Hu Chunming / village_ascend_arm

  #include "PicAnalysis.h"
  #include "./utils/logger.hpp"
  
  
  PicAnalysis::PicAnalysis(/* args */)
  {
      aclInit(nullptr);
  }
  
  PicAnalysis::~PicAnalysis()
  {

      LOG_INFO("~PicAnalysis()");

      release();

      aclFinalize();
  }
  

  int PicAnalysis::init(VillageParam param) {
  

      string log_path = param.log_path + "/main.log";
  
      set_default_logger(LogLevel(param.log_level), "PicAnalysis", log_path.c_str(), param.log_mem, param.log_days);

  
      // 输入参数
      LOG_INFO("dev_id: {}", param.dev_id);
      LOG_INFO("sdk_path: {}", param.sdk_path);
      LOG_INFO("log_level: {}", param.log_level);
      LOG_INFO("log_days: {}", param.log_days);

      LOG_INFO("log_path: {}", log_path);

      LOG_INFO("编译时间：{} {}", __DATE__, __TIME__);
      LOG_INFO("execute dir:{}", helpers::PathUtils::GetCmdDir());
  

      int dev_id = param.dev_id;

      int ret = SY_FAILED;
  

      VehicleAnalysisParam vehicle_analysis_param;
      vehicle_analysis_param.devId = dev_id;
      vehicle_analysis_param.sdk_root = param.sdk_path;
      vehicle_analysis_param.max_batch_size = 16;

      ret = m_vehicle_analysis.init(vehicle_analysis_param);

      if(0 != ret){
          return -1;
      }
  

      head_tail_param ht_param;
      ht_param.devId = dev_id;
      ht_param.max_batch = 16;
      ht_param.sdk_root = param.sdk_path;
      ret = m_head_tail_algorithm.init(ht_param);
      if(0 != ret){
          return -1;
      }

      ret = m_clothes_algorithm.init(dev_id, param.sdk_path);

      if(0 != ret){
          return -1;
      }
  

      ret = m_human_algorithm.init(dev_id, param.sdk_path);

      if(0 != ret){
          return -1;
      }
  

      ret = m_human_car_algorithm.init(dev_id, param.sdk_path);

      if(0 != ret){
          return -1;
      }
  

      ret = m_motor_rainshed_algorithm.init(dev_id, param.sdk_path);

      if(0 != ret){
          return -1;
      }
  

      ret = m_motor_phone_algorithm.init(dev_id, param.sdk_path);

      if(0 != ret){
          return -1;
      }

      ret = m_road_seg_algorithm.init(dev_id, param.sdk_path);

      if(0 != ret){
          return -1;
      }
  

      ret = m_crop_util.init(dev_id);
      if(0 != ret){
          return -1;
      }
  

      ACL_CALL(aclrtCreateContext(&m_ctx, 0), ACL_SUCCESS, SY_FAILED);
  	ACL_CALL(aclrtSetCurrentContext(m_ctx), ACL_SUCCESS, SY_FAILED);

  	ACL_CALL(aclrtCreateStream(&stream), ACL_SUCCESS, SY_FAILED);
      m_dvpp = new DvppProcess();
  	m_dvpp->InitResource(stream);
  
      return 0;
  }
  

  vector<AnalysisResult> PicAnalysis::analysis_file(vector<string> vec_file_path){
  
      vector<AnalysisResult> result;

      int ret = aclrtSetCurrentContext(m_ctx);
      if (SY_SUCCESS != ret) {
          printf("aclrtSetCurrentContext failed!");

          return result;

      }

      const int batch_size = vec_file_path.size();
  
      vector<sy_img> vec_img;
  

      // ImageData 内部是智能指针，分析未处理完成前不得释放
      ImageData dvpp_data[batch_size];
      for (size_t i = 0; i < vec_file_path.size(); i++)
      {
          string file_path = vec_file_path[i];
          ImageData src;
          ret = Utils::ReadImageFile(src, file_path); //将二进制图像读入内存，并读取宽高信息
          if(ret != SY_SUCCESS){
              LOG_ERROR("ReadImageFile failed!");

              return result;

          }
  
          ret = m_dvpp->CvtJpegToYuv420sp(dvpp_data[i], src); //解码
          if(ret != SY_SUCCESS){
              LOG_ERROR("CvtJpegToYuv420sp failed!");

              return result;

          }
          
          sy_img img;
          img.w_ = dvpp_data[i].width;
          img.h_ = dvpp_data[i].height;
          img.data_ = dvpp_data[i].data.get();
  
          vec_img.push_back(img);
      }

  
      return analysis_img(vec_img);
  }
  

  vector<AnalysisResult> PicAnalysis::va_result2AnalysisResult(va_result* result, int batchsize) {
  
      vector<AnalysisResult> vec_result;
  
      for (int b = 0; b < batchsize; b++)
      {
          vector<VehicleInfo> vec_info;
          for(int c=0;c<result[b].count;c++)
          {
              vehicle_info result_info = result[b].info[c];
  
              VehicleInfo info;
              info.vehicle_detect_res         = result_info.vehicle_detect_res        ;	 
              info.vehicle_win_detect_res     = result_info.vehicle_win_detect_res    ; 	
              info.vehicle_body_detect_res    = result_info.vehicle_body_detect_res   ;	
              info.vehicle_color_res          = result_info.vehicle_color_res         ;
              info.vehicle_recg_res           = result_info.vehicle_recg_res          ;  
              info.vehicle_plate_det_recg_res = result_info.vehicle_plate_det_recg_res;	 
              info.vehicle_illegal_det_res    = result_info.vehicle_illegal_det_res   ; 	
              info.vehicle_fea_res            = result_info.vehicle_fea_res           ;   	
              info.mta_res                    = result_info.mta_res                   ;   
              info.manned_res	 	            = result_info.manned_res	 	        ;  
              info.type                       = result_info.type                      ;         
              info.vpt_type                   = result_info.vpt_type                  ;

              auto pendant_result = result_info.vehicle_pendant_det_res;
              for (size_t j = 0; j < pendant_result.count; j++)
              {
                  auto pendant_det_info = pendant_result.vpd_res[j];
  
                  pendant_info one_pendant_info;
                  one_pendant_info.rect = pendant_det_info.rect;
                  one_pendant_info.index = pendant_det_info.index;
                  one_pendant_info.confidence = pendant_det_info.confidence;
                  one_pendant_info.driver_copilot_info = pendant_det_info.driver_copilot_info;
                  info.vehicle_pendant_det_res.push_back(one_pendant_info);
              }
  
              vec_info.push_back(info);
          }
  
          AnalysisResult one_result;
          one_result.info = vec_info;
          vec_result.push_back(one_result);
      }
  
      return vec_result;
  }
  
  vector<AnalysisResult> PicAnalysis::analysis_img(vector<sy_img> vec_img){
  

      LOG_INFO("vec_img size:{}", vec_img.size());
  

      std::lock_guard<std::mutex> l(m_single_mtx);
  

      vector<AnalysisResult> vec_result;

  
      const int batch_size = vec_img.size();
  
      int ret = aclrtSetCurrentContext(m_ctx);
      if (SY_SUCCESS != ret) {

          LOG_INFO("aclrtSetCurrentContext failed!");

          return vec_result;

      }
  

      va_result* result = m_vehicle_analysis.detect(vec_img);

      if (result) {

          vec_result = va_result2AnalysisResult(result, batch_size);
          m_vehicle_analysis.release_result(result, vec_img.size());
      }
  

      LOG_INFO("vec_result size:{}", vec_result.size());
  

      bool bConsistent = false;

      std::vector<RoadInfo> vec_road = m_road_seg_algorithm.detect(vec_img);
      if (vec_road.size() == batch_size && vec_result.size() == batch_size) {

          bConsistent = true;

          for (size_t i = 0; i < batch_size; i++) {
              vec_result[i].vec_line = vec_road[i].vec_line;
              vec_result[i].vec_road = vec_road[i].vec_road;
          }
      }

      for (int b = 0; b < vec_result.size(); b++)

      {

          vector<VehicleInfo>& vec_info = vec_result[b].info;
  

          RoadInfo road_info;
          if (bConsistent) {
              road_info = vec_road[b];
          }
  

          sy_img img = vec_img[b];

          ImageData src;
          src.width = img.w_;
          src.height = img.h_;

          src.alignWidth = ALIGN_UP16(img.w_);
          src.alignHeight = ALIGN_UP2(img.h_);
          src.size = YUV420SP_SIZE(src.alignWidth, src.alignHeight);

          src.data_naked = img.data_;

          for(int c=0;c<vec_info.size();c++)

          {

              VehicleInfo& result_info = vec_info[c];
              int shot_type=result_info.type;

              sy_rect vehicle_rect = result_info.vehicle_body_detect_res.rect;
  

              if (road_info.vec_direct.size() > 0 && (1 == shot_type || 0 == shot_type)) {
                  result_info.reverse_driving = m_road_seg_algorithm.check_reverse_driving(road_info.vec_direct, vehicle_rect, src.width, src.height, shot_type);

              }
  

              // 行人

              if (0 == result_info.vpt_type)

              {

                  ImageData* human_data = m_crop_util.crop(src, vehicle_rect.left_, vehicle_rect.top_, vehicle_rect.left_ + vehicle_rect.width_, vehicle_rect.top_ + vehicle_rect.height_);

  
                  sy_img img;
                  img.w_ = human_data->alignWidth;
                  img.h_ = human_data->alignHeight;
                  img.data_ = human_data->data_naked;
  
                  vector<sy_img> vec_human_img;
                  vec_human_img.push_back(img);
  

                  vector<BodyColorInfo> vec_body_color = m_human_algorithm.detect(vec_human_img);
  
                  result_info.human_upper_color = vec_body_color[0].upper_body_color;
                  result_info.human_lower_color = vec_body_color[0].lower_body_color;

  
                  delete human_data;
                  human_data = nullptr;

              } else if(result_info.vpt_type == 1 || result_info.vpt_type == 2 || result_info.vpt_type == 3){
                  if(result_info.manned_res.hs_count >= 3){
                      // 摩托车、三轮车载人
                      result_info.motor_manned = 1;
                  }	

              } else {

                  ImageData* vehicle_data = m_crop_util.crop(src, vehicle_rect.left_, vehicle_rect.top_, vehicle_rect.left_ + vehicle_rect.width_, vehicle_rect.top_ + vehicle_rect.height_);
  
                  sy_img img;
                  img.w_ = vehicle_data->alignWidth;
                  img.h_ = vehicle_data->alignHeight;
                  img.data_ = vehicle_data->data_naked;
  
                  vector<sy_img> vec_vehicle_img;
                  vec_vehicle_img.push_back(img);
  
                  vector<HeadTailResult> head_tail_result;
                  ret = m_head_tail_algorithm.detect(vec_vehicle_img, head_tail_result);
                  if (0 != ret) {
                      LOG_ERROR("m_head_tail_algorithm failed!");
                      head_tail_result.clear();
                  } else {
                      auto one_ht_result = head_tail_result[0];
  
                      if(result_info.vpt_type == 6 || result_info.vpt_type == 7){
                          if (one_ht_result.cls == 0 && result_info.manned_res.hs_count > 0)
                          { // 车尾，判断是否 货车尾部货厢载人
                              result_info.truck_manned = 1;
                          }	
                      } 

                  }

                  delete vehicle_data;
                  vehicle_data = nullptr;

              }
  
              // 司乘

              auto& pendant_res = result_info.vehicle_pendant_det_res;
              int vpd_num = pendant_res.size();

              vector<sy_img> vec_human_img;

              vector<ImageData*> vec_data;

              for(int p=0; p<vpd_num; p++)
              {

                  int index = pendant_res[p].index;
                  if(index == 0){ //driver
                      sy_rect human_rect = pendant_res[p].rect;

                      ImageData* human_data = m_crop_util.crop(src, human_rect.left_, human_rect.top_, human_rect.left_ + human_rect.width_, human_rect.top_ + human_rect.height_);
  
                      sy_img img;
                      img.w_ = human_data->alignWidth;
                      img.h_ = human_data->alignHeight;
                      img.data_ = human_data->data_naked;
  
                      vec_human_img.push_back(img);

  
                      vec_data.push_back(human_data);

                  }
              }
  

              vector<int> vec_color = m_clothes_algorithm.detect(vec_human_img);

              for(int p=0; p<vec_color.size(); p++)

              {

                  int index = pendant_res[p].index;
                  if(index == 0) { // 更新司乘衣着颜色
                      pendant_res[p].iColor = vec_color[p];
  
                      ImageData* human_data = vec_data[p];
                      delete human_data;
                      human_data = nullptr;

                  }
              }
  
              // 摩托车
              if(shot_type==2)//摩托车
              {

                  ImageData* motor_data = m_crop_util.crop(src, vehicle_rect.left_, vehicle_rect.top_, vehicle_rect.left_ + vehicle_rect.width_, vehicle_rect.top_ + vehicle_rect.height_);

  
                  sy_img img;
                  img.w_ = motor_data->alignWidth;
                  img.h_ = motor_data->alignHeight;
                  img.data_ = motor_data->data_naked;
  
                  vector<sy_img> vec_motor_img;
                  vec_motor_img.push_back(img);
  

                  vector<MotorRainshedResult> vec_rainshed_result = m_motor_rainshed_algorithm.detect(vec_motor_img);
                  if (vec_rainshed_result.size() > 0) {
                      result_info.rainshed = vec_rainshed_result[0].rainshed;
                      result_info.rainshed_prob = vec_rainshed_result[0].prob;

                  }

                  vector<MotorPhoneResult> vec_phone_result = m_motor_phone_algorithm.detect(vec_motor_img);
                  if (vec_phone_result.size() > 0) {
                      result_info.phoning = vec_phone_result[0].phoning;
                      result_info.phoning_prob = vec_phone_result[0].prob;

                  }
  

                  int iColor = -1;

                  std::vector<HumanCarResult> vec_hcp_result = m_human_car_algorithm.detect(vec_motor_img);

                  if (vec_hcp_result.size() > 0 && road_info.vec_direct.size() > 0) {

                      int head_or_tail = vec_hcp_result[0].orient;

                      if (head_or_tail == 0 || head_or_tail == 1) {
                          result_info.reverse_driving = m_road_seg_algorithm.check_reverse_driving(road_info.vec_direct, vehicle_rect, src.width, src.height, head_or_tail);

                      }

                      iColor = vec_hcp_result[0].up_color;
                  }
  
                  int hs_num = result_info.manned_res.hs_count;
                  for (size_t i = 0; i < hs_num; i++)
                  {
                      pendant_info one_pendant;
                      one_pendant.confidence = result_info.manned_res.hs_rect[i].score;
                      one_pendant.rect = result_info.manned_res.hs_rect[i].rect;
                      one_pendant.index = 0;
                      one_pendant.iColor = iColor;
  
                      result_info.vehicle_pendant_det_res.push_back(one_pendant);
                      

                  }
  

                  delete motor_data;
                  motor_data = nullptr;
              }

  
              //压黄实线

              result_info.cross_line = m_road_seg_algorithm.check_cross_line(road_info.vec_line, vehicle_rect, src.width, src.height);

              // 压导流线

              result_info.cross_diversion_line = m_road_seg_algorithm.check_cross_region(road_info.vec_road, vehicle_rect, src.width, src.height, 3);    //3是导流线区域

          }
      }

      LOG_INFO("analysis finished!");

      return vec_result;

  }
  
  int PicAnalysis::release() {

  
      ACL_CALL(aclrtSetCurrentContext(m_ctx), ACL_SUCCESS, SY_FAILED);

  
      delete m_dvpp;
      m_dvpp = nullptr;
  
      if (stream != nullptr) {
          int ret = aclrtDestroyStream(stream);
          if (ret != ACL_SUCCESS) {
              LOG_ERROR("destroy stream failed");
          }
          stream = nullptr;
      }
  
      aclrtDestroyContext(m_ctx);
  
      return 0;

  }