69 lines
1.8 KiB
C++
69 lines
1.8 KiB
C++
#ifndef YOLOPV2_H
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#define YOLOPV2_H
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#include <fstream>
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#include <sstream>
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#include <iostream>
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#include <opencv2/imgproc.hpp>
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#include <opencv2/highgui.hpp>
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#include <onnxruntime_cxx_api.h>
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using namespace cv;
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using namespace Ort;
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using namespace std;
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struct Net_config
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{
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float confThreshold; // Confidence threshold
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float nmsThreshold; // Non-maximum suppression threshold
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string modelpath;
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};
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typedef struct BoxInfo
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{
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float x1;
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float y1;
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float x2;
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float y2;
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float score;
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int label;
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} BoxInfo;
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class YOLOPv2
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{
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public:
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YOLOPv2(Net_config config);
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Mat detect(Mat& frame);
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private:
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int inpWidth;
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int inpHeight;
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int nout;
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int num_proposal;
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vector<string> class_names;
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int num_class;
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float confThreshold;
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float nmsThreshold;
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vector<float> input_image_;
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void normalize_(Mat img);
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void nms(vector<BoxInfo>& input_boxes);
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const float anchors[3][6] = { {12, 16, 19, 36, 40, 28}, {36, 75, 76, 55, 72, 146},{142, 110, 192, 243, 459, 401} };
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const float stride[3] = { 8.0, 16.0, 32.0 };
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const static int N = 6; //采样点数量
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const float dis[N] = {1000, 2000, 3000, 4000, 5000, 6000}; //偏移量采样点实际距离(mm)
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const int ypos[N] = {928, 839, 778, 735, 707, 686}; //偏移量采样点y轴坐标
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const int center = 1048; //车体中心x轴坐标
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const float rate[N] = {6.37, 8.26, 10.53, 12.98, 15.87, 19.23}; //图像像素到实际偏移(mm)转换率
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Env env = Env(ORT_LOGGING_LEVEL_ERROR, "YOLOPv2");
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Ort::Session *ort_session = nullptr;
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SessionOptions sessionOptions = SessionOptions();
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vector<char*> input_names;
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vector<char*> output_names;
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vector<vector<int64_t>> input_node_dims; // >=1 outputs
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vector<vector<int64_t>> output_node_dims; // >=1 outputs
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};
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#endif // YOLOPV2_H
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