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[Sync][Internal] sync some internal features of paddle3d inference (#2118)

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* [Sync][Internal] sync some internal codes

* [Sync][Internal] sync some internal features of paddle3d inference

* [Sync][Internal] sync some internal features of paddle3d inference
This commit is contained in:
DefTruth
2023-07-17 23:06:51 +08:00
committed by GitHub
parent f413e0263b
commit ade27d29cb
10 changed files with 107 additions and 157 deletions
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29
fastdeploy/vision/perception/paddle3d/petr/preprocessor.h
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@@ -41,9 +41,6 @@ class FASTDEPLOY_DECL PetrPreprocessor : public ProcessorManager {
*/
bool Apply(FDMatBatch* image_batch, std::vector<FDTensor>* outputs);
void Normalize(cv::Mat *im, const std::vector<float> &mean,
const std::vector<float> &std, float &scale);
protected:
bool BuildPreprocessPipelineFromConfig();
std::vector<std::shared_ptr<Processor>> processors_;
@@ -58,7 +55,31 @@ class FASTDEPLOY_DECL PetrPreprocessor : public ProcessorManager {
std::vector<float> mean_;
std::vector<float> std_;
std::vector<float> input_k_data_;
std::vector<float> input_k_data_{
-1.40307297e-03, 9.07780395e-06, 4.84838307e-01, -5.43047376e-02,
-1.40780103e-04, 1.25770375e-05, 1.04126692e+00, 7.67668605e-01,
-1.02884378e-05, -1.41007011e-03, 1.02823459e-01, -3.07415128e-01,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
-9.39000631e-04, -7.65239349e-07, 1.14073277e+00, 4.46270645e-01,
1.04998052e-03, 1.91798881e-05, 2.06218868e-01, 7.42717385e-01,
1.48074005e-05, -1.40855671e-03, 7.45946690e-02, -3.16081315e-01,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
-7.0699735e-04, 4.2389297e-07, -5.5183989e-01, -5.3276348e-01,
-1.2281288e-03, 2.5626015e-05, 1.0212017e+00, 6.1102939e-01,
-2.2421273e-05, -1.4170362e-03, 9.3639769e-02, -3.0863306e-01,
0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00,
2.2227580e-03, 2.5312484e-06, -9.7261822e-01, 9.0684637e-02,
1.9360810e-04, 2.1347081e-05, -1.0779887e+00, -7.9227984e-01,
4.3742721e-06, -2.2310747e-03, 1.0842450e-01, -2.9406491e-01,
0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00,
5.97175560e-04, -5.88774265e-06, -1.15893924e+00, -4.49921310e-01,
-1.28312141e-03, 3.58297058e-07, 1.48300052e-01, 1.14334166e-01,
-2.80917516e-06, -1.41527120e-03, 8.37693438e-02, -2.36765608e-01,
0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
3.6048229e-04, 3.8333174e-06, 7.9871160e-01, 4.3321830e-01,
1.3671946e-03, 6.7484652e-06, -8.4722507e-01, 1.9411178e-01,
7.5027779e-06, -1.4139183e-03, 8.2083985e-02, -2.4505949e-01,
0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 1.0000000e+00};
};
} // namespace perception