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main.cpp
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main.cpp
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// Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// reference from https://github.com/RangiLyu/nanodet/tree/main/demo_ncnn
// modified 9-20-2023 Q-engineering
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <iostream>
#include <net.h>
#include "picodet.h"
const char* class_names[] = {
"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"
};
struct object_rect {
int x;
int y;
int width;
int height;
};
int resize_uniform(cv::Mat& src, cv::Mat& dst, cv::Size dst_size, object_rect& effect_area)
{
int w = src.cols;
int h = src.rows;
int dst_w = dst_size.width;
int dst_h = dst_size.height;
dst = cv::Mat(cv::Size(dst_w, dst_h), CV_8UC3, cv::Scalar(0));
float ratio_src = w * 1.0 / h;
float ratio_dst = dst_w * 1.0 / dst_h;
int tmp_w = 0;
int tmp_h = 0;
if (ratio_src > ratio_dst) {
tmp_w = dst_w;
tmp_h = floor((dst_w * 1.0 / w) * h);
}
else if (ratio_src < ratio_dst) {
tmp_h = dst_h;
tmp_w = floor((dst_h * 1.0 / h) * w);
}
else {
cv::resize(src, dst, dst_size);
effect_area.x = 0;
effect_area.y = 0;
effect_area.width = dst_w;
effect_area.height = dst_h;
return 0;
}
cv::Mat tmp;
cv::resize(src, tmp, cv::Size(tmp_w, tmp_h));
if (tmp_w != dst_w) {
int index_w = floor((dst_w - tmp_w) / 2.0);
for (int i = 0; i < dst_h; i++) {
memcpy(dst.data + i * dst_w * 3 + index_w * 3, tmp.data + i * tmp_w * 3, tmp_w * 3);
}
effect_area.x = index_w;
effect_area.y = 0;
effect_area.width = tmp_w;
effect_area.height = tmp_h;
}
else if (tmp_h != dst_h) {
int index_h = floor((dst_h - tmp_h) / 2.0);
memcpy(dst.data + index_h * dst_w * 3, tmp.data, tmp_w * tmp_h * 3);
effect_area.x = 0;
effect_area.y = index_h;
effect_area.width = tmp_w;
effect_area.height = tmp_h;
}
else {
printf("error\n");
}
return 0;
}
void draw_bboxes(const cv::Mat &im, const std::vector<BoxInfo> &bboxes)
{
for (size_t i = 0; i < bboxes.size(); i++) {
const BoxInfo &bbox = bboxes[i];
cv::rectangle(im, cv::Rect(cv::Point(bbox.x1, bbox.y1),cv::Point(bbox.x2, bbox.y2)),cv::Scalar(255, 0, 0));
char text[256];
sprintf(text, "%s %.1f%%", class_names[bbox.label], bbox.score * 100);
int baseLine = 0;
cv::Size label_size = cv::getTextSize(text, cv::FONT_HERSHEY_SIMPLEX, 0.4, 1, &baseLine);
int x = bbox.x1;
int y = bbox.y1 - label_size.height - baseLine;
if(y < 0) y = 0;
if(x + label_size.width > im.cols) x = im.cols - label_size.width;
cv::rectangle(im, cv::Rect(cv::Point(x, y),cv::Size(label_size.width,label_size.height + baseLine)),
cv::Scalar(255, 255, 255), -1);
cv::putText(im, text, cv::Point(x, y + label_size.height), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(0,0,0), 1);
}
}
int main(int argc, char** argv)
{
float f;
float FPS[16];
int i, Fcnt=0;
std::chrono::steady_clock::time_point Tbegin, Tend;
for(i=0;i<16;i++) FPS[i]=0.0;
if (argc != 2)
{
fprintf(stderr, "Usage: %s [imagepath]\n", argv[0]);
return -1;
}
const char* imagepath = argv[1];
cv::Mat m = cv::imread(imagepath, 1);
if (m.empty())
{
fprintf(stderr, "cv::imread %s failed\n", imagepath);
return -1;
}
PicoDet detector = PicoDet("./picodet_s_320_coco_lcnet-opt.param", "./picodet_s_320_coco_lcnet-opt.bin", 320, 320, true, 0.45, 0.3);
while(1){
m = cv::imread(imagepath, 1);
if (m.empty()) {
std::cerr << "End of movie" << std::endl;
break;
}
Tbegin = std::chrono::steady_clock::now();
std::vector<BoxInfo> results;
detector.detect(m, results, 0);
Tend = std::chrono::steady_clock::now();
draw_bboxes(m, results);
//calculate frame rate
f = std::chrono::duration_cast <std::chrono::milliseconds> (Tend - Tbegin).count();
if(f>0.0) FPS[((Fcnt++)&0x0F)]=1000.0/f;
for(f=0.0, i=0;i<16;i++){ f+=FPS[i]; }
cv::putText(m, cv::format("FPS %0.2f", f/16),cv::Point(10,20),cv::FONT_HERSHEY_SIMPLEX,0.6, cv::Scalar(0, 0, 255));
cv::imshow("RPi4 - 1.95 GHz - 2 GB ram",m);
//cv::imwrite("test.jpg",m);
char esc = cv::waitKey(5);
if(esc == 27) break;
}
return 0;
}