64 lines
2.9 KiB
C++
64 lines
2.9 KiB
C++
#ifdef VP_WITH_TRT
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#include "vp_trt_vehicle_scanner.h"
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namespace vp_nodes {
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vp_trt_vehicle_scanner::vp_trt_vehicle_scanner(std::string node_name,
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std::string vehicle_scan_model_path):
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vp_primary_infer_node(node_name, "") {
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vehicle_scanner = std::make_shared<trt_vehicle::VehicleScanner>(vehicle_scan_model_path);
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this->initialized();
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}
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vp_trt_vehicle_scanner::~vp_trt_vehicle_scanner() {
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deinitialized();
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}
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// please refer to vp_infer_node::run_infer_combinations
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void vp_trt_vehicle_scanner::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_primary_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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start_time = std::chrono::system_clock::now();
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std::vector<std::vector<trt_vehicle::ObjBox>> vehicles;
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vehicle_scanner->detect(mats_to_infer, vehicles);
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assert(vehicles.size() == 1);
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auto& vehicle_list = vehicles[0];
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auto& frame_meta = frame_meta_with_batch[0];
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for (int i = 0; i < vehicle_list.size(); i++) {
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auto& objbox = vehicle_list[i];
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// check value range
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objbox.x = std::max(objbox.x, 0);
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objbox.y = std::max(objbox.y, 0);
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objbox.width = std::min(objbox.width, frame_meta->frame.cols - objbox.x);
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objbox.height = std::min(objbox.height, frame_meta->frame.rows - objbox.y);
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if (objbox.width <= 0 || objbox.height <= 0) {
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continue;
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}
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auto target = std::make_shared<vp_objects::vp_frame_target>(objbox.x, objbox.y, objbox.width, objbox.height,
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objbox.class_, objbox.score, frame_meta->frame_index, frame_meta->channel_index, objbox.label);
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// create target and update back into frame meta
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frame_meta->targets.push_back(target);
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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_scanner::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 |