postprocess.h

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/******************************************************************************
 * Copyright 2023 The Apollo 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.
 *****************************************************************************/
#pragma once
 
#include <algorithm>
#include <memory>
#include <set>
#include <vector>
 
#include <opencv2/opencv.hpp>
 
#include "modules/perception/camera_detection_multi_stage/detector/yolox3d/proto/model_param.pb.h"
 
#include "modules/perception/common/base/blob.h"
#include "modules/perception/common/base/object.h"
 
namespace apollo {
namespace perception {
namespace camera {
void YoloxGetObjectsCpu(const std::shared_ptr<base::Blob<float>> &objects_blob,
                        const yolox3d::ModelParam &model_param,
                        const yolox3d::NMSParam &nms_param, const int width,
                        const int height, const int image_width,
                        const int image_height,
                        std::vector<base::ObjectPtr> *objects);
void YoloxGetAllObjects(const float *data,
                        const yolox3d::ModelParam &model_param,
                        const float scale,
                        std::vector<std::vector<float>> *objects_out);
 
void YoloxFillBase(const std::vector<float> &detect, const int width,
                   const int height, const int image_width,
                   const int image_height, base::ObjectPtr obj);
void YoloxFillBbox3d(const yolox3d::ModelParam &model_param,
                     const std::vector<float> &detect, base::ObjectPtr obj);
 
float YoloxBboxIOU(const std::vector<float> &box1,
                   const std::vector<float> &box2);
void YoloxTruncated(base::ObjectPtr obj, const int image_width,
                    const int image_height);
 
template <typename T>
constexpr T Yoloxclamp(const T &val, const T &low, const T &high) {
  return val < low ? low : (high < val ? high : val);
}
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo