From 5a43718b678531f0db9073ef636ed74624154549 Mon Sep 17 00:00:00 2001
From: zhangmeng <775834166@qq.com>
Date: 星期三, 11 十二月 2019 13:27:56 +0800
Subject: [PATCH] update
---
goyolo.go | 147 +++++++++++++++++++++---------------------------
1 files changed, 64 insertions(+), 83 deletions(-)
diff --git a/goyolo.go b/goyolo.go
index 11a8bdd..742a70e 100644
--- a/goyolo.go
+++ b/goyolo.go
@@ -1,73 +1,37 @@
package main
/*
-#cgo CFLAGS: -I${SRCDIR}/darknet/include -I/usr/local/cuda-8.0/include -w -g
-#cgo CXXFLAGS: -I${SRCDIR}/darknet/include -I/usr/local/cuda-8.0/include -w -g -std=c++11
-#cgo LDFLAGS: -L/usr/local/cuda-8.0/lib64 -L${SRCDIR}/darknet/lib
-#cgo LDFLAGS: -Wl,-rpath,${SRCDIR}/darknet/lib
+#cgo CFLAGS: -I${SRCDIR}/sdk/include -w -g
+#cgo CXXFLAGS: -I${SRCDIR}/sdk/include -w -g -std=c++11
+#cgo LDFLAGS: -L/usr/local/cuda-8.0/lib64 -L${SRCDIR}/sdk/lib
+#cgo LDFLAGS: -Wl,-rpath,${SRCDIR}/sdk/lib
#cgo LDFLAGS: -ldarknet -lcudart -lcublas -lcurand -lcudnn -lrt -ldl -lpthread
#include <stdlib.h>
#include "cyolo.h"
*/
import "C"
-import "unsafe"
+import (
+ "unsafe"
-// CPOINT pt
-type CPOINT struct {
- X int32
- Y int32
-}
+ "basic.com/libgowrapper/sdkstruct.git"
+)
-// CRECT rc
-type CRECT struct {
- Left int32
- Top int32
- Right int32
- Bottom int32
-}
-
-// CIMAGE img
-type CIMAGE struct {
- Data *uint8
- Width int32
- Height int32
- Channel int32
- Pad_cgo_0 [4]byte
-}
-
-// CObjInfo yolo
-type CObjInfo struct {
- RcObj CRECT
- Typ int32
- Prob float32
-}
-
-// CObjTrackInfo track yolo objs info
-type CObjTrackInfo struct {
- ObjInfo CObjInfo
- ID uint64
+type trackInfo struct {
+ lastTrackObjs []sdkstruct.CObjTrackInfo
+ lastTrackID uint64
}
// YoloHandle wrap C
type YoloHandle struct {
- handle unsafe.Pointer
- LastYoloObjs []CObjTrackInfo //yolo璺熻釜鐨勪笂涓�甯т俊鎭�
- LastTrackID uint64 //yolo 琚娇鐢ㄧ殑ID
+ handle unsafe.Pointer
+ tracker map[string]*trackInfo
}
// RatioInterTrack 璺熻釜鍒ゆ柇閲嶅彔闃堝��
const RatioInterTrack = 50 //璺熻釜鍒ゆ柇閲嶅彔闃堝��
-// SDKImage sdk image
-type SDKImage struct {
- Data []byte
- Width int
- Height int
- Channel int
-}
-
-// NewYolo init yolo sdk
-func NewYolo(fc, fw, fn string, gi int) *YoloHandle {
+// NewSDK init yolo sdk
+func NewSDK(fc, fw, fn string, gi int) interface{} {
c := C.CString(fc)
defer C.free(unsafe.Pointer(c))
@@ -79,24 +43,26 @@
g := C.int(gi)
p := C.init(c, w, n, g)
- return &YoloHandle{handle: p}
+ return &YoloHandle{
+ handle: p,
+ tracker: make(map[string]*trackInfo),
+ }
}
// Free free
-func (y *YoloHandle) Free() {
- if y != nil {
- if y.handle != nil {
- C.release(y.handle)
- }
+func Free(i interface{}) {
+ y := i.(*YoloHandle)
+ if y != nil && y.handle != nil {
+ C.release(y.handle)
}
}
// CYoloObjInfoArrayToGoArray convert cObjInfo array to go
-func CYoloObjInfoArrayToGoArray(cArray unsafe.Pointer, count int) (goArray []CObjInfo) {
+func CYoloObjInfoArrayToGoArray(cArray unsafe.Pointer, count int) (goArray []sdkstruct.CObjInfo) {
p := uintptr(cArray)
for i := 0; i < count; i++ {
- j := *(*CObjInfo)(unsafe.Pointer(p))
+ j := *(*sdkstruct.CObjInfo)(unsafe.Pointer(p))
goArray = append(goArray, j)
p += unsafe.Sizeof(j)
}
@@ -104,15 +70,7 @@
}
// YoloDetect yolo detect
-func (y *YoloHandle) YoloDetect(img SDKImage, thrsh float32, umns int) []CObjInfo {
-
- data := img.Data
- w := img.Width
- h := img.Height
- c := img.Channel
- if c == 0 {
- c = 3
- }
+func YoloDetect(y *YoloHandle, data []byte, w, h, c int, thrsh float32, umns int) []sdkstruct.CObjInfo {
var count C.int
var cobjinfo unsafe.Pointer
@@ -122,15 +80,16 @@
C.float(thrsh), C.int(umns),
&cobjinfo, &count)
- if ret == 0 {
+ if ret > 0 {
+ defer C.free(cobjinfo)
return CYoloObjInfoArrayToGoArray(unsafe.Pointer(cobjinfo), int(count))
}
return nil
}
// YoloObjName obj name by type
-func (y *YoloHandle) YoloObjName(typ int) string {
- p := C.obj_name_by_type(y.handle, C.int(typ))
+func YoloObjName(typ int) string {
+ p := C.obj_name_by_type(C.int(typ))
return C.GoString(p)
}
@@ -149,7 +108,7 @@
return b
}
-func countInterAreaOfTwoRect(rect1 CRECT, rect2 CRECT) int32 {
+func countInterAreaOfTwoRect(rect1 sdkstruct.CRECT, rect2 sdkstruct.CRECT) int32 {
xMin := min(rect1.Left, rect2.Left)
yMin := min(rect1.Top, rect2.Top)
xMax := max(rect1.Right, rect2.Right)
@@ -176,14 +135,14 @@
return ratio
}
-// YoloDetectTrack yolo detect (鍙瘑鍒汉)
-func (y *YoloHandle) YoloDetectTrack(img SDKImage, thrsh float32, umns int) (allObjs []CObjTrackInfo, newObjs []CObjTrackInfo) {
+// YoloDetectTrack2 yolo detect (鍙瘑鍒汉)
+func YoloDetectTrack2(y *YoloHandle, LastYoloObjs []sdkstruct.CObjTrackInfo, LastTrackID *uint64, data []byte, w, h, c int, thrsh float32, umns int) (allObjs []sdkstruct.CObjTrackInfo, newObjs []sdkstruct.CObjTrackInfo) {
- var tmp CObjTrackInfo
+ var tmp sdkstruct.CObjTrackInfo
//LastYoloObjs
- detectObjs := y.YoloDetect(img, thrsh, umns)
+ detectObjs := YoloDetect(y, data, w, h, c, thrsh, umns)
- for _, vLast := range y.LastYoloObjs {
+ for _, vLast := range LastYoloObjs {
for i := 0; i < len(detectObjs); i++ {
//fmt.Println("vNew.Typ:", vNew.Typ)
if vLast.ObjInfo.Typ == detectObjs[i].Typ { //鍚屼竴绫诲埆锛屾瘮濡傞兘鏄汉浣�
@@ -203,19 +162,41 @@
}
//澶勭悊鏂板嚭鐜扮殑鐩爣
+ id := *LastTrackID
if len(detectObjs) > 0 {
for _, vAdd := range detectObjs {
tmp.ObjInfo = vAdd
- tmp.ID = y.LastTrackID
- y.LastTrackID++
+ tmp.ID = id
+ id++
allObjs = append(allObjs, tmp)
newObjs = append(newObjs, tmp)
}
}
-
- //鍒锋柊涓婁竴甯х殑璺熻釜鐩爣
- y.LastYoloObjs = allObjs
-
+ *LastTrackID = id
return allObjs, newObjs
}
+
+// Run yolo detect (鍙瘑鍒汉)
+func Run(i interface{}, id string, data []byte, w, h, c int, thrsh float32, umns int) ([]sdkstruct.CObjTrackInfo, []sdkstruct.CObjTrackInfo) {
+ if data == nil || w <= 0 || h <= 0 {
+ return nil, nil
+ }
+ y := i.(*YoloHandle)
+
+ channel := c
+ if channel == 0 {
+ channel = 3
+ }
+
+ v, ok := y.tracker[id]
+ if !ok {
+ i := &trackInfo{}
+ y.tracker[id] = i
+ v = i
+ }
+ whole, recent := YoloDetectTrack2(y, v.lastTrackObjs, &v.lastTrackID, data, w, h, channel, thrsh, umns)
+ y.tracker[id].lastTrackObjs = whole
+ y.tracker[id].lastTrackID = v.lastTrackID
+ return whole, recent
+}
--
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