445 lines
17 KiB
C++
445 lines
17 KiB
C++
#include <atomic>
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#include <chrono>
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#include <cstddef>
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#include <cstdio>
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#include <cstring>
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#include <iostream>
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#include <memory>
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#include <thread>
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#include <vector>
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#include "node.h"
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namespace rk3588 {
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namespace {
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constexpr int kObjClassNum = 80;
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const char* kCocoLabels[kObjClassNum] = {
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"person", "bicycle", "car", "motorcycle", "airplane", "bus", "train", "truck", "boat",
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"traffic light", "fire hydrant", "stop sign", "parking meter", "bench", "bird", "cat",
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"dog", "horse", "sheep", "cow", "elephant", "bear", "zebra", "giraffe", "backpack",
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"umbrella", "handbag", "tie", "suitcase", "frisbee", "skis", "snowboard", "sports ball",
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"kite", "baseball bat", "baseball glove", "skateboard", "surfboard", "tennis racket",
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"bottle", "wine glass", "cup", "fork", "knife", "spoon", "bowl", "banana", "apple",
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"sandwich", "orange", "broccoli", "carrot", "hot dog", "pizza", "donut", "cake", "chair",
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"couch", "potted plant", "bed", "dining table", "toilet", "tv", "laptop", "mouse",
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"remote", "keyboard", "cell phone", "microwave", "oven", "toaster", "sink", "refrigerator",
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"book", "clock", "vase", "scissors", "teddy bear", "hair drier", "toothbrush"
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};
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struct Color {
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uint8_t r, g, b;
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};
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const Color kClassColors[] = {
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{255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {255, 255, 0}, {255, 0, 255},
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{0, 255, 255}, {128, 0, 0}, {0, 128, 0}, {0, 0, 128}, {128, 128, 0},
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{128, 0, 128}, {0, 128, 128}, {255, 128, 0}, {255, 0, 128}, {128, 255, 0},
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{0, 255, 128}, {128, 0, 255}, {0, 128, 255}, {255, 128, 128}, {128, 255, 128}
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};
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inline Color GetClassColor(int cls_id) {
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return kClassColors[cls_id % 20];
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}
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inline const char* GetClassName(int cls_id) {
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if (cls_id >= 0 && cls_id < kObjClassNum) {
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return kCocoLabels[cls_id];
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}
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return "unknown";
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}
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inline int Clamp(int val, int min_val, int max_val) {
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return val < min_val ? min_val : (val > max_val ? max_val : val);
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}
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void DrawHLine(uint8_t* data, int w, int h, int stride, PixelFormat fmt,
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int x1, int x2, int y, int thickness, const Color& color) {
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x1 = Clamp(x1, 0, w - 1);
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x2 = Clamp(x2, 0, w - 1);
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if (x1 > x2) std::swap(x1, x2);
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for (int t = 0; t < thickness; ++t) {
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int cy = y + t;
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if (cy < 0 || cy >= h) continue;
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if (fmt == PixelFormat::RGB) {
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for (int x = x1; x <= x2; ++x) {
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int idx = (cy * stride) + x * 3;
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data[idx] = color.r;
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data[idx + 1] = color.g;
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data[idx + 2] = color.b;
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}
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} else if (fmt == PixelFormat::BGR) {
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for (int x = x1; x <= x2; ++x) {
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int idx = (cy * stride) + x * 3;
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data[idx] = color.b;
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data[idx + 1] = color.g;
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data[idx + 2] = color.r;
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}
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} else if (fmt == PixelFormat::NV12 || fmt == PixelFormat::YUV420) {
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uint8_t Y = static_cast<uint8_t>(0.299f * color.r + 0.587f * color.g + 0.114f * color.b);
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for (int x = x1; x <= x2; ++x) {
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data[cy * stride + x] = Y;
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}
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}
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}
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}
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void DrawVLine(uint8_t* data, int w, int h, int stride, PixelFormat fmt,
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int x, int y1, int y2, int thickness, const Color& color) {
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y1 = Clamp(y1, 0, h - 1);
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y2 = Clamp(y2, 0, h - 1);
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if (y1 > y2) std::swap(y1, y2);
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for (int t = 0; t < thickness; ++t) {
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int cx = x + t;
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if (cx < 0 || cx >= w) continue;
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if (fmt == PixelFormat::RGB) {
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for (int y = y1; y <= y2; ++y) {
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int idx = (y * stride) + cx * 3;
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data[idx] = color.r;
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data[idx + 1] = color.g;
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data[idx + 2] = color.b;
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}
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} else if (fmt == PixelFormat::BGR) {
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for (int y = y1; y <= y2; ++y) {
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int idx = (y * stride) + cx * 3;
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data[idx] = color.b;
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data[idx + 1] = color.g;
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data[idx + 2] = color.r;
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}
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} else if (fmt == PixelFormat::NV12 || fmt == PixelFormat::YUV420) {
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uint8_t Y = static_cast<uint8_t>(0.299f * color.r + 0.587f * color.g + 0.114f * color.b);
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for (int y = y1; y <= y2; ++y) {
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data[y * stride + cx] = Y;
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}
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}
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}
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}
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void DrawRect(uint8_t* data, int w, int h, int stride, PixelFormat fmt,
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int x1, int y1, int x2, int y2, int thickness, const Color& color) {
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DrawHLine(data, w, h, stride, fmt, x1, x2, y1, thickness, color);
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DrawHLine(data, w, h, stride, fmt, x1, x2, y2 - thickness + 1, thickness, color);
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DrawVLine(data, w, h, stride, fmt, x1, y1, y2, thickness, color);
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DrawVLine(data, w, h, stride, fmt, x2 - thickness + 1, y1, y2, thickness, color);
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}
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const uint8_t kFont5x7[96][7] = {
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{0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // ' '
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{0x04,0x04,0x04,0x04,0x00,0x00,0x04}, // '!'
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{0x0A,0x0A,0x0A,0x00,0x00,0x00,0x00}, // '"'
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{0x0A,0x0A,0x1F,0x0A,0x1F,0x0A,0x0A}, // '#'
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{0x04,0x0F,0x14,0x0E,0x05,0x1E,0x04}, // '$'
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{0x18,0x19,0x02,0x04,0x08,0x13,0x03}, // '%'
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{0x0C,0x12,0x14,0x08,0x15,0x12,0x0D}, // '&'
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{0x0C,0x04,0x08,0x00,0x00,0x00,0x00}, // '''
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{0x02,0x04,0x08,0x08,0x08,0x04,0x02}, // '('
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{0x08,0x04,0x02,0x02,0x02,0x04,0x08}, // ')'
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{0x00,0x04,0x15,0x0E,0x15,0x04,0x00}, // '*'
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{0x00,0x04,0x04,0x1F,0x04,0x04,0x00}, // '+'
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{0x00,0x00,0x00,0x00,0x0C,0x04,0x08}, // ','
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{0x00,0x00,0x00,0x1F,0x00,0x00,0x00}, // '-'
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{0x00,0x00,0x00,0x00,0x00,0x0C,0x0C}, // '.'
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{0x00,0x01,0x02,0x04,0x08,0x10,0x00}, // '/'
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{0x0E,0x11,0x13,0x15,0x19,0x11,0x0E}, // '0'
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{0x04,0x0C,0x04,0x04,0x04,0x04,0x0E}, // '1'
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{0x0E,0x11,0x01,0x02,0x04,0x08,0x1F}, // '2'
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{0x1F,0x02,0x04,0x02,0x01,0x11,0x0E}, // '3'
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{0x02,0x06,0x0A,0x12,0x1F,0x02,0x02}, // '4'
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{0x1F,0x10,0x1E,0x01,0x01,0x11,0x0E}, // '5'
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{0x06,0x08,0x10,0x1E,0x11,0x11,0x0E}, // '6'
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{0x1F,0x01,0x02,0x04,0x08,0x08,0x08}, // '7'
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{0x0E,0x11,0x11,0x0E,0x11,0x11,0x0E}, // '8'
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{0x0E,0x11,0x11,0x0F,0x01,0x02,0x0C}, // '9'
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{0x00,0x0C,0x0C,0x00,0x0C,0x0C,0x00}, // ':'
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{0x00,0x0C,0x0C,0x00,0x0C,0x04,0x08}, // ';'
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{0x02,0x04,0x08,0x10,0x08,0x04,0x02}, // '<'
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{0x00,0x00,0x1F,0x00,0x1F,0x00,0x00}, // '='
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{0x08,0x04,0x02,0x01,0x02,0x04,0x08}, // '>'
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{0x0E,0x11,0x01,0x02,0x04,0x00,0x04}, // '?'
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{0x0E,0x11,0x17,0x15,0x17,0x10,0x0E}, // '@'
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{0x0E,0x11,0x11,0x1F,0x11,0x11,0x11}, // 'A'
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{0x1E,0x11,0x11,0x1E,0x11,0x11,0x1E}, // 'B'
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{0x0E,0x11,0x10,0x10,0x10,0x11,0x0E}, // 'C'
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{0x1C,0x12,0x11,0x11,0x11,0x12,0x1C}, // 'D'
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{0x1F,0x10,0x10,0x1E,0x10,0x10,0x1F}, // 'E'
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{0x1F,0x10,0x10,0x1E,0x10,0x10,0x10}, // 'F'
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{0x0E,0x11,0x10,0x17,0x11,0x11,0x0F}, // 'G'
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{0x11,0x11,0x11,0x1F,0x11,0x11,0x11}, // 'H'
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{0x0E,0x04,0x04,0x04,0x04,0x04,0x0E}, // 'I'
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{0x07,0x02,0x02,0x02,0x02,0x12,0x0C}, // 'J'
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{0x11,0x12,0x14,0x18,0x14,0x12,0x11}, // 'K'
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{0x10,0x10,0x10,0x10,0x10,0x10,0x1F}, // 'L'
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{0x11,0x1B,0x15,0x15,0x11,0x11,0x11}, // 'M'
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{0x11,0x11,0x19,0x15,0x13,0x11,0x11}, // 'N'
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{0x0E,0x11,0x11,0x11,0x11,0x11,0x0E}, // 'O'
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{0x1E,0x11,0x11,0x1E,0x10,0x10,0x10}, // 'P'
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{0x0E,0x11,0x11,0x11,0x15,0x12,0x0D}, // 'Q'
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{0x1E,0x11,0x11,0x1E,0x14,0x12,0x11}, // 'R'
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{0x0F,0x10,0x10,0x0E,0x01,0x01,0x1E}, // 'S'
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{0x1F,0x04,0x04,0x04,0x04,0x04,0x04}, // 'T'
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{0x11,0x11,0x11,0x11,0x11,0x11,0x0E}, // 'U'
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{0x11,0x11,0x11,0x11,0x11,0x0A,0x04}, // 'V'
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{0x11,0x11,0x11,0x15,0x15,0x15,0x0A}, // 'W'
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{0x11,0x11,0x0A,0x04,0x0A,0x11,0x11}, // 'X'
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{0x11,0x11,0x11,0x0A,0x04,0x04,0x04}, // 'Y'
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{0x1F,0x01,0x02,0x04,0x08,0x10,0x1F}, // 'Z'
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{0x0E,0x08,0x08,0x08,0x08,0x08,0x0E}, // '['
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{0x00,0x10,0x08,0x04,0x02,0x01,0x00}, // '\'
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{0x0E,0x02,0x02,0x02,0x02,0x02,0x0E}, // ']'
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{0x04,0x0A,0x11,0x00,0x00,0x00,0x00}, // '^'
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{0x00,0x00,0x00,0x00,0x00,0x00,0x1F}, // '_'
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{0x08,0x04,0x02,0x00,0x00,0x00,0x00}, // '`'
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{0x00,0x00,0x0E,0x01,0x0F,0x11,0x0F}, // 'a'
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{0x10,0x10,0x16,0x19,0x11,0x11,0x1E}, // 'b'
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{0x00,0x00,0x0E,0x10,0x10,0x11,0x0E}, // 'c'
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{0x01,0x01,0x0D,0x13,0x11,0x11,0x0F}, // 'd'
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{0x00,0x00,0x0E,0x11,0x1F,0x10,0x0E}, // 'e'
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{0x06,0x09,0x08,0x1C,0x08,0x08,0x08}, // 'f'
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{0x00,0x0F,0x11,0x11,0x0F,0x01,0x0E}, // 'g'
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{0x10,0x10,0x16,0x19,0x11,0x11,0x11}, // 'h'
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{0x04,0x00,0x0C,0x04,0x04,0x04,0x0E}, // 'i'
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{0x02,0x00,0x06,0x02,0x02,0x12,0x0C}, // 'j'
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{0x10,0x10,0x12,0x14,0x18,0x14,0x12}, // 'k'
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{0x0C,0x04,0x04,0x04,0x04,0x04,0x0E}, // 'l'
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{0x00,0x00,0x1A,0x15,0x15,0x11,0x11}, // 'm'
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{0x00,0x00,0x16,0x19,0x11,0x11,0x11}, // 'n'
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{0x00,0x00,0x0E,0x11,0x11,0x11,0x0E}, // 'o'
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{0x00,0x00,0x1E,0x11,0x1E,0x10,0x10}, // 'p'
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{0x00,0x00,0x0D,0x13,0x0F,0x01,0x01}, // 'q'
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{0x00,0x00,0x16,0x19,0x10,0x10,0x10}, // 'r'
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{0x00,0x00,0x0E,0x10,0x0E,0x01,0x1E}, // 's'
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{0x08,0x08,0x1C,0x08,0x08,0x09,0x06}, // 't'
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{0x00,0x00,0x11,0x11,0x11,0x13,0x0D}, // 'u'
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{0x00,0x00,0x11,0x11,0x11,0x0A,0x04}, // 'v'
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{0x00,0x00,0x11,0x11,0x15,0x15,0x0A}, // 'w'
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{0x00,0x00,0x11,0x0A,0x04,0x0A,0x11}, // 'x'
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{0x00,0x00,0x11,0x11,0x0F,0x01,0x0E}, // 'y'
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{0x00,0x00,0x1F,0x02,0x04,0x08,0x1F}, // 'z'
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{0x02,0x04,0x04,0x08,0x04,0x04,0x02}, // '{'
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{0x04,0x04,0x04,0x04,0x04,0x04,0x04}, // '|'
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{0x08,0x04,0x04,0x02,0x04,0x04,0x08}, // '}'
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{0x00,0x00,0x08,0x15,0x02,0x00,0x00}, // '~'
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{0x00,0x00,0x00,0x00,0x00,0x00,0x00}, // DEL
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};
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void DrawChar(uint8_t* data, int w, int h, int stride, PixelFormat fmt,
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int x, int y, char c, int scale, const Color& color) {
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if (c < 32 || c > 127) c = ' ';
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int idx = c - 32;
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const uint8_t* glyph = kFont5x7[idx];
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for (int row = 0; row < 7; ++row) {
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for (int col = 0; col < 5; ++col) {
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if (glyph[row] & (1 << (4 - col))) {
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for (int sy = 0; sy < scale; ++sy) {
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for (int sx = 0; sx < scale; ++sx) {
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int px = x + col * scale + sx;
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int py = y + row * scale + sy;
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if (px < 0 || px >= w || py < 0 || py >= h) continue;
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if (fmt == PixelFormat::RGB) {
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int i = py * stride + px * 3;
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data[i] = color.r;
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data[i + 1] = color.g;
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data[i + 2] = color.b;
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} else if (fmt == PixelFormat::BGR) {
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int i = py * stride + px * 3;
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data[i] = color.b;
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data[i + 1] = color.g;
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data[i + 2] = color.r;
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} else if (fmt == PixelFormat::NV12 || fmt == PixelFormat::YUV420) {
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uint8_t Y = static_cast<uint8_t>(0.299f * color.r + 0.587f * color.g + 0.114f * color.b);
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data[py * stride + px] = Y;
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}
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}
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}
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}
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}
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}
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}
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void DrawText(uint8_t* data, int w, int h, int stride, PixelFormat fmt,
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int x, int y, const char* text, int scale, const Color& color) {
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int cx = x;
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while (*text) {
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DrawChar(data, w, h, stride, fmt, cx, y, *text, scale, color);
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cx += 6 * scale;
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++text;
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}
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}
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} // namespace
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class OsdNode : public INode {
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public:
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std::string Id() const override { return id_; }
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std::string Type() const override { return "osd"; }
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bool Init(const SimpleJson& config, const NodeContext& ctx) override {
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id_ = config.ValueOr<std::string>("id", "osd");
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draw_bbox_ = config.ValueOr<bool>("draw_bbox", true);
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draw_text_ = config.ValueOr<bool>("draw_text", true);
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line_width_ = config.ValueOr<int>("line_width", 2);
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font_scale_ = config.ValueOr<int>("font_scale", 1);
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// Load custom labels from config
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if (const SimpleJson* labels = config.Find("labels")) {
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for (const auto& item : labels->AsArray()) {
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labels_.push_back(item.AsString(""));
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}
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std::cout << "[osd] loaded " << labels_.size() << " custom labels\n";
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}
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input_queue_ = ctx.input_queue;
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if (!input_queue_) {
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std::cerr << "[osd] no input queue for node " << id_ << "\n";
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return false;
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}
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if (ctx.output_queues.empty()) {
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std::cerr << "[osd] no output queue for node " << id_ << "\n";
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return false;
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}
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output_queues_ = ctx.output_queues;
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return true;
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}
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bool Start() override {
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std::cout << "[osd] started, draw_bbox=" << draw_bbox_ << " draw_text=" << draw_text_ << "\n";
|
|
return true;
|
|
}
|
|
|
|
void Stop() override {
|
|
std::cout << "[osd] stopped\n";
|
|
}
|
|
|
|
NodeStatus Process(FramePtr frame) override {
|
|
if (!frame) return NodeStatus::DROP;
|
|
|
|
FramePtr out = frame;
|
|
if (out->det && out->data) {
|
|
if (out.use_count() > 1) {
|
|
out = CloneFrameForWrite(out);
|
|
}
|
|
DrawDetections(out);
|
|
}
|
|
|
|
PushToDownstream(out);
|
|
++processed_;
|
|
|
|
if (processed_ % 100 == 0) {
|
|
std::cout << "[osd] processed " << processed_ << " frames\n";
|
|
}
|
|
return NodeStatus::OK;
|
|
}
|
|
|
|
private:
|
|
static FramePtr CloneFrameForWrite(const FramePtr& src) {
|
|
if (!src || !src->data || src->data_size == 0) return src;
|
|
|
|
auto buf = std::make_shared<std::vector<uint8_t>>(src->data_size);
|
|
memcpy(buf->data(), src->data, src->data_size);
|
|
|
|
auto out = std::make_shared<Frame>(*src);
|
|
out->dma_fd = -1;
|
|
out->data = buf->data();
|
|
out->data_size = buf->size();
|
|
out->data_owner = buf;
|
|
|
|
for (int i = 0; i < 3; ++i) {
|
|
FramePlane p = src->planes[i];
|
|
int offset = p.offset;
|
|
if (p.data && src->data) {
|
|
const ptrdiff_t d = p.data - src->data;
|
|
if (d >= 0 && static_cast<size_t>(d) < src->data_size) {
|
|
offset = static_cast<int>(d);
|
|
}
|
|
}
|
|
p.offset = offset;
|
|
if (offset >= 0 && static_cast<size_t>(offset) < out->data_size) {
|
|
p.data = out->data + offset;
|
|
} else {
|
|
p.data = nullptr;
|
|
}
|
|
out->planes[i] = p;
|
|
}
|
|
|
|
return out;
|
|
}
|
|
|
|
void PushToDownstream(FramePtr frame) {
|
|
for (auto& q : output_queues_) {
|
|
q->Push(frame);
|
|
}
|
|
}
|
|
|
|
const char* GetLabel(int cls_id) const {
|
|
if (!labels_.empty()) {
|
|
if (cls_id >= 0 && cls_id < static_cast<int>(labels_.size())) {
|
|
return labels_[cls_id].c_str();
|
|
}
|
|
return "unknown";
|
|
}
|
|
return GetClassName(cls_id);
|
|
}
|
|
|
|
void DrawDetections(FramePtr frame) {
|
|
if (!frame->det || frame->det->items.empty()) return;
|
|
|
|
int w = frame->width;
|
|
int h = frame->height;
|
|
uint8_t* data = frame->planes[0].data ? frame->planes[0].data : frame->data;
|
|
PixelFormat fmt = frame->format;
|
|
|
|
int stride;
|
|
if (fmt == PixelFormat::RGB || fmt == PixelFormat::BGR) {
|
|
stride = frame->planes[0].stride > 0 ? frame->planes[0].stride : (frame->stride > 0 ? frame->stride : w * 3);
|
|
} else if (fmt == PixelFormat::NV12 || fmt == PixelFormat::YUV420) {
|
|
stride = frame->planes[0].stride > 0 ? frame->planes[0].stride : (frame->stride > 0 ? frame->stride : w);
|
|
} else {
|
|
return; // Unsupported format
|
|
}
|
|
|
|
for (const auto& det : frame->det->items) {
|
|
int x1 = static_cast<int>(det.bbox.x);
|
|
int y1 = static_cast<int>(det.bbox.y);
|
|
int x2 = static_cast<int>(det.bbox.x + det.bbox.w);
|
|
int y2 = static_cast<int>(det.bbox.y + det.bbox.h);
|
|
|
|
Color color = GetClassColor(det.cls_id);
|
|
|
|
if (draw_bbox_) {
|
|
DrawRect(data, w, h, stride, fmt, x1, y1, x2, y2, line_width_, color);
|
|
}
|
|
|
|
if (draw_text_) {
|
|
char label[64];
|
|
snprintf(label, sizeof(label), "%s %.0f%%", GetLabel(det.cls_id), det.score * 100);
|
|
int text_y = y1 - 8 * font_scale_;
|
|
if (text_y < 0) text_y = y1 + 2;
|
|
DrawText(data, w, h, stride, fmt, x1, text_y, label, font_scale_, color);
|
|
}
|
|
}
|
|
}
|
|
|
|
std::string id_;
|
|
bool draw_bbox_ = true;
|
|
bool draw_text_ = true;
|
|
int line_width_ = 2;
|
|
int font_scale_ = 1;
|
|
std::vector<std::string> labels_;
|
|
|
|
std::shared_ptr<SpscQueue<FramePtr>> input_queue_;
|
|
std::vector<std::shared_ptr<SpscQueue<FramePtr>>> output_queues_;
|
|
uint64_t processed_ = 0;
|
|
};
|
|
|
|
REGISTER_NODE(OsdNode, "osd");
|
|
|
|
} // namespace rk3588
|