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FastPositioning.c
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FastPositioning.c
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/*******************************************************************************
*BSD 3-Clause License
*
*Copyright (c) 2016-2023, Mech-Mind Robotics
*All rights reserved.
*
*Redistribution and use in source and binary forms, with or without
*modification, are permitted provided that the following conditions are met:
*
*1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
*2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
*3. Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
*THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
*AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
*IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
*DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
*FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
*DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
*SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
*OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
*OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
******************************************************************************/
/*
Through this example program, we demonstrate how to use the fast positioning model exported from
Mech-DLK for image inference.
*/
#include <stdio.h>
#include "c/dl_packInfer.h"
#include "c/dl_definition.h"
const unsigned int kDeviceId = 0;
const unsigned int kImageNum = 1;
const unsigned int kModuleIdx = 0;
const char* kPackPath = "./resources/FastPositioning/fast_positioning_model.dlkpack";
const char* kImagePath = "./resources/FastPositioning/fast_positioning_image.jpg";
int main()
{
Engine engine;
StatusCode statusCode = createPackInferEngine(&engine, kPackPath, GpuDefault, kDeviceId);
if (statusCode == E_INVALID_MODEL_PATH) {
printf("Please ensure that the model path is correct!\n");
return -1;
}
MMindImage input;
statusCode = createImage(kImagePath, &input);
statusCode = infer(&engine, &input, kImageNum);
FastPositioningResult* FastPositioningResult = NULL;
unsigned int resultNum = 0;
statusCode = getFastPositioningResult(&engine, kModuleIdx, &FastPositioningResult, &resultNum);
statusCode = resultVisualization(&engine, &input, kImageNum);
statusCode = showImage(&input, "result");
releaseFastPositioningResult(&FastPositioningResult, resultNum);
releaseImage(&input);
releasePackInferEngine(&engine);
printf("Fast Positioning model inference successful!\n");
return 0;
}