update jetson det code

update jetson det code

csrc/jetson/detect/include/common.hpp

@@ -5,9 +5,8 @@
 #ifndef JETSON_DETECT_COMMON_HPP
 #define JETSON_DETECT_COMMON_HPP
 #include "NvInfer.h"
+#include "filesystem.hpp"
 #include "opencv2/opencv.hpp"
-#include <sys/stat.h>
-#include <unistd.h>
 
 #define CHECK(call)                                                                                                    \
     do {                                                                                                               \
@@ -89,33 +88,6 @@ inline static float clamp(float val, float min, float max)
     return val > min ? (val < max ? val : max) : min;
 }
 
-inline bool IsPathExist(const std::string& path)
-{
-    if (access(path.c_str(), 0) == F_OK) {
-        return true;
-    }
-    return false;
-}
-
-inline bool IsFile(const std::string& path)
-{
-    if (!IsPathExist(path)) {
-        printf("%s:%d %s not exist\n", __FILE__, __LINE__, path.c_str());
-        return false;
-    }
-    struct stat buffer;
-    return (stat(path.c_str(), &buffer) == 0 && S_ISREG(buffer.st_mode));
-}
-
-inline bool IsFolder(const std::string& path)
-{
-    if (!IsPathExist(path)) {
-        return false;
-    }
-    struct stat buffer;
-    return (stat(path.c_str(), &buffer) == 0 && S_ISDIR(buffer.st_mode));
-}
-
 namespace det {
 struct Binding {
     size_t         size  = 1;

csrc/jetson/detect/include/yolov8.hpp

@@ -172,7 +172,19 @@ void YOLOv8::letterbox(const cv::Mat& image, cv::Mat& out, cv::Size& size)
 
     cv::copyMakeBorder(tmp, tmp, top, bottom, left, right, cv::BORDER_CONSTANT, {114, 114, 114});
 
-    cv::dnn::blobFromImage(tmp, out, 1 / 255.f, cv::Size(), cv::Scalar(0, 0, 0), true, false, CV_32F);
+    out.create({1, 3, (int)inp_h, (int)inp_w}, CV_32F);
+
+    std::vector<cv::Mat> channels;
+    cv::split(tmp, channels);
+
+    cv::Mat c0((int)inp_h, (int)inp_w, CV_32F, (float*)out.data);
+    cv::Mat c1((int)inp_h, (int)inp_w, CV_32F, (float*)out.data + (int)inp_h * (int)inp_w);
+    cv::Mat c2((int)inp_h, (int)inp_w, CV_32F, (float*)out.data + (int)inp_h * (int)inp_w * 2);
+
+    channels[0].convertTo(c2, CV_32F, 1 / 255.f);
+    channels[1].convertTo(c1, CV_32F, 1 / 255.f);
+    channels[2].convertTo(c0, CV_32F, 1 / 255.f);
+
     this->pparam.ratio  = 1 / r;
     this->pparam.dw     = dw;
     this->pparam.dh     = dh;
@@ -185,8 +197,8 @@ void YOLOv8::copy_from_Mat(const cv::Mat& image)
 {
     cv::Mat  nchw;
     auto&    in_binding = this->input_bindings[0];
-    auto     width      = in_binding.dims.d[3];
+    int      width      = in_binding.dims.d[3];
-    auto     height     = in_binding.dims.d[2];
+    int      height     = in_binding.dims.d[2];
     cv::Size size{width, height};
     this->letterbox(image, nchw, size);
 
@@ -272,8 +284,9 @@ void YOLOv8::draw_objects(const cv::Mat&                                image,
         int x = (int)obj.rect.x;
         int y = (int)obj.rect.y + 1;
 
-        if (y > res.rows)
+        if (y > res.rows) {
             y = res.rows;
+        }
 
         cv::rectangle(res, cv::Rect(x, y, label_size.width, label_size.height + baseLine), {0, 0, 255}, -1);
 

csrc/jetson/detect/main.cpp

@@ -5,6 +5,8 @@
 #include "yolov8.hpp"
 #include <chrono>
 
+namespace fs = ghc::filesystem;
+
 const std::vector<std::string> CLASS_NAMES = {
     "person",         "bicycle",    "car",           "motorcycle",    "airplane",     "bus",           "train",
     "truck",          "boat",       "traffic light", "fire hydrant",  "stop sign",    "parking meter", "bench",
@@ -37,24 +39,30 @@ const std::vector<std::vector<unsigned int>> COLORS = {
 
 int main(int argc, char** argv)
 {
+    if (argc != 3) {
+        fprintf(stderr, "Usage: %s [engine_path] [image_path/image_dir/video_path]\n", argv[0]);
+        return -1;
+    }
+
+    // cuda:0
+    cudaSetDevice(0);
+
     const std::string engine_file_path{argv[1]};
-    const std::string path{argv[2]};
+    const fs::path    path{argv[2]};
 
     std::vector<std::string> imagePathList;
     bool                     isVideo{false};
 
-    assert(argc == 3);
-
     auto yolov8 = new YOLOv8(engine_file_path);
     yolov8->make_pipe(true);
 
-    if (IsFile(path)) {
+    if (fs::exists(path)) {
-        std::string suffix = path.substr(path.find_last_of('.') + 1);
+        std::string suffix = path.extension();
-        if (suffix == "jpg" || suffix == "jpeg" || suffix == "png") {
+        if (suffix == ".jpg" || suffix == ".jpeg" || suffix == ".png") {
             imagePathList.push_back(path);
         }
-        else if (suffix == "mp4" || suffix == "avi" || suffix == "m4v" || suffix == "mpeg" || suffix == "mov"
+        else if (suffix == ".mp4" || suffix == ".avi" || suffix == ".m4v" || suffix == ".mpeg" || suffix == ".mov"
-                 || suffix == "mkv") {
+                 || suffix == ".mkv") {
             isVideo = true;
         }
         else {
@@ -62,8 +70,8 @@ int main(int argc, char** argv)
             std::abort();
         }
     }
-    else if (IsFolder(path)) {
+    else if (fs::is_directory(path)) {
-        cv::glob(path + "/*.jpg", imagePathList);
+        cv::glob(path.string() + "/*.jpg", imagePathList);
     }
 
     cv::Mat             res, image;
@@ -96,9 +104,9 @@ int main(int argc, char** argv)
         }
     }
     else {
-        for (auto& path : imagePathList) {
+        for (auto& p : imagePathList) {
             objs.clear();
-            image = cv::imread(path);
+            image = cv::imread(p);
             yolov8->copy_from_Mat(image, size);
             auto start = std::chrono::system_clock::now();
             yolov8->infer();