Hu Chunming / village_ascend_arm

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jni/VehicleNativeInterface.cpp 40.7 KB
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e8beee4d   Hu Chunming   实现jni接口 
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  #include "com_objecteye_nativeinterface_vehicle_VehicleNativeInterface.h"
  #include "sy_common.h"
  #include "sy_errorinfo.h"
  #include "iostream"
  #include "map"
  #include <string>
  #include <string.h>
  
  #include "../src/village_pic_interface.h"
  
  #include "opencv2/imgcodecs/legacy/constants_c.h"
  #include "opencv2/imgproc/types_c.h"
  #include <opencv2/opencv.hpp>
  #include "base64.h"
  
  #include "curl/curl.h"
  
  //dvpp����
  #include "dvpp_process.h"
  #include "utils.h"
  //#include "img_codec.h"
  
  double msecond() {
      struct timeval tv;
      gettimeofday(&tv, 0);
      return (tv.tv_sec * 1000.0 + tv.tv_usec / 1000.0);
  }
  
  
  string Decode(const char* data, int size)
  {
      const char DecodeTable[] =
      {
          0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
          0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
          62, // '+'
          0, 0, 0,
          63, // '/'
          52, 53, 54, 55, 56, 57, 58, 59, 60, 61, // '0'-'9'
          0, 0, 0, 0, 0, 0, 0,
          0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12,
          13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, // 'A'-'Z'
          0, 0, 0, 0, 0, 0,
          26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38,
          39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, // 'a'-'z'
      };
  
      int outSize = 0;
      int nValue;
      int i= 0;
      string outStr = "";
      while (i < size)
      {
          if (*data != '\r' && *data != '\n')
          {
              nValue = DecodeTable[*data++] << 18;
              nValue += DecodeTable[*data++] << 12;
              outStr += (nValue & 0x00FF0000) >> 16;
              outSize++;
              if (*data != '=')
              {
                  nValue += DecodeTable[*data++] << 6;
                  outStr += (nValue & 0x0000FF00) >> 8;
                  outSize++;
                  if (*data != '=')
                  {
                      nValue += DecodeTable[*data++];
                      outStr += nValue & 0x000000FF;
                      outSize++;
                  }
              }
              i += 4;
          }
          else
          {
              data++;
              i++;
          }
      }
  
      return outStr;
  }
  
  
  using namespace std;
  #define SUCCESS 0 //�ɹ�
  #define FAILED -1 //ʧ��
  /**
   * ��������
   * */
  sy_format getImgByteType(int type);
  size_t write_data(char *ptr, size_t size, size_t nmemb, void *userdata);
  //function to retrieve the image as cv::Mat data type
  cv::Mat curlImg(const char *img_url, int timeout);
  
  /**
   * ȫ�ֱ���
   * */
  sy_command global_vehicle_detect_config;          		  //�Ƿ����������(һ�������)
  sy_command global_vehicle_recg_config;                    //�Ƿ���������ʶ��
  sy_command global_vehicle_recg_supplement_config;         //�Ƿ���������ʶ�𲹳�ʶ��(��ͷ��βlogo���ʶ��+����15����)
  sy_command global_vehicle_plate_det_recg_config;          //�Ƿ��������Ƽ��ʶ��
  sy_command global_vehicle_color_config;                   //�Ƿ�����������ɫʶ��
  sy_command global_vehicle_pendant_det_config;             //�Ƿ�������������ʶ��
  sy_command global_vehicle_illegal_config;                 //�Ƿ�������Υ����Ϊ���
  sy_command global_vehicle_feature_config;                 //�Ƿ���������������ȡ
  //sy_command global_vehicle_special_config;                 //�Ƿ���������Ʒ�೵��ʶ��
  //sy_command global_vehicle_image_quality_config;           //�Ƿ���������ͼ��������ʶ��
  sy_command global_vehicle_motor_tricycle_analysis_config; //�Ƿ�����Ħ�г��Ƿ�����/Ħ�г���ʻ���Ƿ��ͷ��/ũ�ó��Ƿ�����
  //sy_command global_vehicle_motor_hs_output_config;         //�Ƿ�����Ħ�г�δ��ͷ�����ͷ������
  //sy_command global_vehicle_stain_vp_config;                //�Ƿ������ڵ�����ʶ��
  //sy_command global_vehicle_muck_truck_cover_config;        //�Ƿ������������Ǹ�ʶ��(ǰ�᣺����vehicle_special_config)
  sy_command global_vehicle_manned_config;            //�Ƿ������������ֳ�����ʶ��
  //sy_command global_vehicle_pose_config;                    //�Ƿ�����pose���   //20210618 atlas
  
  int gpu_id;
  
  /*
   * Class:     com_objecteye_nativeinterface_vehicle_VehicleNativeInterface
   * Method:    va_init
   * Signature: ([JLcom/objecteye/pojo/vehicle/VehicleAnalysisParam;)I
   */
  JNIEXPORT jint JNICALL Java_com_objecteye_nativeinterface_vehicle_VehicleNativeInterface_init(JNIEnv *env, jobject obj, jlongArray handle, jobject vehicleAnalysisParam)
  {
      //getFieldID
      //�㷨���ò���
      jclass cls_vehcileAnalysisParam = env->GetObjectClass(vehicleAnalysisParam);
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      jfieldID fid_sdk_path = env->GetFieldID(cls_vehcileAnalysisParam, "sdk_path", "Ljava/lang/String;");
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      jfieldID fid_gpuid = env->GetFieldID(cls_vehcileAnalysisParam, "gpuId", "I");
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      jfieldID fid_aiEngineParam_logLevel = env->GetFieldID(cls_vehcileAnalysisParam, "logLevel", "I");
      jfieldID fid_aiEngineParam_logPath = env->GetFieldID(cls_vehcileAnalysisParam, "logPath", "Ljava/lang/String;");
      jfieldID fid_aiEngineParam_logDays = env->GetFieldID(cls_vehcileAnalysisParam, "logDays", "I");
      jfieldID fid_aiEngineParam_logMem = env->GetFieldID(cls_vehcileAnalysisParam, "logMem", "D");
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      jstring str_sdk_path = (jstring)env->GetObjectField(vehicleAnalysisParam, fid_sdk_path);
      const char *sdk_path = env->GetStringUTFChars(str_sdk_path, JNI_FALSE);
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      jint gpuid = env->GetIntField(vehicleAnalysisParam, fid_gpuid);
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      //log
      jstring str_aiEngineParam_logPath = (jstring)env->GetObjectField(vehicleAnalysisParam, fid_aiEngineParam_logPath);
      const char* aiEngineParam_logPath = env->GetStringUTFChars(str_aiEngineParam_logPath, JNI_FALSE);
      jint aiEngineParam_logDays = env->GetIntField(vehicleAnalysisParam, fid_aiEngineParam_logDays);
      jdouble aiEngineParam_logMem = env->GetDoubleField(vehicleAnalysisParam, fid_aiEngineParam_logMem);
      jint aiEngineParam_logLevel = env->GetIntField(vehicleAnalysisParam, fid_aiEngineParam_logLevel);
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      void *vaHandle = NULL;
      VillageParam param;
      param.dev_id = gpuid;
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      param.sdk_path = sdk_path;
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      param.log_level = aiEngineParam_logLevel;
      param.log_path = aiEngineParam_logPath;
      param.log_days = aiEngineParam_logDays;
      param.log_mem = aiEngineParam_logMem;
  
      printf("jni dev_id:%d sdk_path:%s_log_level:%d\n", param.dev_id, param.sdk_path.c_str(), param.log_level);
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      int ret = village_pic_init(&vaHandle, param);
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   	if (ret != SUCCESS) {
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  		printf("jni info:va_init failed.");
  		return ret;
  	}
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      if (ret == SUCCESS)
      {
          global_vehicle_detect_config = SY_CONFIG_OPEN;
          global_vehicle_recg_config = SY_CONFIG_OPEN;
          global_vehicle_recg_supplement_config = SY_CONFIG_OPEN;
          global_vehicle_plate_det_recg_config = SY_CONFIG_OPEN;
          global_vehicle_pendant_det_config = SY_CONFIG_OPEN;
          global_vehicle_motor_tricycle_analysis_config = SY_CONFIG_OPEN;
          global_vehicle_manned_config = SY_CONFIG_OPEN;
          global_vehicle_illegal_config = SY_CONFIG_CLOSE;
          global_vehicle_feature_config = SY_CONFIG_CLOSE;
          global_vehicle_color_config = SY_CONFIG_CLOSE;
  
          jlong temp[1];
          temp[0] = (jlong)vaHandle;
          env->SetLongArrayRegion(handle, 0, 1, temp);
      }
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      env->ReleaseStringUTFChars(str_sdk_path, sdk_path);
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      return ret;
  }
  
  
  
  void CvBGR2NV21(cv::Mat& bgr, unsigned char* yuv) {
      int stride = (bgr.cols + 127) / 128 * 128;
      int strideH = (bgr.rows + 15) / 16 * 16;
      for (int i = 0; i < bgr.rows; i++) {
          for (int j = 0; j < bgr.cols; j++) {
              int B = bgr.at<cv::Vec3b>(i, j)[0];
              int G = bgr.at<cv::Vec3b>(i, j)[1];
              int R = bgr.at<cv::Vec3b>(i, j)[2];
  
              int Y = (77 * R + 150 * G + 29 * B) >> 8;
              yuv[i * stride + j] = (Y < 0) ? 0 : ((Y > 255) ? 255 : Y);
              if (i % 2 == 0 && j % 2 == 0) {
                  int U = ((-44 * R - 87 * G + 131 * B) >> 8) + 128;
                  int V = ((131 * R - 110 * G - 21 * B) >> 8) + 128;
                  yuv[strideH * stride + i / 2 * stride + j] = (V < 0) ? 0 : ((V > 255) ? 255 : V);
                  yuv[strideH * stride + i / 2 * stride + j + 1] = (U < 0) ? 0 : ((U > 255) ? 255 : U);
              }
          }
      }
  }
  
  
   /*
   * Class:     com_objecteye_nativeinterface_vehicle_VehicleNativeInterface
   * Method:     batch
   * Signature: (J[Lcom/objecteye/pojo/common/SyImgParam;II[Lcom/objecteye/pojo/vehicle/VehicleAnalysisResultParam;)I
   */
  JNIEXPORT jint JNICALL Java_com_objecteye_nativeinterface_vehicle_VehicleNativeInterface_batch(JNIEnv *env, jobject jobj, jlong handle, jobjectArray syImgParams, jint format, jint batchSize, jobjectArray vehicleAnalysisResultParams)
  {
      int ret = FAILED;
      void *vaHandle = (void *)handle;
  
      // ��ȡͼƬ����
  	jclass cls_syImgParam = env->FindClass("com/objecteye/pojo/common/SyImgParam");
  	jfieldID fid_image_str = env->GetFieldID(cls_syImgParam, "image_string", "Ljava/lang/String;");//base64�����ⲿͳһ��url��fileת��base64����
  	
  	sy_img batch_img[batchSize];
  	cv::Mat car_images[batchSize];
      ImageData dvpp_data[batchSize];
  
      aclrtContext ctx;
  	ACL_CALL(aclrtCreateContext(&ctx, gpu_id), ACL_ERROR_NONE, FAILED);
  	ACL_CALL(aclrtSetCurrentContext(ctx), ACL_ERROR_NONE, FAILED);
  	//��ʼ��dvpp
  	aclrtStream stream = nullptr;
  	ACL_CALL(aclrtCreateStream(&stream), ACL_ERROR_NONE, FAILED);
  	
  	DvppProcess* dvpp = new DvppProcess();
  	dvpp->InitResource(stream);
  	//Base64Utils decoder();
  
  	
  	//wh20210623
  	std::shared_ptr<uint8_t> NV21data[batchSize];
  		
  	
  	if (format != 0 && format != 1)
  	{
  		printf("ERROR FORMAT TYPE: %d\n", format);
  		return -1;
  	}
  
  	double t1,t2,t3;
  	t1 = msecond();
  			
  	for (size_t i = 0; i < batchSize; i++)
  	{
  		jobject syImgParam = env->GetObjectArrayElement(syImgParams, i);
  		jstring imageString1 = (jstring)env->GetObjectField(syImgParam, fid_image_str);
  		const char *image_str = env->GetStringUTFChars(imageString1, JNI_FALSE);
  		string imageString  = image_str;
  		
  		//printf("format = %d\n", format);
  		if (format == 0) //url
  		{
  			printf("url is not surposed \n");
  		}
  		else
  		{
  			
  			string decode_str;
  			//decode_str = decoder->Decode(encode_str[b].data(), encode_str[b].size());
  			decode_str = Decode(imageString.data(), imageString.size());
  			
  			//debug========================================================
  			ImageData src;
  			uint32_t binFileBufferLen = decode_str.size() + 8;//�ֽ���
  			uint8_t* binFileBufferData = new(std::nothrow) uint8_t[binFileBufferLen];
  			
  			if (binFileBufferData == nullptr) {
  				ERROR_LOG("malloc binFileBufferData failed");
  				return FAILED;
              }
  			
                  memcpy((char *)binFileBufferData, decode_str.data(), binFileBufferLen);
                  int32_t ch = 0;
                  ACL_CALL(acldvppJpegGetImageInfo(binFileBufferData, binFileBufferLen,
                &(src.width), &(src.height), &ch), SUCCESS, FAILED); 
                  src.data.reset(binFileBufferData, [](uint8_t* p) { delete[](p); });
              src.size = binFileBufferLen;
                  // printf("vpdr_api_batch:img.w=%d ,img.h=%d \n",src.width,src.height);
  
  			
  			ACL_CALL(dvpp->CvtJpegToYuv420sp(dvpp_data[i], src), SUCCESS, FAILED);
  
  			batch_img[i].w_ = dvpp_data[i].width;//dvpp_data[b].alignWidth;
  			batch_img[i].h_ = dvpp_data[i].height;//dvpp_data[b].alignHeight;
  			//batch_img[i].data_ = (uint8_t*)Utils::CopyDataDeviceToLocal(dvpp_data[i].data.get(), dvpp_data[i].size);//dvpp_data[b].data.get();
  		    batch_img[i].data_ = dvpp_data[i].data.get();
  						
  		}
  	
  		env->ReleaseStringUTFChars(imageString1, image_str);
  	}
  	t2 = msecond();
      //printf("va jni info:decode time: %.2f\n", (t2 - t1));
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      std::cout << "village_pic_analysis " << std::endl;
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      std::vector<AnalysisResult> vec_result = village_pic_analysis(vaHandle, batch_img, batchSize);
  	if (vec_result.size() <= 0)
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  	{
  		printf("jni info:village_pic_analysis failed.");
  		return -1;
  	}
      //cout << "VAJNI_TEST  va_1batch -> end ...." << endl;
  	
  	t3 = msecond();
      //printf("va jni info:process time: %.2f\n", (t3 - t2));	
  	
  	
  	for (int b = 0; b < batchSize; b++)
  	{
  
  		//printf("VAJNI_TEST begin reult: %d, count: %d\n", b, result[b].count);
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  		for (int c = 0; c < vec_result[b].info.size(); c++)
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  		{
  			//std::cout << "obj_quality_idx=" << result[b].info[c].obj_quality_idx << std::endl;	//聚档数据类型�?-无效数据�?-低质数据�?-优质数据	
  
  			std::string str_vehicle_type;
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  			int vehicle_type = vec_result[b].info[c].type;
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  			//std::cout << "vehicle_type=" << vehicle_type << std::endl;
  			if (vehicle_type == 0)str_vehicle_type = "head";
  			else if (vehicle_type == 1)str_vehicle_type = "rear";
  			else if (vehicle_type == 2)str_vehicle_type = "motor";
  			else if (vehicle_type == 3)str_vehicle_type = "tricycle";
  			else if (vehicle_type == 4)str_vehicle_type = "body";
  			//std::cout << "vehicle_type info:" << str_vehicle_type << std::endl;
  		}
  	}
  
  	
      if (ret == SUCCESS)
      {
          // getClass
          jclass cls_vehicleAnalysisResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleAnalysisResultParam");
          jclass cls_VehicleInfo = env->FindClass("com/objecteye/pojo/vehicle/VehicleInfoParam");
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          jclass cls_LineInfo = env->FindClass("com/objecteye/pojo/vehicle/LineInfoParam");
          jclass cls_SegInfo = env->FindClass("com/objecteye/pojo/vehicle/SegInfoParam");
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          jclass cls_VehicleDetectResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleDetectResultParam");
          jclass cls_VehicleColorResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleColorResultParam");
          jclass cls_VehicleRecgResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleRecognizeResultParam");
  		//jclass cls_VehicleRecgTopnResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleRecognizeResultTopnParam");//wh20210527������topn�ӿ�
          jclass cls_VplateResult = env->FindClass("com/objecteye/pojo/vehicle/VehiclePlateResultParam");
          jclass cls_VehiclePendantDetResult = env->FindClass("com/objecteye/pojo/vehicle/VehiclePendantDetectResultParam");
          jclass cls_VehicleIllegalDetResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleIllegalDetectResultParam");
          jclass cls_VehicleFeaResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleFeatureResultParam");
          jclass cls_SyRect = env->FindClass("com/objecteye/pojo/common/SyRectParam");
          jclass cls_VplateNum = env->FindClass("com/objecteye/pojo/vehicle/VehiclePlateNumParam");
          jclass cls_VehiclePendantDetInfo = env->FindClass("com/objecteye/pojo/vehicle/VehiclePendantDetectInfoParam");
  		jclass cls_VehicleIllegalDetInfo = env->FindClass("com/objecteye/pojo/vehicle/VehicleIllegalDetectInfoParam");
          jclass cls_VehicleIllegalDetDetails = env->FindClass("com/objecteye/pojo/vehicle/VehicleIllegalDetectDetailsParam");
          //jclass cls_VehicleSpecialInformationParam = env->FindClass("com/objecteye/pojo/vehicle/VehicleSpecialInformationParam");
          //jclass cls_VehicleSpecialResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleSpecialResultParam");
          //jclass cls_MucktruckcoverResult = env->FindClass("com/objecteye/pojo/vehicle/MucktruckcoverResultParam");
          jclass cls_MtaResult = env->FindClass("com/objecteye/pojo/vehicle/MtaResultParam");
          jclass cls_MtaDetailsParam = env->FindClass("com/objecteye/pojo/vehicle/MtaDetailsParam");
          //jclass cls_StainVplateResultParam = env->FindClass("com/objecteye/pojo/vehicle/StainVplateResultParam");
          jclass cls_MannedResultParam = env->FindClass("com/objecteye/pojo/vehicle/MannedResultParam");
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  		//jclass cls_VehiclePoseResultParam = env->FindClass("com/objecteye/pojo/vehicle/VehiclePoseResultParam");//wh20210601������pose���
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          jclass cls_SyPoint = env->FindClass("com/objecteye/pojo/common/SyPointParam");
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  		//getmethodId
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          jmethodID mid_vehicleAnalysisResult = env->GetMethodID(cls_vehicleAnalysisResult, "<init>", "([Lcom/objecteye/pojo/vehicle/VehicleInfoParam;com/objecteye/pojo/vehicle/LineInfoParam;com/objecteye/pojo/vehicle/SegInfoParam;I)V");
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  		jmethodID mid_VehicleInfo = env->GetMethodID(cls_VehicleInfo, "<init>", "(Lcom/objecteye/pojo/vehicle/VehicleDetectResultParam;Lcom/objecteye/pojo/vehicle/VehicleDetectResultParam;Lcom/objecteye/pojo/vehicle/VehicleDetectResultParam;Lcom/objecteye/pojo/vehicle/VehicleColorResultParam;Lcom/objecteye/pojo/vehicle/VehicleRecognizeResultParam;Lcom/objecteye/pojo/vehicle/VehiclePlateResultParam;Lcom/objecteye/pojo/vehicle/VehiclePendantDetectResultParam;Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectResultParam;Lcom/objecteye/pojo/vehicle/VehicleFeatureResultParam;Lcom/objecteye/pojo/vehicle/MtaResultParam;Lcom/objecteye/pojo/vehicle/MannedResultParam;I;I;I;F;I;I;I;I;I;I;F;I;I)V");
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  		jmethodID mid_VehicleDetectResult = env->GetMethodID(cls_VehicleDetectResult, "<init>", "(Lcom/objecteye/pojo/common/SyRectParam;F)V");
          jmethodID mid_VehicleColorResult = env->GetMethodID(cls_VehicleColorResult, "<init>", "(FI)V");
  		//jmethodID mid_VehicleRecgTopnResult = env->GetMethodID(cls_VehicleRecgTopnResult, "<init>", "([Lcom/objecteye/pojo/vehicle/VehicleRecognizeResultParam;I)V");//wh20210527������topn�ӿ�
  		jmethodID mid_VehicleRecgResult = env->GetMethodID(cls_VehicleRecgResult, "<init>", "(Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;Ljava/lang/String;F)V");
          jmethodID mid_VplateResult = env->GetMethodID(cls_VplateResult, "<init>", "(Lcom/objecteye/pojo/common/SyRectParam;F[Lcom/objecteye/pojo/vehicle/VehiclePlateNumParam;FII)V");
          jmethodID mid_VehiclePendantDetResult = env->GetMethodID(cls_VehiclePendantDetResult, "<init>", "([Lcom/objecteye/pojo/vehicle/VehiclePendantDetectInfoParam;I)V");
  		jmethodID mid_VehicleIllegalDetResult = env->GetMethodID(cls_VehicleIllegalDetResult, "<init>", "(Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectInfoParam;Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectInfoParam;)V");
          jmethodID mid_VehicleFeaResult = env->GetMethodID(cls_VehicleFeaResult, "<init>", "([F)V");
          jmethodID mid_SyRect = env->GetMethodID(cls_SyRect, "<init>", "(IIII)V");
          jmethodID mid_VplateNum = env->GetMethodID(cls_VplateNum, "<init>", "(Ljava/lang/String;F)V");
  		//jmethodID mid_VehiclePendantDetInfo = env->GetMethodID(cls_VehiclePendantDetInfo, "<init>", "(Lcom/objecteye/pojo/common/SyRectParam;IFI[F)V");
          //wh20210916�����
  		jmethodID mid_VehiclePendantDetInfo = env->GetMethodID(cls_VehiclePendantDetInfo, "<init>", "(Lcom/objecteye/pojo/common/SyRectParam;IFI)V");
  		jmethodID mid_VehicleIllegalDetInfo = env->GetMethodID(cls_VehicleIllegalDetInfo, "<init>", "(Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectDetailsParam;Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectDetailsParam;Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectDetailsParam;Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectDetailsParam;Lcom/objecteye/pojo/vehicle/VehicleIllegalDetectDetailsParam;)V");
          jmethodID mid_VehicleIllegalDetDetails = env->GetMethodID(cls_VehicleIllegalDetDetails, "<init>", "(IF)V");
          //jmethodID mid_VehicleSpecialInformationParam = env->GetMethodID(cls_VehicleSpecialInformationParam, "<init>", "(FI)V");
          //jmethodID mid_VehicleSpecialResult = env->GetMethodID(cls_VehicleSpecialResult, "<init>", "([Lcom/objecteye/pojo/vehicle/VehicleSpecialInformationParam;I)V");
          jmethodID mid_MtaResult = env->GetMethodID(cls_MtaResult, "<init>", "(Lcom/objecteye/pojo/vehicle/MtaDetailsParam;Lcom/objecteye/pojo/vehicle/MtaDetailsParam;Lcom/objecteye/pojo/vehicle/MtaDetailsParam;Lcom/objecteye/pojo/vehicle/VehicleDetectResultParam;)V");
          jmethodID mid_MtaDetailsParam = env->GetMethodID(cls_MtaDetailsParam, "<init>", "(IF)V");
          //jmethodID mid_StainVplateResultParam = env->GetMethodID(cls_StainVplateResultParam, "<init>", "(FI)V");
          //jmethodID mid_MucktruckcoverResult = env->GetMethodID(cls_MucktruckcoverResult, "<init>", "(IF)V");
          jmethodID mid_MannedResult = env->GetMethodID(cls_MannedResultParam, "<init>", "([Lcom/objecteye/pojo/vehicle/VehicleDetectResultParam;I)V");//wh20220222
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  		jmethodID mid_SyPoint = env->GetMethodID(cls_SyPoint, "<init>", "(II)V");//wh20210601������pose���
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  		//jmethodID mid_VehiclePoseResult = env->GetMethodID(cls_VehiclePoseResultParam, "<init>", "([Lcom/objecteye/pojo/common/SyPointParam;[F[FDDD)V");
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  		jmethodID mid_LineInfo = env->GetMethodID(cls_LineInfo, "<init>", "(Lcom/objecteye/pojo/vehicle/SyPointParam;I)V");		       
          jmethodID mid_SegInfo = env->GetMethodID(cls_SegInfo, "<init>", "(Lcom/objecteye/pojo/vehicle/SyPointParam;I)V");
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          //set value to param
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          std::cout << "vehicleInfoArray " << std::endl;
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          for (size_t i = 0; i < batchSize; i++)
          {
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              jobjectArray vehicleInfoArray = env->NewObjectArray(vec_result[i].info.size(), cls_VehicleInfo, NULL);
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  			for (int j = 0; j < vec_result[i].info.size(); j++)
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              { //vehicleDetectRes
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                  auto vehicle_info = vec_result[i].info[j];
                  jobject vehicle_detect_res_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, vehicle_info.vehicle_detect_res.rect.left_, vehicle_info.vehicle_detect_res.rect.top_, vehicle_info.vehicle_detect_res.rect.width_, vehicle_info.vehicle_detect_res.rect.height_);
                  jobject vehicleDetectResult = env->NewObject(cls_VehicleDetectResult, mid_VehicleDetectResult, vehicle_detect_res_syRect_rect, vehicle_info.vehicle_detect_res.score);
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                  //vehicleWinDetectRes
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                  jobject vehicle_win_detect_res_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, vehicle_info.vehicle_win_detect_res.rect.left_, vehicle_info.vehicle_win_detect_res.rect.top_, vehicle_info.vehicle_win_detect_res.rect.width_, vehicle_info.vehicle_win_detect_res.rect.height_);
                  jobject vehicleWinDetectResult = env->NewObject(cls_VehicleDetectResult, mid_VehicleDetectResult, vehicle_win_detect_res_syRect_rect, vehicle_info.vehicle_win_detect_res.score);
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                  //vehicleBodyDetectRes
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                  jobject vehicle_body_detect_res_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, vehicle_info.vehicle_body_detect_res.rect.left_, vehicle_info.vehicle_body_detect_res.rect.top_, vehicle_info.vehicle_body_detect_res.rect.width_, vehicle_info.vehicle_body_detect_res.rect.height_);
                  jobject vehicleBodyDetectResult = env->NewObject(cls_VehicleDetectResult, mid_VehicleDetectResult, vehicle_body_detect_res_syRect_rect, vehicle_info.vehicle_body_detect_res.score);
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                  //vehicleColorRes
                  jobject vehicleColorResult = NULL;
                  if (global_vehicle_color_config == SY_CONFIG_OPEN)
                  {
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                      vehicleColorResult = env->NewObject(cls_VehicleColorResult, mid_VehicleColorResult, vehicle_info.vehicle_color_res.score, vehicle_info.vehicle_color_res.index);
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                  }
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                  //vehicleRecgRes   //0618 atlas�Ļ�top1�Ľӿ�
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                  jobject vehicleRecgResult = NULL;
                  if (global_vehicle_recg_config == SY_CONFIG_OPEN)
                  {
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                      jstring vehicleBrand = env->NewStringUTF(vehicle_info.vehicle_recg_res.vehicle_brand);
                      jstring vehicleSubbrand = env->NewStringUTF(vehicle_info.vehicle_recg_res.vehicle_subbrand);
                      jstring vehicleIssueYear = env->NewStringUTF(vehicle_info.vehicle_recg_res.vehicle_issue_year);
                      jstring vehicleType = env->NewStringUTF(vehicle_info.vehicle_recg_res.vehicle_type);
                      jstring freightTon = env->NewStringUTF(vehicle_info.vehicle_recg_res.freight_ton);
                      vehicleRecgResult = env->NewObject(cls_VehicleRecgResult, mid_VehicleRecgResult, vehicleBrand, vehicleSubbrand, vehicleIssueYear, vehicleType, freightTon, vehicle_info.vehicle_recg_res.name_score);
                  }
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                  //vehiclePlateDetRecgRes
                  jobject vplateResult = NULL;
                  jobject vehicle_plate_det_recg_res_syRect_rect = NULL;
                  jobjectArray vplateNumArray = NULL;
                  if (global_vehicle_plate_det_recg_config == SY_CONFIG_OPEN)
                  {
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                      vehicle_plate_det_recg_res_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, vehicle_info.vehicle_plate_det_recg_res.rect.left_, vehicle_info.vehicle_plate_det_recg_res.rect.top_, vehicle_info.vehicle_plate_det_recg_res.rect.width_, vehicle_info.vehicle_plate_det_recg_res.rect.height_);
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                      vplateNumArray = env->NewObjectArray(PLATENUM, cls_VplateNum, NULL);
                      for (size_t k = 0; k < PLATENUM; k++)
                      {
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                          jstring character = env->NewStringUTF(vehicle_info.vehicle_plate_det_recg_res.recg[k].character);
                          jobject vplateNum = env->NewObject(cls_VplateNum, mid_VplateNum, character, vehicle_info.vehicle_plate_det_recg_res.recg[k].maxprob);
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                          env->SetObjectArrayElement(vplateNumArray, k, vplateNum);
                      }
                  }
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                  vplateResult = env->NewObject(cls_VplateResult, mid_VplateResult, vehicle_plate_det_recg_res_syRect_rect, vehicle_info.vehicle_plate_det_recg_res.detect_score, vplateNumArray, vehicle_info.vehicle_plate_det_recg_res.num_score, vehicle_info.vehicle_plate_det_recg_res.type, vehicle_info.vehicle_plate_det_recg_res.special_type);                
  
                  //vehiclePendantDetRes
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                  jobject vehiclePendantDetResult = NULL;
                  if (global_vehicle_pendant_det_config == SY_CONFIG_OPEN)
                  {
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                      jobjectArray vehiclePendantDetInfoArray = env->NewObjectArray(vehicle_info.vehicle_pendant_det_res.size(), cls_VehiclePendantDetInfo, NULL);
                      for (size_t m = 0; m < vehicle_info.vehicle_pendant_det_res.size(); m++)
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                      {
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                          auto one_pendant_res = vehicle_info.vehicle_pendant_det_res[m];
                          jobject vehicle_pendant_det_res_vpd_res_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, one_pendant_res.rect.left_,
                                                                                              one_pendant_res.rect.top_, one_pendant_res.rect.width_, one_pendant_res.rect.height_);
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                          jobject vehiclePendantDetInfo = env->NewObject(cls_VehiclePendantDetInfo, mid_VehiclePendantDetInfo, vehicle_pendant_det_res_vpd_res_syRect_rect, one_pendant_res.index, one_pendant_res.confidence, one_pendant_res.driver_copilot_info, one_pendant_res.iColor);
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                          env->SetObjectArrayElement(vehiclePendantDetInfoArray, m, vehiclePendantDetInfo);
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                      }
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                      vehiclePendantDetResult = env->NewObject(cls_VehiclePendantDetResult, mid_VehiclePendantDetResult, vehiclePendantDetInfoArray, vehicle_info.vehicle_pendant_det_res.size());
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                  }
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                  //vehicleIllegalDetRes
                  jobject vehicleIllegalDetResult = NULL;
                  if (global_vehicle_illegal_config == SY_CONFIG_OPEN)
                  {
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                      jobject vehicleIllegalDetDetails_driver_belt = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.driver.belt.status, vehicle_info.vehicle_illegal_det_res.driver.belt.confidence);
                      jobject vehicleIllegalDetDetails_driver_smoke = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.driver.smoke.status, vehicle_info.vehicle_illegal_det_res.driver.smoke.confidence);
                      jobject vehicleIllegalDetDetails_driver_call = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.driver.call.status, vehicle_info.vehicle_illegal_det_res.driver.call.confidence);
                      jobject vehicleIllegalDetDetails_driver_phone = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.driver.phone.status, vehicle_info.vehicle_illegal_det_res.driver.phone.confidence);
                      jobject vehicleIllegalDetDetails_driver_person = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.driver.person.status, vehicle_info.vehicle_illegal_det_res.driver.person.confidence);
                      jobject vehicleIllegalDetDetails_copilot_belt = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.copilot.belt.status, vehicle_info.vehicle_illegal_det_res.copilot.belt.confidence);
                      jobject vehicleIllegalDetDetails_copilot_smoke = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.copilot.smoke.status, vehicle_info.vehicle_illegal_det_res.copilot.smoke.confidence);
                      jobject vehicleIllegalDetDetails_copilot_call = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.copilot.call.status, vehicle_info.vehicle_illegal_det_res.copilot.call.confidence);
                      jobject vehicleIllegalDetDetails_copilot_phone = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.copilot.phone.status, vehicle_info.vehicle_illegal_det_res.copilot.phone.confidence);
                      jobject vehicleIllegalDetDetails_copilot_person = env->NewObject(cls_VehicleIllegalDetDetails, mid_VehicleIllegalDetDetails, vehicle_info.vehicle_illegal_det_res.copilot.person.status, vehicle_info.vehicle_illegal_det_res.copilot.person.confidence);
  
                      jobject vehicleIllegalDetInfo_driver = env->NewObject(cls_VehicleIllegalDetInfo, mid_VehicleIllegalDetInfo, vehicleIllegalDetDetails_driver_belt, vehicleIllegalDetDetails_driver_smoke, vehicleIllegalDetDetails_driver_phone, vehicleIllegalDetDetails_driver_call,  vehicleIllegalDetDetails_driver_person);
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                      jobject vehicleIllegalDetInfo_copilot = env->NewObject(cls_VehicleIllegalDetInfo, mid_VehicleIllegalDetInfo, vehicleIllegalDetDetails_copilot_belt, vehicleIllegalDetDetails_copilot_smoke, vehicleIllegalDetDetails_copilot_phone, vehicleIllegalDetDetails_copilot_call, vehicleIllegalDetDetails_copilot_person);
                      vehicleIllegalDetResult = env->NewObject(cls_VehicleIllegalDetResult, mid_VehicleIllegalDetResult, vehicleIllegalDetInfo_driver, vehicleIllegalDetInfo_copilot);
                  }
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                  //vehicleFeaRes
                  jobject vehicleFeaResult = NULL;
                  if (global_vehicle_feature_config == SY_CONFIG_OPEN)
                  {
                      jfloatArray feature = env->NewFloatArray(VA_FEATURESIZE);
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                      env->SetFloatArrayRegion(feature, 0, VA_FEATURESIZE, vehicle_info.vehicle_fea_res.feature);
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                      vehicleFeaResult = env->NewObject(cls_VehicleFeaResult, mid_VehicleFeaResult, feature);
                  }
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                  //MtaResultParam
                  jobject mtaResult = NULL;
                  if (global_vehicle_motor_tricycle_analysis_config == SY_CONFIG_OPEN)
                  {
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                      jobject mtaDetailsParam_motor_driver_helmeted = env->NewObject(cls_MtaDetailsParam, mid_MtaDetailsParam, vehicle_info.mta_res.motor_driver_helmeted.status, vehicle_info.mta_res.motor_driver_helmeted.confidence);
                      jobject mtaDetailsParam_motor_manned = env->NewObject(cls_MtaDetailsParam, mid_MtaDetailsParam, vehicle_info.mta_res.motor_manned.status, vehicle_info.mta_res.motor_manned.confidence);
                      jobject mtaDetailsParam_tricycle_manned = env->NewObject(cls_MtaDetailsParam, mid_MtaDetailsParam, vehicle_info.mta_res.tricycle_manned.status, vehicle_info.mta_res.tricycle_manned.confidence);
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                      jobject mtaDetailsParam_motor_driver_hs_rect = NULL;
                      //if (global_vehicle_motor_hs_output_config == SY_CONFIG_OPEN)
                      {
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                          jobject mtaDetailsParam_motor_driver_hs_rect_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, vehicle_info.mta_res.motor_driver_hs_rect.rect.left_, vehicle_info.mta_res.motor_driver_hs_rect.rect.top_, vehicle_info.mta_res.motor_driver_hs_rect.rect.width_, vehicle_info.mta_res.motor_driver_hs_rect.rect.height_);
                          mtaDetailsParam_motor_driver_hs_rect = env->NewObject(cls_VehicleDetectResult, mid_VehicleDetectResult, mtaDetailsParam_motor_driver_hs_rect_syRect_rect, vehicle_info.mta_res.motor_driver_hs_rect.score);
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                      }
                      mtaResult = env->NewObject(cls_MtaResult, mid_MtaResult, mtaDetailsParam_motor_driver_helmeted, mtaDetailsParam_motor_manned, mtaDetailsParam_tricycle_manned, mtaDetailsParam_motor_driver_hs_rect);
                  }
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                  //LorryMannedResultParam
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                  jobject MannedResult = NULL;
                  if (global_vehicle_manned_config == SY_CONFIG_OPEN)
                  {
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                      int MannedResHsCount = vehicle_info.manned_res.hs_count;
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                      jobjectArray hsDetectResultArray = env->NewObjectArray(MannedResHsCount, cls_VehicleDetectResult, NULL);
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                  for (size_t m = 0; m < MannedResHsCount; m++)
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                      {
                          jobject Manned_hsDetect_syRect = env->NewObject(cls_SyRect, mid_SyRect,
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                                                                              vehicle_info.manned_res.hs_rect[m].rect.left_,
                                                                              vehicle_info.manned_res.hs_rect[m].rect.top_,
                                                                              vehicle_info.manned_res.hs_rect[m].rect.width_,
                                                                              vehicle_info.manned_res.hs_rect[m].rect.height_);
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                          jobject Manned_hsDetect = env->NewObject(cls_VehicleDetectResult, mid_VehicleDetectResult, Manned_hsDetect_syRect, vehicle_info.manned_res.hs_rect[m].score);
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                          env->SetObjectArrayElement(hsDetectResultArray, m, Manned_hsDetect);
                      }
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                      MannedResult = env->NewObject(cls_MannedResultParam, mid_MannedResult,
                                  hsDetectResultArray,
                                  MannedResHsCount);
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                  }
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                  jint type = vehicle_info.type;
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                  jint vpt_type = vehicle_info.vpt_type;
                  jint rainshed = vehicle_info.rainshed;		//是否安装雨棚， 0 有雨棚   1 无雨棚
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                  jfloat rainshed_prob = vehicle_info.rainshed_prob;
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                  jint truck_manned = vehicle_info.truck_manned;
                  jint motor_manned = vehicle_info.motor_manned;
                  jint human_upper_color = vehicle_info.human_upper_color;
                  jint human_lower_color = vehicle_info.human_lower_color;
                  jint reverse_driving = vehicle_info.reverse_driving;    // 0 正常行驶   1 逆行   -1 未知
                  jint phoning = vehicle_info.phoning;        // 骑车打电话
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                  jfloat phoning_prob = vehicle_info.phoning_prob;
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                  jint cross_line = vehicle_info.cross_line;         // 压实线， 1 黄实线 2 白实线  -1 其他
                  jint cross_diversion_line = vehicle_info.cross_diversion_line;   // 压导流线   1 压了  -1 未压
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                  jobject vehicleInfo = env->NewObject(cls_VehicleInfo, mid_VehicleInfo, vehicleDetectResult, vehicleWinDetectResult, vehicleBodyDetectResult, vehicleColorResult, vehicleRecgResult, vplateResult, vehiclePendantDetResult, vehicleIllegalDetResult, vehicleFeaResult,mtaResult, MannedResult,  type, vpt_type, rainshed, rainshed_prob, truck_manned, motor_manned, human_upper_color, reverse_driving, phoning, phoning_prob, cross_line, cross_diversion_line);
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                  env->SetObjectArrayElement(vehicleInfoArray, j, vehicleInfo);
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              }
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              std::cout << "line info " << std::endl;
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              // 道路标志线
              jobjectArray LineInfoArray = env->NewObjectArray(vec_result[i].vec_line.size(), cls_LineInfo, NULL);
  			for (int j = 0; j < vec_result[i].vec_line.size(); j++)
              {
                  auto line_info = vec_result[i].vec_line[j];
                  jobjectArray ptArray = env->NewObjectArray(line_info.vec_pt.size(), cls_LineInfo, NULL);
                  for (int k = 0; k < line_info.vec_pt.size(); k++)
                  {
                      auto pt = line_info.vec_pt[k];
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                      jobject line_info_point = env->NewObject(cls_SyPoint, mid_SyPoint, pt.x, pt.y);
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                      env->SetObjectArrayElement(ptArray, k, line_info_point);
                  }
  
                  jobject one_line_info = env->NewObject(cls_LineInfo, mid_LineInfo, ptArray, line_info.line_type);
  
                  env->SetObjectArrayElement(LineInfoArray, j, one_line_info);
              }
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              std::cout << "road info " << std::endl;
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              // 道路
              jobjectArray RoadInfoArray = env->NewObjectArray(vec_result[i].vec_road.size(), cls_SegInfo, NULL);
  			for (int j = 0; j < vec_result[i].vec_road.size(); j++)
              {
                  auto road_info = vec_result[i].vec_road[j];
                  jobjectArray ptArray = env->NewObjectArray(road_info.vec_pt.size(), cls_SyPoint, NULL);
                  for (int k = 0; k < road_info.vec_pt.size(); k++)
                  {
                      auto pt = road_info.vec_pt[k];
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                      jobject road_info_point = env->NewObject(cls_SyPoint, mid_SyPoint, pt.x, pt.y);
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                      env->SetObjectArrayElement(ptArray, k, road_info_point);
                  }
  
                  jobject one_road_info = env->NewObject(cls_SegInfo, mid_SegInfo, ptArray, road_info.seg_type);
  
                  env->SetObjectArrayElement(RoadInfoArray, j, one_road_info);
              }
  
              jobject vehicleAnalysisResult = env->NewObject(cls_vehicleAnalysisResult, mid_vehicleAnalysisResult, vehicleInfoArray, LineInfoArray, RoadInfoArray, vec_result[i].info.size());
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  			env->SetObjectArrayElement(vehicleAnalysisResultParams, i, vehicleAnalysisResult);
          }
  		
      }
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  	ACL_CALL(aclrtSetCurrentContext(ctx), ACL_ERROR_NONE, FAILED);
  	delete dvpp;
      dvpp = nullptr;
      (void) aclrtDestroyStream(stream);
  	aclrtDestroyContext(ctx);
  
      return ret;
  }
  
  /*
   * Class:     com_objecteye_nativeinterface_vehicle_VehicleNativeInterface
   * Method:    va_release
   * Signature: (J)V
   */
  JNIEXPORT void JNICALL Java_com_objecteye_nativeinterface_vehicle_VehicleNativeInterface_release(JNIEnv *env, jobject obj, jlong handle)
  {
      void *vaHandle = (void *)handle;
      if (vaHandle != NULL)
      {
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          village_pic_release(&vaHandle);
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      }
  }
  
  /*
   * Class:     com_objecteye_nativeinterface_vehicle_VehicleNativeInterface
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   * Method:    get_village_pic_version
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   * Signature: ()Ljava/lang/String;
   */
  JNIEXPORT jstring JNICALL Java_com_objecteye_nativeinterface_vehicle_VehicleNativeInterface_getVersion(JNIEnv *env, jobject obj)
  {
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      const char *version = get_village_pic_version();
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      return env->NewStringUTF(version);
  }
  
  /**
   *  ����ͼƬ�ı����ʽ
   * */
  sy_format getImgByteType(int type)
  {
      sy_format syFormat;
      switch (type)
      {
      case 0:
          syFormat = SY_FORMAT_BGR888;
          break;
      case 1:
          syFormat = SY_FORMAT_BGRA888;
          break;
      case 2:
          syFormat = SY_FORMAT_GRAY8;
          break;
      case 3:
          syFormat = SY_FORMAT_YUV4420P;
          break;
      case 4:
          syFormat = SY_FORMAT_NV12;
          break;
      case 5:
          syFormat = SY_FORMAT_NV21;
          break;
      default:
          syFormat = SY_FORMAT_BGR888;
          break;
      }
      return syFormat;
  }
  
  //curl writefunction to be passed as a parameter
  // we can't ever expect to get the whole image in one piece,
  // every router / hub is entitled to fragment it into parts
  // (like 1-8k at a time),
  // so insert the part at the end of our stream.
  size_t write_data(char *ptr, size_t size, size_t nmemb, void *userdata)
  {
  	vector<uchar> *stream = (vector<uchar>*)userdata;
  	size_t count = size * nmemb;
  	stream->insert(stream->end(), ptr, ptr + count);
  	return count;
  }
  
  //function to retrieve the image as cv::Mat data type
  cv::Mat curlImg(const char *img_url, int timeout = 10)
  {
  	vector<uchar> stream;
  	CURL *curl = curl_easy_init();
  	curl_easy_setopt(curl, CURLOPT_URL, img_url); //the img url
  	curl_easy_setopt(curl, CURLOPT_WRITEFUNCTION, write_data); // pass the writefunction
  	curl_easy_setopt(curl, CURLOPT_WRITEDATA, &stream); // pass the stream ptr to the writefunction
  	curl_easy_setopt(curl, CURLOPT_TIMEOUT, timeout); // timeout if curl_easy hangs, 
  	CURLcode res = curl_easy_perform(curl); // start curl
  	curl_easy_cleanup(curl); // cleanup
  	return cv::imdecode(stream, -1); // 'keep-as-is'
  }