Hu Chunming / village_ascend_arm

VehicleNativeInterface.cpp 38.6 KB
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 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 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 
#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 <chrono>
#include <mutex>

#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"

//dvpp����
#include "dvpp_process.h"
#include "utils.h"
#include "logger.hpp"
//#include "img_codec.h"

double msecond() {
    chrono::time_point<chrono::system_clock, chrono::milliseconds> tpMicro
        = chrono::time_point_cast<chrono::milliseconds>(chrono::system_clock::now());
    return tpMicro.time_since_epoch().count();
}


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);


/**
 * 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;
DvppProcess* dvpp = nullptr;
aclrtContext ctx = nullptr;
aclrtStream stream = nullptr;

std::mutex m_single_mtx;

/*
 * 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);

    jfieldID fid_sdk_path = env->GetFieldID(cls_vehcileAnalysisParam, "sdk_path", "Ljava/lang/String;");
    jfieldID fid_gpuid = env->GetFieldID(cls_vehcileAnalysisParam, "gpuId", "I");

    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");

    jstring str_sdk_path = (jstring)env->GetObjectField(vehicleAnalysisParam, fid_sdk_path);
    const char *sdk_path = env->GetStringUTFChars(str_sdk_path, JNI_FALSE);
    jint gpuid = env->GetIntField(vehicleAnalysisParam, fid_gpuid);
	
    //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);

    void *vaHandle = NULL;
    VillageParam param;
    param.dev_id = gpuid;
    param.sdk_path = sdk_path;
    param.log_level = aiEngineParam_logLevel;
    param.log_path = aiEngineParam_logPath;
    param.log_days = aiEngineParam_logDays;
    param.log_mem = aiEngineParam_logMem;


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

    LOG_INFO("jni dev_id:{}", param.dev_id);
    LOG_INFO("jni sdk_path:{}", param.sdk_path.c_str());
    LOG_INFO("jni log_level:{}", param.log_level);
    LOG_INFO("jni log_path:{}", param.log_path.c_str());
    LOG_INFO("jni log_days:{}", param.log_days);
    LOG_INFO("jni log_mem:{}", param.log_mem);

    int ret = village_pic_init(&vaHandle, param);
 	if (ret != SUCCESS) {
		LOG_ERROR("jni village_pic_init failed.");
		return ret;
	}
	
    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_OPEN;
        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);
    }
    env->ReleaseStringUTFChars(str_sdk_path, sdk_path);
    env->ReleaseStringUTFChars(str_aiEngineParam_logPath, aiEngineParam_logPath);

	ACL_CALL(aclrtCreateContext(&ctx, gpu_id), ACL_ERROR_NONE, FAILED);
	ACL_CALL(aclrtSetCurrentContext(ctx), ACL_ERROR_NONE, FAILED);

	ACL_CALL(aclrtCreateStream(&stream), ACL_ERROR_NONE, FAILED);
	
	dvpp = new DvppProcess();
	dvpp->InitResource(stream);

    LOG_ERROR("jni init succeed.");

    return ret;
}

 /*
 * 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;
    if (nullptr ==  vaHandle || nullptr == dvpp || nullptr == stream || nullptr == ctx)
    {
        return ret;
    }

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

	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];
    ImageData dvpp_data[batchSize];

	ACL_CALL(aclrtSetCurrentContext(ctx), ACL_ERROR_NONE, FAILED);
	
	if (format != 1)
	{
		LOG_ERROR("ERROR FORMAT TYPE: {}", format);
		return FAILED;
	}

	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;

        string decode_str;
        //decode_str = decoder->Decode(encode_str[b].data(), encode_str[b].size());
        decode_str = Decode(imageString.data(), imageString.size());
        env->ReleaseStringUTFChars(imageString1, image_str);
        
        //debug========================================================
        ImageData src;
        uint32_t binFileBufferLen = decode_str.size() + 8;//�ֽ���
        uint8_t* binFileBufferData = new(std::nothrow) uint8_t[binFileBufferLen];
        
        if (binFileBufferData == nullptr) {
            LOG_ERROR("malloc binFileBufferData failed");
            return FAILED;
        }
        
        src.data.reset(binFileBufferData, [](uint8_t* p) { delete[](p); });

        memcpy((char *)binFileBufferData, decode_str.data(), binFileBufferLen);
        int32_t ch = 0;
        ret = acldvppJpegGetImageInfo(binFileBufferData, binFileBufferLen, &(src.width), &(src.height), &ch);
        if (SUCCESS != ret) {
            LOG_ERROR("acldvppJpegGetImageInfo failed");
            return FAILED;
        }

        src.size = binFileBufferLen;

        ret = dvpp->CvtJpegToYuv420sp(dvpp_data[i], src);
        if (SUCCESS != ret) {
            LOG_ERROR("CvtJpegToYuv420sp failed");
            return 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();          
	}
	t2 = msecond();
    //printf("va jni info:decode time: %.2f\n", (t2 - t1));	
	
    std::cout << "village_pic_analysis " << std::endl;

    std::vector<AnalysisResult> vec_result = village_pic_analysis(vaHandle, batch_img, batchSize);
	if (vec_result.size() <= 0 || vec_result.size() != batchSize)
	{
        LOG_ERROR("village_pic_analysis failed.");
		return FAILED;
	}
    cout << "result size:" << vec_result.size() << endl;
	
	t3 = msecond();
	
    std::cout << "struct " << std::endl;
    // getClass
    jclass cls_vehicleAnalysisResult = env->FindClass("com/objecteye/pojo/vehicle/VehicleAnalysisResultParam");
    jclass cls_VehicleInfo = env->FindClass("com/objecteye/pojo/vehicle/VehicleInfoParam");
    jclass cls_LineInfo = env->FindClass("com/objecteye/pojo/vehicle/LineInfoParam");
    jclass cls_SegInfo = env->FindClass("com/objecteye/pojo/vehicle/SegInfoParam");

    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");
    if (nullptr == cls_StainVplateResultParam)
    {
        LOG_ERROR("cls_StainVplateResultParam find class error!");
    }
    
    jclass cls_MannedResultParam = env->FindClass("com/objecteye/pojo/vehicle/MannedResultParam");

    //jclass cls_VehiclePoseResultParam = env->FindClass("com/objecteye/pojo/vehicle/VehiclePoseResultParam");//wh20210601������pose���

    jclass cls_SyPoint = env->FindClass("com/objecteye/pojo/common/SyPointParam");
    
    
    //getmethodId
    jmethodID mid_vehicleAnalysisResult = env->GetMethodID(cls_vehicleAnalysisResult, "<init>", "([Lcom/objecteye/pojo/vehicle/VehicleInfoParam;[Lcom/objecteye/pojo/vehicle/LineInfoParam;[Lcom/objecteye/pojo/vehicle/SegInfoParam;I)V");

    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;IIIFIIIIIIFII)V");	

    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;FIILcom/objecteye/pojo/vehicle/StainVplateResultParam;)V");
    if (nullptr == mid_VplateResult)
    {
        LOG_ERROR("mid_VplateResult GetMethodID error!");
    }
    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");
    if (nullptr == mid_VehicleIllegalDetResult)
    {
        LOG_ERROR("mid_VehicleIllegalDetResult GetMethodID error!");
    }
    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;IFII)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
    jmethodID mid_SyPoint = env->GetMethodID(cls_SyPoint, "<init>", "(II)V");//wh20210601������pose���
    //jmethodID mid_VehiclePoseResult = env->GetMethodID(cls_VehiclePoseResultParam, "<init>", "([Lcom/objecteye/pojo/common/SyPointParam;[F[FDDD)V");

    jmethodID mid_LineInfo = env->GetMethodID(cls_LineInfo, "<init>", "([Lcom/objecteye/pojo/common/SyPointParam;I)V");		       
    jmethodID mid_SegInfo = env->GetMethodID(cls_SegInfo, "<init>", "([Lcom/objecteye/pojo/common/SyPointParam;I)V");		

    //set value to param
    std::cout << "vehicleInfoArray " << std::endl;
    
    for (size_t i = 0; i < batchSize; i++)
    {
        jobjectArray vehicleInfoArray = env->NewObjectArray(vec_result[i].info.size(), cls_VehicleInfo, NULL);
        for (int j = 0; j < vec_result[i].info.size(); j++)
        { //vehicleDetectRes
            std::cout << "vehicleDetectRes" << std::endl;
            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);
            //vehicleWinDetectRes
            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);
            //vehicleBodyDetectRes
            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);
            //vehicleColorRes
            jobject vehicleColorResult = NULL;
            if (global_vehicle_color_config == SY_CONFIG_OPEN)
            {
                std::cout << "vehicleColorResult" << std::endl;
                vehicleColorResult = env->NewObject(cls_VehicleColorResult, mid_VehicleColorResult, vehicle_info.vehicle_color_res.score, vehicle_info.vehicle_color_res.index);
            }

            //vehicleRecgRes   //0618 atlas�Ļ�top1�Ľӿ�
            jobject vehicleRecgResult = NULL;
            if (global_vehicle_recg_config == SY_CONFIG_OPEN)
            {
                std::cout << "vehicleRecgResult" << std::endl;
                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);
            }

            //vehiclePlateDetRecgRes
            jobject vplateResult = NULL;
            jobject vehicle_plate_det_recg_res_syRect_rect = NULL;
            jobjectArray vplateNumArray = NULL;
            auto vehicle_plate_res = vehicle_info.vehicle_plate_det_recg_res;
            if (global_vehicle_plate_det_recg_config == SY_CONFIG_OPEN)
            {
                std::cout << "vehicle_plate_det_recg_res_syRect_rect" << std::endl;
                vehicle_plate_det_recg_res_syRect_rect = env->NewObject(cls_SyRect, mid_SyRect, vehicle_plate_res.rect.left_, vehicle_plate_res.rect.top_, vehicle_plate_res.rect.width_, vehicle_plate_res.rect.height_);
                vplateNumArray = env->NewObjectArray(PLATENUM, cls_VplateNum, NULL);
                for (size_t k = 0; k < PLATENUM; k++)
                {
                    jstring character = env->NewStringUTF(vehicle_plate_res.recg[k].character);
                    jobject vplateNum = env->NewObject(cls_VplateNum, mid_VplateNum, character, vehicle_plate_res.recg[k].maxprob);
                    env->SetObjectArrayElement(vplateNumArray, k, vplateNum);
                }
            }

            jobject stain_v_plate = env->NewObject(cls_StainVplateResultParam, mid_StainVplateResultParam, vehicle_plate_res.stain_vp_result.score, vehicle_plate_res.stain_vp_result.type);
            std::cout << "vplateResult" << std::endl;
            vplateResult = env->NewObject(cls_VplateResult, mid_VplateResult, vehicle_plate_det_recg_res_syRect_rect, vehicle_plate_res.detect_score, vplateNumArray, vehicle_plate_res.num_score, vehicle_plate_res.type, vehicle_plate_res.special_type, stain_v_plate);                

            std::cout << "vplateResult end" << std::endl;

            //vehiclePendantDetRes
            jobject vehiclePendantDetResult = NULL;
            if (global_vehicle_pendant_det_config == SY_CONFIG_OPEN)
            {
                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++)
                {
                    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_);
                    
                    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);
                    
                    env->SetObjectArrayElement(vehiclePendantDetInfoArray, m, vehiclePendantDetInfo);
                }
                vehiclePendantDetResult = env->NewObject(cls_VehiclePendantDetResult, mid_VehiclePendantDetResult, vehiclePendantDetInfoArray, vehicle_info.vehicle_pendant_det_res.size());
            }

            std::cout << "vehiclePendantDetResult" << std::endl;

            //vehicleIllegalDetRes
            jobject vehicleIllegalDetResult = NULL;
            if (global_vehicle_illegal_config == SY_CONFIG_OPEN)
            {
                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);
                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);
            }

            //vehicleFeaRes
            jobject vehicleFeaResult = NULL;
            if (global_vehicle_feature_config == SY_CONFIG_OPEN)
            {
                jfloatArray feature = env->NewFloatArray(VA_FEATURESIZE);
                env->SetFloatArrayRegion(feature, 0, VA_FEATURESIZE, vehicle_info.vehicle_fea_res.feature);
                vehicleFeaResult = env->NewObject(cls_VehicleFeaResult, mid_VehicleFeaResult, feature);
            }

            //MtaResultParam
            jobject mtaResult = NULL;
            if (global_vehicle_motor_tricycle_analysis_config == SY_CONFIG_OPEN)
            {
                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);
                jobject mtaDetailsParam_motor_driver_hs_rect = NULL;
                //if (global_vehicle_motor_hs_output_config == SY_CONFIG_OPEN)
                {
                    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);
                }
                mtaResult = env->NewObject(cls_MtaResult, mid_MtaResult, mtaDetailsParam_motor_driver_helmeted, mtaDetailsParam_motor_manned, mtaDetailsParam_tricycle_manned, mtaDetailsParam_motor_driver_hs_rect);
            }

            //LorryMannedResultParam
            jobject MannedResult = NULL;
            if (global_vehicle_manned_config == SY_CONFIG_OPEN)
            {
                int MannedResHsCount = vehicle_info.manned_res.hs_count;

                jobjectArray hsDetectResultArray = env->NewObjectArray(MannedResHsCount, cls_VehicleDetectResult, NULL);
                for (size_t m = 0; m < MannedResHsCount; m++)
                {
                    jobject Manned_hsDetect_syRect = env->NewObject(cls_SyRect, mid_SyRect,
                                                                        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_);

                    jobject Manned_hsDetect = env->NewObject(cls_VehicleDetectResult, mid_VehicleDetectResult, Manned_hsDetect_syRect, vehicle_info.manned_res.hs_rect[m].score);

                    env->SetObjectArrayElement(hsDetectResultArray, m, Manned_hsDetect);
                }

                MannedResult = env->NewObject(cls_MannedResultParam, mid_MannedResult,
                            hsDetectResultArray,
                            MannedResHsCount);
            }

            std::cout << "type" << std::endl;
            jint type = vehicle_info.type;
            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
            jfloat rainshed_prob = vehicle_info.rainshed_prob;
            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
            jfloat phoning_prob = vehicle_info.phoning_prob;
            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

            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, human_lower_color, reverse_driving, phoning, phoning_prob, cross_line, cross_diversion_line);

            std::cout << "vehicleInfo end" << std::endl;

            env->SetObjectArrayElement(vehicleInfoArray, j, vehicleInfo);

            std::cout << "SetObjectArrayElement" << std::endl;
        }

        std::cout << "line info " << std::endl;

        // 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_SyPoint, NULL);
            for (int k = 0; k < line_info.vec_pt.size(); k++)
            {
                auto pt = line_info.vec_pt[k];
                jobject line_info_point = env->NewObject(cls_SyPoint, mid_SyPoint, pt.x, pt.y);
                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);
        }

        std::cout << "road info " << std::endl;

        // 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];
                jobject road_info_point = env->NewObject(cls_SyPoint, mid_SyPoint, pt.x, pt.y);
                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);
        }

        std::cout << "add new " << std::endl;

        jobject vehicleAnalysisResult = env->NewObject(cls_vehicleAnalysisResult, mid_vehicleAnalysisResult, vehicleInfoArray, LineInfoArray, RoadInfoArray, vec_result[i].info.size());			
        env->SetObjectArrayElement(vehicleAnalysisResultParams, i, vehicleAnalysisResult);
    }

    return SUCCESS;
}

/*
 * 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)
    {
        village_pic_release(&vaHandle);
    }

    if (ctx) {
        aclrtSetCurrentContext(ctx);
    }
    
    if (dvpp) {
        delete dvpp;
        dvpp = nullptr;
    }

    if (stream) {
        (void) aclrtDestroyStream(stream);
    }
    
	if (ctx) {
        aclrtDestroyContext(ctx);
    }
}

/*
 * Class:     com_objecteye_nativeinterface_vehicle_VehicleNativeInterface
 * Method:    get_village_pic_version
 * Signature: ()Ljava/lang/String;
 */
JNIEXPORT jstring JNICALL Java_com_objecteye_nativeinterface_vehicle_VehicleNativeInterface_getVersion(JNIEnv *env, jobject obj)
{
    const char *version = get_village_pic_version();
    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;
}