use INFERENCE_SQUARE_WIDTH and INFERENCE_SQUARE_HEIGHT defined in aiengineinference.h for resizing in opi5 (set them to 1280)

reorganised logs for inference output, remove some logs for more clear output

ai_controller/aiengine.cpp

@@ -82,7 +82,7 @@ void AiEngine::stop(void)
 void AiEngine::inferenceResultsReceivedSlot(AiEngineInferenceResult result)
 {
     mFrameCounter++;
-    qDebug() << "FPS = " << (mFrameCounter / (mElapsedTimer.elapsed()/1000.0f));
+    //qDebug() << "FPS = " << (mFrameCounter / (mElapsedTimer.elapsed()/1000.0f));
     //qDebug() << "DEBUG. inference frame counter:" << mFrameCounter;
 
     //qDebug() << "AiEngine got inference results in thread: " << QThread::currentThreadId();

ai_controller/aiengineinference.h

@@ -8,8 +8,8 @@
 #include "aienginedefinitions.h"
 
 
-const int INFERENCE_SQUARE_WIDTH  = 640;
+const int INFERENCE_SQUARE_WIDTH  = 1280;
-const int INFERENCE_SQUARE_HEIGHT = 640;
+const int INFERENCE_SQUARE_HEIGHT = 1280;
 
 
 class AiEngineObject {

ai_controller/src-opi5/aiengineinferenceopi5.cpp

@@ -68,7 +68,7 @@ void AiEngineInferenceOpi5::freeImageBuffer(image_buffer_t& imgBuffer)
 }
 
 
-cv::Mat AiEngineInferenceOpi5::resizeToHalfAndAssigntoTopLeft640x640(const cv::Mat& inputFrame)
+cv::Mat AiEngineInferenceOpi5::resizeAndAssignToTopLeft(const int toWidth, const int toHeight, const cv::Mat& inputFrame)
 {
     /*
     // Resize input frame to half size
@@ -85,19 +85,17 @@ cv::Mat AiEngineInferenceOpi5::resizeToHalfAndAssigntoTopLeft640x640(const cv::M
     return outputFrame;
     */
 
-    const int targetWidth = 640;
-    const int targetHeight = 640;
     float aspectRatio = static_cast<float>(inputFrame.cols) / static_cast<float>(inputFrame.rows);
-    int newWidth = targetWidth;
+    int newWidth = toWidth;
-    int newHeight = static_cast<int>(targetWidth / aspectRatio);
+    int newHeight = static_cast<int>(toWidth / aspectRatio);
-    if (newHeight > targetHeight) {
+    if (newHeight > toHeight) {
-        newHeight = targetHeight;
+        newHeight = toHeight;
-        newWidth = static_cast<int>(targetHeight * aspectRatio);
+        newWidth = static_cast<int>(toHeight * aspectRatio);
     }
 
     cv::Mat resizedFrame;
     cv::resize(inputFrame, resizedFrame, cv::Size(newWidth, newHeight));
-    cv::Mat outputFrame = cv::Mat::zeros(targetHeight, targetWidth, inputFrame.type());
+    cv::Mat outputFrame = cv::Mat::zeros(toHeight, toWidth, inputFrame.type());
     cv::Rect roi(cv::Point(0, 0), resizedFrame.size());
     resizedFrame.copyTo(outputFrame(roi));
 
@@ -116,19 +114,24 @@ void AiEngineInferenceOpi5::drawObjects(cv::Mat& image, const object_detect_resu
             //continue;
         }
 
-        fprintf(stderr, "Inference[%d] probability = %f\n", i, result.prop * 100);
+        //fprintf(stderr, "Inference[%d] probability = %f\n", i, result.prop * 100);
 
         int left = result.box.left;
         int top = result.box.top;
         int right = result.box.right;
         int bottom = result.box.bottom;
 
+        QString cName = mClassNames[result.cls_id % mClassNames.size()];
+        qDebug() << "x:" << left << "y:" << top
+                 << "| size:" << right - left << "," << bottom - top
+                 << "| " << qPrintable(cName) << ":" << (int)(result.prop * 100) << "% \n";
+
         cv::rectangle(image, cv::Point(left, top), cv::Point(right, bottom), cv::Scalar(255, 0, 0), 2);
 
         // Text
         char c_text[256];
         //sprintf(c_text, "%s %d%%", coco_cls_to_name(result.cls_id), (int)(round(result.prop * 100)));
-        sprintf(c_text, "%s %d%%", mClassNames[result.cls_id % mClassNames.size()].toStdString().c_str(), (int)(round(result.prop * 100)));
+        sprintf(c_text, "%s %d%%", cName.toStdString().c_str(), (int)(round(result.prop * 100)));
         cv::Point textOrg(left, top - 5);
         cv::putText(image, std::string(c_text), textOrg, cv::FONT_HERSHEY_COMPLEX, 0.70, cv::Scalar(0, 0, 255), 1, cv::LINE_AA);
     }
@@ -141,7 +144,7 @@ void AiEngineInferenceOpi5::performInferenceSlot(cv::Mat frame)
 
     mActive = true;
 
-    cv::Mat scaledFrame      = resizeToHalfAndAssigntoTopLeft640x640(frame);
+    cv::Mat scaledFrame      = resizeAndAssignToTopLeft(INFERENCE_SQUARE_WIDTH, INFERENCE_SQUARE_HEIGHT, frame);
     image_buffer_t imgBuffer = convertCV2FrameToImageBuffer(scaledFrame);
 
     object_detect_result_list od_results;
@@ -156,7 +159,6 @@ void AiEngineInferenceOpi5::performInferenceSlot(cv::Mat frame)
     AiEngineInferenceResult result;
     for (int i = 0; i < od_results.count; i++) {
         object_detect_result *det_result = &(od_results.results[i]);
-        qDebug() << "____box:" << det_result->box.top << det_result->box.left << det_result->box.bottom << det_result->box.right << "\n";
         AiEngineObject object;
         object.classId          = det_result->cls_id;
         object.propability      = det_result->prop;

ai_controller/src-opi5/aiengineinferenceopi5.h

@@ -19,7 +19,7 @@ public slots:
 private:
     image_buffer_t convertCV2FrameToImageBuffer(const cv::Mat& bgrFrame);
     void freeImageBuffer(image_buffer_t& imgBuffer);
-    cv::Mat resizeToHalfAndAssigntoTopLeft640x640(const cv::Mat& inputFrame);
+    cv::Mat resizeAndAssignToTopLeft(const int toWidth, const int toHeight, const cv::Mat& inputFrame);
     void drawObjects(cv::Mat& image, const object_detect_result_list& result_list);
 
     rknn_app_context_t mRrknnAppCtx0;

ai_controller/src-opi5/image_utils.c

@@ -666,17 +666,17 @@ int convert_image(image_buffer_t* src_img, image_buffer_t* dst_img, image_rect_t
 {
     int ret;
  
-    printf("src width=%d height=%d fmt=0x%x virAddr=0x%p fd=%d\n",
+//    printf("src width=%d height=%d fmt=0x%x virAddr=0x%p fd=%d\n",
-        src_img->width, src_img->height, src_img->format, src_img->virt_addr, src_img->fd);
+//        src_img->width, src_img->height, src_img->format, src_img->virt_addr, src_img->fd);
-    printf("dst width=%d height=%d fmt=0x%x virAddr=0x%p fd=%d\n",
+//    printf("dst width=%d height=%d fmt=0x%x virAddr=0x%p fd=%d\n",
-        dst_img->width, dst_img->height, dst_img->format, dst_img->virt_addr, dst_img->fd);
+//        dst_img->width, dst_img->height, dst_img->format, dst_img->virt_addr, dst_img->fd);
-    if (src_box != NULL) {
+//    if (src_box != NULL) {
-        printf("src_box=(%d %d %d %d)\n", src_box->left, src_box->top, src_box->right, src_box->bottom);
+//        printf("src_box=(%d %d %d %d)\n", src_box->left, src_box->top, src_box->right, src_box->bottom);
-    }
+//    }
-    if (dst_box != NULL) {
+//    if (dst_box != NULL) {
-        printf("dst_box=(%d %d %d %d)\n", dst_box->left, dst_box->top, dst_box->right, dst_box->bottom);
+//        printf("dst_box=(%d %d %d %d)\n", dst_box->left, dst_box->top, dst_box->right, dst_box->bottom);
-    }
+//    }
-    printf("color=0x%x\n", color);
+//    printf("color=0x%x\n", color);
 
     ret = convert_image_rga(src_img, dst_img, src_box, dst_box, color);
     if (ret != 0) {
@@ -757,9 +757,9 @@ int convert_image_with_letterbox(image_buffer_t* src_image, image_buffer_t* dst_
         dst_box.right = dst_box.left + resize_w - 1;
         _left_offset = dst_box.left;
     }
-    printf("scale=%f dst_box=(%d %d %d %d) allow_slight_change=%d _left_offset=%d _top_offset=%d padding_w=%d padding_h=%d\n",
+//    printf("scale=%f dst_box=(%d %d %d %d) allow_slight_change=%d _left_offset=%d _top_offset=%d padding_w=%d padding_h=%d\n",
-        scale, dst_box.left, dst_box.top, dst_box.right, dst_box.bottom, allow_slight_change,
+//        scale, dst_box.left, dst_box.top, dst_box.right, dst_box.bottom, allow_slight_change,
-        _left_offset, _top_offset, padding_w, padding_h);
+//        _left_offset, _top_offset, padding_w, padding_h);
 
     //set offset and scale
     if(letterbox != NULL){

ai_controller/src-opi5/yolov8.cc

@@ -235,7 +235,7 @@ int inference_yolov8_model(rknn_app_context_t *app_ctx, image_buffer_t *img, obj
     }
 
     // Run
-    printf("rknn_run\n");
+    //printf("rknn_run\n");
     ret = rknn_run(app_ctx->rknn_ctx, nullptr);
     if (ret < 0)
     {