using System;
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using System.Runtime.InteropServices;
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namespace Darknet
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{
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public class YoloWrapper : IDisposable
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{
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private const string YoloLibraryName = "yolo_cpp_dll.dll";
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private const int MaxObjects = 1000;
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[DllImport(YoloLibraryName, EntryPoint = "init")]
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private static extern int InitializeYolo(string configurationFilename, string weightsFilename, int gpu);
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[DllImport(YoloLibraryName, EntryPoint = "detect_image")]
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private static extern int DetectImage(string filename, ref BboxContainer container);
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[DllImport(YoloLibraryName, EntryPoint = "detect_mat")]
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private static extern int DetectImage(IntPtr pArray, int nSize, ref BboxContainer container);
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[DllImport(YoloLibraryName, EntryPoint = "dispose")]
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private static extern int DisposeYolo();
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[StructLayout(LayoutKind.Sequential)]
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public struct bbox_t
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{
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public UInt32 x, y, w, h; // (x,y) - top-left corner, (w, h) - width & height of bounded box
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public float prob; // confidence - probability that the object was found correctly
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public UInt32 obj_id; // class of object - from range [0, classes-1]
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public UInt32 track_id; // tracking id for video (0 - untracked, 1 - inf - tracked object)
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public UInt32 frames_counter;
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};
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[StructLayout(LayoutKind.Sequential)]
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public struct BboxContainer
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{
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = MaxObjects)]
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public bbox_t[] candidates;
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}
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public YoloWrapper(string configurationFilename, string weightsFilename, int gpu)
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{
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InitializeYolo(configurationFilename, weightsFilename, gpu);
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}
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public void Dispose()
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{
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DisposeYolo();
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}
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public bbox_t[] Detect(string filename)
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{
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var container = new BboxContainer();
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var count = DetectImage(filename, ref container);
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return container.candidates;
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}
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public bbox_t[] Detect(byte[] imageData)
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{
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var container = new BboxContainer();
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var size = Marshal.SizeOf(imageData[0]) * imageData.Length;
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var pnt = Marshal.AllocHGlobal(size);
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try
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{
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// Copy the array to unmanaged memory.
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Marshal.Copy(imageData, 0, pnt, imageData.Length);
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var count = DetectImage(pnt, imageData.Length, ref container);
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if (count == -1)
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{
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throw new NotSupportedException($"{YoloLibraryName} has no OpenCV support");
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}
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}
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catch (Exception exception)
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{
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return null;
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}
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finally
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{
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// Free the unmanaged memory.
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Marshal.FreeHGlobal(pnt);
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}
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return container.candidates;
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}
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}
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}
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