initial commit

wangrong

2025-01-03 2c4b8838f89bebca97615c5f0bac2c58e0349771

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
 
 
#include "vehicle_detector.h" 
 
 
namespace trt_vehicle { 
         
    VehicleDetector::VehicleDetector(const std::string& vehicleModelPath,  
                                    float vehicleScoreThres,  
                                    float vehicleIouThres) { 
        vehicleModel = new DetectModel(vehicleModelPath, vehicleScoreThres, vehicleIouThres); 
    } 
     
    VehicleDetector::~VehicleDetector() { 
        if (vehicleModel) { 
            delete vehicleModel; 
        } 
    } 
     
    void VehicleDetector::detect(std::vector<cv::Mat>& img_datas, std::vector<std::vector<trt_vehicle::ObjBox>>& vehicles) { 
        vehicles.clear(); 
        // batch size == 1 for vehicle det model 
        // scan 1 by 1 
        for (int i = 0; i < img_datas.size(); i++) { 
            std::vector<std::vector<ObjBox>> outBoxes; 
            vehicleModel->predictPadding({img_datas[i]}, outBoxes, 128); 
 
            auto& outBox = outBoxes[0]; 
            std::vector<trt_vehicle::ObjBox> vehicle_list; 
 
            if (outBox.size() == 0) { 
                vehicles.push_back(vehicle_list); 
                continue; 
            } 
 
            for (auto box: outBox) { 
                // attach vehicle label field 
                box.label = vehicle_labels[box.class_]; 
                vehicle_list.push_back(box); 
            } 
             
            vehicles.push_back(vehicle_list); 
        } 
    } 
}