60 lines
2.7 KiB
C++
60 lines
2.7 KiB
C++
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#ifdef VP_WITH_TRT
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#include "vp_trt_yolov8_pose_detector.h"
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namespace vp_nodes {
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vp_trt_yolov8_pose_detector::vp_trt_yolov8_pose_detector(std::string node_name,
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std::string model_path):
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vp_primary_infer_node(node_name, "") {
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yolov8_pose_detector = std::make_shared<trt_yolov8::trt_yolov8_pose_detector>(model_path);
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this->initialized();
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}
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vp_trt_yolov8_pose_detector::~vp_trt_yolov8_pose_detector() {
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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_yolov8_pose_detector::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<Detection>> detections;
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yolov8_pose_detector->detect(mats_to_infer, detections);
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assert(detections.size() == 1);
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auto& detection_list = detections[0];
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auto& frame_meta = frame_meta_with_batch[0];
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for (int i = 0; i < detection_list.size(); i++) {
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auto& objbox = detection_list[i];
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auto rect = get_rect_adapt_landmark(frame_meta->frame, objbox.bbox, objbox.keypoints);
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std::vector<vp_objects::vp_pose_keypoint> kps;
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for (int j = 0; j < 51; j += 3) {
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kps.push_back(vp_objects::vp_pose_keypoint {j, int(objbox.keypoints[j]), int(objbox.keypoints[j + 1]), objbox.keypoints[j + 2]});
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}
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auto pose_target = std::make_shared<vp_objects::vp_frame_pose_target>(vp_objects::vp_pose_type::yolov8_pose_17, kps);
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frame_meta->pose_targets.push_back(pose_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_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) {
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}
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}
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#endif |