mirror of
https://github.com/PaddlePaddle/FastDeploy.git
synced 2026-04-23 00:17:25 +08:00
zengshao0622
68 lines
2.5 KiB
C++
68 lines
2.5 KiB
C++
// Copyright (c) 2022 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.
|
||
|
||
#include "fastdeploy/vision/perception/paddle3d/smoke/postprocessor.h"
|
||
|
||
#include "fastdeploy/vision/utils/utils.h"
|
||
|
||
namespace fastdeploy {
|
||
namespace vision {
|
||
namespace perception {
|
||
|
||
SmokePostprocessor::SmokePostprocessor() {}
|
||
|
||
bool SmokePostprocessor::Run(const std::vector<FDTensor>& tensors,
|
||
std::vector<PerceptionResult>* results) {
|
||
results->resize(1);
|
||
(*results)[0].Clear();
|
||
(*results)[0].Reserve(tensors[0].shape[0]);
|
||
if (tensors[0].dtype != FDDataType::FP32) {
|
||
FDERROR << "Only support post process with float32 data." << std::endl;
|
||
return false;
|
||
}
|
||
const float* data = reinterpret_cast<const float*>(tensors[0].Data());
|
||
auto result = &(*results)[0];
|
||
for (int i = 0; i < tensors[0].shape[0] * tensors[0].shape[1]; i += 14) {
|
||
// item 1 : class
|
||
// item 2 : observation angle α
|
||
// item 3 ~ 6 : box2d x1, y1, x2, y2
|
||
// item 7 ~ 9 : box3d h, w, l
|
||
// item 10 ~ 12 : box3d bottom center x, y, z
|
||
// item 13 : box3d yaw angle
|
||
// item 14 : score
|
||
std::vector<float> vec(data + i, data + i + 14);
|
||
result->scores.push_back(vec[13]);
|
||
result->label_ids.push_back(vec[0]);
|
||
result->boxes.emplace_back(std::array<float, 7>{
|
||
vec[2], vec[3], vec[4], vec[5], vec[6], vec[7], vec[8]});
|
||
result->center.emplace_back(std::array<float, 3>{vec[9], vec[10], vec[11]});
|
||
result->observation_angle.push_back(vec[1]);
|
||
result->yaw_angle.push_back(vec[12]);
|
||
}
|
||
|
||
result->valid.push_back(true); // 0 scores
|
||
result->valid.push_back(true); // 1 label_ids
|
||
result->valid.push_back(true); // 2 boxes
|
||
result->valid.push_back(true); // 3 center
|
||
result->valid.push_back(true); // 4 observation_angle
|
||
result->valid.push_back(true); // 5 yaw_angle
|
||
result->valid.push_back(false); // 6 velocity
|
||
|
||
return true;
|
||
}
|
||
|
||
} // namespace perception
|
||
} // namespace vision
|
||
} // namespace fastdeploy
|