209 lines
11 KiB
Plaintext
209 lines
11 KiB
Plaintext
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#include "yolov5_clear_detect_inference.h"
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YoloV5ClearDetectInference::YoloV5ClearDetectInference() {}
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YoloV5ClearDetectInference::~YoloV5ClearDetectInference() {}
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int YoloV5ClearDetectInference::YoloV5ClearDetectInferenceInit(ClearModelInfo* pYoloV5ClearModelInfo, const std::string& strModelName, const std::string& strEngineName)
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{
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pYoloV5ClearModelInfo_ = pYoloV5ClearModelInfo;
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//资源分配(创建流,host及device侧内存)
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cudaSetDevice(DEVICE); //设置GPU
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//创建图像预处理CUDA流
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pImagePreprocessStream_ = new cudaStream_t;
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CUDA_CHECK(cudaStreamCreate(pImagePreprocessStream_));
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//创建模型推理CUDA流
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pInferenceModelStream_ = new cudaStream_t;
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CUDA_CHECK(cudaStreamCreate(pInferenceModelStream_));
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pGLogger_ = new Logger;
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//相关资源分配
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pfBuffers_[0] = nullptr; pfBuffers_[1] = nullptr;
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CUDA_CHECK(cudaMalloc((void**)&pfBuffers_[0], pYoloV5ClearModelInfo_->modelInfo.uiInputSize * sizeof(float))); //输入资源分配
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CUDA_CHECK(cudaMalloc((void**)&pfBuffers_[1], pYoloV5ClearModelInfo_->modelInfo.uiOutputSize * sizeof(float))); //输出资源分配
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pu8ImgHost_ = new uint8_t;
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pu8ImgDevice_ = new uint8_t;
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CUDA_CHECK(cudaMallocHost((void**)&pu8ImgHost_, MAX_IMAGE_INPUT_SIZE_THRESH * pYoloV5ClearModelInfo_->modelInfo.uiChannel)); //在HOST侧申请预处理数据缓存
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CUDA_CHECK(cudaMalloc((void**)&pu8ImgDevice_, MAX_IMAGE_INPUT_SIZE_THRESH * pYoloV5ClearModelInfo_->modelInfo.uiChannel)); //在DEVICE侧申请预处理数据缓存
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pfInputData_ = new float[pYoloV5ClearModelInfo_->modelInfo.uiBatchSize * pYoloV5ClearModelInfo_->modelInfo.uiInputSize];
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pfOutputData_ = new float[pYoloV5ClearModelInfo_->modelInfo.uiBatchSize * pYoloV5ClearModelInfo_->modelInfo.uiOutputSize];
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//序列化引擎
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//直接使用API创建一个模型，并将其序列化为流 编译成TensorRT引擎engine文件后无需再次调用,调用依次生成engine即可
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//基于onnx解析器编译tensorrt引擎
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#if 0
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if (!strModelName.empty()) {
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IHostMemory* modelStream{ nullptr };
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ONNXToModel(*pGLogger_, pYoloV5ClearModelInfo_->modelInfo.uiBatchSize, MAX_WORKSPAXE_SIZE, &modelStream, strModelName);
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assert(modelStream != nullptr);
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std::ofstream p(strEngineName, std::ios::binary);
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if (!p) {
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std::cerr << "could not open plan output file" << std::endl;
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return -1;
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}
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p.write(reinterpret_cast<const char*>(modelStream->data()), modelStream->size());
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modelStream->destroy();
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}
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#endif
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//反序列化模型并运行推理
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std::ifstream file(strEngineName, std::ios::binary);
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if (!file.good()) {
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std::cerr << "read " << strEngineName << " error!" << std::endl;
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return -1;
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}
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//创建tensorRT流对象trtModelStream,这个就跟文件流中的ifstream类似的
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//trtModelStream是一块内存区域,用于保存序列化的plan文件
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char *trtModelStream = nullptr;
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size_t size = 0;
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file.seekg(0, file.end); //将指针移动至距离文件末尾0处的位置
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size = file.tellg(); //获得当前字符的位置
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file.seekg(0, file.beg); //将指针移动至距离文件开头0处的位置
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trtModelStream = new char[size];
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assert(trtModelStream);
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file.read(trtModelStream, size); //将序列化engine模型(数据及数据大小)读入trtModelStream
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file.close();
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//1.设置运行时环境
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pRuntime_ = createInferRuntime(*pGLogger_); //创建运行时环境IRuntime对象,传入gLogger用于打印信息
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assert(pRuntime_ != nullptr);
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//2.生成反序列化引擎
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//engine = new ICudaEngine;
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bool didInitPlugins = initLibNvInferPlugins(nullptr, "");
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pEngine_ = pRuntime_->deserializeCudaEngine(trtModelStream, size); //反序列化引擎engine(根据trtModelStream反序列化)
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assert(pEngine_ != nullptr);
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//3.创建上下文环境
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//context = new IExecutionContext;
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pContext_ = pEngine_->createExecutionContext(); //创建上下文环境,主要用于inference函数中启动cuda核
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assert(pContext_ != nullptr);
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delete[] trtModelStream; //析构trtModelStream
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// std::cout<<"Engine get NB Bindings is: "<<pEngine_->getNbBindings()<<std::endl;
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assert(pEngine_->getNbBindings() == 2);
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//获取绑定的输入输入
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uiInputIndex_ = pEngine_->getBindingIndex((pYoloV5ClearModelInfo_->modelInfo.strInputBlobName).c_str());
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uiOutputIndex_ = pEngine_->getBindingIndex((pYoloV5ClearModelInfo_->modelInfo.strOutputBlobName).c_str());
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// std::cout<<"inputIndex: "<<uiInputIndex_<<"\toutputIndex: "<<uiOutputIndex_<<std::endl;
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assert(uiInputIndex_ == 0);
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assert(uiOutputIndex_ == 1);
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return 0;
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}
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int YoloV5ClearDetectInference::YoloV5ClearDetectInferenceDeinit()
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{
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//资源释放
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CUDA_CHECK(cudaStreamDestroy(*pImagePreprocessStream_)); //释放图像预处理CUDA流
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if(pImagePreprocessStream_){
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delete pImagePreprocessStream_;
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pImagePreprocessStream_ = nullptr;
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}
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CUDA_CHECK(cudaStreamDestroy(*pInferenceModelStream_)); //释放模型推理CUDA流
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if(pInferenceModelStream_){ //释放模型推理CUDA流
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delete pInferenceModelStream_;
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pInferenceModelStream_ = nullptr;
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}
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CUDA_CHECK(cudaFree(pu8ImgDevice_)); //释放设备端内存
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CUDA_CHECK(cudaFreeHost(pu8ImgHost_)); //释放HOST端内存
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CUDA_CHECK(cudaFree(pfBuffers_[0])); //释放输入数据设备端内存
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CUDA_CHECK(cudaFree(pfBuffers_[1])); //释放输出数据设备端内存
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//析构engine引擎资源
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pContext_->destroy(); //析构绘话
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pEngine_->destroy(); //析构TensorRT引擎
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pRuntime_->destroy(); //析构运行时环境
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if(pGLogger_){ //释放Logger
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delete pGLogger_;
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pGLogger_ = nullptr;
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}
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if(pfInputData_){
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delete[] pfInputData_;
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pfInputData_ = nullptr;
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}
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if(pfOutputData_){
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delete[] pfOutputData_;
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pfOutputData_ = nullptr;
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}
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return 0;
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}
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int YoloV5ClearDetectInference::YoloV5ClearDetectInferenceModel(cv::Mat& frame, std::vector<ClearDetection>& vecRes)
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{
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size_t size_image_src = frame.cols * frame.rows * pYoloV5ClearModelInfo_->modelInfo.uiChannel;
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unsigned int img_width = frame.cols, img_height = frame.rows;
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size_t size_image_dst = pYoloV5ClearModelInfo_->modelInfo.uiModelWidth * pYoloV5ClearModelInfo_->modelInfo.uiModelHeight * pYoloV5ClearModelInfo_->modelInfo.uiChannel;
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auto preprocess_start = std::chrono::system_clock::now(); //计时开始
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#ifdef ENABLE_CUDA_PREPROCESS
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memcpy(pu8ImgHost_, frame.data, size_image_src); //拷贝预处理数据到HOST侧
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CUDA_CHECK(cudaMemcpyAsync(pu8ImgDevice_, pu8ImgHost_, size_image_src, cudaMemcpyHostToDevice, *pImagePreprocessStream_)); //拷贝预处理数据到Device侧
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yolov5_detect_preprocess_kernel_img(pu8ImgDevice_, frame.cols, frame.rows, (float*)pfBuffers_[0], pYoloV5ClearModelInfo_->modelInfo.uiModelWidth, pYoloV5ClearModelInfo_->modelInfo.uiModelHeight, *pImagePreprocessStream_);
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cudaStreamSynchronize(*pImagePreprocessStream_);
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#else
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cv::Mat pr_img = preprocess_img(frame, pYoloV5ClearModelInfo_->modelInfo.uiModelWidth, pYoloV5ClearModelInfo_->modelInfo.uiModelHeight); // letterbox BGR to RGB
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int n = 0;
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for (int row = 0; row < pYoloV5ClearModelInfo_->modelInfo.uiModelHeight; ++row) {
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uchar* uc_pixel = pr_img.data + row * pr_img.step;
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for (int col = 0; col < pYoloV5ClearModelInfo_->modelInfo.uiModelWidth; ++col) {
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pfInputData_[n] = (float)uc_pixel[2]/ 255.0; // (float)uc_pixel[2] / 255.0;
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pfInputData_[n + pYoloV5ClearModelInfo_->modelInfo.uiModelHeight * pYoloV5ClearModelInfo_->modelInfo.uiModelWidth] = (float)uc_pixel[1]/ 255.0; //(float)uc_pixel[2] / 255.0;
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pfInputData_[n + 2 * pYoloV5ClearModelInfo_->modelInfo.uiModelHeight * pYoloV5ClearModelInfo_->modelInfo.uiModelWidth] = (float)uc_pixel[0]/ 255.0; // (float)uc_pixel[2] / 255.0;
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uc_pixel += pYoloV5ClearModelInfo_->modelInfo.uiChannel;
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++n;
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}
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}
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#endif
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auto preprocess_end = std::chrono::system_clock::now();
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// std::cout << "yolov5 clear preprocess time: " << std::chrono::duration_cast<std::chrono::milliseconds>(preprocess_end - preprocess_start).count() << "ms" << std::endl;
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//2.推理
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float fResizeRatio = GetResizeRatio(img_width, img_height, pYoloV5ClearModelInfo_->modelInfo.uiModelWidth, pYoloV5ClearModelInfo_->modelInfo.uiModelHeight);
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auto start = std::chrono::system_clock::now(); //计时开始
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#ifdef ENABLE_CUDA_PREPROCESS
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doInferenceV4(*pContext_, *pInferenceModelStream_, (void**)pfBuffers_,
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uiOutputIndex_, pfOutputData_, pYoloV5ClearModelInfo_->modelInfo.uiOutputSize,
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pYoloV5ClearModelInfo_->modelInfo.uiBatchSize);
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#else
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doInferenceV3(*pContext_, *pInferenceModelStream_, (void**)pfBuffers_,
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uiInputIndex_, pfInputData_, pYoloV5ClearModelInfo_->modelInfo.uiInputSize,
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uiOutputIndex_, pfOutputData_, pYoloV5ClearModelInfo_->modelInfo.uiOutputSize,
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pYoloV5ClearModelInfo_->modelInfo.uiBatchSize);
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#endif
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auto end = std::chrono::system_clock::now();
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// std::cout << "yolov5 clear inference time: " << std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << "ms" << std::endl;
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//3.后处理
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auto decode_nms_start = std::chrono::system_clock::now();
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yolov5ClearDecodeOpenCVNms(vecRes, pfOutputData_, pYoloV5ClearModelInfo_->modelInfo.uiOutputSize,
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pYoloV5ClearModelInfo_->clearModelParam.modelParam.uiDetSize,
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pYoloV5ClearModelInfo_->clearModelParam.modelParam.uiClassNum,
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pYoloV5ClearModelInfo_->clearModelParam.uiClearNum,
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pYoloV5ClearModelInfo_->clearModelParam.modelParam.fScoreThreshold,
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pYoloV5ClearModelInfo_->clearModelParam.modelParam.fNmsThreshold);
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auto decode_nms_end = std::chrono::system_clock::now();
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// std::cout << "yolov5 clear post time: " << std::chrono::duration_cast<std::chrono::milliseconds>(decode_nms_end - decode_nms_start).count() << "ms" << std::endl;
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// std::cout<<"this picture find "<<vecRes.size()<<" objs"<<std::endl;
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for(size_t j = 0; j < vecRes.size(); j++){
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UpperVertexResetLocation(fResizeRatio, img_width, img_height, vecRes[j].detection); //左上顶点补边方式坐标还原
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// CenterResetLocation(fResizeRatio, img_width, img_height, pYoloV5ClearModelInfo_->modelInfo.uiModelWidth, pYoloV5ClearModelInfo_->modelInfo.uiModelHeight, vecRes[j].detection); //中心补边方式坐标还原
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}
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}
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