1.AI部分测试完毕，目前能够正常运行，随机选了网络上的纯色背景无人机图像能够检测出来，但是对于公司内现存的一台无人机无法识别，尚不清楚原因是为啥

.gitignore

@@ -4067,3 +4067,15 @@ build/CMakeFiles/UVC_Demo.dir/GrpcTransfer/ImageService.pb.cc.o
 build/output.png
 build/CMakeFiles/UVC_Demo.dir/AIManager/PPYOLOE.cpp.o
 build/CMakeFiles/UVC_Demo.dir/AIManager/PPYOLOE.cpp.o
+build/auv.jpg
+.gitignore
+build/uav.jpg
+build/uav1.jpg
+build/Ouput4k.jpg
+UVCGrabber/UVCCallBack.cpp
+build/CMakeFiles/UVC_Demo.dir/AIManager/PPYOLOE.cpp.o
+build/CMakeFiles/UVC_Demo.dir/ImageTest/ImageTest.cpp.o
+build/CMakeFiles/UVC_Demo.dir/AIManager/PPYOLOE.cpp.o
+build/.cmake/api/v1/reply/codemodel-v2-1f670aa76767fb2a485d.json
+build/.cmake/api/v1/reply/index-2025-02-20T07-09-31-0245.json
+build/.cmake/api/v1/reply/target-UVC_Demo-Debug-381338dbd1af2539fdd6.json

AIManager/RKNNManager.cpp

@@ -27,22 +27,24 @@ void RKNNManager::taskThread(std::string modelpath)
     std::string pipeName = "rknn" + std::to_string(index);
     DataManager::getInstance().addDataPipe<DataPackage>(pipeName);
 
-    //time test
+    // time test
     ImageTest::HighResolutionTimer timer;
 
-    while (m_threadSwitch)
+        while (m_threadSwitch)
     {
         if (DataManager::getInstance().popData("resized" + std::to_string(index), dataPackage))
         {
-            
+
             timer.start();
 
-            infer.infer(index, (unsigned char *)dataPackage->pResizeData, dataPackage->nResizeWidth, dataPackage->nResizeHeight);
+            infer.infer(index, (unsigned char *)dataPackage->pResizeData, dataPackage->nResizeWidth, dataPackage->nResizeHeight, dataPackage);
 
             timer.stop();
 
             std::cout << "infer time: " << timer.elapsed_milliseconds() << " ms" << std::endl;
 
+            ImageTest::saveImageFromData((unsigned char *)dataPackage->pResizeData, dataPackage->nResizeWidth, dataPackage->nResizeHeight);
+
             continue;
         }
 

AIManager/RKNNManager.h

@@ -21,7 +21,7 @@ public:
 
 private:
     RKNNManager() = default;
-    ~RKNNManager();
+    ~RKNNManager() = default;
 
     void taskThread(std::string modelData);
 

CMakeLists.txt

@@ -43,8 +43,9 @@ set(RGA_COLORTRANSFER ${CMAKE_CURRENT_SOURCE_DIR}/RGAColorTransfer/RgaColorTrans
 set(DATA_CONTROL ${CMAKE_CURRENT_SOURCE_DIR}/DataManager/DataManager.cpp ${CMAKE_CURRENT_SOURCE_DIR}/DataManager/DataPipe.h)
 set(AI_SOURCE  ${CMAKE_CURRENT_SOURCE_DIR}/AIManager/beforeProcess.cpp ${CMAKE_CURRENT_SOURCE_DIR}/AIManager/postprocess.cpp ${CMAKE_CURRENT_SOURCE_DIR}/AIManager/RKNNManager.cpp ${CMAKE_CURRENT_SOURCE_DIR}/AIManager/PPYOLOE.cpp)
 set(GRPC_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/GrpcTransfer/ImageService.pb.cc ${CMAKE_CURRENT_SOURCE_DIR}/GrpcTransfer/ImageService.grpc.pb.cc)
+set(TEST_SOURCE ${CMAKE_CURRENT_SOURCE_DIR}/ImageTest/ImageTest.cpp)
 
-add_executable(${TARGET} ${SOURCES} ${UVC_CONTROL} ${MPP_DECODER} ${RGA_COLORTRANSFER} ${AI_SOURCE} ${DATA_CONTROL} ${GRPC_SOURCE})
+add_executable(${TARGET} ${SOURCES} ${UVC_CONTROL} ${MPP_DECODER} ${RGA_COLORTRANSFER} ${AI_SOURCE} ${DATA_CONTROL} ${GRPC_SOURCE} ${TEST_SOURCE})
 
 set_property(GLOBAL PROPERTY JOB_POOLS single_threaded=1)
 set_property(TARGET ${TARGET} PROPERTY JOB_POOL_COMPILE single_threaded)

ImageTest/ImageTest.cpp

@@ -0,0 +1,9 @@
+#include "ImageTest.h"
+
+void ImageTest::saveImageFromData(unsigned char *data, int width, int height, const std::string &filename)
+{
+    cv::Mat image(height, width, CV_8UC3, data);
+    cv::Mat BGRImage;
+    cv::cvtColor(image, BGRImage, cv::COLOR_RGB2BGR);
+    cv::imwrite(filename, BGRImage);
+}

ImageTest/ImageTest.h

@@ -9,11 +9,7 @@
 namespace ImageTest
 {
 
-    void saveImageFromData(unsigned char *data, int width, int height, const std::string &filename = "./output.png")
-    {
-        cv::Mat image(height, width, CV_8UC3, data);
-        cv::imwrite(filename, image);
-    }
+    void saveImageFromData(unsigned char *data, int width, int height, const std::string &filename = "./output.png");
 
     class HighResolutionTimer
     {

MppDecoder/MppDecoder.h

@@ -13,12 +13,11 @@
 class MppDecoder
 {
 public:
-
     MppDecoder(const MppDecoder &) = delete;
     MppDecoder &operator=(const MppDecoder &) = delete;
 
     bool init();
-    int getDecodeIndex(){return m_index;}
+    int getDecodeIndex() { return m_index; }
     bool decodeJpegToRgb(const char *jpegData, size_t jpegSize, unsigned char **rgbData, int *width, int *height);
 
     MppDecoder() = default;

MppDecoder/MppManager.cpp

@@ -50,6 +50,8 @@ void MppManager::decodeThread()
                 std::cerr << "the decode result is different from defined !!" << std::endl;
             }
 
+            // ImageTest::saveImageFromData((unsigned char *)dataPackage->pRGBData, dataPackage->nResizeWidth, dataPackage->nResizeHeight);
+
             // color transfer
             resize_image(dataPackage->pRGBData, width, height, dataPackage->pResizeData, dataPackage->nResizeWidth, dataPackage->nResizeHeight);
 

UVCGrabber/UVCCallBack.cpp

@@ -29,9 +29,19 @@ void cbSaveToLocal(uvc_frame_t *frame, void *ptr)
   static const char *MJPEG_FILE = ".jpeg";
   char filename[264];
   std::fstream log_file("CallBackLog.txt", std::ios::app);
+
   DataPackagePtr dataPackage = nullptr;
   std::shared_ptr<DataPipe<DataPackage>> pipe;
 
+  // std::fstream readImage("./uav1.jpg", std::ios::binary | std::ios::in);
+  // if (!readImage)
+  // {
+  //   std::cerr << "不能打开文件 example.bin" << std::endl;
+  // }
+  // readImage.seekg(0, std::ios::end);
+  // std::streamsize fileSize = readImage.tellg();
+  // readImage.seekg(0, std::ios::beg);
+
   switch (frame->frame_format)
   {
   case UVC_FRAME_FORMAT_H264:
@@ -56,6 +66,11 @@ void cbSaveToLocal(uvc_frame_t *frame, void *ptr)
 
     dataPackage = DataManager::getInstance().acquireDataBuffer<DataPackage>();
 
+    // readImage.read((char *)dataPackage->pJpegData, fileSize);
+    // dataPackage->nJpegSize = fileSize;
+    // dataPackage->nWidth = 3840;
+    // dataPackage->nHeight = 2160;
+
     memcpy(dataPackage->pJpegData, frame->data, frame->data_bytes);
 
     dataPackage->nJpegSize = frame->data_bytes;
@@ -65,6 +80,10 @@ void cbSaveToLocal(uvc_frame_t *frame, void *ptr)
 
     DataManager::getInstance().pushData<DataPackage>("uvc" + std::to_string(index), dataPackage);
 
+    // fp = fopen("./Ouput4k.jpg", "w");
+    // fwrite(frame->data, 1, frame->data_bytes, fp);
+    // fclose(fp);
+
     break;
   case UVC_COLOR_FORMAT_YUYV:
     break;

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