feat(pose): add utralight posenet

go/error.go

@@ -50,6 +50,12 @@ var (
 			Message: "detect head pose failed",
 		}
 	}
+	DetectPoseError = func(code int) Error {
+		return Error{
+			Code:    code,
+			Message: "detect pose failed",
+		}
+	}
 	RealsrError = func(code int) Error {
 		return Error{
 			Code:    code,

go/face/detecter/detecter.go

@@ -27,7 +27,7 @@ type Detecter interface {
 func LoadModel(d Detecter, modelPath string) error {
 	cpath := C.CString(modelPath)
 	defer C.free(unsafe.Pointer(cpath))
-	retCode := C.detecter_load_model(d.Handler(), cpath)
+	retCode := C.load_model((C.IEstimator)(unsafe.Pointer(d.Handler())), cpath)
 	if retCode != 0 {
 		return openvision.LoadModelError(int(retCode))
 	}
@@ -36,7 +36,7 @@ func LoadModel(d Detecter, modelPath string) error {
 
 // Destroy a detecter
 func Destroy(d Detecter) {
-	C.destroy_detecter(d.Handler())
+	C.destroy_estimator((C.IEstimator)(unsafe.Pointer(d.Handler())))
 }
 
 // DetectFace detect face useing detecter

go/face/detecter/retinaface.go

@@ -25,7 +25,7 @@ func NewRetinaFace() *RetinaFace {
 
 // Destroy free detecter
 func (d *RetinaFace) Destroy() {
-	C.destroy_detecter(d.d)
+	Destroy(d)
 }
 
 func (d *RetinaFace) Handler() C.IDetecter {

go/face/face_info.go

@@ -65,7 +65,7 @@ func (f FaceInfo) CFaceInfo() *C.FaceInfo {
 
 // NewCFaceInfoVector returns C.FaceInfoVector pointer
 func NewCFaceInfoVector() *C.FaceInfoVector {
-	return (*C.FaceInfoVector)(C.malloc(C.sizeof_FaceInfo))
+	return (*C.FaceInfoVector)(C.malloc(C.sizeof_FaceInfoVector))
 }
 
 // GoFaceInfoVector conver c FaceInfoVector to go FaceInfo slice

go/face/hopenet/doc.go

@@ -1,2 +1,2 @@
-// Package hopenet head pose detecter
+// Package hopenet include head pose estimation
 package hopenet

go/face/hopenet/hopenet.go

@@ -3,7 +3,6 @@ package hopenet
 /*
 #include <stdlib.h>
 #include <stdbool.h>
-#include "openvision/face/common.h"
 #include "openvision/face/hopenet.h"
 */
 import "C"
@@ -17,7 +16,7 @@ import (
 
 // Hopenet represents Hopenet detecter
 type Hopenet struct {
-	d C.IHopeNet
+	d C.IHopenet
 }
 
 // NewHopenet returns a new Hopenet
@@ -27,22 +26,23 @@ func NewHopenet() *Hopenet {
 	}
 }
 
-// Destroy destroy C.IHopeNet
-func (h *Hopenet) Destroy() {
-	C.destroy_hopenet(h.d)
-}
-
+// LoadModel load detecter model
 func (h *Hopenet) LoadModel(modelPath string) error {
 	cpath := C.CString(modelPath)
 	defer C.free(unsafe.Pointer(cpath))
-	retCode := C.hopenet_load_model(h.d, cpath)
+	retCode := C.load_model((C.IEstimator)(unsafe.Pointer(h.d)), cpath)
 	if retCode != 0 {
 		return openvision.LoadModelError(int(retCode))
 	}
 	return nil
 }
 
-// Detect
+// Destroy destroy C.IHopeNet
+func (h *Hopenet) Destroy() {
+	C.destroy_estimator((C.IEstimator)(unsafe.Pointer(h.d)))
+}
+
+// Detect head pose
 func (h *Hopenet) Detect(img *common.Image, faceRect common.Rectangle) (face.HeadPose, error) {
 	imgWidth := img.WidthF64()
 	imgHeight := img.HeightF64()

go/face/landmarker/landmarker.go

@@ -26,7 +26,7 @@ type Landmarker interface {
 func LoadModel(d Landmarker, modelPath string) error {
 	cpath := C.CString(modelPath)
 	defer C.free(unsafe.Pointer(cpath))
-	retCode := C.landmarker_load_model(d.Handler(), cpath)
+	retCode := C.load_model((C.IEstimator)(unsafe.Pointer(d.Handler())), cpath)
 	if retCode != 0 {
 		return openvision.LoadModelError(int(retCode))
 	}
@@ -35,7 +35,7 @@ func LoadModel(d Landmarker, modelPath string) error {
 
 // Destroy a landmarker
 func Destroy(d Landmarker) {
-	C.destroy_landmarker(d.Handler())
+	C.destroy_estimator((C.IEstimator)(unsafe.Pointer(d.Handler())))
 }
 
 // ExtractKeypoints extract keypoints using landmarker
@@ -50,7 +50,7 @@ func ExtractKeypoints(d Landmarker, img *common.Image, faceRect common.Rectangle
 	CPoints := common.NewCPoint2fVector()
 	defer common.FreeCPoint2fVector(CPoints)
 	CRect := faceRect.CRect()
-	errCode := C.extract_keypoints(
+	errCode := C.extract_face_keypoints(
 		d.Handler(),
 		(*C.uchar)(unsafe.Pointer(&data[0])),
 		C.int(imgWidth), C.int(imgHeight),

go/face/recognizer/recognizer.go

@@ -26,7 +26,7 @@ type Recognizer interface {
 func LoadModel(r Recognizer, modelPath string) error {
 	cpath := C.CString(modelPath)
 	defer C.free(unsafe.Pointer(cpath))
-	retCode := C.recognizer_load_model(r.Handler(), cpath)
+	retCode := C.load_model((C.IEstimator)(unsafe.Pointer(r.Handler())), cpath)
 	if retCode != 0 {
 		return openvision.LoadModelError(int(retCode))
 	}
@@ -35,7 +35,7 @@ func LoadModel(r Recognizer, modelPath string) error {
 
 // Destroy a recognizer
 func Destroy(r Recognizer) {
-	C.destroy_recognizer(r.Handler())
+	C.destroy_estimator((C.IEstimator)(unsafe.Pointer(r.Handler())))
 }
 
 // ExtractFeatures extract features using recognizer

go/face/tracked_face_info.go

@@ -26,7 +26,7 @@ func GoTrackedFaceInfo(cInfo *C.TrackedFaceInfo, w float64, h float64) TrackedFa
 
 // NewCTrackedFaceInfoVector returns C.TrackedFaceInfoVector pointer
 func NewCTrackedFaceInfoVector() *C.TrackedFaceInfoVector {
-	return (*C.TrackedFaceInfoVector)(C.malloc(C.sizeof_TrackedFaceInfo))
+	return (*C.TrackedFaceInfoVector)(C.malloc(C.sizeof_TrackedFaceInfoVector))
 }
 
 // GoTrackedFaceInfoVector conver c TrackedFaceInfoVector to go TrackedFaceInfo slice

go/pose/cgo.go

@@ -0,0 +1,11 @@
+// +build !vulkan
+
+package pose
+
+/*
+#cgo CXXFLAGS:   --std=c++11 -fopenmp
+#cgo CPPFLAGS:   -I ${SRCDIR}/../../include -I /usr/local/include
+#cgo LDFLAGS: -lstdc++ -lncnn -lomp -lopenvision
+#cgo LDFLAGS: -L /usr/local/lib -L ${SRCDIR}/../../lib
+*/
+import "C"

go/pose/cgo_vulkan.go

@@ -0,0 +1,11 @@
+// +build vulkan
+
+package pose
+
+/*
+#cgo CXXFLAGS:   --std=c++11 -fopenmp
+#cgo CPPFLAGS:   -I ${SRCDIR}/../../include -I /usr/local/include
+#cgo LDFLAGS: -lstdc++ -lncnn -lomp -lopenvision -lglslang -lvulkan -lSPIRV -lOGLCompiler -lMachineIndependent -lGenericCodeGen -lOSDependent
+#cgo LDFLAGS: -L /usr/local/lib -L ${SRCDIR}/../../lib
+*/
+import "C"

go/pose/detecter/cgo.go

@@ -0,0 +1,11 @@
+// +build !vulkan
+
+package detecter
+
+/*
+#cgo CXXFLAGS:   --std=c++11 -fopenmp
+#cgo CPPFLAGS:   -I ${SRCDIR}/../../../include -I /usr/local/include
+#cgo LDFLAGS: -lstdc++ -lncnn -lomp -lopenvision
+#cgo LDFLAGS: -L /usr/local/lib -L ${SRCDIR}/../../../lib
+*/
+import "C"

go/pose/detecter/cgo_vulkan.go

@@ -0,0 +1,11 @@
+// +build vulkan
+
+package detecter
+
+/*
+#cgo CXXFLAGS:   --std=c++11 -fopenmp
+#cgo CPPFLAGS:   -I ${SRCDIR}/../../../include -I /usr/local/include
+#cgo LDFLAGS: -lstdc++ -lncnn -lomp -lopenvision -lglslang -lvulkan -lSPIRV -lOGLCompiler -lMachineIndependent -lGenericCodeGen -lOSDependent
+#cgo LDFLAGS: -L /usr/local/lib -L ${SRCDIR}/../../../lib
+*/
+import "C"

go/pose/detecter/detecter.go

@@ -0,0 +1,86 @@
+package detecter
+
+/*
+#include <stdlib.h>
+#include <stdbool.h>
+#include "openvision/pose/common.h"
+#include "openvision/pose/detecter.h"
+*/
+import "C"
+import (
+	"unsafe"
+
+	openvision "github.com/bububa/openvision/go"
+	"github.com/bububa/openvision/go/common"
+	"github.com/bububa/openvision/go/pose"
+)
+
+// Detecter represents deteter interface
+type Detecter interface {
+	Handler() C.IDetecter
+	LoadModel(modelPath string) error
+	ExtractKeypoints(img *common.Image) ([]pose.ROI, error)
+	Destroy()
+}
+
+// LoadModel load detecter model
+func LoadModel(d Detecter, modelPath string) error {
+	cpath := C.CString(modelPath)
+	defer C.free(unsafe.Pointer(cpath))
+	retCode := C.load_model((C.IEstimator)(unsafe.Pointer(d.Handler())), cpath)
+	if retCode != 0 {
+		return openvision.LoadModelError(int(retCode))
+	}
+	return nil
+}
+
+// Destroy a detecter
+func Destroy(d Detecter) {
+	C.destroy_estimator((C.IEstimator)(unsafe.Pointer(d.Handler())))
+}
+
+// ExtractKeypoints detect pose keypoints using detecter
+func ExtractKeypoints(d Detecter, img *common.Image) ([]pose.ROI, error) {
+	imgWidth := img.WidthF64()
+	imgHeight := img.HeightF64()
+	data := img.Bytes()
+	cROIs := pose.NewCROIVector()
+	defer pose.FreeCROIVector(cROIs)
+	errCode := C.extract_pose_rois(
+		d.Handler(),
+		(*C.uchar)(unsafe.Pointer(&data[0])),
+		C.int(imgWidth),
+		C.int(imgHeight),
+		(*C.PoseROIVector)(unsafe.Pointer(cROIs)))
+	if errCode != 0 {
+		return nil, openvision.DetectPoseError(int(errCode))
+	}
+	totalROIs := pose.CROIVectiorLength(cROIs)
+	rois := make([]pose.ROI, 0, totalROIs)
+	ptr := unsafe.Pointer(cROIs)
+	for i := 0; i < totalROIs; i++ {
+		cKeypoints := pose.NewCKeypointVector()
+		defer pose.FreeCKeypointVector(cKeypoints)
+		cROI := (*C.PoseROI)(unsafe.Pointer(uintptr(ptr) + uintptr(C.sizeof_PoseROI*C.int(i))))
+		errCode := C.extract_pose_keypoints(
+			d.Handler(),
+			cROI,
+			(*C.PoseKeypointVector)(unsafe.Pointer(cKeypoints)))
+		if errCode != 0 {
+			return nil, openvision.DetectPoseError(int(errCode))
+		}
+		keypoints := pose.GoKeypointVector(cKeypoints, imgWidth, imgHeight)
+		rois = append(rois, pose.ROI{
+			Keypoints: keypoints,
+			Rect: common.Rect(
+				float64(cROI.rect.x)/imgWidth,
+				float64(cROI.rect.y)/imgHeight,
+				float64(cROI.rect.width)/imgWidth,
+				float64(cROI.rect.height)/imgHeight,
+			),
+			Score: float32(cROI.score),
+		})
+
+	}
+	return rois, nil
+}

go/pose/detecter/doc.go

@@ -0,0 +1,2 @@
+// Package detecter pose detecter
+package detecter

go/pose/detecter/ultralight.go

@@ -0,0 +1,44 @@
+package detecter
+
+/*
+#include <stdlib.h>
+#include <stdbool.h>
+#include "openvision/pose/detecter.h"
+*/
+import "C"
+import (
+	"github.com/bububa/openvision/go/common"
+	"github.com/bububa/openvision/go/pose"
+)
+
+// Ultralight represents utralight detecter
+type Ultralight struct {
+	d C.IDetecter
+}
+
+// NewUltralight returns a new Utralight
+func NewUltralight() *Ultralight {
+	return &Ultralight{
+		d: C.new_ultralight(),
+	}
+}
+
+// Destroy free detecter
+func (d *Ultralight) Destroy() {
+	Destroy(d)
+}
+
+// Handler returns C.IDetecter
+func (d *Ultralight) Handler() C.IDetecter {
+	return d.d
+}
+
+// LoadModel load model for detecter
+func (d *Ultralight) LoadModel(modelPath string) error {
+	return LoadModel(d, modelPath)
+}
+
+// ExtractKeypoints implement Detecter interface
+func (d *Ultralight) ExtractKeypoints(img *common.Image) ([]pose.ROI, error) {
+	return ExtractKeypoints(d, img)
+}

go/pose/doc.go

@@ -0,0 +1,2 @@
+// Package pose include pose estimation
+package pose

go/pose/keypoint.go

@@ -0,0 +1,63 @@
+package pose
+
+/*
+#include <stdlib.h>
+#include <stdbool.h>
+#include "openvision/pose/common.h"
+*/
+import "C"
+import (
+	"unsafe"
+
+	"github.com/bububa/openvision/go/common"
+)
+
+// Keypoint represents detected body keypoint
+type Keypoint struct {
+	// Point keypoint location
+	Point common.Point
+	// Score keypoint prob
+	Score float32
+}
+
+// GoKeypoint convert C.PoseKeypoint to go type
+func GoKeypoint(c *C.PoseKeypoint, w float64, h float64) Keypoint {
+	return Keypoint{
+		Point: common.Pt(float64(c.p.x)/w, float64(c.p.y)/h),
+		Score: float32(c.prob),
+	}
+}
+
+// Convert Keypoint to C.Keypoint pointer
+func (k Keypoint) CKeypoint() *C.PoseKeypoint {
+	ret := (*C.PoseKeypoint)(C.malloc(C.sizeof_PoseKeypoint))
+	ret.prob = C.float(k.Score)
+	ret.p = C.Point2f{
+		C.float(k.Point.X),
+		C.float(k.Point.Y),
+	}
+	return ret
+}
+
+// NewCKeypointVector returns *C.PoseKeypointVector
+func NewCKeypointVector() *C.PoseKeypointVector {
+	return (*C.PoseKeypointVector)(C.malloc(C.sizeof_PoseKeypointVector))
+}
+
+// FreeCKeypointVector release *C.PoseKeypointVector memory
+func FreeCKeypointVector(points *C.PoseKeypointVector) {
+	C.FreePoseKeypointVector(points)
+	C.free(unsafe.Pointer(points))
+}
+
+// GoKeypointVector convert *C.PoseKeypointVector to Keypoint slice
+func GoKeypointVector(c *C.PoseKeypointVector, w float64, h float64) []Keypoint {
+	l := int(c.length)
+	ret := make([]Keypoint, 0, l)
+	ptr := unsafe.Pointer(c.points)
+	for i := 0; i < l; i++ {
+		cKeypoint := (*C.PoseKeypoint)(unsafe.Pointer(uintptr(ptr) + uintptr(C.sizeof_PoseKeypoint*C.int(i))))
+		ret = append(ret, GoKeypoint(cKeypoint, w, h))
+	}
+	return ret
+}

go/pose/roi.go

@@ -0,0 +1,38 @@
+package pose
+
+/*
+#include <stdlib.h>
+#include <stdbool.h>
+#include "openvision/pose/common.h"
+*/
+import "C"
+import (
+	"unsafe"
+
+	"github.com/bububa/openvision/go/common"
+)
+
+// ROI represents detected person roi
+type ROI struct {
+	// Score detected score
+	Score float32
+	// Rect roi location
+	Rect common.Rectangle
+	// Keypoints
+	Keypoints []Keypoint
+}
+
+// NewROIVector returns *C.PoseROIVector
+func NewCROIVector() *C.PoseROIVector {
+	return (*C.PoseROIVector)(C.malloc(C.sizeof_PoseROIVector))
+}
+
+// FreeCROIVector release *C.PoseROIVectore memory
+func FreeCROIVector(p *C.PoseROIVector) {
+	C.FreePoseROIVector(p)
+	C.free(unsafe.Pointer(p))
+}
+
+func CROIVectiorLength(c *C.PoseROIVector) int {
+	return int(c.length)
+}

go/realsr/realesrgan/real_esrgan.go

@@ -30,14 +30,14 @@ func NewRealERSGAN(gpuid int, ttaMode bool) *RealESRGAN {
 
 // Destroy a detecter
 func (d *RealESRGAN) Destroy() {
-	C.destroy_realesrgan(d.d)
+	C.destroy_estimator((C.IEstimator)(unsafe.Pointer(d.d)))
 }
 
 // LoadModel load processer model
 func (d *RealESRGAN) LoadModel(modelPath string) error {
 	cpath := C.CString(modelPath)
 	defer C.free(unsafe.Pointer(cpath))
-	retCode := C.realesrgan_load_model(d.d, cpath)
+	retCode := C.load_model((C.IEstimator)(unsafe.Pointer(d.d)), cpath)
 	if retCode != 0 {
 		return openvision.LoadModelError(int(retCode))
 	}

src/CMakeLists.txt

@@ -122,7 +122,14 @@ target_include_directories(openvision
 
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/recognizer>
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/recognizer/mobilefacenet>
+
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/tracker>
+
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/hopenet>
+
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/pose>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/pose/common>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/face/pose/detecter>
 )
 
 #install(TARGETS openvision EXPORT openvision ARCHIVE DESTINATION ${LIBRARY_OUTPUT_PATH})

src/common/common.cpp

@@ -27,6 +27,14 @@ void destroy_gpu_instance() {
 #endif // OV_VULKAN
 }
 
+int load_model(IEstimator d, const char *root_path) {
+    return static_cast<ov::Estimator*>(d)->LoadModel(root_path);
+}
+
+void destroy_estimator(IEstimator d) {
+    delete static_cast<ov::Estimator*>(d);
+}
+
 void FreePoint2fVector(Point2fVector* p) {
     if (p->points != NULL) {
         free(p->points);

src/common/common.h

@@ -42,9 +42,13 @@ typedef struct Rect {
 
 #endif
 
+typedef void* IEstimator;
+
 int get_gpu_count();
 int create_gpu_instance();
 void destroy_gpu_instance();
+int load_model(IEstimator e, const char* root_path);
+void destroy_estimator(IEstimator e);
 
 typedef struct Point2fVector {
     Point2f* points;

src/common/common.hpp

@@ -11,6 +11,12 @@
 namespace ov {
 const int threads_num = 2;
 
+class Estimator {
+public:
+    virtual ~Estimator(){};
+    virtual int LoadModel(const char* root_path) = 0;
+};
+
 // Wrapper for an individual cv::cvSize
 typedef struct Size {
     int width;

src/face/detecter.h

@@ -12,8 +12,6 @@ extern "C" {
     IDetecter new_centerface();
     IDetecter new_mtcnn();
     IDetecter new_anticonv();
-    void destroy_detecter(IDetecter d);
-    int detecter_load_model(IDetecter d, const char* root_path);
     int detect_face(IDetecter d, const unsigned char* rgbdata, int img_width, int img_height, FaceInfoVector* faces); 
 #ifdef __cplusplus
 }

src/face/detecter/detecter.cpp

@@ -20,14 +20,6 @@ IDetecter new_anticonv() {
     return new ov::AntiConv();
 }
 
-void destroy_detecter(IDetecter d) {
-    delete static_cast<ov::Detecter*>(d);
-}
-
-int detecter_load_model(IDetecter d, const char *root_path){
-    return static_cast<ov::Detecter*>(d)->LoadModel(root_path);
-}
-
 int detect_face(IDetecter d, const unsigned char* rgbdata, int img_width, int img_height, FaceInfoVector* faces) {
 	std::vector<FaceInfo> detected;
     int ret = static_cast<ov::Detecter*>(d)->DetectFace(rgbdata, img_width, img_height, &detected);

src/face/detecter/detecter.hpp

@@ -5,10 +5,9 @@
 
 namespace ov {
 // 抽象类
-class Detecter {
+class Detecter: public Estimator {
 public:
 	virtual ~Detecter() {};
-	virtual int LoadModel(const char* root_path) = 0;
 	virtual int DetectFace(const unsigned char* rgbdata, 
         int img_width, int img_height,
         std::vector<FaceInfo>* faces) = 0;
@@ -19,7 +18,7 @@ public:
 class DetecterFactory {
 public:
 	virtual Detecter* CreateDetecter() = 0;
-	virtual ~DetecterFactory() {};
+	virtual ~DetecterFactory() {}
 };
 
 // 不同人脸检测器

src/face/hopenet.h

@@ -1,5 +1,5 @@
-#ifndef _ROS_NCNN_HOPENET_C_H_
-#define _ROS_NCNN_HOPENET_C_H_
+#ifndef _FACE_HOPENET_C_H_
+#define _FACE_HOPENET_C_H_
 
 #include "common.h"
 
@@ -7,12 +7,10 @@
 #include "hopenet/hopenet.hpp"
 extern "C" {
 #endif
-    typedef void* IHopeNet;
-    IHopeNet new_hopenet();
-    void destroy_hopenet(IHopeNet h);
-    int hopenet_load_model(IHopeNet h, const char* root_path);
-    int hopenet_detect(IHopeNet h, const unsigned char* rgbdata, int img_width, int img_height, const Rect* roi, HeadPose* euler_angles);
+    typedef void* IHopenet;
+    IHopenet new_hopenet();
+    int hopenet_detect(IHopenet d, const unsigned char* rgbdata, int img_width, int img_height, const Rect* roi, HeadPose* euler_angles); 
 #ifdef __cplusplus
 }
 #endif
-#endif
+#endif // !_FACE_HOPENET_C_H_

src/face/hopenet/hopenet.cpp

@@ -7,27 +7,21 @@
 #include "gpu.h"
 #endif // OV_VULKAN
 
-#define NEAR_0 1e-10
-#define ODIM   66
 
-IHopeNet new_hopenet() {
-    return new ov::HopeNet();
+IHopenet new_hopenet() {
+    return new ov::Hopenet();
 }
 
-void destroy_hopenet(IHopeNet h) {
-    delete static_cast<ov::HopeNet*>(h);
-}
-
-int hopenet_load_model(IHopeNet h, const char* root_path) {
-    return static_cast<ov::HopeNet*>(h)->LoadModel(root_path);
-}
-
-int hopenet_detect(IHopeNet h, const unsigned char* rgbdata, int img_width, int img_height, const Rect* roi, HeadPose* euler_angles) {
-    return static_cast<ov::HopeNet*>(h)->Detect(rgbdata, img_width, img_height, *roi, static_cast<ov::HeadPose*>(euler_angles));
+int hopenet_detect(IHopenet h, const unsigned char* rgbdata, int img_width, int img_height, const Rect* roi, HeadPose* euler_angles) {
+    return static_cast<ov::Hopenet*>(h)->Detect(rgbdata, img_width, img_height, *roi, static_cast<ov::HeadPose*>(euler_angles));
 }
 
 namespace ov {
-HopeNet::HopeNet():
+
+#define NEAR_0 1e-10
+#define ODIM   66
+
+Hopenet::Hopenet():
     net_(new ncnn::Net()),
 	initialized_(false) {
 #ifdef OV_VULKAN
@@ -35,13 +29,13 @@ HopeNet::HopeNet():
 #endif // OV_VULKAN
 }
 
-HopeNet::~HopeNet() {
+Hopenet::~Hopenet() {
 	if (net_) {
 		net_->clear();
 	}
 }
 
-int HopeNet::LoadModel(const char * root_path) {
+int Hopenet::LoadModel(const char * root_path) {
 	std::string param_file = std::string(root_path) + "/param";
 	std::string bin_file = std::string(root_path) + "/bin";
 	if (net_->load_param(param_file.c_str()) == -1 ||
@@ -55,7 +49,7 @@ int HopeNet::LoadModel(const char * root_path) {
 }
 
 
-int HopeNet::Detect(const unsigned char* rgbdata, 
+int Hopenet::Detect(const unsigned char* rgbdata, 
     int img_width, int img_height,
     Rect roi, HeadPose* head_angles) {
     float diff = fabs(roi.height-roi.width);
@@ -101,7 +95,7 @@ int HopeNet::Detect(const unsigned char* rgbdata,
     return 0;
 }
 
-void HopeNet::softmax(float* z, size_t el) {
+void Hopenet::softmax(float* z, size_t el) {
     double zmax = -INFINITY;
     double zsum = 0;
     for (size_t i = 0; i < el; i++) if (z[i] > zmax) zmax=z[i];
@@ -110,7 +104,7 @@ void HopeNet::softmax(float* z, size_t el) {
     for (size_t i=0; i<el; i++) z[i] = (z[i]/zsum)+NEAR_0;
 }
 
-double HopeNet::getAngle(float* prediction, size_t len) {
+double Hopenet::getAngle(float* prediction, size_t len) {
     double expectation[len];
     for (uint i=0; i<len; i++) expectation[i]=idx_tensor[i]*prediction[i];
     double angle = std::accumulate(expectation, expectation+len, 0.0) * 3 - 99;

src/face/hopenet/hopenet.hpp

@@ -1,15 +1,14 @@
-#ifndef _ROS_NCNN_HOPENET_H_
-#define _ROS_NCNN_HOPENET_H_
+#ifndef _HEAD_HOPENET_H_
+#define _HEAD_HOPENET_H_
 
 #include "../common/common.hpp"
 #include "net.h"
 
 namespace ov {
-
-class HopeNet {
+class Hopenet : public Estimator {
 public:
-    HopeNet();
-    ~HopeNet();
+    Hopenet();
+    ~Hopenet();
 	int LoadModel(const char* root_path);
     int Detect(const unsigned char* rgbdata, 
         int img_width, int img_height,
@@ -23,7 +22,5 @@ private:
     double getAngle(float* prediction, size_t len);
 
 };
-
 }
-
-#endif
+#endif // !_HEAD_HOPENET_H_

src/face/landmarker.h

@@ -10,9 +10,7 @@ extern "C" {
     typedef void* ILandmarker;
     ILandmarker new_insightface();
     ILandmarker new_zq();
-    void destroy_landmarker(ILandmarker m);
-    int landmarker_load_model(ILandmarker m, const char* root_path);
-    int extract_keypoints(ILandmarker m, const unsigned char* rgbdata, int img_width, int img_height, const Rect* face, Point2fVector* keypoints); 
+    int extract_face_keypoints(ILandmarker m, const unsigned char* rgbdata, int img_width, int img_height, const Rect* face, Point2fVector* keypoints); 
 #ifdef __cplusplus
 }
 #endif

src/face/landmarker/landmarker.cpp

@@ -10,15 +10,7 @@ ILandmarker new_insightface() {
     return new ov::InsightfaceLandmarker();
 }
 
-void destroy_landmarker(ILandmarker m) {
-    delete static_cast<ov::Landmarker*>(m);
-}
-
-int landmarker_load_model(ILandmarker m, const char *root_path) {
-    return static_cast<ov::Landmarker*>(m)->LoadModel(root_path);
-}
-
-int extract_keypoints(
+int extract_face_keypoints(
     ILandmarker m, 
     const unsigned char* rgbdata, 
     int img_width, 

src/face/landmarker/landmarker.hpp

@@ -5,10 +5,9 @@
 
 namespace ov{
 // 抽象类
-class Landmarker {
+class Landmarker: public Estimator {
 public:
 	virtual ~Landmarker() {};
-	virtual int LoadModel(const char* root_path) = 0;
 	virtual int ExtractKeypoints(const unsigned char* rgbdata, 
         int img_width, int img_height,
 		const Rect& face, std::vector<Point2f>* keypoints) = 0;

src/face/recognizer.h

@@ -9,8 +9,6 @@ extern "C" {
 #endif
     typedef void* IRecognizer;
     IRecognizer new_mobilefacenet();
-    void destroy_recognizer(IRecognizer r);
-    int recognizer_load_model(IRecognizer r, const char* root_path);
     int extract_feature(IRecognizer r, const unsigned char* rgbdata, int img_width, int img_height, const Rect* face, FloatVector* feature); 
 #ifdef __cplusplus
 }

src/face/recognizer/recognizer.cpp

@@ -5,14 +5,6 @@ IRecognizer new_mobilefacenet() {
     return new ov::Mobilefacenet();
 }
 
-void destroy_recognizer(IRecognizer r) {
-    delete static_cast<ov::Recognizer*>(r);
-}
-
-int recognizer_load_model(IRecognizer r, const char* root_path) {
-    return static_cast<ov::Recognizer*>(r)->LoadModel(root_path); 
-}
-
 int extract_feature(IRecognizer r, const unsigned char* rgbdata, int img_width, int img_height, const Rect* face, FloatVector* feature) {
     std::vector<float>features;
     int ret = static_cast<ov::Recognizer*>(r)->ExtractFeature(rgbdata, img_width, img_height, *face, &features);

src/face/recognizer/recognizer.hpp

@@ -5,10 +5,9 @@
 #include "../common/common.hpp"
 
 namespace ov {
-class Recognizer {
+class Recognizer: public Estimator {
 public:
 	virtual ~Recognizer() {};
-	virtual int LoadModel(const char* root_path) = 0;
 	virtual int ExtractFeature(const unsigned char* rgbdata, 
         int img_width, int img_height,
         const Rect& face,

src/pose/common.h

@@ -7,33 +7,33 @@
 extern "C" {
 #endif
 #ifdef __cplusplus
-typedef ov::Keypoint Keypoint;
-typedef ov::ROI ROI;
+typedef ov::PoseKeypoint PoseKeypoint;
+typedef ov::PoseROI PoseROI;
 #else
-typedef struct Keypoint {
+typedef struct PoseKeypoint {
     Point2f p;
     float prob;
-} Keypoint;
+} PoseKeypoint;
 
-typedef struct ROI {
+typedef struct PoseROI {
     Rect rect;
     unsigned char *data;
     float score;
-} ROI;
+} PoseROI;
 
 #endif
-typedef struct ROIVector {
-    ROI* items;
+typedef struct PoseROIVector {
+    PoseROI* items;
     int length;
-} ROIVector;
+} PoseROIVector;
 
-typedef struct KeypointVector {
-    Keypoint* points;
+typedef struct PoseKeypointVector {
+    PoseKeypoint* points;
     int length;
-} KeypointVector;
+} PoseKeypointVector;
 
-void FreeKeypointVector(KeypointVector *p);
-void FreeROIVector(ROIVector *p);
+void FreePoseKeypointVector(PoseKeypointVector *p);
+void FreePoseROIVector(PoseROIVector *p);
 #ifdef __cplusplus
 }
 #endif

src/pose/common/common.cpp

@@ -1,13 +1,13 @@
 #include "../common.h"
 
-void FreeKeypointVector(KeypointVector *p) {
+void FreePoseKeypointVector(PoseKeypointVector *p) {
     if (p->points != NULL) {
         free(p->points);
         p->points = NULL;
     }
 }
 
-void FreeROIVector(ROIVector *p) {
+void FreePoseROIVector(PoseROIVector *p) {
     if (p->items!= NULL) {
         free(p->items);
         p->items= NULL;

src/pose/common/common.hpp

@@ -4,12 +4,12 @@
 #include "../../common/common.h"
 
 namespace ov {
-struct Keypoint {
+struct PoseKeypoint {
     Point2f p;
     float prob;
 };
 
-struct ROI {
+struct PoseROI {
     Rect rect;
     unsigned char *data;
     float score;

src/pose/detecter.h

@@ -9,12 +9,10 @@ extern "C" {
 #endif
     typedef void* IDetecter;
     IDetecter new_ultralight();
-    void destroy_detecter(IDetecter d);
-    int detecter_load_model(IDetecter d, const char* root_path);
-    int extract_rois(IDetecter d, const unsigned char* rgbdata,
+    int extract_pose_rois(IDetecter d, const unsigned char* rgbdata,
         int img_width, int img_height,
-        ROIVector* rois);
-    int extract_keypoints(IDetecter d, const ROI* roi,KeypointVector* keypoints); 
+        PoseROIVector* rois);
+    int extract_pose_keypoints(IDetecter d, const PoseROI* roi, PoseKeypointVector* keypoints); 
 #ifdef __cplusplus
 }
 #endif

src/pose/detecter/detecter.cpp

@@ -1,41 +1,33 @@
 #include "../detecter.h"
-#include "utralight/utralight.hpp"
+#include "ultralight/ultralight.hpp"
 
-IDetecter new_utralight() {
-    return new ov::Utralight();
+IDetecter new_ultralight() {
+    return new ov::Ultralight();
 }
 
-void destroy_detecter(IDetecter d) {
-    delete static_cast<ov::Detecter*>(d);
-}
-
-int detecter_load_model(IDetecter d, const char *root_path){
-    return static_cast<ov::Detecter*>(d)->LoadModel(root_path);
-}
-
-int extract_rois(IDetecter d, const unsigned char* rgbdata, int img_width, int img_height, ROIVector* rois) {
-	std::vector<ROI> detected;
+int extract_pose_rois(IDetecter d, const unsigned char* rgbdata, int img_width, int img_height, PoseROIVector* rois) {
+	std::vector<PoseROI> detected;
     int ret = static_cast<ov::Detecter*>(d)->ExtractROIs(rgbdata, img_width, img_height, &detected);
     if (ret != 0) {
         return ret;
     }
 
     rois->length = detected.size();
-    rois->items = (ROI*)malloc(rois->length * sizeof(ROI));
+    rois->items = (PoseROI*)malloc(rois->length * sizeof(PoseROI));
     for (size_t i = 0; i < detected.size(); ++i) {
         rois->items[i] = detected[i];
     }
     return 0;
 }
 
-int extract_keypoints(IDetecter d, const ROI* roi, KeypointVector* keypoints) {
-    std::vector<Keypoint> points;
+int extract_pose_keypoints(IDetecter d, const PoseROI* roi, PoseKeypointVector* keypoints) {
+    std::vector<PoseKeypoint> points;
     int ret = static_cast<ov::Detecter*>(d)->ExtractKeypoints(*roi, &points);
     if (ret != 0) {
         return ret;
     }
     keypoints->length = points.size();
-    keypoints->points = (Keypoint*)malloc(keypoints->length * sizeof(Keypoint));
+    keypoints->points = (PoseKeypoint*)malloc(keypoints->length * sizeof(PoseKeypoint));
     for (size_t i = 0; i < points.size(); ++i) {
         keypoints->points[i] = points[i];
     }
@@ -43,7 +35,7 @@ int extract_keypoints(IDetecter d, const ROI* roi, KeypointVector* keypoints) {
 }
 
 namespace ov{
-Detecter* UtralightFactory::CreateDetecter() {
-	return new Utralight();
+Detecter* UltralightFactory::CreateDetecter() {
+	return new Ultralight();
 }
 }

src/pose/detecter/detecter.hpp

@@ -5,14 +5,13 @@
 #include <vector>
 namespace ov {
 
-class Detecter {
+class Detecter: Estimator {
 public:
     virtual ~Detecter(){};
-    virtual int LoadModel(const char* root_path) = 0;
     virtual int ExtractROIs(const unsigned char* rgbadata,
         int img_width, int img_height,
-        std::vector<ROI>* rois) = 0;
-    virtual int ExtractKeypoints(const ROI& roi, std::vector<Keypoint>* keypoints) = 0;
+        std::vector<PoseROI>* rois) = 0;
+    virtual int ExtractKeypoints(const PoseROI& roi, std::vector<PoseKeypoint>* keypoints) = 0;
 };
 
 class DetecterFactory {
@@ -21,10 +20,10 @@ public:
     virtual ~DetecterFactory() {};
 };
 
-class UtralightFactory: public DetecterFactory {
+class UltralightFactory: public DetecterFactory {
 public:
-    UtralightFactory() {}
-    ~UtralightFactory() {}
+    UltralightFactory() {}
+    ~UltralightFactory() {}
     Detecter* CreateDetecter();
 };
 }

src/pose/detecter/ultralight/ultralight.cpp

@@ -1,4 +1,4 @@
-#include "utralight.hpp"
+#include "ultralight.hpp"
 #include <string>
 
 #ifdef OV_VULKAN
@@ -6,7 +6,7 @@
 #endif // OV_VULKAN
 
 namespace ov {
-Utralight::Utralight() {
+Ultralight::Ultralight() {
     roi_net_ = new ncnn::Net();
     pose_net_ = new ncnn::Net();
 	initialized_ = false;
@@ -16,12 +16,12 @@ Utralight::Utralight() {
 #endif // OV_VULKAN
 }
 
-Utralight::~Utralight() {
+Ultralight::~Ultralight() {
     roi_net_->clear();
     pose_net_->clear();
 }
 
-int Utralight::LoadModel(const char * root_path) {
+int Ultralight::LoadModel(const char * root_path) {
 	std::string roi_param_file = std::string(root_path) + "/roi.param";
 	std::string roi_bin_file = std::string(root_path) + "/roi.bin";
 	if (roi_net_->load_param(roi_param_file.c_str()) == -1 ||
@@ -40,9 +40,9 @@ int Utralight::LoadModel(const char * root_path) {
 	return 0;
 }
 
-int Utralight::ExtractROIs(const unsigned char* rgbdata,
+int Ultralight::ExtractROIs(const unsigned char* rgbdata,
     int img_width, int img_height,
-    std::vector<ROI>* rois) {
+    std::vector<PoseROI>* rois) {
 	if (!initialized_) {
 		return 10000;
 	}
@@ -64,7 +64,6 @@ int Utralight::ExtractROIs(const unsigned char* rgbdata,
 
     for (int i = 0; i < out.h; i++)
     {
-        printf("==================================\n");
         float x1, y1, x2, y2, score, label;
         float pw,ph,cx,cy;
         const float* values = out.row(i);
@@ -108,7 +107,7 @@ int Utralight::ExtractROIs(const unsigned char* rgbdata,
             unsigned char* dstCursor = cropdata + i * rect.width * 3;
             memcpy(dstCursor, srcCursor, sizeof(unsigned char) * 3 * rect.width);
         }
-        ROI roi;
+        PoseROI roi;
         roi.rect = rect;
         roi.data = cropdata; 
         roi.score = score;
@@ -118,7 +117,7 @@ int Utralight::ExtractROIs(const unsigned char* rgbdata,
     return 0;
 }
 
-int Utralight::ExtractKeypoints(const ROI& roi, std::vector<Keypoint>* keypoints) {
+int Ultralight::ExtractKeypoints(const PoseROI& roi, std::vector<PoseKeypoint>* keypoints) {
     keypoints->clear();
     int w = roi.rect.width;
     int h = roi.rect.height;
@@ -155,7 +154,7 @@ int Utralight::ExtractKeypoints(const ROI& roi, std::vector<Keypoint>* keypoints
             }
         }
 
-        Keypoint keypoint;
+        PoseKeypoint keypoint;
         keypoint.p = Point2f(max_x * w / (float)out.w+roi.rect.x, max_y * h / (float)out.h+roi.rect.y);
         keypoint.prob = max_prob;
         keypoints->push_back(keypoint);

src/pose/detecter/ultralight/ultralight.hpp

@@ -1,5 +1,5 @@
-#ifndef _POSE_UTRALIGHT_H_
-#define _POSE_UTRALIGHT_H_ 
+#ifndef _POSE_ULTRALIGHT_H_
+#define _POSE_ULTRALIGHT_H_ 
 
 #include "../detecter.hpp"
 #include <vector>
@@ -7,17 +7,17 @@
 
 namespace ov {
 
-class Utralight : public Detecter {
+class Ultralight : public Detecter {
 public:
-	Utralight();
-	~Utralight();
+	Ultralight();
+	~Ultralight();
 
 	int LoadModel(const char* root_path);
     int ExtractROIs(const unsigned char* rgbadata,
         int img_width, int img_height,
-        std::vector<ROI>* rois);
-	int ExtractKeypoints(const ROI& roi, 
-        std::vector<Keypoint>* keypoints);
+        std::vector<PoseROI>* rois);
+	int ExtractKeypoints(const PoseROI& roi, 
+        std::vector<PoseKeypoint>* keypoints);
 
 private:
 	ncnn::Net* roi_net_;
@@ -27,5 +27,5 @@ private:
 
 }
 
-#endif // !_POSE_MOBILEFACENET_H_
+#endif // !_POSE_ULTRALIGHT_H_
 

src/realesrgan/realersgan.cpp

@@ -54,14 +54,6 @@ RealEsrgan new_realesrgan(int gpuid, bool _tta_model) {
     return new ov::RealESRGAN(gpuid, _tta_model);
 }
 
-void destroy_realesrgan(RealEsrgan r) {
-    delete static_cast<ov::RealESRGAN*>(r);
-}
-
-int realesrgan_load_model(RealEsrgan r, const char* root_path) {
-    return static_cast<ov::RealESRGAN*>(r)->LoadModel(root_path);
-}
-
 int realesrgan_process(RealEsrgan r, const unsigned char* rgbdata, int img_width, int img_height, int scale, Bytes* output) {
     size_t total_size = img_width * img_height * scale * scale * 3;
 #ifdef OV_VULKAN

src/realesrgan/realesrgan.h

@@ -9,8 +9,6 @@ extern "C" {
 #endif
     typedef void* RealEsrgan;
     RealEsrgan new_realesrgan(int gpuid, bool _ttad_model);
-    void destroy_realesrgan(RealEsrgan r);
-    int realesrgan_load_model(RealEsrgan r, const char* root_path);
     int realesrgan_process(RealEsrgan r, const unsigned char* rgbdata, int img_width, int img_height, int scale, Bytes* output); 
 #ifdef __cplusplus
 }

src/realesrgan/realesrgan.hpp

@@ -1,6 +1,7 @@
 #ifndef _REALESRGAN_H
 #define _REALESRGAN_H
 
+#include "../common/common.hpp"
 // ncnn
 #include "net.h"
 #include "layer.h"
@@ -10,14 +11,11 @@
 
 namespace ov {
 
-class RealESRGAN
-{
+class RealESRGAN: public Estimator {
 public:
     RealESRGAN(int gpuid, bool tta_mode = false);
     ~RealESRGAN();
-
-    int LoadModel(const char* root_path);
-
+	int LoadModel(const char* root_path);
     int process(const ncnn::Mat& inimage, ncnn::Mat& outimage) const;
 
 public: