package gosdk
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/*
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#cgo CFLAGS: -I. -I./sdk/face/include -I./sdk/darknet/include -I/usr/local/cuda/include -w -g
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#cgo CFLAGS: -I./sdk/plate/eparking/include -I./sdk/plate/cloud/include
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#cgo CXXFLAGS: -I. -I./sdk/face/include -I./sdk/darknet/include -I/usr/local/cuda/include -w -g -std=c++11
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#cgo CXXFLAGS: -I./sdk/plate/eparking/include -I./sdk/plate/cloud/include
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#cgo LDFLAGS: -L/usr/local/cuda/lib64 -L${SRCDIR}/sdk/face/lib/gpu -L${SRCDIR}/sdk/darknet/lib
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#cgo LDFLAGS: -L${SRCDIR}/sdk/plate/eparking/lib -L${SRCDIR}/sdk/plate/cloud/lib
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#cgo LDFLAGS: -Wl,-rpath,${SRCDIR}/sdk/face/lib/gpu:${SRCDIR}/sdk/darknet/lib:${SRCDIR}/sdk/plate/cloud/lib
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#cgo LDFLAGS: -ldarknet -lTHFaceImage -lTHFeature -lTHFaceProperty -lTHFaceTracking -lcudart -lcublas -lcurand -lrt -ldl -lpthread -lthplateid -lLPRecognition
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#include <stdlib.h>
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#include "csdk.h"
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*/
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import "C"
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import (
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"unsafe"
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)
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// YoloHandle wrap C
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type YoloHandle struct {
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handle C.YoloHandle
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LastYoloObjs []CObjTrackInfo //yolo跟踪的上一帧信息
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LastTrackID uint64 //yolo 被使用的ID
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}
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const RatioInterTrack = 50 //跟踪判断重叠阈值
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// SDKImage sdk image
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type SDKImage struct {
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Data []byte
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Width int
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Height int
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}
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// InitYolo init yolo sdk
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func InitYolo(fc, fw, fn string, gi int) *YoloHandle {
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c := C.CString(fc)
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defer C.free(unsafe.Pointer(c))
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w := C.CString(fw)
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defer C.free(unsafe.Pointer(w))
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n := C.CString(fn)
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defer C.free(unsafe.Pointer(n))
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g := C.int(gi)
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p := C.c_api_yolo_init(c, w, n, g)
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return &YoloHandle{handle: p}
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}
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// InitFaceDetector init face detector
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func InitFaceDetector(tm, gi, minFaces, rollAngle int) {
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C.c_api_face_detector_init(C.int(tm), C.int(gi), C.int(minFaces), C.int(rollAngle))
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}
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// InitFaceProperty init face property
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func InitFaceProperty(tm int) {
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C.c_api_face_property_init(C.int(tm))
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}
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// InitFaceExtractor init face extractor
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func InitFaceExtractor(tm, gi int) {
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C.c_api_face_extractor_init(C.int(tm), C.int(gi))
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}
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// InitFaceTracker init face tracker
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func InitFaceTracker(tm, gi, w, h, maxFaces, interval, sample int) {
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C.c_api_face_tracker_init(C.int(tm), C.int(gi), C.int(w), C.int(h), C.int(maxFaces), C.int(interval), C.int(sample))
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}
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// ResizeFaceTracker init face tracker
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func ResizeFaceTracker(ch, w, h int) int {
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return int(C.c_api_face_track_resize(C.int(ch), C.int(w), C.int(h)))
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}
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// Free free sdk
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func Free() {
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C.c_api_release()
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}
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// FaceDetect face detect
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func FaceDetect(img SDKImage, ch int) []CFacePos {
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data := img.Data
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w := img.Width
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h := img.Height
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var count C.int
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cfpos := C.c_api_face_detect(&count, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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if cfpos != nil {
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defer C.free(unsafe.Pointer(cfpos))
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return CFacePosArrayToGoArray(unsafe.Pointer(cfpos), int(count))
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}
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return nil
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}
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// FaceProperty face property
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func FaceProperty(fpos CFacePos, img SDKImage, ch int) CThftResult {
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data := img.Data
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w := img.Width
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h := img.Height
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pos := (*C.cFacePos)(unsafe.Pointer(&fpos))
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result := C.c_api_face_property(pos, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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return *((*CThftResult)(unsafe.Pointer(&result)))
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}
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// FaceExtract face extract feature
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func FaceExtract(fpos CFacePos, img SDKImage, ch int) []byte {
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data := img.Data
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w := img.Width
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h := img.Height
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var featLen C.int
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pos := (*C.cFacePos)(unsafe.Pointer(&fpos))
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p := C.c_api_face_extract(&featLen, pos, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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defer C.free(unsafe.Pointer(p))
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b := C.GoBytes(unsafe.Pointer(p), featLen)
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return b
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}
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// FaceCompare face compare
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func FaceCompare(feat1 []byte, feat2 []byte) float32 {
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res := C.c_api_face_compare((*C.uchar)(unsafe.Pointer(&feat1[0])), (*C.uchar)(unsafe.Pointer(&feat2[0])))
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return float32(res)
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}
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// FaceTrackOnly face tracker face only
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func FaceTrackOnly(img SDKImage, ch int) []CRECT {
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data := img.Data
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w := img.Width
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h := img.Height
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var fCount C.int
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rect := C.c_api_face_track_only(&fCount, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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if rect != nil {
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defer C.free(unsafe.Pointer(rect))
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return CRECTArrayToGoArray(unsafe.Pointer(rect), int(fCount))
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}
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return nil
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}
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// FaceTrackDetect face tracker face detect
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func FaceTrackDetect(img SDKImage, ch int) []CFaceInfo {
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data := img.Data
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w := img.Width
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h := img.Height
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var fCount C.int
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finfo := C.c_api_face_track_only(&fCount, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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if finfo != nil {
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defer C.free(unsafe.Pointer(finfo))
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return CFaceInfoArrayToGoArray(unsafe.Pointer(finfo), int(fCount))
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}
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return nil
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}
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// FaceTrackingInfo face track info
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type FaceTrackingInfo struct {
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tracking bool
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faces []CFaceInfo
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}
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// FaceTrack face tracking info
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func FaceTrack(res map[int64]FaceTrackingInfo, img SDKImage, ch int) {
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data := img.Data
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w := img.Width
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h := img.Height
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var fCount C.int
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cFinfo := C.c_api_face_track(&fCount, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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if cFinfo == nil {
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return
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}
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defer C.free(unsafe.Pointer(cFinfo))
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goFinfo := CFaceInfoArrayToGoArray(unsafe.Pointer(cFinfo), int(fCount))
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// 空，添加
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if len(res) == 0 {
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for _, v := range goFinfo {
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var faces []CFaceInfo
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faces = append(faces, v)
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tInfo := FaceTrackingInfo{true, faces}
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res[v.NFaceID] = tInfo
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}
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// 非空
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} else {
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// 默认所有faces没有tracking
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for _, v := range res {
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v.tracking = false
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}
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// 查找是否存在tracking
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for _, v := range goFinfo {
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// 存在已有信息
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if info, ok := res[v.NFaceID]; ok {
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// tracking到face
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info.tracking = true
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// 如果tracking长度大于100，删除一些
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if len(info.faces) > 100 {
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info.faces = info.faces[1:]
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}
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info.faces = append(info.faces, v)
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// 不存在，新face，加入
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} else {
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var faces []CFaceInfo
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faces = append(faces, v)
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tInfo := FaceTrackingInfo{true, faces}
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res[v.NFaceID] = tInfo
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}
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}
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// 删除不再tracking的faces
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for k, v := range res {
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if !v.tracking {
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delete(res, k)
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}
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}
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}
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}
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func FaceInfo2FacePos(face CFaceInfo) (fPos CFacePos) {
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fPos.RcFace = face.RcFace
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fPos.PtLeftEye = face.PtLeftEye
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fPos.PtRightEye = face.PtRightEye
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fPos.PtNose = face.PtNose
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fPos.PtMouth = face.PtMouth
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fPos.FAngle.Yaw = face.FAngle.Yaw
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fPos.FAngle.Pitch = face.FAngle.Pitch
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fPos.FAngle.Roll = face.FAngle.Roll
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fPos.FAngle.Confidence = face.FAngle.Confidence
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copy(fPos.PFacialData[:], face.PFacialData[:512])
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return fPos
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}
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// FaceTrackSimple face tracking info
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func FaceTrackSimple(img SDKImage, ch int) (faces []CFaceInfo) {
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data := img.Data
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w := img.Width
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h := img.Height
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var fCount C.int
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cFinfo := C.c_api_face_track(&fCount, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.int(ch))
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// fmt.Println("cFinfo detected:", cFinfo)
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if cFinfo == nil {
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return faces
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}
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defer C.free(unsafe.Pointer(cFinfo))
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faces = CFaceInfoArrayToGoArray(unsafe.Pointer(cFinfo), int(fCount))
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//if len(faces) > 0{
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// fmt.Println("faces detected:", len(faces))
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//}
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return faces
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}
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// YoloDetect yolo detect
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func YoloDetect(handle *YoloHandle, img SDKImage, thrsh float32, umns int) []CObjInfo {
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data := img.Data
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w := img.Width
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h := img.Height
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var count C.int
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cobjinfo := C.c_api_yolo_detect(handle.handle, &count, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), C.float(thrsh), C.int(umns))
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if cobjinfo != nil {
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defer C.free(unsafe.Pointer(cobjinfo))
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return CYoloObjInfoArrayToGoArray(unsafe.Pointer(cobjinfo), int(count))
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}
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return nil
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}
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// YoloObjName obj name by type
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func YoloObjName(typ int) string {
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p := C.c_api_yolo_obj_name(C.int(typ))
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return C.GoString(p)
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}
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func max(a, b int32) int32 {
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if a < b {
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return b
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}
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return a
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}
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func min(a, b int32) int32 {
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if a < b {
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return a
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}
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return b
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}
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func countInterAreaOfTwoRect(rect1 CRECT, rect2 CRECT) int32 {
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xMin := min(rect1.Left, rect2.Left)
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yMin := min(rect1.Top, rect2.Top)
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xMax := max(rect1.Right, rect2.Right)
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yMax := max(rect1.Bottom, rect2.Bottom)
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wRect1 := rect1.Right - rect1.Left
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hRect1 := rect1.Bottom - rect1.Top
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wRect2 := rect2.Right - rect2.Left
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hRect2 := rect2.Bottom - rect2.Top
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wInter := wRect1 + wRect2 - (xMax - xMin)
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hInter := hRect1 + hRect2 - (yMax - yMin)
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if (wInter <= 0) || (hInter <= 0) {
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return 0
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}
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areaInter := wInter * hInter
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areaRect1 := wRect1 * hRect1
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areaRect2 := wRect2 * hRect2
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ratio := areaInter * 100 / min(areaRect1, areaRect2)
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return ratio
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}
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// YoloDetect yolo detect (只识别人)
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func YoloDetectTrack(handle *YoloHandle, img SDKImage, thrsh float32, umns int) (allObjs []CObjTrackInfo, newObjs []CObjTrackInfo) {
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var tmp CObjTrackInfo
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//LastYoloObjs
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detectObjs := YoloDetect(handle, img, thrsh, umns)
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for _, vLast := range handle.LastYoloObjs {
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for i := 0; i < len(detectObjs); i++ {
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//fmt.Println("vNew.Typ:", vNew.Typ)
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if vLast.ObjInfo.Typ == detectObjs[i].Typ { //同一类别，比如都是人体
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ratio := countInterAreaOfTwoRect(vLast.ObjInfo.RcObj, detectObjs[i].RcObj)
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if ratio >= RatioInterTrack {
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//update LastYoloObjs
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vLast.ObjInfo.RcObj = detectObjs[i].RcObj
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vLast.ObjInfo.Prob = detectObjs[i].Prob
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allObjs = append(allObjs, vLast)
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detectObjs = append(detectObjs[:i], detectObjs[i+1:]...) //从检测目标里删除已经查到的跟踪目标
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i--
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break //上一帧跟踪的目标已经找到，无需往下处理其他检测目标
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}
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}
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}
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}
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//处理新出现的目标
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if len(detectObjs) > 0 {
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for _, vAdd := range detectObjs {
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tmp.ObjInfo = vAdd
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tmp.ID = handle.LastTrackID
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handle.LastTrackID++
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allObjs = append(allObjs, tmp)
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newObjs = append(newObjs, tmp)
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}
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}
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//刷新上一帧的跟踪目标
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handle.LastYoloObjs = allObjs
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return allObjs, newObjs
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}
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// YoloDetectTrack2 yolo detect (只识别人)
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func YoloDetectTrack2(handle *YoloHandle, LastYoloObjs []CObjTrackInfo, LastTrackID *uint64, img SDKImage, thrsh float32, umns int) (allObjs []CObjTrackInfo, newObjs []CObjTrackInfo) {
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var tmp CObjTrackInfo
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//LastYoloObjs
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detectObjs := YoloDetect(handle, img, thrsh, umns)
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for _, vLast := range LastYoloObjs {
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for i := 0; i < len(detectObjs); i++ {
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//fmt.Println("vNew.Typ:", vNew.Typ)
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if vLast.ObjInfo.Typ == detectObjs[i].Typ { //同一类别，比如都是人体
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ratio := countInterAreaOfTwoRect(vLast.ObjInfo.RcObj, detectObjs[i].RcObj)
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if ratio >= RatioInterTrack {
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//update LastYoloObjs
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vLast.ObjInfo.RcObj = detectObjs[i].RcObj
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vLast.ObjInfo.Prob = detectObjs[i].Prob
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allObjs = append(allObjs, vLast)
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detectObjs = append(detectObjs[:i], detectObjs[i+1:]...) //从检测目标里删除已经查到的跟踪目标
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i--
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break //上一帧跟踪的目标已经找到，无需往下处理其他检测目标
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}
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}
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}
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}
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//处理新出现的目标
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id := *LastTrackID
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if len(detectObjs) > 0 {
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for _, vAdd := range detectObjs {
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tmp.ObjInfo = vAdd
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tmp.ID = id
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id++
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allObjs = append(allObjs, tmp)
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newObjs = append(newObjs, tmp)
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}
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}
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*LastTrackID = id
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return allObjs, newObjs
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}
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func DefaultPlateIDSDKConfig() *CPlateIDCfg{
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return &CPlateIDCfg{
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FastMemorySize: 32,
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MemorySize: 400,
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MinPlateWidth: 60,
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MaxPlateWidth: 400,
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MaxImageWidth: 4096,
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MaxImageHeight: 2160,
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IsFieldImage: 0,
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MovingImage: 0,
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OrderOpt: 0,
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LeanCorrection: 1,
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ImproveSpeed: 0,
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CarLogo: 1,
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LotDetect: 1,
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Shadow: 1,
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ShieldRailing: 1,
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CarModel: 1,
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LocateTh: 5,
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OCRTh: 2,
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Individual: 1,
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TwoRowYellow: 1,
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ArmPolice: 1,
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ArmPolice2: 1,
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TwoRowArmy: 1,
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Tractor: 1,
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Embassy: 1,
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ChangNei: 0,
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MinHang: 0,
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Consulate: 10,
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NewEnergy: 1,
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OnlyTwoRowYellow: 0,
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OnlyLocation: 0,
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}
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}
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// InitPlateIDDetector init plateid detector
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func InitPlateIDDetector(config *CPlateIDCfg, soPath []byte) {
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C.c_api_plate_id_init((*C.cPlateIDCfg)(unsafe.Pointer(config)), (*C.char)(unsafe.Pointer(&soPath[0])))
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}
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// PlateIDDetect plateid detect
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func PlateIDDetect(img SDKImage, rcDetect *CRECT) []CPlateIDResult {
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data := img.Data
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w := img.Width
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h := img.Height
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var count C.int
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cppos := C.c_api_plate_id_detect(&count, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), (*C.cRECT)(unsafe.Pointer(rcDetect)))
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if cppos != nil {
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defer C.free(unsafe.Pointer(cppos))
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return CPlateIDPosArrayToGoArray(unsafe.Pointer(cppos), int(count))
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}
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return nil
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}
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func FreePlateIdDetector() int{
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return int(C.c_api_plate_id_free())
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}
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func DefaultPlateIDCloudSDKConfig() *CPlateIDCloudCfg{
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return &CPlateIDCloudCfg{
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NImageMode: 0,
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NRecMode: 0,
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NMinPlateWidth: 60,
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NMaxPlateWidth: 400,
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NImageWidth: 4096,
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NImageHeight: 2160,
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NMinHorAngle: -15,
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NMaxHorAngle: 15,
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NMinVerAngle: -30,
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NMaxVerAngle: 30,
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FExpLeftRightR: 1.6,
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FExpTopR: 6.0,
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FExpBottomR: 1.5,
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}
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}
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// InitPlateIDCloudSDKDetector init plateid detector
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func InitPlateIDCloudSDKDetector(config *CPlateIDCloudCfg, keyPath, modelPath[]byte) int {
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return int(C.c_api_plate_id_cloud_init((*C.cPlateIDCloudSDKCfg)(unsafe.Pointer(config)), (*C.char)(unsafe.Pointer(&keyPath[0])), (*C.char)(unsafe.Pointer(&modelPath[0]))))
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}
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// PlateIDCloudSDKDetect plateid detect
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func PlateIDCloudSDKDetect(img SDKImage, rcDetect *CRECT) []CPlateIDCloudResult {
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data := img.Data
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w := img.Width
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h := img.Height
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var count C.int
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cppos := C.c_api_plate_id_cloud_detect(&count, (*C.uchar)(unsafe.Pointer(&data[0])), C.int(w), C.int(h), (*C.cRECT)(unsafe.Pointer(rcDetect)))
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if cppos != nil {
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defer C.free(unsafe.Pointer(cppos))
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return CPlateIDCloudPosArrayToGoArray(unsafe.Pointer(cppos), int(count))
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}
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return nil
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}
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// FreePlateIDCloudSDKDetector free
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func FreePlateIDCloudSDKDetector() {
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C.c_api_plate_id_free()
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}
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