GK SDK 源码库: XMIPCLinuxV100R005C00SPC030 (kernel/tools/open_source excluded)

source/gmp/usr/svp/include/alg/svp_bytetracker.h

@@ -0,0 +1,123 @@
+#ifndef __SVP_BYTETRACKER__
+#define __SVP_BYTETRACKER__
+
+#include <stdio.h>
+#include <string.h>
+#include <time.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <math.h>
+#include <stdlib.h>
+
+#include "xmedia_svp_std.h"
+#include "xmedia_svp.h"
+#include "xmedia_svp_quantize.h"
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SVP_TRACK_EPSILON 0.000001f
+
+// bytetracker
+#define SVP_STD_POSITION                  (1.0f / 20.0f)
+#define SVP_STD_VELOCITY                  (1.0f / 160.0f)
+#define SVP_MAX_LOST_COUNT                30
+#define SVP_TRACKER_HIGH_SCORE_THRESHOLD 0.5f
+#define SVP_ACTIVATED_TRACKER_THRESHOLD   0.1f
+#define SVP_TRACKED_TRACKER_THRESHOLD     0.1f
+#define SVP_UNACTIVATED_TRACKER_THRESHOLD 0.1f
+#define SVP_TRACK_AGE_THRESHOLD 3
+#define SVP_TRACK_AGE_LIMIT 240
+#define SVP_ALG_MAX_TARGET_NUM 10
+// 卡尔曼滤波矩阵
+#define SVP_KALMAN_FILTER_X 8
+#define SVP_KALMAN_FILTER_Y 4
+#define SVP_KALMAN_FILTER_STATE 1
+
+
+typedef struct {
+    xmedia_float x; /* 中心点坐标x */
+    xmedia_float y; /* 中心点坐标y */
+    xmedia_float a; /* 宽高比 */
+    xmedia_float h; /* 高度 */
+} svp_kalman_measure;
+
+typedef struct {
+    xmedia_float state[SVP_KALMAN_FILTER_X][SVP_KALMAN_FILTER_STATE];
+    xmedia_float R[SVP_KALMAN_FILTER_Y][SVP_KALMAN_FILTER_Y]; // 测量噪声矩阵 不需要保存
+    xmedia_float K[SVP_KALMAN_FILTER_X][SVP_KALMAN_FILTER_Y]; // 卡尔曼增益
+    xmedia_float H[SVP_KALMAN_FILTER_Y][SVP_KALMAN_FILTER_X]; // 观测矩阵
+    xmedia_float P[SVP_KALMAN_FILTER_X][SVP_KALMAN_FILTER_X]; // 协方差矩阵
+    xmedia_float F[SVP_KALMAN_FILTER_X][SVP_KALMAN_FILTER_X]; // 状态转移矩阵
+    xmedia_float Q[SVP_KALMAN_FILTER_X][SVP_KALMAN_FILTER_X]; // 运动噪声矩阵 不需要保存
+} svp_kalman_filter;
+
+typedef enum {
+    SVP_TRACKER_STATE_NEW = 0,     // 新轨迹
+    SVP_TRACKER_STATE_TRACKED,     // 跟踪成功
+    SVP_TRACKER_STATE_LOST,        // 未跟踪成功
+    SVP_TRACKER_STATE_REMOVED,
+    SVP_TRACKER_STATE_UNDEFINED
+} svp_tracker_state;
+
+typedef struct {
+    svp_tracker_state state;
+    xmedia_svp_class_type class_type;
+    xmedia_float score;
+    xmedia_s32 id;
+    xmedia_u8 age;
+    xmedia_float iou;
+    xmedia_u8 lost_count;
+    xmedia_svp_rect rect;
+    xmedia_svp_rect predicted_rect;
+    svp_kalman_filter kalman_filter;
+    xmedia_u8 target_idx;                             // 检测结果索引
+} svp_bytetracker;
+
+typedef struct {
+    xmedia_bool enable;
+    xmedia_float high_score_thres;
+    xmedia_float activated_tracker_thres;
+    xmedia_float tracked_tracker_thres;
+    xmedia_float unactivated_tracker_thres;
+    xmedia_u8 track_age_thres;
+    xmedia_u16 num;
+    svp_bytetracker* tracker;
+} svp_tracklet;
+
+typedef struct {
+    xmedia_svp_alg_type alg_type;                     // 检测类别
+    xmedia_svp_class_type class_type;                 // 检测结果类别
+    xmedia_float detect_score;                        // 检测模型结果置信度
+    xmedia_s32 tracker_id;                            // 检测结果追踪id
+    xmedia_u32 tracker_age;                           // 检测结果追踪age
+    xmedia_svp_rect rect;                             // 检测结果目标框
+    xmedia_u8 target_idx;                             // 检测结果索引
+} xmedia_svp_tracker_single_result;
+
+typedef struct {
+    xmedia_u32 target_num;
+    xmedia_svp_tracker_single_result tracker_single[XMEDIA_SVP_MAX_TARGET_NUM];
+} xmedia_svp_tracker_result;
+
+
+xmedia_s32 svp_detect_bytetracker(xmedia_svp_tracker_result* result, svp_tracklet* tracklet,
+                                             xmedia_s32* tracker_idx, xmedia_u8* id_flag);
+
+/*
+xmedia_s32 assignment_optimal(xmedia_s32* assignment, xmedia_float* dist_matrix_in, xmedia_u32 row,
+    xmedia_u32 col);
+
+xmedia_s32 svp_bytetracker_set_attr(detect_param *param, const xmedia_svp_bytetracker_attr attr);
+
+xmedia_s32 svp_bytetracker_get_attr(detect_param *param, xmedia_svp_bytetracker_attr *attr);
+*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

source/gmp/usr/svp/include/alg/svp_movement.h

@@ -0,0 +1,76 @@
+#ifndef __SVP_MOVEMENT__
+#define __SVP_MOVEMENT__
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include <time.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <sys/time.h>
+
+#include "svp_nms.h"
+
+#include "xmedia_svp.h"
+#include "xmedia_svp_std.h"
+#include "xmedia_svp_quantize.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// 静态目标过滤
+#define SVP_MOTION_THRES          0.6f
+#define SVP_STILLNESS_THRES       0.9f
+#define SVP_MOVEMENT_FPS_THRES    5
+#define SVP_MOVELESS_COUNT        30
+#define SVP_MOTION_REFRESH_TIME   20000ULL
+#define SVP_S_TO_MS_UNIT          1000LLU
+#define SVP_NS_TO_MS_UNIT         1000000LLU
+
+typedef enum {
+    SVP_MOTION_STATUS_UNKNOWN = 0,
+    SVP_MOTION_STATUS_STATIC,
+    SVP_MOTION_STATUS_MOVEING,
+} svp_motion_status;
+
+typedef struct {
+    xmedia_svp_rect rect;
+    xmedia_svp_class_type class_type;
+    svp_motion_status status;
+    xmedia_u8 count;
+    xmedia_bool flag;
+    xmedia_s32 tracker_id;
+    xmedia_u64 last_time;
+} svp_movement_box;
+
+typedef struct {
+    xmedia_bool enable;
+    xmedia_float stillness_thres;
+    xmedia_u8 movement_fps_thres;
+    svp_movement_box movement_targets[XMEDIA_SVP_MAX_TARGET_NUM * SVP_MOVELESS_COUNT];
+    xmedia_u32 actual_num; // 实际的历史数组个数
+} svp_movement;
+
+typedef struct {
+    xmedia_svp_class_type class_type;        // 检测结果类别
+    xmedia_s32 tracker_id;                   // 检测结果追踪id
+    xmedia_svp_rect rect;                    // 检测结果目标框
+    xmedia_svp_motion_state motion_state;    // 运动状态
+} movement_detect_result;
+
+typedef struct {
+    xmedia_u32 target_num;                                        // 检测结果数量
+    movement_detect_result targets[XMEDIA_SVP_MAX_TARGET_NUM];    // 检测结果
+} svp_movement_result;
+
+xmedia_s32 svp_detect_movement(svp_movement* movement, svp_movement_result* result);
+
+xmedia_s32 svp_detect_basic_movement(svp_movement* movement, svp_movement_result* result);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

source/gmp/usr/svp/include/alg/svp_nms.h

@@ -0,0 +1,39 @@
+#ifndef __SVP_NMS_H__
+#define __SVP_NMS_H__
+#include <math.h>
+#include <stdlib.h>
+#include "xmedia_svp_std.h"
+#include "xmedia_svp.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define SVP_EPSILON 0.000001f
+
+typedef struct {
+    xmedia_svp_rect rect;
+    xmedia_float detect_score;
+    xmedia_svp_class_type class_type;
+} svp_base_result;
+
+typedef struct {
+    xmedia_svp_rect rect;
+    xmedia_float detect_score;
+    xmedia_svp_class_type class_type;
+    xmedia_svp_keypoint kpt[MAX_DETECT_KEYPOINT_NUM];
+} svp_base_yolov8_result;
+
+xmedia_s32 det_nms(svp_base_result* vec_bbox, xmedia_u32 vec_bbox_len,
+                   xmedia_float threshold, xmedia_u32* picked_bbox_len);
+
+xmedia_float iou(svp_base_result* box1, svp_base_result* box2);
+
+xmedia_s32 det_nms_cross(xmedia_svp_detect_result* vec_bbox, xmedia_u32 vec_bbox_len,
+                         xmedia_float threshold, xmedia_u32* picked_bbox_len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif