82 lines
1.8 KiB
C++
82 lines
1.8 KiB
C++
// Ultralytics 🚀 AGPL-3.0 License - https://ultralytics.com/license
|
|
|
|
#pragma once
|
|
|
|
#include <opencv2/opencv.hpp>
|
|
#include "grpc_client.h"
|
|
|
|
class Image
|
|
{
|
|
public:
|
|
Image() = default;
|
|
static void preprocess(cv::Mat* image, std::vector<uint16_t>& triton_data, int input_w, int input_h);
|
|
};
|
|
|
|
struct struct_yolo_output
|
|
{
|
|
std::vector<int> num_dets, det_classes;
|
|
std::vector<float> det_boxes, det_scores;
|
|
};
|
|
|
|
struct BoundingBox {
|
|
float x, y, w, h;
|
|
float score;
|
|
int class_id;
|
|
};
|
|
|
|
struct detection_struct
|
|
{
|
|
cv::Rect bbox;
|
|
int class_id;
|
|
std::string name;
|
|
double confidence_score;
|
|
};
|
|
|
|
// C-compatible declarations
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
int getDetectionsFromTritonRawData(
|
|
std::vector<float>& detection_results,
|
|
std::vector<struct detection_struct>& tespitler,
|
|
std::vector<std::string>& object_class_list,
|
|
float confidence_threshold,
|
|
int image_width,
|
|
int image_height
|
|
);
|
|
|
|
std::vector<BoundingBox> NMS(const std::vector<BoundingBox>& boxes, float iou_threshold);
|
|
float IoU(const BoundingBox& box1, const BoundingBox& box2);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
namespace tc = triton::client;
|
|
|
|
class TritonCommunication
|
|
{
|
|
private:
|
|
std::unique_ptr<tc::InferenceServerGrpcClient> client;
|
|
std::string triton_url;
|
|
std::vector<int64_t> shape;
|
|
tc::InferOptions options;
|
|
size_t input_byte_size;
|
|
size_t output_byte_size;
|
|
std::shared_ptr<tc::InferResult> results_ptr;
|
|
|
|
public:
|
|
std::vector<float> output_raw_data;
|
|
|
|
TritonCommunication(std::string triton_address,
|
|
std::string model_name,
|
|
std::string model_version,
|
|
int image_channel,
|
|
int image_width,
|
|
int image_height,
|
|
int class_count);
|
|
|
|
void infer(uint16_t* triton_data);
|
|
};
|