dev-hucm-ubuntu/src/reprocessing_module/snapshot_reprocessing.cpp

#include "snapshot_reprocessing.h"
#include "../common/logger.hpp"
#include "../ai_platform/mvpt_process_assist.h"
#include "../decoder/interface/DeviceMemory.hpp"
snapshot_reprocessing::snapshot_reprocessing(int devId)
{
	m_task_param_manager = task_param_manager::getInstance();
	algor_index_table["human"] = { (int)det_class_label_t::HUMAN };
	algor_index_table["nonmotor_vehicle"] = { (int)det_class_label_t::BICYCLE, (int)det_class_label_t::MOTOCYCLE, (int)det_class_label_t::TRICYCLE };
	algor_index_table["vehicle"] = { (int)det_class_label_t::SMALL_CAR, (int)det_class_label_t::LARGE_CAR, (int)det_class_label_t::TRUCK, (int)det_class_label_t::TRACTOR, (int)det_class_label_t::MEDIUM_BUS };
}
snapshot_reprocessing::~snapshot_reprocessing()
{
}
static void box_expansion(video_object_info& obj_info, float expand_ratio, int frame_width, int frame_height){
	int origin_width = obj_info.right - obj_info.left;
	int origin_height = obj_info.bottom - obj_info.top;
	int expansion_width = origin_width * expand_ratio;
	int expansion_height = origin_height * expand_ratio;
	obj_info.left = max(obj_info.left - expansion_width, 0);
	obj_info.top = max(obj_info.top - expansion_height, 0);
	obj_info.right = min(obj_info.right + expansion_width, frame_width - 1);
	obj_info.bottom = min(obj_info.bottom + expansion_height, frame_height - 1);
}
/* 获取人车物目标快照图 */
vector<multi_obj_data_t> snapshot_reprocessing::get_vehicle_snapshot(vector<DeviceMemory*> vec_devMem, vector<onelevel_det_result>& ol_det_result, int skip_frame)
{
	// 过滤出车辆
	filter_vehicle(ol_det_result);
	map<string, algor_open_config_param> && algor_config_param = m_task_param_manager->get_task_algor_params();
	map<string, map<algo_type, task_param_manager::algo_param_type_t_*>> && algor_param = m_task_param_manager->get_task_other_params();
	vector<multi_obj_data_t> results;
	int idx = 0;
	for (auto memPtr : vec_devMem)
	{
		string task_id = memPtr->getId();
		map<string, std::vector<video_object_info>> taskid_to_obj;
		if (algor_config_param.count(task_id) && algor_config_param[task_id].vehicle_algors.count(algorithm_type_t::VEHICLE_SNAPSHOT))
		{
			task_param_manager::algo_param_type_t_* cur_task_params = algor_param[task_id][algorithm_type_t::VEHICLE_SNAPSHOT];
			// 同一目标间隔多少帧保存
			int snap_frame_interval = ((algor_config_param_snapshot*)cur_task_params->algor_param)->snap_frame_interval;
			onelevel_det_result &cur_task_ol_detres = ol_det_result[idx];
			for (int c = 0; c < cur_task_ol_detres.obj_count; c++)
			{
				det_objinfo det_obj = cur_task_ol_detres.obj[c];
				if(snap_frame_interval > 0 && det_obj.num % snap_frame_interval >= skip_frame){
					continue;
				}
				int type_index = det_obj.index; 
				if ((type_index == 4 || type_index == 5 || type_index == 6 || type_index ==7 || type_index ==8)
					&& snapshot_legal_inarea(cur_task_params->basic_param->algor_valid_rect, det_obj.left, det_obj.top, det_obj.right, det_obj.bottom))
				{
					video_object_info obj_info;
					obj_info.top = det_obj.top;
					obj_info.left = det_obj.left;
					obj_info.right = det_obj.right;
					obj_info.bottom = det_obj.bottom;
					obj_info.confidence = det_obj.confidence;
					obj_info.index = type_index;
					obj_info.object_id = det_obj.id;
					int frame_height = memPtr->getHeight();
					int frame_width = memPtr->getWidth();
					box_expansion(obj_info, EXPANSION_PROPORTION, frame_width, frame_height);
					taskid_to_obj[task_id].emplace_back(std::move(obj_info));
				}
			}
			if (taskid_to_obj.size() > 0)
			{
				static long long gid_ = 0;
				multi_obj_data_t data;
				data.memPtr = memPtr;
				data.task_id = task_id;
				data.objs = std::move(taskid_to_obj[task_id]);
				data.id = gid_++;
				results.emplace_back(std::move(data));
				LOG_TRACE("{} {} snap_frame_interval:{}", task_id.c_str(), (int)algorithm_type_t::VEHICLE_SNAPSHOT, snap_frame_interval);
			}
		}
		idx++;
	}
	return results;
}
void snapshot_reprocessing::screen_effective_snapshot(vector<onelevel_det_result> &_onelevel_det_result){
	map<string, algor_open_config_param> algor_param = m_task_param_manager->get_task_algor_params();
	for (auto det_result : _onelevel_det_result)
	{
		int effective_count = 0;
		int effective_idx = 0;
		string taskid = det_result.task_id;
		det_objinfo *tmp_det_objinfo =det_result.obj;
		for (int c = 0; c < det_result.obj_count; c++)
		{
			// if (algor_index_table["human"].find(tmp_det_objinfo[c].index) != algor_index_table["human"].end()
			// 	&& (!algor_param[taskid].human_algors.empty() || !algor_param[taskid].human_face_algors.empty()))  // 此处行人和人脸存在耦合，若同一路任务配置了人脸没有配置行人，存抓拍图时会出错
			if (algor_index_table["human"].find(tmp_det_objinfo[c].index) != algor_index_table["human"].end()
				&& (!algor_param[taskid].human_algors.empty())) // modified by zsh 220714
			{
				tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
				effective_count++;
			}
			if (algor_index_table["nonmotor_vehicle"].find(tmp_det_objinfo[c].index) != algor_index_table["nonmotor_vehicle"].end()
				&& !algor_param[taskid].nonmotor_vehicle_algors.empty())
			{
				tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
				effective_count++;
			}
			if (algor_index_table["vehicle"].find(tmp_det_objinfo[c].index) != algor_index_table["vehicle"].end()
				&& !algor_param[taskid].vehicle_algors.empty())
			{
				tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
				effective_count++;
			}
		}
		det_result.obj_count = effective_count;
	}
}
void snapshot_reprocessing::filter_vehicle(vector<onelevel_det_result> &_onelevel_det_result){
	map<string, algor_open_config_param> algor_param = m_task_param_manager->get_task_algor_params();
	for (auto det_result : _onelevel_det_result){
		string taskid = det_result.task_id;
		int effective_count = 0;
		int effective_idx = 0;
		det_objinfo *tmp_det_objinfo = det_result.obj;
		for (int c = 0; c < det_result.obj_count; c++)
		{
			if (algor_index_table["vehicle"].find(tmp_det_objinfo[c].index) != algor_index_table["vehicle"].end()
				&& !algor_param[taskid].vehicle_algors.empty())
			{
				tmp_det_objinfo[effective_idx++] = tmp_det_objinfo[c];
				effective_count++;
			}
		}
		det_result.obj_count = effective_count;
	}
}
/* 获取人车物目标快照图 */
void snapshot_reprocessing::update_bestsnapshot(vector<DeviceMemory*> vec_devMem, vector<onelevel_det_result> &ol_det_result, vector<vector<int>>& delete_object_id){
	map<string, algor_open_config_param> && algor_config_param = m_task_param_manager->get_task_algor_params();
	map<string, map<algo_type, task_param_manager::algo_param_type_t_*>> && algor_param = m_task_param_manager->get_task_other_params();
	VPCUtil* pVpcUtil = VPCUtil::getInstance();
	for (size_t i = 0; i < vec_devMem.size(); i++){
		onelevel_det_result det_result = ol_det_result[i];
		if (0 == det_result.obj_count){
			continue;
		}
		DeviceMemory* memPtr = vec_devMem[i];
		string task_id = memPtr->getId();
		int frame_height = memPtr->getHeight();
		int frame_width = memPtr->getWidth();
		vector<video_object_info> vec_obj_info;
		for (int c = 0; c < det_result.obj_count; c++){
		
			det_objinfo obj_info = det_result.obj[c];
			OBJ_KEY new_obj = { task_id, obj_info.id };
			int index = 0;
			/* 投票确定目标index */
			if (total_snapshot_info.find(new_obj) == total_snapshot_info.end()){
				index = obj_info.index;
			} else {
				index = total_snapshot_info[new_obj].index.index;
			}
			int cur_real_width = (obj_info.right - obj_info.left);
			int cur_real_height = (obj_info.bottom - obj_info.top);
			int cur_real_index = obj_info.index;
			int expansion_width = cur_real_width * EXPANSION_PROPORTION;
			int expansion_height = cur_real_height * EXPANSION_PROPORTION;
			// DEBUG-----------------------------------------------------------------
			// 0-行人 1-自行车 2-摩托车 3-三轮车 4-小型车 5-大车 6-卡车 7-拖拉机 8-中巴
			if(index ==0 || index ==1 || index ==2 || index ==3) { //行人和非机动车外扩指定像素即可
				expansion_width = 10;
				expansion_height = 10;
			}
			/* 若该目标第一次出现 */
			if (total_snapshot_info.find(new_obj) == total_snapshot_info.end())
			{
				/* manager insert new object. */
				/* 判断目标合法 */
				algorithm_type_t algor_type;
				if (index ==0) algor_type = algorithm_type_t::HUMAN_SNAPSHOT;
				if (index ==1 || index ==2 || index ==3) algor_type = algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT;
				if (index ==4 || index ==5 || index ==6 || index ==7 || index ==8) algor_type = algorithm_type_t::VEHICLE_SNAPSHOT;
				if (!(algor_config_param.count(task_id) && algor_param.count(task_id) && algor_param[task_id].count(algor_type)))
					continue;
				task_param_manager::algo_param_type_t_* cur_task_params = algor_param[task_id][algor_type];
				if (!snapshot_legal_inarea(cur_task_params->basic_param->algor_valid_rect,obj_info.left, obj_info.top, obj_info.right, obj_info.bottom)){
					continue;
				}
					
				if(!snapshot_legal_minarea(index, cur_real_width, cur_real_height)){
					continue;
				}
				/* 存入当前抠图目标参数 flags用于判断目标从画面什么位置出现 方便之后排除出画面边缘的快照图 */
				total_snapshot_info[new_obj].index.count++;
				total_snapshot_info[new_obj].index.index = cur_real_index;
				total_snapshot_info[new_obj].confidence = obj_info.confidence;
				total_snapshot_info[new_obj].flags[0] = obj_info.left < minDistance[0] + SCALE_OUT ? 0 : 1;           //left
				total_snapshot_info[new_obj].flags[1] = obj_info.top < minDistance[1] + SCALE_OUT ? 0 : 1;            //top
				total_snapshot_info[new_obj].flags[2] = obj_info.right > frame_width - minDistance[2] - SCALE_OUT ? 0 : 1;   //right
				total_snapshot_info[new_obj].flags[3] = obj_info.bottom > frame_height - minDistance[3] - SCALE_OUT ? 0 : 1;     //bottom
				int cur_left = max(obj_info.left - 10, 0);
				int cur_top = max(obj_info.top - 10, 0);
				int cur_right = min(obj_info.right + 10, frame_width - 1);
				int cur_bottom = min(obj_info.bottom + 10, frame_height - 1);
				total_snapshot_info[new_obj].obj_pos = { cur_left, cur_top, cur_right - cur_left, cur_bottom - cur_top }; //debug by zsh 推出的坐标外扩10像素
				total_snapshot_info[new_obj].last_area = total_snapshot_info[new_obj].max_area = (cur_right - cur_left) * (cur_bottom - cur_top);
				video_object_info info;
				info.left = max(obj_info.left - expansion_width, 0);
				info.top = max(obj_info.top - expansion_height, 0);
				info.right = min(obj_info.right + expansion_width, frame_width - 1);
				info.bottom = min(obj_info.bottom + expansion_height, frame_height - 1);
				strcpy(info.task_id, task_id.c_str());
				info.object_id = obj_info.id;
				info.confidence = obj_info.confidence;
				info.index = index;
				vec_obj_info.push_back(info);
			} else {
				total_snapshot_info[new_obj].last_area = (obj_info.right - obj_info.left) * (obj_info.bottom - obj_info.top);
				algorithm_type_t algor_type;
				if (index ==0) algor_type = algorithm_type_t::HUMAN_SNAPSHOT;
				if (index ==1 || index ==2 || index ==3) algor_type = algorithm_type_t::NONMOTOR_VEHICLE_SNAPSHOT;
				if (index ==4 || index ==5 || index ==6 || index ==7 || index ==8) algor_type = algorithm_type_t::VEHICLE_SNAPSHOT;
				if (!(algor_config_param.count(task_id) && algor_param.count(task_id) && algor_param[task_id].count(algor_type)))
					continue;
				task_param_manager::algo_param_type_t_* cur_task_params = algor_param[task_id][algor_type];
				if (!snapshot_legal_inarea(cur_task_params->basic_param->algor_valid_rect,obj_info.left, obj_info.top, obj_info.right, obj_info.bottom))
					continue;	
				//---------------------------------------------------------------
				if (!best_snapshot_judge_algor(new_obj, total_snapshot_info[new_obj], obj_info.left, obj_info.top,
					cur_real_width, cur_real_height, frame_width, frame_height))
				{
					continue;
				}
				/* 若更优于之前的快照 做快照的更新 */
				if (total_snapshot_info[new_obj].index.count == 0)
				{
					total_snapshot_info[new_obj].index.count++;
					total_snapshot_info[new_obj].index.index = cur_real_index;
				}
				else
				{
					if (total_snapshot_info[new_obj].index.index == cur_real_index)
						total_snapshot_info[new_obj].index.count++;
					else
						total_snapshot_info[new_obj].index.count--;
				}
				int cur_left = max(obj_info.left - 10, 0);
				int cur_top = max(obj_info.top - 10, 0);
				int cur_right = min(obj_info.right + 10, frame_width - 1);
				int cur_bottom = min(obj_info.bottom + 10, frame_height - 1);
				total_snapshot_info[new_obj].obj_pos = { cur_left, cur_top, cur_right - cur_left, cur_bottom - cur_top }; //debug by zsh 推出的坐标外扩10像素
				total_snapshot_info[new_obj].last_area = total_snapshot_info[new_obj].max_area = (cur_right - cur_left) * (cur_bottom - cur_top);
				video_object_info info;
				info.left = max(obj_info.left - expansion_width, 0);
				info.top = max(obj_info.top - expansion_height, 0);
				info.right = min(obj_info.right + expansion_width, frame_width - 1);
				info.bottom = min(obj_info.bottom + expansion_height, frame_height - 1);
				strcpy(info.task_id, task_id.c_str());
				info.object_id = obj_info.id;
				info.confidence = obj_info.confidence;
				info.index = index;
				vec_obj_info.push_back(info);
			}
		}
		vector<vpc_img_info> imgList = pVpcUtil->crop_batch(memPtr, vec_obj_info);
		vec_obj_info.clear();
		for (size_t i = 0; i < imgList.size(); i++) {
			vpc_img_info obj_info = imgList[i];
			OBJ_KEY objKey = { obj_info.task_id, obj_info.object_id };
			VPCUtil::vpc_img_release(total_snapshot_info[objKey].snapShot);
			total_snapshot_info[objKey].snapShot = VPCUtil::vpc_devMem2vpcImg(memPtr);
			VPCUtil::vpc_img_release(total_snapshot_info[objKey].snapShotLittle);
			total_snapshot_info[objKey].snapShotLittle = obj_info;
		}
		imgList.clear();
	}
}
map<OBJ_KEY, OBJ_VALUE> snapshot_reprocessing::get_total_snapshot_info(){
	return total_snapshot_info;
}
/* 快照判定辅助函数 */
bool snapshot_reprocessing::best_snapshot_judge_algor(const OBJ_KEY& obj_key, const OBJ_VALUE& obj_value, int left, int top, int width, int height, int image_width, int image_height)
{
	return snapshot_legal_pos(obj_value.flags, left, top, left + width, top + height, image_width, image_height)
		&& snapshot_legal_minarea(obj_value.index.index, width, height)
		&& snapshot_legal_inarea(width, height)
		&& snapshot_legal_area(obj_value.max_area, obj_value.last_area, left, top, left + width, top + height);
	return true;
}
/* 删除指定快照 清空资源占用（使用场景：任务结束删除该路任务所有缓存快照；目标轨迹结束，分析保存完，删除该目标快照缓存）*/
void snapshot_reprocessing::release_finished_locus_snapshot(const string taskid, const int obj_id, bool bRelease)
{ 
	LOG_DEBUG("[info] task_id {} delete obj_id {}", taskid, obj_id); //221026
	if (obj_id != -1)
	{
		OBJ_KEY cur_key = { taskid , obj_id };
		auto it = total_snapshot_info.find(cur_key);
		if (it == total_snapshot_info.end()){
			return;
		}
		if (bRelease){
			OBJ_VALUE ss = total_snapshot_info[cur_key];
			VPCUtil::vpc_img_release(ss.snapShot);
			VPCUtil::vpc_img_release(ss.snapShotLittle);
		}
		
		total_snapshot_info.erase(cur_key);
		return;
	}
	for(auto ss = total_snapshot_info.begin(); ss != total_snapshot_info.end(); ss++)
	{
		if (strcmp(ss->first.video_id.c_str(), taskid.c_str()) == 0)
		{
			if (bRelease){
				VPCUtil::vpc_img_release(ss->second.snapShot);
				VPCUtil::vpc_img_release(ss->second.snapShotLittle);
			}
			total_snapshot_info.erase(ss);
		}
	}
}