#pragma once
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#include "NvInfer.h"
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#include <cuda_runtime.h>
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#include <device_launch_parameters.h>
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#include <assert.h>
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#include <fstream>
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#include <string>
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#include <opencv2/opencv.hpp>
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#include "../utils.hpp"
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using namespace nvinfer1;
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class BELT {
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public:
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~BELT();
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bool isLoad = false;//是否加载
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//leftarea�й�������,rightarea�й�������,beltareaƤ������˳ʱ�봫��4�����xy���꣬x1,y1,x2,y2,x3,y3,x4,y4,��8��ֵ
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bool initConfig(const char* enginefile, int* leftarea, int* rightarea, int* beltarea,
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float bigcoal_threshold = 0.4, float beltdeviation_threshold = 0.3, float confThreshold = 0.5);
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int detect(cv::Mat& image, std::vector<Box>& boxes);
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private:
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IRuntime* runtime{ nullptr };
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ICudaEngine* engine{ nullptr };
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IExecutionContext* context{ nullptr };
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int input_batch = 1;
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int input_channel = 3;
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int input_height = 640;
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int input_width = 640;
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int input_numel;
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int num_classes = 1;
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int output_numbox;
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int output_numprob;
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int output_numel;
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cudaStream_t stream = nullptr;
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float threshold = 0.2;//��ú��ֱ����ֵ����ֵΪú��ռƤ��������ȵı���
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float threshold_ = 0.05;//Ƥ����ƫ��ֵ,��ֵΪƤ��ƫ����ռƤ��������ȵı���
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float confThreshold_ = 0.5;//������ֵ
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float nmsThreshold_ = 0.45;
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float* input_data_host = nullptr;
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float* output_data_host = nullptr;
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float* input_data_device = nullptr;
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float* output_data_device = nullptr;
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std::vector<point> leftarea_;//�й�������㼯(˳ʱ��)
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std::vector<point> rightarea_;//�й�������㼯(˳ʱ��)
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std::vector<point> beltarea_;//Ƥ������㼯(˳ʱ��)
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float belt_top_cy, belt_bottom_cy;//Ƥ���������±��е��y
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float belt_top_length, belt_bottom_length;//Ƥ���������±ߵ����س���
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float k;//����/���ض���y���صı任��б��
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//float belt_length=1;//Ƥ���������(����)
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//k = (belt_length / belt_top_length - belt_length / belt_bottom_length)/(belt_top_cy- belt_bottom_cy);
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//lpx =k * (y- belt_top_cy) + belt_length / belt_top_length;//����ÿ��yλ�ö�Ӧ���صĺ���
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};
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