#include <iostream>
#include <sstream>
#include <fstream>

#include "sy_common.h"
#include "sy_errorinfo.h"
#include "vehicle_analysis.h"
#include "vehicle_result.h"

#include "opencv2/opencv.hpp"
#include "opencv2/imgcodecs/legacy/constants_c.h"
#include "opencv2/imgproc/types_c.h"
#include "time.h"
#include "sys/time.h"

#include "utils.h"
#include "dvpp_process.h"

using namespace std;
using namespace cv;

#include <chrono>
#include <dirent.h>



//static char colorLabel[13][8] = { "棕", "橙", "灰", "白", "粉", "紫", "红", "绿", "蓝", "银", "青", "黄", "黑" };
static std::vector<std::string> CARCOLOR1 = {
	"BROWN","ORANGE","GRAY","WHITE","PINK","PURPLE","RED","GREEN","BLUE",
	"SILVER","CYAN","YELLOW","BLACK"
};

static char vsLabel[11][40] = { "diao", "guan",  "huo", "zha", "jiao","jiu",  "la", "xiao", "qing", "sui","wei" };


double msecond() {
    struct timeval tv;
    gettimeofday(&tv, 0);
    return (tv.tv_sec * 1000.0 + tv.tv_usec / 1000.0);
}


void getAllNm(std::string pthNm, std::vector<std::string>& fileList)
{
        DIR    *dir;
    struct    dirent    *ptr;
    dir = opendir(pthNm.c_str()); ///open the dir
    int filenum = 0;
    while((ptr = readdir(dir)) != NULL) ///read the list of this dir
    {
        // char* to string
        std::string curNm = ptr->d_name;
        if(curNm != "." && curNm != "..")
        {
                filenum++;
                fileList.push_back(curNm);
                //printf("file %d name: %s\n", filenum, curNm.c_str());
        }
   }
    closedir(dir);
}


void CvBGR2NV21(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);
            }
        }
    }
}







int main() {

	//ofstream oFile;
    //打开要输出的文件
    //oFile.open("va_result.csv", ios::out | ios::trunc);
	//oFile << "image" << "," << "image_quality_score" << "," << "count" << "," << "vehicle_info" << endl;


    cout << va_get_version() << endl;

	//string imagepath= "./vpt/";
	//string saveimagepath= "./result/";
	//int gpuid = 0;
		
	//string imagepath= "/home/HwHiAiUser/WH/vehicle_analysis202105/data/vpt/";
	//string imagepath= "/home/HwHiAiUser/WH/vehicle_analysis202105/data/bug/";
	string img_file_path= "/data/wanghong/Atlas310pro/vehicle_analysis202303/data/bug/";
	//string imagepath= "/home/HwHiAiUser/WH/vehicle_analysis202105/data/img/";
	//string imagepath= "/home/HwHiAiUser/WH/vehicle_analysis202105/data/carset/";
	string saveimagepath= "/data/wanghong/Atlas310pro/vehicle_analysis202303/data/result/";
	int gpuid = 0;
	
	va_param param;	
	param.vehicle_detect_config= SY_CONFIG_OPEN;  //1.开启车检测 SY_CONFIG_CLOSE  SY_CONFIG_OPEN
	param.vehicle_color_config= SY_CONFIG_OPEN;  //3.开启车颜色识别
	param.vehicle_recg_config= SY_CONFIG_OPEN;     //4.开启车型识别
	param.vehicle_recg_supplement_config= SY_CONFIG_OPEN;     //4.开启车型识别补充识别
	param.vehicle_plate_det_recg_config= SY_CONFIG_OPEN; //5.开启车牌检测识别	
	param.vehicle_pendant_det_config= SY_CONFIG_OPEN; //6.开启车属性检测识别	
	param.vehicle_illegal_config= SY_CONFIG_OPEN;  //7.开启车违规
	param.vehicle_feature_config= SY_CONFIG_OPEN;  //8.开启车辆特征提取
	param.vehicle_motor_tricycle_analysis_config= SY_CONFIG_OPEN;  //8.摩托车分析
	param.vehicle_manned_config= SY_CONFIG_OPEN;  //8.开启载人分析	
	
	
	param.gpuid=gpuid;
		
	//车检测参数	
	//param.vehicle_det_param.process_min_l = 720;// 720;
	//param.vehicle_det_param.process_max_l = 1280;//1280;	
	//param.vehicle_det_param.thresld=0.3;
	//param.min_obj_size=200;  //最小目标	
	param.vehicle_det_thresld=0.4;
	
	//车牌检测参数
	//param.vehicle_plate_det_param.process_min_l=320;
	//param.vehicle_plate_det_param.process_max_l=320;	
	//param.vehicle_plate_det_param.thresld=0.4;
	param.vehicle_plate_det_thresld=0.5;
	
	//车属性检测参数
	//param.vehicle_attribute_det_param.process_min_l=360;
	//param.vehicle_attribute_det_param.process_max_l=640;	
	//param.vehicle_attribute_det_param.thresld=0.3;
	param.vehicle_attribute_det_thresld=0.5;
	
	//车logo检测参数
	//param.vehicle_logo_det_param.process_min_l=512;
	//param.vehicle_logo_det_param.process_max_l=512;	
	//param.vehicle_logo_det_param.thresld=0.1;
	param.vehicle_logo_det_thresld=0.1;	
	
	//车颜色阈值
	param.vc_thresld = 0.5;
	
	//车型参数
	param.dbPath="/data/wanghong/Atlas310pro/vehicle_analysis202303/vehicle_analysis/db/vr_h0725x210605_r191230.db";	
	//param.dbPath="../db/vr_h0725x210605_r191230.db";
	
	param.models_Path="/data/wanghong/Atlas310pro/vehicle_analysis202303/vehicle_analysis/all_models/";	//所有模型的地址
    //param.models_Path="../modelsPath/";	//所有模型的地址
	
	
	int ret0= va_acl_init();
	
    void* handle = nullptr;	
    cout << "init start " << endl;
    int ret = va_init(&handle, param);
    if (ret == 0) {
        cout << "init success " << endl;
	}
	else
		return ret;
	
	
	
	
//	void* handle111 = nullptr;
//	cout << "init2 start " << endl;
//    int ret2 = va_init(&handle111, param);
//    if (ret2 == 0) {
//        cout << "init2 success " << endl;
//	}
//	else
//	{
//		cout << "init2 failed " << endl;
//		return ret2;
//	}
	
	
	
	double t3=0;
	int count =0;
	
//temp
    aclrtContext ctx;
	ACL_CALL(aclrtCreateContext(&ctx, gpuid), ACL_ERROR_NONE, SY_FAILED);
	ACL_CALL(aclrtSetCurrentContext(ctx), ACL_ERROR_NONE, SY_FAILED);
		
    aclrtStream stream = nullptr;
	ACL_CALL(aclrtCreateStream(&stream), ACL_ERROR_NONE, SY_FAILED);
    DvppProcess* dvpp = new DvppProcess();
	dvpp->InitResource(stream);

for(int iter =0;iter<100;iter++)
{	
	//ifstream infile("list.txt");	
	//ifstream infile("list_bug.txt");	
	//ifstream infile("list_700W.txt");
	//ifstream infile("list_img.txt");
	//string file;
	std::vector<std::string> fileList;
    getAllNm(img_file_path,fileList);
    if (fileList.empty()) throw std::logic_error("No suitable images were found");

		
    for (auto & file : fileList)
	{
        string filename = img_file_path + file;
		cout << "img path: " << filename << endl;
		const int batch_size = 1;
		printf("batch_size=%d \n",batch_size);

		Mat cvImg = imread(filename.c_str());
		sy_img imgs[batch_size];
	
		ACL_CALL(aclrtSetCurrentContext(ctx), ACL_ERROR_NONE, SY_FAILED);
		ImageData src[batch_size], dvpp_data[batch_size];
		if(1)
		{				 
			for (int b = 0; b < batch_size; b++) {
				Utils::ReadImageFile(src[b], filename); //将二进制图像读入内存，并读取宽高信息
				ACL_CALL(dvpp->CvtJpegToYuv420sp(dvpp_data[b], src[b]), SY_SUCCESS, SY_FAILED); //解码
				imgs[b].w_ = dvpp_data[b].width;//dvpp_data[b].alignWidth;
				imgs[b].h_ = dvpp_data[b].height;//dvpp_data[b].alignHeight;
				imgs[b].data_ = dvpp_data[b].data.get();//(uint8_t*)Utils::CopyDataDeviceToLocal(dvpp_data[b].data.get(), dvpp_data[b].size);
			}								
		}
		
		ImageData img_data_dvpp[batch_size];
		sy_img imgs_device[batch_size];
		if(0)
		{
			uint32_t alignWidth = (cvImg.cols + 127) / 128 * 128;
			uint32_t alignHeight = (cvImg.rows + 15) / 16 * 16;
			uint32_t size = alignWidth * alignHeight * 1.5;
			std::shared_ptr<uint8_t> data = shared_ptr<uint8_t>((new uint8_t[size]), 
				[](uint8_t* p) {delete [] p;});
			CvBGR2NV21(cvImg, data.get());
		 
			for (int i = 0; i < batch_size; i++) {
				imgs[i].w_ = cvImg.cols;
				imgs[i].h_ = cvImg.rows;
				imgs[i].data_ = data.get();
				//转到device输入
				Utils::CopysyImageDataToDvpp(img_data_dvpp[i], imgs[i]);
				imgs_device[i].w_ = img_data_dvpp[i].width;//dvpp_data[b].alignWidth;
				imgs_device[i].h_ = img_data_dvpp[i].height;//dvpp_data[b].alignHeight;
				imgs_device[i].data_ = img_data_dvpp[i].data.get();
			}				
		}
		
		if(0)
		{
			uint32_t alignWidth = (cvImg.cols + 127) / 128 * 128;
			uint32_t alignHeight = (cvImg.rows + 15) / 16 * 16;
			uint32_t size = alignWidth * alignHeight * 1.5;
			std::shared_ptr<uint8_t> data = shared_ptr<uint8_t>((new uint8_t[size]), 
				[](uint8_t* p) {delete [] p;});
			CvBGR2NV21(cvImg, data.get());
		 
			for (int i = 0; i < batch_size; i++) {
				imgs[i].w_ = cvImg.cols;
				imgs[i].h_ = cvImg.rows;
				imgs[i].data_ = data.get();
			}
			
		}
		
		count++;
		
		va_result *result=new va_result[batch_size];
		for(int b=0;b<batch_size;b++)
		{
			result[b].count=0;
			result[b].info=new vehicle_info[100];
			for(int c=0; c<100; c++)
			{
				result[b].info[c].vehicle_pendant_det_res.vpd_res=new v_pendant_d_info[300];	
			}			
		}
		
		double t1,t2;
		t1 = msecond();
		
		std::cout << "Predict----------------------------------"<< std::endl;			
		int ret = va_batch(handle, imgs, batch_size, result);
		//int ret = va_batch(handle, imgs_device, batch_size, result);
		t2 = msecond();
		printf("va_teat info:va_batch time: %.2f\n", (t2 - t1));	
		t3 += t2-t1;
		
		std::cout << "output----------------------------------"<< std::endl;
		
		for (int b = 0; b < batch_size; b++)
		{				
			if(param.vehicle_detect_config==SY_CONFIG_CLOSE)//不做车头检测时，应设result[b].count=1，即输入是车头图像，只含1辆车。
				result[b].count=1;
				
			//oFile << file << ","<< result[b].count<< "," <<endl;;	
			std::cout <<"car_count:" <<result[b].count<< std::endl;			
			for(int c=0;c<result[b].count;c++)
			{					
				//temp，中间结果，输出车牌被置黑的车小图
				//if(0)
				//{
				//	cv::Mat tmp(result[b].info[c].car_img_data_cpu[0].h_, result[b].info[c].car_img_data_cpu[0].w_, CV_8UC3, result[b].info[c].car_img_data_cpu[0].data_);
				//	char str_i[100];
				//	sprintf(str_i, "%d_",  c);
				//	cv::imwrite((save_folder_roi+str_i+i).c_str(),tmp);
				//}
				
				
				std::string str_vehicle_type;
				int vehicle_type=result[b].info[c].type;	
				//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";
				else if (vehicle_type==5)str_vehicle_type = "body_nova";
				std::cout << "		vehicle_type:"<<str_vehicle_type<< std::endl;
					
				//1.车头结果：蓝框//2.车窗结果：绿框
				if(param.vehicle_detect_config==SY_CONFIG_OPEN)
				{	
					//车身
					//std::cout << "vehicle_body_detect_res info:"<< std::endl;
					if(result[b].info[c].vehicle_body_detect_res.rect.width_>0)
					{
						float vehicle_body_detect_res_score = result[b].info[c].vehicle_body_detect_res.score;
						int x1=result[b].info[c].vehicle_body_detect_res.rect.left_;
						int y1=result[b].info[c].vehicle_body_detect_res.rect.top_;
						int x2=result[b].info[c].vehicle_body_detect_res.rect.left_+result[b].info[c].vehicle_body_detect_res.rect.width_;
						int y2=result[b].info[c].vehicle_body_detect_res.rect.top_+result[b].info[c].vehicle_body_detect_res.rect.height_;					
						std::cout << "		    vehicle_body_detect_res_score:" <<vehicle_body_detect_res_score<<",car_rect:[" <<x1<<"," <<y1<<"," <<x2-x1<<"," <<y2-y1<<"]"<< std::endl;
							
						Point lt(x1, y1);
						Point rb(x2, y2);
						rectangle(cvImg, lt, rb, cv::Scalar(0, 255,255), 4);						
					}	
					
					//车头
					//std::cout << "vehicle_detect_res info:"<< std::endl;
					if(result[b].info[c].vehicle_detect_res.rect.width_>0)	
					{						
						float vehicle_detect_res_score = result[b].info[c].vehicle_detect_res.score;
						int x1=result[b].info[c].vehicle_detect_res.rect.left_;
						int y1=result[b].info[c].vehicle_detect_res.rect.top_;
						int x2=result[b].info[c].vehicle_detect_res.rect.left_+result[b].info[c].vehicle_detect_res.rect.width_;
						int y2=result[b].info[c].vehicle_detect_res.rect.top_+result[b].info[c].vehicle_detect_res.rect.height_;										
						std::cout << "		    vehicle_detect_res_score:" <<vehicle_detect_res_score<<",car_rect:[" <<x1<<"," <<y1<<"," <<x2-x1<<"," <<y2-y1<<"]"<< std::endl;
							
						Point lt(x1, y1);
						Point rb(x2, y2);
						rectangle(cvImg, lt, rb, cv::Scalar(255, 0, 0), 4);	
					}
					
					//车窗
					//std::cout << "vwd output----"<< std::endl;
					if(result[b].info[c].vehicle_win_detect_res.rect.width_>0)
					{
						float vehicle_win_detect_res_score = result[b].info[c].vehicle_win_detect_res.score;
						int x1=result[b].info[c].vehicle_win_detect_res.rect.left_;
						int y1=result[b].info[c].vehicle_win_detect_res.rect.top_;
						int x2=result[b].info[c].vehicle_win_detect_res.rect.left_+result[b].info[c].vehicle_win_detect_res.rect.width_;
						int y2=result[b].info[c].vehicle_win_detect_res.rect.top_+result[b].info[c].vehicle_win_detect_res.rect.height_;					
						std::cout << "		    vehicle_win_detect_res_score:" <<vehicle_win_detect_res_score<<",win_rect:[" <<x1<<"," <<y1<<"," <<x2-x1<<"," <<y2-y1<<"]"<< std::endl;
							
						Point lt(x1, y1);
						Point rb(x2, y2);
						rectangle(cvImg, lt, rb, cv::Scalar(0, 255, 0), 4);
					}					
				}
		
				
				//3.车颜色
				if(param.vehicle_color_config==SY_CONFIG_OPEN&& (vehicle_type==0 || vehicle_type==1 || vehicle_type==4))
				{
					//std::cout << "vc output----"<< std::endl;
					int index=result[b].info[c].vehicle_color_res.index;
					float score=result[b].info[c].vehicle_color_res.score;
					
					if(score>0.5)
					{
						std::cout << "		car color info:"<< endl;
						std::cout << "		    index:"<< index<<" score:"<< score<< std::endl;
						
						std::string str_i = CARCOLOR1[index];
						cv::putText(cvImg, str_i,
							cv::Point(result[b].info[c].vehicle_body_detect_res.rect.left_+5, result[b].info[c].vehicle_body_detect_res.rect.top_+50),
							cv::FONT_HERSHEY_COMPLEX_SMALL,
							1.3,
							cv::Scalar(0, 0, 255),
							2);
					}
				}
				
				
				//4.VR车型识别
				if(param.vehicle_recg_config==SY_CONFIG_OPEN  && (vehicle_type==0 || vehicle_type==1 || vehicle_type==4 ))
				{
					//std::cout << "vr output----"<< std::endl;

					char *vehicle_brand=result[b].info[c].vehicle_recg_res.vehicle_brand;//车辆品牌
					char* vehicle_subbrand=result[b].info[c].vehicle_recg_res.vehicle_subbrand;             //车辆子品牌
					char* vehicle_issue_year=result[b].info[c].vehicle_recg_res.vehicle_issue_year;           //车辆年款
					char* vehicle_type_=result[b].info[c].vehicle_recg_res.vehicle_type;                //车辆类型
					char* freight_ton=result[b].info[c].vehicle_recg_res.freight_ton;                  //货车吨级
					float name_score=result[b].info[c].vehicle_recg_res.name_score;                   //识别置信度
					
					float name_score_thre = 0;
					//if(vehicle_type==0)name_score_thre=0.7;//车头车型识别建议阈值0.7
					//if(vehicle_type==1)name_score_thre=0.8;//车尾车型识别建议阈值0.8
					if(name_score > name_score_thre)
					{
						cout << "		vehicle_recg info: " << endl;
						std::cout << "			name_score: " << name_score << std::endl;
						std::cout << "			vehicle_brand: " << vehicle_brand << std::endl;
						std::cout << "			vehicle_subbrand: " << vehicle_subbrand << std::endl;
						std::cout << "			vehicle_issue_year: " << vehicle_issue_year << std::endl;
						std::cout << " 			vehicle_type_: " << vehicle_type_ << std::endl;
						std::cout << "			freight_ton: " << freight_ton << std::endl;

						//printf("name_score:%f\n", name_score);
						//printf("vehicle_brand:%s\n", vehicle_brand);
						//printf("vehicle_subbrand:%s\n", vehicle_subbrand);
						//printf("vehicle_issue_year:%s\n", vehicle_issue_year);
						//printf("vehicle_type_:%s\n", vehicle_type_);
						//printf("freight_ton:%s\n", freight_ton);
					}
				
				}
				
				
				//5.VP车牌检测识别
				if(param.vehicle_plate_det_recg_config==SY_CONFIG_OPEN  && (vehicle_type==0 || vehicle_type==1))
				{
					std::cout << "		car plate info:"<< endl;
					int special_type=result[b].info[c].vehicle_plate_det_recg_res.special_type;//常规车牌、临时车牌、低速车牌。0-common,1-temporary_license_plate,2-low_speed_license_plate.
					std::cout << "		    special_type:" << special_type<< std::endl;
					
					float detect_score=result[b].info[c].vehicle_plate_det_recg_res.detect_score;
					//std::cout << "detect_score:" << detect_score<< std::endl;
					if(detect_score>0.3)
					{						
						int type=result[b].info[c].vehicle_plate_det_recg_res.type;
						sy_rect rect=result[b].info[c].vehicle_plate_det_recg_res.rect;
						
						int x1=rect.left_;
						int y1=rect.top_;
						int x2=rect.left_+rect.width_;
						int y2=rect.top_+rect.height_;		
						std::cout << "		    vp_type:"<<type<<",vp_det_score:" <<detect_score <<",vp_rect:[" <<x1<<"," <<y1<<"," <<x2-x1<<"," <<y2-y1<<"]"<< std::endl;													
						
						Point lt(x1, y1);
						Point rb(x2, y2);
						rectangle(cvImg, lt, rb, cv::Scalar(0, 0, 255), 4);
							
							
						
						//车牌识别结果
						float num_score=result[b].info[c].vehicle_plate_det_recg_res.num_score;
						std::string plate_recg="";
						//if(num_score>0.99)//车牌识别建议置信度阈值0.99
						{
							
							//printf("plate: ");
							for (int m = 0; m < PLATENUM; m++)
							{
								//printf("%s", result[b].info[c].vehicle_plate_det_recg_res.recg[m].character);
								plate_recg=plate_recg + result[b].info[c].vehicle_plate_det_recg_res.recg[m].character;
							}
							//printf("\n");
							
							//printf("maxprob: ");
							//for (int m = 0; m < PLATENUM; m++)
							//{
							//	printf("%f ", result[b].info[c].vehicle_plate_det_recg_res.vehicle_plate_infos[0].recg[m].maxprob);
							//}
							//printf("\n");

							
							//std::cout << "type:" << type<<"  num_score:" <<num_score<<"  " << std::endl;
							std::cout <<"		    "<<plate_recg<< ",vp_num_score:" << num_score<< std::endl;
								
						}
						
						
						char str_cc[100];
						memset(str_cc, 0, sizeof(str_cc));
						cv::Point2f p1;
						p1.x = x1;
						p1.y = y1-60;
						//sprintf(str_cc, "det_%.2f_recg_%.2f_%s",detectScore,numScore,plate_recg.c_str()); 
						sprintf(str_cc, "det_%.2f",detect_score); 
						cv::putText(cvImg, str_cc, 
						  p1,
						  cv::FONT_HERSHEY_COMPLEX_SMALL,
						  1.3,
						  cv::Scalar(0, 0, 255),
						  2);
						  
						memset(str_cc, 0, sizeof(str_cc));
						p1.x = x1;
						p1.y = y1-30;
						sprintf(str_cc, "recg_%.2f",num_score); 
						cv::putText(cvImg, str_cc, 
						  p1,
						  cv::FONT_HERSHEY_COMPLEX_SMALL,
						  1.3,
						  cv::Scalar(0, 0, 255),
						  2);
						 
						memset(str_cc, 0, sizeof(str_cc));
						p1.x = x1;
						p1.y = y1;
						sprintf(str_cc, "%s",plate_recg.c_str()); 
						cv::putText(cvImg, str_cc, 
						  p1,
						  cv::FONT_HERSHEY_COMPLEX_SMALL,
						  1.3,
						  cv::Scalar(0, 0, 255),
						  2);

					}
					
				}
				
				//6.车属性结果：
				if(param.vehicle_pendant_det_config==SY_CONFIG_OPEN && (vehicle_type==0|| vehicle_type==4))
				{
					std::cout << "		vehicle_pendant_det_res info:"<< endl;
					int vpd_num = result[b].info[c].vehicle_pendant_det_res.count;
					//std::cout << vpd_num<< std::endl;
					std::cout << "		    vpd_num:"<<vpd_num<< endl;
					for(int p=0; p<vpd_num; p++)
					{
						int index = result[b].info[c].vehicle_pendant_det_res.vpd_res[p].index;
						float detect_score = result[b].info[c].vehicle_pendant_det_res.vpd_res[p].confidence;
						int driver_copilot_info = result[b].info[c].vehicle_pendant_det_res.vpd_res[p].driver_copilot_info;
						int x1=result[b].info[c].vehicle_pendant_det_res.vpd_res[p].rect.left_;
						int y1=result[b].info[c].vehicle_pendant_det_res.vpd_res[p].rect.top_;
						int x2=result[b].info[c].vehicle_pendant_det_res.vpd_res[p].rect.left_+result[b].info[c].vehicle_pendant_det_res.vpd_res[p].rect.width_;
						int y2=result[b].info[c].vehicle_pendant_det_res.vpd_res[p].rect.top_+result[b].info[c].vehicle_pendant_det_res.vpd_res[p].rect.height_;					
		
						//std::cout <<p<<" ["<<x1<<" "<<y1<<" "<<x2-x1<<" "<<y2-y1<<"] "<<detectScore<<" "<<index<<" "<<driver_copilot_info<< std::endl;
						std::cout << "		    vpd id:"<<p<<" index:"<<index<<",vpd_det_score:" <<detect_score <<",vpd_rect:[" <<x1<<"," <<y1<<"," <<x2-x1<<"," <<y2-y1<<"]"<<" driver_copilot_info:"<<driver_copilot_info<< std::endl;
							
						
						Point lt(x1, y1);
						Point rb(x2, y2);
						rectangle(cvImg, lt, rb, cv::Scalar(255, 255, 0), 4);
						
						//车属性人脸特征
						//f(index ==1)//人脸
						//{
						//	std::cout << "		    vpd face feature:[";
						//	/*for(int f=0;f<VPD_FACE_FEATURESIZE;f++)
						//	{
						//		float fea = result[b].info[c].vehicle_pendant_det_res.vpd_res[p].feature[f];
						//		//std::cout << "feature "<<f<<":"<<fea<<std::endl; 
						//		std::cout <<fea<< " ";
						//	}*/
						//	std::cout << "]"<< std::endl;
						//	//std::cout << "face feature:"<<result[b].info[c].vehicle_pendant_det_res.vpd_res[p].feature[0]<<" "<<result[b].info[c].vehicle_pendant_det_res.vpd_res[p].feature[1]<<" "<<result[b].info[c].vehicle_pendant_det_res.vpd_res[p].feature[2]<<std::endl; 
						//}						
					}
				}
				
				//7.VID车违规结果-----------
				if(param.vehicle_illegal_config==SY_CONFIG_OPEN  && vehicle_type==0)
				{		
					std::cout << "		vehicle_illegal_det_res info:"<< endl;
					vid_result cur_result = result[b].info[c].vehicle_illegal_det_res;
					//副驾驶copilot
					{
						//有人没人判断，阈值0.6
						std::string str_person="UNCERTAINTY";
						if(cur_result.copilot.person.status==SOMEBODY)
							str_person ="PERSON";
						else if(cur_result.copilot.person.status==NOBODY)
							str_person ="NOPERSON";				
						//cv::putText(batch_mat[b], str_person, 
						//	  cv::Point(5, 25),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
						
						//打电话，阈值0.9
						std::string str_call="UNCERTAINTY";
						if(cur_result.copilot.call.status==lEGAL)
							str_call ="lEGAL";//str_call ="NOCALL";
						else if(cur_result.copilot.call.status==ILLEGAL)
							str_call ="ILLEGAL";//str_call ="CALL";
						//cv::putText(batch_mat[b], str_call, 
						//	  cv::Point(5, 50),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
							  
						//使用电话、阈值0.89
						std::string str_phone="UNCERTAINTY";
						if(cur_result.copilot.phone.status==lEGAL)
							str_phone ="lEGAL";//str_phone ="NOPHONE";
						else if(cur_result.copilot.phone.status==ILLEGAL)
							str_phone ="ILLEGAL";//str_phone ="USEPHONE";
						//cv::putText(batch_mat[b], str_phone, 
						//	  cv::Point(5, 75),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
						
						//系安全带，阈值0.5
						std::string str_belt="UNCERTAINTY";
						if(cur_result.copilot.belt.status==lEGAL)
							str_belt ="lEGAL";//str_belt ="SAFETYBELT";
						else if(cur_result.copilot.belt.status==ILLEGAL)
							str_belt ="ILLEGAL";

						//cv::putText(batch_mat[b], str_belt, 
						//	  cv::Point(5, 75),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
							  
						//抽烟，阈值0.9
						std::string str_smoke="UNCERTAINTY";
						if(cur_result.copilot.smoke.status==ILLEGAL)
							str_smoke ="ILLEGAL";//str_smoke ="SMOKE";
						else if(cur_result.copilot.smoke.status==lEGAL)
							str_smoke ="lEGAL";//str_smoke ="NOSMOKE";
						//cv::putText(batch_mat[b], str_smoke, 
						//	  cv::Point(5, 100),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);

						//std::cout << "copilot: "<<str_person<< " "<<str_call<< " "<<str_phone<< " "<<str_belt<< " "<<str_smoke<< std::endl;						
						//std::cout << "copilot confidence: "<<cur_result.copilot.person.confidence<< " "<<cur_result.copilot.call.confidence<< " "<<cur_result.copilot.phone.confidence<< " "<<cur_result.copilot.belt.confidence<< " "<<cur_result.copilot.smoke.confidence<< std::endl;
					    std::cout << "		    copilot:  "<<"person:"<<str_person<< " call:"<<str_call<< " phone:"<<str_phone<< " belt:"<<str_belt<< " smoke:"<<str_smoke<< std::endl;						
					    std::cout << "		    copilot confidence:  "<<"person:"<<cur_result.copilot.person.confidence<< " call:"<<cur_result.copilot.call.confidence<< " phone:"<<cur_result.copilot.phone.confidence<< " belt:"<<cur_result.copilot.belt.confidence<< " smoke:"<<cur_result.copilot.smoke.confidence<< std::endl;
						
					}
					
					//驾驶driver
					{
						//有人没人判断，阈值0.6
						std::string str_person="UNCERTAINTY";
						if(cur_result.driver.person.status==SOMEBODY)
							str_person ="PERSON";
						else if(cur_result.driver.person.status==NOBODY)
							str_person ="NOPERSON";				
						//cv::putText(batch_mat[b], str_person, 
						//	  cv::Point(5, 150),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
						
						//打电话，阈值0.9
						std::string str_call="UNCERTAINTY";
						if(cur_result.driver.call.status==lEGAL)
							str_call ="lEGAL";//str_call ="NOCALL";
						else if(cur_result.driver.call.status==ILLEGAL)
							str_call ="ILLEGAL";//str_call ="CALL";
						//cv::putText(batch_mat[b], str_call, 
						//	  cv::Point(5, 175),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
							  
						//使用电话，阈值0.89
						std::string str_phone="UNCERTAINTY";
						if(cur_result.driver.phone.status==lEGAL)
							str_phone ="lEGAL";//str_phone ="NOPHONE";
						else if(cur_result.driver.phone.status==ILLEGAL)
							str_phone ="ILLEGAL";//str_phone ="USEPHONE";
						//cv::putText(batch_mat[b], str_phone, 
						//	  cv::Point(5, 200),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
						
						//系安全带，阈值0.5
						std::string str_belt="UNCERTAINTY";
						if(cur_result.driver.belt.status==lEGAL)
							str_belt ="lEGAL";//str_belt ="SAFETYBELT";
						else if(cur_result.driver.belt.status==ILLEGAL)
							str_belt ="ILLEGAL";//str_belt ="NOSAFETYBELT";

						//cv::putText(batch_mat[b], str_belt, 
						//	  cv::Point(5, 200),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
							  
						//抽烟，阈值0.9
						std::string str_smoke="UNCERTAINTY";
						if(cur_result.driver.smoke.status==ILLEGAL)
							str_smoke ="ILLEGAL";//str_smoke ="SMOKE";
						else if(cur_result.driver.smoke.status==lEGAL)
							str_smoke ="lEGAL";//str_smoke ="NOSMOKE";
						//cv::putText(batch_mat[b], str_smoke, 
						//	  cv::Point(5, 225),
						//	  cv::FONT_HERSHEY_COMPLEX_SMALL,
						//	  1.3,
						//	  cv::Scalar(255, 0, 0),
						//	  2);
						
						//std::cout << "driver: "<<str_person<< " "<<str_call<< " "<<str_phone<< " "<<str_belt<< " "<<str_smoke<< std::endl;
						//std::cout << "driver confidence: "<<cur_result.driver.person.confidence<< " "<<cur_result.driver.call.confidence<< " "<<cur_result.driver.phone.confidence<< " "<<cur_result.driver.belt.confidence<< " "<<cur_result.driver.smoke.confidence<< std::endl;
					     std::cout << "		    driver:  person:"<<str_person<< " call:"<<str_call<< " phone:"<<str_phone<< " belt:"<<str_belt<< " smoke:"<<str_smoke<< std::endl;
						std::cout << "		    driver confidence:  person:"<<cur_result.driver.person.confidence<< " call:"<<cur_result.driver.call.confidence<< " phone:"<<cur_result.driver.phone.confidence<< " belt:"<<cur_result.driver.belt.confidence<< " smoke:"<<cur_result.driver.smoke.confidence<< std::endl;
						
					}				
				}
				
				
				
				
				//8.车特征
				if(param.vehicle_feature_config==SY_CONFIG_OPEN && (vehicle_type==0 || vehicle_type==1))
				{
					std::cout << "		vehicle_fea_res info: "<<std::endl;
					std::cout << "		    [";	
					for(int f=0;f<VA_FEATURESIZE;f++)
					{
						float fea=result[b].info[c].vehicle_fea_res.feature[f];
						//std::cout << "feature "<<f<<":"<<fea<<std::endl; 
						std::cout <<fea<<" ";
					}
					std::cout <<"]"<<std::endl;
					//std::cout << "feature 0 :"<<result[b].info[c].vehicle_fea_res.feature[0]<<std::endl; 
					//std::cout << "feature 1 :"<<result[b].info[c].vehicle_fea_res.feature[1]<<std::endl; 
					//std::cout << "feature 2 :"<<result[b].info[c].vehicle_fea_res.feature[2]<<std::endl; 
					//std::cout << "feature 3 :"<<result[b].info[c].vehicle_fea_res.feature[3]<<std::endl; 
					//std::cout << "feature 4 :"<<result[b].info[c].vehicle_fea_res.feature[4]<<std::endl; 
					//std::cout << "feature 5 :"<<result[b].info[c].vehicle_fea_res.feature[5]<<std::endl; 
					
					//test
					//for(int f=0;f<10;f++)
					//{
					//	float fea=result[b].info[c].vehicle_fea_res.feature[f];
					//	std::cout << "feature "<<f<<":"<<fea<<std::endl; 
					//}
				}

				//11.摩托车三轮车分析
				 if(param.vehicle_motor_tricycle_analysis_config==SY_CONFIG_OPEN && (vehicle_type==2 || vehicle_type==3))
				 {
					 //std::cout << "mta output----"<< std::endl;
					 
					 if(vehicle_type==2)//摩托车
					 {
						//摩托车载人
						//int status=result[b].info[c].mta_res.motor_manned.status;	
						//float score=result[b].info[c].mta_res.motor_manned.confidence;
						//if(status == MOTOR_MANNED)
						//	std::cout << "motor info: MOTOR_MANNED, prob: " << score << std::endl;
						//else if(status == MOTOR_NOT_MANNED)
						//	std::cout << "motor info: MOTOR_NOT_MANNED, prob: " << score << std::endl;
						
						//摩托车驾驶人是否戴安全帽
						int status=result[b].info[c].mta_res.motor_driver_helmeted.status;
						float score=result[b].info[c].mta_res.motor_driver_helmeted.confidence;
						if(status == MOTOR_DRIVER_HELMETED)
							std::cout << "		    motor info: MOTOR_DRIVER_HELMETED, prob: " << score << std::endl;
						else if(status == MOTOR_DRIVER_NOT_HELMETED)
							std::cout << "		    motor info: MOTOR_DRIVER_NOT_HELMETED, prob: " << score << std::endl;	
						
					 }
				 }
							 //载人输出
				//if(param.vehicle_manned_config==SY_CONFIG_OPEN && (vehicle_type==0 || vehicle_type==1 || vehicle_type==3))
				if(param.vehicle_manned_config==SY_CONFIG_OPEN && vehicle_type!=5)
				{
					std::cout << "----------------------manned output----"<< std::endl;
					int hs_count = result[b].info[c].manned_res.hs_count;
					std::cout <<"manned_hs_count:"<< hs_count << std::endl;
					for(int lo=0;lo<hs_count;lo++)
					{
						int x1=result[b].info[c].manned_res.hs_rect[lo].rect.left_;
						int y1=result[b].info[c].manned_res.hs_rect[lo].rect.top_;
						int x2=result[b].info[c].manned_res.hs_rect[lo].rect.left_+result[b].info[c].manned_res.hs_rect[lo].rect.width_;
						int y2=result[b].info[c].manned_res.hs_rect[lo].rect.top_+result[b].info[c].manned_res.hs_rect[lo].rect.height_;					

						std::cout <<"manned_hs_rect:"<< x1 <<" "<< y1<<" " <<x2<<"  " << y2<< std::endl;
						
						Point lt(x1, y1);
						Point rb(x2, y2);
						rectangle(cvImg, lt, rb, cv::Scalar(0, 255, 255), 4);
					}						
				}				
			}

			//测试相似度比对函数，batch_size设为2
			//double similarity=va_compute_similarity(result[0].info[0].vehicle_fea_res.feature, result[1].info[0].vehicle_fea_res.feature, FEATURESIZE);
			//std::cout << "similarity: "<<similarity<<std::endl; 
			
			
			
			//cv::Mat showImg;
			//showImg=batch_mat[b].clone();
			//cv::resize(batch_mat[b], showImg, cv::Size(batch_mat[b].cols/2,batch_mat[b].rows/2));
			//cv::imshow("image", showImg);
			//cv::waitKey(0);			
			cv::imwrite((saveimagepath+file).c_str(),cvImg);
													 
		}
		

			


		
		//delete result
		for(int b=0;b<batch_size;b++)
		{
			for(int c=0; c<100; c++)
			{
				if(result[b].info[c].vehicle_pendant_det_res.vpd_res!=NULL)
					delete[] result[b].info[c].vehicle_pendant_det_res.vpd_res;
				
			}
			if(result[b].info!=NULL)
			   delete[] result[b].info;
		}
		if(result!=NULL)
			   delete[] result;

	} 
}
	
	std::cout << "va_release---------------------"<< std::endl;
    va_release(&handle);
	//va_release(&handle111);
	va_acl_release();
 
	printf("va_teat info:va_batch time: t3=%.2f\n", t3/count);
	
	//oFile.close();
		
    return 0;
}