb6\u66f4\u597d\u5730\u7406\u89e3\u548c\u5e94\u7528\u8fd9\u4e9b\u6280\u672f\u3002<\/p>\n<p><strong>\u66f4\u591a\u7f16\u7a0b\u5b66\u4e60\u8d44\u6e90<\/strong><\/p>\n<ul>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=arGiVNRFlkXhMYdRFISMbw%3D%3D.RzFeBTq0Dpf3Yq9BcU02t0Hg8Cwqqp4sn2pmRFvmfh8OK1HJEO5KRFNpqBWmK9VVAKuUjWZxErNCpPLZyWtv9g%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">C \u8bed\u8a00\u96f6\u57fa\u7840\u5165\u95e8\u7535\u5b50\u4e66-2026 \u6700\u65b0\u7248<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=G%2BwiRtO7sBqszNMwFyB9XA%3D%3D.iFTBQ%2FBSowufZdglbquqx5k%2FCwHDtbx%2Bj58DjGmqIAFljt%2BCrwVd%2FI8R1U8jvsz6TZoW5ipjBelRKDGy8WVlcQ%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">STM32 \u96f6\u57fa\u7840\u5165\u95e8\u7535\u5b50\u4e66-2026 \u6700\u65b0\u7248<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=RsZoT1UpN4bKHCVg7TYUiw%3D%3D.HjcZN441MiYCrAZw22BHifi%2B3CpTvJp7IYo5iB5Vy%2BHSq3sYAlrZUl0zoy%2FYK7fMp%2BGAVmyHVr8dK%2FsahF6lSO3JwFZFhd1RFFtASh8DjSk%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">FreeRTOS \u96f6\u57fa\u7840\u5165\u95e8\u7535\u5b50\u4e66-2026 \u6700\u65b0\u7248<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=9DIBVDW6soq%2BMzIjcsmjig%3D%3D.3quEKQbsYMkBCUD2iaN3%2FVpeUWj%2FlFRZexYFIHZMqYXbPTwaYBYTO%2BfHvWKGOCC12G0hFoGIpRD38eMyVYvj5g%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">C++ \u96f6\u57fa\u7840\u5165\u95e8\u7535\u5b50\u4e66-2026 \u6700\u65b0\u7248<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=Itk3rmVilP%2BZKvpsbPo92g%3D%3D.bRAwBTx%2B%2FyY7fc3M7Tir5XNgHeW%2FGmOiwl0mRJdueQkNs%2BQmXhd1TDxjdeSzFAvlG%2FeJ6Q6M4EL6gWtjV6ifxA%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">51 \u5355\u7247\u673a\u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=N6j1sSwYEVz97CZwfYKJXg%3D%3D.wh%2Blg%2FHMFnSYoKTvw89jkwbDPh3eBK4302Nx7t2rCWpOpoTQUsTVsNIGvCHaeAPW9UrPLGkhfxcBRQW%2BBxEG9A%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">AD \u753b\u677f\u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=ZpdFw4Dwdc7TVDeNickYIQ%3D%3D.%2BF30ssCOqfIRSJrJxEcOuaGO266StyMV0TQRM%2BiQbuHHWBGxnBn%2BaeRWvhQWumcAtywdvUs8PJWw2l3dYF6YPg%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">C \u8bed\u8a00\u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=SMcZsn%2BhmUUnIx9iZQziXw%3D%3D.7F1xE2sEWqWn8gGrB4z9IwC4KTIEvN0rhR2PFgvpY95CVogQW%2Fkl5C%2F%2BM1zcQdRq4ECxENIv6Vim2Twpybx2Ug%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">C++ \u8bed\u8a00\u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=aG8O5bZnMo0%2B4J4yW%2BJdRA%3D%3D.RINSkkYSjkxo9sWTFUIcZ%2BX5uSFlkjtAvKo%2FHYo2IYl4%2BseufUHWh%2Bt%2FbS4wtFFprcOUsdeJAb4I9OlSP1qVWFgcnh0IFcsOQnsXgNTzf%2Fw%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">ESP32 \u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=viKR4w%2Fea8PQWa1ms%2BC7TA%3D%3D.%2B4OA0r1yhiwErL7tlXBpF7dXZbbOY16zNWujjMToKZimOiGc2F0UesFgUOuQ4qM08U6bovLDrNi1AftEGYVxd%2F0t2HkCDeVw3B1yJzOAnMg%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">FreeRTOS \u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=a5HtkgbY5kQSh%2FDhOMcfUw%3D%3D.5w7NixwdQdTjB%2BgR5yqm02AMTohuzPRepSPuPqkbUtSGzoEhQaWIsHM2uyeNZJerHL%2B%2Fn7CdMEguM%2BkZpPL1IFSVcrR7EBKn1iTlxO6%2BQO0%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">Linux \u5e94\u7528\u5f00\u53d1\u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=S7mHwdb079GlGGoVb9qAJw%3D%3D.zNRwVTmGRbeYMxfqrpxVeUOjvwPur35XQn5YQ81PSjC1VclykzpxAYlMQR%2FhD%2BX1xyUjkOZckPQ1aYusok4219BVrX8fgF6SfdWUFGZBO1g%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">Linux \u5e95\u5c42\u5f00\u53d1\u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=59iWj88svAiTmWW3ovW3Cg%3D%3D.EjuEpweN2Y3Xz1UOjYahlrOA4%2FMi%2BxG8OspchtWgMffvpmWFtXvVkOuLbE6bIzqlMNS0lEfpWOc9Pw9Jrrh47w%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">LVGL \u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=oms3aig6xULbTCwUv2J1aA%3D%3D.ScF0YsbPQiKd1q9m4b0sp8gEgeC9db392O47bid8sk4S73vSR3ZRcBX5BFnNUvZsDkuEd279wMrCY0%2BEoFKYyg%3D%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">QT \u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=sQAViiDMaz6n4rWGBr5Mog%3D%3D.1I%2Fq6sGWLjWypEFb6DZRCVz1IBF7qwsI2Fb0L56Ow1SsGTb2wv6zdKcwTzaR3ykLJyVJpkZZ7%2BcWvVCbjdXZKhOHJqSlRElc5I7PErFXuwc%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">STM32 \u96f6\u57fa\u7840\u5165\u95e8\u5b66\u4e60\u8def\u7ebf<\/a><\/li>\n<\/ul>\n<p><a href=\"https:\/\/segmentfault.com\/a\/1190000047638861\">https:\/\/segmentfault.com\/a\/1190000047638861<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5927\u5bb6\u597d\uff0c\u6211\u662f\u826f\u8bb8\u3002 \u4f5c\u4e3a\u4e00\u540d\u5d4c\u5165\u5f0f\u7a0b\u5e8f\u5458\uff0c\u6211\u5728\u5de5\u4f5c\u4e2d\u7ecf\u5e38\u4f1a\u63a5\u89e6\u5230\u56fe\u50cf\u5904\u7406\u548c\u8ba1\u7b97\u673a\u89c6\u89c9\u76f8\u5173\u7684\u9879\u76ee\u3002 \u7279\u522b\u662f\u5728\u6c7d\u8f66 [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-10021296","post","type-post","status-publish","format-standard","hentry","category-share"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/posts\/10021296","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/users\/4"}],"replies":[{"embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=10021296"}],"version-history":[{"count":0,"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/posts\/10021296\/revisions"}],"wp:attachment":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=10021296"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=10021296"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=10021296"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}