Hu Chunming / vpt_ascend_arm

Commit 27f0a463868bdf975ad25799fc3260c9abc2c847

Authored by Zhao Shuaihua
1 parent fa818303

玩手机模型升级 货车载人增加关键点辅助

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Showing 10 changed files with 302 additions and 26 deletions
bin/libvehicle_pose_vdec.so 0 → 100755
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bin/models/village/motor_phone1013_310p.om 0 → 100644
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bin/models/village/vpose_310p.om 0 → 100644
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src/Makefile
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... ... @@ -38,7 +38,7 @@ lib=-lacl_dvpp -lascendcl -lacl_dvpp_mpi -lruntime -lascendalog -lc_sec -lmsprof
38 38 -lplatform -lgraph_base -lqos_manager
39 39  
40 40 LIBS= -L $(SPDLOG_ROOT)/lib -l:libspdlog.a \
41   - -L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -lhs_motor_process\
  41 + -L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -lvehicle_pose_vdec -lhs_motor_process\
42 42 -L $(OPENCV_ROOT)/lib -lopencv_world\
43 43 -L $(JSON_ROOT)/lib -ljsoncpp \
44 44 -L $(FFMPEG_ROOT)/lib -lavformat -lavcodec -lswscale -lavutil -lavfilter -lswresample -lavdevice \
... ...
src/ai_engine_module/motocycle_phone_process.cpp
  View file @27f0a46
... ... @@ -84,7 +84,8 @@ namespace ai_engine_module
84 84 {
85 85 init_ = false;
86 86  
87   - string model_path = models_dir + "/models/village/motor_phone_310p.om" ;
  87 + // string model_path = models_dir + "/models/village/motor_phone_310p.om" ;
  88 + string model_path = models_dir + "/models/village/motor_phone1013_310p.om" ;
88 89 LOG_INFO("motor_phone 版本：{} 模型路径：{}", motor_phone_getversion(), model_path);
89 90  
90 91 motor_phone_param param;
... ...
src/ai_engine_module/motocycle_refit_phone_process.cpp
  View file @27f0a46
... ... @@ -89,7 +89,8 @@ namespace ai_engine_module
89 89 {
90 90 init_ = false;
91 91  
92   - string model_phone_path = models_dir + "/models/village/motor_phone_310p.om" ;
  92 + // string model_phone_path = models_dir + "/models/village/motor_phone_310p.om" ;
  93 + string model_phone_path = models_dir + "/models/village/motor_phone1013_310p.om" ;
93 94 string model_hcp_path = models_dir + "/models/village/hcp211008_310p.om" ;
94 95 LOG_INFO("motor_phone 版本：{} 模型路径：{} hcp 版本：{} 模型路径：{}", motor_phone_getversion(), model_phone_path, hcp_get_version(), model_hcp_path);
95 96  
... ...
src/ai_engine_module/truck_manned_process.cpp
  View file @27f0a46
... ... @@ -5,6 +5,9 @@
5 5 #include "../common/logger.hpp"
6 6 #include "../ai_platform/mvpt_process_assist.h"
7 7  
  8 +#include "opencv2/opencv.hpp"
  9 +#include "opencv2/imgcodecs/legacy/constants_c.h"
  10 +
8 11  
9 12 namespace ai_engine_module
10 13 {
... ... @@ -25,15 +28,34 @@ namespace ai_engine_module
25 28 float area_b = float(right - left) * float(bottom - top);
26 29 float area_intersection = float(x2_intersection - x1_intersection) * float(y2_intersection - y1_intersection);
27 30  
28   - if (area_a > area_b || area_a <= 0) continue; //暂不考虑非机动车目标比货车大的情况
  31 + 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
29 32 // float iou = area_intersection / (area_a + area_b - area_intersection);
30   - float small_overlap_ratio = area_intersection / area_a; //计算非机动车目标相对于自身的重叠程度
  33 + 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
31 34 if (small_overlap_ratio > 0.2) legal_person_motocycle_count ++;
32 35 }
33 36 return legal_person_motocycle_count;
34 37  
35 38 }
36 39  
  40 + void vpose_transform(float pt_x, float pt_y, float center_x, float center_y, float llength, int invert, int *res) {
  41 + //Transform pixel location to different reference.
  42 + float tmp = float(IMG_RES) / llength;
  43 + float t00 = tmp, t11 = tmp;
  44 + float t02 = IMG_RES * (-center_x / llength + .5);
  45 + float t12 = IMG_RES * (-center_y / llength + .5);
  46 + cv::Mat t = (cv::Mat_<float>(3,3) << t00,0,t02,0,t11,t12,0,0,1);
  47 + cv::Mat invt = (cv::Mat_<float>(3,3) << 0,0,0,0,0,0,0,0,0);
  48 + if (invert)
  49 + cv::invert(t, invt);
  50 +
  51 + cv::Mat new_pt = (cv::Mat_<float>(3,1) << pt_x-1, pt_y-1, 1.);
  52 + cv::Mat arr_new = invt * new_pt;
  53 +
  54 + for (int i = 0; i < 3-1; i++) {
  55 + res[i] = int(arr_new.at<float>(i,0));
  56 + }
  57 + }
  58 +
37 59 TruckMannedProcess::TruckMannedProcess()
38 60 : task_param_manager_(nullptr)
39 61 {
... ... @@ -42,9 +64,13 @@ namespace ai_engine_module
42 64  
43 65 TruckMannedProcess::~TruckMannedProcess()
44 66 {
45   - if (tools_) {
46   - hs_truck_release(&tools_);
47   - tools_ = nullptr;
  67 + if (hs_tools_) {
  68 + hs_truck_release(&hs_tools_);
  69 + hs_tools_ = nullptr;
  70 + }
  71 + if (vpose_tools_) {
  72 + vehicle_pose_release(&vpose_tools_);
  73 + vpose_tools_ = nullptr;
48 74 }
49 75 if (m_algorthim_ctx) {
50 76 aclrtDestroyContext(m_algorthim_ctx);
... ... @@ -57,6 +83,8 @@ namespace ai_engine_module
57 83  
58 84 string model_path = models_dir + "/models/hs/hs_truck_310p.om" ;
59 85 LOG_INFO("hs_truck 版本：{} 模型路径：{}", hs_truck_getversion(), model_path);
  86 + string model_vpose_path = models_dir + "/models/village/vpose_310p.om" ;
  87 + LOG_INFO("vpose 版本：{} 模型路径：{}", vehicle_pose_get_version(), model_vpose_path);
60 88  
61 89 hs_truck_param param;
62 90 char modelNames[100];
... ... @@ -64,14 +92,23 @@ namespace ai_engine_module
64 92 param.modelNames = modelNames;
65 93 param.thresld = 0.25;
66 94 param.devId = gpu_id;
  95 +
  96 + vehicle_pose_param vparam;
  97 + char vpose_modelNames[100];
  98 + strcpy(vpose_modelNames, model_vpose_path.c_str());
  99 + vparam.modelNames = vpose_modelNames;
  100 + vparam.ldmk_thres = 0.0;
  101 + vparam.devId = gpu_id;
67 102  
68   - m_devId = param.devId;
  103 + m_devId = gpu_id;
69 104 ACL_CALL(aclrtSetDevice(m_devId), ACL_SUCCESS, -1);
70 105 ACL_CALL(aclrtCreateContext(&m_algorthim_ctx, m_devId), ACL_SUCCESS, -1);
71   -
  106 +
72 107 int status;
73   - if (!(init_ = (0 == (status = hs_truck_init(&tools_, param)))))
  108 + if (!(init_ = (0 == (status = hs_truck_init(&hs_tools_, param)))))
74 109 LOG_ERROR("Init TruckMannedProcessSdk failed error code is {}", status);
  110 + else if (!(init_ = (0 == (status = vehicle_pose_init(&vpose_tools_, vparam)))))
  111 + LOG_ERROR("Init VehiclePoseProcessSdk failed error code is {}", status);
75 112 else
76 113 if (!task_param_manager_)
77 114 task_param_manager_ = task_param_manager::getInstance();
... ... @@ -139,6 +176,8 @@ namespace ai_engine_module
139 176 auto taskId_iter = taskIds.begin();
140 177 std::vector<sy_img> flattened_imgs(0);
141 178 std::vector<vpc_img_info> flattened_vpc_imgs(0);
  179 + std::vector<sy_img> flattened_vpose_imgs(0);
  180 + std::vector<vpc_img_info> flattened_vpc_vpose_imgs(0);
142 181 std::vector<input_data_wrap_t> flattened_interest_data(0); //
143 182 VPCUtil* pVpcUtil = VPCUtil::getInstance();
144 183 for (int n = 0; n < n_images; ++n)
... ... @@ -206,27 +245,44 @@ namespace ai_engine_module
206 245  
207 246 //统计货车检测框内行人及非机动车的数量
208 247 int person_motocycle_inarea = legal_person_motocycle_inarea(person_motocycle_data, left, top, right, bottom);
209   -
210   - data.box.top = top; data.box.left = left;
211   - data.box.right = right; data.box.bottom = bottom;
  248 + //vpose=========================================================================================================
  249 + int x_center = round(float((right + left))/2);
  250 + int y_center = round(float((bottom + top))/2);
  251 + float llength = std::max(right -left, bottom - top);
  252 +
  253 + // Crop image according to the supplied bounding box.
  254 + int ul[2]={0}; int br[2]={0};
  255 + vpose_transform(1, 1, x_center, y_center, llength, 1, ul); // Upper left point
  256 + vpose_transform(IMG_RES+1, IMG_RES+1, x_center, y_center, llength, 1, br); // Bottom right point
  257 +
  258 + int vpose_left = std::max(-ul[0],0); int vpose_top = std::max(-ul[1],0);
  259 + int vpose_right = std::min(br[0], src_img_w) - ul[0];
  260 + int vpose_bottom = std::min(br[1], src_img_h) - ul[1];
  261 + int vpose_width = vpose_right - vpose_left;
  262 + int vpose_height = vpose_bottom - vpose_top;
  263 + if (vpose_width != vpose_height) continue; // 宽高不相等说明处于边缘位置，不处理
  264 + //=============================================================================================================
  265 +
  266 + data.box.top = top; data.box.left = left;
  267 + data.box.right = right; data.box.bottom = bottom;
212 268 data.box.score = box.confidence;
213   - data.taskId = taskId; data.objId = box.id;
  269 + data.taskId = taskId; data.objId = box.id;
214 270 data.id = obj_key_t{ box.id, taskId, algorithm_type_t::TRUCK_MANNED };
215 271 data.person_motocycle_cnt = person_motocycle_inarea;
  272 + data.vpose_box.top = vpose_top; data.vpose_box.left = vpose_left;
  273 + data.vpose_box.right = vpose_right; data.vpose_box.bottom = vpose_bottom;
  274 + data.x_center = x_center; data.y_center = y_center; data.llength = llength;
216 275  
217 276 // 抠图
218 277 video_object_info obj;
219 278 strcpy(obj.task_id, taskId.c_str());
220 279 obj.object_id = box.id;
221   - obj.left = left; obj.top = top;
222   - obj.right = right; obj.bottom = bottom;
  280 + obj.left = left; obj.top = top; obj.right = right; obj.bottom = bottom;
223 281  
224 282 vpc_img_info img_info = pVpcUtil->crop(src_img, obj);
225 283  
226 284 sy_img img;
227   - img.w_ = width;
228   - img.h_ = height;
229   - img.c_ = src_img->getChannel();
  285 + img.w_ = width; img.h_ = height; img.c_ = src_img->getChannel();
230 286  
231 287 if (img_info.pic_desc != nullptr) {
232 288 void *outputDataDev = acldvppGetPicDescData(img_info.pic_desc);
... ... @@ -237,9 +293,33 @@ namespace ai_engine_module
237 293 src_img_w, src_img_h, data.box.left, data.box.top, data.box.right, data.box.bottom);
238 294 continue;
239 295 }
  296 +
  297 + // vpose抠图
  298 + video_object_info vpose_obj;
  299 + strcpy(vpose_obj.task_id, taskId.c_str());
  300 + vpose_obj.object_id = box.id;
  301 + vpose_obj.left = vpose_left; vpose_obj.top = vpose_top; vpose_obj.right = vpose_right; vpose_obj.bottom = vpose_bottom;
  302 +
  303 + vpc_img_info vpose_img_info = pVpcUtil->crop(src_img, vpose_obj);
  304 +
  305 + sy_img vpose_img;
  306 + vpose_img.w_ = vpose_width; vpose_img.h_ = vpose_height; vpose_img.c_ = src_img->getChannel();
  307 +
  308 + if (vpose_img_info.pic_desc != nullptr) {
  309 + void *outputDataDev = acldvppGetPicDescData(vpose_img_info.pic_desc);
  310 + vpose_img.data_ = reinterpret_cast<unsigned char*>(outputDataDev);
  311 + }
  312 + else {
  313 + LOG_ERROR("Crop image NPU failed wh is [{}, {}] ltrb is [{} {} {} {}]",
  314 + src_img_w, src_img_h, data.vpose_box.left, data.vpose_box.top, data.vpose_box.right, data.vpose_box.bottom);
  315 + VPCUtil::vpc_img_release(img_info);
  316 + continue;
  317 + }
240 318  
241 319 flattened_imgs.emplace_back(std::move(img));
242 320 flattened_vpc_imgs.emplace_back(std::move(img_info));
  321 + flattened_vpose_imgs.emplace_back(std::move(vpose_img)); //vpose
  322 + flattened_vpc_vpose_imgs.emplace_back(std::move(vpose_img_info)); //vpose
243 323 flattened_interest_data.emplace_back(std::move(data));
244 324 flattened_idx_to_batch_idx[flattened_idx++] = n;
245 325 }
... ... @@ -255,13 +335,15 @@ namespace ai_engine_module
255 335 /* 2. collection result. */
256 336 int n_input_image = flattened_imgs.size();
257 337 hs_truck_result model_results[n_input_image];
  338 + vehicle_pose_result vpose_results[n_input_image];
258 339 {
259 340 int steps = (n_input_image + MAX_BATCH - 1) / MAX_BATCH;
260 341 for (int step = 0; step < steps; ++step)
261 342 {
262 343 int offset = step * MAX_BATCH;
263 344 int batch_size = (step == steps - 1) ? n_input_image - offset : MAX_BATCH;
264   - hs_truck_process_batch(tools_, flattened_imgs.data() + offset, batch_size, model_results + offset);
  345 + hs_truck_process_batch(hs_tools_, flattened_imgs.data() + offset, batch_size, model_results + offset);
  346 + vehicle_pose_batch(vpose_tools_, flattened_vpose_imgs.data() + offset, batch_size, vpose_results + offset);
265 347 }
266 348 }
267 349  
... ... @@ -275,6 +357,8 @@ namespace ai_engine_module
275 357 {
276 358 VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
277 359 flattened_imgs[n].data_ = nullptr;
  360 + VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
  361 + flattened_vpose_imgs[n].data_ = nullptr;
278 362 continue;
279 363 }
280 364  
... ... @@ -286,6 +370,8 @@ namespace ai_engine_module
286 370 LOG_ERROR("{} nullptr when get algor param from task_param", det_result.taskId.c_str());
287 371 VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
288 372 flattened_imgs[n].data_ = nullptr;
  373 + VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
  374 + flattened_vpose_imgs[n].data_ = nullptr;
289 375 continue;
290 376 }
291 377  
... ... @@ -298,8 +384,38 @@ namespace ai_engine_module
298 384 auto& e = id_to_mn_[obj_key];
299 385 ++e.m_frame;
300 386  
  387 + //vpose===========================================================
  388 + auto &vpose_result = vpose_results[n]; // vpose
  389 + int ldmk_x1 = src_img->getWidth(), ldmk_y1 = src_img->getHeight(), ldmk_x2 = 0, ldmk_y2 = 0;
  390 + for (int p = 0; p < LDMK_COUNT; p++) {
  391 + int ul[2]={0};
  392 + // 映射到大图
  393 + 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);
  394 +
  395 + ldmk_x1 = std::min(ul[0] + 1, ldmk_x1);
  396 + ldmk_y1 = std::min(ul[1] + 1, ldmk_y1);
  397 + ldmk_x2 = std::max(ul[0] + 1, ldmk_x2);
  398 + ldmk_y2 = std::max(ul[1] + 1, ldmk_y2);
  399 + }
  400 + // 统计关键点映射出的四边形中的头肩数量
  401 + int hs_inpose_count = 0;
  402 + if (ldmk_x2 > ldmk_x1 && ldmk_y2 > ldmk_y1) {
  403 + for (int i = 0; i < model_results[n].objcount; i++) {
  404 + int x1_intersection = std::max(det_result.box.left + model_results[n].objinfo[i].left, ldmk_x1);
  405 + int y1_intersection = std::max(det_result.box.top + model_results[n].objinfo[i].top, ldmk_y1);
  406 + int x2_intersection = std::min(det_result.box.left + model_results[n].objinfo[i].right, ldmk_x2);
  407 + int y2_intersection = std::min(det_result.box.top + model_results[n].objinfo[i].bottom, ldmk_y2);
  408 + if (x2_intersection <= x1_intersection || y2_intersection <= y1_intersection) continue; // 没有交集
  409 + hs_inpose_count ++;
  410 + }
  411 +
  412 + }
  413 + //=================================================================
  414 +
301 415 // if (hs_count >= algor_param->hs_count_threshold)
302   - 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
  416 + 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);
  417 + // 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
  418 + if (hs_count - det_result.person_motocycle_cnt >= algor_param->hs_count_threshold || hs_inpose_count >= algor_param->hs_count_threshold)
303 419 {
304 420 if (++e.n_frame == algor_param->n)
305 421 {
... ... @@ -325,7 +441,7 @@ namespace ai_engine_module
325 441 VPCUtil::vpc_img_release(flattened_vpc_imgs[n]); //flattened_imgs[n].data_
326 442 _continue:
327 443 {
328   -
  444 + VPCUtil::vpc_img_release(flattened_vpc_vpose_imgs[n]);
329 445 }
330 446  
331 447 }
... ...
src/ai_engine_module/truck_manned_process.h
  View file @27f0a46
... ... @@ -8,6 +8,7 @@
8 8 #include "../ai_platform/macro_definition.h"
9 9 #include "ai_engine_header.h"
10 10 #include "hs_det_truck.h"
  11 +#include "vehicle_pose.h"
11 12 #include "acl/acl.h"
12 13 #include "acl/ops/acl_dvpp.h"
13 14  
... ... @@ -23,6 +24,7 @@ namespace ai_engine_module
23 24 using id_t = obj_key_t;
24 25 using task_id_t = std::string;
25 26 using algor_param_type = algor_config_param_manned_incident*;
  27 + #define IMG_RES 224
26 28  
27 29 typedef struct input_data_wrap_t
28 30 {
... ... @@ -30,7 +32,11 @@ namespace ai_engine_module
30 32 long objId;
31 33 int person_motocycle_cnt;
32 34 std::string taskId;
33   - box_t box;
  35 + box_t box; // 记录检测框
  36 + box_t vpose_box; // 记录预处理后的检测框
  37 + int x_center; // 外扩前的中心点及长边信息
  38 + int y_center;
  39 + float llength;
34 40 } input_data_wrap_t;
35 41  
36 42  
... ... @@ -91,7 +97,8 @@ namespace ai_engine_module
91 97 aclrtContext m_algorthim_ctx;
92 98  
93 99 bool init_;
94   - void* tools_;
  100 + void* hs_tools_;
  101 + void* vpose_tools_;
95 102 task_param_manager* task_param_manager_;
96 103 std::map<id_t, mn_frame_t> id_to_mn_;
97 104 std::map<id_t, results_data_t> id_to_result_;
... ...
src/ai_engine_module/vehicle_pose.h 0 → 100644
  View file @27f0a46
  1 +/*******************************************************************************************
  2 +* Version: car_pose_v0.0.0.20210519
  3 +* CopyRight: 中科视语(北京)科技有限公司
  4 +* UpdateDate: 20210519
  5 +* Content: 车辆姿态估计
  6 +********************************************************************************************/
  7 +
  8 +#ifndef _VEHICLE_POSE_H_
  9 +#define _VEHICLE_POSE_H_
  10 +
  11 +#ifdef _MSC_VER
  12 +#ifdef VEHICLE_POSE_EXPORTS
  13 +#define VEHICLE_POSE_API __declspec(dllexport)
  14 +#else
  15 +#define VEHICLE_POSE_API __declspec(dllimport)
  16 +#endif
  17 +#else
  18 +#define VEHICLE_POSE_API __attribute__ ((visibility ("default"))) //?
  19 +#endif
  20 +
  21 +#include "sy_common.h"
  22 +
  23 +#define MAX_OBJ_COUNT 200
  24 +
  25 +//#define _VEHICLE_DET_
  26 +
  27 +#ifdef __cplusplus
  28 +extern "C"
  29 +{
  30 +#endif
  31 +
  32 +#define POSE_COUNT 9
  33 +// #define LDMK_COUNT 20
  34 +#define LDMK_COUNT 32 //221104版本有32个关键点
  35 +
  36 +#ifndef __VEHICLE_POSE_RESULT__
  37 +#define __VEHICLE_POSE_RESULT__
  38 + typedef struct vehicle_pose_result
  39 + {
  40 + sy_point vehicle_ldmk[LDMK_COUNT];
  41 + float vehicle_ldmk_score[LDMK_COUNT];
  42 + float vehicle_pose[POSE_COUNT];
  43 +
  44 + double phi;
  45 + double gamma;
  46 + double theta;
  47 + }vehicle_pose_result;
  48 +#endif
  49 +
  50 +#ifndef __VEHICLE_POSE_PARAM__
  51 +#define __VEHICLE_POSE_PARAM__
  52 + typedef struct vehicle_pose_param
  53 + {
  54 + // int mode; /运行模式(DEVICE_GPU / DEVICE_CPU)
  55 + int devId; //运行卡号
  56 + char* modelNames;
  57 + float ldmk_thres; //ldmk点的阈值
  58 + // int engine; //指定运行引擎(ENGINE_MCAFFE2 / ENGINE_TENSORRT)
  59 + // int max_batch; //指定trt批处理数量上限
  60 + // char* serialize_file; //指定trt缓存文件完整路径
  61 + // char* auth_license;
  62 + // vehicle_pose_param() :mode(DEVICE_GPU), gpuid(0), engine(ENGINE_TENSORRT), max_batch(20), auth_license("sy") {};
  63 + }vehicle_pose_param;
  64 +#endif
  65 +
  66 +
  67 +#ifndef __VEHICLE_POSE_DRAW_PARAM__
  68 +#define __VEHICLE_POSE_DRAW_PARAM__
  69 +#define PIXEL_COUNT 3
  70 + typedef struct vehicle_pose_draw_param
  71 + {
  72 + int ldmk[PIXEL_COUNT]; //绘制ldmk点 像素值
  73 + int pose[PIXEL_COUNT]; //绘制点云 像素值
  74 +
  75 + char* result_image_path; //图片保存路径，如"./result/car1.jpg"
  76 + char* car_vertice_path; //car_vertice路径
  77 +
  78 + }vehicle_pose_draw_param;
  79 +#endif
  80 +
  81 +
  82 + /*************************************************************************
  83 + * FUNCTION: car_pose_recg_init
  84 + * PURPOSE: 车辆姿态估计初始化
  85 + * PARAM:
  86 + [in] handle - 句柄
  87 + [in] param - 初始化参数
  88 + * RETURN: 成功(0)或错误(<0)
  89 + * NOTES:
  90 + *************************************************************************/
  91 + VEHICLE_POSE_API int vehicle_pose_init(void ** handle, vehicle_pose_param param);
  92 +
  93 +
  94 + /*************************************************************************
  95 + * FUNCTION: car_pose_recg_process
  96 + * PURPOSE: 车辆姿态估计
  97 + * PARAM:
  98 + [in] tools - 句柄
  99 + [in] img_data - 检测图像数据
  100 + [out] result - 检测结果
  101 + * RETURN: 成功(0)或错误(<0)
  102 + * NOTES:
  103 + *************************************************************************/
  104 + VEHICLE_POSE_API int vehicle_pose_process(void * handle, sy_img * img_data, vehicle_pose_result * result);
  105 +
  106 +
  107 + /*************************************************************************
  108 + * FUNCTION: car_pose_recg_batch
  109 + * PURPOSE: 车辆姿态估计批处理
  110 + * PARAM:
  111 + [in] tools - 句柄
  112 + [in] img_data_array - 检测图像数据数组
  113 + [in] batch_size - 检测图像批处理个数
  114 + [out] result - 检测结果数组
  115 + * RETURN: 成功(0)或错误(<0)
  116 + * NOTES:
  117 + *************************************************************************/
  118 + VEHICLE_POSE_API int vehicle_pose_batch(void * handle, sy_img *img_data_array, int batch_size, vehicle_pose_result * result);
  119 +
  120 + VEHICLE_POSE_API int vehicle_pose_batch_draw(void * handle, sy_img *img_data_array, int batch_size, vehicle_pose_result * result, vehicle_pose_draw_param *draw_param);
  121 +
  122 +#ifdef _VEHICLE_DET_
  123 + VEHICLE_POSE_API int vehicle_det_pose_process_path(void * handle, char* image_path, vehicle_pose_result *result, int *car_count, vehicle_pose_draw_param draw_param);
  124 + VEHICLE_POSE_API int vehicle_det_pose_process(void * handle, sy_img img_data, vehicle_pose_result *result,int *car_count, vehicle_pose_draw_param draw_param);
  125 + #endif
  126 + /*************************************************************************
  127 + * FUNCTION: car_pose_recg_release
  128 + * PURPOSE: 资源释放
  129 + * PARAM:
  130 + [in] handle - 处理句柄
  131 + * RETURN: NULL
  132 + * NOTES:
  133 + *************************************************************************/
  134 + VEHICLE_POSE_API void vehicle_pose_release(void ** handle);
  135 +
  136 +
  137 + /*************************************************************************
  138 + * FUNCTION: car_pose_recg_get_version
  139 + * PURPOSE: 版本返回
  140 + * PARAM: NULL
  141 + * RETURN: 版本号
  142 +
  143 + * NOTES:
  144 + *************************************************************************/
  145 + VEHICLE_POSE_API const char * vehicle_pose_get_version();
  146 +
  147 +
  148 +#ifdef __cplusplus
  149 +};
  150 +#endif
  151 +#endif
... ...
src/demo/Makefile
  View file @27f0a46
... ... @@ -33,7 +33,7 @@ lib_dir=-L/usr/local/Ascend/ascend-toolkit/6.3.RC1/runtime/lib64 \
33 33 lib=-lacl_dvpp -lascendcl -lacl_dvpp_mpi -lruntime -lascendalog -lc_sec -lmsprofiler -lgert -lmmpa -lascend_hal -lexe_graph -lge_executor -lgraph -lprofapi -lascend_protobuf -lerror_manager -lhybrid_executor -lregister -ldavinci_executor -lge_common -lge_common_base \
34 34 -lplatform -lgraph_base -lqos_manager
35 35  
36   -LIBS= -L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lhs_motor_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -latlaslic -lvpt_ascend\
  36 +LIBS= -L $(DEPEND_DIR) -lvpt_det_vdec -lsycheck -lface_det_vdec -lhs_tri_process -lhs_truck_process -lhs_motor_process -lphone_motor_det -lhcp_vdec -lmotor_rainshed_vdec -ltraffic_light_vdec -lvehicle_pose_vdec -latlaslic -lvpt_ascend\
37 37 -L $(OPENCV_ROOT)/lib -lopencv_world\
38 38 -L $(JSON_ROOT)/lib -ljsoncpp \
39 39 -L $(FFMPEG_ROOT)/lib -lavformat -lavcodec -lswscale -lavutil -lavfilter -lswresample -lavdevice \
... ...