Merge branch 'master' into tensorrt8

src/CenternetDetection.cpp

@@ -120,6 +120,7 @@ bool CenternetDetection::init(const std::string& tensor_path, const std::string&
     dst2.at<float>(2,1)=dst2.at<float>(1,1) + (dst2.at<float>(0,0)-dst2.at<float>(1,0) );
     return true;
     
+    return true;
 }
 
 

src/MobilenetDetection.cpp

@@ -198,7 +198,7 @@ bool MobilenetDetection::init(const std::string& tensor_path, const std::string&
         "bottle" , "wine glass" , "cup" , "fork" , "knife" , "spoon" , "bowl" , "banana" , 
         "apple" , "sandwich" , "orange" , "broccoli" , "carrot" , "hot dog" , "pizza" , 
         "donut" , "cake" , "chair" , "sofa" , "pottedplant" , "bed" , "diningtable" , 
-        "toilet" , "tvmonitor" , "laptop" , "mouse" , "remote" , "keyboard" , 
+    "toilet" , "tvmonitor" , "laptop" , "mouse" , "remote" , "keyboard" , 
         "cell phone" , "microwave" , "oven" , "toaster" , "sink" , "refrigerator" , 
         "book" , "clock" , "vase" , "scissors" , "teddy bear" , "hair drier" , "toothbrush"};
         classesNames = std::vector<std::string>(classes_names_, std::end(classes_names_));
@@ -207,7 +207,7 @@ bool MobilenetDetection::init(const std::string& tensor_path, const std::string&
     else{
         FatalError("Number of classes not supported for mobilenet");
     }
-    return 1;
+    return true;
 }
 
 void MobilenetDetection::preprocess(cv::Mat &frame, const int bi){

src/Yolo.cpp

@@ -278,6 +278,7 @@ void Yolo::mergeDetections(Yolo::detection *dets, int ndets, int classes, double
     }
     total = k+1;
 
+    float thresh = 0.45f;
     for(k = 0; k < classes; ++k){
         for(i = 0; i < total; ++i){
             dets[i].sort_class = k;
@@ -288,9 +289,9 @@ void Yolo::mergeDetections(Yolo::detection *dets, int ndets, int classes, double
             box a = dets[i].bbox;
             for(j = i+1; j < total; ++j){
                 box b = dets[j].bbox;
-                if (nsm_kind == GREEDY_NMS && yolo_box_iou(a, b) > nms_thresh)
+                if (nsm_kind == GREEDY_NMS && yolo_box_iou(a, b) > thresh)
                     dets[j].prob[k] = 0;
-                else if (nsm_kind == DIOU_NMS && yolo_box_diou(a, b, nms_thresh) > nms_thresh)
+                else if (nsm_kind == DIOU_NMS && yolo_box_diou(a, b, nms_thresh) > thresh)
                     dets[j].prob[k] = 0;
             }
         }