truck_manned_process.cpp
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#include <algorithm>
#include "./truck_manned_process.h"
#include <cmath>
#include "../decoder/interface/DeviceMemory.hpp"
#include "../common/logger.hpp"
#include "../ai_platform/mvpt_process_assist.h"
#include "opencv2/opencv.hpp"
#include "opencv2/imgcodecs/legacy/constants_c.h"
namespace ai_engine_module
{
namespace truck_manned_process
{
algorithm_type_t TruckMannedProcess::algor_type_ = algorithm_type_t::TRUCK_MANNED;
int legal_person_motocycle_inarea(const std::vector<input_data_wrap_t>& person_motocycle_data, int left, int top, int right, int bottom) {
int legal_person_motocycle_count = 0;
for (const auto& det_result : person_motocycle_data) {
int x1_intersection = std::max(det_result.box.left, left);
int y1_intersection = std::max(det_result.box.top, top);
int x2_intersection = std::min(det_result.box.right, right);
int y2_intersection = std::min(det_result.box.bottom, bottom);
if (x2_intersection <= x1_intersection || y2_intersection <= y1_intersection) continue; // 没有交集
float area_a = float(det_result.box.right - det_result.box.left) * float(det_result.box.bottom - det_result.box.top);
float area_b = float(right - left) * float(bottom - top);
float area_intersection = float(x2_intersection - x1_intersection) * float(y2_intersection - y1_intersection);
if (area_a > area_b || area_a <= 0) continue; //暂不考虑行人及非机动车目标比货车大的情况
// float iou = area_intersection / (area_a + area_b - area_intersection);
float small_overlap_ratio = area_intersection / area_a; //计算行人及非机动车目标相对于自身的重叠程度
if (small_overlap_ratio > 0.2) legal_person_motocycle_count ++;
}
return legal_person_motocycle_count;
}
void vpose_transform(float pt_x, float pt_y, float center_x, float center_y, float llength, int invert, int *res) {
//Transform pixel location to different reference.
float tmp = float(IMG_RES) / llength;
float t00 = tmp, t11 = tmp;
float t02 = IMG_RES * (-center_x / llength + .5);
float t12 = IMG_RES * (-center_y / llength + .5);
cv::Mat t = (cv::Mat_<float>(3,3) << t00,0,t02,0,t11,t12,0,0,1);
cv::Mat invt = (cv::Mat_<float>(3,3) << 0,0,0,0,0,0,0,0,0);
if (invert)
cv::invert(t, invt);
cv::Mat new_pt = (cv::Mat_<float>(3,1) << pt_x-1, pt_y-1, 1.);
cv::Mat arr_new = invt * new_pt;
for (int i = 0; i < 3-1; i++) {
res[i] = int(arr_new.at<float>(i,0));
}
}
// 计算当前位置与stop_check_frames间的最大位移
float diff_car_pos(vector<sy_point> tracker_list, int stop_check_frames, float &res_max_dist) {
float total_diff_x = 0, total_diff_y = 0, total_dist = 0;
int count = 0;
float max_dist = 0;
sy_point pos_current = tracker_list[tracker_list.size() - 1];
for (int i = tracker_list.size() - stop_check_frames; i < tracker_list.size(); i++) {
count += 1;
float temp_diff_x = 0, temp_diff_y = 0;
sy_point pos_last = tracker_list[i - 1];
temp_diff_x = pos_current.x_ - pos_last.x_;
temp_diff_y = pos_current.y_ - pos_last.y_;
float temp_dist = sqrt(temp_diff_x * temp_diff_x + temp_diff_y * temp_diff_y);
if (temp_dist > max_dist) {
max_dist = temp_dist;
}
total_diff_x += temp_diff_x;
total_diff_y += temp_diff_y;
total_dist += temp_dist;
}
res_max_dist = max_dist;
return total_dist;
}
TruckMannedProcess::TruckMannedProcess()
: task_param_manager_(nullptr)
{
}
TruckMannedProcess::~TruckMannedProcess()
{
if (hs_tools_) {
hs_truck_release(&hs_tools_);
hs_tools_ = nullptr;
}
if (vpose_tools_) {
vehicle_pose_release(&vpose_tools_);
vpose_tools_ = nullptr;
}
if (m_algorthim_ctx) {
aclrtDestroyContext(m_algorthim_ctx);
}
}
bool TruckMannedProcess::init(int gpu_id, string models_dir)
{
init_ = false;
// string model_path = models_dir + "/models/hs/hs_truck_310p.om" ;
string model_path = models_dir + "/models/hs/hs_truck_b8_310p.om" ;
LOG_INFO("hs_truck 版本：{} 模型路径：{}", hs_truck_getversion(), model_path);
string model_vpose_path = models_dir + "/models/village/vpose_310p.om" ;
LOG_INFO("vpose 版本：{} 模型路径：{}", vehicle_pose_get_version(), model_vpose_path);
hs_truck_param param;
char modelNames[100];
strcpy(modelNames, model_path.c_str());
// param.modelNames = modelNames;
param.modelNames_b = modelNames;
param.thresld = 0.25;
param.devId = gpu_id;
param.max_batch = 8;
vehicle_pose_param vparam;
char vpose_modelNames[100];
strcpy(vpose_modelNames, model_vpose_path.c_str());
vparam.modelNames = vpose_modelNames;
vparam.ldmk_thres = 0.0;
vparam.devId = gpu_id;
m_devId = gpu_id;
ACL_CALL(aclrtSetDevice(m_devId), ACL_SUCCESS, -1);
ACL_CALL(aclrtCreateContext(&m_algorthim_ctx, m_devId), ACL_SUCCESS, -1);
int status;
if (!(init_ = (0 == (status = hs_truck_init(&hs_tools_, param)))))
LOG_ERROR("Init TruckMannedProcessSdk failed error code is {}", status);
else if (!(init_ = (0 == (status = vehicle_pose_init(&vpose_tools_, vparam)))))
LOG_ERROR("Init VehiclePoseProcessSdk failed error code is {}", status);
else
if (!task_param_manager_)
task_param_manager_ = task_param_manager::getInstance();
return init_;
}
bool TruckMannedProcess::check_initied()
{
if (!init_)
LOG_ERROR("[%s:%d] call init function please.", __FILE__, __LINE__);
return init_;
}
void TruckMannedProcess::force_release_result(const task_id_t& task_id) {
for (auto iter = id_to_result_.begin(); iter != id_to_result_.end();) {
const auto& key = iter->first;
if (key.task_id == task_id) {
auto& value = iter->second;
if (value.origin_img_desc != nullptr) {
VPCUtil::vpc_pic_desc_release(value.origin_img_desc);
}
if (value.roi_img_desc != nullptr) {
VPCUtil::vpc_pic_desc_release(value.roi_img_desc);
}
iter = id_to_result_.erase(iter);
}
else {
++iter;
}
}
for (auto iter = id_to_mn_.begin(); iter != id_to_mn_.end();) {
const auto& key = iter->first;
if (key.task_id == task_id) { iter = id_to_mn_.erase(iter);}
else { ++iter; }
}
}
std::shared_ptr<results_data_t> TruckMannedProcess::get_result_by_objectid(const id_t& id, bool do_erase)
{
auto it = id_to_result_.find(id);
if (it == id_to_result_.end())
return std::shared_ptr<results_data_t>(nullptr);
std::shared_ptr<results_data_t> res = std::make_shared<results_data_t>(it->second);
if (do_erase) {
id_to_result_.erase(id);
if (id_to_mn_.count(id)) id_to_mn_.erase(id);
}
return res;
}
bool TruckMannedProcess::update_mstreams(const std::vector<task_id_t>& taskIds, vector<DeviceMemory*> vec_det_input_images, map<OBJ_KEY, OBJ_INDEX> &m_total_obj_info, const std::vector<onelevel_det_result> &det_results)
{
if (!check_initied())
return false;
if (det_results.empty())
{
LOG_DEBUG("detection result is empty.");
return false;
}
int n_images = det_results.size(); // or n_stream
unsigned flattened_idx = 0;
std::map<int, int> flattened_idx_to_batch_idx;
/* 1. Crop & keep some interest class. */
auto taskId_iter = taskIds.begin();
std::vector<sy_img> flattened_imgs(0);
std::vector<vpc_img_info> flattened_vpc_imgs(0);
std::vector<sy_img> flattened_vpose_imgs(0);
std::vector<vpc_img_info> flattened_vpc_vpose_imgs(0);
std::vector<input_data_wrap_t> flattened_interest_data(0); //
VPCUtil* pVpcUtil = VPCUtil::getInstance();
for (int n = 0; n < n_images; ++n)
{
int n_interest_obj = 0;
auto& src_img = vec_det_input_images[n];
int src_img_w = src_img->getWidth();
int src_img_h = src_img->getHeight();
auto& boxes_of_one_image = det_results[n].obj;
//汇总当前帧的行人/非机动车目标
std::vector<input_data_wrap_t> person_motocycle_data(0);
for (int i = 0; i < det_results[n].obj_count; ++i)
{
auto& box = boxes_of_one_image[i];
if (static_cast<det_class_label_t>(box.index) == det_class_label_t::MOTOCYCLE || static_cast<det_class_label_t>(box.index) == det_class_label_t::BICYCLE ||
static_cast<det_class_label_t>(box.index) == det_class_label_t::HUMAN || static_cast<det_class_label_t>(box.index) == det_class_label_t::TRICYCLE)
{
auto& taskId = *taskId_iter;
input_data_wrap_t data;
int top = std::max(int(box.top), 0); int left = std::max(int(box.left), 0);
int right = std::min(int(box.right), src_img_w); int bottom = std::min(int(box.bottom), src_img_h);
int width = right - left; int height = bottom - top;
if (static_cast<det_class_label_t>(box.index) == det_class_label_t::HUMAN && width >= 0.9*height) //基于载人只能看到半身的假设
continue;
data.box.top = top; data.box.left = left;
data.box.right = right; data.box.bottom = bottom;
data.box.score = box.confidence; data.box.cls = box.index;
data.taskId = taskId; data.objId = box.id;
person_motocycle_data.emplace_back(std::move(data));
}
}
for (int i = 0; i < det_results[n].obj_count; ++i)
{
auto& box = boxes_of_one_image[i];
if (static_cast<det_class_label_t>(box.index) == det_class_label_t::TRUCK)
{
auto& taskId = *taskId_iter;
auto algor_param_wrap = task_param_manager_->get_task_other_param(taskId, this->algor_type_);
if (!algor_param_wrap)
{
LOG_ERROR("{} is nullptr when get algor param from task_param", taskId.c_str());
continue;
}
auto algor_param = ((algor_param_type)algor_param_wrap->algor_param);
input_data_wrap_t data;
int top = std::max(int(box.top - (IMAGE_CROP_EXPAND_RATIO * box.top)), 0);
int left = std::max(int(box.left - (IMAGE_CROP_EXPAND_RATIO * box.left)), 0);
int right = std::min(int(box.right + (IMAGE_CROP_EXPAND_RATIO * box.right)), src_img_w);
int bottom = std::min(int(box.bottom + (IMAGE_CROP_EXPAND_RATIO * box.bottom)), src_img_h);
int width = right - left;
int height = bottom - top;
if ((width < algor_param->obj_min_width || height < algor_param->obj_min_height || box.confidence < algor_param->obj_confidence_threshold) ||
!snapshot_legal_inarea(algor_param_wrap->basic_param->algor_valid_rect, left, top, right, bottom))
continue;
//统计货车检测框内行人及非机动车的数量
int person_motocycle_inarea = legal_person_motocycle_inarea(person_motocycle_data, left, top, right, bottom);
//vpose=========================================================================================================
int x_center = round(float((right + left))/2);
int y_center = round(float((bottom + top))/2);
float llength = std::max(right -left, bottom - top);
// Crop image according to the supplied bounding box.
int ul[2]={0}; int br[2]={0};
vpose_transform(1, 1, x_center, y_center, llength, 1, ul); // Upper left point
vpose_transform(IMG_RES+1, IMG_RES+1, x_center, y_center, llength, 1, br); // Bottom right point
int vpose_left = std::max(-ul[0],0); int vpose_top = std::max(-ul[1],0);
int vpose_right = std::min(br[0], src_img_w) - ul[0];
int vpose_bottom = std::min(br[1], src_img_h) - ul[1];
int vpose_width = vpose_right - vpose_left;
int vpose_height = vpose_bottom - vpose_top;
if (vpose_width != vpose_height) continue; // 宽高不相等说明处于边缘位置，不处理
//=============================================================================================================
data.box.top = top; data.box.left = left;
data.box.right = right; data.box.bottom = bottom;
data.box.score = box.confidence; data.box.cls = box.index;
data.taskId = taskId; data.objId = box.id;
data.id = obj_key_t{ box.id, taskId, algorithm_type_t::TRUCK_MANNED };
data.person_motocycle_cnt = person_motocycle_inarea;
data.vpose_box.top = vpose_top; data.vpose_box.left = vpose_left;
data.vpose_box.right = vpose_right; data.vpose_box.bottom = vpose_bottom;
data.x_center = x_center; data.y_center = y_center; data.llength = llength;
// 抠图
video_object_info obj;
strcpy(obj.task_id, taskId.c_str());
obj.object_id = box.id;
obj.left = left; obj.top = top; obj.right = right; obj.bottom = bottom;
vpc_img_info img_info = pVpcUtil->crop(src_img, obj);
sy_img img;
img.w_ = width; img.h_ = height; img.c_ = src_img->getChannel();
if (img_info.pic_desc != nullptr) {
void *outputDataDev = acldvppGetPicDescData(img_info.pic_desc);
img.data_ = reinterpret_cast<unsigned char*>(outputDataDev);
}
else {
LOG_ERROR("Crop image NPU failed wh is [{}, {}] ltrb is [{} {} {} {}]",
src_img_w, src_img_h, data.box.left, data.box.top, data.box.right, data.box.bottom);
continue;
}
// vpose抠图
video_object_info vpose_obj;
strcpy(vpose_obj.task_id, taskId.c_str());
vpose_obj.object_id = box.id;
vpose_obj.left = vpose_left; vpose_obj.top = vpose_top; vpose_obj.right = vpose_right; vpose_obj.bottom = vpose_bottom;
vpc_img_info vpose_img_info = pVpcUtil->crop(src_img, vpose_obj);
sy_img vpose_img;
vpose_img.w_ = vpose_width; vpose_img.h_ = vpose_height; vpose_img.c_ = src_img->getChannel();
if (vpose_img_info.pic_desc != nullptr) {
void *outputDataDev = acldvppGetPicDescData(vpose_img_info.pic_desc);
vpose_img.data_ = reinterpret_cast<unsigned char*>(outputDataDev);
}
else {
LOG_ERROR("Crop image NPU failed wh is [{}, {}] ltrb is [{} {} {} {}]",
src_img_w, src_img_h, data.vpose_box.left, data.vpose_box.top, data.vpose_box.right, data.vpose_box.bottom);
VPCUtil::vpc_img_release(img_info);
continue;
}
flattened_imgs.emplace_back(std::move(img));
flattened_vpc_imgs.emplace_back(std::move(img_info));
flattened_vpose_imgs.emplace_back(std::move(vpose_img)); //vpose
flattened_vpc_vpose_imgs.emplace_back(std::move(vpose_img_info)); //vpose
flattened_interest_data.emplace_back(std::move(data));
flattened_idx_to_batch_idx[flattened_idx++] = n;
}
}
std::vector<input_data_wrap_t>().swap(person_motocycle_data);
++taskId_iter;
}
int ret = aclrtSetCurrentContext(m_algorthim_ctx);
if (ACL_SUCCESS != ret) {
return false;
}
/* 2. collection result. */
int n_input_image = flattened_imgs.size();
hs_truck_result model_results[n_input_image];
vehicle_pose_result vpose_results[n_input_image];
{
int steps = (n_input_image + MAX_BATCH - 1) / MAX_BATCH;
for (int step = 0; step < steps; ++step)
{
int offset = step * MAX_BATCH;
int batch_size = (step == steps - 1) ? n_input_image - offset : MAX_BATCH;
// hs_truck_process_batch(hs_tools_, flattened_imgs.data() + offset, batch_size, model_results + offset);
hs_truck_process_batchV2(hs_tools_, flattened_imgs.data() + offset, batch_size, model_results + offset);
vehicle_pose_batch(vpose_tools_, flattened_vpose_imgs.data() + offset, batch_size, vpose_results + offset);
}
}
/* 3. postprocess. */
{
for (int n = 0; n < n_input_image; ++n)
{
auto& det_result = flattened_interest_data[n];
auto& objId = det_result.objId;
if (id_to_result_.find(det_result.id) != id_to_result_.end())
{
VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
flattened_imgs[n].data_ = nullptr;
VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
flattened_vpose_imgs[n].data_ = nullptr;
continue;
}
const auto& src_img = vec_det_input_images[flattened_idx_to_batch_idx[n]];
auto algor_param_wrap = task_param_manager_->get_task_other_param(det_result.taskId, this->algor_type_);
if (!algor_param_wrap)
{
LOG_ERROR("{} nullptr when get algor param from task_param", det_result.taskId.c_str());
VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
flattened_imgs[n].data_ = nullptr;
VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
flattened_vpose_imgs[n].data_ = nullptr;
continue;
}
auto algor_param = ((algor_param_type)algor_param_wrap->algor_param);
int hs_count = model_results[n].objcount;
obj_key_t obj_key{ det_result.objId, det_result.taskId, algorithm_type_t::TRUCK_MANNED };
auto& e = id_to_mn_[obj_key];
++e.m_frame;
// 过滤停车的货车
{
OBJ_KEY trace_obj_key = {det_result.taskId, objId};
int stop_check_frames = 30; // 6s
float stop_min_move = 25;
// 时间太短，忽略
if (m_total_obj_info[trace_obj_key].center_points.size() > stop_check_frames) {
float res_max_dist = 0;
float total_dist = diff_car_pos(m_total_obj_info[trace_obj_key].center_points, stop_check_frames, res_max_dist);
if (res_max_dist < stop_min_move) { // 停车
VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
flattened_imgs[n].data_ = nullptr;
VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
flattened_vpose_imgs[n].data_ = nullptr;
continue;
}
}
else {
VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
flattened_imgs[n].data_ = nullptr;
VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
flattened_vpose_imgs[n].data_ = nullptr;
continue;
}
}
//vpose===========================================================
auto &vpose_result = vpose_results[n]; // vpose
int ldmk_x1 = src_img->getWidth(), ldmk_y1 = src_img->getHeight(), ldmk_x2 = 0, ldmk_y2 = 0;
for (int p = 0; p < LDMK_COUNT; p++) {
int ul[2]={0};
// 映射到大图
vpose_transform(vpose_result.vehicle_ldmk[p].x_-1, vpose_result.vehicle_ldmk[p].y_-1, det_result.x_center, det_result.y_center, det_result.llength, 1, ul);
ldmk_x1 = std::min(ul[0] + 1, ldmk_x1);
ldmk_y1 = std::min(ul[1] + 1, ldmk_y1);
ldmk_x2 = std::max(ul[0] + 1, ldmk_x2);
ldmk_y2 = std::max(ul[1] + 1, ldmk_y2);
}
// 统计关键点映射出的四边形中的头肩数量
int hs_inpose_count = 0;
if (ldmk_x2 > ldmk_x1 && ldmk_y2 > ldmk_y1) {
for (int i = 0; i < model_results[n].objcount; i++) {
int x1_intersection = std::max(det_result.box.left + model_results[n].objinfo[i].left, ldmk_x1);
int y1_intersection = std::max(det_result.box.top + model_results[n].objinfo[i].top, ldmk_y1);
int x2_intersection = std::min(det_result.box.left + model_results[n].objinfo[i].right, ldmk_x2);
int y2_intersection = std::min(det_result.box.top + model_results[n].objinfo[i].bottom, ldmk_y2);
if (x2_intersection <= x1_intersection || y2_intersection <= y1_intersection) continue; // 没有交集
hs_inpose_count ++;
}
}
//=================================================================
// if (hs_count >= algor_param->hs_count_threshold)
LOG_INFO("hs_count：{} hs_inpose_count: {} person_motocycle_cnt：{} threshold: {}", hs_count, hs_inpose_count, det_result.person_motocycle_cnt, algor_param->hs_count_threshold);
// if (hs_count - det_result.person_motocycle_cnt >= algor_param->hs_count_threshold) //头肩数量去除包含的行人和非机动车数量
// if (hs_count - det_result.person_motocycle_cnt >= algor_param->hs_count_threshold || hs_inpose_count >= algor_param->hs_count_threshold)
if (hs_inpose_count >= algor_param->hs_count_threshold) //1025
{
if (++e.n_frame == algor_param->n)
{
results_data_t result;
{
result.box = det_result.box;
result.taskId = det_result.taskId;
result.objId = det_result.objId;
#if 0 /*暂不保存报警时刻的抓拍图，有需要再启用*/
// 原图
vpc_img_info src_img_info = VPCUtil::vpc_devMem2vpcImg(src_img);
result.origin_img_desc = src_img_info.pic_desc;
// 抠图
result.roi_img_desc = flattened_vpc_imgs[n].pic_desc;
#else
VPCUtil::vpc_img_release(flattened_vpc_imgs[n]);
#endif
}
id_to_result_.emplace(obj_key, std::move(result));
goto _continue;
}
}
if (e.m_frame == algor_param->m)
e.reset();
VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
_continue:
{
VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
}
}
}
return true;
}
} // namespace truck_manned_process
} // namespace ai_engine_module