public YoloWrapper(string configurationFilename, string weightsFilename,
string namesFilename, int gpu = 0)
{
objectTypeResolver = new YoloObjectTypeResolver(namesFilename);
Initialize(configurationFilename, weightsFilename, gpu);
container = new BboxContainer();
}
private IEnumerable <YoloItem> Convert(BboxContainer container)
{
var yoloItems = new List <YoloItem>();
foreach (var item in container.candidates.Where(o => o.h > 0 || o.w > 0))
{
if (!this._objectType.TryGetValue((int)item.obj_id, out var objectType))
{
objectType = "unknown key";
}
var yoloItem = new YoloItem
{
X = (int)item.x,
Y = (int)item.y,
Height = (int)item.h,
Width = (int)item.w,
Confidence = item.prob,
Type = objectType
};
yoloItems.Add(yoloItem);
}
return(yoloItems);
}
public IEnumerable <YoloItem> Track(IntPtr floatArrayPointer, int width, int height, int channel = 3)
{
var container = new BboxContainer();
TrackObjectsGpu(floatArrayPointer, width, height, channel, ref container);
return(Convert(container, objectTypeResolver));
}
public IEnumerable <YoloItem> Detect(byte[] imageData)
{
var container = new BboxContainer();
var size = Marshal.SizeOf(imageData[0]) * imageData.Length;
var pnt = Marshal.AllocHGlobal(size);
try
{
// Copy the array to unmanaged memory.
Marshal.Copy(imageData, 0, pnt, imageData.Length);
var count = 0;
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = DetectImageCpu(pnt, imageData.Length, ref container);
break;
case DetectionSystem.GPU:
count = DetectImageGpu(pnt, imageData.Length, ref container);
break;
}
}
catch (Exception exception)
{
return(null);
}
finally
{
// Free the unmanaged memory.
Marshal.FreeHGlobal(pnt);
}
return(this.Convert(container));
}
public bbox_t[] Detect(string filename)
{
var container = new BboxContainer();
var count = DetectImage(filename, ref container);
return(container.candidates);
}
public bbox_t[] Detect(byte[] imageData)
{
var container = new BboxContainer();
var size = Marshal.SizeOf(imageData[0]) * imageData.Length;
var pnt = Marshal.AllocHGlobal(size);
try
{
// Copy the array to unmanaged memory.
Marshal.Copy(imageData, 0, pnt, imageData.Length);
DetectImage(pnt, imageData.Length, ref container);
}
catch (Exception exception)
{
return(null);
}
finally
{
// Free the unmanaged memory.
Marshal.FreeHGlobal(pnt);
}
return(container.candidates);
}
public bbox_t[] Detect(byte[] imageData)
{
var container = new BboxContainer();
var size = Marshal.SizeOf(imageData[0]) * imageData.Length;
var pnt = Marshal.AllocHGlobal(size);
try
{
// Copy the array to unmanaged memory.
Marshal.Copy(imageData, 0, pnt, imageData.Length);
var count = DetectImage(pnt, imageData.Length, ref container);
if (count == -1)
{
throw new NotSupportedException($"{YoloLibraryName} has no OpenCV support");
}
}
catch (Exception exception)
{
return(null);
}
finally
{
// Free the unmanaged memory.
Marshal.FreeHGlobal(pnt);
}
return(container.candidates);
}
private IEnumerable <YoloItem> Convert(BboxContainer container)
{
var items = container.candidates.Where(o => o.h > 0 || o.w > 0).Select(o =>
new YoloItem
{
X = (int)o.x,
Y = (int)o.y,
Height = (int)o.h,
Width = (int)o.w,
Confidence = o.prob,
Type = this._objectTypeResolver.Resolve((int)o.obj_id)
}
).OrderBy(o => o.Y).ToList();;
for (var i = 0; i < items.Count; i++)
{
if (i + 1 < items.Count)
{
items[i].StandardDeviation = CalculateStandardDeviationTwoPoints(new int[] { items[i].Y, items[i + 1].Y });
}
else
{
items[i].StandardDeviation = 0.0;
}
}
return(items.OrderBy(o => o.Y));
}
/// <summary>
/// Detect objects on an image
/// </summary>
/// <param name="filepath"></param>
/// <returns></returns>
/// <exception cref="FileNotFoundException">Thrown when the filepath is wrong</exception>
public IEnumerable <YoloItem> Detect(string filepath)
{
if (!File.Exists(filepath))
{
throw new FileNotFoundException("Cannot find the file", filepath);
}
var container = new BboxContainer();
var count = 0;
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = DetectImageCpu(filepath, ref container);
break;
case DetectionSystem.GPU:
count = DetectImageGpu(filepath, ref container);
break;
}
if (count == -1)
{
throw new NotImplementedException("C++ dll compiled incorrectly");
}
return(this.Convert(container));
}
/// <summary>
/// Detect objects on an image
/// </summary>
/// <param name="imagePtr"></param>
/// <param name="size"></param>
/// <returns></returns>
/// <exception cref="NotImplementedException">Thrown when the yolo_cpp dll is wrong compiled</exception>
public IEnumerable <YoloItem> Detect(IntPtr imagePtr, int size)
{
var container = new BboxContainer();
var count = 0;
try
{
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = DetectImageCpu(imagePtr, size, ref container);
break;
case DetectionSystem.GPU:
count = DetectImageGpu(imagePtr, size, ref container);
break;
}
}
catch (Exception)
{
return(null);
}
if (count == -1)
{
throw new NotImplementedException("C++ dll compiled incorrectly");
}
return(this.Convert(container));
}
public IEnumerable <YoloItem> Track(byte[] imageData)
{
if (!this._imageAnalyzer.IsValidImageFormat(imageData))
{
throw new Exception("Invalid image data, wrong image format");
}
var container = new BboxContainer();
var size = Marshal.SizeOf(imageData[0]) * imageData.Length;
var pnt = Marshal.AllocHGlobal(size);
try
{
// Copy the array to unmanaged memory.
Marshal.Copy(imageData, 0, pnt, imageData.Length);
var count = 0;
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = TrackImageCpu(pnt, imageData.Length, (float)0.3, (float)0.2, ref container);
break;
case DetectionSystem.GPU:
switch (this.DnnMode)
{
case DNNMode.Frame:
case DNNMode.LT:
count = TrackImageGpuLt(pnt, imageData.Length, (float)0.3, (float)0.2, ref container);
break;
case DNNMode.CC:
count = TrackImageGpuCc(pnt, imageData.Length, (float)0.3, (float)0.2, ref container);
break;
}
break;
}
if (count == -1)
{
throw new NotImplementedException("c++ dll compiled incorrectly");
}
}
catch (Exception)
{
return(null);
}
finally
{
// Free the unmanaged memory.
Marshal.FreeHGlobal(pnt);
}
return(this.Convert(container));
}
public bbox_t[] Track(bbox_t[] candiates)
{
var container = new BboxContainer()
{
candidates = candiates
};
var newContainer = new BboxContainer();
var count = TrackId(ref container, ref newContainer);
return(newContainer.candidates);
}
public IEnumerable <YoloItem> Detect(string filepath)
{
if (!File.Exists(filepath))
{
throw new FileNotFoundException("Cannot find the file", filepath);
}
var container = new BboxContainer();
DetectImageGpu(filepath, ref container);
return(Convert(container, objectTypeResolver));
}
public static IEnumerable <YoloItem> Convert(BboxContainer container, YoloObjectTypeResolver objectTypeResolver) => container.candidates.Where(o => o.h > 0 || o.w > 0)
.Select(item => new YoloItem
{
X = (int)item.x,
Y = (int)item.y,
Height = (int)item.h,
Width = (int)item.w,
Confidence = item.prob,
FrameId = (int)item.frames_counter,
TrackId = (int)item.track_id,
Shape = (YoloItem.ShapeType)item.shape,
Type = objectTypeResolver.Resolve((int)item.obj_id)
}).ToList();
public bbox_t[] Detect(image_t data, float threshold)
{
var container = new BboxContainer();
fixed(float *pData = data.data)
{
var internalData = new internal_image_t {
w = data.w, h = data.h, c = data.c, data = pData
};
var count = DetectTensor(internalData, threshold, ref container);
return(container.candidates.Take(count).ToArray());
}
}
private IEnumerable <YoloItem> Convert(BboxContainer container)
{
return(container.candidates.Where(o => o.h > 0 || o.w > 0).Select(o =>
new YoloItem
{
X = (int)o.x,
Y = (int)o.y,
Height = (int)o.h,
Width = (int)o.w,
Confidence = o.prob,
Type = this._objectTypeResolver.Resolve((int)o.obj_id)
}
));
}
private IEnumerable <YoloItem> Convert(BboxContainer container)
{
var yoloItems = new List <YoloItem>();
foreach (var item in container.candidates.Where(o => o.h > 0 || o.w > 0))
{
var objectType = this._objectType[(int)item.obj_id];
var yoloItem = new YoloItem()
{
X = (int)item.x, Y = (int)item.y, Height = (int)item.h, Width = (int)item.w, Confidence = item.prob, Type = objectType
};
yoloItems.Add(yoloItem);
}
return(yoloItems);
}
/// <summary>
/// Detect objects on an image
/// </summary>
/// <param name="imageData"></param>
/// <param name="size"></param>
/// <returns></returns>
/// <exception cref="NotImplementedException">Thrown when the yolo_cpp dll is wrong compiled</exception>
public IEnumerable <YoloItem> Detect(IntPtr imageData, int size)
{
int minHeaderSize = this._imageAnalyzer.MinHeaderSize;
bool ok = size >= minHeaderSize;
if (ok)
{
Marshal.Copy(imageData, _headerBuffer, 0, minHeaderSize);
ok = this._imageAnalyzer.IsValidImageFormat(_headerBuffer);
}
if (!ok)
{
throw new Exception("Invalid image data, wrong image format");
}
var container = new BboxContainer();
var count = 0;
try
{
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = DetectImageCpu(imageData, size, ref container);
break;
case DetectionSystem.GPU:
count = DetectImageGpu(imageData, size, ref container);
break;
}
}
catch (Exception)
{
return(null);
}
if (count == -1)
{
throw new NotImplementedException("C++ dll compiled incorrectly");
}
return(this.Convert(container));
}
public IEnumerable <YoloItem> Detect(string filename)
{
var container = new BboxContainer();
var count = 0;
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = DetectImageCpu(filename, ref container);
break;
case DetectionSystem.GPU:
count = DetectImageGpu(filename, ref container);
break;
}
return(this.Convert(container));
}
public bbox_t[] Detect()
{
var container = new BboxContainer();
int CV_8UC3 = 16; // OpenCV constant
// using Emgu.CV; // www.emgucv.com - cross platform .Net wrapper to the OpenCV image processing library.
// Image<Bgr, byte> cvBitmap = new Image<Bgr, byte>(640, 480);
// Image<Bgr, byte> cvBitmap = new Image<Bgr, byte>(System.Drawing.Bitmap bmp);
// Image<Bgr, byte> cvBitmap = new Image<Bgr, byte>(string fileName);
// etc..
//
//
// Mat mat = cvBitmap.Mat;
// int count = DetectImage(mat.Rows, mat.Cols, CV_8UC3, mat.DataPointer, ref container);
return(container.candidates);
}
/// <summary>
/// Detect objects on an image
/// </summary>
/// <param name="imageData"></param>
/// <returns></returns>
/// <exception cref="NotImplementedException">Thrown when the yolo_cpp dll is wrong compiled</exception>
/// <exception cref="Exception">Thrown when the byte array is not a valid image</exception>
public unsafe IEnumerable <YoloItem> Detect(byte[] imageData)
{
if (!_imageAnalyzer.IsValidImageFormat(imageData))
{
throw new Exception("Invalid image data, wrong image format");
}
var container = new BboxContainer();
var count = 0;
try
{
fixed(byte *pnt = imageData)
{
switch (DetectionSystem)
{
case DetectionSystem.CPU:
count = DetectImageCpu((IntPtr)pnt, imageData.Length, ref container);
break;
case DetectionSystem.GPU:
count = DetectImageGpu((IntPtr)pnt, imageData.Length, ref container);
break;
}
}
}
catch (Exception)
{
return(null);
}
if (count == -1)
{
throw new NotImplementedException("C++ dll compiled incorrectly");
}
return(Convert(container));
}
public IEnumerable <YoloItem> Track(string filepath)
{
if (!File.Exists(filepath))
{
throw new FileNotFoundException("Cannot find the file", filepath);
}
var container = new BboxContainer();
var count = 0;
switch (this.DetectionSystem)
{
case DetectionSystem.CPU:
count = TrackImageCpu(filepath, (float)0.3, (float)0.2, ref container);
break;
case DetectionSystem.GPU:
switch (this.DnnMode)
{
case DNNMode.Frame:
case DNNMode.LT:
count = TrackImageGpuLt(filepath, (float)0.3, (float)0.2, ref container);
break;
case DNNMode.CC:
count = TrackImageGpuCc(filepath, (float)0.3, (float)0.2, ref container);
break;
}
break;
}
if (count == -1)
{
throw new NotImplementedException("c++ dll compiled incorrectly");
}
return(this.Convert(container));
}
Convert(BboxContainer container, YoloObjectTypeResolver objectTypeResolver)
{
var yoloItems = new List <YoloItem>();
foreach (var item in container.candidates)
{
if (item.w > 0 || item.h > 0)
{
yoloItems.Add(new YoloItem
{
X = (int)item.x,
Y = (int)item.y,
Height = (int)item.h,
Width = (int)item.w,
Confidence = item.prob,
FrameId = (int)item.frames_counter,
TrackId = (int)item.track_id,
Shape = (YoloItem.ShapeType)item.shape,
Type = objectTypeResolver.Resolve((int)item.obj_id)
});
}
}
return(yoloItems);
}
internal static extern int DetectImageGpu(IntPtr pArray, int nSize, ref BboxContainer container);
internal static extern int DetectImageGpu(string filename, ref BboxContainer container);
private static extern int DetectTensor(internal_image_t data, float threshold, ref BboxContainer container);
private static extern int TrackId(ref BboxContainer container, ref BboxContainer newContainer);
private static extern int DetectImage(IntPtr pArray, int nSize, ref BboxContainer container);
private static extern int DetectImage(string filename, ref BboxContainer container);
private static extern int TrackObjectsGpu(IntPtr pArray, int width, int height, int channel,
ref BboxContainer container);
