49 lines
1.1 KiB
C
49 lines
1.1 KiB
C
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#include <dlfcn.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#define _BASETSD_H
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#include "rknn_api.h"
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#include "sort_test/preprocess.h"
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#include "sort_test/postprocess.h"
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#define PERF_WITH_POST 1
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class Detection
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{
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private:
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int ret;
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rknn_context ctx;
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size_t actual_size = 0;
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int img_width = 0;
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int img_height = 0;
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int img_channel = 0;
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const float nms_threshold = NMS_THRESH; // 默认的NMS阈值
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const float box_conf_threshold = BOX_THRESH; // 默认的置信度阈值
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char* model_name = "/home/firefly/pibot_ros/ros_ws/src/sort_test/model/yolov5s-640-640.rknn";
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cv::Mat orig_img;
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rknn_input_output_num io_num;
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int channel = 3;
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int width = 0;
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int height = 0;
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rknn_input inputs[1];
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std::vector<float> out_scales;
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std::vector<int32_t> out_zps;
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public:
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Detection();
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static unsigned char *load_data(FILE *fp, size_t ofst, size_t sz);
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static unsigned char *load_model(const char *filename, int *model_size);
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detect_result_group_t outputParse(cv::Mat netInputImg);
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};
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