yolop.h
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//
// Created by DefTruth on 2021/9/14.
//
#ifndef LITE_AI_ORT_CV_YOLOP_H
#define LITE_AI_ORT_CV_YOLOP_H
#include "lite/ort/core/ort_core.h"
namespace ortcv
{
class LITE_EXPORTS YOLOP : public BasicOrtHandler
{
public:
explicit YOLOP(const std::string &_onnx_path, unsigned int _num_threads = 1) :
BasicOrtHandler(_onnx_path, _num_threads)
{};
~YOLOP() override = default;
private:
// nested classes
typedef struct
{
float r;
int dw;
int dh;
int new_unpad_w;
int new_unpad_h;
bool flag;
} YOLOPScaleParams;
private:
const float mean_vals[3] = {255.f * 0.485f, 255.f * 0.456, 255.f * 0.406f};
const float scale_vals[3] = {1 / (255.f * 0.229f), 1 / (255.f * 0.224f), 1 / (255.f * 0.225f)};
enum NMS
{
HARD = 0, BLEND = 1, OFFSET = 2
};
static constexpr const unsigned int max_nms = 30000;
private:
Ort::Value transform(const cv::Mat &mat_rs) override; // without resize
void resize_unscale(const cv::Mat &mat,
cv::Mat &mat_rs,
int target_height,
int target_width,
YOLOPScaleParams &scale_params);
void generate_bboxes_da_ll(const YOLOPScaleParams &scale_params,
std::vector<Ort::Value> &output_tensors,
std::vector<types::Boxf> &bbox_collection,
types::SegmentContent &da_seg_content,
types::SegmentContent &ll_seg_content,
float score_threshold, float img_height,
float img_width); // det,da_seg,ll_seg
void nms(std::vector<types::Boxf> &input, std::vector<types::Boxf> &output,
float iou_threshold, unsigned int topk, unsigned int nms_type);
public:
void detect(const cv::Mat &mat,
std::vector<types::Boxf> &detected_boxes,
types::SegmentContent &da_seg_content,
types::SegmentContent &ll_seg_content,
float score_threshold = 0.25f, float iou_threshold = 0.45f,
unsigned int topk = 100, unsigned int nms_type = NMS::OFFSET);
};
}
#endif //LITE_AI_ORT_CV_YOLOP_H