feat(v2): complete Go inference and UI spike

v2/internal/spike/ort.go

@@ -0,0 +1,63 @@
+package spike
+
+import (
+	"fmt"
+
+	ort "github.com/yalue/onnxruntime_go"
+)
+
+const (
+	poseInputSize   = 640
+	poseInputCount  = 1 * 3 * poseInputSize * poseInputSize
+	poseOutputCount = 1 * 56 * 8400
+)
+
+// RunPose executes the locked YOLO pose ONNX graph once using the CPU runtime.
+// The caller supplies absolute model and DLL paths so no camera credential or
+// machine-specific path is retained in V2 configuration or source.
+func RunPose(modelPath, runtimeDLLPath string, input []float32) ([]float32, error) {
+	if len(input) != poseInputCount {
+		return nil, fmt.Errorf("pose input length = %d, want %d", len(input), poseInputCount)
+	}
+
+	ort.SetSharedLibraryPath(runtimeDLLPath)
+	if err := ort.InitializeEnvironment(); err != nil {
+		return nil, fmt.Errorf("initialize ONNX Runtime: %w", err)
+	}
+	defer func() { _ = ort.DestroyEnvironment() }()
+
+	inputTensor, err := ort.NewTensor(ort.NewShape(1, 3, poseInputSize, poseInputSize), input)
+	if err != nil {
+		return nil, fmt.Errorf("create pose input tensor: %w", err)
+	}
+	defer func() { _ = inputTensor.Destroy() }()
+
+	outputTensor, err := ort.NewEmptyTensor[float32](ort.NewShape(1, 56, 8400))
+	if err != nil {
+		return nil, fmt.Errorf("create pose output tensor: %w", err)
+	}
+	defer func() { _ = outputTensor.Destroy() }()
+
+	session, err := ort.NewAdvancedSession(
+		modelPath,
+		[]string{"images"},
+		[]string{"output0"},
+		[]ort.Value{inputTensor},
+		[]ort.Value{outputTensor},
+		nil,
+	)
+	if err != nil {
+		return nil, fmt.Errorf("open pose ONNX session: %w", err)
+	}
+	defer func() { _ = session.Destroy() }()
+
+	if err := session.Run(); err != nil {
+		return nil, fmt.Errorf("run pose ONNX session: %w", err)
+	}
+
+	output := outputTensor.GetData()
+	if len(output) != poseOutputCount {
+		return nil, fmt.Errorf("pose output length = %d, want %d", len(output), poseOutputCount)
+	}
+	return append([]float32(nil), output...), nil
+}