Add continuous TensorRT camera inference and ready-to-run Orin package

2026-09-23 11:28:29 +08:00
commit 71723ef3b4
53 changed files with 27755 additions and 0 deletions
@@ -0,0 +1,100 @@
+#pragma once
+
+#include <array>
+#include <cstdint>
+#include <string>
+#include <utility>
+#include <vector>
+
+namespace fangjia {
+
+struct Box {
+    float x1{};
+    float y1{};
+    float x2{};
+    float y2{};
+    float score{};
+    int trackId{};
+};
+
+struct Keypoint {
+    float x{};
+    float y{};
+    float score{};
+};
+
+struct PersonPose {
+    Box box;
+    std::array<Keypoint, 133> keypoints{};
+};
+
+enum class LimbState {
+    Observed,
+    Provisional,
+    Recovered,
+    Reassigned,
+    Interpolated,
+    PredictedShort,
+    ReachableMedium,
+    ReachableLong,
+};
+
+inline char const* limbStateName(LimbState state) {
+    switch (state) {
+    case LimbState::Observed: return "observed";
+    case LimbState::Provisional: return "provisional";
+    case LimbState::Recovered: return "recovered";
+    case LimbState::Reassigned: return "reassigned";
+    case LimbState::Interpolated: return "interpolated";
+    case LimbState::PredictedShort: return "predicted_short";
+    case LimbState::ReachableMedium: return "reachable_medium";
+    case LimbState::ReachableLong: return "reachable_long";
+    }
+    return "unknown";
+}
+
+struct LimbObservation {
+    int trackId{};
+    bool left{};
+    LimbState state{LimbState::ReachableLong};
+    Keypoint elbow{};
+    Keypoint wrist{};
+    std::array<Keypoint, 21> hand{};
+    Box personBox{};
+    bool handValid{};
+    bool alarmEligible{};
+    float handQuality{};
+};
+
+// Exact pre-V2 hand evidence consumed by the Python risk stage.  These points
+// come from raw/isolated fusion before temporal reconstruction.
+struct GlobalHand {
+    int personId{};
+    int trackId{};
+    bool left{};
+    std::string source;
+    std::string state;
+    bool distanceEligible{};
+    bool alarmEligible{};
+    float score{};
+    float spanPx{};
+    std::array<Keypoint, 21> keypoints{};
+    std::vector<std::pair<int, bool>> aliases;
+};
+
+struct FusionMeta {
+    bool limbConsensus{}, handValid{}, distanceEligible{}, alarmEligible{};
+    double handScore{};
+    std::string handSource, handState;
+};
+
+struct PoseFrameResult {
+    std::vector<std::array<FusionMeta, 2>> metadata;
+    std::vector<PersonPose> selectedPeople;
+    std::vector<PersonPose> smoothedPeople;
+    std::vector<PersonPose> v2People;
+    std::vector<LimbObservation> limbs;
+    std::vector<GlobalHand> globalHands;
+};
+
+} // namespace fangjia