initial commit

wangrong

2025-01-03 2c4b8838f89bebca97615c5f0bac2c58e0349771

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#include "vehicle_scanner.h" 
 
 
namespace trt_vehicle { 
    VehicleScanner::VehicleScanner(const std::string& scanModelPath, float scoreThres, float iouThres) { 
        scannerModel = new DetectModel(scanModelPath, scoreThres, iouThres); 
    } 
     
    VehicleScanner::~VehicleScanner() { 
        if (scannerModel) { 
            delete scannerModel; 
        } 
    } 
     
    void VehicleScanner::detect(std::vector<cv::Mat>& img_datas, std::vector<std::vector<trt_vehicle::ObjBox>>& parts) { 
        parts.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; 
            scannerModel->predictPadding({img_datas[i]}, outBoxes, 128); 
 
            auto& outBox = outBoxes[0]; 
            std::vector<trt_vehicle::ObjBox> part_list; 
 
            if (outBox.size() == 0) { 
                parts.push_back(part_list); 
                continue; 
            } 
 
            for (auto box: outBox) { 
                // attach vehicle label field 
                box.label = partLabels[box.class_]; 
                part_list.push_back(box); 
            } 
             
            parts.push_back(part_list); 
        } 
    }  
}