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Н Новости

Запускаем Yolo на пятирублёвой монете или Luckfox Pico Mini

Размер платы немного больше пятирублёвой монеты
Размер платы немного больше пятирублёвой монеты

В данной статье речь пойдет про использование платы Luckfox Pico Mini. Я расскажу про особенности, её настройку, а также о том как запускать на ней нейронные сети для детекции объектов с камеры (Yolov8). Всё дальнейшее повествование опирается на желание автора использовать устройство для обработки изображений нейронными сетями в реальном времени (или почти). При этом обработка изображений не может работать изолированно от других устройств общей системы, поэтому в статье также будет рассмотрена интеграция Luckfox Pico с внешней периферией.

О серии плат

Luckfox Pico - серия плат для разработки на основе процессоров Rockchip RV1103 и RV1106.

В плане вычислительной мощности между данными процессорами большой разницы нет. Приведу концептуальные схемы устройства процессоров из даташитов:

RV1103
RV1103
RV1106
RV1106

У RV1106 есть некоторые дополнительные интерфейсы для внешних устройств, а в остальном процессоры похожи.

Компания Luckfox выпускает различные одноплатники, но меня больше всего заинтересовал самый маленький по размерам Luckfox Pico Mini.

Есть две версии этого одноплатника:

  • Luckfox Pico Mini A

  • Luckfox Pico Mini B

Разница в наличии Flash памяти у B версии
Разница в наличии Flash памяти у B версии

B версия отличается от A только наличием распаянной на плате Flash памятью на 128 Мб. На Flash можно поставить операционную систему, но 128 Мб - как - то мало (в 2024 году, разумеется), поэтому особого смысла в Flash памяти нет, хотя его можно использовать в качестве резервного хранилища важных данных, например, логов.

На данный момент стоимость A версии с учётом доставки немного больше 900 рублей:

В начале августа она стоила дешевле
В начале августа она стоила дешевле

Характеристики платы:

Processor

RV1103 -> Cortex [email protected] + RISC-V

NPU

0.5TOPS, supports int4, int8 and int16

ISP

Input 4M @30fps (Max)

Memory

64MB DDR2

USB

USB 2.0 Host/Device

Camera

MIPI CSI 2-lane

GPIO

17 × GPIO pins

Default Storage

Mini A: TF card (Not included)

Mini B: SPI NAND FLASH (128MB)

Главный интерес вызывает NPU, который позволяет проводить инференс нейронных сетей с достаточно большой скоростью (относительно инференса на процессоре). Отношение размера платы к её возможностям радуют.

57e93167e60a19200a297f9da6f4996f.png

Масса платы чуть больше четырёх грамм.

26542d2c6a141ed7d62eeb39b7a7a6c8.png

На плате имеется 17 GPIO пинов, некоторые из которых могут реализовывать различные протоколы проводной связи - SPI, UART, I2C:

Pinout
Pinout

UART2 используется для отладки/альтернативного взаимодействия с платой. Также плата поддерживает Ethernet, в отзывах на товар я нашёл такую фотографию:

Фотография из отзыва на Aliexpress
Фотография из отзыва на Aliexpress

Установка Linux

Для платы существует 2 основных образа - сборка на основе Buildroot и сборка на Ubuntu. Все готовые образы можно найти здесь, также вы можете собрать свой, но в этой статье про это рассказываться не будет. Для большинства задач будет достаточно образа на основе Buildroot, в нём есть всё что нужно и даже лишнее, что мы позднее отключим. Именно его я и использую на своих Luckfox Pico Mini:

Нужный образ можно скачать с гугл диска(firmware/buildroot)
Нужный образ можно скачать с гугл диска(firmware/buildroot)

Скачанный архив нужно распаковать где - нибудь. Установить операционную систему можно на Flash память или SD карту. Как было сказано ранее, объём Flash памяти на данной плате невелик или вообще отсутствует в A версии, поэтому я подробно расскажу про установку операционной системы на SD карту.

Установка на Flash

Для установки операционной системы на встроенный Flash есть утилита upgrade_tool. Она работает и под Linux, и под Windows.

C записыванием образа на SD карту есть некоторые сложности. В документации разработчики предлагают использовать проприетарный SocToolkit, который должен работать под Windows и Linux. У меня воспользоваться им не получилось. В разделе “SDTool” в поле выбора SD карты для прошивки было пусто. При этом я запускал программу от рута, запускал на разных операционках: Arch Linux, Ubuntu, Windows 10, Windows 11. Также подключал SD карту через разные адаптеры. Утилита не хотела её видеть, при этом система показывала, что она есть (пробовал форматировать в FAT32, а также полностью удалял все разделы и оставлял её неразмеченной). В итоге на гитхабе я нашёл Python-скрипт blkenvflash.py от комьюнити, который позволяет из под линукса записать образ.

Вы можете попробовать воспользоваться SocToolkit (запускайте от root/админа), возможно у вас он заработает, официальная инструкция.

Про Linux

Далее в статье будут приводиться примеры кросс-компиляции кода для Luckfox, которая работает только под Linux (кросс-компилятор проприетарный и бинарников под Windows нет). Поэтому рекомендую сразу подготовить виртуальную машину/WSL/реальное устройство с Linux, если такого нет. Есть ещё альтернативный вариант - Google Colab, про него будет рассказано далее.

Как использовать blkenvflash.py:

  • Вам нужен компьютер с Linux и Python 3

  • SD карту необходимо полностью отформатировать, так чтобы на ней не было ни одного раздела, только неразмеченное пространство. Я для этого использую GParted

  • Скрипт blkenvflash.py необходимо поместить в директорию с распакованным образом операционной системы, которую вы собираетесь установить

  • Далее через команду lsblk посмотрите путь/название вашей SD карты в системе (если она автоматически примонтировалась - отмонтируйте её). В моём случае это /dev/sda1

6c8b09b850e454a69f41ac02e84936bc.png
  • Далее из директории с образом нужно запустить blkenvflash.py от рута:

sudo python3 blkenvflash.py /dev/sda1

Вместо /dev/sda1 подставляйте путь к вашей SD карте.

  • Если всё правильно, то через некоторое время скрипт успешно завершит свою работу.

Теперь можете вставлять SD карту в Luckfox Pico Mini:

Контактами к плате
Контактами к плате

Подавать питание можно через пин VBUS (5 Вольт) или через type c разъём (тоже 5 Вольт). Так же type c используется для взаимодействия с платой через компьютер (на Luckfox Pico нет wifi). После подачи питания вы увидите мигающий красный светодиод, судя по документации, он мигает не просто так, а служит индикатором активности платы.

Также в целях отладки вы можете подключить USB TTL переходник на пины UART2. Через него можно видеть все логи запуска системы, а также использовать виртуальный терминал. Но стоит обратить внимание на одну деталь - при использовании данного интерфейса FPS инференса нейросети на плате по какой - то причине упал на несколько единиц, поэтому использовать UART2 нужно только для отладки.

Кроме отладочного UART’а к плате можно подключиться следующими способами:

  • ADB (Android Debug Bridge)

    Этот способ я использую как основной, так можно удобно через команды adb push и pull перекидывать файлы и директории с хоста на плату и наоборот.

    На Linux он ставится легко:

    sudo apt install adb # Debian Based (Ubuntu)

    sudo pacman -Sy adb # Arch based

    Далее если всё правильно установлено, то команда adb shell откроет терминал вашей платы.

Мы внутри...
Мы внутри...

Если adb выдаёт ошибки вида: “недостаточно привилегий”, то попробуйте выполнить следующие команды:

adb kill-server
sudo adb start-server
adb shell
  • Виртуальная сеть через USB

Данный способ позволяет через USB организовать локальную сеть между вашим компьютером и Luckfox Pico, также можно настроить раздачу интернета с вашего компьютера. Реализация такого подключения зависит от вашей операционной системы.

Настройка

Добавления swap

Swap
Swap

Изначально в официальном Buildroot образе нет swap раздела, а встроенной оперативной памяти не хватает для всех задач. Например, у меня не хотела запускаться Yolo (не хватало памяти для загрузки модели) при подключенной CSI камере (для неё, кстати, память (24 Mb) аллоцируется статически при запуске системы). Следующие команды добавят 7.8G свопа (используется оставшееся пространство на SD карте, поэтому у вас может быть другое значение):

mkfs.ext4 /dev/mmcblk1p8 # оставляйте всё по-умолчанию, нажимайте Enter в качестве ответа на вопросы
mkswap /dev/mmcblk1p8
swapon /dev/mmcblk1p8

Затем через команду free вы можете проверить, что swap добавился:

Вроде есть
Вроде есть

Но swap нужно включать (swapon) после каждой перезагрузки, поэтому автоматизируем этот процесс через initd (эта система инициализации используется в официальном buildroot образе). Для этого переходим в директорию /etc/init.d и выполняем следующую команду:

echo '#!/bin/sh
case $1 in
    	start)
            	swapon /dev/mmcblk1p8
            	;;
    	stop)
            	;;
    	*)
            	exit 1
            	;;
esac' > S90autoswap

Или просто через текстовый редактор создаём файл S90autoswap с содержимым скрипта. Из коробки в buildroot образе есть только nano.

Далее выдаём права на запуск:

chmod +x ./S90autoswap

Теперь можно перезагружаться и проверять, что swap активировался автоматически.

Ещё немного оптимизации

Но проблема с нехваткой оперативной памяти добавлением swap’а полностью не решается. При подключении CSI камеры, иногда RKNN не хочет инициализировать yolo модель, выводя ошибку: “Can’t allocate memory”. Я устранил эту ошибку следующими двумя способами:

  • Перед запуском своих программ выполняю команду killall rkipc

  • Удалил авто-запуск разных ненужных мне программ

В официальном buildroot образе по умолчанию эти сервисы запускаются автоматически, вот их список (скрипты для их запуска находятся в /etc/init.d):

  • S49ntp - NTP может быть нужен, для некоторых сетевых запросов, но мне - нет

  • S50sshd - SSH я не использую, так как подключаюсь через ADB

  • S50telnet - аналогично ssh

  • S91smb - сетевые папки я не использую

  • S99python - Судя по коду внутри, скрипт нужен для автоматического запуска Python файлов из /root (boot.py, main.py), но это не системные файлы (их вообще нет). В общем, скрипт ничего полезного не делает

Для того, чтобы эти сервисы не запускались автоматически, я перенёс соответствующие скрипты в папку /oem/services_backup. Хотя вы можете их просто удалить. Также возможно отключить системные логи (syslogd, klogd), удалив их сервисы из автостарта, но я решил этого не делать.

Hello, World

Весь код под плату я буду писать на С/C++. В официальном buildroot образе предустановлен интерпретатор python, но учитывая ограничения по вычислительным ресурсам платы, нет смысла писать код под плату на питоне. Управление GPIO пинами через Python, ещё может быть и будет нормально работать, но пост-обработка результатов инференса yolo через Python - плохая идея.

Именно поэтому весь дальнейший код под одноплатник написан на C/C++. Все примеры в виде готовых структурированных проектов с Makefile/CMake (для некоторых) можно взять из моего github репозитория.

git clone https://github.com/ret7020/LuckfoxAI

Текущий пример находятся в Projects/HelloWorld.

Для компиляции вам нужен кросс-компилятор. Его бинарники есть только под Linux x86. Их можно скачать из официального github репозитория:

git clone https://github.com/LuckfoxTECH/luckfox-pico/

Кросс-компиляцию проекта можно проводить на Google Colab, здесь есть пример.

В директории tools/linux/toolchain/arm-rockchip830-linux-uclibcgnueabihf/bin находятся бинарники нужных программ (в первую очередь, нас интересуют gcc и g++). Далее для компиляции моих примеров и примеров из репозитория rknn_model_zoo нужно установить переменную среды с путём к директории кросс-компилятора:

export GCC_COMPILER=/home/stephan/Downloads/LuckFox/luckfox-pico/tools/linux/toolchain/arm-rockchip830-linux-uclibcgnueabihf/bin/arm-rockchip830-linux-uclibcgnueabihf

Обратите внимание на то, что в конце пути после последнего / добавляется ещё arm-rockchip830-linux-uclibcgnueabihf

Исходный код примера очень простой, стандартный HelloWorld:

#include <stdio.h>

int main()
{
    printf("Hello, world!\nFrom luckfox...\n");
    return 0;
}
/* Можете использовать iostream cout, вместо stdio printf, кому как нравится, 
    но не забывайте компилировать через компилятор C++ (например, g++)*/

Makefile для сборки тоже очень простой:

build:
    mkdir -p bin
    echo Using: ${GCC_COMPILER}
    ${GCC_COMPILER}-g++ main.cpp -o ./bin/hello

deploy:
    adb push ./bin/hello /oem/hello

Команда build собирает итоговый бинарник в ./bin/hello, используя указанный в переменных среды кросс-компилятор g++.

Команда deploy с помощью adb перекидывает бинарник в директорию пользователя (/oem) на Luckfox Pico.

Управление GPIO пинами

Не осциллограф конечно, но что поделать
Не осциллограф конечно, но что поделать

Рассмотрим взаимодействие с пинами через терминал, а также программным управлением. У нас есть возможность управлять пинами через линуксовую абстракцию. Схема управления следующая: сначала экспортируем пин и устанавливаем его на вход/выход (напоминает pinMode в Arduino), затем записываем/считываем из него значение, освобождаем/unexport.

Ещё раз пинаут
Ещё раз пинаут

На схеме пины имеют названия следующего вида: GPIO1_D0_d. Это название необходимо интерпретировать следующим образом:

GPIO{bank}_{group}{X}_d

Для того, чтобы рассчитать итоговый ID пина, с которым мы будем работать из под линукса нужно воспользоваться следующей формулой:

pin = bank * 32 + (group * 8 + X)

Исходя из этого, ID правого нижнего пина (GPIO1_D0_d) будет равен 56. Следующий пример показывает управление пином через терминал:

# Экспортируем в userspace (у нас появится директория gpio56 в /sys/class/gpio)
echo 56 > /sys/class/gpio/export

# Переводим его в режим “выхода”
echo out > /sys/class/gpio/gpio56/direction

# Записываем значение HIGH (1), 3.3 В, называйте как хотите
echo 1 > /sys/class/gpio/gpio56/value

# Или “выключаем” его
echo 0 > /sys/class/gpio/gpio56/value

# В конце делаем unexport
echo 56 > /sys/class/gpio/unexport

Касательно unexport стоит заметить, что состояние пина при этом не сбрасывается, оно остаётся таким же каким и было установлено.

Теперь продемонстрирую программу, которая управляет состоянием пина из кода. Фактически она делает всё тоже - самое, записывая значения в соответствующие файлы. Код программы в репозитории - Projects/GPIO.

#include <stdio.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>

int main()
{
    int bank = 1;
    char group = 2;
    int X = 0;
    int linuxPin = 0;
    char result[2];
    printf("Enter pin from pinout, like example: 1 B 2 stands for GPIO1_B2_d in pinout: ");
    scanf("%d %c %d", &bank, &group, &X);
    group -= 'A';
    linuxPin = bank * 32 + (group * 8 + X);
    printf("Set to (1 or 0)?:");
    scanf("%s", &result);
    printf("Pin %d will be set to %s\n", linuxPin, result);

    // Export pin to userspace
    FILE *exportFile = fopen("/sys/class/gpio/export", "w");
    if (exportFile == NULL)
    {
   	 perror("Failed to open GPIO export file, maybe it is alreay exported or invalid?");
   	 return -1;
    }
    fprintf(exportFile, "%d", linuxPin);
    fclose(exportFile);

    // Set to output
    char directionPath[50];
    snprintf(directionPath, sizeof(directionPath), "/sys/class/gpio/gpio%d/direction", linuxPin);
    FILE *directionFile = fopen(directionPath, "w");
    if (directionFile == NULL)
    {
   	 perror("Failed to open GPIO direction file, check export");
   	 return -1;
    }
    fprintf(directionFile, "out");
    fclose(directionFile);

    // Write value
	char valuePath[50];
	snprintf(valuePath, sizeof(valuePath), "/sys/class/gpio/gpio%d/value", linuxPin);
	FILE *valueFile = fopen(valuePath, "w");
	if (valueFile == NULL) {
    	perror("Failed to open GPIO value file");
    	return -1;
	}


    fprintf(valueFile, result);
	fflush(valueFile);


    // Release pin
	fclose(valueFile);
	FILE *unexportFile = fopen("/sys/class/gpio/unexport", "w");
	if (unexportFile == NULL) {
    	perror("Failed to open GPIO unexport file");
    	return -1;
	}
	fprintf(unexportFile, "%d", linuxPin);
	fclose(unexportFile);


    return 0;
}

Сначала вам нужно ввести пин в виде 1 D 0 (означает GPIO1_D0). Далее ввести значение, которое хотите записать в пин.

Не всеми пинами можно управлять из официального образа, чтобы настроить каждый пин используется dtb (Device Tree Binary), его изменение требует пересборки ядра. Подробнее можно прочитать в документации.

Программируем UART

Судя по pinout платы, у Luckfox Pico есть: UART2, UART3, UART4.

UART2 используется для отладки, поэтому мы не можем его сконфигурировать (если речь идёт про официальный Buildroot образ, возможно, через dtb uart2 можно переназначить). В официальном Buildroot образе UART3 не настроен, его необходимо вручную сконфигурировать в dtb и пересобрать ядро. Исходя из вышесказанного, проще всего воспользоваться UART4. Его удобно настроить через luckfox-config (до raspi-config он не дотягивает).

luckfox-config

Стрелочками выбираем второй пункт “Advanced Configuration”

Advanced options
Advanced options
UART
UART

Выбираем единственный доступный UART4_M1 и переключаем его состояние на 1, enabled

UART4_M1
UART4_M1
enable
enable

Теперь можно выйти из конфигуратора. Командой luckfox-config show можно в удобной форме посмотреть текущую конфигурацию пинов платы:

luckfox-config show
luckfox-config show

Напротив UART4 для пинов GPIO1_C4 и GPIO1_C5 (10 и 11 номер на плате) будут стоять звёздочки, которые означают, что пины сконфигурированы под UART.

Если всё сделано правильно, то в /dev должен появится ttyS4:

/dev/ttyS4
/dev/ttyS4

Для проверки того, что всё работает, к пинам можно подключить реальное устройство, которое работает по UART или TTL переходник.

Пример кода отправит сообщение “ping\n”. Далее, если в ответ получит “e”, то завершит работу, иначе продолжит отправлять "ping”. Такой простой демонстрации будет достаточно.

Luckfox -> TTL (3.3V)
Luckfox -> TTL (3.3V)

Для тестирования я использовал UART TTL переходник и программу CuteCom.

Пример кода для обмена данными по UART:

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <fcntl.h>
#include <termios.h>
#include <unistd.h>

#define UART_PATH "/dev/ttyS4"

int main()
{
    // Init part
    char serialPort[] = UART_PATH;
    char txBuf[] = "ping\n";
    struct termios tty;
    ssize_t writeLen;
    int serialFd;
    char rxBuffer[256];
    int bytesRead;

    serialFd = open(serialPort, O_RDWR | O_NOCTTY);

    memset(&tty, 0, sizeof(tty));
    

    // Setting baud
    cfsetospeed(&tty, B9600);
    cfsetispeed(&tty, B9600);

    // Generic flags
    tty.c_cflag &= ~PARENB;
    tty.c_cflag &= ~CSTOPB;
    tty.c_cflag &= ~CSIZE;
    tty.c_cflag |= CS8;
    
    while (1){
   	 writeLen = write(serialFd, txBuf, sizeof(txBuf));
   	 if (writeLen > 0)
   	 {
   		 bytesRead = read(serialFd, rxBuffer, sizeof(rxBuffer));
   		 if (bytesRead > 0) {
   			 rxBuffer[bytesRead] = '\0';
   			 printf("Recieved: %s", rxBuffer);
   			 if (rxBuffer[0] == 'e') {
   				 printf("Exit\n");
   				 return 0;
   			 }
   		 }
   	 }
    }

    return 0;
}

Скорость обмена - 9600 бод, остальные параметры “стандартные”. Под “стандартными” я имею в виду следующие:

CuteCom
CuteCom

Программируем SPI

Данный протокол может передавать данные с бОльшей скоростью и может быть полезен при подключении Luckfox к другим контроллерам в общей системе.

SPI, так же как и UART, необходимо сконфигурировать через luckfox-config. На Luckfox пользователю нормально доступна только одна SPI шинаторая используется Flash/SD памятью).

Конфигурация очень похожа на конфигурацию UART:

Advanced Options -> SPI -> SPI0_M0 -> 1 enable

Далее вас попросят ввести частоту работы шины в Герцах, максимальная - 1 МГц, поэтому вводим 1000000 и нажимаем OK. Далее, нажимая Cancel, выходим из конфигуратора.

Если всё настроено правильно, то в /sys/bus/spi/devices/ должна появиться директория spi0.0 (нулевое устройство на нулевой шине). Подробнее про настройку SPI при использовании нескольких SPI устройств, подключенных к одной шине (выбор разных Chip Select пинов) можно прочитать в официальной документации, там тоже не обойдётся без сборки dtb.

Я же покажу, как использовать Luckfox Pico в качестве Master платы, подключенной к Slave Arduino Nano.

Важное примечание

Luckfox Pico и Arduino Nano имеют разное логическое напряжение на gpio пинах. У Luckfox - это 3.3 В, у Arduino Nano - 5 В. Поэтому просто так подключать их друг - к другу нельзя (точнее можно, но есть большой риск спалить устройство с меньшим напряжением). Поэтому соединять их нужно через конвертер логических уровней. Подробнее про связь МК и одноплатника по SPI можете прочитать здесь.

Slave код на Arduino Nano:

#include <SPI.h>

bool cnt = 0;

void setup()
{
  Serial.begin(9600);
  pinMode(SS, INPUT_PULLUP);
  pinMode(MOSI, OUTPUT);
  pinMode(SCK, INPUT);
  SPCR |= _BV(SPE);
  SPI.attachInterrupt();
}

void loop(void)
{
  if (cnt != 0) {
	Serial.println("All data recieved");
	cnt = 0;
  }
 
}

ISR (SPI_STC_vect)
{
  Serial.println("New byte recieved");
  Serial.println(SPDR);
  cnt = 1;
}

Master код на Luckfox (в репозитории находится в Projects/SPITest):

#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <fcntl.h>
#include <unistd.h>
#include <linux/spi/spidev.h>
#include <sys/ioctl.h>

#define SPI_DEVICE_PATH "/dev/spidev0.0"

int main()
{
    int spi_file;
    uint8_t tx_buffer[1] = {20};
	uint8_t rx_buffer[1];

    // Open the SPI device
    if ((spi_file = open(SPI_DEVICE_PATH, O_RDWR)) < 0)
    {
   	 perror("Failed to open SPI device");
   	 return -1;
    }

    uint8_t mode = SPI_MODE_0;
    uint8_t bits = 8;
    if (ioctl(spi_file, SPI_IOC_WR_MODE, &mode) < 0)
    {
   	 perror("Failed to set SPI mode");
   	 close(spi_file);
   	 return -1;
    }

    struct spi_ioc_transfer transfer = {
   	 .tx_buf = (unsigned long)tx_buffer,
   	 .rx_buf = (unsigned long)rx_buffer,
   	 .len = sizeof(tx_buffer),
   	 .speed_hz = 1000000,  // SPI speed in Hz
   	 .delay_usecs = 0,
   	 .bits_per_word = 8,
    };

    if (ioctl(spi_file, SPI_IOC_MESSAGE(1), &transfer) < 0)
    {
   	 perror("Failed to perform SPI transfer");
   	 close(spi_file);
   	 return -1;
    }

    close(spi_file);

    return 0;
}

Это максимально простой пример, который ничего полезного не делает (просто передаёт один байт с Luckfox на Arduino), но так как статья далеко не про SPI, считаю, что этого достаточно.

Использование OpenCV

Для маломощных устройств есть специальный OpenCV Mobile (форк OpenCV), в нём нет некоторых компонентов, но зато он более производительный, чем классический OpenCV. Изучить какие модули включены в Mobile версию можно в официальном GitHub репозитории проекта.

В моём репозитории демонстрация OpenCV Mobile находится в Projects/OpenCVMobile

Для простоты подключения библиотек используется система сборки CMake. Содержимое CMakeLists.txt

cmake_minimum_required(VERSION 3.5)

project(OpenCVMobile)

set(CMAKE_CXX_STANDARD 11)

SET(CMAKE_C_COMPILER "$ENV{GCC_COMPILER}-gcc")

SET(CMAKE_CXX_COMPILER "$ENV{GCC_COMPILER}-g++")

SET(CMAKE_C_LINK_EXECUTABLE "$ENV{GCC_COMPILER}-ld")

set(CMAKE_SYSTEM_PROCESSOR arm)

set(OpenCV_DIR "${CMAKE_CURRENT_SOURCE_DIR}/libs/opencv-mobile-4.10.0-luckfox-pico/lib/cmake/opencv4")

find_package(OpenCV REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})

add_executable(OpenCVMobile main.cpp)

target_link_libraries(OpenCVMobile ${OpenCV_LIBS})

В нём указываются пути к кросс-компиляторам и путь к файлам библиотеки OpenCVMobile. На момент написания актуальная версия 4.10.0. В директории libs проекта находится скрипт download.sh, который автоматически скачает и распакует эту версию. Выполнить этот башник необходимо до начала сборки проекта.

Тестовый код для OpenCV просто создаёт и сохраняет 3 изображения:

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <stdio.h>

int main()
{
    printf("Generating images test");
    cv::Mat redImg(480, 640, CV_8UC3, cv::Scalar(0, 0, 255));
    cv::imwrite("red.jpg", redImg);

    cv::Mat greenImg(480, 640, CV_8UC3, cv::Scalar(0, 255, 0));
    cv::imwrite("green.jpg", greenImg);

    cv::Mat blueImg(480, 640, CV_8UC3, cv::Scalar(255, 0, 0));
    cv::imwrite("blue.jpg", blueImg);
    return 0;
}

Для сборки проекта необходимо выполнить следующие команды в корне проекта (Projects/OpenCVMobile):

mkdir build
cd build
cmake ..
make

В итоге в директории ./build вы получите бинарник с названием OpenCVMobile. Его надо скопировать на Luckfox и запустить:

adb push OpenCVMobile /oem
adb shell
cd /oem
./OpenCVMobile

После завершения работы, в директории /oem (рядом с бинарником программы) на Luckfox вы получите 3 файла с названиями: red.jpg, blue.jpg, green.jpg, которые являются изображениями соответствующих названиям цветов.

CSI камера

Плата не поддерживает высококачественные CSI камеры. В характеристиках заявлено чтение в 30 fps 4MP (это допустимый максимум) камеры. Поддерживаются только камеры на основе SC3336. На Aliexpress такая камера только одна:

Написано: "специально для Luckfox"
Написано: "специально для Luckfox"

Сенсор

SC3336

CMOS

1/2.8”

Разрешение

3MP (2304x1296)

Затвор

Глобальный

Апертура

F2.0

Дисторсия

<33%

FOV

98.3°

Фокусное расстояние

3.95mm

Автофокусировка

нет

Отсутствие автоматической фокусировки расстраивает, но нет так нет.

Тестируем камеру

Сначала нужно определить к какому устройству (/dev/video*) подключилась физическая камера. Определить это можно с помощью команды:

v4l2-ctl --list-devices

В разделе rkisp_mainpath (platform:rkisp-vir0) будут отображены устройства привязанные к CSI камере.

rkisp_mainpath (platform:rkisp-vir0):

/dev/video11

Нас интересует самое первое устройство, у меня это /dev/video11.

Выше я показал пример запуска OpenCV Mobile, через него я и предлагаю получать кадры с камеры. При этом из OpenCV Mobile убран модуль opencv_videoio, который добавляет возможность сохранять видео с камеры нужным кодеком (cv::VideoWriter). Поэтому мы будем просто сохранять каждый новый кадр в один и тот же файл (не стоит злоупотреблять, можно убить SD карту).

Код этого примера в репозитории находится в Project/OpenCV_CSI_Camera.

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <stdio.h>
#include <chrono>

// OpenCV Mobile doesn't support VideoWriter

#define DEVICE_PATH 11
#define VIDEO_RECORD_FRAME_WIDTH 640
#define VIDEO_RECORD_FRAME_HEIGHT 640

double avgFps = 0.0;
int framesRead = 0;
int main()
{
	// Camera init
	cv::VideoCapture cap;
	cap.set(cv::CAP_PROP_FRAME_WIDTH, VIDEO_RECORD_FRAME_WIDTH);
	cap.set(cv::CAP_PROP_FRAME_HEIGHT, VIDEO_RECORD_FRAME_HEIGHT);
	cap.open(DEVICE_PATH);

	cv::Mat bgr;

	// "Warmup" camera
	for (int i = 0; i < 5; i++){cap >> bgr;}

	for (int i = 0; i < 25 * 10; i++){
		std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
		cap >> bgr;
		std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
		printf("Get frame - OK\n");
		double fps = 1 / std::chrono::duration<double>(end - begin).count();
		avgFps += fps;
		framesRead++;
		if (bgr.empty()) break;
		cv::imwrite("captured.jpg", bgr);
	}
	printf("AVG FPS: %lf\n", avgFps / framesRead);

	cap.release();

	return 0;
}

Перед запуском программы рекомендую выполнять ещё команду:

killall rkipc

Код очень простой, используются стандартные методы OpenCV.
“Прогрев” камеры добавил по привычке, в целом от него нет смысла на этой камере. Код измеряет FPS чтения изображений с камеры. Для изображений размером 640x640 выходит около 39 FPS, для изображений 320x320 значительного прироста нет. Но, вот если вы попытаетесь читать изображения 1920x1080, то FPS будет очень низким. В любом случае, для инференса Yolo будет достаточно и 640x640.

Запуск Yolo

Немного аналитики

Rockchip любезно делятся готовым кодом для запуска и конвертации различных моделей yolo (и не только). На данный момент в rknn_model_zoo есть исходники для 8 версий yolo:

yolov5, yolov5_seg, yolov6, yolov7, yolov8, yolov8_seg, yolov10, yolox

При этом не все эти примеры запускаются на Luckfox Pico, некоторые компилируются под RV1103, но при запуске не могут прочитать конфиг модели или ссылаются на нехватку методов в RKNN (yolov10 по этой причине не хочет запускаться). Я составил следующую таблицу, которая для базовой yolo модели (обученной на COCO) показывает средний FPS в детекции объектов на изображениях 640x640.

Модель

~ FPS (640x640)

Yolov5

13.5

Yolov6

14.5

Yolov7

13

Yolov8

11

Yolox Nano

25

Yolox Tiny

18

Изначально планировалось провести подобный анализ для изображений 320x320, но по итогу использовались только изображения 640x640. О том почему 320x320 оказались неподходящими будет написано далее.

Судя по бенчмарку от Ultralytics, yolov8 работает быстрее всех предыдущих, но этот график описывает скорость инференса на A100, что явно намного мощнее нашего рантайма.

Взято из репозитория ultralytics/ultralytics_yolov8
Взято из репозитория ultralytics/ultralytics_yolov8

Также рассмотрим бенчмарк из репозитория rknn_model_zoo, полную таблицу вы можете посмотреть здесь. К сожалению в ней нет информации о процессорах RV1103/RV1106, но я проанализирую относительный FPS между различными моделями в контексте одного процессора. Просто так переносить результаты одного процессора на другой не совсем правильно, но изучить чужие бенчмарки тоже полезно. Так, yolov5n работает быстрее yolov8n на всех представленных в таблице процессорах. Из таблицы видно, что самая быстрая модель - yolov6.

Мои замеры показали (на RV1103), что yolov6 быстрее yolov5, но не так сильно, как на других процессорах из таблицы ниже.

RKNN Benchmark
RKNN Benchmark

Также есть бенчмарк от Qengineering на процессорах большей мощности - RK3588/66/68

Qengineering Benchmark
Qengineering Benchmark

Модели yolov5_seg и yolov8_seg выполняют семантическую сегментацию изображений, а остальные - детектирование объектов. Сегментация (с точки зрения вычислительных ресурсов, а значит и временных) сложнее, поэтому пока не будем её рассматривать.

Но приведённая выше аналитика основывается на COCO моделях и других рантаймах, поэтому эти результаты не очень интересны в контексте текущей задачи. Куда интереснее узнать mAP и FPS на кастомной модели, запущенной на Luckfox Pico Mini.

Экспорт и запуск

Перед запуском yolo на Luckfox необходимо экспортировать её в формат rknn, а перед экспортированием в rknn, необходимо экспортировать оригинальную модель в ONNX (но не совсем обычный). Я опишу процесс экспорта на примере Yolov8. Самые свежие версии модели (Yolov10) на данном процессоре (RV1103) не поддерживаются, им не хватает каких - то методов из библиотеки RKNN.

Также я пробовал обучать и запускать yolov5, при этом экспортированная модель не могла адекватно находить боксы объектов. Она правильно определяла факт наличия объекта, но при этом боксы были совсем неверные. Ранее я показывал, что инференс Yolov8 занимает больше времени, чем у Yolov5, но это было на датасете COCO из 80 классов. При этом кастомные yolov5 и yolov8, обученные на несколько классов работают примерно с одинаковой скоростью (на Luckfox Pico, возможно на других рантаймах/вычислительных модулях ситуация будет другой). В любом случае в репозитории вы можете найти проекты с названием вида: “HelloYolovX”, в них есть примеры запуска разных версий yolo. Также можете изучить репозиторий rknn_model_zoo, в нём собраны примеры запуска различных моделей через RKNN (не только CV, есть LLM и аудио обработка). Но я решил остановиться на Yolov8.

Если вам нужно запустить базовую модель Yolov8 (обученную на COCO), то вы можете скачать уже экспортированную в RKNN модель отсюда.

Её можно сразу запускать на Luckfox, без необходимости что - либо экспортировать. Но скорее всего устройство планируется использовать для решения более узкой задачи (подробнее об этом написано в заключении), чем детекцию 80-ти различных объектов, тем более, как было замечено в предыдущей статье про yolo, модель, обученная на меньшее количество классов, имеет меньше параметров, вследствие чего инференс происходит быстрее.

Тем более, исключительно по моему опыту, COCO датасет хорошо использовать для быстрого тестирования/сравнения моделей, но в реальности используется “склеивание” своих датасетов с готовыми. И нет необходимости в детектировании такого большого количества классов, как в COCO.

Далее я опишу процесс обучения и запуска на Luckfox Pico Mini модели yolov8 на кастомном датасете для детекции сопла от паяльного фена и модуля ESP-01.

Для экспорта модели нужна x86 система под управлением Linux. Для упрощения процесса я подготовил ноутбук под Google Colab, поэтому для минимизации количества проблем связанных с особенностями вашей системы (операционная система, версии пакетов и т.д.) рекомендую пользоваться коллабом. А так, на Arch Linux, RKNN_Toolkit2 устанавливается без проблем и работает без нареканий.

Немного про датасет

Скриншот из Roboflow
Скриншот из Roboflow

В моём датасете всего 2 класса: сопло от паяльного фена и WiFi модуль ESP-01.

Пример размеченной фотографии сопла фена
Пример размеченной фотографии сопла фена
Пример размеченной фотографии ESP-01
Пример размеченной фотографии ESP-01

Я собирал датасет сразу на CSI камеру, подключенную к Luckfox. В репозитории в директории Project/RecordDataset находится небольшая программа для сбора датасета.

Принцип её работы следующий:

Сначала вы вводите название/id класса, изображения для которого вы собираете. Рядом с бинарником программы должна быть директория с названием этого класса. Далее, нажимая Enter, программа сохраняете очередной кадр в эту директорию.

Датасет я размечал через Roboflow и экспортировал с x3 аугментацией. Хочется обратить внимание на низкое качество датасета. Разметку проводил с помощью инструмента Smart Polygon внутри Roboflow. С его помощью можно очень быстро в полуавтоматическом режиме выделить маску объекта. Качество очень сильно зависит от освещения/теней и сложности геометрии объекта. Я собирал датасет в демонстрационных целях, поэтому мне не нужно очень качественно детектировать боксы объектов. Разумеется, чтобы улучшить качество работы модели необходимо собрать датасет по-больше и аккуратнее отнестись к разметке.

При генерации датасета использовал следующие параметры аугментации:

Название

Аргументы

Поворот на 90°

CW, CCW, зеркально

по Hue (оттенок)

[-18°; +18°]

Saturation (насыщенность)

[-34°; +34°]

Яркость

[-26°; +26°]

Blur (размытие)

1.8px

И вот небольшая аналитика по датасету:

Без аугментации
Без аугментации
В основном в кадре только один объект
В основном в кадре только один объект
После применения аугментации
После применения аугментации

Датасет далёк от идеала, но как было сказано ранее, такого качества достаточно для поставленной цели.

Обучение и экспорт модели

Общий пайплайн "от датасета к модели, работающей на Luckfox" (и вообще на всех NPU в процессорах Rockchip) выглядит так:

Пайплайн от датасета к инференсу на Luckfox
Пайплайн от датасета к инференсу на Luckfox

Для конвертации Yolo модели в ONNX необходимо воспользоваться кастомной Yolo от RKNN. Из коробки Yolo умеет экспортировать в ONNX, но кастомные версии RKNN проводят ряд дополнительных оптимизаций, например:

  • Yolov8 - Change output node, remove post-process from the model. (post-process block in model is unfriendly for quantization)

  • Yolov8 - Remove dfl structure at the end of the model. (which slowdown the inference speed on NPU device)

  • Yolov8 - Add a score-sum output branch to speedup post-process.

  • Yolov10 - Removed the post-processing structure from the output to improve inference performance and quantization precision, as the original post-processing operators were not friendly to these aspects (Modify ultralytics/nn/modules/head.py).

  • Yolov10 - To enhance inference performance, the DFL (Distribution Focal Loss) structure has been moved to the post-processing stage outside of the model (Modify ultralytics/nn/modules/head.py).

  • Yolov5 - Optimize focus/SPPF block, getting better performance with same result

  • Yolov5 - Change output node, remove post_process from the model. (post process block in model is unfriendly for quantization)

Так же при таком экспорте из модели убирается пост-процессинг (в него, например, входит NMS), который надо будет выполнять отдельно на CPU после инференса.

Весь пайплайн я реализовал в Jupyter ноутбуке, который работает в Google Colab. Ниже будет рассказано, как им пользоваться. Для начала запустите Runtime с GPU (T4).

Далее несколько ячеек выполняют базовую настройку окружения: устанавливается ultralytics, монтируется Google диск, распаковывается датасет.

Настройка окружения
Настройка окружения

Если вы хотите просто повторить эксперимент на моём датасете, то скачать его можно отсюда. Не забудьте указать правильное название и путь к архиву. Он был экспортирован с Roboflow в формате “для Yolov8”. Также, если у вас уже есть веса модели, то вы можете пропустить шаги обучения.

Теперь в файле конфигурации датасета data.yaml нужно поменять пути к файлам с изображениям на абсолютные (возможно обучение запустится без этого):

train: /content/nozzle_data/train/images
val: /content/nozzle_data/valid/images
test: /content/nozzle_data/test/images

Далее идёт обычный процесс обучения yolov8:

25 эпох, без тюнинга гиперпараметров
25 эпох, без тюнинга гиперпараметров

Результаты обучения следующие:

Результаты обучения
Результаты обучения

Судя по матрице ошибок ещё есть куда стремится, но простое увеличение количества эпох обучения не решает проблему, а приводит к переобучению/остановке по Early Stop. Нужно более детально настраивать гиперпараметры.

Но, зная результат её работы на Luckfox Pico, могу сказать, что даже такая, плохо обученная модель, выдаёт удовлетворительный результат.

Теперь приступим к экспорту, обученной модели, в ONNX. Для этого сначала скачаем специальный форк yolov8:

47f4c40bb067c3da2f6ed334ae6e3430.png

Теперь нам надо заменить путь с дефолтной модели к нашей (обученной ранее) в этом файле:

/content/ultralytics_yolov8/ultralytics/cfg/default.yaml

Это можно сделать вручную:

Слева есть файловый менеджер через который можно открыть файл
Слева есть файловый менеджер через который можно открыть файл

После этого можно начинать экспорт модели в ONNX.

Примерно такой результат должен получится
Примерно такой результат должен получится

Теперь ONNX модель необходимо сконвертировать в RKNN.

Для этого сначала установим RKNN-Toolkit2 для версии Python 3.10 (в коллабе):

Скачивание и установка whl нужной версии
Скачивание и установка whl нужной версии

Через импорт rknn можно убедиться, что всё установилось. Теперь нужно скачать репозиторий rknn_model_zoo. Вообще, в нём очень много примеров запуска и конвертации различных моделей под RKNN, но нам из него нужен только экспорт yolov8.

При экспорте модели под RV1103 мы обязаны её квантизировать в int8, потому что npu данного процессора не умеет обрабатывать fp модели. Процесс квантизации обычно происходит с, так называемой калибровкой, (можно просто урезать разрядность весов, но это приведёт к сильному падению точности). Для калибровки необходимо использовать часть (или все) изображения из датасета.

Рекомендуется использовать не менее 20 изображений (кто - то считает, что чем больше - тем лучше), но я буду калибровать на всём трейне датасета, это дольше, но возможно итоговая модель будет работать чуть - лучше и негативный эффект квантизации будет минимальным.

Для калибровки нам необходимо сгенерировать список изображений с абсолютными путями к ним. Для этого есть специальная Python ячейка:

Генерация файла конфига квантизции
Генерация файла конфига квантизции

Не забудьте поменять путь к датасету на свой. Если вы не хотите калибровать на всём датасете, то просто можете взять срез от files (files[:30]).

Теперь нужно отредактировать файл /content/rknn_model_zoo/examples/yolov8/python/convert.py

В нём укажем путь к списку файлов для калбировки:

514bea2ece724647528770590e80d8fb.png

И наконец, запускаем экспорт в RKNN:

30c49edf5ac5c859ee48d25672f0c7af.png

Не забудьте поменять путь к своим весам

i8/u8

В аргументах запуска мы указываем путь к onnx весам, процессор, и тип квантизации (i8 или u8). Судя по всему - i8 ~ int8, а u8 ~ unsigned int8. Но скорость и качество работы моделей получается одинаковым, вне зависимости от выбранной квантизации. По-умолчанию для rv1103 выбирается i8.

Квантизация проходит на процессоре, поэтому наличие видеокарты никак не ускорит этот процесс, придётся подождать (особенно, если для калибровки используется много изображений).

В итоге, в директории ../model появится yolov8n.rknn. На этом питон заканчивается, начинаются segmentation fault, модель готова, теперь её нужно деплоить на Luckfox.

Итоговый проект по запуску кастомного Yolov8 детектора с камеры на Luckfox я залил в отдельный репозиторий.

В src/main.cc в MODEL_INPUT_SIZE указывается размер входного изображения. Так же в model/labels.txt прописывается мэппинг id класса к его текстовому названию. Важно не забыть указать правильное количество классов (background не считается, только объекты, в моём случае - это 2) в файле include/postprocess.h в дефайне OBJ_CLASS_NUM, иначе ничего работать не будет, будут только Segmentation Fault.

Собирается проект стандартно:

git clone https://github.com/ret7020/Yolov8CustomNPU
export GCC_COMPILER=ПУТЬ/arm-rockchip830-linux-uclibcgnueabihf
mkdir build
cd build
cmake ..
make install

Далее копируем всю папку bin на Luckfox (через adb это делает так):

adb pull ../bin/ /oem/yolov8_inference

И на Luckfox запускаем:

killall rkipc
./HelloYolov8 model/yolov8.rknn

И оно работает. Разные классы отрисовываются боксами разных классов.

c61480d093f692c9e65f071cfe3ac552.png

Далее я попробовал обучить модель на изображениях 320x320, но результат детекции на Luckfox был отвратительный:

27cfa2149035f21f6d77d9b1bf068db3.png

Возможно, необходимо собрать датасет значительно больше и тогда получится добиться адекватных результатов детекции. Но на самом деле в этом нет смысла, так разницы в времени инференса практически нет. Обе модели выдают примерно по 15 FPS. Я постараюсь разобраться почему так происходит, так как для меня это немного странно.

Теперь необходимо сравнить mAP модели до квантизации и экспорта с итоговой моделью, которая работает на Luckfox.

mAP для Luckfox модели подсчитывался по следующей схеме:

  • Модель обрабатывала 83 изображения valid части датасета

  • Для каждого входного изображения записывался файл с результатами детекции - классы и соответствующие им баундинг боксы.

  • Далее через python скрипт происходил просчет mAP-50/mAP-50-95

Результаты валидации модели до конвертации (сразу после обучения):

Class

Images

Instances

Box_P

Box_R

Box_mAP50

Box_mAP50-95

all

83

87

0.987

0.973

0.977

0.935

esp01

40

41

0.996

0.976

0.975

0.918

nozzle-8hmp

46

46

0.978

0.97

0.978

0.952

Матрица ошибок
Матрица ошибок

Пример детекции на одном из батчей:

Хорошо детектит
Хорошо детектит

Для замера метрик на Luckfox я написал следующую программу:

#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "yolov8.h"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <sys/types.h>
#include <dirent.h>

#define MODEL_INPUT_SIZE 640


int main(int argc, char **argv)
{
	if (argc != 4)
	{
    	printf("%s <model_path> <val_path_dir> <results_path>\n", argv[0]);
    	return -1;
	}

	const char *model_path = argv[1];
	const char *val_path = argv[2];
	const char *results_path = argv[3];

	int ret;
	rknn_app_context_t rknn_app_ctx;
	memset(&rknn_app_ctx, 0, sizeof(rknn_app_context_t));

	init_post_process();

	ret = init_yolov8_model(model_path, &rknn_app_ctx);
	if (ret != 0)
	{
    	printf("init_yolov8_model fail! ret=%d model_path=%s\n", ret, model_path);
	}

	cv::Mat bgr640(MODEL_INPUT_SIZE, MODEL_INPUT_SIZE, CV_8UC3, rknn_app_ctx.input_mems[0]->virt_addr);
	DIR* dirp = opendir(val_path);
	struct dirent * dp;
	FILE *resWriteptr;

	while ((dp = readdir(dirp)) != NULL) {
    if (!strcmp(dp->d_name, "..") || !strcmp(dp->d_name, ".")) continue; // Skip ../ path

    char absFilePath[128];
    sprintf(absFilePath, "%s/%s", val_path, dp->d_name);
    cv::Mat img = cv::imread(absFilePath);
    	cv::resize(img, bgr640, cv::Size(MODEL_INPUT_SIZE, MODEL_INPUT_SIZE), 0, 0, cv::INTER_LINEAR);
    	rknn_run(rknn_app_ctx.rknn_ctx, nullptr);
    	object_detect_result_list od_results;

    	post_process(&rknn_app_ctx, rknn_app_ctx.output_mems, 0.25, 0.45, &od_results);
    	printf("%d\n\n", od_results.count);
    	for (int i = 0; i < od_results.count; i++)
    	{
        	object_detect_result *det_result = &(od_results.results[i]);
        	int x1 = det_result->box.left;
        	int y1 = det_result->box.top;
        	int x2 = det_result->box.right;
        	int y2 = det_result->box.bottom;
   	printf("IMG: %s -> x1=%d1 y1=%d x2=%d y2=%d class: %d\n", dp->d_name, x1, y1, x2, y2, det_result->cls_id);
   	char resFilePath[256];
   	char fileName[128];
   	strcpy(fileName, dp->d_name);
   	//char fileName[128];
   	fileName[strlen(fileName) - 4] = 0;
   	sprintf(resFilePath, "%s/%s.txt", results_path, fileName);
   	resWriteptr = fopen(resFilePath, "w");
   	fprintf(resWriteptr, "%s %lf %d %d %d %d\n", coco_cls_to_name(det_result->cls_id), det_result->prop, x1, y1, x2, y2);


   	fclose(resWriteptr);
    	}
    printf("----------\n");
	}

	return 0;
}

Суть её работы заключается в следующем: для каждого изображения из директории (в данном случае из images/test) проводится инференс, а результаты записываются в txt файлы в отдельной директории с названием, основанном на названии изображения. Содержимое файла имеет следующий формат:

<class_name> <confidence> <x1 (left)> <y1 (top)> <x2 (right)> <y2 (bottom)>

Причём, хочу обратить внимание, что координаты записываются в ненормализованном виде (Т.е. их диапазон [0;640) px). Это сделано так, потому что скрипт для подсчёта mAP тоже использует ненормализованные координаты.

Скрипт для подсчёта mAP я взял из этого репозитория. В итоге mAP сильно не ухудшился:

mAP50 = 0.946

mAP95 = 0.903

Необходимо учитывать небольшой размер тестовой выборки (но размечать ещё один тестовый датасет я очень не хотел). По-хорошему модели надо было сравнивать друг с другом без замера оценки с ground-truth. Т.е. сравнивать насколько различаются показания одной относительно другой. В таком случае мы оцениванием не правильность работы модели, а то насколько результаты квантизированной модели отличаются от обычной, что может быть полезнее в случае заведомо плохо обученной модели.

Но в целом, можно сделать вывод, что квантизация не сильно повлияла на работу модели в плане точности детекции.

Связь с внешним миром

На плате нет радио-трансивера, а отправка данных по Ethernet не всегда доступна. Комьюнити разработало адаптер для RTL8723bs. Но он подключается в слот для SD карты, соответственно всю систему придётся уместить на flash, которого может быть недостаточно.

Поэтому я приведу примеры взаимодействия платы с модулем SIM800L(и подобными). Я решил не писать linux драйвер, который даст возможность использовать адаптер внутри всей системы для доступа к интернету, в этом мало смысла.

SIM800L

На Aliexpress есть различные версии модулей на основе SIM800L (и похожих), все они управляются по UART и протокол AT команд очень похож. Я отлаживал свой код на “красном модуле”.

UART SIM800
UART SIM800

Библиотека позволяет инициализировать модуль и совершать GET/POST HTTP запросы. Для упрощения интеграции в другие проекты библиотека реализована в одном хэдер файле. В репозитории она находится в Projects/SIM800.

sim800.h - код библиотеки, а main.cpp - пример использования.

Например, вот так можно реализовать отправку сообщений в Telegram от имени бота. Не забудьте поменять APN, в зависимости от вашего оператора:

#include <stdio.h>
#include "sim800.h"

// Config

#define MODULE_UART "/dev/ttyS4"
#define MODULE_APN "INTERNET.MTS.RU"


int main()
{
    
    SIM800 module = SIM800(MODULE_UART);
    int initStatus = module.init();
    printf("Init status: %d\n", initStatus);
    if (initStatus)
    {
   	 if (module.checkAT())
   	 {
   		 module.setupInternet(MODULE_APN);
   		 char response[2000];
   		module.get("https://api.telegram.org/botTOKEN/sendMessage?chat_id=CHAT_ID&text=Hello", response);
   		 printf("Response: %s", response);

   	 }
   	 
    
    } else return 1;

    module.finishInternet();
    return 0;
}

О применимости

В данной статье не освещается реализация полноценного проекта на основе Luckfox Pico Mini. Только детекция объектов через Yolov8 и немного примеров работы с GPIO пинами, протоколами связи UART и SPI.

В предыдущей статье я замерял производительность Yolov8 на различных одноплатниках, но все они были бОльших размеров и далеко не все из них могут приблизиться к скорости инференса Luckfox Pico Mini. Поэтому 15 FPS - неплохой результат для такой платы. Это нельзя назвать realtime, но порог скорости для попадания в критерий realtime для каждого проекта определяется индивидуально. Очевидно, что Яндексу для своих беспилотников недостаточно 15 FPS. Для каких - то задач такого качества распознавания и скорости хватит. По-большей части - это бытовые или около-бытовые проекты. Хотя, никто не мешает поставить Luckfox Pico на какой - нибудь Tiny Whoop и что - нибудь детектировать (возможно вы подумали про военные цели, но нет, я этого не имел ввиду).

В любом случае, несмотря на то, что использование NPU в ноутбуках с мощными многоядерными процессорами звучит сомнительно, применение NPU в робототехнике выглядит перспективно. В RV1103 всего 0.5 TOPS мощности, а есть Hailo 8 с 26 TOPS мощности. Но Hailo и стоит горадо дороже, и без дополнительной обвязки в виде одноплатника c PCI M2 от него нет никакого толка. Так же Rockchip планирует выпустить процессор RK3688 с 16 TOPS INT8 NPU. В общем, по моему мнению NPU - перспективная технология для запуска нейронных сетей на мобильных роботах, когда нет возможности разместить/запитать/охладить/купить мощную RTX4090.

Я считаю, что Luckfox Pico однозначно заслуживает внимания. Возможно в ближайшее время на базе неё появятся интересные проекты.

Все полезные ссылки по Luckfox я собрал здесь, постараюсь обновлять в процессе появления новых материалов, потому что пока статей/репозиториев мало (а на русском практически нет).

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  • 26.01.25 03:54 [email protected]

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  • 02.02.25 20:53 Michael9090

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  • 06.02.25 19:42 Marta Golomb

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  • 08.02.25 05:45 [email protected]

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  • 08.02.25 05:46 [email protected]

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  • 13.02.25 16:52 birenderkumar20101

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  • 14.02.25 22:12 eunice49954

    Agent Jasmine Lopez focuses on recovering stolen cryptocurrency, particularly USDT. She is well-known for helping victims of digital asset theft. Her reputation arises from successful recoveries that have allowed many to regain their lost funds. I witnessed this when $122,000 was taken from me. Thanks to Ms. Lopez's skills, I recovered the entire amount in just 24 hours. Her prompt response and effective methods relieved my financial burden. Ms. Lopez’s commitment to helping others is evident. She is always available to offer solutions to those facing similar problems. For assistance, she can be reached via email at recoveryfundprovider@gmail . com or contacted directly on WhatsApp and text at +44 - 7366 445035. Her Instagram handle is recoveryfundprovider.

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  • 16.02.25 01:01 Peter

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  • 21.02.25 07:42 daniel231101

    I never thought I would fall victim to a crypto scam until I was convinced of a crypto investment scam that saw me lose all my entire assets worth $487,000 to a crypto investment manager who convinced me I could earn more from my investment. I thought it was all gone for good but I kept looking for ways to get back my stolen crypto assets and finally came across Ethical Hack Recovery, a crypto recovery/spying company that has been very successful in the recovery of crypto for many other victims of crypto scams and people who lost access to their crypto. I’m truly grateful for their help as I was able to recover my stolen crypto assets and get my life back together. I highly recommend their services EMAIL ETHICALHACKERS009 AT @GMAIL DOT COM whatsapp +14106350697

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    Mark Zuckerberg. That’s the name I was introduced to when I first encountered the cryptocurrency mining platform, WHATS Invest. A person claiming to be Zuckerberg himself reached out to me, saying that he was personally backing the platform to help investors like me earn passive income. At first, I was skeptical—after all, how often do you get a direct connection to one of the world’s most famous tech entrepreneurs? But this individual seemed convincing and assured me that many people were already seeing substantial returns on their investments. He promised me a great opportunity to secure my financial future, so I decided to take the plunge and invest $10,000 into WHATS Invest. They told me that I could expect to see significant returns in just a few months, with payouts of at least $1,500 or more each month. I was excited, believing this would be my way out of financial struggles. However, as time passed, things didn’t go according to plan. Months went by, and I received very little communication. When I finally did receive a payout, it was nowhere near the $1,500 I was promised. Instead, I received just $200, barely 13% of what I had expected. Frustrated, I contacted the support team, but the responses were vague and unhelpful. No clear answers or solutions were offered, and my trust in the platform quickly started to erode. It became painfully clear that I wasn’t going to get anywhere with WHATS Invest, and I began to worry that my $10,000 might be lost for good. That's when I discovered Certified Recovery Services. Desperate to recover my funds, I decided to reach out to them for help. In just 24 hours, they worked tirelessly to recover the majority of my funds, successfully retrieving $8,500 85% of my initial investment. I couldn’t believe how quickly and efficiently they worked to get my money back. I’m extremely grateful for Certified Recovery Servicer's fast and professional service. Without them, I would have been left with a significant loss, and I would have had no idea how to move forward. If you find yourself in a similar situation with WHATS Invest or any other platform that isn’t delivering as promised, I highly recommend reaching out to Certified Recovery Services They were a lifesaver for me, helping me recover nearly all of my funds. It's reassuring to know that trustworthy services like this exist to help people when things go wrong. They also specialize in recovering money lost to online scams, so if you’ve fallen victim to such a scam, don’t hesitate to contact Certified Recovery Services they can help! Here's Their Info Below: WhatsApp: +1(740)258‑1417 mail: [email protected], [email protected] Website info; https://certifiedrecoveryservices.com

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  • 24.02.25 06:36 ANDREW DAVIS

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  • 08.03.25 04:42 andreassenhedda

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    Running the small business was hard enough in itself without having to suffer such stress as loss of access to a Bitcoin wallet. I had put $532,000 into Bitcoin for my business in case of emergencies, but one day, the wallet was nowhere to be seen. I had trusted it to my friend while he managed my financials, little knowing he would prove less than trustworthy. I couldn't envision the gut-wrenching feeling coupled with a great feeling of folly for having placed so much trust in someone else's hands. I could not believe my eyes to see that all of my digital fortune was gone. Literally, every second of my busy day froze in disbelief as I tried to conceive the loss. I remembered the hours I had put into building my business, securing my investments, and planning for the future. Now, I was staring at an empty wallet that once held my safety net. This hit me hard-not only had I lost $532,000, but the betrayal hurt further because it came from someone I considered reliable. The emotional toll was huge, and this financial hit could cripple my business. In the midst of my despair, I knew I had to act fast. I went online, searching everywhere for a solution through which I could get back in control of my finances. That is where I came across Digital resolution services. I knew them for recovery related to lost crypto, but also somehow skeptical. At that point, it looked like I had nothing left to lose. I reached out, and with our very first conversation, I gained the impression that they did understand my situation. Their team was nothing short of extraordinary. They approached my case with professionalism and empathy, meticulously explaining the recovery process in clear, simple terms that alleviated some of my anxiety. They set realistic expectations while promising to do everything possible to retrieve my funds. Over the next several weeks, they worked tirelessly, employing advanced blockchain forensic techniques and sophisticated tracking tools that I’d never even heard of before. It kept me informed with constant updates and gave me hope in this desperate time. Finally, it came-the day Digital resolution services recovered my lost Bitcoin. Relief overwhelmed me, and it wasn't all about the money but control and self-trust in my financial future. This experience taught me the most valuable lesson: never lose control over your own financial security and never put blind trust in anyone. With Digital resolution services, I recovered not only my $532,000 but also learned how to protect my assets better in the future. Contact Digital Resolution Services: Email: digitalresolutionservices (@) myself. c o m WhatsApp: +1 (361) 260-8628 Stay protected Charles agrimes

  • 18.03.25 23:49 lindaspringer311

    My name is Linda Springer, and I am part of an ultra-high-net-worth family in the United Kingdom. Managing our wealth has always been a top priority, and I’ve always looked for opportunities to grow and diversify our investments. When I was introduced to an offshore banking investment program called Market Fund, it seemed like the perfect opportunity to enhance our portfolio. The program promised impressive returns, and with professional advisors and seemingly legitimate documentation, I felt confident that it was a secure investment. However, my trust in Market Fund quickly proved to be misplaced. Initially, everything seemed to go smoothly. Reports showed strong growth, and I was reassured by the continuous updates from the program’s advisors. But when I tried to withdraw my funds, everything took a sharp turn. The Market Fund website became unresponsive, and all my attempts to reach the advisors through emails and phone calls went unanswered. It was then that I realized I had fallen victim to a scam, and the £60,000 I had invested was gone. Feeling devastated and unsure of what to do next, I turned to a friend I had met at a club called The Vault. During one of our conversations, Alex, a fellow club-goer, mentioned how Rapid Digital Recovery had helped them recover funds from a similar fraudulent scheme. Intrigued by their success story, I decided to reach out to Rapid Digital Recovery....Whatsapp: +1 4 14 80 71 4 85.. hoping they could help me recover my money as well. From the moment I contacted them, the team at Rapid Digital Recovery took immediate action. They began investigating the scam and used advanced technology to trace the origins of Market Fund. Through their efforts, they uncovered a network of fake websites and shell companies that had been designed to deceive investors like myself. Thanks to their persistence and expertise, Rapid Digital Recovery successfully recovered the £60,000 I had lost.....Email: rapid digital recovery (@) execs. com.. Not only did they restore my financial security, but they also exposed the fraudulent operation behind Market Fund, preventing others from falling victim to the same scam. While the experience was incredibly stressful, it served as an important reminder of the need for due diligence and professional oversight when dealing with offshore investments. I am incredibly grateful to Rapid Digital Recovery for their support, expertise, and determination in recovering my funds. Telegram: h t t p s: // t. me /Rapiddigitalrecovery1

  • 20.03.25 17:21 katherineingram

    Dr. Katherine Ingram

  • 20.03.25 17:21 katherineingram

    CRYPTOCURRENCY RECOVERY FIRM \ FOLKWIN EXPERT RECOVERY. I, Dr. Katherine Ingram, had always been committed to giving my best to my patients in Melbourne, Australia. But everything changed when I was suddenly hit with a medical malpractice lawsuit. The stress and anxiety that came with the legal battle left me feeling overwhelmed, and I was desperate for a solution. In my search for help, I found "MedLegal Solutions," a firm that promised a quick and easy resolution for just $27,000 AUD. They assured me they would handle everything swiftly, easing my burden. Desperate to resolve the situation, I handed over the money, trusting them to take care of the rest. However, as the weeks turned into months, I heard nothing. Calls went unanswered, emails went ignored, and I began to feel more and more helpless. It became clear that something was wrong, and I realized I had been deceived. The more I tried to contact them, the more I found myself being ignored. I soon understood that I was much deeper than I had initially feared. That’s when I turned to Folkwin Expert Recovery for help. From the moment I contacted them, they sprang into action. They immediately began investigating MedLegal Solutions and quickly uncovered a massive web of deceit. It turned out that MedLegal Solutions wasn’t just an incompetent firm; it was part of an elaborate scam. They were operating under multiple false identities across Sydney, Brisbane, and regional Victoria, targeting vulnerable individuals like myself. Folkwin Expert Recovery didn’t just uncover the fraud, they took it one step further. They worked tirelessly with authorities in Melbourne to track down and dismantle the fraudulent operation. They didn’t rest until MedLegal Solutions was shut down for good, ensuring that no one else would fall victim to their schemes. Thanks to their expert recovery efforts, I was able to recover every single cent of my $27,000.This entire ordeal was a wake-up call for me. It was a difficult and stressful time, but ultimately, I came out victorious. Thanks to Folkwin Expert Recovery, not only did I get my money back, but I also found peace knowing that MedLegal Solutions was no longer in business and that their fraudulent operation had been dismantled. It was a painful lesson, but in the end, my finances were intact, and I could move forward with a sense of closure. FOLKWIN EXPERT RECOVERY DETAILS\\ Telegram: @Folkwin_expert_recovery Or Email: Folkwinexpertrecovery(@)tech-center DOT com   Regards, Dr. Katherine Ingram.

  • 20.03.25 19:34 ysabelbristol

    I am YSABEL, a medical student living with my grandmother. For the past few years, I’ve been diligently saving my grandmother’s money to ensure she has a comfortable and secure future. I invested over $40,000 into an online platform, which promised significant returns. After completing several steps, they told me that to withdraw the money, I needed to make another payment of $73,000. As a medical student, my time is already stretched thin, and managing my grandmother’s finances on top of my studies was overwhelming. That's when a costudent, who had gone through a similar experience, recommended MUYERN TRUST HACKER. Initially, I was skeptical. After all, how could anyone help me recover the money I had already lost to such a sophisticated scam? But after reaching out to them, I quickly realized I was in good hands. From the very first conversation, the team at MUYERN TRUST HACKER was professional, compassionate, and knowledgeable. They understood the gravity of my situation and took the time to thoroughly review all the details of my case. They explained the recovery process clearly, step by step, and assured me that they would work tirelessly to help recover the funds I had lost. Their expertise in dealing with online fraud was evident, and for the first time in weeks, I felt a sense of hope that I could regain control over this situation. The recovery process wasn’t immediate, and there were moments of uncertainty, but MUYERN TRUST HACKER remained dedicated and persistent. As someone who has been working hard to save and protect my grandmother’s money, it was devastating to feel like I might lose everything to a scam. But MUYERN TRUST HACKER gave me the support, expertise, and guidance I needed to recover what was lost. I’m deeply grateful for their help, and I now have a renewed sense of hope that I can protect my grandmother’s future. If you find yourself in a similar situation, feeling trapped and overwhelmed by a fraudulent company, I highly recommend MUYERN TRUST HACKER. (Whats A p p at + 1 (440) (335) (0205)  Their team provides real solutions, and their professionalism and dedication were a lifeline for me during a very difficult time. Thanks to them, I feel confident that I can move forward and continue to protect my grandmother’s savings. Alternatively, contact their tele gram also if you need immediate attention at muyerntrusthackertech.

  • 21.03.25 21:19 carmenbeechum643

    (Telegram: https:// t. me/Pro_ Wizard_ Gilbert_ Recovery) Email (pro wizard gilbert recovery (@) engineer. com) I never imagined I would fall victim to a cryptocurrency scam, but that's exactly what happened. My name is [Carmen Beechum, and I invested $500,000 into what | believed was a legitimate trading platform. Everything appeared professional-the website was well-designed, customer service was responsive, and my trading account even showed promising returns.It all seemed too good to be false.However, when I attempted to withdraw my funds, I was met with endless delays and excuses. First, they claimed there were technical issues, then they needed additional verification, and finally, they requested a release fee before processing my withdrawal. Despite complying with their demands, my account was eventually frozen, and all communication from the platform ceased. That's when reality hit me—l had been scammed out of half a million dollars. Desperate to find a way to recover my money, I searched online for solutions. That's when I came across PRO WIZARD GIlBERT RECOVERY, a company dedicated to helping victims of online financial fraud. At first, I was skeptical-after all, I had already been deceived once, and the last thing I wanted was to fall for another scam. But after speaking with their team and reviewing their success stories, I decided to take a chance.Their experts immediately got to work, using advanced blockchain forensics and investigative tools to trace my stolen funds. WhatsApp: +1 (920) 408‑1234 They identified the fraudulent wallets where my money had been transferred and collaborated with financial institutions and law enforcement agencies to take action. Thanks to their persistence and expertise, they were able to freeze the scammers' accounts and successfully recover my $500,000. What seemed like a devastating loss turned into a remarkable recovery. I am incredibly grateful to PRO WIZARD GIlBERT RECOVERY for not only retrieving my funds but also restoring my peace of mind. My experience serves as a warning to others-always be cautious with online investments, but if you ever become a victim, know that recovery is possible with the right experts on your side.

  • 22.03.25 14:13 [email protected]

    The glow of RGB lights still haunts me. There I was, mid-stream, hyping up a Fortnite squad when an email pretending to be a sponsorship opportunity with the subject line "ENERGY DRINK COLLAB!!! *" appeared on my second monitor. I clicked— big mistake. By the time my chat spammed "*SCAM ALERT" in neon caps, a trojan had already ghosted my Bitcoin wallet, $320,000 gone, poof, like a noob disconnecting mid-game. My facecam caught the exact moment my soul left my body: jaw open, headset tilted, the background of anime posters judging me silently. The VOD blew up. Of course, it did. Pandemonium erupted. Donation alerts became panic emojis. My mods DM'd links to "HOW TO FIX CRYPTO THEFT" amidst banning trolls. My wallet? A barren wasteland. My DMs? A cemetery of "*F"s and crypto-bros pitching recovery scams. Then, a lifeline—a chatter named *xX_Cryptosolution_69 typed, "TRUST GEEKS HACK EXPERT. THEY CLAPPED A HACKER FOR MY DOGE ONCE." Desperate, I Googled them mid-stream, muting to scream into a pillow. TRUST GEEKS HACK EXPERT team responded like NPCs scripted for heroics. “Send us the malware file,” they said. “**And your wallet logs. We’ll handle the rest.” For 12 days, they reverse-engineered the trojan, dissecting its code like speed runners cracking a glitch. The virus, it turned out, was a knockoff ransomware dubbed “Crypto rush” (its dev had left a “HACK THE PLANET!!” Easter egg in the code, cringe). TRUST GEEKS HACK EXPERT squad traced its path, resurrecting private keys from registry fragments and backup clouds I’d forgotten existed. The return stream was record-breaking. I rebooted my rig, wallet restored, and titled the stream "HOW I UNBRICKED $320K (AND MY CAREER)." Chatters donated Bitcoin out of solidarity, and schadenfreude. Even my rival streamer, DrL33tGamer, raided me with 10k viewers. TRUST GEEKS HACK EXPERT? They viewed anonymously and left a sub with the message: "GG EZ. These internet Gandalfs didn't just fix a hack—they authored the greatest plot twist in my online existence. Now, my new website, Stream Vault, runs on a server guarded like Fort Knox, and I vet sponsors like the CIA. That fake energy drink company? Its domain now points to a Rickroll. If your crypto gets pawned by a script kiddie, skip the rage quit. Ping the TRUST GEEKS. They're the ultimate cheat code for catastrophe. Just maybe have a malware scanner in closer proximity than your energy drinks next time. (CONTACT SERVICE ) Email, Trustgeekshackexpert[At]fastservice[Dot]com Telegram, Trustgeekshackexpert Email, [email protected] Website, www://trustgeekshackexpert.com

  • 23.03.25 12:24 maryjul75

    There are not many reviews about free crypto recovery fixed but the ones that exist are mostly positive. I have no idea how that is possible, but it is clear that they are fabricated. However, there are also negative reviews – and I highly recommend paying attention to them. These are real people describing their unfortunate experiences with this scam. It’s the same story as always – fraudsters create a fake website to con people out of money. Nothing new but look no more and contact FASTRECOVERYAGENT These types of scams are everywhere. If you have already lost money to scammers i mean any type be it sending to scammers account , or if you have a case about stolen bitcoin , usdt, or any type of cryptocurrency whatsoever just reach out to www.fastrecoveryagent.com, i really owe this group of recovery expert because they saved me after bad investment with a fake broker, i literally owe them my life as they saved me from some bunch of scammers, but see how life is , i got every cent of my investment back with the profit , reach out to to them today and tell them from Mary because i promise them i will tell the whole world when the recovery is complete, and here i go after i got my recovered assets thats why im doing what i promised. do not fall for another scam. contact the,m today!!!!

  • 23.03.25 22:01 joaneldnde

    The ground trembled like a nervous intern on espresso shots. One minute, I was monitoring my geothermal Bitcoin miners, humming in harmony with Iceland's most unpredictable volcano. Next? An eruption painted the sky gray with ash, raining destruction like an out-of-control blockchain fork. Power cables flickered out. Servers turned into abstract-art pieces. And my wallet with $460,000 worth of mining revenue fried faster than a motherboard in a tidal wave of lava. I was knee-deep in volcanic mud, clutching the charred wallet, wondering if the universe had a vendetta against renewable energy. For weeks, I’d played geothermal gambler, harnessing Earth’s anger to mine crypto. Now, Mother Nature had countered with a literal power move. My wallet’s backups? Corrupted by ash-clogged drives. My cold storage? Warmer than a freshly erupted fissure. Even the volcanologists on my team shrugged. “We predict lava, not ledger errors,” one said, handing me a business card signed at the edges. “Try these Cyber Constable Intelligence. They’ve fixed crypto in weird places.” Cyber Constable Intelligence phoned on the first ring. Cyber Constable Intelligence saved not just crypto. They demonstrated that even the fury of nature cannot surpass human tenacity. My operation now operates robustly, excavating coins with Earth's anger and a backup generator sufficient to run a small glacier. The volcano? Still grumbling. My wallet? Locked inside a fireproof safe, as irony bites sharper than an Icelandic winter. If your crypto somehow gets smothered beneath the pyroclastic ash of life, skip the freak-out. Call the Cybers. They'll dig through lava streams until your cash bubbles up to the surface. Just maybe set up your rigs a few miles closer to the crater next time. If you’re facing a similar problem I highly recommend contacting Cyber Constable Intelligence 📞 WhatsApp:+1 (2 5 2 ) 3 7 8 7 6 1 1 🌐 Website: www cyberconstableintelligence.com 📩 Telegram: https://t.me/cyberconstable

  • 23.03.25 22:18 [email protected]

    A few months ago, I stumbled upon a post about a cryptocurrency investment platform that I thought was a good idea for me to invest in crypto, I didn’t realize I was being catfished by the cryptocurrency investment manager who promised me huge returns on my investment. I lost my capital of $170,000 and interest without receiving any profits in return, I was devastated And I realized I had been scammed out of my cryptocurrency. I felt hopeless and didn’t know where to turn. i searched everywhere for a solution and That’s when my friend introduced me to a Crypto recovery platform Trust Geeks Hack Expert. At first, I was skeptical—after all, I had just been scammed—but Trust Geeks Hack Expert professionalism and transparency reassured me. They took the time to analyze my case, track my lost funds, and guide me through the recovery process. To my amazement, they successfully retrieved my stolen crypto! I can’t express how grateful I am to Trust Geeks Hack Expert team. Their expertise and dedication gave me a second chance. If you’ve been a victim of a crypto scam, don’t lose hope—Trust Geeks Hack Expert. is the real deal! for assistance, Email: [email protected] (TeleGram:: Trustgeekshackexpert) & what's A p p  +1 7 1 9 4 9 2 2 6 9 3

  • 24.03.25 10:03 Diegolola514gmail.com

    "I am incredibly grateful to Sylvester Bryant for his exceptional expertise and assistance in recovering my USDC funds, which were lost to a phishing scam. Thanks to his diligent efforts, he successfully retrieved €480,000 worth of USDC that I thought was gone forever. If you or anyone you know has fallen victim to a similar situation, I highly recommend reaching out to Sylvester for professional assistance. You can contact him via email at Yt7cracker@gmail. com or through WhatsApp/text message at +1 512 577 7957. He is truly a reliable and skilled professional in recovering assets from online scams."

  • 25.03.25 18:06 maryjul75

    Fast Agent Recovery is a consulting firm that specializes in the recovery of assets from financial fraud. We know how to recover your funds and we have helped thousands of scam victims from around the world to recover their money. If you are a victim of Binary Options fraud, Forex fraud, Bitcoin fraud, Dating scams or one of the many other the online fraudulent practices that permeate the internet then file a complaint on www.fastrecoveryagent,.com to get an assessment if we can help you get your money back too. File a complaint: https://www.fastrecoveryagent.com/

  • 27.03.25 01:52 debrapavon89

    The moment my cold storage device flatlined, erasing $385,000 in Bitcoin I’d saved to launch a chain of zero-waste cafés, I became a ghost haunting my own life. I scrolled through forums until my eyes were streaming, trawling through threads filled with such mouthfuls as "irreversible blockchain entropy" and "cryptographic oblivion A Reddit thread finally revealed to me Cyber Constable Intelligence I reached out, the team at Cyber Constable Intelligence took immediate action. They began tracing the fraudulent car auction site and thoroughly investigating the scam. To my relief, after several weeks of hard work, Cyber Constable Intelligence successfully tracked down the scammers and recovered the full $385,000 I had lost. Their hard work allowed me to move on from this unfortunate experience, I highly recommend their services to anyone who has been affected by online fraud Reach out to their Info below WhatsApp: 1 252378-7611 Website info; www.cyberconstableintelligence.com

  • 30.03.25 03:25 orrinharber

    The ad on X (formerly Twitter) popped up on my timeline one lazy Sunday afternoon. It was flashy, bold, and impossible to ignore. The headline read, “ONCE-IN-A-LIFETIME COMEDY EXTRAVAGANZA!” with a dazzling graphic of a stage lit up in neon lights. The caption said: “Kevin Hart, Ali Wong, Dave Chappelle, and a MYSTERY LEGENDARY COMEDIAN live in Vegas! Limited VIP tickets available. Don’t miss out!” The post had thousands of likes, retweets, and comments like, “This is going to be epic!” and “Already got my ticket!” It even had a blue checkmark next to the account name, which made it seem legit. I clicked the link, and it took me to a sleek website with a countdown timer and a list of sold-out ticket tiers. The only option left was a $125,000 VIP package, which promised front-row seats, backstage access, and a meet-and-greet with the comedians. I hesitated for a moment, but the fear of missing out got the better of me. I thought, When will I ever get a chance like this again? So, I entered my credit card details and hit “Purchase.” The confirmation email came through instantly, and I felt a rush of excitement. Little did I know, I’d just fallen for one of the most elaborate scams I’d ever encountered. Looking back, I should’ve noticed the red flags the overly pushy tone of the ad, the lack of reviews for the event, and the fact that no official accounts from the comedians promoted it. But in the moment, it all seemed so real.I had been swept up by the flashy ad, the excitement of the event, and the FOMO (fear of missing out) that made it seem like an opportunity I couldn’t let slip by. Everything about the ad screamed “exclusive” and “once-in-a-lifetime,” which was enough to convince me to take the plunge. Yet, as time went on and I tried to follow up on the event, I found there was no trace of it anywhere. There were no details, no event pages, and no mention from the comedians themselves. My heart sank as I realized I had been scammed.Thankfully, GRAYWARE TECH SERVICES helped me get my money back, but the experience was a hard lesson in online scams. I’ll never forget that ad on X the one that cost me $125,000 and a whole lot of pride. I learned the importance of being cautious online, checking for reviews, and looking for signs of authenticity before jumping into anything that seems too good to be true.You can reach GRAYWARE TECH SERVICES on web at ( https://graywaretechservices.com/ )    also on Mail: ([email protected])

  • 30.03.25 06:22 grace111

    I recommend Marie ([email protected] and WhatsApp: +1 7127594675) for recovering lost or stolen bitcoin, USDT, or any other cryptocurrency from fraudulent investment sites because they are very knowledgeable in the industry and will reimburse all of your money. I can say with confidence that she was the only one who was able to credit my account with $52,760 of the money that had gone missing, based on my prior transactions with them. She was the only one who could. Since they are the only ones that can fully return your missing funds to your account without any deductions, I sincerely appreciate their job and am recommending her to you today.

  • 11:00 maryjul75

    Fast Agent Recovery is a consulting firm that specializes in the recovery of assets from financial fraud. We know how to recover your funds and we have helped thousands of scam victims from around the world to recover their money. If you are a victim of Binary Options fraud, Forex fraud, Bitcoin fraud, Dating scams or one of the many other the online fraudulent practices that permeate the internet then file a complaint on www.fastrecoveryagent,.com to get an assessment if we can help you get your money back too. File a complaint: https://www.fastrecoveryagent.com/

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