Changed directory structure and renamed applications

- autopilot -> drone_controller - rtsp_ai_player -> ai_controller - added top level qmake project file - updated documentation - moved small demo applications from tmp/ to misc/
2026-04-22 08:06:35 +00:00 · 2024-10-19 14:44:34 +02:00
parent 54b7dc41ca
commit 45c19baa45
94 changed files with 149 additions and 204 deletions
@@ -0,0 +1,148 @@
+#include "aiengineinference.h"
+
+
+AiEngineInference::AiEngineInference(QString modelPath, QObject *parent)
+    : QObject{parent},
+      mModelPath(modelPath),
+      mActive(false)
+{
+#ifdef YOLO_ONNX
+    mClassNames = {
+        "person",
+        "bicycle",
+        "car",
+        "motorcycle",
+        "airplane",
+        "bus",
+        "train",
+        "truck",
+        "boat",
+        "traffic light",
+        "fire hydrant",
+        "stop sign",
+        "parking meter",
+        "bench",
+        "bird",
+        "cat",
+        "dog",
+        "horse",
+        "sheep",
+        "cow",
+        "elephant",
+        "bear",
+        "zebra",
+        "giraffe",
+        "backpack",
+        "umbrella",
+        "handbag",
+        "tie",
+        "suitcase",
+        "frisbee",
+        "skis",
+        "snowboard",
+        "sports ball",
+        "kite",
+        "baseball bat",
+        "baseball glove",
+        "skateboard",
+        "surfboard",
+        "tennis racket",
+        "bottle",
+        "wine glass",
+        "cup",
+        "fork",
+        "knife",
+        "spoon",
+        "bowl",
+        "banana",
+        "apple",
+        "sandwich",
+        "orange",
+        "broccoli",
+        "carrot",
+        "hot dog",
+        "pizza",
+        "donut",
+        "cake",
+        "chair",
+        "couch",
+        "potted plant",
+        "bed",
+        "dining table",
+        "toilet",
+        "tv",
+        "laptop",
+        "mouse",
+        "remote",
+        "keyboard",
+        "cell phone",
+        "microwave",
+        "oven",
+        "toaster",
+        "sink",
+        "refrigerator",
+        "book",
+        "clock",
+        "vase",
+        "scissors",
+        "teddy bear",
+        "hair drier",
+        "toothbrush"
+    };
+#else
+    mClassNames = {
+        "Armoured vehicle",
+        "Truck",
+        "Vehicle",
+        "Artillery",
+        "Shadow artillery",
+        "Trenches",
+        "Military man",
+        "Tyre tracks",
+        "Additional protection tank",
+        "Smoke"
+    };
+#endif
+}
+
+
+bool AiEngineInference::isActive(void)
+{
+    return mActive;
+}
+
+
+cv::Mat AiEngineInference::resizeAndPad(const cv::Mat& src)
+{
+    // Calculate the aspect ratio
+    float aspectRatio = static_cast<float>(src.cols) / src.rows;
+
+    // Determine new size while maintaining aspect ratio
+    int newWidth = src.cols;
+    int newHeight = src.rows;
+    if (src.cols > INFERENCE_SQUARE_WIDTH || src.rows > INFERENCE_SQUARE_HEIGHT) {
+        if (aspectRatio > 1)
+        {
+            // Width is greater than height
+            newWidth = INFERENCE_SQUARE_WIDTH;
+            newHeight = static_cast<int>(INFERENCE_SQUARE_WIDTH / aspectRatio);
+        }
+        else {
+            // Height is greater than or equal to width
+            newHeight = INFERENCE_SQUARE_HEIGHT;
+            newWidth = static_cast<int>(INFERENCE_SQUARE_HEIGHT * aspectRatio);
+        }
+    }
+
+    // Resize the original image if needed
+    cv::Mat resized;
+    cv::resize(src, resized, cv::Size(newWidth, newHeight));
+
+    // Create a new 640x640 image with a black background
+    cv::Mat output(INFERENCE_SQUARE_HEIGHT, INFERENCE_SQUARE_WIDTH, src.type(), cv::Scalar(0, 0, 0));
+
+    // Copy the resized image to the top-left corner of the new image
+    resized.copyTo(output(cv::Rect(0, 0, resized.cols, resized.rows)));
+
+    return output;
+}