autopilot/tmp/opi_rtsp/src-opencv-onnx/aiengineinferenceopencvonnx.cpp

#include <QDebug>
#include <QThread>
#include "aiengineinferenceopencvonnx.h"


const int INFERENCE_SQUARE_WIDTH  = 640;
const int INFERENCE_SQUARE_HEIGHT = 640;


AiEngineInferenceOpencvOnnx::AiEngineInferenceOpencvOnnx(QString modelPath, QObject *parent)
    : AiEngineInference{modelPath, parent},
      mInference(modelPath.toStdString(), cv::Size(640, 640), "classes.txt")
{
    //qDebug() << "TUOMAS test mModelPath=" << mModelPath;
    //mEngine = new InferenceEngine(modelPath.toStdString());
    //mInference = new Inference(modelPath.toStdString(), cv::Size(INFERENCE_SQUARE_WIDTH, INFERENCE_SQUARE_HEIGHT), "classes.txt");
}


cv::Mat 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;
}


void AiEngineInferenceOpencvOnnx::performInferenceSlot(cv::Mat frame)
{
    try {
        //qDebug() << "performInferenceSlot() in thread: " << QThread::currentThreadId();

        mActive = true;

        cv::Mat scaledImage               = resizeAndPad(frame);
        std::vector<Detection> detections = mInference.runInference(scaledImage);
        AiEngineInferenceResult result;

        //qDebug() << "performInferenceSlot() found " << detections.size() << " objects";

        for (uint i = 0; i < detections.size(); ++i) {
            const Detection &detection = detections[i];

            // Add detected objects to the results
            AiEngineObject object;
            object.classId          = detection.class_id;
            object.propability      = detection.confidence;
            object.rectangle.top    = detection.box.y;
            object.rectangle.left   = detection.box.x;
            object.rectangle.bottom = detection.box.y + detection.box.height;
            object.rectangle.right  = detection.box.x + detection.box.width;
            result.objects.append(object);
        }

        if (result.objects.empty() == false) {
            result.frame = mInference.drawLabels(scaledImage, detections);
            emit resultsReady(result);
        }

        mActive = false;
    }
    catch (const cv::Exception& e) {
        std::cerr << "performInferenceSlot() Error: " << e.what() << std::endl;
    }
}