09c2d08c
 Hu Chunming
arm交付版
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#include "face_det_ai_engine.h"
#include "../common/logger.hpp"
#include "../ai_platform/mvpt_process_assist.h"
#include "../ai_platform/macro_definition.h"
#include "opencv2/opencv.hpp"
#include "face_detect.h"
face_det_ai_engine::face_det_ai_engine(){
m_max_batchsize = 10;
}
face_det_ai_engine::~face_det_ai_engine(){
fd_release(&handle);
clear();
if(m_algorthim_ctx){
aclrtSetDevice(m_devId);
aclrtDestroyContext(m_algorthim_ctx);
}
}
int face_det_ai_engine::init_ai_engine(const facedet_ai_engine_param &ai_param/*, person_det_algorthim_cache * cache*/){
task_param_manager_ = task_param_manager::getInstance();
m_devId = ai_param.sdk_param.devId;
ACL_CALL(aclrtSetDevice(m_devId), ACL_ERROR_NONE, -1);
ACL_CALL(aclrtCreateContext(&m_algorthim_ctx, m_devId), ACL_ERROR_NONE, -1);
return fd_init(&handle, ai_param.sdk_param);
}
int face_det_ai_engine::ai_engine_process_batch(std::vector<std::string> &task_ids, sy_img *image_data_array, std::vector<onelevel_det_result> &result , std::vector<std::vector<int>> &deleteObjectID){
map<string, map<algo_type, task_param_manager::algo_param_type_t_*>> && algor_param = task_param_manager_->get_task_other_params();
const int total_batchsize = task_ids.size();
if (total_batchsize <= 0){
return 0;
}
aclrtSetDevice(m_devId);
int ret = aclrtSetCurrentContext(m_algorthim_ctx);
if(ACL_ERROR_NONE != ret){
return 0;
}
fd_result *fd_result_ = new fd_result[total_batchsize];
for (int i = 0; i < total_batchsize; ++i)
fd_result_[i].info = new fd_info[50];
do{
int stride = m_max_batchsize;
int steps = (total_batchsize + stride - 1) / stride;
bool bError = false;
for (int c = 0; c < steps; ++c) {
int offset = c * m_max_batchsize;
const int batchsize = (c == steps - 1) ? (total_batchsize - offset) : stride;
int ret = fd_detect_batch(handle, image_data_array + offset, SY_FORMAT_BGR888, batchsize, fd_result_ + offset);
if(ret < 0){
LOG_ERROR(" fd_detect_batch error!!! image_size: {} model_batch_size: {}, step: [{}/{}] offset: {} batchsize: {}", total_batchsize, m_max_batchsize, c, steps, offset, batchsize);
bError = true;
break;
}
}
if(bError){
break;
}
// 属性检测使用人脸检测的原图，不需要切图
int cur_index = 0;
int img_index = 0;
vector <vector< vector <float>>> detectResult(total_batchsize); // sort
auto task_id_iter = task_ids.cbegin();
for (int c = 0; c < total_batchsize; ++c)
{
task_param_manager::algo_param_type_t_* cur_task_params = algor_param[*task_id_iter++][algorithm_type_t::FACE_SNAPSHOT];
for (int i = 0; i < fd_result_[c].count; ++i)
{
if (!snapshot_legal_inarea(cur_task_params->basic_param->algor_valid_rect,
fd_result_[c].info[i].face_position.left_, fd_result_[c].info[i].face_position.top_,
fd_result_[c].info[i].face_position.left_ + fd_result_[c].info[i].face_position.width_,
fd_result_[c].info[i].face_position.top_ + fd_result_[c].info[i].face_position.height_)
|| fd_result_[c].info[i].face_pos_score < ((algor_config_param_snapshot *)cur_task_params->algor_param)->threshold)
{
continue;
}
vector <float> obj;
obj.push_back(fd_result_[c].info[i].face_position.left_);
obj.push_back(fd_result_[c].info[i].face_position.top_);
obj.push_back(fd_result_[c].info[i].face_position.left_ + fd_result_[c].info[i].face_position.width_); //right
obj.push_back(fd_result_[c].info[i].face_position.top_ + fd_result_[c].info[i].face_position.height_); //bottom
obj.push_back(fd_result_[c].info[i].score);
obj.push_back(1); //统一index值为1
//存入关键点信息
for(int j = 0; j < FACIALFEAPOINTSIZE; ++j)
{
obj.push_back(fd_result_[c].info[i].facial_fea_point[j].x_);
obj.push_back(fd_result_[c].info[i].facial_fea_point[j].y_);
}
//-added by zsh 添加姿态角信息------------------------------
obj.push_back(fd_result_[c].info[i].roll);
obj.push_back(fd_result_[c].info[i].yaw);
obj.push_back(fd_result_[c].info[i].pitch);
// cout << fabs(fd_result_[c].info[i].roll) << " " << fabs(fd_result_[c].info[i].yaw) << " " << fabs(fd_result_[c].info[i].pitch) << endl;
//--------------------------------------------------------
detectResult[c].push_back(obj);
#if 0
if (fd_result_[img_index].count > 1)
{
//选择居中且靠上的人脸作为唯一的结果
float min_dis = numeric_limits<float>::max();
int min_index = 0;
float person_center_x = (float)(cur_persondet_result[c]->obj[i].right - cur_persondet_result[c]->obj[i].left) / 2.0;
float person_center_y = (float)(cur_persondet_result[c]->obj[i].bottom - cur_persondet_result[c]->obj[i].top) / 6.0;
for (int j = 0; j < fd_result_[img_index].count; ++j)
{
float cx = (float)fd_result_[img_index].info[j].face_position.left_ + (float)(fd_result_[img_index].info[j].face_position.width_) / 2.0;
float cy = (float)fd_result_[img_index].info[j].face_position.top_ + (float)(fd_result_[img_index].info[j].face_position.height_) / 2.0;
float dis = (person_center_x - cx) * (person_center_x - cx) + (person_center_y - cy) * (person_center_y - cy);
if (dis < min_dis)
{
min_dis = dis;
min_index = j;
}
}
//姿态角控制
if (fabs(fd_result_[img_index].info[min_index].roll) < pose_thresld[c] && fabs(fd_result_[img_index].info[min_index].yaw) < pose_thresld[c] && fabs(fd_result_[img_index].info[min_index].pitch) < pose_thresld[c])
{
cur_res.count = 1;
cur_res.info = new fd_info[1];
memcpy(&cur_res.info[0], &fd_result_[img_index].info[min_index], sizeof(fd_info));
}
else
{
cur_res.info = new fd_info[1];
cur_res.count = 0;
}
}
else if (fd_result_[img_index].count == 1 && fabs(fd_result_[img_index].info[0].roll) < pose_thresld[c] && fabs(fd_result_[img_index].info[0].yaw) < pose_thresld[c] && fabs(fd_result_[img_index].info[0].pitch) < pose_thresld[c]) //姿态角控制
{
cur_res.count = 1;
cur_res.info = new fd_info[1];
memcpy(&cur_res.info[0], &fd_result_[img_index].info[0], sizeof(fd_info));
}
else
{
cur_res.info = new fd_info[1];
cur_res.count = 0;
}
_fd_result[vec_ids[c]].push_back(cur_res);
for (int j = 0; j < cur_res.count; ++j)
{
++cur_index;
}
#endif
}
}
//跟踪
for (size_t real_index = 0; real_index < total_batchsize; real_index++) {
string task_id = task_ids[real_index];
bool isUseDet = true;
vector<int> delete_ids;
const float maxLen = std::sqrt(image_data_array[real_index].w_ * image_data_array[real_index].w_ + image_data_array[real_index].h_ * image_data_array[real_index].h_); //-modified by zsh 220719
for (int j = 0; j < task_trackers[task_id].fusion_interval; ++j) {
if (j == 0) {
int objCount = task_trackers[task_id].tracker.update_v2(isUseDet, /*save lk = */true, /*center_dist = */true, maxLen, detectResult[real_index], result[real_index].obj, deleteObjectID[real_index]);
result[real_index].obj_count = objCount;
vector<vector<float>>().swap(detectResult[real_index]);
detectResult[real_index].clear();
isUseDet = false;
} else {
onelevel_det_result unresult;
unresult.obj_count = task_trackers[task_id].tracker.update_v2(isUseDet, true, true, maxLen, detectResult[real_index], unresult.obj, deleteObjectID[real_index]);
}
}
++real_index;
}
vector <vector< vector <float>>>().swap(detectResult); // free memory.
ret = total_batchsize;
}while(0);
if (fd_result_) {
for (int i = 0; i < total_batchsize; ++i) {
delete[] fd_result_[i].info;
fd_result_[i].info = nullptr;
}
delete[] fd_result_;
fd_result_ = nullptr;
}
return ret;
}
void face_det_ai_engine::clear()
{
for (auto it = _fd_result.begin(); it != _fd_result.end();)
{
for (auto &fd : it->second)
{
delete[] fd.info;
fd.info = nullptr;
}
_fd_result.erase(it++);
}
}
void face_det_ai_engine::add_tracker(std::string task_id, int fusion_interval){
LOG_INFO("face: tracker add task {}", task_id.c_str());
task_tracker t;
t.task_id = task_id;
t.tracker.FusionInterval = fusion_interval; // 221117byzsh
t.fusion_interval = fusion_interval;
task_trackers.insert(std::make_pair(task_id, t));
}
void face_det_ai_engine::finish_task(std::string task_id)
{
LOG_INFO("face: tracker finish task {}", task_id.c_str());
auto iter = task_trackers.find(task_id);
if (iter != task_trackers.end())
{
task_trackers.erase(task_id);
}
}
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