优化代码，修正跟踪逻辑

Hu Chunming
1 parent 3318f8fc
Showing 4 changed files with 91 additions and 112 deletions
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/MutliSourceVideoProcess.cpp
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/VPTProcess.cpp
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/VPTProcess.h
vehicle_structure_platform.git0708-3080-trt-face/src/VPT/common.h
@@ -781,10 +781,6 @@ void CMutliSourceVideoProcess::algorthim_process()
  
 		cudaDeviceSynchronize();
  
-
-		vector<vector<int>> deleteObjectID;
-		set<int>::iterator iter = TaskinPlayID.begin();
-
 		int cur_batch_size = 0;
 		cur_batch_size = section_batch_size;
  
@@ -805,41 +801,28 @@ void CMutliSourceVideoProcess::algorthim_process()
  
 		long long start_time_vpt = get_cur_time_ms();
  
-		sy_img batch_img[TaskinPlayID.size()];
-		vector<vector<VPT_Result>> unUsedResult;
+		set<int>::iterator iter = TaskinPlayID.begin();
+
+		int task_in_play_size = TaskinPlayID.size();
+		vector<vector<int>> deleteObjectID(task_in_play_size);
+		vector<sy_img> batch_img(task_in_play_size);
+		vector<vector<VPT_Result>> unUsedResult(task_in_play_size);
+		vector<VPT_Result> VPTResult(task_in_play_size);
 		vector<unsigned long long> vec_frameIndex;
-		vector<VPT_Result> VPTResult(TaskinPlayID.size());
-		unUsedResult.resize(TaskinPlayID.size());
-		int cycleTimes = curPlayTaskCount / cur_batch_size + (curPlayTaskCount % cur_batch_size == 0 ? 0 : 1);
-		for (int c = 0; c < cycleTimes; c++)
-		{
-			int batchsize = c == cycleTimes - 1 ? (curPlayTaskCount - cur_batch_size*c) : cur_batch_size;
-			int startbatch = c*cur_batch_size;
  
-			vec_frameIndex.clear();
-			for (int i = 0; i < batchsize; i++) 
-			{
-				DxGPUFrame task_algorithm_data = tasks[*iter].task_algorithm_data;
-				int w = task_algorithm_data.width;
-				int h = task_algorithm_data.height;
-				int npitch = task_algorithm_data.size;
-
-				batch_img[i].set_data(w, h, 3, (unsigned char *)task_algorithm_data.frame);
-				vec_frameIndex.push_back(task_algorithm_data.timestamp);
-				iter++;
-			}
+		for (size_t i = 0; i < TaskinPlayID.size(); i++) {
+			DxGPUFrame task_algorithm_data = tasks[*iter].task_algorithm_data;
+			int w = task_algorithm_data.width;
+			int h = task_algorithm_data.height;
+			int npitch = task_algorithm_data.size;
  
-			vector<vector<int>> tempDeleteObjectID;				
-			tempDeleteObjectID.resize(batchsize);
-			int flag = m_vptProcess.process(batch_img, startbatch, batchsize, vec_frameIndex, VPTResult, tempDeleteObjectID, unUsedResult);
-			process_times++ ;
-		
-			for (auto iter : tempDeleteObjectID)
-			{
-				deleteObjectID.push_back(iter);
-			}
-			vector<vector<int>>().swap(tempDeleteObjectID);
+			batch_img[i].set_data(w, h, 3, (unsigned char *)task_algorithm_data.frame);
+			vec_frameIndex.push_back(task_algorithm_data.timestamp);
+			
+			iter++;
 		}
+		
+		int flag = m_vptProcess.process(batch_img.data(), batch_img.size(), vec_frameIndex, VPTResult, deleteObjectID, unUsedResult);
  
 #ifdef LOG_INFO2
 		std::cout << "VPT_Process_GPU time_using: " << get_cur_time_ms() - start_time_vpt << std::endl;
@@ -195,62 +195,65 @@ void VPTProcess::check_VPT_Result(VPT_Result &amp; vResult) {
 	vResult.objCount = index;
 }
  
-int VPTProcess::process(sy_img * batch_img, int startBatch, int batchsize, vector<unsigned long long> vec_frameIndex, vector<VPT_Result>& result, vector<vector<int>>& deleteObjectID, vector<vector<VPT_Result>>& unUsedResult)
+int VPTProcess::process(sy_img * batch_img, int batchsize, vector<unsigned long long> vec_frameIndex, vector<VPT_Result>& result, vector<vector<int>>& deleteObjectID, vector<vector<VPT_Result>>& unUsedResult)
 {
 	if(nullptr == det_handle){
 		return FAILED;
 	}
  
-	bool isUseDet = true;
-	int channels = 3;
-
 	long long t1 = get_cur_time_ms();
  
-	ctools_result *detresult;
-	int res_status = ctools_process(det_handle, batch_img, batchsize, &detresult);
-
-#ifdef LOG_INFO2
-	long long t2 =  get_cur_time_ms();
-	cout << "ctools_process time_using = "<< t2 - t1 << endl;
-#endif
-
-	vector <vector< vector <float>>> detectResult(batchsize);	//sort
-
-	for (int b = 0; b < batchsize; b++)
-	{
-		ctools_result &cur_result = detresult[b];
+	vector <vector< vector <float>>> detectResult(batchsize);
+	int real_index = 0;
  
-		for (int c = 0; c < cur_result.obj_count_ && c < MAX_OBJ_COUNT; c++)
-		{
-			float x1 = cur_result.obj_results_[c].data_[2];
-			float y1 = cur_result.obj_results_[c].data_[3];
-			float x2 = cur_result.obj_results_[c].data_[4];
-			float y2 = cur_result.obj_results_[c].data_[5];
+	int cycle_time = batchsize / m_max_batch_size;
+	cycle_time = (batchsize % m_max_batch_size) == 0 ?  cycle_time : (cycle_time + 1) ;
+	vector<sy_img> vec_img;
+	for (int i = 0; i < cycle_time; i++) {
+		vec_img.clear();
  
-			float class_id = cur_result.obj_results_[c].data_[0];
-			float score = cur_result.obj_results_[c].data_[1];
+		int start_index = i * m_max_batch_size;
+		int end_index = start_index + m_max_batch_size;
+		if(end_index >= batchsize) {
+			end_index = batchsize;
+		}
+		for (int j = start_index; j < end_index; j++) {
+			vec_img.push_back(batch_img[j]);
+		}
+		
+		ctools_result *detresult;
+		int res_status = ctools_process(det_handle, vec_img.data(), vec_img.size(), &detresult);
  
-			int imgid = b;
-			if (score >= THRESHOLD)
+		for (size_t b = 0; b < vec_img.size(); b++) {
+			ctools_result &cur_result = detresult[b];
+			for (int c = 0; c < cur_result.obj_count_ && c < MAX_OBJ_COUNT; c++)
 			{
-				vector <float> obj;
-
-				obj.push_back(x1);
-				obj.push_back(y1);
-				obj.push_back(x2);
-				obj.push_back(y2);
-				obj.push_back(score);
-				obj.push_back(class_id);
-				detectResult[imgid].push_back(obj);
+				float x1 = cur_result.obj_results_[c].data_[2];
+				float y1 = cur_result.obj_results_[c].data_[3];
+				float x2 = cur_result.obj_results_[c].data_[4];
+				float y2 = cur_result.obj_results_[c].data_[5];
+
+				float class_id = cur_result.obj_results_[c].data_[0];
+				float score = cur_result.obj_results_[c].data_[1];
+
+				if (score >= THRESHOLD)
+				{
+					vector <float> obj;
+
+					obj.push_back(x1);
+					obj.push_back(y1);
+					obj.push_back(x2);
+					obj.push_back(y2);
+					obj.push_back(score);
+					obj.push_back(class_id);
+					detectResult[real_index].push_back(obj);
+				}
 			}
+			real_index++;
 		}
 	}
-
-	int resIndex = startBatch;
-	int detectIndex = 0;
-
-	for (int i = startBatch; i < taskTrackers.size(); i++)
-	{
+	
+	for (int i = 0; i < batchsize; i++){
 		TaskTracker task_tracker = taskTrackers[i];
 		if (!task_tracker.tracker.GetState()) {
 			continue;
@@ -258,19 +261,23 @@ int VPTProcess::process(sy_img * batch_img, int startBatch, int batchsize, vecto
  
 		if (task_tracker.lastFrameIndex <= 0) {
 			// 第一帧，只做带检测框的跟踪
-			int objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[detectIndex], result[resIndex].obj, deleteObjectID[detectIndex]);
-			result[resIndex].objCount = objCount;
-			vector<vector<float>>().swap(detectResult[detectIndex]);
-			detectResult[detectIndex].clear();
+			int objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[i], result[i].obj, deleteObjectID[i]);
+			result[i].objCount = objCount;
  
-			task_tracker.lastFrameIndex = vec_frameIndex[detectIndex];
+			check_VPT_Result(result[i]);
+
+			task_tracker.lastFrameIndex = vec_frameIndex[i];
+			task_tracker.lastDetectResult = detectResult[i];
+			task_tracker.lastUnUsedResult.objCount = result[i].objCount;
+			memcpy(task_tracker.lastUnUsedResult.obj, result[i].obj, sizeof(VPT_ObjInfo) * MAX_OBJ_COUNT);
+			task_tracker.lastDeleteObjectID = deleteObjectID[i];
 			continue;
 		}
  
-		int update_times = vec_frameIndex[detectIndex] - task_tracker.lastFrameIndex - 1;
+		int update_times = vec_frameIndex[i] - task_tracker.lastFrameIndex - 1;
 		if (update_times < 0)
 		{
-			cout << "FrameIndex error !! lastFrameIndex= "<< task_tracker.lastFrameIndex <<" cur_frameindex = " << vec_frameIndex[detectIndex] << endl;
+			cout << "FrameIndex error !! lastFrameIndex= "<< task_tracker.lastFrameIndex <<" cur_frameindex = " << vec_frameIndex[i] << endl;
 		}
 		// cout << "lastFrameIndex= " << task_tracker.lastFrameIndex << " cur_frameindex = " << vec_frameIndex[detectIndex] << endl;
 		// cout << "update_times = " << update_times << endl;
@@ -278,38 +285,24 @@ int VPTProcess::process(sy_img * batch_img, int startBatch, int batchsize, vecto
 		for (int j = 0; j < update_times; j++)
 		{ // 无检测框跟踪
 			//cout << "taskTrackers size: " << task_tracker.size() << "  batchsize:" << detectResult.size() << "  update_times: "<< update_times << endl;
-			VPT_Result unresult;
-			VPT_ObjInfo obj[MAX_OBJ_COUNT];
-			unresult.objCount =task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, false, detectResult[detectIndex], unresult.obj, deleteObjectID[detectIndex]);
-			check_VPT_Result(unresult);
-			unUsedResult[resIndex].push_back(unresult);
+			task_tracker.lastUnUsedResult.objCount =task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, false, task_tracker.lastDetectResult, task_tracker.lastUnUsedResult.obj, task_tracker.lastDeleteObjectID);
 		}
  
 		//有检测框输入的跟踪
-		int objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[detectIndex], result[resIndex].obj, deleteObjectID[detectIndex]);
-		result[resIndex].objCount = objCount;
-		vector<vector<float>>().swap(detectResult[detectIndex]);
-		detectResult[detectIndex].clear();
+		int objCount = task_tracker.tracker.update(task_tracker.ratioWidth, task_tracker.ratioHeight, true, detectResult[i], result[i].obj, deleteObjectID[i]);
+		result[i].objCount = objCount;
  
-		// 记录帧序号
-		task_tracker.lastFrameIndex = vec_frameIndex[detectIndex];
+		check_VPT_Result(result[i]);
  
-		check_VPT_Result(result[resIndex]);
+		task_tracker.lastDetectResult = detectResult[i];
+		task_tracker.lastUnUsedResult.objCount = result[i].objCount;
+		memcpy(task_tracker.lastUnUsedResult.obj, result[i].obj, sizeof(VPT_ObjInfo) * MAX_OBJ_COUNT);
+		task_tracker.lastDeleteObjectID = deleteObjectID[i];
  
-		resIndex++;
-		detectIndex++;
-		if (resIndex == startBatch + batchsize)
-			break;
+			// 记录帧序号
+		task_tracker.lastFrameIndex = vec_frameIndex[i];
 	}
-
-#ifdef LOG_INFO2
-	long long t3 =  get_cur_time_ms();
-	cout << "track time_using = "<< t3 - t2 << endl;
-#endif
-
-	vector <vector< vector <float>>>().swap(detectResult);
-
-	return SUCCESS;
+	
 }
  
 void VPTProcess::release() {
@@ -23,6 +23,10 @@ struct TaskTracker
     double ratioHeight;
     Sort tracker;
     unsigned int lastFrameIndex;
+
+	vector< vector <float>> lastDetectResult;
+	VPT_Result lastUnUsedResult;
+	vector<int> lastDeleteObjectID;
 };
  
  
@@ -54,8 +58,7 @@ public:
 	* RETURN:	-1：图像错误； 其他：检测到的个数
 	* NOTES:
 	*************************************************************************/
-	//startBatch  多batch为了减少显存，串行处理  - add by lm
-	int process(sy_img * batch_img,  int startBatch, int batchsize, vector<unsigned long long> vec_frameIndex, vector<VPT_Result>& result, vector<vector<int>>& deleteObjectID, vector<vector<VPT_Result>>& unUsedResult);
+	int process(sy_img * batch_img, int batchsize, vector<unsigned long long> vec_frameIndex, vector<VPT_Result>& result, vector<vector<int>>& deleteObjectID, vector<vector<VPT_Result>>& unUsedResult);
  
 	/*************************************************************************
 	* PURPOSE: 资源释放
@@ -105,7 +105,7 @@ typedef struct VPT_ObjInfo	//����ṹ��
 	long id;					//	Ŀ��ΨһID��ͬһIDΪͬһĿ��
 	int num;				//	��ID�����µĵ�num֡
 	double confidence;		//	���Ŷ�
-        int snap_flag;
+    int snap_flag;
 }VPT_ObjInfo;
  
 typedef struct VPT_Result