first commit

nodes/infers/vp_trt_yolov8_pose_detector.cpp

@@ -0,0 +1,60 @@
+
+#ifdef VP_WITH_TRT
+#include "vp_trt_yolov8_pose_detector.h"
+
+namespace vp_nodes {
+    
+    vp_trt_yolov8_pose_detector::vp_trt_yolov8_pose_detector(std::string node_name, 
+                                                    std::string model_path):
+                                                    vp_primary_infer_node(node_name, "") {
+        yolov8_pose_detector = std::make_shared<trt_yolov8::trt_yolov8_pose_detector>(model_path);
+        this->initialized();
+    }
+    
+    vp_trt_yolov8_pose_detector::~vp_trt_yolov8_pose_detector() {
+        deinitialized();
+    }
+
+    // please refer to vp_infer_node::run_infer_combinations
+    void vp_trt_yolov8_pose_detector::run_infer_combinations(const std::vector<std::shared_ptr<vp_objects::vp_frame_meta>>& frame_meta_with_batch) {
+        assert(frame_meta_with_batch.size() == 1);
+        std::vector<cv::Mat> mats_to_infer;
+
+        // start
+        auto start_time = std::chrono::system_clock::now();
+
+        // prepare data, as same as base class
+        vp_primary_infer_node::prepare(frame_meta_with_batch, mats_to_infer);
+        auto prepare_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start_time);
+
+        start_time = std::chrono::system_clock::now();
+        std::vector<std::vector<Detection>> detections;
+        yolov8_pose_detector->detect(mats_to_infer, detections);
+
+        assert(detections.size() == 1);
+        auto& detection_list = detections[0];
+        auto& frame_meta = frame_meta_with_batch[0];
+
+        for (int i = 0; i < detection_list.size(); i++) {
+            auto& objbox = detection_list[i];
+            auto rect = get_rect_adapt_landmark(frame_meta->frame, objbox.bbox, objbox.keypoints);
+            
+            std::vector<vp_objects::vp_pose_keypoint> kps;    
+            for (int j = 0; j < 51; j += 3) {
+                kps.push_back(vp_objects::vp_pose_keypoint {j, int(objbox.keypoints[j]), int(objbox.keypoints[j + 1]), objbox.keypoints[j + 2]});
+            }
+                        
+            auto pose_target = std::make_shared<vp_objects::vp_frame_pose_target>(vp_objects::vp_pose_type::yolov8_pose_17, kps);
+            frame_meta->pose_targets.push_back(pose_target);            
+        }
+        auto infer_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start_time);
+
+        // can not calculate preprocess time and postprocess time, set 0 by default.
+        vp_infer_node::infer_combinations_time_cost(mats_to_infer.size(), prepare_time.count(), 0, infer_time.count(), 0);
+    }
+
+    void vp_trt_yolov8_pose_detector::postprocess(const std::vector<cv::Mat>& raw_outputs, const std::vector<std::shared_ptr<vp_objects::vp_frame_meta>>& frame_meta_with_batch) {
+
+    }
+}
+#endif