Deleted redundant code and fixed some brackets

Author: IasonTheodorou

include/dl_types.h

@@ -10,15 +10,8 @@ namespace SEG
 {
     enum MODEL_TYPE
     {
-        // FLOAT32 MODEL
         SAM_SEGMENT_ENCODER = 1,
         SAM_SEGMENT_DECODER = 2,
-        // YOLO_CLS = 3,
-
-        // FLOAT16 MODEL
-        // YOLO_DETECT_V8_HALF = 4,
-        // YOLO_POSE_V8_HALF = 5,
-        // YOLO_CLS_HALF = 6
     };
 
     typedef struct _DL_INIT_PARAM
@@ -27,13 +20,9 @@ namespace SEG
         std::string modelPath;
         MODEL_TYPE modelType = SAM_SEGMENT_ENCODER;
         std::vector<int> imgSize = {640, 640};
-        float rectConfidenceThreshold = 0.6;
-        float iouThreshold = 0.5;
-        int keyPointsNum = 2; // Note:kpt number for pose
         bool cudaEnable = false;
         int logSeverityLevel = 3;
         int intraOpNumThreads = 1;
-        // std::vector<cv::Rect> boxes; // For SAM encoder model, this will be filled with detected boxes
 
         // Overloaded output operator for _DL_INIT_PARAM to print its contents
         friend std::ostream &operator<<(std::ostream &os, const _DL_INIT_PARAM &param)
@@ -44,9 +33,6 @@ namespace SEG
             for (const auto &size : param.imgSize)
                 os << size << " ";
             os << "\n";
-            os << "rectConfidenceThreshold: " << param.rectConfidenceThreshold << "\n";
-            os << "iouThreshold: " << param.iouThreshold << "\n";
-            os << "keyPointsNum: " << param.keyPointsNum << "\n";
             os << "cudaEnable: " << (param.cudaEnable ? "true" : "false") << "\n";
             os << "logSeverityLevel: " << param.logSeverityLevel << "\n";
             os << "intraOpNumThreads: " << param.intraOpNumThreads;
@@ -57,14 +43,10 @@ namespace SEG
 
     typedef struct _DL_RESULT
     {
-
-        std::vector<cv::Rect> boxes; // For SAM encoder model, this will be filled with detected boxes
-        std::vector<cv::Point2f> keyPoints;
-
-        // Sam Part
+        // For SAM encoder model, this will be filled with detected boxes from object detection model.
+        std::vector<cv::Rect> boxes;
         std::vector<float> embeddings;
-        // Masks for SAM decoder model output
-        std::vector<cv::Mat> masks; // Each cv::Mat represents a mask
+        std::vector<cv::Mat> masks;
 
     } DL_RESULT;
 } // namespace SEG

include/sam_inference.h

@@ -43,7 +43,6 @@ class SAM
     SEG::MODEL_TYPE _modelType;
     std::vector<int> _imgSize;
     float _rectConfidenceThreshold;
-    float _iouThreshold;
 };
 
 #endif // SAMINFERENCE_H

src/sam_inference.cpp

@@ -51,8 +51,6 @@ const char *SAM::CreateSession(SEG::DL_INIT_PARAM &iParams) {
     return Ret;
   }
   try {
-    _rectConfidenceThreshold = iParams.rectConfidenceThreshold;
-    _iouThreshold = iParams.iouThreshold;
     _imgSize = iParams.imgSize;
     _modelType = iParams.modelType;
     _cudaEnable = iParams.cudaEnable;
@@ -116,7 +114,8 @@ const char *SAM::CreateSession(SEG::DL_INIT_PARAM &iParams) {
 
 const char *SAM::RunSession(const cv::Mat &iImg,
                             std::vector<SEG::DL_RESULT> &oResult,
-                            SEG::MODEL_TYPE _modelType, SEG::DL_RESULT &result) {
+                            SEG::MODEL_TYPE _modelType, SEG::DL_RESULT &result)
+{
 #ifdef benchmark
   clock_t starttime_1 = clock();
 #endif // benchmark
@@ -133,19 +132,19 @@ const char *SAM::RunSession(const cv::Mat &iImg,
   } else if (_modelType == SEG::SAM_SEGMENT_DECODER) {
     inputNodeDims = {1, 256, 64, 64};
   }
-  TensorProcess(starttime_1, iImg, blob, inputNodeDims, _modelType, oResult,
+  TensorProcess_(starttime_1, iImg, blob, inputNodeDims, _modelType, oResult,
                 utilities, result);
 
   return Ret;
 }
 
 template <typename N>
-const char *SAM::TensorProcess(clock_t &starttime_1, const cv::Mat &iImg,
+const char *SAM::TensorProcess_(clock_t &starttime_1, const cv::Mat &iImg,
                                N &blob, std::vector<int64_t> &inputNodeDims,
                                SEG::MODEL_TYPE _modelType,
                                std::vector<SEG::DL_RESULT> &oResult,
-                               Utils &utilities, SEG::DL_RESULT &result) {
-
+                               Utils &utilities, SEG::DL_RESULT &result)
+{
   switch (_modelType) {
   case SEG::SAM_SEGMENT_ENCODER:
     // case OTHER_SAM_MODEL:
@@ -235,7 +234,6 @@ const char *SAM::TensorProcess(clock_t &starttime_1, const cv::Mat &iImg,
 #ifdef ROI
     for (const auto &box : boundingBoxes)
 #else
-
     for (const auto &box : result.boxes)
 #endif // ROI
     {
@@ -410,7 +408,6 @@ char *SAM::WarmUpSession(SEG::MODEL_TYPE _modelType) {
           inputTensors.size(), _outputNodeNames.data(), _outputNodeNames.size());
     }
 
-    _outputNodeNames.size();
     delete[] blob;
     clock_t starttime_4 = clock();
     double post_process_time =

src/segmentation.cpp

@@ -13,8 +13,6 @@ Initializer() {
   SEG::DL_INIT_PARAM params_decoder;
   SEG::DL_RESULT res;
   std::vector<SEG::DL_RESULT> resSam;
-  params_encoder.rectConfidenceThreshold = 0.1;
-  params_encoder.iouThreshold = 0.5;
   params_encoder.modelPath = "/home/amigo/Documents/repos/sam_onnx_ros/build/SAM_encoder.onnx";
   params_encoder.imgSize = {1024, 1024};
 
@@ -42,8 +40,6 @@ void SegmentAnything(std::vector<std::unique_ptr<SAM>> &samSegmentors,
                 const SEG::DL_INIT_PARAM &params_decoder, const cv::Mat &img, std::vector<SEG::DL_RESULT> &resSam,
   SEG::DL_RESULT &res) {
 
-
-
   SEG::MODEL_TYPE modelTypeRef = params_encoder.modelType;
   samSegmentors[0]->RunSession(img, resSam, modelTypeRef, res);