multi-w/hout

configs/tasks/multi/multi_yolov5.yaml

@@ -22,8 +22,8 @@ units:
         inputMean: [0, 0, 0]
         inputStd: [1, 1, 1]
         inferBatchSize: 1
-        inputWidth: 640
-        inputHeight: 640
+        inputWidth: 960 # 640
+        inputHeight: 544 # 640
         fixAspectRatio: false
         useBGR: false
     -
@@ -31,28 +31,30 @@ units:
         inputNames: [resizeNormImages]
         outputNames: [detections, seg_protos, depths, semantics]
         runMode: 1 # 0-fp32 1-fp16 2-int8 (int8 not supported)
-        weightsPath: "configs/tasks/multi/isp_612m_best.onnx"
-        engineFile: "configs/tasks/multi/isp_612m_best_fp16.engine"
+        # weightsPath: "configs/tasks/multi/isp_612m_best.onnx"
+        # engineFile: "configs/tasks/multi/isp_612m_best_fp16.engine"
+        weightsPath: "configs/tasks/multi/isp_0718m_best.onnx"
+        engineFile: "configs/tasks/multi/isp_0718m_best_fp16.engine"
         # calibImgPathFile: "configs/tasks/multi/isp_calib_imgs.txt"
         # calibTableCache: "configs/tasks/multi/isp_calib_table.cache"
         inferDynamic: false
         inferBatchSize: 1
-        inputWidth: 640
-        inputHeight: 640
+        inputWidth: 960 # 640
+        inputHeight: 544 # 640
         maxBatchSize: 1 # used when build engine
     -
         name: MultiPostProcess
         inputNames: [detections, seg_protos, depths, semantics, undistortVisImage]
         outputNames: [out_instances, out_semantics, out_depths]
-        inputWidth: 640
-        inputHeight: 640
+        inputWidth: 960 # 640
+        inputHeight: 544 # 640
         fixAspectRatio: false
         # instance-seg
         nmsThreshold: 0.45
         scoreThreshold: 0.2 # used when inference, can be modified
         truncatedThreshold: 0.05
         maxOutputNum: 1000
-        rawDetectionLength: 25200
+        rawDetectionLength: 32130 #25200
         keepTopK: 100
         segProtoDim: 32
         instanceDownScale: 4

src/libs/postprocessors/multi_post.cpp

@@ -177,7 +177,7 @@ bool MultiPostProcess::Exec() {
         auto seg = std::make_shared<ios::SemanticSeg>();
         seg->class_label = is;
         seg->class_name = semanticClassNames[is];
-        cv::Mat mask_mat = cv::Mat::zeros(inputWidth / semanticDownScale, inputHeight / semanticDownScale, CV_32FC1);
+        cv::Mat mask_mat = cv::Mat::zeros(inputHeight / semanticDownScale, inputWidth / semanticDownScale, CV_32FC1);
         for (int x = 0; x < inputWidth / semanticDownScale; x++) {
             for (int y = 0; y < inputHeight / semanticDownScale; y++) {
                 float e = rawSemanticSegs[is * mask_mat.cols * mask_mat.rows + y * mask_mat.cols + x];
@@ -205,7 +205,7 @@ bool MultiPostProcess::Exec() {
     // Depth
     auto depth = std::make_shared<ios::Depth>();
     auto rawDepth = rawDepths->data_->mutable_cpu_data();
-    cv::Mat mask_mat = cv::Mat::zeros(inputWidth / depthDownScale, inputHeight / depthDownScale, CV_32FC1);
+    cv::Mat mask_mat = cv::Mat::zeros(inputHeight / depthDownScale, inputWidth / depthDownScale, CV_32FC1);
     for (int x = 0; x < inputWidth / depthDownScale; x++) {
         for (int y = 0; y < inputHeight / depthDownScale; y++) {
             float e = rawDepth[y * mask_mat.cols + x];