fix onnxruntime

Author: fateshelled

yolox_ros_cpp/yolox_cpp/include/yolox_cpp/yolox_onnxruntime.hpp

@@ -8,26 +8,26 @@
 #include <iostream>
 #include <opencv2/opencv.hpp>
 
-#include "onnxruntime/core/session/onnxruntime_cxx_api.h"
+#include <onnxruntime/onnxruntime_cxx_api.h>
 
 #include "core.hpp"
 #include "coco_names.hpp"
 
 namespace yolox_cpp{
     class YoloXONNXRuntime: public AbcYoloX{
         public:
-            YoloXONNXRuntime(file_name_t path_to_model,
+            YoloXONNXRuntime(const file_name_t &path_to_model,
                              int intra_op_num_threads, int inter_op_num_threads=1,
                              bool use_cuda=true, int device_id=0, bool use_parallel=false,
-                             float nms_th=0.45, float conf_th=0.3, std::string model_version="0.1.1rc0",
+                             float nms_th=0.45, float conf_th=0.3, const std::string &model_version="0.1.1rc0",
                              int num_classes=80, bool p6=false);
             std::vector<Object> inference(const cv::Mat& frame) override;
 
         private:
             int intra_op_num_threads_ = 1;
             int inter_op_num_threads_ = 1;
-            int device_id_ = 0;
             bool use_cuda_ = true;
+            int device_id_ = 0;
             bool use_parallel_ = false;
 
             Ort::Session session_{nullptr};

yolox_ros_cpp/yolox_cpp/src/yolox_onnxruntime.cpp

@@ -2,10 +2,10 @@
 
 namespace yolox_cpp{
 
-    YoloXONNXRuntime::YoloXONNXRuntime(file_name_t path_to_model,
+    YoloXONNXRuntime::YoloXONNXRuntime(const file_name_t &path_to_model,
                                        int intra_op_num_threads, int inter_op_num_threads,
                                        bool use_cuda, int device_id, bool use_parallel,
-                                       float nms_th, float conf_th, std::string model_version,
+                                       float nms_th, float conf_th, const std::string &model_version,
                                        int num_classes, bool p6)
     :AbcYoloX(nms_th, conf_th, model_version, num_classes, p6),
      intra_op_num_threads_(intra_op_num_threads), inter_op_num_threads_(inter_op_num_threads),
@@ -138,7 +138,10 @@ namespace yolox_cpp{
         float* net_pred = (float *)this->output_buffer_[0].get();
 
         // post process
-        float scale = std::min(input_w_ / (frame.cols*1.0), input_h_ / (frame.rows*1.0));
+        const float scale = std::min(
+            static_cast<float>(this->input_w_) / static_cast<float>(frame.cols),
+            static_cast<float>(this->input_h_) / static_cast<float>(frame.rows)
+        );
         std::vector<Object> objects;
         decode_outputs(net_pred, this->grid_strides_, objects, this->bbox_conf_thresh_, scale, frame.cols, frame.rows);
         return objects;