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"
namespace ai_engine_module
{
namespace truck_manned_process
{
algorithm_type_t TruckMannedProcess::algor_type_ = algorithm_type_t::TRUCK_MANNED;
TruckMannedProcess::TruckMannedProcess()
: task_param_manager_(nullptr)
{
}
TruckMannedProcess::~TruckMannedProcess()
{
if (tools_) {
hs_truck_release(&tools_);
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" ;
LOG_INFO("hs_truck 版本：{} 模型路径：{}", hs_truck_getversion(), model_path);
hs_truck_param param;
char modelNames[100];
strcpy(modelNames, model_path.c_str());
param.modelNames = modelNames;
param.thresld = 0.25;
param.devId = gpu_id;
m_devId = param.devId;
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(&tools_, param)))))
LOG_ERROR("Init TruckMannedProcessSdk 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;
}
}
}
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);
return res;
}
bool TruckMannedProcess::update_mstreams(const std::vector<task_id_t>& taskIds, vector<DeviceMemory*> vec_det_input_images, 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<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;
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;
data.box.top = top;
data.box.left = left;
data.box.right = right;
data.box.bottom = bottom;
data.box.score = box.confidence;
data.taskId = taskId;
data.objId = box.id;
data.id = obj_key_t{ box.id, taskId, algorithm_type_t::TRUCK_MANNED };
// 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;
}
flattened_imgs.emplace_back(std::move(img));
flattened_vpc_imgs.emplace_back(std::move(img_info));
flattened_interest_data.emplace_back(std::move(data));
flattened_idx_to_batch_idx[flattened_idx++] = n;
}
}
++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];
{
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(tools_, flattened_imgs.data() + offset, batch_size, model_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;
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;
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;
if (hs_count >= algor_param->hs_count_threshold)
{
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;
// 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;
}
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:
{
}
}
}
return true;
}
} // namespace truck_manned_process
} // namespace ai_engine_module