Integrate CAN-aware CMS risk pipeline and relocatable Orin runtime

2026-09-23 18:54:11 +08:00
parent 26c5bfb88d
commit 9aadf9cbda
119 changed files with 13940 additions and 152 deletions
@@ -1,108 +0,0 @@
-#pragma once
-
-#include "pipeline_types.hpp"
-#include "trt_engine.hpp"
-
-#include <opencv2/core.hpp>
-
-#include <deque>
-#include <array>
-#include <optional>
-#include <string>
-#include <unordered_map>
-
-namespace fangjia {
-
-class BoxTracker {
-public:
-    std::vector<int> update(std::vector<Box>& boxes, int frameIndex, int width, int height);
-
-private:
-    struct Track { Box box; int lastFrame{}; };
-    int nextId_{1};
-    std::unordered_map<int, Track> tracks_;
-};
-
-class RtmwEngine {
-public:
-    RtmwEngine(
-        std::filesystem::path const& enginePath,
-        TrtLogger& logger,
-        int maxSourceWidth,
-        int maxSourceHeight,
-        int maxPeople = 3);
-    ~RtmwEngine();
-
-    RtmwEngine(RtmwEngine const&) = delete;
-    RtmwEngine& operator=(RtmwEngine const&) = delete;
-
-    std::vector<PersonPose> infer(
-        cv::Mat const& frame,
-        std::vector<Box> const& boxes,
-        cudaStream_t stream,
-        float* preprocessMs = nullptr,
-        float* inferenceMs = nullptr,
-        float* postprocessMs = nullptr);
-
-    void warmup(cudaStream_t stream);
-
-private:
-    TrtEngine engine_;
-    int maxSourceWidth_{};
-    int maxSourceHeight_{};
-    int maxPeople_{};
-    std::uint8_t* sourceDevice_{};
-    std::uint8_t* cropsDevice_{};
-    float* networkDevice_{};
-    std::vector<double> centersHost_;
-    std::vector<double> scalesHost_;
-    std::vector<float> simccXHost_;
-    std::vector<float> simccYHost_;
-};
-
-class PoseFusionTracker {
-public:
-    PoseFrameResult update(
-        std::vector<PersonPose> const& raw,
-        std::vector<PersonPose> const& isolated,
-        int frameIndex);
-
-private:
-    struct Vec2 { double x{}; double y{}; };
-    struct SideFusion {
-        std::array<Vec2, 3> limbPrevious{};
-        std::array<Vec2, 3> limbVelocity{};
-        std::array<Vec2, 21> handPrevious{};
-        std::array<Vec2, 21> handVelocity{};
-        bool hasLimbPrevious{};
-        bool hasLimbVelocity{};
-        bool hasHandPrevious{};
-        bool hasHandVelocity{};
-        std::string limbSource;
-        std::string handSource;
-    };
-    struct Endpoint {
-        bool hasWrist{};
-        Vec2 wrist{};
-        Vec2 velocity{};
-        std::array<Vec2, 21> handShape{};
-        bool hasHandShape{};
-        int lastObservedFrame{-1};
-        int missedFrames{};
-        bool hasLastElbow{};
-        Vec2 lastElbow{};
-        bool hasLastDirection{};
-        Vec2 lastDirection{};
-    };
-    struct PersonState {
-        std::array<SideFusion, 2> fusion;
-        std::array<Endpoint, 2> endpoints;
-        std::array<std::deque<std::array<double, 2>>, 2> boneSamples;
-        std::array<Vec2, 133> smoothed{};
-        bool hasSmoothed{};
-        int lastFrame{-1};
-    };
-    std::unordered_map<int, PersonState> states_;
-};
-
-} // namespace fangjia