此基本类对应 pointpillars_nuscenes。
输入是点数据和相关参数。
输出是检测结果的结构体,名为
PointPillarsNuscenesResult
。
代码样本:
...
std::string anno_file_name = "./sample_pointpillars_nus.info";
PointsInfo points_info;
std::string model_0 = "pointpillars_nuscenes_40000_64_0_pt";
std::string model_1 = "pointpillars_nuscenes_40000_64_1_pt";
auto pointpillars = vitis::ai::PointPillarsNuscenes::create
(
model_0, model_1);
auto points_dim = pointpillars->getPointsDim();
read_inno_file_pp_nus(anno_file_name, points_info, points_dim,
points_info.sweep_infos);
auto ret = pointpillars->run(points_info);
...
please see the test sample for detail.
函数快速参考
下表列出了 vitis::ai::PointPillarsNuscenes
类中定义的所有函数:
类型 | 成员 | 实参 |
---|---|---|
std::unique_ptr<
PointPillarsNuscenes
> |
create |
|
std::unique_ptr<
PointPillarsNuscenes
> |
create |
|
int | getInputWidth |
|
int | getInputHeight |
|
size_t | get_input_batch |
|
int | getPointsDim |
|
std::vector< float > | sweepsFusionFilter |
|
std::vector< std::vector< float > > | sweepsFusionFilter |
|
PointPillarsNuscenesResult
|
run |
|
std::vector<
PointPillarsNuscenesResult
> |
run |
|
PointPillarsNuscenesResult
|
run |
|
std::vector<
PointPillarsNuscenesResult
> |
run |
|