initial commit

wangrong

2025-01-03 2c4b8838f89bebca97615c5f0bac2c58e0349771

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#include <opencv2/core/core.hpp> 
#include <string> 
#include <vector> 
#include <map> 
 
#include "../models/vehicle_scanner.h" 
using namespace std; 
 
/* 
* vehicle scan demo, detect on vehicle body 
* tensorRT 8.5 + CUDA 11.1 + cuDNN 8.6 for this code, because original onnx weight could not be converted to TRT engine on tensorRT 7.2 
*/ 
 
std::map<std::string, cv::Scalar> colors {{"truck", cv::Scalar(255, 0, 0)},  // 货车 
                                        {"bus", cv::Scalar(0, 255, 255)},  //巴士 
                                        {"car", cv::Scalar(0, 255, 0)},  //轿车 
                                        {"suv", cv::Scalar(0, 255, 0)}, //suv+商务 
                                        {"van", cv::Scalar(0, 255, 0)}, //面包+金杯 
                                        {"nowindow", cv::Scalar(0, 255, 0)},  //封窗货车，货拉拉 
                                        {"iveco", cv::Scalar(0, 255, 0)},  //9座依维柯 
                                        {"pickup", cv::Scalar(0, 255, 0)},  //皮卡 
                                        {"wheel", cv::Scalar(0, 255, 0)}};  //轮子 
 
int main() { 
    std::string vehicle_scan_model_path = "./vp_data/models/trt/vehicle/vehicle_scan_v8.5.trt"; 
    auto image = cv::imread("./vp_data/test_images/body/0.jpg"); 
    auto image2 = cv::imread("./vp_data/test_images/body/1.jpg"); 
 
    auto vehicle_scanner = new trt_vehicle::VehicleScanner(vehicle_scan_model_path); 
 
    std::vector<cv::Mat> img_datas = {image, image2}; 
    std::vector<std::vector<trt_vehicle::ObjBox>> results; 
 
    vehicle_scanner->detect(img_datas, results); 
 
    for (int i = 0; i < results.size(); i++) 
    { 
        /* code */ 
        for (int j = 0; j < results[i].size(); j++) 
        { 
            /* code */ 
            auto& objbox = results[i][j]; 
 
            cv::rectangle(img_datas[i], cv::Rect(objbox.x, objbox.y, objbox.width, objbox.height), colors.at(objbox.label), 2); 
            cv::putText(img_datas[i], objbox.label + std::to_string(objbox.score), cv::Point(objbox.x, objbox.y), 1, 0.8, colors.at(objbox.label)); 
        } 
    } 
    cv::imshow("image", image); 
    cv::imshow("image2", image2); 
     
    cv::waitKey(0); 
    delete vehicle_scanner; 
}