update readme

Author: Li-Hongda

configs/rtdetr.yaml

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+rtdetr:
+    onnx_file:     "../weights/rtdetr/rtdetr_r50vd_6x_coco.onnx"
+    engine_file:   "../weights/rtdetr/rtdetr_r50vd.trt"
+    type:          "coco80"
+    mode:          "fp32"
+    batchSize:     1
+    inputChannel:  3
+    imageWidth:    640
+    imageHeight:   640
+    obj_threshold: 0.25
+    nms_threshold: 0.45
+    strides:       [8, 16, 32]
+    imgMean:       [ 0, 0, 0 ]
+    imgStd:        [ 1, 1, 1 ]

include/rtdetr.h

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+#ifndef RTDETR_H
+#define RTDETR_H
+
+#include "detection.h"
+#include "instance_segmentation.h"
+
+class RTDETR : public Detection {
+public:
+    explicit RTDETR(const YAML::Node &config);
+protected:
+    std::vector<Detections> PostProcess(const std::vector<cv::Mat> &vec_Mat, float *output) override;
+};
+
+#endif

src/rtdetr.cpp

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+#include "rtdetr.h"
+
+
+RTDETR::RTDETR(const YAML::Node &config) : Detection(config) {}
+
+std::vector<Detections> RTDETR::PostProcess(const std::vector<cv::Mat> &imgBatch, float *output) {
+    std::vector<Detections> vec_result;
+    int index = 0;
+    auto predSize = bufferSize[1] / sizeof(float);
+    for (const cv::Mat &img : imgBatch)
+    {
+        Detections result;
+        float *pred_per_img = output + index * predSize;
+        for (int position = 0; position < num_rows; position++) {
+            float *pred_per_obj = pred_per_img + position * (num_classes + 5);
+            if (pred_per_obj[4] < obj_threshold) continue;
+            Box box;
+            auto max_pos = std::max_element(pred_per_obj + 5, pred_per_obj + num_classes + 5);
+            box.score = pred_per_obj[4] * pred_per_obj[max_pos - pred_per_obj];
+            box.label = max_pos - pred_per_obj - 5;
+
+            // 将得到的box坐标映射回原图。
+            auto l = pred_per_obj[0] - pred_per_obj[2] / 2;
+            auto t = pred_per_obj[1] - pred_per_obj[3] / 2;
+            auto r = pred_per_obj[0] + pred_per_obj[2] / 2;
+            auto b = pred_per_obj[1] + pred_per_obj[3] / 2;
+            auto new_l = dst2src.v0 * l + dst2src.v1 * t + dst2src.v2;
+            auto new_r = dst2src.v0 * r + dst2src.v1 * b + dst2src.v2;
+            auto new_t = dst2src.v3 * l + dst2src.v4 * t + dst2src.v5;
+            auto new_b = dst2src.v3 * r + dst2src.v4 * b + dst2src.v5;
+            box.x = new_l;
+            box.y = new_t;
+            box.w = new_r - new_l;
+            box.h = new_b - new_t;
+        
+            result.dets.emplace_back(box);
+        }
+        NMS(result.dets);
+        vec_result.emplace_back(result);
+        index++;
+    }
+    return vec_result;
+}