From eb19ddaebdf451cee76dc31082a3194a5f9b50ac Mon Sep 17 00:00:00 2001
From: zhangmeng <775834166@qq.com>
Date: 星期二, 10 十二月 2019 15:35:51 +0800
Subject: [PATCH] update
---
goyolo.go | 186 ++++++++++++++++++++++++++++++++++++----------
1 files changed, 146 insertions(+), 40 deletions(-)
diff --git a/goyolo.go b/goyolo.go
index 11a8bdd..7ed2d15 100644
--- a/goyolo.go
+++ b/goyolo.go
@@ -1,16 +1,22 @@
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 (
+ "fmt"
+ "unsafe"
+
+ "basic.com/pubsub/protomsg.git"
+ "github.com/gogo/protobuf/proto"
+)
// CPOINT pt
type CPOINT struct {
@@ -48,26 +54,22 @@
ID uint64
}
+type trackInfo struct {
+ lastTrackObjs []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))
@@ -79,11 +81,15 @@
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() {
+func Free(i interface{}) {
+ y := i.(*YoloHandle)
if y != nil {
if y.handle != nil {
C.release(y.handle)
@@ -104,15 +110,7 @@
}
// 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) []CObjInfo {
var count C.int
var cobjinfo unsafe.Pointer
@@ -129,7 +127,8 @@
}
// YoloObjName obj name by type
-func (y *YoloHandle) YoloObjName(typ int) string {
+func YoloObjName(i interface{}, typ int) string {
+ y := i.(*YoloHandle)
p := C.obj_name_by_type(y.handle, C.int(typ))
return C.GoString(p)
@@ -176,14 +175,14 @@
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 []CObjTrackInfo, LastTrackID *uint64, data []byte, w, h, c int, thrsh float32, umns int) (allObjs []CObjTrackInfo, newObjs []CObjTrackInfo) {
var tmp 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 +202,126 @@
}
//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) ([]byte, int) {
+ if data == nil || w <= 0 || h <= 0 {
+ return nil, 0
+ }
+ 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, _ := YoloDetectTrack2(y, v.lastTrackObjs, &v.lastTrackID, data, w, h, channel, thrsh, umns)
+ y.tracker[id].lastTrackObjs = whole
+ y.tracker[id].lastTrackID = v.lastTrackID
+
+ var dWhole []byte
+ var err error
+ if len(whole) > 0 {
+
+ infos := convert2ProtoYoloTrack(whole, 1.0, 1.0)
+ p := protomsg.ParamYoloObj{Infos: infos}
+
+ dWhole, err = proto.Marshal(&p)
+ if err != nil {
+ fmt.Println("ydetect track marshal proto yolo obj error", err)
+ dWhole = nil
+ }
+ }
+
+ return dWhole, len(whole)
+}
+
+func convert2ProtoYoloTrack(obj []CObjTrackInfo, fx, fy float64) []*protomsg.ObjInfo {
+ ret := []*protomsg.ObjInfo{}
+
+ for _, v := range obj {
+ if fx < 1.0 || fy < 1.0 {
+ v.ObjInfo.RcObj.Left = (int32)((float64)(v.ObjInfo.RcObj.Left) / fx)
+ v.ObjInfo.RcObj.Right = (int32)((float64)(v.ObjInfo.RcObj.Right) / fx)
+ v.ObjInfo.RcObj.Top = (int32)((float64)(v.ObjInfo.RcObj.Top) / fy)
+ v.ObjInfo.RcObj.Bottom = (int32)((float64)(v.ObjInfo.RcObj.Bottom) / fy)
+ }
+
+ rect := protomsg.Rect{
+ Left: v.ObjInfo.RcObj.Left,
+ Right: v.ObjInfo.RcObj.Right,
+ Top: v.ObjInfo.RcObj.Top,
+ Bottom: v.ObjInfo.RcObj.Bottom,
+ }
+ obj := protomsg.ObjInfo{
+ RcObj: &rect,
+ Typ: v.ObjInfo.Typ,
+ Prob: v.ObjInfo.Prob,
+ ObjID: v.ID,
+ }
+
+ ret = append(ret, &obj)
+ }
+ return ret
+}
+
+// Run2 yolo detect (鍙瘑鍒汉)
+func Run2(i interface{}, id string, data []byte, w, h, c int, thrsh float32, umns int) ([]byte, int, []byte, int) {
+ if data == nil || w <= 0 || h <= 0 {
+ return nil, 0, nil, 0
+ }
+ 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
+
+ var dWhole, dRecent []byte
+ var err error
+ if len(whole) > 0 {
+
+ infos := convert2ProtoYoloTrack(whole, 1.0, 1.0)
+ p := protomsg.ParamYoloObj{Infos: infos}
+
+ dWhole, err = proto.Marshal(&p)
+ if err != nil {
+ fmt.Println("ydetect track marshal proto yolo obj error", err)
+ dWhole = nil
+ }
+ }
+ if len(recent) > 0 {
+ dRecent = nil
+ }
+ return dWhole, len(whole), dRecent, len(recent)
+}
--
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