first commit

2026-06-03 12:43:14 +08:00
commit ba76cfae28
608 changed files with 120791 additions and 0 deletions
--- a/third_party/trt_vehicle/samples/vehicle_scan.cpp
+++ b/third_party/trt_vehicle/samples/vehicle_scan.cpp
@@ -0,0 +1,53 @@
+#include <opencv2/core/core.hpp>
+#include <string>
+#include <vector>
+#include <map>
+
+#include "../models/vehicle_scanner.h"
+using namespace std;
+
+/*
+* vehicle scan demo, detect on vehicle body
+* tensorRT 8.5 + CUDA 11.1 + cuDNN 8.6 for this code, because original onnx weight could not be converted to TRT engine on tensorRT 7.2
+*/
+
+std::map<std::string, cv::Scalar> colors {{"truck", cv::Scalar(255, 0, 0)},  // 货车
+                                        {"bus", cv::Scalar(0, 255, 255)},  //巴士
+                                        {"car", cv::Scalar(0, 255, 0)},  //轿车
+                                        {"suv", cv::Scalar(0, 255, 0)}, //suv+商务
+                                        {"van", cv::Scalar(0, 255, 0)}, //面包+金杯
+                                        {"nowindow", cv::Scalar(0, 255, 0)},  //封窗货车，货拉拉
+                                        {"iveco", cv::Scalar(0, 255, 0)},  //9座依维柯
+                                        {"pickup", cv::Scalar(0, 255, 0)},  //皮卡
+                                        {"wheel", cv::Scalar(0, 255, 0)}};  //轮子
+
+int main() {
+    std::string vehicle_scan_model_path = "./vp_data/models/trt/vehicle/vehicle_scan_v8.5.trt";
+    auto image = cv::imread("./vp_data/test_images/body/0.jpg");
+    auto image2 = cv::imread("./vp_data/test_images/body/1.jpg");
+
+    auto vehicle_scanner = new trt_vehicle::VehicleScanner(vehicle_scan_model_path);
+
+    std::vector<cv::Mat> img_datas = {image, image2};
+    std::vector<std::vector<trt_vehicle::ObjBox>> results;
+
+    vehicle_scanner->detect(img_datas, results);
+
+    for (int i = 0; i < results.size(); i++)
+    {
+        /* code */
+        for (int j = 0; j < results[i].size(); j++)
+        {
+            /* code */
+            auto& objbox = results[i][j];
+
+            cv::rectangle(img_datas[i], cv::Rect(objbox.x, objbox.y, objbox.width, objbox.height), colors.at(objbox.label), 2);
+            cv::putText(img_datas[i], objbox.label + std::to_string(objbox.score), cv::Point(objbox.x, objbox.y), 1, 0.8, colors.at(objbox.label));
+        }
+    }
+    cv::imshow("image", image);
+    cv::imshow("image2", image2);
+    
+    cv::waitKey(0);
+    delete vehicle_scanner;
+}