#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;
}

/* 获取人车物目标快照图 */
int snapshot_reprocessing::update_bestsnapshot2(vector<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;
}

//人脸快照保存更新
int snapshot_reprocessing::update_face_bestsnapshot2(vector<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;
	}
}

void snapshot_reprocessing::screen_effective_snapshot2(const vector<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()
{

}