[Model] Add Picodet RKNPU2 (#635)

* * 更新picodet cpp代码

* * 更新文档
* 更新picodet cpp example

* * 删除无用的debug代码
* 新增python example

* * 修改c++代码

* * 修改python代码

* * 修改postprocess代码

* 修复没有scale_factor导致的bug

* 修复错误

* 更正代码格式

* 更正代码格式

examples/vision/detection/paddledetection/rknpu2/python/infer.py

@@ -28,32 +28,32 @@ def parse_arguments():
     return parser.parse_args()
 
 
-def build_option(args):
-    option = fd.RuntimeOption()
-    option.use_rknpu2()
-    return option
+if __name__ == "__main__":
+    args = parse_arguments()
 
+    model_file = args.model_file
+    params_file = ""
+    config_file = args.config_file
 
-args = parse_arguments()
+    # 配置runtime，加载模型
+    runtime_option = fd.RuntimeOption()
+    runtime_option.use_rknpu2()
 
-# 配置runtime，加载模型
-runtime_option = build_option(args)
-model_file = args.model_file
-params_file = ""
-config_file = args.config_file
-model = fd.vision.detection.RKPicoDet(
-    model_file,
-    params_file,
-    config_file,
-    runtime_option=runtime_option,
-    model_format=fd.ModelFormat.RKNN)
+    model = fd.vision.detection.PicoDet(
+        model_file,
+        params_file,
+        config_file,
+        runtime_option=runtime_option,
+        model_format=fd.ModelFormat.RKNN)
 
-# 预测图片分割结果
-im = cv2.imread(args.image)
-result = model.predict(im.copy())
-print(result)
+    model.postprocessor.apply_decode_and_nms()
 
-# 可视化结果
-vis_im = fd.vision.vis_detection(im, result, score_threshold=0.5)
-cv2.imwrite("visualized_result.jpg", vis_im)
-print("Visualized result save in ./visualized_result.jpg")
+    # 预测图片分割结果
+    im = cv2.imread(args.image)
+    result = model.predict(im.copy())
+    print(result)
+
+    # 可视化结果
+    vis_im = fd.vision.vis_detection(im, result, score_threshold=0.5)
+    cv2.imwrite("visualized_result.jpg", vis_im)
+    print("Visualized result save in ./visualized_result.jpg")