auto row_ptr    = output.row(i).ptr<float>();
 auto bboxes_ptr = row_ptr;
 auto scores_ptr = row_ptr + 4;
 auto  max_s_ptr  = std::max_element(scores_ptr, scores_ptr + this->class_nums);
 auto kps_ptr    = row_ptr + 6;

struct Object {
    int              label = 0;
    float            prob  = 0.0;
    std::vector<cv::Point2f> kps;
    cv::Rect_<int> rect;
    std::string plateContent;
    std::string colorType;
};

// merge double plate
void mergePlate(const cv::Mat& src,cv::Mat& dst) {
    int width = src.cols;
    int height = src.rows;
    cv::Mat upper = src(cv::Rect(0,0,width,int(height*5.0/12)));
    cv::Mat lower = src(cv::Rect(0,int(height*1.0/3.),width,height-int(height*1.0/3.0)));
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    cv::resize(upper,upper,lower.size());
    dst = cv::Mat(lower.rows,lower.cols+upper.cols,CV_8UC3,cv::Scalar(114,114,114));
    upper.copyTo(dst(cv::Rect(0,0,upper.cols,upper.rows)));
    lower.copyTo(dst(cv::Rect(upper.cols,0,lower.cols,lower.rows)));
}
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/*
preprocess
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0. Perspective
1. merge plate if label is double
2. resize to (48,168)
3. normalize to 0-1 and standard (mean = 0.588 , std = 0.193)
*/
if(obj.label == 1) {
        mergePlate(dst,dst);
}

// Perspective
// the kps means pose model's KeyPoints,which is (tl,tr,br,bl)
void Transform(const cv::Mat& src,cv::Mat& dst,const std::vector<cv::Point2f>& kps) {
    float widthA = sqrt(pow((kps[2].x-kps[3].x),2)+pow((kps[2].y-kps[3].y),2));
    float widthB = sqrt(pow((kps[1].x-kps[0].x),2)+pow((kps[1].y-kps[0].y),2));
    float maxWidth = std::max(int(widthA),int(widthB));
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    float heightA = sqrt(powf((kps[1].x-kps[2].x),2)+powf((kps[1].y-kps[2].y),2));
    float heightB = sqrt(powf((kps[0].x-kps[3].x),2)+powf((kps[0].y-kps[3].y),2));
    float maxHeight = std::max(int(heightA),int(heightB));
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    std::vector<cv::Point2f> dstTri {
        cv::Point2f(0,0),cv::Point2f(maxWidth,0),
        cv::Point2f(maxWidth,maxHeight),cv::Point2f(0,maxHeight)
    };
    cv::Mat M = cv::getPerspectiveTransform(kps,dstTri);                      cv::warpPerspective(src,dst,M,cv::Size(maxWidth,maxHeight),cv::INTER_LINEAR,cv::BORDER_REPLICATE);
}

#include<stdio.h>
#include<string.h>
#ifndef GOWRAP_H
#define GOWRAP_H
#ifdef __cplusplus
extern "C"
{
#endif
extern void* init(const char* modelType, const char* enginePath, int deviceId, int classNums, int kps);
extern char* detect(void* model1,void* model2,const char* base64Img,float score,float iou);
extern void release(void*);
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#ifdef __cplusplus
}
#endif
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#endif //GOWRAP_H
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#include "../include/gowrap.h"
#include "../include/plate.hpp"
#include "../include/pose.hpp"
#include "../include/factory.hpp"
#include "../include/base64.h"
void* init(const char* modelType, const char* enginePath, int deviceId, int classNums, int kps) {
    std::string type(modelType);
    std::string engine(enginePath);
    auto model = modelInit(type,engine,deviceId,classNums,kps);
    model->make_pipe(true);
    return (void*)model;
}
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char* detect(void* m1, void* m2,const char* base64Img, float score, float iou) {
    std::string base64(base64Img);
    cv::Mat image = Base2Mat(base64);
    std::vector<Object> objs;
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    // get model
    auto* model1 = (YOLOV8_Pose*)m1;
    auto* model2 = (Plate*)m2;
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    model1->predict(image, objs, score,iou,100);
    model2->predict(image,objs);
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    // obj trans to json
    Json::Value root;
    Json::Value resObjs;
    Json::Value resObj;
    Json::Value objRec;
    Json::FastWriter writer;
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    for(const auto&obj : objs){
        Json::Value attrObj;
        attrObj["color"] = obj.colorType;
        attrObj["lineType"] = obj.label;
        attrObj["plate"] = obj.plateContent;
        resObj["attr"] = Json::Value(attrObj);
        resObj["class_id"] = (int)obj.label;
        resObj["conf"] = (float)obj.prob;
        int x = (int)obj.rect.x;
        int y = (int)obj.rect.y;
        int width = (int)obj.rect.width;
        int height = (int)obj.rect.height;
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        objRec["x"] = x;
        objRec["y"] = y;
        objRec["width"] = width;
        objRec["height"] = height;
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        resObj["position"]=Json::Value(objRec);
        resObjs.append(resObj);
    }
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    root["result"] = Json::Value(resObjs);
    std::string resObjs_str = writer.write(root);
    return strdup(resObjs_str.c_str());
}
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void release(void* modelHandle) {
    auto model = (TRTInfer*) modelHandle;
    delete model;
}

/*
#cgo LDFLAGS: -L./ -lshelgi_plate -lstdc++
#cgo CPPFLAGS: -I ../include -I /usr/include -I /usr/local/include
#cgo CFLAGS: -std=gnu11
#include<stdio.h>
#include<stdlib.h>
#include "gowrap.h"
*/
import "C"

type Object struct {
    p unsafe.Pointer
}
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func NewModel(modelType, enginePath string, deviceId int, classNums int, kps int) *Object {
    obj := &Object{p: C.init(C.CString(modelType), C.CString(enginePath), C.int(deviceId), C.int(classNums), C.int(kps))}
    return obj
}
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func detect(m1, m2 *Object, img string, score, iou float32) string {
    res := C.detect(m1.p, m2.p, C.CString(img), C.float(score), C.float(iou))
    result := C.GoString(res)
    return result
}
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func release(m *Object) {
    C.release(m.p)
}