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#include <jni.h>
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#include <unistd.h>
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#include <errno.h>
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#include <string.h>
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#include <pthread.h>
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#include <sys/syscall.h>
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#include <sched.h>
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#include "yolo_image.h"
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#include "rga/rga.h"
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#include "object_tracker/track_link.h"
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static char* jstringToChar(JNIEnv* env, jstring jstr) {
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char* rtn = NULL;
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jclass clsstring = env->FindClass("java/lang/String");
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jstring strencode = env->NewStringUTF("utf-8");
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jmethodID mid = env->GetMethodID(clsstring, "getBytes", "(Ljava/lang/String;)[B");
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jbyteArray barr = (jbyteArray) env->CallObjectMethod(jstr, mid, strencode);
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jsize alen = env->GetArrayLength(barr);
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jbyte* ba = env->GetByteArrayElements(barr, JNI_FALSE);
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if (alen > 0) {
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rtn = new char[alen + 1];
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memcpy(rtn, ba, alen);
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rtn[alen] = 0;
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}
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env->ReleaseByteArrayElements(barr, ba, 0);
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return rtn;
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}
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extern "C"
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JNIEXPORT jint JNICALL Java_com_rockchip_gpadc_demo_yolo_InferenceWrapper_navite_1init
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(JNIEnv *env, jobject obj, jint im_height, jint im_width, jint im_channel,
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jstring model_path)
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{
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char *model_path_p = jstringToChar(env, model_path);
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return create(im_height, im_width, im_channel, model_path_p);
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}
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extern "C"
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JNIEXPORT void JNICALL Java_com_rockchip_gpadc_demo_yolo_InferenceWrapper_native_1deinit
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(JNIEnv *env, jobject obj) {
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destroy();
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}
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extern "C"
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JNIEXPORT jint JNICALL Java_com_rockchip_gpadc_demo_yolo_InferenceWrapper_native_1run
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(JNIEnv *env, jobject obj, jbyteArray in,
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jbyteArray grid0Out, jbyteArray grid1Out, jbyteArray grid2Out) {
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jboolean inputCopy = JNI_FALSE;
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jbyte* const inData = env->GetByteArrayElements(in, &inputCopy);
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jboolean outputCopy = JNI_FALSE;
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jbyte* const y0 = env->GetByteArrayElements(grid0Out, &outputCopy);
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jbyte* const y1 = env->GetByteArrayElements(grid1Out, &outputCopy);
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jbyte* const y2 = env->GetByteArrayElements(grid2Out, &outputCopy);
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run_yolo((char *)inData, (char *)y0, (char *)y1, (char *)y2);
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env->ReleaseByteArrayElements(in, inData, JNI_ABORT);
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env->ReleaseByteArrayElements(grid0Out, y0, 0);
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env->ReleaseByteArrayElements(grid1Out, y1, 0);
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env->ReleaseByteArrayElements(grid2Out, y2, 0);
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return 0;
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}
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extern "C"
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JNIEXPORT jint JNICALL
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Java_com_rockchip_gpadc_demo_yolo_InferenceWrapper_native_1post_1process(JNIEnv *env, jobject thiz,
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jbyteArray grid0_out,
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jbyteArray grid1_out,
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jbyteArray grid2_out,
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jintArray ids,
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jfloatArray scores,
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jfloatArray boxes) {
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jint detect_counts;
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jboolean inputCopy = JNI_FALSE;
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jbyte* const grid0_buf = env->GetByteArrayElements(grid0_out, &inputCopy);
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jbyte* const grid1_buf = env->GetByteArrayElements(grid1_out, &inputCopy);
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jbyte* const grid2_buf = env->GetByteArrayElements(grid2_out, &inputCopy);
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jboolean outputCopy = JNI_FALSE;
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jint* const y0 = env->GetIntArrayElements(ids, &outputCopy);
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jfloat* const y1 = env->GetFloatArrayElements(scores, &outputCopy);
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jfloat* const y2 = env->GetFloatArrayElements(boxes, &outputCopy);
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detect_counts = yolo_post_process((char *)grid0_buf, (char *)grid1_buf, (char *)grid2_buf,
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(int *)y0, (float *)y1, (float *)y2);
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env->ReleaseByteArrayElements(grid0_out, grid0_buf, JNI_ABORT);
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env->ReleaseByteArrayElements(grid1_out, grid1_buf, JNI_ABORT);
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env->ReleaseByteArrayElements(grid2_out, grid2_buf, JNI_ABORT);
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env->ReleaseIntArrayElements(ids, y0, 0);
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env->ReleaseFloatArrayElements(scores, y1, 0);
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env->ReleaseFloatArrayElements(boxes, y2, 0);
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return detect_counts;
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}
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extern "C"
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JNIEXPORT jint JNICALL
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Java_com_rockchip_gpadc_demo_rga_RGA_color_1convert(JNIEnv *env, jclass clazz, jbyteArray src,
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jint src_fmt, jbyteArray dst, jint dst_fmt,
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jint width, jint height, jint flip) {
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jboolean copy = JNI_FALSE;
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jbyte* src_buf = env->GetByteArrayElements(src, ©);
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jbyte* dst_buf = env->GetByteArrayElements(dst, ©);
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colorConvert(src_buf, src_fmt, dst_buf, dst_fmt, width, height, flip);
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env->ReleaseByteArrayElements(src, src_buf, 0);
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env->ReleaseByteArrayElements(dst, dst_buf, 0);
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return 0;
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}
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extern "C"
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JNIEXPORT jlong JNICALL Java_com_rockchip_gpadc_demo_tracker_ObjectTracker_native_1create
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(JNIEnv * env, jobject obj) {
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return create_tracker();
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}
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extern "C"
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JNIEXPORT void JNICALL Java_com_rockchip_gpadc_demo_tracker_ObjectTracker_native_1destroy
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(JNIEnv * env, jobject obj,
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jlong handle) {
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destroy_tracker(handle);
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}
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extern "C"
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JNIEXPORT void JNICALL Java_com_rockchip_gpadc_demo_tracker_ObjectTracker_native_1track
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(JNIEnv * env, jobject obj,
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jlong handle,
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jint maxTrackLifetime,
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jint track_input_num,
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jfloatArray track_input_locations,
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jintArray track_input_class,
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jfloatArray track_input_score,
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jintArray track_output_num,
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jfloatArray track_output_locations,
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jintArray track_output_class,
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jfloatArray track_output_score,
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jintArray track_output_id,
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jint width,
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jint height) {
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jboolean inputCopy = JNI_FALSE;
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jfloat *const c_track_input_locations = env->GetFloatArrayElements(track_input_locations,
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&inputCopy);
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jint *const c_track_input_class = env->GetIntArrayElements(track_input_class, &inputCopy);
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jfloat *const c_track_input_score = env->GetFloatArrayElements(track_input_score, &inputCopy);
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jboolean outputCopy = JNI_FALSE;
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jint *const c_track_output_num = env->GetIntArrayElements(track_output_num, &outputCopy);
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jfloat *const c_track_output_locations = env->GetFloatArrayElements(track_output_locations,
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&outputCopy);
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jint *const c_track_output_class = env->GetIntArrayElements(track_output_class, &outputCopy);
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jfloat *const c_track_output_score = env->GetFloatArrayElements(track_output_score, &inputCopy);
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jint *const c_track_output_id = env->GetIntArrayElements(track_output_id, &outputCopy);
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track(handle, (int)maxTrackLifetime,
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(int) track_input_num, (float *) c_track_input_locations, (int *) c_track_input_class, (float *)c_track_input_score,
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(int *) c_track_output_num, (float *) c_track_output_locations, (int *) c_track_output_class, (float *)c_track_output_score,
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(int *) c_track_output_id, (int) width, (int)height);
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env->ReleaseFloatArrayElements(track_input_locations, c_track_input_locations, JNI_ABORT);
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env->ReleaseIntArrayElements(track_input_class, c_track_input_class, JNI_ABORT);
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env->ReleaseFloatArrayElements(track_input_score, c_track_input_score, JNI_ABORT);
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env->ReleaseIntArrayElements(track_output_num, c_track_output_num, 0);
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env->ReleaseFloatArrayElements(track_output_locations, c_track_output_locations, 0);
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env->ReleaseIntArrayElements(track_output_class, c_track_output_class, 0);
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env->ReleaseFloatArrayElements(track_output_score, c_track_output_score, 0);
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env->ReleaseIntArrayElements(track_output_id, c_track_output_id, 0);
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}
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