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qrb_ros_nn_inference ๆ˜ฏไธ€ไธช้€š็”จ็š„ ROS 2 ่Š‚็‚น๏ผŒๅฎƒๅŠ ่ฝฝ็ฅž็ป็ฝ‘็ปœๆจกๅž‹ๅนถ้€š่ฟ‡ Qualcomm AI Engine Direct (QNN) SDK ๅœจ Hexagon HTP NPU ไธŠ่ฟ่กŒๆŽจ็†ใ€‚ๆ‚จๅฐ†ๅฎƒๆŒ‡ๅ‘ไธ€ไธชๆจกๅž‹ๆ–‡ไปถ๏ผŒๅฎƒไผš่ฎข้˜…ไธ€ไธช่พ“ๅ…ฅ่ฏ้ข˜๏ผŒๅนถๅœจ่พ“ๅ‡บ่ฏ้ข˜ไธŠๅ‘ๅธƒๅŽŸๅง‹ๆŽจ็†็ป“ๆžœโ€”โ€”ๆ— ้œ€้’ˆๅฏน็‰นๅฎšๆจกๅž‹็š„่ฟžๆŽฅใ€‚
่ฟ™ๅฐฑๆ˜ฏโ€ๆˆ‘่ƒฝไปŽ ROS ๅœจ NPU ไธŠ่ฟ่กŒๆˆ‘็š„ๆจกๅž‹ๅ—๏ผŸโ€œ่ฟ™ไธช้—ฎ้ข˜็š„ๅ•่Š‚็‚น็ญ”ๆกˆใ€‚ๆ”พๅ…ฅไปŽ Qualcomm AI Hub ๅฏผๅ‡บ๏ผˆๆˆ–ๆ‚จ่‡ชๅทฑ็š„ QNN ๅฏผๅ‡บ๏ผ‰็š„ .tflite / .so / .bin ๆ–‡ไปถ๏ผŒๅฐ†่Š‚็‚นๆŒ‡ๅ‘ๅฎƒ๏ผŒ็„ถๅŽ่ฟ›่กŒๅ‘ๅธƒ/่ฎข้˜…ๅณๅฏใ€‚

ๅฎƒๆ˜ฏไป€ไนˆ

ๅœจๅบ•ๅฑ‚๏ผŒ่ฏฅ่Š‚็‚นๅŒ…่ฃ…ไบ† qrb_inference_managerโ€”โ€”ไธ€ไธช่ฐƒ็”จ QNN API ๅ’Œ QNN delegate for TensorFlow Lite ็š„ๅฐๅž‹ C++ ๅบ“ใ€‚ROS ๅฑ‚ๅชๆ˜ฏๆทปๅŠ ไบ†ไธ€ไธช่ฎข้˜…ใ€ไธ€ไธชๅ‘ๅธƒไปฅๅŠๅ‚ๆ•ฐ้ฉฑๅŠจ็š„ๅŽ็ซฏ้€‰ๆ‹ฉใ€‚

ๆ”ฏๆŒ็š„ๆจกๅž‹ๆ ผๅผ

ๆ นๆฎไธŠๆธธ README๏ผšqrb_ros_nn_inference 1.1.0-jazzy ไธๆ”ฏๆŒ .tflite ๆŽจ็†ใ€‚ๅฆ‚ๆžœๆ‚จไฝฟ็”จ่ฏฅ็‰ˆๆœฌไธ”้œ€่ฆ TFLite๏ผŒ่ฏทไปŽ main ๅˆ†ๆ”ฏ็š„ๆบ็ ๆž„ๅปบ๏ผŒๆˆ–ไฝฟ็”จ npu-workflows.mdx ไธญ็š„ๆ‰‹ๅทฅๆž„ๅปบๆ–นๅผใ€‚

ๅฟซ้€Ÿๅ…ฅ้—จ

1

ๅœจ Qualcommยฎ IoT ๅนณๅฐ็š„ Ubuntu ไธŠๅฎ‰่ฃ…

2

ไฝฟ็”จๆ‚จ็š„ๆจกๅž‹่ฟ่กŒ

็„ถๅŽๅœจ้…็ฝฎ็š„่พ“ๅ…ฅ่ฏ้ข˜ไธŠๅ‘ๅธƒๆ‚จ็š„่พ“ๅ…ฅ๏ผŒๅนถ่ฎข้˜…่พ“ๅ‡บ่ฏ้ข˜ใ€‚ๅฎŒๆ•ดๅ‚ๆ•ฐๅˆ—่กจ่ฏทๅ‚้˜…ไธŠๆธธ API ๅ‚่€ƒใ€‚

ไธบไป€ไนˆ่ฟ™ๆœ‰ๅธฎๅŠฉ

่ฟ™ๆ˜ฏไธ€ไธช้€š็”จ็š„ ROS 2 ่Š‚็‚น๏ผŒๅฏ้€š่ฟ‡ QNN ๅœจ Hexagon HTP NPU ไธŠๅŠ ่ฝฝ .tflite / .so / .bin ๆจกๅž‹ใ€‚ๅฏน่ฏ„ไผฐ่€…่€Œ่จ€๏ผšๆ”พๅ…ฅๆ‚จ่‡ชๅทฑ็š„ๆจกๅž‹ใ€้…็ฝฎ่Š‚็‚น๏ผŒๅณๅฏๅœจ ROS ่ฏ้ข˜ไธŠๅ‘ๅธƒๆŽจ็†็ป“ๆžœใ€‚ๅ‰/ๅŽๅค„็†็”ฑๆ‚จ่‡ช่กŒๅค„็†๏ผˆๆˆ–ๅฏน YOLO ๅฝข็Šถ็š„ๅผ ้‡ไฝฟ็”จ qrb_ros_tensor_process๏ผ‰ใ€‚

็›ธๅ…ณๅ†…ๅฎน

  • npu-workflows.mdx โ€” ็›ดๆŽฅไฝฟ็”จ QNN TFLite delegate ๆ‰‹ๅทฅๆž„ๅปบ็š„ๆทฑๅบฆไผฐ่ฎกๆตๆฐด็บฟใ€‚ๅฆ‚ๆžœๆ‚จๆƒณไบ†่งฃ qrb_ros_nn_inference ่‡ชๅŠจๅŒ–ไบ†ไป€ไนˆ๏ผŒ่ฟ™ๅพˆๆœ‰็”จใ€‚
  • qrb-ros-samples.mdx โ€” ๅ›ด็ป•ๆญค่Š‚็‚นๆž„ๅปบ็š„็‰นๅฎšๆจกๅž‹ๅ‚่€ƒๆตๆฐด็บฟใ€‚
  • ไธŠๆธธ๏ผšqualcomm-qrb-ros/qrb_ros_nn_inferenceใ€‚