From 607ac22b460b858f7f01da7798164d650b592584 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tuomas=20J=C3=A4rvinen?= <jarvinentuomas@protonmail.com>
Date: Tue, 9 Jul 2024 20:34:21 +0200
Subject: [PATCH] Fixed PC build to work with ONNX Yolov10 files

---
 tmp/opi_rtsp/aiengine.cpp                     |  7 +++----
 tmp/opi_rtsp/opi_rtsp.pro                     |  7 ++++---
 .../src-onnx/aiengineinferenceonnx.cpp        | 21 +++++++++++++++----
 3 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/tmp/opi_rtsp/aiengine.cpp b/tmp/opi_rtsp/aiengine.cpp
index fd4df6f..5c75e28 100644
--- a/tmp/opi_rtsp/aiengine.cpp
+++ b/tmp/opi_rtsp/aiengine.cpp
@@ -47,12 +47,11 @@ void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
 {
     //qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();
 
+#ifdef OPI5_BUILD
     mGimbalControl->inferenceResultSlot(result);
-    cv::imshow("Received Frame", result.frame);
+#endif
 
-//#ifndef OPI5_BUILD
-    //cv::imshow("Received Frame", result.frame);
-//#endif
+    cv::imshow("Received Frame", result.frame);
 }
 
 
diff --git a/tmp/opi_rtsp/opi_rtsp.pro b/tmp/opi_rtsp/opi_rtsp.pro
index 1e797ff..cebd8e6 100644
--- a/tmp/opi_rtsp/opi_rtsp.pro
+++ b/tmp/opi_rtsp/opi_rtsp.pro
@@ -5,16 +5,17 @@ PKGCONFIG += opencv4
 MOC_DIR = moc
 OBJECTS_DIR = obj
 
-SOURCES = $$PWD/*.cpp
+SOURCES = $$PWD/*.cpp $$PWD/../../misc/camera/a8_remote/remoteControl.cpp
 HEADERS = $$PWD/*.h
+INCLUDEPATH += $$PWD/../../misc/camera/a8_remote
 
 opi5 {
     message("OPI5 build")
     PKGCONFIG += opencv4 librga stb libturbojpeg
-    INCLUDEPATH += /usr/include/rga $$PWD/../../misc/camera/a8_remote
+    INCLUDEPATH += /usr/include/rga
     QMAKE_CXXFLAGS += -DOPI5_BUILD
     LIBS += /usr/local/lib/librknnrt.so
-    SOURCES += $$PWD/src-opi5/*.c $$PWD/src-opi5/*.cpp $$PWD/src-opi5/*.cc $$PWD/../../misc/camera/a8_remote/remoteControl.cpp
+    SOURCES += $$PWD/src-opi5/*.c $$PWD/src-opi5/*.cpp $$PWD/src-opi5/*.cc
     HEADERS += $$PWD/src-opi5/*.h
 } else {
     message("ONNX build")
diff --git a/tmp/opi_rtsp/src-onnx/aiengineinferenceonnx.cpp b/tmp/opi_rtsp/src-onnx/aiengineinferenceonnx.cpp
index 9242aa6..b90053e 100644
--- a/tmp/opi_rtsp/src-onnx/aiengineinferenceonnx.cpp
+++ b/tmp/opi_rtsp/src-onnx/aiengineinferenceonnx.cpp
@@ -2,17 +2,18 @@
 #include <QThread>
 #include "aiengineinferenceonnx.h"
 
+
 AiEngineInferenceOnnx::AiEngineInferenceOnnx(QString modelPath, QObject *parent)
     : AiEngineInference{modelPath, parent}
 {
-    qDebug() << "TUOMAS test mModelPath=" << mModelPath;
+    //qDebug() << "TUOMAS test mModelPath=" << mModelPath;
     mEngine = new InferenceEngine(modelPath.toStdString());
 }
 
 
 void AiEngineInferenceOnnx::performInferenceSlot(cv::Mat frame)
 {
-    qDebug() << "performInferenceSlot() in thread: " << QThread::currentThreadId();
+    //qDebug() << "performInferenceSlot() in thread: " << QThread::currentThreadId();
 
     mActive = true;
 
@@ -20,12 +21,24 @@ void AiEngineInferenceOnnx::performInferenceSlot(cv::Mat frame)
     int orig_height                        = frame.rows;
     std::vector<float> input_tensor_values = mEngine->preprocessImage(frame);
     std::vector<float> results             = mEngine->runInference(input_tensor_values);
-    float confidence_threshold             = 0.5;
+    float confidence_threshold             = 0.4;
     std::vector<Detection> detections      = mEngine->filterDetections(results, confidence_threshold, mEngine->input_shape[2], mEngine->input_shape[3], orig_width, orig_height);
 
     AiEngineInferenceResult result;
+    for (uint32_t i = 0; i < detections.size(); i++) {
+        const Detection &detection = detections[i];
+
+        AiEngineObject object;
+        object.classId          = detection.class_id;
+        object.propability      = detection.confidence;
+        object.rectangle.top    = detection.bbox.y;
+        object.rectangle.left   = detection.bbox.x;
+        object.rectangle.bottom = detection.bbox.y + detection.bbox.height;
+        object.rectangle.right  = detection.bbox.x + detection.bbox.width;
+        result.objects.append(object);
+    }
+
     result.frame = mEngine->draw_labels(frame.clone(), detections);
-    result.objects = 1;
     emit resultsReady(result);
 
     mActive = false;