arm_dev
0a2a28a355
1) site.yaml 的整数把节点写死（ros_node.TolerantNode）
现场 site.yaml 写 `ae_limit_us: 8000`（YAML 整数），脚本按 `-p ae_limit_us:=8000`
传参，而节点 declare 的是 double —— rclpy 严格比对类型，节点**启动即崩**：
InvalidParameterTypeException: Trying to set parameter 'ae_limit_us'
to '8000' of type 'INTEGER', expecting type 'DOUBLE'
现场看到的只是「顶置 D435 起不来」，报错里一个字都没提 site.yaml，而
`8000` 与 `8000.0` 在运维眼里是同一个数。同一族的雷还有 width 848.0→int、
emitter_enabled 1→bool、带不带引号的序列号。
修法是新增应用层统一基类 TolerantNode：在**声明阶段**把覆盖值的类型按
声明类型收敛（异常就发生在声明阶段，所以 `float(...)` 这种事后 cast 救不了）。
全部应用节点改继承它；补 test_ros_node.py。
2) 权重目录判据（weights_layout）
模型文件「在不在、名字对不对」以前散在几处各判一半，缺文件时的现象是
推理静默退回随机权重。收成 weights_layout.py 一条判据 + scripts/weights.py 调用。
3) 相机日志：USB 降速要说清怎么办
realsense_color_pub 协商到 USB 2.1 / 480Mbps 时只打一行速率，没人知道该做什么；
现在直接给可执行的处置（换线/换口/SuperSpeed 不复用）。realsense_view 同步。
4) stage2_locate：接上 hover_z_guard 与 tool_tip_below_flange_m
悬停高度必须让工具尖端留在工件面上方（09-24 的教训：悬停时尖端已钻进工件
25mm，S05 横向对准把工件拖走 92mm）。step2 侧也按同一判据兜住，且工具长
允许由启动参数覆盖（仿真上料后实测得到）。
5) config/site.example.yaml 与 site.yaml 重新同步
上一批给夹爪加了 auto_init: false，模板没跟着重跑，TestExampleParity 因此失败。
重跑 scripts/gen_site_example.py 同步（模板是生成物，不手改）。
测试：全仓库 1085 passed（此前 1 failed）。
847 lines
33 KiB
Python
Executable File
847 lines
33 KiB
Python
Executable File
#!/usr/bin/env python3
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"""权重模块的统一命令行入口：转换 / 标签 / 列表 / 自检。
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通常不直接调用本文件，而是走薄封装（它会先把环境准备好）：
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bash ~/ros2/scripts/weights.sh list
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bash ~/ros2/scripts/weights.sh labels detect_best_0
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bash ~/ros2/scripts/weights.sh labels detect_best_0 --set "工件,通止规"
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bash ~/ros2/scripts/weights.sh convert staging/best_v3.pt --name workpiece --group yolo
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把"纯逻辑"放在 ``arm_application.weights_layout`` / ``arm_application.model_labels``
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里，本文件只负责：解析参数、打印人话、真正调用 PyTorch/Ultralytics/TensorRT。
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为什么单独做这个模块：原先只有 ``export_yolo_trt.sh``，只能"就地"把
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``<同名>.onnx`` 变成 ``<同名>.engine``，既不能改名、不能归位、也不管标签。
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实际用起来必须手工搬文件 + 手改 site.yaml，而**标签在 engine 那一环会静默丢失**
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（原因见 model_labels 模块头）。这里把三件事一次做完：
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转换 → 规范改名 → 放到权重目录 → 顺带把标签落成可编辑的文件。
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"""
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from __future__ import annotations
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import argparse
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import json
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import os
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import shutil
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import sys
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from pathlib import Path
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from typing import Dict, List, Optional, Sequence
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# ---------------------------------------------------------------------------
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# 让脚本能在没 colcon build / 没 source install 的情况下直接 import
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# ---------------------------------------------------------------------------
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def _bootstrap_import_path() -> Optional[Path]:
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"""把 ``src/arm_application`` 插进 sys.path，返回仓库根（找不到返回 None）。
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``arm_application/__init__.py`` 里只有文档字符串、没有 ROS 依赖，
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所以这样 import 不会把 ROS 拖进来。
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"""
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here = Path(__file__).resolve()
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for cand in [here, *here.parents]:
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pkg = cand / "src" / "arm_application"
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if (pkg / "arm_application" / "weights_layout.py").is_file():
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if str(pkg) not in sys.path:
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sys.path.insert(0, str(pkg))
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return cand
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return None
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_REPO_ROOT = _bootstrap_import_path()
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from arm_application.model_labels import ( # noqa: E402
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LABELS_SUFFIX,
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SOURCE_LABELS_ZH,
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SOURCE_PLACEHOLDER,
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SOURCE_SIDECAR,
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describe,
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format_labels_yaml,
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labels_from_model,
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labels_from_onnx,
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labels_path_for,
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parse_label_list,
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read_label_text_file,
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read_labels,
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write_labels,
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)
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from arm_application.weights_layout import ( # noqa: E402
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CONVERTIBLE_INPUT_EXTS,
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STAGING_DIRNAME,
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WEIGHT_EXTS,
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ModelEntry,
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canonical_path,
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conversion_chain,
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default_weights_root,
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discover,
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find_model,
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groups,
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infer_group,
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model_labels,
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plan_conversion,
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staging_dir,
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staging_files,
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validate_name,
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)
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# 默认转换输入尺寸。site.yaml 的 yolo.imgsz 优先（由 weights.sh 通过环境变量传入）。
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DEFAULT_IMGSZ = 640
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# ---------------------------------------------------------------------------
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# 小工具
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# ---------------------------------------------------------------------------
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def _root(args) -> Path:
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return Path(args.root).expanduser() if getattr(args, "root", None) else default_weights_root()
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def _imgsz(args) -> int:
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"""输入尺寸：命令行 > site.yaml（环境变量） > 默认 640。"""
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if getattr(args, "imgsz", None):
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return int(args.imgsz)
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env = os.environ.get("SITE_YOLO_IMGSZ")
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if env:
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try:
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return int(env)
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except ValueError:
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pass
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return DEFAULT_IMGSZ
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def _err(msg: str) -> None:
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print(f"错误: {msg}", file=sys.stderr)
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def _ok(msg: str) -> None:
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print(f"✓ {msg}")
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def _warn(msg: str) -> None:
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print(f"! {msg}")
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def _hr(char: str = "─", n: int = 74) -> None:
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print(char * n)
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def _print_table(headers: Sequence[str], rows: Sequence[Sequence[str]]) -> None:
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"""左对齐打印一张表。宽度按显示宽度（东亚字符按 2 算）估算。"""
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def w(s: str) -> int:
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return sum(2 if ord(c) > 0x2E80 else 1 for c in s)
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widths = [w(h) for h in headers]
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for r in rows:
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for i, c in enumerate(r):
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widths[i] = max(widths[i], w(c))
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def pad(s: str, width: int) -> str:
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return s + " " * max(0, width - w(s))
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print(" ".join(pad(h, widths[i]) for i, h in enumerate(headers)))
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print(" ".join("-" * widths[i] for i in range(len(headers))))
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for r in rows:
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print(" ".join(pad(c, widths[i]) for i, c in enumerate(r)))
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def _mode_of(p: Path) -> str:
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"""文件可读性/大小的人话描述，用于列表显示。"""
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try:
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return f"{p.stat().st_size / 1e6:.1f}MB"
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except OSError:
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return "?"
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# ---------------------------------------------------------------------------
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# list
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# ---------------------------------------------------------------------------
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def cmd_list(args) -> int:
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root = _root(args)
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if not root.is_dir():
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_err(f"权重目录不存在: {root}")
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return 2
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entries = discover(root)
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if not entries:
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_warn(f"{root} 下没找到任何权重文件（后缀: {', '.join(WEIGHT_EXTS)}）")
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return 0
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payload = []
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rows = []
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for e in entries:
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ls = model_labels(e, deep=args.deep)
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if ls.source == SOURCE_PLACEHOLDER:
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label_cell = "— 缺标签"
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else:
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label_cell = f"{', '.join(ls.sorted_names())}"
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rows.append(
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[
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e.group,
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e.name,
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" ".join(e.exts) or "—",
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label_cell,
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SOURCE_LABELS_ZH.get(ls.source, ls.source),
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]
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)
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payload.append(
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{
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"group": e.group,
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"name": e.name,
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"formats": e.exts,
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"files": {k: str(v) for k, v in e.files.items()},
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"labels": ls.names,
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"labels_source": ls.source,
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"labels_path": str(ls.path) if ls.path else None,
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}
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)
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if args.json:
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print(json.dumps(payload, ensure_ascii=False, indent=2))
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return 0
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print(f"权重目录: {root}")
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_hr()
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_print_table(["分组", "模型名", "已有格式", "标签", "标签来源"], rows)
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_hr()
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missing = [e for e in entries if model_labels(e).source == SOURCE_PLACEHOLDER]
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print(f"共 {len(entries)} 个模型，其中 {len(missing)} 个缺标签。")
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if missing and not args.deep:
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print("提示: 加 --deep 可再试着从 .pt/.engine 自身读标签（会加载模型，慢）。")
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if missing:
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print("补标签: bash scripts/weights.sh labels <模型名> --from-model")
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return 0
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# ---------------------------------------------------------------------------
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# labels
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# ---------------------------------------------------------------------------
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def _resolve_entry(args, root: Path) -> Optional[ModelEntry]:
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entry = find_model(root, args.model, getattr(args, "group", None))
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if entry is None:
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# 提示写成 ``分组/模型名``：这正是 ``list`` 里显示的样子，可以直接复制粘贴，
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# 比只列裸名字更不容易再踩一次坑。
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avail = ", ".join(f"{e.group}/{e.name}" for e in discover(root)) or "(无)"
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_err(
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f"找不到模型 '{args.model}'。现有模型（可整串复制）: {avail}\n"
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f" 也可以只写裸名字，或加 --group 指定分组。全部列出: "
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f"bash ~/ros2/scripts/weights.sh list"
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)
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return entry
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def cmd_labels(args) -> int:
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root = _root(args)
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entry = _resolve_entry(args, root)
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if entry is None:
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return 2
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# 修改类操作 ------------------------------------------------------------
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if args.clear:
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p = entry.labels_path
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if p.is_file():
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p.unlink()
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_ok(f"已删除标签文件 {p}")
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else:
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_warn(f"本来就没有标签文件 {p}")
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return 0
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if args.set is not None and args.set_file:
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_err("--set 与 --set-file 不能同时用")
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return 2
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new_names: Optional[Dict[int, str]] = None
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if args.set is not None:
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new_names = parse_label_list(args.set)
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if not new_names:
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_err("--set 解析不出任何类别名")
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return 2
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elif args.set_file:
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src = Path(args.set_file).expanduser()
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if not src.is_file():
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_err(f"标签文件不存在: {src}")
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return 2
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new_names = read_label_text_file(src)
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if not new_names:
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_err(f"{src} 里没读到任何类别名（一行一个）")
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return 2
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if new_names is None and args.from_model:
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# 从模型内嵌 metadata 抄一份出来，目的是"变成可编辑的旁挂文件"。
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for p in entry.sorted_files():
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got = None
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if p.suffix.lower() == ".onnx":
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from arm_application.model_labels import labels_from_onnx
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got = labels_from_onnx(p)
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if got is None:
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got = labels_from_model(p)
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if got:
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new_names = got[0]
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print(f"从 {p.name} 读到 {len(new_names)} 个类别名")
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break
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if new_names is None:
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_err(f"{entry.name} 的模型文件里读不到标签，只能用 --set 手工指定")
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return 2
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if new_names is not None:
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dst = write_labels(entry.path(entry.exts[0]) or entry.labels_path, new_names)
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_ok(f"已写入 {dst}")
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print(f" 类别({len(new_names)}): {', '.join(new_names[k] for k in sorted(new_names))}")
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return 0
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# 读取（默认动作）------------------------------------------------------
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ls = read_labels(entry.path(entry.exts[0]), allow_model_metadata=args.deep) if entry.exts else None
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if ls is None or ls.is_placeholder:
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ls = model_labels(entry, deep=args.deep)
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if args.json:
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print(
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json.dumps(
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{
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"model": entry.name,
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"group": entry.group,
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"labels": ls.names,
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"source": ls.source,
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"source_zh": SOURCE_LABELS_ZH.get(ls.source, ls.source),
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"source_file": str(ls.path) if ls.path else None,
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"expected_labels_path": str(entry.labels_path),
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},
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ensure_ascii=False,
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indent=2,
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)
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)
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return 0
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print(f"模型: {entry.group}/{entry.name}")
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print(f"格式: {' '.join(entry.exts) or '—'}")
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_hr()
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if ls.is_placeholder:
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_warn(f"没有标签。{describe(ls)}")
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print(f" 期望的标签文件位置: {entry.labels_path}")
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print(" 修复方式（三选一）:")
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print(f" 1) 从模型内嵌 metadata 抄一份出来再改: weights.sh labels {entry.name} --from-model")
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print(f' 2) 直接指定类别名: weights.sh labels {entry.name} --set "工件,通止规"')
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print(f" 3) 手工创建 {entry.labels_path.name}")
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return 1
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print(f"标签来源: {SOURCE_LABELS_ZH.get(ls.source, ls.source)}")
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if ls.path:
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print(f"来源文件: {ls.path}")
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_hr()
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for k in sorted(ls.names):
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print(f" {k}: {ls.names[k]}")
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return 0
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# ---------------------------------------------------------------------------
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# convert
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# ---------------------------------------------------------------------------
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def _export_onnx(src: Path, imgsz: int, dst: Path, *, simplify: bool = True) -> Path:
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"""YOLO .pt/.pth → ONNX，直接产出到 ``dst``。
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**关键：先把 .pt 复制到临时目录再导出。**
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Ultralytics 会把 onnx 写在**源文件旁边**（同名同目录），我们对源 .pt 直接导出时，
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会把它旁边已有的 ``<同名>.onnx`` 静默覆盖掉 —— 那是用户自己的产物，
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可能还是不同 imgsz 导出的。更糟的是随后的搬运会把它彻底删掉。
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实测就发生过：转换 detect_hc90.pt 时，models/yolo/detect_hc90.onnx 被覆盖后又被搬走。
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在临时目录里导出，源目录一个字节都不会动。
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"""
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import tempfile
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os.environ.setdefault("YOLO_AUTOINSTALL", "false")
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from ultralytics import YOLO
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dst.parent.mkdir(parents=True, exist_ok=True)
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with tempfile.TemporaryDirectory(prefix="weights_export_") as td:
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work = Path(td) / src.name
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shutil.copy2(src, work)
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model = YOLO(str(work))
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out = Path(
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str(
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model.export(
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format="onnx",
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imgsz=int(imgsz),
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device=0,
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simplify=simplify,
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dynamic=False,
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)
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)
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).expanduser()
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if not out.is_file():
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raise RuntimeError(f"Ultralytics 说导出了 {out}，但文件不存在")
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# 临时目录马上会被删，所以这里必须是 move。
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if out.resolve() != dst.resolve():
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shutil.move(str(out), str(dst))
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return dst
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def _build_engine(onnx_src: Path, dst: Path, *, fp16: bool = True, workspace_gb: int = 4) -> Path:
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"""ONNX → TensorRT engine，直接写到 dst。
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这里刻意绕开 Ultralytics 的 engine 导出：它对 .onnx 会按发行包名检查
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onnxruntime，环境装的是 onnxruntime-gpu 时会触发 pip AutoUpdate（可能卡死）。
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直接用 TensorRT 的 Python API，行为可控、错误信息也更清楚。
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"""
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import tensorrt as trt
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logger = trt.Logger(trt.Logger.WARNING)
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builder = trt.Builder(logger)
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# TRT 10 里 EXPLICIT_BATCH 已是默认行为，但这个 flag 仍然接受；
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# 保持和 export_yolo_trt.sh 一致，避免不同版本行为差异。
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flag = 1 << int(trt.NetworkDefinitionCreationFlag.EXPLICIT_BATCH)
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network = builder.create_network(flag)
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parser = trt.OnnxParser(network, logger)
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|
||
if not parser.parse(onnx_src.read_bytes()):
|
||
msgs = [str(parser.get_error(i)) for i in range(parser.num_errors)]
|
||
raise RuntimeError("ONNX 解析失败:\n " + "\n ".join(msgs))
|
||
|
||
config = builder.create_builder_config()
|
||
config.set_memory_pool_limit(trt.MemoryPoolType.WORKSPACE, int(workspace_gb) << 30)
|
||
if fp16 and builder.platform_has_fast_fp16:
|
||
config.set_flag(trt.BuilderFlag.FP16)
|
||
|
||
serialized = builder.build_serialized_network(network, config)
|
||
if serialized is None:
|
||
raise RuntimeError("TensorRT 构建失败（返回空）。可试着 --no-fp16 或换 imgsz。")
|
||
|
||
dst.parent.mkdir(parents=True, exist_ok=True)
|
||
dst.write_bytes(bytes(serialized))
|
||
return dst
|
||
|
||
|
||
def _materialize_labels(src: Path, dest_weights: Path, explicit: Optional[str]) -> Optional[Path]:
|
||
"""转换后把标签落到目标权重旁边。
|
||
|
||
这是防止"engine 丢标签"再次发生的**关键一步**：转换时就把标签固化成
|
||
可编辑的旁挂文件，而不是等到运行时才发现读不到名字。
|
||
|
||
优先级：命令行 --labels > 源文件/中间产物的内嵌 metadata。
|
||
已经有旁挂文件时不覆盖（避免把用户手改的内容冲掉）。
|
||
"""
|
||
dst_labels = labels_path_for(dest_weights)
|
||
if dst_labels.is_file():
|
||
_warn(f"标签文件已存在，保持不变: {dst_labels.name}")
|
||
return dst_labels
|
||
|
||
if explicit:
|
||
names = parse_label_list(explicit)
|
||
if names:
|
||
return write_labels(dest_weights, names)
|
||
|
||
for cand in (src, src.with_suffix(".onnx"), dest_weights):
|
||
if not cand.is_file():
|
||
continue
|
||
if cand.suffix.lower() == ".onnx":
|
||
from arm_application.model_labels import labels_from_onnx
|
||
|
||
got = labels_from_onnx(cand)
|
||
else:
|
||
got = labels_from_model(cand)
|
||
if got:
|
||
_ok(f"标签来自 {cand.name}: {', '.join(got[0][k] for k in sorted(got[0]))}")
|
||
return write_labels(dest_weights, got[0])
|
||
return None
|
||
|
||
|
||
def cmd_convert(args) -> int:
|
||
root = _root(args)
|
||
src = Path(args.input).expanduser()
|
||
if not src.is_file():
|
||
# 相对路径优先按**权重目录**解析，而不是当前工作目录。
|
||
# 否则 `weights.sh convert staging/x.pt` 会去 <cwd>/staging 找，
|
||
# 而用户心里想的是 models/staging/x.pt —— 报"文件不存在"很费解。
|
||
cands = []
|
||
if not src.is_absolute():
|
||
cands.append(root / args.input) # models/staging/x.pt
|
||
cands.append(staging_dir(root) / args.input) # 只写文件名: models/staging/x.pt
|
||
cands.append(Path(args.input)) # 退一步：相对 cwd
|
||
found = next((c for c in cands if c.is_file()), None)
|
||
if found is None:
|
||
_err(
|
||
f"输入文件不存在: {args.input}\n"
|
||
f" 找过: " + ", ".join(str(c) for c in cands) +
|
||
f"\n 把待转换的文件放进 {staging_dir(root)} 再试。"
|
||
)
|
||
return 2
|
||
src = found
|
||
|
||
name = (args.name or src.stem).strip()
|
||
bad = validate_name(name)
|
||
if bad:
|
||
_err(bad)
|
||
return 2
|
||
|
||
group = args.group or infer_group(root, src)
|
||
chain, _outs = plan_conversion(root, src, name=name, group=group, target=args.to)
|
||
|
||
print(f"输入: {src}")
|
||
print(f"输出: {root / group}/{name}.<ext>")
|
||
if args.group is None:
|
||
print(f" （没给 --group：沿用输入文件所在分组 {group}/；"
|
||
f"engine 必须和 site.yaml 指的 .onnx **同级**，分家等于没转）")
|
||
print(f"计划: {chain.describe()}")
|
||
print(f"尺寸: imgsz={_imgsz(args)}")
|
||
if args.to != "all":
|
||
print(f"目标: 只产出 {args.to}")
|
||
|
||
in_staging = src.parent.resolve() == staging_dir(root).resolve()
|
||
# 归位路径会把源文件本身搬到目标去；那种情况下它已经不在 staging 了，
|
||
# 下面不能再"归档"一次（否则会 FileNotFoundError）。
|
||
src_consumed = False
|
||
|
||
if chain.is_noop:
|
||
ext = src.suffix.lower().lstrip(".")
|
||
if ext in WEIGHT_EXTS:
|
||
dst = canonical_path(root, group, name, ext)
|
||
if dst.resolve() == src.resolve():
|
||
_warn(f"{src.name} 已经是最终产物，且就在目标位置，无需处理")
|
||
return 0
|
||
print(f"{ext} 无需转换，直接归位 → {dst}")
|
||
if args.dry_run:
|
||
return 0
|
||
dst.parent.mkdir(parents=True, exist_ok=True)
|
||
# 归位本身就是"移动源文件"。若用户要求保留 staging 原件，
|
||
# 就改成复制，否则源文件会连同 staging 一起消失。
|
||
if in_staging and args.keep_staging:
|
||
shutil.copy2(str(src), str(dst))
|
||
else:
|
||
shutil.move(str(src), str(dst))
|
||
src_consumed = True
|
||
_ok(f"已归位 {dst}")
|
||
_materialize_labels(dst, dst, args.labels)
|
||
if in_staging and not src_consumed:
|
||
_ok(f"staging 原件保留在 {src}（--keep-staging）")
|
||
elif in_staging:
|
||
_ok(f"staging 已清空该文件（它已变成 {dst.name}）")
|
||
return 0
|
||
_err(
|
||
f"不认识的输入格式 '{src.suffix}'。"
|
||
f"可转换的输入: {', '.join('.' + e for e in CONVERTIBLE_INPUT_EXTS)}；"
|
||
f"已是最终产物的: .engine/.trt/.plan"
|
||
)
|
||
return 2
|
||
|
||
if args.dry_run:
|
||
print("(--dry-run，未实际执行)")
|
||
return 0
|
||
|
||
# 真正执行 --------------------------------------------------------------
|
||
produced: Dict[str, Path] = {}
|
||
try:
|
||
for ext in chain.produce:
|
||
dst = canonical_path(root, group, name, ext)
|
||
if dst.exists() and not args.force:
|
||
raise FileExistsError(f"{dst} 已存在（加 --force 覆盖）")
|
||
if ext == "onnx":
|
||
if src.suffix.lower() == ".onnx":
|
||
# 源本身就是 onnx：复制而不是移动 —— 用户给的文件不该消失。
|
||
dst.parent.mkdir(parents=True, exist_ok=True)
|
||
shutil.copy2(str(src), str(dst))
|
||
else:
|
||
_export_onnx(src, _imgsz(args), dst)
|
||
produced["onnx"] = dst
|
||
_ok(f"ONNX → {dst} ({_mode_of(dst)})")
|
||
elif ext == "engine":
|
||
onnx_in = produced.get("onnx") or src
|
||
_build_engine(onnx_in, dst, fp16=not args.no_fp16)
|
||
produced["engine"] = dst
|
||
_ok(f"engine→ {dst} ({_mode_of(dst)})")
|
||
except Exception as exc: # noqa: BLE001
|
||
_err(f"转换失败: {type(exc).__name__}: {exc}")
|
||
return 1
|
||
|
||
# 标签 ------------------------------------------------------------------
|
||
anchor = produced.get("onnx") or produced.get("engine") or src
|
||
lp = _materialize_labels(src, anchor, args.labels)
|
||
if lp:
|
||
_ok(f"标签 → {lp}")
|
||
else:
|
||
_warn("没有可用的标签（源模型里也没有）。请手动补：")
|
||
print(f" bash scripts/weights.sh labels {name} --set \"类别1,类别2\"")
|
||
|
||
# staging 收尾 ----------------------------------------------------------
|
||
if in_staging and not args.keep_staging and not src_consumed:
|
||
done = staging_dir(root) / "done"
|
||
done.mkdir(parents=True, exist_ok=True)
|
||
target = done / src.name
|
||
# 同名已存在时加个序号，避免静默覆盖上一次的源文件。
|
||
n = 1
|
||
while target.exists():
|
||
target = done / f"{src.stem}.{n}{src.suffix}"
|
||
n += 1
|
||
shutil.move(str(src), str(target))
|
||
_ok(f"已把 staging 里的源文件挪到 {target}（加 --keep-staging 可保留）")
|
||
|
||
print()
|
||
_ok(f"完成。共产出 {len(produced)} 个文件。")
|
||
print(f"下一步: 把 config/site.yaml 的 paths.yolo_weights 指向 {anchor}")
|
||
print(" 或直接跑 bash scripts/weights.sh list 确认标签读得出来")
|
||
return 0
|
||
|
||
|
||
# ---------------------------------------------------------------------------
|
||
# doctor
|
||
# ---------------------------------------------------------------------------
|
||
|
||
|
||
def _read_site_yaml() -> Dict:
|
||
if _REPO_ROOT is None:
|
||
return {}
|
||
p = _REPO_ROOT / "config" / "site.yaml"
|
||
if not p.is_file():
|
||
return {}
|
||
try:
|
||
import yaml
|
||
|
||
return yaml.safe_load(p.read_text(encoding="utf-8")) or {}
|
||
except Exception: # noqa: BLE001
|
||
return {}
|
||
|
||
|
||
def _engine_usable(p: Path) -> Optional[str]:
|
||
"""试着反序列化 engine。返回 None 表示可用，否则返回错误摘要。
|
||
|
||
引擎和 TensorRT 版本是绑死的：换过 TensorRT 之后旧引擎会直接加载失败。
|
||
这个检查就是为了把这种"静默失效"提前暴露出来。
|
||
"""
|
||
try:
|
||
import tensorrt as trt
|
||
except Exception as exc: # noqa: BLE001
|
||
return f"无法 import tensorrt: {exc}"
|
||
try:
|
||
rt = trt.Runtime(trt.Logger(trt.Logger.ERROR))
|
||
eng = rt.deserialize_cuda_engine(p.read_bytes())
|
||
if eng is None:
|
||
return "反序列化返回空（多半是 TensorRT 版本不匹配）"
|
||
return None
|
||
except Exception as exc: # noqa: BLE001
|
||
msg = str(exc)
|
||
if "incompatible serialization version" in msg or "magicTag" in msg:
|
||
return "TensorRT 版本不匹配（需重新导出：weights.sh convert <onnx> --name ...）"
|
||
return f"{type(exc).__name__}: {msg[:160]}"
|
||
|
||
|
||
def cmd_doctor(args) -> int:
|
||
root = _root(args)
|
||
problems = 0
|
||
print(f"权重目录: {root}")
|
||
_hr("═")
|
||
|
||
# 1) 逐模型体检 --------------------------------------------------------
|
||
entries = discover(root)
|
||
print(f"[1/4] 模型（{len(entries)} 个）")
|
||
for e in entries:
|
||
ls = model_labels(e, deep=args.deep)
|
||
tag = "OK " if ls.source != SOURCE_PLACEHOLDER else "缺标签"
|
||
if ls.source == SOURCE_PLACEHOLDER:
|
||
problems += 1
|
||
print(f" [{tag}] {e.group}/{e.name} 格式: {' '.join(e.exts)}")
|
||
if ls.source == SOURCE_PLACEHOLDER:
|
||
print(f" 期望: {e.labels_path.name}")
|
||
# 只有 .pt 没有 onnx/engine 时，two_stage/onnx 后端会用不了
|
||
if "onnx" not in e.files and any(x in e.files for x in ("engine", "trt")):
|
||
print(" 注意: 只有 engine 没有 onnx，CPU/ORT 后端无处可用")
|
||
|
||
# 2) engine 版本 -------------------------------------------------------
|
||
print()
|
||
print("[2/4] engine 可用性（TensorRT 版本绑定检查）")
|
||
engines = [
|
||
p for e in entries for ext in ("engine", "trt") if (p := e.path(ext)) is not None
|
||
]
|
||
if not engines:
|
||
print(" (没有 engine)")
|
||
for p in engines:
|
||
if args.check_engines:
|
||
err = _engine_usable(p)
|
||
if err:
|
||
problems += 1
|
||
print(f" [失效] {p.name}: {err}")
|
||
else:
|
||
print(f" [可用] {p.name}")
|
||
else:
|
||
print(f" [跳过] {p.name} (加 --check-engines 实测)")
|
||
|
||
# 3) 配置引用 ----------------------------------------------------------
|
||
print()
|
||
print("[3/4] config/site.yaml 的引用")
|
||
site = _read_site_yaml()
|
||
paths = site.get("paths") or {}
|
||
refs: List[tuple] = []
|
||
if paths.get("yolo_weights"):
|
||
refs.append(("paths.yolo_weights", paths["yolo_weights"]))
|
||
if paths.get("hole_weights"):
|
||
refs.append(("paths.hole_weights", paths["hole_weights"]))
|
||
if paths.get("hole_workpiece_weights"):
|
||
refs.append(("paths.hole_workpiece_weights", paths["hole_workpiece_weights"]))
|
||
hd = site.get("hole_detect") or {}
|
||
if hd.get("weights"):
|
||
refs.append(("hole_detect.weights", hd["weights"]))
|
||
if hd.get("workpiece_weights"):
|
||
refs.append(("hole_detect.workpiece_weights", hd["workpiece_weights"]))
|
||
|
||
if not refs:
|
||
print(" (没读到引用)")
|
||
for key, val in refs:
|
||
p = Path(str(val)).expanduser()
|
||
if not p.is_file():
|
||
if p.suffix == ".pt" and p.with_suffix(".onnx").is_file() is False:
|
||
problems += 1
|
||
print(f" [悬空] {key} → {p} (文件不存在)")
|
||
else:
|
||
problems += 1
|
||
print(f" [悬空] {key} → {p} (文件不存在)")
|
||
continue
|
||
ls = read_labels(p, allow_model_metadata=False)
|
||
origin = SOURCE_LABELS_ZH.get(ls.source, ls.source)
|
||
print(f" [OK ] {key} → {p.name} 标签: {origin}")
|
||
if ls.is_placeholder:
|
||
problems += 1
|
||
print(f" → 该模型读不到标签，运行时类名会变成 class_0")
|
||
|
||
backend = (site.get("yolo") or {}).get("backend")
|
||
if backend == "tensorrt":
|
||
yw = Path(str(paths.get("yolo_weights") or "")).expanduser()
|
||
if yw.name and not yw.with_suffix(".engine").is_file():
|
||
problems += 1
|
||
print(
|
||
f" [风险] yolo.backend=tensorrt 但 {yw.with_suffix('.engine').name} 不存在，"
|
||
"启动会直接失败"
|
||
)
|
||
|
||
# 4) staging -----------------------------------------------------------
|
||
print()
|
||
print("[4/4] staging（待转换）")
|
||
st = staging_files(root)
|
||
if not st:
|
||
print(" (空)")
|
||
for p in st:
|
||
ext = p.suffix.lower().lstrip(".")
|
||
if ext in CONVERTIBLE_INPUT_EXTS:
|
||
print(f" [待转换] {p.name} → weights.sh convert {STAGING_DIRNAME}/{p.name} --name <模型名>")
|
||
else:
|
||
print(f" [需人工] {p.name} 格式 .{ext} 不在支持列表（{', '.join(CONVERTIBLE_INPUT_EXTS)}）")
|
||
|
||
_hr("═")
|
||
if problems:
|
||
print(f"发现 {problems} 处问题。")
|
||
return 1
|
||
print("没有发现问题。")
|
||
return 0
|
||
|
||
|
||
# ---------------------------------------------------------------------------
|
||
# show：把模块约定直接打出来，省得翻文档
|
||
# ---------------------------------------------------------------------------
|
||
|
||
|
||
def cmd_show(args) -> int:
|
||
root = _root(args)
|
||
print("权重模块约定")
|
||
_hr()
|
||
print(f"权重根目录 : {root}")
|
||
print(f"仓库根 : {_REPO_ROOT or '(未找到)'}")
|
||
print(f"待转换目录 : {staging_dir(root)}")
|
||
print(f"标签文件后缀 : {LABELS_SUFFIX} （<模型名>{LABELS_SUFFIX}，放权重旁边，进 git）")
|
||
print(f"权重后缀 : {', '.join('.' + e for e in WEIGHT_EXTS)} （二进制，不进 git）")
|
||
print(f"已存在的分组 : {', '.join(groups(root)) or '(无)'}")
|
||
print()
|
||
print("命令")
|
||
_hr()
|
||
print(" weights.sh list [--deep] [--json]")
|
||
print(" weights.sh labels <模型名> [--group G] [--set a,b,c] [--set-file f.txt]")
|
||
print(" [--from-model] [--clear] [--deep] [--json]")
|
||
print(" weights.sh convert <文件> --name <模型名> [--group yolo] [--to all|onnx|engine]")
|
||
print(" [--imgsz 640] [--labels a,b] [--force] [--dry-run]")
|
||
print(" [--no-fp16] [--keep-staging]")
|
||
print(" weights.sh doctor [--deep] [--check-engines]")
|
||
print()
|
||
print("标签优先级: 旁挂文件 > ONNX 内嵌 metadata > 模型内嵌 metadata > 占位符(class_0)")
|
||
return 0
|
||
|
||
|
||
# ---------------------------------------------------------------------------
|
||
# main
|
||
# ---------------------------------------------------------------------------
|
||
|
||
|
||
def build_parser() -> argparse.ArgumentParser:
|
||
p = argparse.ArgumentParser(
|
||
prog="weights.sh",
|
||
description="模型权重模块：转换（PT→ONNX→TensorRT）、标签读写、列表、自检",
|
||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||
epilog=(
|
||
"示例:\n"
|
||
' weights.sh list\n'
|
||
' weights.sh labels detect_best_0\n'
|
||
' weights.sh labels detect_best_0 --set "工件,通止规"\n'
|
||
' weights.sh convert staging/best_v3.pt --name workpiece\n'
|
||
' weights.sh convert models/yolo/detect_best_0.onnx --name detect_best_0 --to engine\n'
|
||
),
|
||
)
|
||
p.add_argument("--root", help="权重根目录（默认自动探测 models/）")
|
||
sub = p.add_subparsers(dest="cmd", required=True)
|
||
|
||
s = sub.add_parser("list", help="列出所有权重及其标签")
|
||
s.add_argument("--deep", action="store_true", help="也尝试从 .pt/.engine 自身读标签（慢）")
|
||
s.add_argument("--json", action="store_true", help="以 JSON 输出")
|
||
s.set_defaults(func=cmd_list)
|
||
|
||
s = sub.add_parser("labels", help="查看/修改模型标签")
|
||
s.add_argument("model", help="模型名（权重目录里的文件名主干）")
|
||
s.add_argument("--group", help="限定分组")
|
||
s.add_argument("--set", help='直接指定类别名，如 "工件,通止规"（改了立刻生效）')
|
||
s.add_argument("--set-file", dest="set_file", help="从纯文本文件导入（一行一个类名）")
|
||
s.add_argument("--from-model", dest="from_model", action="store_true",
|
||
help="从模型内嵌 metadata 抄一份到旁挂文件（变成可编辑）")
|
||
s.add_argument("--clear", action="store_true", help="删除旁挂标签文件")
|
||
s.add_argument("--deep", action="store_true", help="读取时也加载 .pt/.engine 自身")
|
||
s.add_argument("--json", action="store_true", help="以 JSON 输出")
|
||
s.set_defaults(func=cmd_labels)
|
||
|
||
s = sub.add_parser("convert", help="转换权重并归位")
|
||
s.add_argument("input", help="输入文件（可以是 staging/ 里的相对名）")
|
||
s.add_argument("--name", help="输出模型名（默认沿用输入文件名主干）")
|
||
s.add_argument("--group", help="输出分组子目录（默认沿用输入文件所在分组；staging/外来文件默认 yolo）")
|
||
s.add_argument("--to", default="all", choices=["all", "onnx", "engine"], help="产出目标")
|
||
s.add_argument("--imgsz", type=int, help="输入尺寸（默认取 site.yaml 的 yolo.imgsz）")
|
||
s.add_argument("--labels", help='顺带写标签，如 "工件,通止规"')
|
||
s.add_argument("--force", action="store_true", help="覆盖已存在的产物")
|
||
s.add_argument("--no-fp16", dest="no_fp16", action="store_true", help="engine 不用 FP16")
|
||
s.add_argument("--dry-run", dest="dry_run", action="store_true", help="只打印计划")
|
||
s.add_argument("--keep-staging", dest="keep_staging", action="store_true",
|
||
help="转换后不把 staging 里的源文件挪走")
|
||
s.set_defaults(func=cmd_convert)
|
||
|
||
s = sub.add_parser("doctor", help="自检：缺标签 / 悬空引用 / engine 失效")
|
||
s.add_argument("--deep", action="store_true", help="也加载 .pt/.engine 读标签")
|
||
s.add_argument("--check-engines", dest="check_engines", action="store_true",
|
||
help="实测反序列化每个 engine（探测 TensorRT 版本不匹配）")
|
||
s.set_defaults(func=cmd_doctor)
|
||
|
||
s = sub.add_parser("show", help="打印模块约定与命令")
|
||
s.set_defaults(func=cmd_show)
|
||
|
||
return p
|
||
|
||
|
||
def main(argv: Optional[Sequence[str]] = None) -> int:
|
||
args = build_parser().parse_args(argv)
|
||
try:
|
||
return int(args.func(args))
|
||
except KeyboardInterrupt:
|
||
_err("被中断")
|
||
return 130
|
||
|
||
|
||
if __name__ == "__main__":
|
||
sys.exit(main())
|