mirror of
https://github.com/azaion/autopilot.git
synced 2026-04-22 21:56:35 +00:00
Tuomas Järvinen
be59a02f9b
Save bmp images of inference results to /tmp as bmp files. BMP was chosen to reduce encoding time. Saving is fully threaded. It can be enable with qmake CONFIG+=save_images option Also: - use antialised fonts in RKNN inference - moved class strings to inference base class - fixed silly segfault in ONNX inference - prevent writing results if class if exceeds valid values Issue: https://denyspopov.atlassian.net/browse/AZ-38 Type: Improvement
149 lines
3.2 KiB
C++
149 lines
3.2 KiB
C++
#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;
|
|
}
|