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Add the calibration matrix reading for CenterTrack

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Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2021-04-30 17:10:51 +02:00
parent be6ad27c11
commit 2367519799
6 changed files with 75 additions and 44 deletions
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src/CenternetDetection3D.cpp
+3 -2
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@@ -3,7 +3,8 @@
namespace tk { namespace dnn {
bool CenternetDetection3D::init(const std::string& tensor_path, const int n_classes, const int n_batches, const float conf_thresh) {
bool CenternetDetection3D::init(const std::string& tensor_path, const int n_classes, const int n_batches,
const float conf_thresh, const std::vector<cv::Mat>& k_calibs) {
std::cout<<(tensor_path).c_str()<<"\n";
netRT = new tk::dnn::NetworkRT(NULL, (tensor_path).c_str() );
classes = n_classes;
@@ -156,7 +157,7 @@ bool CenternetDetection3D::init(const std::string& tensor_path, const int n_clas
// ([[0,1,5,4], [1,2,6, 5], [2,3,7,6], [3,0,4,7]]);
}
void CenternetDetection3D::preprocess(cv::Mat &frame, const int bi){
void CenternetDetection3D::preprocess(cv::Mat &frame, const int bi, const std::vector<cv::Size>& stream_size){
// -----------------------------------pre-process ------------------------------------------
// auto start_t = std::chrono::steady_clock::now();