玩手机模型升级货车载人增加关键点辅助

Zhao Shuaihua
1 parent fa818303
Showing 10 changed files with 302 additions and 26 deletions
bin/libvehicle_pose_vdec.so
bin/models/village/motor_phone1013_310p.om
bin/models/village/vpose_310p.om
src/Makefile
src/ai_engine_module/motocycle_phone_process.cpp
src/ai_engine_module/motocycle_refit_phone_process.cpp
src/ai_engine_module/truck_manned_process.cpp
src/ai_engine_module/truck_manned_process.h
src/ai_engine_module/vehicle_pose.h
src/demo/Makefile
@@ -38,7 +38,7 @@ lib=-lacl_dvpp -lascendcl -lacl_dvpp_mpi -lruntime -lascendalog -lc_sec -lmsprof
 	-lplatform -lgraph_base -lqos_manager
 LIBS= -L $(SPDLOG_ROOT)/lib -l:libspdlog.a \
-		-L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -lhs_motor_process\
+		-L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -lvehicle_pose_vdec -lhs_motor_process\
 		-L $(OPENCV_ROOT)/lib -lopencv_world\
 		-L $(JSON_ROOT)/lib -ljsoncpp \
 		-L $(FFMPEG_ROOT)/lib -lavformat -lavcodec -lswscale -lavutil -lavfilter -lswresample -lavdevice \
@@ -84,7 +84,8 @@ namespace ai_engine_module
         {
             init_ = false;
-            string model_path = models_dir + "/models/village/motor_phone_310p.om" ;
+            // string model_path = models_dir + "/models/village/motor_phone_310p.om" ;
+            string model_path = models_dir + "/models/village/motor_phone1013_310p.om" ;
             LOG_INFO("motor_phone 版本：{}  模型路径：{}", motor_phone_getversion(), model_path);
             motor_phone_param param;
@@ -89,7 +89,8 @@ namespace ai_engine_module
         {
             init_ = false;
-            string model_phone_path = models_dir + "/models/village/motor_phone_310p.om" ;
+            // string model_phone_path = models_dir + "/models/village/motor_phone_310p.om" ;
+            string model_phone_path = models_dir + "/models/village/motor_phone1013_310p.om" ;
             string model_hcp_path = models_dir + "/models/village/hcp211008_310p.om" ;
             LOG_INFO("motor_phone 版本：{}  模型路径：{} hcp 版本：{}  模型路径：{}", motor_phone_getversion(), model_phone_path, hcp_get_version(), model_hcp_path);
@@ -5,6 +5,9 @@
 #include "../common/logger.hpp"
 #include "../ai_platform/mvpt_process_assist.h"
+#include "opencv2/opencv.hpp"
+#include "opencv2/imgcodecs/legacy/constants_c.h"
+
 namespace ai_engine_module
 {
@@ -25,15 +28,34 @@ namespace ai_engine_module
                 float area_b = float(right - left) * float(bottom - top);
                 float area_intersection = float(x2_intersection - x1_intersection) * float(y2_intersection - y1_intersection);
-                if (area_a > area_b || area_a <= 0) continue; //暂不考虑非机动车目标比货车大的情况
+                if (area_a > area_b || area_a <= 0) continue; //暂不考虑行人及非机动车目标比货车大的情况
                 // float iou = area_intersection / (area_a + area_b - area_intersection);
-                float small_overlap_ratio = area_intersection / area_a; //计算非机动车目标相对于自身的重叠程度
+                float small_overlap_ratio = area_intersection / area_a; //计算行人及非机动车目标相对于自身的重叠程度
                 if (small_overlap_ratio > 0.2) legal_person_motocycle_count ++;
             }
             return legal_person_motocycle_count;
         }
+        void vpose_transform(float pt_x, float pt_y, float center_x, float center_y, float llength, int invert, int *res) {
+            //Transform pixel location to different reference.
+            float tmp = float(IMG_RES) / llength;
+            float t00 = tmp, t11 = tmp;
+            float t02 = IMG_RES * (-center_x / llength + .5);
+            float t12 = IMG_RES * (-center_y / llength + .5);
+            cv::Mat t = (cv::Mat_<float>(3,3) << t00,0,t02,0,t11,t12,0,0,1);
+            cv::Mat invt = (cv::Mat_<float>(3,3) << 0,0,0,0,0,0,0,0,0);
+            if (invert)
+                cv::invert(t, invt);
+
+            cv::Mat new_pt = (cv::Mat_<float>(3,1) << pt_x-1, pt_y-1, 1.);
+            cv::Mat arr_new = invt * new_pt;
+            
+            for (int i = 0; i < 3-1; i++) {
+                res[i] = int(arr_new.at<float>(i,0));	
+            }
+        }
+
         TruckMannedProcess::TruckMannedProcess()
             : task_param_manager_(nullptr)
         {
@@ -42,9 +64,13 @@ namespace ai_engine_module
         TruckMannedProcess::~TruckMannedProcess()
         {
-            if (tools_) {
-                hs_truck_release(&tools_);
-                tools_ = nullptr;
+            if (hs_tools_) {
+                hs_truck_release(&hs_tools_);
+                hs_tools_ = nullptr;
+            }
+            if (vpose_tools_) {
+                vehicle_pose_release(&vpose_tools_);
+                vpose_tools_ = nullptr;
             }
             if (m_algorthim_ctx) {
                 aclrtDestroyContext(m_algorthim_ctx);
@@ -57,6 +83,8 @@ namespace ai_engine_module
             string model_path = models_dir + "/models/hs/hs_truck_310p.om" ;
             LOG_INFO("hs_truck 版本：{}  模型路径：{}", hs_truck_getversion(), model_path);
+            string model_vpose_path = models_dir + "/models/village/vpose_310p.om" ;
+            LOG_INFO("vpose 版本：{}  模型路径：{}", vehicle_pose_get_version(), model_vpose_path);
             hs_truck_param param;
             char modelNames[100];
@@ -64,14 +92,23 @@ namespace ai_engine_module
             param.modelNames = modelNames;
             param.thresld = 0.25;
             param.devId = gpu_id;
+
+            vehicle_pose_param vparam;
+            char vpose_modelNames[100];
+            strcpy(vpose_modelNames, model_vpose_path.c_str());
+            vparam.modelNames = vpose_modelNames; 
+            vparam.ldmk_thres = 0.0;
+            vparam.devId = gpu_id;
-            m_devId = param.devId;
+            m_devId = gpu_id;
             ACL_CALL(aclrtSetDevice(m_devId), ACL_SUCCESS, -1);
             ACL_CALL(aclrtCreateContext(&m_algorthim_ctx, m_devId), ACL_SUCCESS, -1);
-            
+
             int status;
-            if (!(init_ = (0 == (status = hs_truck_init(&tools_, param)))))
+            if (!(init_ = (0 == (status = hs_truck_init(&hs_tools_, param)))))
                 LOG_ERROR("Init TruckMannedProcessSdk failed error code is {}", status);
+            else if (!(init_ = (0 == (status = vehicle_pose_init(&vpose_tools_, vparam)))))
+                LOG_ERROR("Init VehiclePoseProcessSdk failed error code is {}", status);
             else
                 if (!task_param_manager_)
                     task_param_manager_ = task_param_manager::getInstance();
@@ -139,6 +176,8 @@ namespace ai_engine_module
             auto taskId_iter = taskIds.begin();
             std::vector<sy_img> flattened_imgs(0);
             std::vector<vpc_img_info> flattened_vpc_imgs(0);
+            std::vector<sy_img> flattened_vpose_imgs(0);
+            std::vector<vpc_img_info> flattened_vpc_vpose_imgs(0);
             std::vector<input_data_wrap_t> flattened_interest_data(0);  //
             VPCUtil* pVpcUtil = VPCUtil::getInstance();
             for (int n = 0; n < n_images; ++n)
@@ -206,27 +245,44 @@ namespace ai_engine_module
                         //统计货车检测框内行人及非机动车的数量
                         int person_motocycle_inarea = legal_person_motocycle_inarea(person_motocycle_data, left, top, right, bottom);
-                            
-                        data.box.top = top;         data.box.left = left;
-                        data.box.right = right;     data.box.bottom = bottom;
+                        //vpose=========================================================================================================
+                        int x_center = round(float((right + left))/2);
+                        int y_center = round(float((bottom + top))/2);
+                        float llength = std::max(right -left, bottom - top);    
+                        
+                        // Crop image according to the supplied bounding box.
+                        int ul[2]={0};   int br[2]={0};
+                        vpose_transform(1, 1, x_center, y_center, llength, 1, ul); // Upper left point
+                        vpose_transform(IMG_RES+1, IMG_RES+1, x_center, y_center, llength, 1, br); // Bottom right point
+                   
+                        int vpose_left = std::max(-ul[0],0);    int vpose_top = std::max(-ul[1],0);
+                        int vpose_right = std::min(br[0], src_img_w) - ul[0];
+                        int vpose_bottom = std::min(br[1], src_img_h) - ul[1];
+                        int vpose_width = vpose_right - vpose_left;
+                        int vpose_height = vpose_bottom - vpose_top;
+                        if (vpose_width != vpose_height) continue; // 宽高不相等说明处于边缘位置，不处理 
+                        //=============================================================================================================
+                        
+                        data.box.top = top;                     data.box.left = left;
+                        data.box.right = right;                 data.box.bottom = bottom;
                         data.box.score = box.confidence;
-                        data.taskId = taskId;       data.objId = box.id;
+                        data.taskId = taskId;                   data.objId = box.id;
                         data.id = obj_key_t{ box.id, taskId, algorithm_type_t::TRUCK_MANNED };
                         data.person_motocycle_cnt = person_motocycle_inarea;
+                        data.vpose_box.top = vpose_top;         data.vpose_box.left = vpose_left;
+                        data.vpose_box.right = vpose_right;     data.vpose_box.bottom = vpose_bottom;
+                        data.x_center = x_center;   data.y_center = y_center;   data.llength = llength;
                         // 抠图
                         video_object_info obj;
                         strcpy(obj.task_id, taskId.c_str());
                         obj.object_id = box.id;
-                        obj.left = left;    obj.top = top;
-                        obj.right = right;  obj.bottom = bottom;
+                        obj.left = left;    obj.top = top;  obj.right = right;  obj.bottom = bottom;
                         vpc_img_info img_info = pVpcUtil->crop(src_img, obj);
                         sy_img img;
-                        img.w_ = width;
-                        img.h_ = height;
-                        img.c_ = src_img->getChannel();
+                        img.w_ = width;     img.h_ = height;    img.c_ = src_img->getChannel();
                         if (img_info.pic_desc != nullptr) {
                             void *outputDataDev = acldvppGetPicDescData(img_info.pic_desc);
@@ -237,9 +293,33 @@ namespace ai_engine_module
                                 src_img_w, src_img_h, data.box.left, data.box.top, data.box.right, data.box.bottom);
                             continue;
                         }
+
+                        // vpose抠图
+                        video_object_info vpose_obj;
+                        strcpy(vpose_obj.task_id, taskId.c_str());
+                        vpose_obj.object_id = box.id;
+                        vpose_obj.left = vpose_left;    vpose_obj.top = vpose_top;  vpose_obj.right = vpose_right;  vpose_obj.bottom = vpose_bottom;
+
+                        vpc_img_info vpose_img_info = pVpcUtil->crop(src_img, vpose_obj);
+
+                        sy_img vpose_img;   
+                        vpose_img.w_ = vpose_width;     vpose_img.h_ = vpose_height;    vpose_img.c_ = src_img->getChannel();
+
+                        if (vpose_img_info.pic_desc != nullptr) {
+                            void *outputDataDev = acldvppGetPicDescData(vpose_img_info.pic_desc);
+                            vpose_img.data_ = reinterpret_cast<unsigned char*>(outputDataDev);
+                        }
+                        else {
+                            LOG_ERROR("Crop image NPU failed wh is [{}, {}] ltrb is [{} {} {} {}]",
+                                src_img_w, src_img_h, data.vpose_box.left, data.vpose_box.top, data.vpose_box.right, data.vpose_box.bottom);
+                            VPCUtil::vpc_img_release(img_info); 
+                            continue;
+                        }
                         flattened_imgs.emplace_back(std::move(img));
                         flattened_vpc_imgs.emplace_back(std::move(img_info));
+                        flattened_vpose_imgs.emplace_back(std::move(vpose_img)); //vpose
+                        flattened_vpc_vpose_imgs.emplace_back(std::move(vpose_img_info)); //vpose
                         flattened_interest_data.emplace_back(std::move(data));
                         flattened_idx_to_batch_idx[flattened_idx++] = n;
                     }
@@ -255,13 +335,15 @@ namespace ai_engine_module
             /* 2. collection result. */
             int n_input_image = flattened_imgs.size();
             hs_truck_result model_results[n_input_image];
+            vehicle_pose_result vpose_results[n_input_image];
             {
                 int steps = (n_input_image + MAX_BATCH - 1) / MAX_BATCH;
                 for (int step = 0; step < steps; ++step)
                 {
                     int offset = step * MAX_BATCH;
                     int batch_size = (step == steps - 1) ? n_input_image - offset : MAX_BATCH;
-                    hs_truck_process_batch(tools_, flattened_imgs.data() + offset, batch_size, model_results + offset);
+                    hs_truck_process_batch(hs_tools_, flattened_imgs.data() + offset, batch_size, model_results + offset);
+                    vehicle_pose_batch(vpose_tools_, flattened_vpose_imgs.data() + offset, batch_size, vpose_results + offset);
                 }
             }
@@ -275,6 +357,8 @@ namespace ai_engine_module
                     {
                         VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
                         flattened_imgs[n].data_ = nullptr;
+                        VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]); 
+                        flattened_vpose_imgs[n].data_ = nullptr;
                         continue;
                     }
@@ -286,6 +370,8 @@ namespace ai_engine_module
                         LOG_ERROR("{} nullptr when get algor param from task_param", det_result.taskId.c_str());
                         VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
                         flattened_imgs[n].data_ = nullptr;
+                        VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]); 
+                        flattened_vpose_imgs[n].data_ = nullptr;
                         continue;
                     }
@@ -298,8 +384,38 @@ namespace ai_engine_module
                     auto& e = id_to_mn_[obj_key];
                     ++e.m_frame;
+                    //vpose===========================================================
+                    auto &vpose_result = vpose_results[n]; // vpose
+                    int ldmk_x1 = src_img->getWidth(), ldmk_y1 = src_img->getHeight(), ldmk_x2 = 0, ldmk_y2 = 0;
+                    for (int p = 0; p < LDMK_COUNT; p++) {
+                        int ul[2]={0};
+                        // 映射到大图
+                        vpose_transform(vpose_result.vehicle_ldmk[p].x_-1, vpose_result.vehicle_ldmk[p].y_-1, det_result.x_center, det_result.y_center, det_result.llength, 1, ul);
+
+                        ldmk_x1 = std::min(ul[0] + 1, ldmk_x1);
+                        ldmk_y1 = std::min(ul[1] + 1, ldmk_y1);
+                        ldmk_x2 = std::max(ul[0] + 1, ldmk_x2);
+                        ldmk_y2 = std::max(ul[1] + 1, ldmk_y2);
+                    }
+                    // 统计关键点映射出的四边形中的头肩数量
+                    int hs_inpose_count = 0;
+                    if (ldmk_x2 > ldmk_x1 && ldmk_y2 > ldmk_y1) {
+                        for (int i = 0; i < model_results[n].objcount; i++) {
+                            int x1_intersection = std::max(det_result.box.left + model_results[n].objinfo[i].left, ldmk_x1);
+                            int y1_intersection = std::max(det_result.box.top + model_results[n].objinfo[i].top, ldmk_y1);
+                            int x2_intersection = std::min(det_result.box.left + model_results[n].objinfo[i].right, ldmk_x2);
+                            int y2_intersection = std::min(det_result.box.top + model_results[n].objinfo[i].bottom, ldmk_y2);
+                            if (x2_intersection <= x1_intersection || y2_intersection <= y1_intersection) continue; // 没有交集
+                            hs_inpose_count ++;
+                        }
+
+                    }
+                    //=================================================================
+
                     // if (hs_count >= algor_param->hs_count_threshold)
-                    if (hs_count - det_result.person_motocycle_cnt >= algor_param->hs_count_threshold) //头肩数量去除包含的行人和非机动车数量
+                    LOG_INFO("hs_count：{}  hs_inpose_count: {} person_motocycle_cnt：{}  threshold: {}", hs_count, hs_inpose_count, det_result.person_motocycle_cnt, algor_param->hs_count_threshold);
+                    // if (hs_count - det_result.person_motocycle_cnt >= algor_param->hs_count_threshold) //头肩数量去除包含的行人和非机动车数量
+                    if (hs_count - det_result.person_motocycle_cnt >= algor_param->hs_count_threshold || hs_inpose_count >= algor_param->hs_count_threshold)
                     {
                         if (++e.n_frame == algor_param->n)
                         {
@@ -325,7 +441,7 @@ namespace ai_engine_module
                     VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
                 _continue:
                     {
-
+                        VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
                     }
                 }
@@ -8,6 +8,7 @@
 #include "../ai_platform/macro_definition.h"
 #include "ai_engine_header.h"
 #include "hs_det_truck.h"
+#include "vehicle_pose.h"
 #include "acl/acl.h"
 #include "acl/ops/acl_dvpp.h"
@@ -23,6 +24,7 @@ namespace ai_engine_module
         using id_t = obj_key_t;
         using task_id_t = std::string;
         using algor_param_type = algor_config_param_manned_incident*;
+        #define IMG_RES 224
         typedef struct input_data_wrap_t
         {
@@ -30,7 +32,11 @@ namespace ai_engine_module
             long objId;
             int person_motocycle_cnt;
             std::string taskId;
-            box_t box;
+            box_t box; // 记录检测框
+            box_t vpose_box; // 记录预处理后的检测框
+            int x_center;    // 外扩前的中心点及长边信息
+            int y_center;
+            float llength;
         } input_data_wrap_t;
@@ -91,7 +97,8 @@ namespace ai_engine_module
             aclrtContext m_algorthim_ctx;
             bool init_;
-            void* tools_;
+            void* hs_tools_;
+            void* vpose_tools_;
             task_param_manager* task_param_manager_;
             std::map<id_t, mn_frame_t> id_to_mn_;
             std::map<id_t, results_data_t> id_to_result_;
+/*******************************************************************************************
+* Version: car_pose_v0.0.0.20210519
+* CopyRight: 中科视语(北京)科技有限公司
+* UpdateDate: 20210519
+* Content: 车辆姿态估计
+********************************************************************************************/
+
+#ifndef _VEHICLE_POSE_H_
+#define _VEHICLE_POSE_H_
+
+#ifdef _MSC_VER
+#ifdef VEHICLE_POSE_EXPORTS
+#define VEHICLE_POSE_API __declspec(dllexport)
+#else
+#define VEHICLE_POSE_API __declspec(dllimport)
+#endif
+#else
+#define VEHICLE_POSE_API __attribute__ ((visibility ("default"))) //?
+#endif	
+
+#include "sy_common.h"
+
+#define MAX_OBJ_COUNT 200
+
+//#define _VEHICLE_DET_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define POSE_COUNT 9
+// #define LDMK_COUNT 20
+#define LDMK_COUNT 32 //221104版本有32个关键点
+
+#ifndef __VEHICLE_POSE_RESULT__
+#define __VEHICLE_POSE_RESULT__
+	typedef struct vehicle_pose_result
+	{
+		sy_point vehicle_ldmk[LDMK_COUNT];
+		float vehicle_ldmk_score[LDMK_COUNT];
+		float vehicle_pose[POSE_COUNT];
+   
+    double phi;
+    double gamma;
+    double theta;
+	}vehicle_pose_result;
+#endif
+
+#ifndef __VEHICLE_POSE_PARAM__
+#define __VEHICLE_POSE_PARAM__
+	typedef struct vehicle_pose_param
+	{
+		// int mode;				/运行模式(DEVICE_GPU / DEVICE_CPU)
+		int devId;					//运行卡号
+		char* modelNames;
+		float ldmk_thres;           //ldmk点的阈值
+		// int engine;					//指定运行引擎(ENGINE_MCAFFE2 / ENGINE_TENSORRT)
+		// int max_batch;				//指定trt批处理数量上限
+		// char* serialize_file;		//指定trt缓存文件完整路径
+		// char* auth_license;
+		// vehicle_pose_param() :mode(DEVICE_GPU), gpuid(0), engine(ENGINE_TENSORRT), max_batch(20), auth_license("sy") {};
+	}vehicle_pose_param;
+#endif
+
+
+#ifndef __VEHICLE_POSE_DRAW_PARAM__
+#define __VEHICLE_POSE_DRAW_PARAM__
+#define PIXEL_COUNT 3
+	typedef struct vehicle_pose_draw_param
+	{
+		int ldmk[PIXEL_COUNT];         //绘制ldmk点 像素值
+		int pose[PIXEL_COUNT];         //绘制点云 像素值
+
+		char* result_image_path;     //图片保存路径，如"./result/car1.jpg"
+		char* car_vertice_path;      //car_vertice路径
+   
+	}vehicle_pose_draw_param;
+#endif
+
+
+	/*************************************************************************
+	* FUNCTION: car_pose_recg_init
+	* PURPOSE: 车辆姿态估计初始化
+	* PARAM:
+	[in] handle					- 句柄
+	[in] param					- 初始化参数
+	* RETURN: 成功(0)或错误(<0)
+	* NOTES:
+	*************************************************************************/
+	VEHICLE_POSE_API int vehicle_pose_init(void ** handle, vehicle_pose_param param);
+
+
+	/*************************************************************************
+	* FUNCTION: car_pose_recg_process
+	* PURPOSE: 车辆姿态估计
+	* PARAM:
+	[in] tools					- 句柄
+	[in] img_data				- 检测图像数据
+	[out] result				- 检测结果
+	* RETURN: 成功(0)或错误(<0)
+	* NOTES:
+	*************************************************************************/
+	VEHICLE_POSE_API int vehicle_pose_process(void * handle, sy_img * img_data, vehicle_pose_result * result);
+
+
+	/*************************************************************************
+	* FUNCTION: car_pose_recg_batch
+	* PURPOSE: 车辆姿态估计批处理
+	* PARAM:
+	[in] tools					- 句柄
+	[in] img_data_array			- 检测图像数据数组
+	[in] batch_size				- 检测图像批处理个数
+	[out] result				- 检测结果数组
+	* RETURN: 成功(0)或错误(<0)
+	* NOTES:
+	*************************************************************************/
+	VEHICLE_POSE_API int vehicle_pose_batch(void * handle, sy_img *img_data_array, int batch_size, vehicle_pose_result * result);
+	
+  VEHICLE_POSE_API int vehicle_pose_batch_draw(void * handle, sy_img *img_data_array, int batch_size, vehicle_pose_result * result, vehicle_pose_draw_param *draw_param);
+
+#ifdef _VEHICLE_DET_
+ VEHICLE_POSE_API int vehicle_det_pose_process_path(void * handle, char* image_path, vehicle_pose_result *result, int *car_count, vehicle_pose_draw_param draw_param);
+	VEHICLE_POSE_API int vehicle_det_pose_process(void * handle, sy_img img_data, vehicle_pose_result *result,int *car_count, vehicle_pose_draw_param draw_param);
+ #endif
+	/*************************************************************************
+	* FUNCTION: car_pose_recg_release
+	* PURPOSE: 资源释放
+	* PARAM:
+	[in] handle					 - 处理句柄
+	* RETURN: NULL
+	* NOTES:
+	*************************************************************************/
+	VEHICLE_POSE_API void vehicle_pose_release(void ** handle);
+
+
+	/*************************************************************************
+	* FUNCTION: car_pose_recg_get_version
+	* PURPOSE: 版本返回
+	* PARAM: NULL
+	* RETURN: 版本号
+
+	* NOTES:
+	*************************************************************************/
+	VEHICLE_POSE_API const char * vehicle_pose_get_version();
+
+
+#ifdef __cplusplus
+};
+#endif
+#endif
@@ -33,7 +33,7 @@ lib_dir=-L/usr/local/Ascend/ascend-toolkit/6.3.RC1/runtime/lib64 \
 lib=-lacl_dvpp -lascendcl -lacl_dvpp_mpi -lruntime -lascendalog -lc_sec -lmsprofiler -lgert -lmmpa -lascend_hal -lexe_graph -lge_executor -lgraph -lprofapi -lascend_protobuf -lerror_manager -lhybrid_executor -lregister -ldavinci_executor -lge_common -lge_common_base \
 	-lplatform -lgraph_base -lqos_manager
-LIBS= -L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lhs_motor_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -latlaslic -lvpt_ascend\
+LIBS= -L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lhs_motor_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -lvehicle_pose_vdec -latlaslic -lvpt_ascend\
 		-L $(OPENCV_ROOT)/lib -lopencv_world\
 		-L $(JSON_ROOT)/lib -ljsoncpp \
 		-L $(FFMPEG_ROOT)/lib -lavformat -lavcodec -lswscale -lavutil -lavfilter -lswresample -lavdevice \