#pragma once
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#include <memory>
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#include <vector>
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#include <deque>
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#include <algorithm>
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#ifdef OPENCV
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#include <opencv2/opencv.hpp> // C++
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#include "opencv2/highgui/highgui_c.h" // C
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#include "opencv2/imgproc/imgproc_c.h" // C
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#endif // OPENCV
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#ifdef YOLODLL_EXPORTS
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#define YOLODLL_API __declspec(dllexport)
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#else
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#define YOLODLL_API __declspec(dllimport)
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#endif
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struct bbox_t {
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unsigned int x, y, w, h; // (x,y) - top-left corner, (w, h) - width & height of bounded box
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float prob; // confidence - probability that the object was found correctly
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unsigned int obj_id; // class of object - from range [0, classes-1]
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unsigned int track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
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};
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struct image_t {
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int h; // height
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int w; // width
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int c; // number of chanels (3 - for RGB)
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float *data; // pointer to the image data
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};
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class Detector {
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std::shared_ptr<void> detector_gpu_ptr;
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public:
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float nms = .4;
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YOLODLL_API Detector(std::string cfg_filename, std::string weight_filename, int gpu_id = 0);
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YOLODLL_API ~Detector();
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YOLODLL_API std::vector<bbox_t> detect(std::string image_filename, float thresh = 0.2);
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YOLODLL_API std::vector<bbox_t> detect(image_t img, float thresh = 0.2);
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static YOLODLL_API image_t load_image(std::string image_filename);
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static YOLODLL_API void free_image(image_t m);
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#ifdef OPENCV
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std::vector<bbox_t> detect(cv::Mat mat, float thresh = 0.2)
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{
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if(mat.data == NULL)
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throw std::runtime_error("file not found");
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std::shared_ptr<image_t> image_ptr(new image_t, [](image_t *img) { free_image(*img); delete img; });
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*image_ptr = mat_to_image(mat);
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return detect(*image_ptr, thresh);
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}
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private:
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static image_t mat_to_image(cv::Mat img)
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{
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std::shared_ptr<IplImage> ipl_small = std::make_shared<IplImage>(img);
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image_t im_small = ipl_to_image(ipl_small.get());
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rgbgr_image(im_small);
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return im_small;
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}
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static image_t ipl_to_image(IplImage* src)
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{
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unsigned char *data = (unsigned char *)src->imageData;
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int h = src->height;
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int w = src->width;
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int c = src->nChannels;
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int step = src->widthStep;
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image_t out = make_image_custom(w, h, c);
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int i, j, k, count = 0;;
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for (k = 0; k < c; ++k) {
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for (i = 0; i < h; ++i) {
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for (j = 0; j < w; ++j) {
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out.data[count++] = data[i*step + j*c + k] / 255.;
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}
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}
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}
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return out;
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}
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static image_t make_empty_image(int w, int h, int c)
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{
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image_t out;
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out.data = 0;
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out.h = h;
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out.w = w;
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out.c = c;
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return out;
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}
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static image_t make_image_custom(int w, int h, int c)
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{
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image_t out = make_empty_image(w, h, c);
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out.data = (float *)calloc(h*w*c, sizeof(float));
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return out;
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}
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static void rgbgr_image(image_t im)
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{
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int i;
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for (i = 0; i < im.w*im.h; ++i) {
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float swap = im.data[i];
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im.data[i] = im.data[i + im.w*im.h * 2];
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im.data[i + im.w*im.h * 2] = swap;
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}
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}
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#endif // OPENCV
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std::deque<std::vector<bbox_t>> prev_bbox_vec_deque;
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public:
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std::vector<bbox_t> tracking(std::vector<bbox_t> cur_bbox_vec, int const frames_story = 4)
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{
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bool prev_track_id_present = false;
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for (auto &i : prev_bbox_vec_deque)
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if (i.size() > 0) prev_track_id_present = true;
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static unsigned int track_id = 1;
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if(!prev_track_id_present) {
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//track_id = 1;
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for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
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cur_bbox_vec[i].track_id = track_id++;
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prev_bbox_vec_deque.push_front(cur_bbox_vec);
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if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
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return cur_bbox_vec;
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}
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std::vector<unsigned int> dist_vec(cur_bbox_vec.size(), std::numeric_limits<unsigned int>::max());
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for (auto &prev_bbox_vec : prev_bbox_vec_deque) {
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for (auto &i : prev_bbox_vec) {
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int cur_index = -1;
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for (size_t m = 0; m < cur_bbox_vec.size(); ++m) {
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bbox_t const& k = cur_bbox_vec[m];
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if (i.obj_id == k.obj_id) {
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unsigned int cur_dist = sqrt(((float)i.x - k.x)*((float)i.x - k.x) + ((float)i.y - k.y)*((float)i.y - k.y));
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if (cur_dist < 100 && (k.track_id == 0 || dist_vec[m] > cur_dist)) {
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dist_vec[m] = cur_dist;
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cur_index = m;
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}
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}
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}
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bool track_id_absent = !std::any_of(cur_bbox_vec.begin(), cur_bbox_vec.end(), [&](bbox_t const& b) { return b.track_id == i.track_id; });
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if (cur_index >= 0 && track_id_absent)
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cur_bbox_vec[cur_index].track_id = i.track_id;
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}
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}
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for (size_t i = 0; i < cur_bbox_vec.size(); ++i)
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if (cur_bbox_vec[i].track_id == 0)
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cur_bbox_vec[i].track_id = track_id++;
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prev_bbox_vec_deque.push_front(cur_bbox_vec);
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if (prev_bbox_vec_deque.size() > frames_story) prev_bbox_vec_deque.pop_back();
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return cur_bbox_vec;
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}
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};
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