85cc8cb9
 Hu Chunming
原版代码
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#include "snapshot_reprocessing.h"
#include "ImageSaveGPU.h"
#include "opencv2/opencv.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "helpers/logger.hpp"
snapshot_reprocessing::snapshot_reprocessing()
{
m_task_param_manager = task_param_manager::getInstance();
algor_index_table["human"] = { (int)det_class_label_t::HUMAN };
algor_index_table["nonmotor_vehicle"] = { (int)det_class_label_t::BICYCLE, (int)det_class_label_t::MOTOCYCLE, (int)det_class_label_t::TRICYCLE };
algor_index_table["vehicle"] = { (int)det_class_label_t::SMALL_CAR, (int)det_class_label_t::LARGE_CAR, (int)det_class_label_t::TRUCK, (int)det_class_label_t::TRACTOR, (int)det_class_label_t::MEDIUM_BUS };
}
/* 获取人车物目标快照图 */
map<OBJ_KEY, OBJ_VALUE> * snapshot_reprocessing::get_total_snapshot_info()
{
return &total_snapshot_info;
}
/* 获取所有人脸目标快照图 */
map<OBJ_KEY, OBJ_VALUE> * snapshot_reprocessing::get_total_face_snapshot_info()
{
return &total_face_snapshot_info;
}
/* 获取人车物目标快照图 */
int snapshot_reprocessing::update_bestsnapshot(set<string>& task_in_play_id, sy_img* images,
vector<onelevel_det_result> &ol_det_result,
vector<vector<int>>& delete_object_id)
{
int idx = 0;
for (auto iter: task_in_play_id)
{
if (0 == ol_det_result[idx].obj_count)
{
#ifdef MTASK_DEBUG_
LOG_DEBUG("task_id {} ckpt:0", iter);
#endif
++idx;
continue;
}
int frame_height = images[idx].h_;
int frame_width = images[idx].w_;
int copy_obj_count = 0; // 用于记录该路有多少个目标需要进行显存图像的更新
for (int c = 0; c < ol_det_result[idx].obj_count; c++)
{
int index = 0;
OBJ_KEY new_obj = { iter, ol_det_result[idx].obj[c].id };
/* 投票确定目标index */
if (total_snapshot_info.find(new_obj) == total_snapshot_info.end())
{
index = ol_det_result[idx].obj[c].index;
}
else
{
index = total_snapshot_info[new_obj].index.index;
}
int cur_real_width = (ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left);
int cur_real_height = (ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top);
int cur_real_index = ol_det_result[idx].obj[c].index;
int expansion_width = cur_real_width * EXPANSION_PROPORTION;
int expansion_height = cur_real_height * EXPANSION_PROPORTION;
// DEBUG-----------------------------------------------------------------
// 0-行人 1-自行车 2-摩托车 3-三轮车 4-小型车 5-大车 6-卡车 7-拖拉机 8-中巴
if(index ==0 || index ==1 || index ==2 || index ==3) { //行人和非机动车外扩指定像素即可
expansion_width = 10;
expansion_height = 10;
}
// DEBUG END-------------------------------------------------------------
/* 若该目标第一次出现 */
if (total_snapshot_info.find(new_obj) == total_snapshot_info.end())
{
/* manager insert new object. */
/* 判断目标合法 */
if (!snapshot_judge_algor(index, cur_real_width, cur_real_height))
{
#ifdef MTASK_DEBUG_
LOG_DEBUG("task_id {} ckpt:1", iter);
#endif
continue;
}
/* 存入当前抠图目标参数 flags用于判断目标从画面什么位置出现 方便之后排除出画面边缘的快照图 */
total_snapshot_info[new_obj].index.count++;
total_snapshot_info[new_obj].index.index = cur_real_index;
total_snapshot_info[new_obj].confidence = ol_det_result[idx].obj[c].confidence;
total_snapshot_info[new_obj].flags[0] = ol_det_result[idx].obj[c].left < minDistance[0] + SCALE_OUT ? 0 : 1; //left
total_snapshot_info[new_obj].flags[1] = ol_det_result[idx].obj[c].top < minDistance[1] + SCALE_OUT ? 0 : 1; //top
total_snapshot_info[new_obj].flags[2] = ol_det_result[idx].obj[c].right > frame_width - minDistance[2] - SCALE_OUT ? 0 : 1; //right
total_snapshot_info[new_obj].flags[3] = ol_det_result[idx].obj[c].bottom > frame_height - minDistance[3] - SCALE_OUT ? 0 : 1; //bottom
/* 存入抠图参数 */
snapshot_left[copy_obj_count] = max(ol_det_result[idx].obj[c].left - expansion_width, 0);
snapshot_top[copy_obj_count] = max(ol_det_result[idx].obj[c].top - expansion_height, 0);
snapshot_right[copy_obj_count] = min(ol_det_result[idx].obj[c].right + expansion_width, frame_width - 1);
snapshot_bottom[copy_obj_count] = min(ol_det_result[idx].obj[c].bottom + expansion_height, frame_height - 1);
snapshot_dst_width[copy_obj_count] = snapshot_right[copy_obj_count] - snapshot_left[copy_obj_count];
snapshot_dst_height[copy_obj_count] = snapshot_bottom[copy_obj_count] - snapshot_top[copy_obj_count];
// total_snapshot_info[new_obj].last_area = total_snapshot_info[new_obj].max_area = snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count];
CHECK(cudaMalloc((void**)&total_snapshot_info[new_obj].snapShotLittle.frame, IMG_CHANNELS * snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count] * sizeof(unsigned char)));
total_snapshot_info[new_obj].snapShotLittle.height = snapshot_dst_height[copy_obj_count];
total_snapshot_info[new_obj].snapShotLittle.width = snapshot_dst_width[copy_obj_count];
//DEBUG-------modified by zsh-----------------------------------------------------------------------------------------------------------------
// total_snapshot_info[new_obj].obj_pos = { snapshot_left[copy_obj_count] , snapshot_top[copy_obj_count] , snapshot_dst_width[copy_obj_count] , snapshot_dst_height[copy_obj_count] }; // 推出的坐标随抓拍图外扩
int cur_left = max(ol_det_result[idx].obj[c].left - 10, 0);
int cur_top = max(ol_det_result[idx].obj[c].top - 10, 0);
int cur_right = min(ol_det_result[idx].obj[c].right + 10, frame_width - 1);
int cur_bottom = min(ol_det_result[idx].obj[c].bottom + 10, frame_height - 1);
total_snapshot_info[new_obj].obj_pos = { cur_left, cur_top, cur_right - cur_left, cur_bottom - cur_top }; //debug by zsh 推出的坐标外扩10像素
total_snapshot_info[new_obj].last_area = total_snapshot_info[new_obj].max_area = (cur_right - cur_left) * (cur_bottom - cur_top);
// total_snapshot_info[new_obj].obj_pos = { ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top, ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top }; // 推出的坐标不外扩，只存在本地的快照外扩
//DEBUG END-----------------------------------------------------------------------------------------------------------------------------------
snapshot_image_data[copy_obj_count++] = (unsigned char*)total_snapshot_info[new_obj].snapShotLittle.frame;
CHECK(cudaMalloc((void**)&total_snapshot_info[new_obj].snapShot.frame, IMG_CHANNELS * frame_width * frame_height * sizeof(unsigned char)));
CHECK(cudaMemcpy(total_snapshot_info[new_obj].snapShot.frame, (unsigned char*)images[idx].data_, IMG_CHANNELS * frame_width * frame_height * sizeof(unsigned char), cudaMemcpyDeviceToDevice));
total_snapshot_info[new_obj].snapShot.height = frame_height;
total_snapshot_info[new_obj].snapShot.width = frame_width;
total_snapshot_info[new_obj].snapShot.size = frame_width * frame_height * IMG_CHANNELS;
}
else /* 若目标不是第一次出现 */
{
total_snapshot_info[new_obj].last_area = (ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left) * (ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top);
/* 判断该目标是否优于之前的目标（判断策略可以自定义） */
if (!best_snapshot_judge_algor(new_obj, total_snapshot_info[new_obj], ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top,
cur_real_width, cur_real_height, frame_width, frame_height))
{
continue;
}
/* 若更优于之前的快照 做快照的更新 */
if (total_snapshot_info[new_obj].index.count == 0)
{
total_snapshot_info[new_obj].index.count++;
total_snapshot_info[new_obj].index.index = cur_real_index;
}
else
{
if (total_snapshot_info[new_obj].index.index == cur_real_index)
total_snapshot_info[new_obj].index.count++;
else
total_snapshot_info[new_obj].index.count--;
}
snapshot_left[copy_obj_count] = max(ol_det_result[idx].obj[c].left - expansion_width, 0);
snapshot_top[copy_obj_count] = max(ol_det_result[idx].obj[c].top - expansion_height, 0);
snapshot_right[copy_obj_count] = min(ol_det_result[idx].obj[c].right + expansion_width, frame_width - 1);
snapshot_bottom[copy_obj_count] = min(ol_det_result[idx].obj[c].bottom + expansion_height, frame_height - 1);
snapshot_dst_width[copy_obj_count] = snapshot_right[copy_obj_count] - snapshot_left[copy_obj_count];
snapshot_dst_height[copy_obj_count] = snapshot_bottom[copy_obj_count] - snapshot_top[copy_obj_count];
// total_snapshot_info[new_obj].last_area = total_snapshot_info[new_obj].max_area = snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count];
//DEBUG--------------------------------------------------------------------------------------------------------------------------------------
// total_snapshot_info[new_obj].obj_pos = { snapshot_left[copy_obj_count] , snapshot_top[copy_obj_count] , snapshot_dst_width[copy_obj_count] , snapshot_dst_height[copy_obj_count] }; // 推出的坐标随抓拍图外扩
int cur_left = max(ol_det_result[idx].obj[c].left - 10, 0);
int cur_top = max(ol_det_result[idx].obj[c].top - 10, 0);
int cur_right = min(ol_det_result[idx].obj[c].right + 10, frame_width - 1);
int cur_bottom = min(ol_det_result[idx].obj[c].bottom + 10, frame_height - 1);
total_snapshot_info[new_obj].obj_pos = { cur_left, cur_top, cur_right - cur_left, cur_bottom - cur_top }; //debug by zsh 推出的坐标外扩10像素
total_snapshot_info[new_obj].last_area = total_snapshot_info[new_obj].max_area = (cur_right - cur_left) * (cur_bottom - cur_top);
// total_snapshot_info[new_obj].obj_pos = { ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top, ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top }; //debug by zsh 推出的坐标不外扩，只存在本地的快照外扩
//DEBUG END----------------------------------------------------------------------------------------------------------------------------------
if (total_snapshot_info[new_obj].snapShotLittle.frame != nullptr)
{
CHECK(cudaFree(total_snapshot_info[new_obj].snapShotLittle.frame));
CHECK(cudaMalloc((void**)&total_snapshot_info[new_obj].snapShotLittle.frame, IMG_CHANNELS * snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count] * sizeof(unsigned char)));
}
total_snapshot_info[new_obj].snapShotLittle.height = snapshot_dst_height[copy_obj_count];
total_snapshot_info[new_obj].snapShotLittle.width = snapshot_dst_width[copy_obj_count];
snapshot_image_data[copy_obj_count++] = (unsigned char*)total_snapshot_info[new_obj].snapShotLittle.frame;
CHECK(cudaMemcpy(total_snapshot_info[new_obj].snapShot.frame, (unsigned char*)images[idx].data_, IMG_CHANNELS * frame_width * frame_height * sizeof(unsigned char), cudaMemcpyDeviceToDevice));
total_snapshot_info[new_obj].snapShot.height = frame_height;
total_snapshot_info[new_obj].snapShot.width = frame_width;
total_snapshot_info[new_obj].snapShot.size = frame_width * frame_height * IMG_CHANNELS;
}
}
/* 根据上面对目标的依次判断 存在需要抠图的目标 进行批量的抠图 同时做resize操作 */
if (0 != copy_obj_count)
{
PartMemResizeBatch((unsigned char*)images[idx].data_, frame_width, frame_height,
snapshot_image_data, copy_obj_count, snapshot_left, snapshot_top, snapshot_right, snapshot_bottom, snapshot_dst_width, snapshot_dst_height, 0, 0, 0, 1, 1, 1);
}
idx++;
}
return 0;
}
//人脸快照保存更新
int snapshot_reprocessing::update_face_bestsnapshot(set<string>& task_in_play_id, sy_img* images, vector<onelevel_det_result> &ol_det_result, vector<vector<int>>& delete_object_id)
{
int idx = 0;
for (auto iter : task_in_play_id)
{
LOG_TRACE("[info]: {}: {}",iter,ol_det_result[idx].obj_count);
if (0 == ol_det_result[idx].obj_count) {
++idx;
continue;
}
int frame_height = images[idx].h_;
int frame_width = images[idx].w_;
int copy_obj_count = 0; //用于记录该路有多少个目标需要进行显存图像的更新
for (int c = 0; c < ol_det_result[idx].obj_count; c++)
{
OBJ_KEY new_obj = { iter, ol_det_result[idx].obj[c].id };
int index = 1;
// 分类判断，人脸不需要
int cur_real_width = (ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left);
int cur_real_height = (ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top);
int cur_real_index = ol_det_result[idx].obj[c].index;
LOG_TRACE("[info]00000: {}: {} roll:{} yaw:{} pitch:{}",iter,ol_det_result[idx].obj[c].id, fabs(ol_det_result[idx].obj[c].roll),fabs(ol_det_result[idx].obj[c].yaw),fabs(ol_det_result[idx].obj[c].pitch));
// 该目标的第一张
if (total_face_snapshot_info.find(new_obj) == total_face_snapshot_info.end())
{
/* manager insert new object. */
// 有效区域和最小面积过滤
if (cur_real_width * cur_real_height < 30 * 30)
{
continue;
}
LOG_TRACE("[info]11111: {}: {}",iter,ol_det_result[idx].obj[c].id);
total_face_snapshot_info[new_obj].index.count++;
total_face_snapshot_info[new_obj].index.index = cur_real_index; //debug by zsh
total_face_snapshot_info[new_obj].confidence = ol_det_result[idx].obj[c].confidence;
// 人脸姿态角 added by zsh 220719-------------------------------------------
total_face_snapshot_info[new_obj].roll = ol_det_result[idx].obj[c].roll;
total_face_snapshot_info[new_obj].yaw = ol_det_result[idx].obj[c].yaw;
total_face_snapshot_info[new_obj].pitch = ol_det_result[idx].obj[c].pitch;
//-------------------------------------------------------------------------
//判断是否有余地外扩
total_face_snapshot_info[new_obj].flags[0] = ol_det_result[idx].obj[c].left < minDistance[0] + SCALE_OUT ? 0 : 1; //left
total_face_snapshot_info[new_obj].flags[1] = ol_det_result[idx].obj[c].top < minDistance[1] + SCALE_OUT ? 0 : 1; //top
total_face_snapshot_info[new_obj].flags[2] = ol_det_result[idx].obj[c].right > frame_width - minDistance[2] - SCALE_OUT ? 0 : 1; //right
total_face_snapshot_info[new_obj].flags[3] = ol_det_result[idx].obj[c].bottom > frame_height - minDistance[3] - SCALE_OUT ? 0 : 1; //bottom
// 外扩
//人脸 按长边2倍外扩 --modified by zsh-------------------------------------------------------
int cur_real_max_length = cur_real_width > cur_real_height ? cur_real_width:cur_real_height;
int expansion_width = cur_real_max_length * FACE_EXPANSION_PROPORTION;
int expansion_height = cur_real_max_length * FACE_EXPANSION_PROPORTION;
//------------------------------------------------------------------------------------------
// int expansion_width = cur_real_width * FACE_EXPANSION_PROPORTION;
// int expansion_height = cur_real_height * FACE_EXPANSION_PROPORTION;
snapshot_left[copy_obj_count] = max(ol_det_result[idx].obj[c].left - expansion_width, 0);
snapshot_top[copy_obj_count] = max(ol_det_result[idx].obj[c].top - expansion_height, 0);
snapshot_right[copy_obj_count] = min(ol_det_result[idx].obj[c].right + expansion_width, frame_width - 1);
snapshot_bottom[copy_obj_count] = min(ol_det_result[idx].obj[c].bottom + expansion_height, frame_height - 1);
snapshot_dst_width[copy_obj_count] = snapshot_right[copy_obj_count] - snapshot_left[copy_obj_count];
snapshot_dst_height[copy_obj_count] = snapshot_bottom[copy_obj_count] - snapshot_top[copy_obj_count];
// 存参数
//DEBUG-------modified by zsh-----------------------------------------------------------------------------------------------------------------
int cur_left = max(ol_det_result[idx].obj[c].left - 10, 0);
int cur_top = max(ol_det_result[idx].obj[c].top - 10, 0);
int cur_right = min(ol_det_result[idx].obj[c].right + 10, frame_width - 1);
int cur_bottom = min(ol_det_result[idx].obj[c].bottom + 10, frame_height - 1);
// total_face_snapshot_info[new_obj].obj_pos = { cur_left, cur_top, cur_right - cur_left, cur_bottom - cur_top }; //debug by zsh 推出的坐标外扩10像素
total_face_snapshot_info[new_obj].last_area = total_face_snapshot_info[new_obj].max_area = (cur_right - cur_left) * (cur_bottom - cur_top);
//DEBUG END-----------------------------------------------------------------------------------------------------------------------------------
// total_face_snapshot_info[new_obj].last_area = total_face_snapshot_info[new_obj].max_area = snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count];
CHECK(cudaMalloc((void**)&total_face_snapshot_info[new_obj].snapShotLittle.frame, IMG_CHANNELS * snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count] * sizeof(unsigned char)));
total_face_snapshot_info[new_obj].snapShotLittle.height = snapshot_dst_height[copy_obj_count];
total_face_snapshot_info[new_obj].snapShotLittle.width = snapshot_dst_width[copy_obj_count];
total_face_snapshot_info[new_obj].obj_pos = { snapshot_left[copy_obj_count] , snapshot_top[copy_obj_count] , snapshot_dst_width[copy_obj_count] , snapshot_dst_height[copy_obj_count] };
snapshot_image_data[copy_obj_count++] = (unsigned char*)total_face_snapshot_info[new_obj].snapShotLittle.frame;
// 存人脸关键点、检测框及大图
memcpy(total_face_snapshot_info[new_obj].landmark_point, ol_det_result[idx].obj[c].landmark_point, sizeof(sy_point) * 25);
total_face_snapshot_info[new_obj].position = { ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top, ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top };
total_face_snapshot_info[new_obj].snapShot.height = frame_height;
total_face_snapshot_info[new_obj].snapShot.width = frame_width;
total_face_snapshot_info[new_obj].snapShot.size = frame_width * frame_height * IMG_CHANNELS;
const unsigned nbytes = total_face_snapshot_info[new_obj].snapShot.size * sizeof(unsigned char);
CHECK(cudaMalloc(&total_face_snapshot_info[new_obj].snapShot.frame, nbytes)); ////
CHECK(cudaMemcpy(total_face_snapshot_info[new_obj].snapShot.frame, images[idx].data_, nbytes, cudaMemcpyDeviceToDevice));////
}
else
{
// 该目标非第一张
total_face_snapshot_info[new_obj].last_area = (ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left) * (ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top);
// 最佳快照判断
// if (!best_snapshot_judge_algor(new_obj, total_face_snapshot_info[new_obj], ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top,
// cur_real_width, cur_real_height, frame_width, frame_height))
// modified by zsh
// if (!best_face_snapshot_judge_algor(new_obj, total_face_snapshot_info[new_obj], ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top,
// cur_real_width, cur_real_height, frame_width, frame_height))
// modified by zsh 220719 加入姿态角
if (!best_face_snapshot_judge_algor_v2(new_obj, total_face_snapshot_info[new_obj], ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top,
cur_real_width, cur_real_height, frame_width, frame_height, ol_det_result[idx].obj[c].roll, ol_det_result[idx].obj[c].yaw, ol_det_result[idx].obj[c].pitch ))
continue;
// 满足更新条件则进行更新
if (total_face_snapshot_info[new_obj].index.count == 0)
{
total_face_snapshot_info[new_obj].index.count++;
total_face_snapshot_info[new_obj].index.index = cur_real_index;
}
else
{
if (total_face_snapshot_info[new_obj].index.index == cur_real_index)
total_face_snapshot_info[new_obj].index.count++;
else
total_face_snapshot_info[new_obj].index.count--;
}
// 人脸姿态角 added by zsh 220719-------------------------------------------
total_face_snapshot_info[new_obj].roll = ol_det_result[idx].obj[c].roll;
total_face_snapshot_info[new_obj].yaw = ol_det_result[idx].obj[c].yaw;
total_face_snapshot_info[new_obj].pitch = ol_det_result[idx].obj[c].pitch;
//-------------------------------------------------------------------------
//人脸 按长边2倍外扩 --modified by zsh-------------------------------------------------------
int cur_real_max_length = cur_real_width > cur_real_height ? cur_real_width:cur_real_height;
int expansion_width = cur_real_max_length * FACE_EXPANSION_PROPORTION;
int expansion_height = cur_real_max_length * FACE_EXPANSION_PROPORTION;
//------------------------------------------------------------------------------------------
// int expansion_width = cur_real_width * FACE_EXPANSION_PROPORTION;
// int expansion_height = cur_real_height * FACE_EXPANSION_PROPORTION;
snapshot_left[copy_obj_count] = max(ol_det_result[idx].obj[c].left - expansion_width, 0);
snapshot_top[copy_obj_count] = max(ol_det_result[idx].obj[c].top - expansion_height, 0);
snapshot_right[copy_obj_count] = min(ol_det_result[idx].obj[c].right + expansion_width, frame_width - 1);
snapshot_bottom[copy_obj_count] = min(ol_det_result[idx].obj[c].bottom + expansion_height, frame_height - 1);
snapshot_dst_width[copy_obj_count] = snapshot_right[copy_obj_count] - snapshot_left[copy_obj_count];
snapshot_dst_height[copy_obj_count] = snapshot_bottom[copy_obj_count] - snapshot_top[copy_obj_count];
//DEBUG-------modified by zsh-----------------------------------------------------------------------------------------------------------------
int cur_left = max(ol_det_result[idx].obj[c].left - 10, 0);
int cur_top = max(ol_det_result[idx].obj[c].top - 10, 0);
int cur_right = min(ol_det_result[idx].obj[c].right + 10, frame_width - 1);
int cur_bottom = min(ol_det_result[idx].obj[c].bottom + 10, frame_height - 1);
// total_face_snapshot_info[new_obj].obj_pos = { cur_left, cur_top, cur_right - cur_left, cur_bottom - cur_top }; //debug by zsh 推出的坐标外扩10像素
total_face_snapshot_info[new_obj].last_area = total_face_snapshot_info[new_obj].max_area = (cur_right - cur_left) * (cur_bottom - cur_top);
//DEBUG END-----------------------------------------------------------------------------------------------------------------------------------
// total_face_snapshot_info[new_obj].last_area = total_face_snapshot_info[new_obj].max_area = snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count];
total_face_snapshot_info[new_obj].obj_pos = { snapshot_left[copy_obj_count] , snapshot_top[copy_obj_count] , snapshot_dst_width[copy_obj_count] , snapshot_dst_height[copy_obj_count] };
if (total_face_snapshot_info[new_obj].snapShotLittle.frame != nullptr)
{
CHECK(cudaFree(total_face_snapshot_info[new_obj].snapShotLittle.frame)); //释放显存
CHECK(cudaMalloc((void**)&total_face_snapshot_info[new_obj].snapShotLittle.frame, IMG_CHANNELS * snapshot_dst_width[copy_obj_count] * snapshot_dst_height[copy_obj_count] * sizeof(unsigned char)));
}
total_face_snapshot_info[new_obj].snapShotLittle.height = snapshot_dst_height[copy_obj_count];
total_face_snapshot_info[new_obj].snapShotLittle.width = snapshot_dst_width[copy_obj_count];
snapshot_image_data[copy_obj_count++] = (unsigned char*)total_face_snapshot_info[new_obj].snapShotLittle.frame;
//存人脸关键点、检测框及大图
memcpy(total_face_snapshot_info[new_obj].landmark_point, ol_det_result[idx].obj[c].landmark_point, sizeof(sy_point) * 25);
total_face_snapshot_info[new_obj].position = { ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].top, ol_det_result[idx].obj[c].right - ol_det_result[idx].obj[c].left, ol_det_result[idx].obj[c].bottom - ol_det_result[idx].obj[c].top };
CHECK(cudaMemcpy(total_face_snapshot_info[new_obj].snapShot.frame, (unsigned char*)images[idx].data_, IMG_CHANNELS * frame_width * frame_height * sizeof(unsigned char), cudaMemcpyDeviceToDevice));
total_face_snapshot_info[new_obj].snapShot.height = frame_height;
total_face_snapshot_info[new_obj].snapShot.width = frame_width;
total_face_snapshot_info[new_obj].snapShot.size = frame_width * frame_height * IMG_CHANNELS;
}
}
//对一张图片统一抠图
if (0 != copy_obj_count)
{
PartMemResizeBatch((unsigned char*)images[idx].data_, frame_width, frame_height,
snapshot_image_data, copy_obj_count, snapshot_left, snapshot_top, snapshot_right, snapshot_bottom, snapshot_dst_width, snapshot_dst_height, 0, 0, 0, 1, 1, 1);
}
++idx;
}
return 0;
}
/* 过滤不感兴趣的目标 */
void snapshot_reprocessing::screen_effective_snapshot(const set<string> &taskid_inplay, vector<onelevel_det_result> &_onelevel_det_result)
{
map<string, algor_open_config_param> algor_param = m_task_param_manager->get_task_algor_params();
int task_count = _onelevel_det_result.size();
int task_idx = 0;
for (auto taskid : taskid_inplay)
{
int effective_count = 0;
int effective_idx = 0;
det_objinfo *tmp_det_objinfo = _onelevel_det_result[task_idx].obj;
for (int c = 0; c < _onelevel_det_result[task_idx].obj_count; c++)
{
// if (algor_index_table["human"].find(tmp_det_objinfo[c].index) != algor_index_table["human"].end()
// && (!algor_param[taskid].human_algors.empty() || !algor_param[taskid].human_face_algors.empty())) // 此处行人和人脸存在耦合，若同一路任务配置了人脸没有配置行人，存抓拍图时会出错
if (algor_index_table["human"].find(tmp_det_objinfo[c].index) != algor_index_table["human"].end()
&& (!algor_param[taskid].human_algors.empty())) // modified by zsh 220714
{
tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
effective_count++;
}
if (algor_index_table["nonmotor_vehicle"].find(tmp_det_objinfo[c].index) != algor_index_table["nonmotor_vehicle"].end()
&& !algor_param[taskid].nonmotor_vehicle_algors.empty())
{
tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
effective_count++;
}
if (algor_index_table["vehicle"].find(tmp_det_objinfo[c].index) != algor_index_table["vehicle"].end()
&& !algor_param[taskid].vehicle_algors.empty())
{
tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
effective_count++;
}
}
_onelevel_det_result[task_idx++].obj_count = effective_count;
}
}
/* 快照判定辅助函数 */
bool snapshot_reprocessing::best_snapshot_judge_algor(const OBJ_KEY& obj_key, const OBJ_VALUE& obj_value, int left, int top, int width, int height, int image_width, int image_height)
{
return snapshot_legal_pos(obj_value.flags, left, top, left + width, top + height, image_width, image_height)
&& snapshot_legal_minarea(obj_value.index.index, width, height)
&& snapshot_legal_inarea(width, height)
&& snapshot_legal_area(obj_value.max_area, obj_value.last_area, left, top, left + width, top + height);
return true;
}
bool snapshot_reprocessing::best_face_snapshot_judge_algor(const OBJ_KEY& obj_key, const OBJ_VALUE& obj_value, int left, int top, int width, int height, int image_width, int image_height)
{
return snapshot_legal_pos(obj_value.flags, left, top, left + width, top + height, image_width, image_height)
/*&& snapshot_legal_minarea(obj_value.index.index, width, height)*/
&& snapshot_legal_inarea(width, height)
&& snapshot_legal_area(obj_value.max_area, obj_value.last_area, left, top, left + width, top + height);
return true;
}
// added by zsh 220719
bool snapshot_reprocessing::best_face_snapshot_judge_algor_v2(const OBJ_KEY& obj_key, const OBJ_VALUE& obj_value, int left, int top, int width, int height, int image_width, int image_height, float roll, float yaw, float pitch)
{
return snapshot_legal_pos(obj_value.flags, left, top, left + width, top + height, image_width, image_height)
/*&& snapshot_legal_minarea(obj_value.index.index, width, height)*/
&& snapshot_legal_inarea(width, height)
&& snapshot_legal_area(obj_value.max_area, obj_value.last_area, left, top, left + width, top + height)
&& snapshot_legal_pose(obj_value.roll, obj_value.yaw, obj_value.pitch, roll, yaw, pitch);
return true;
}
bool snapshot_reprocessing::snapshot_judge_algor(int index, int width, int height)
{
return snapshot_legal_minarea(index, width, height) //判断最小面积
&& snapshot_legal_inarea(width, height); //判断在有效区域
//&& snapshot_algor_open_config(obj_key); //判断算法开启，调整不用在此处判断，检测出来会进行过滤
}
/* 删除指定快照 清空资源占用（使用场景：任务结束删除该路任务所有缓存快照；目标轨迹结束，分析保存完，删除该目标快照缓存）*/
void snapshot_reprocessing::delete_finishtask_snapshot(const string taskid, const int objid)
{
if (objid != -1)
{
OBJ_KEY cur_key = { taskid , objid };
auto &ss = total_snapshot_info[cur_key];
if (ss.snapShot.frame != nullptr) { cudaFree(ss.snapShot.frame); ss.snapShot.frame = nullptr; }
if (ss.snapShotLittle.frame != nullptr) { cudaFree(ss.snapShotLittle.frame); ss.snapShotLittle.frame = nullptr; }
total_snapshot_info.erase(cur_key);
return;
}
for(auto ss = total_snapshot_info.begin(); ss != total_snapshot_info.end(); )
{
if (strcmp(ss->first.video_id.c_str(), taskid.c_str()) == 0)
{
if (ss->second.snapShot.frame != nullptr){ CHECK(cudaFree(ss->second.snapShot.frame)); ss->second.snapShot.frame = nullptr; }
if (ss->second.snapShotLittle.frame != nullptr) { CHECK(cudaFree(ss->second.snapShotLittle.frame)); ss->second.snapShotLittle.frame = nullptr; }
total_snapshot_info.erase(ss++);
}
else ss++;
}
for (auto f_ss = total_face_snapshot_info.begin(); f_ss != total_face_snapshot_info.end(); )
{
if (strcmp(f_ss->first.video_id.c_str(), taskid.c_str()) == 0)
{
if (f_ss->second.snapShot.frame != nullptr)
{
CHECK(cudaFree(f_ss->second.snapShot.frame));
f_ss->second.snapShot.frame = nullptr;
}
if (f_ss->second.snapShotLittle.frame != nullptr)
{
CHECK(cudaFree(f_ss->second.snapShotLittle.frame));
f_ss->second.snapShotLittle.frame = nullptr;
}
total_face_snapshot_info.erase(f_ss++);
}
else f_ss++;
}
}
void snapshot_reprocessing::snapshot_reprocessing_release()
{
}
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