65 lines
3.2 KiB
C++
65 lines
3.2 KiB
C++
#ifdef VP_WITH_TRT
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#include "vp_trt_vehicle_feature_encoder.h"
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namespace vp_nodes {
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vp_trt_vehicle_feature_encoder::vp_trt_vehicle_feature_encoder(std::string node_name,
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std::string vehicle_feature_model_path,
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std::vector<int> p_class_ids_applied_to,
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int min_width_applied_to, int min_height_applied_to):
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vp_secondary_infer_node(node_name, "", "", "", 1, 1, 1, p_class_ids_applied_to, min_width_applied_to, min_height_applied_to) {
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vehicle_feature_encoder = std::make_shared<trt_vehicle::VehicleFeatureEncoder>(vehicle_feature_model_path);
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this->initialized();
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}
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vp_trt_vehicle_feature_encoder::~vp_trt_vehicle_feature_encoder() {
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deinitialized();
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}
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void vp_trt_vehicle_feature_encoder::run_infer_combinations(const std::vector<std::shared_ptr<vp_objects::vp_frame_meta>>& frame_meta_with_batch) {
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assert(frame_meta_with_batch.size() == 1);
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std::vector<cv::Mat> mats_to_infer;
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// start
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auto start_time = std::chrono::system_clock::now();
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// prepare data, as same as base class
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vp_secondary_infer_node::prepare(frame_meta_with_batch, mats_to_infer);
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auto prepare_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start_time);
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// infer using trt_vehicle library
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start_time = std::chrono::system_clock::now();
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std::vector<std::vector<float>> vehicles_feature;
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vehicle_feature_encoder->encode(mats_to_infer, vehicles_feature);
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auto& frame_meta = frame_meta_with_batch[0];
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auto index = 0;
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for (int i = 0; i < vehicles_feature.size(); i++) {
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for (int j = index; j < frame_meta->targets.size(); j++) {
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// need apply or not?
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if (!need_apply(frame_meta->targets[j]->primary_class_id, frame_meta->targets[j]->width, frame_meta->targets[j]->height)) {
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// continue as its primary_class_id is not in p_class_ids_applied_to
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continue;
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}
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// update back to frame meta
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auto& features = vehicles_feature[i];
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for(int k = 0; k < features.size(); k++) {
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frame_meta->targets[j]->embeddings.push_back(features[k]);
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}
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// break as we found the right target!
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index = j + 1;
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break;
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}
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}
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auto infer_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start_time);
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// can not calculate preprocess time and postprocess time, set 0 by default.
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vp_infer_node::infer_combinations_time_cost(mats_to_infer.size(), prepare_time.count(), 0, infer_time.count(), 0);
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}
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void vp_trt_vehicle_feature_encoder::postprocess(const std::vector<cv::Mat>& raw_outputs, const std::vector<std::shared_ptr<vp_objects::vp_frame_meta>>& frame_meta_with_batch) {
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}
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}
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#endif |