增加不减速(517)功能, mask远处车道线区域

Zhao Shuaihua
1 parent 8c495cc9
Showing 9 changed files with 67 additions and 13 deletions
bin/libSYTSLSystemInfoNativeJNI.so
src/ai_engine_module/road_seg_3cls_statistics.cpp
src/ai_engine_module/road_seg_correlation_algor.cpp
src/ai_engine_module/road_seg_statistics.cpp
src/ai_platform/MultiSourceProcess.cpp
src/ai_platform/task_param_manager.cpp
src/decoder/dvpp/DvppDecoder.cpp
src/demo/demo.cpp
src/tsl_aiplatform_jni/AiEngineNativeInterface.cpp
@@ -129,7 +129,7 @@ cv::Mat Road3clsSegProcess::seg_post_process(bool large_resolution, unsigned cha
     /* 求背景区域--mask车道区域，场景变化用
     cv::compare(lanes_masks, 0, background_mask, cv::CMP_EQ); //将lanes_masks元素逐个和0比较，相同255，不同0*/
-#if 0
+#if 1
     //--mask远处区域------------------------------------------------
     cv::Mat mask_black = mask_rmlane.clone();
     if (large_resolution)   mask_black(cv::Rect(0, 0, w, int(h * 0.14))) = 0;  
@@ -21,7 +21,8 @@ namespace ai_engine_module
             algorithm_type_t::NONMOTOR_WRONGDIRECTION,  
             algorithm_type_t::VEHICLE_WRONGDIRECTION, 
             algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND,
-            algorithm_type_t::VEHICLE_NOTGIVEWAY,  
+            algorithm_type_t::VEHICLE_NOTGIVEWAY, 
+            algorithm_type_t::VEHICLE_NOTDECELERATION,  
         };
         // 判断是否是机动车
@@ -581,7 +582,7 @@ namespace ai_engine_module
                             stream_idx_and_algor_seq.algors.emplace(algor_type);
                             if (algor_type == algorithm_type_t::VEHICLE_WRONGDIRECTION || algor_type == algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND || 
-                            algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY)     has_vehicle_algor = true;
+                            algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY || algor_type == algorithm_type_t::VEHICLE_NOTDECELERATION)     has_vehicle_algor = true;
                         }
                         if (stream_idx_and_algor_seq.algors.empty())
@@ -729,7 +730,8 @@ namespace ai_engine_module
                         if ((algor_type == algorithm_type_t::NONMOTOR_IN_VEHICLELANE || algor_type == algorithm_type_t::NONMOTOR_CEOSSPARKLINE || algor_type == algorithm_type_t::NONMOTOR_WRONGDIRECTION) && !is_valid_nomotor(static_cast<det_class_label_t>(det_result.box.cls)))
                             continue;
-                        if ((algor_type == algorithm_type_t::VEHICLE_WRONGDIRECTION || algor_type == algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND || algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY) && !is_valid_car(static_cast<det_class_label_t>(det_result.box.cls)))
+                        if ((algor_type == algorithm_type_t::VEHICLE_WRONGDIRECTION || algor_type == algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND || algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY || 
+                        algor_type == algorithm_type_t::VEHICLE_NOTDECELERATION) && !is_valid_car(static_cast<det_class_label_t>(det_result.box.cls)))
                             continue;
                         auto& e = id_to_mn_[obj_key];
@@ -742,6 +744,10 @@ namespace ai_engine_module
                         // 行人/非机动车占用机动车道
                         if (algor_type == algorithm_type_t::PERSON_IN_VEHICLELANE || algor_type == algorithm_type_t::NONMOTOR_IN_VEHICLELANE) {
                             bool isalarm = false;
+                            float res_max_dist = 0;
+                            int check_frames = m_total_obj_info[trace_obj_key].center_points.size();
+                            float total_dist = diff_car_pos(m_total_obj_info[trace_obj_key].center_points, check_frames, res_max_dist);  
+                            if (total_dist < 40*(src_img->getWidth()/1920.0)) continue;   // 位移限制
                             for (auto region : vehiclelanes_regions) {
                                 vector<tr_point> tr_boxes = Mbuild_area(region);
                                 bool cur_flag = McheckPointPolygon(tr_boxes, curpos); //cur_flag==true表示在区域内
@@ -863,6 +869,25 @@ namespace ai_engine_module
                             if (!isalarm) continue;   
                         }
+                        // 机动车不减速：针对路口处不减速的情形
+                        if (algor_type == algorithm_type_t::VEHICLE_NOTDECELERATION) {
+                            bool isalarm = false;
+                            int check_frames = 10; // 2s
+                            float stop_min_move = 600*(src_img->getWidth()/1920.0);
+                            if (m_total_obj_info[trace_obj_key].center_points.size() > check_frames) { //忽略太短的轨迹
+                                for (auto region : crosswalk_regions) { 
+                                    vector<tr_point> tr_boxes = Mbuild_area(region);
+                                    bool cur_flag = McheckPointPolygon(tr_boxes, curpos); //cur_flag==true表示在区域内
+                                    if (cur_flag) {
+                                        float res_max_dist = 0;
+                                        float total_dist = diff_car_pos(m_total_obj_info[trace_obj_key].center_points, check_frames, res_max_dist); 
+                                        if (res_max_dist > stop_min_move) { isalarm = true;  break; } // 未减速
+                                    }
+                                }           
+                            }
+                            if (!isalarm) continue;  
+                        }
+
                         {
                             if (++e.n_frame == algor_param->n || 
@@ -142,7 +142,7 @@ cv::Mat RoadSegProcess::seg_post_process(bool large_resolution, unsigned char *s
     /* 求背景区域--mask车道区域，场景变化用
     cv::compare(lanes_masks, 0, background_mask, cv::CMP_EQ); //将lanes_masks元素逐个和0比较，相同255，不同0*/
-#if 0
+#if 1
     //--mask远处区域------------------------------------------------
     cv::Mat mask_black = mask_rmlane.clone();
     if (large_resolution)   mask_black(cv::Rect(0, 0, w, int(h * 0.14))) = 0;  
@@ -526,7 +526,7 @@ void CMultiSourceProcess::decoded_cbk(DeviceMemory* devFrame){
       break;
     }
     m_DataListMtx.lock();
-    if(m_RgbDataList.size() >= 30){
+    if(m_RgbDataList.size() >= 100){ //缓存100帧
       m_DataListMtx.unlock();
       std::this_thread::sleep_for(std::chrono::milliseconds(3));
       continue;
@@ -1648,7 +1648,8 @@ void CMultiSourceProcess::algorithm_roadseg_correlation_process(vector&lt;string&gt;&amp; 
       algor_map->find(algorithm_type_t::NONMOTOR_WRONGDIRECTION) != algor_map->end() ||
       algor_map->find(algorithm_type_t::VEHICLE_WRONGDIRECTION) != algor_map->end() ||
       algor_map->find(algorithm_type_t::VEHICLE_NOTGIVEWAY) != algor_map->end() ||
-      algor_map->find(algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) != algor_map->end() 
+      algor_map->find(algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) != algor_map->end() ||
+      algor_map->find(algorithm_type_t::VEHICLE_NOTDECELERATION) != algor_map->end()
       ) {
         m_RoadSegTaskMtx.lock();
@@ -1846,7 +1847,7 @@ void CMultiSourceProcess::village_snapshot(vector&lt;string&gt;&amp; vpt_interest_task_id,
       }
       vector<algo_type> roadseg_algor = {algorithm_type_t::PERSON_IN_VEHICLELANE, algorithm_type_t::PERSON_CROSS, algorithm_type_t::NONMOTOR_IN_VEHICLELANE, algorithm_type_t::NONMOTOR_CEOSSPARKLINE,
-      algorithm_type_t::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION, algorithm_type_t::VEHICLE_NOTGIVEWAY, algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND };
+      algorithm_type_t::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION, algorithm_type_t::VEHICLE_NOTGIVEWAY, algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND, algorithm_type_t::VEHICLE_NOTDECELERATION };
       for (size_t idx = 0; idx < roadseg_algor.size(); ++idx) {
         if (algor_param[task_id].count(roadseg_algor.at(idx))) {
           const auto &algor_other_params = task_other_params->find(roadseg_algor.at(idx));
@@ -91,6 +91,9 @@ bool copy_algor_param_aux(const algorithm_type_t &amp;algor_type, const std::string 
   case algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND:
     m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
     goto _manned_param_copy;
+  case algorithm_type_t::VEHICLE_NOTDECELERATION:
+    m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
+    goto _manned_param_copy;
   case algorithm_type_t::TRUCK_MANNED: {
     m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
   _manned_param_copy : {
@@ -594,7 +594,7 @@ void DvppDecoder::doVdppVdecCallBack(acldvppStreamDesc *input, acldvppPicDesc *o
         } 
         if(!bCached) {
-            LOG_WARN("[{}]- decode result error, width:{} width_stride:{} height:{} height_stride:{} size:{}", m_dec_name, width, width_stride, height, height_stride, outputSize);
+            LOG_WARN("[{}]- decode result warning, width:{} width_stride:{} height:{} height_stride:{} size:{}", m_dec_name, width, width_stride, height, height_stride, outputSize);
             acldvppFree(outputDataDev);
             outputDataDev = nullptr;
         }
@@ -416,6 +416,27 @@ void set_task_params(task_param &amp;tparam, const unsigned &amp;idx, const algorithm_ty
     algor_init_params->algor_param = algor_params;
     algor_init_params->basic_param = basic_params;
   } break;
+  
+  case algorithm_type_t::VEHICLE_NOTDECELERATION: {
+    auto algor_params = new algor_config_param_manned_incident;
+    {
+      algor_params->m = 10;
+      algor_params->n = 8;
+      algor_params->obj_confidence_threshold = 0.5f;
+      algor_params->obj_min_height = 40;
+      algor_params->obj_min_width = 40;
+    }
+
+    auto basic_params = new algor_basic_config_param_t;
+    {
+      basic_params->video_folder = "res/video_recode";
+      basic_params->result_folder = "res/vehicle_not_deceleration";
+      basic_params->result_folder_little = "res/vehicle_not_deceleration_little";
+    }
+
+    algor_init_params->algor_param = algor_params;
+    algor_init_params->basic_param = basic_params;
+  } break;
   case algorithm_type_t::FACE_SNAPSHOT: {
@@ -1058,10 +1079,11 @@ void test_gpu(int gpuID){
     std::vector<algorithm_type_t> algor_vec2 = {algorithm_type_t::NONMOTOR_VEHICLE_NOHELMET, algorithm_type_t::NONMOTOR_VEHICLE_OVERMAN, algorithm_type_t::TRICYCLE_MANNED, algorithm_type_t::TRUCK_MANNED, algorithm_type_t::NONMOTOR_VEHICLE_USEPHONE,
                                             algorithm_type_t::NONMOTOR_VEHICLE_REFIT, algorithm_type_t::PERSON_RUNNING_REDLIGHTS, algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS, algorithm_type_t::PERSON_IN_VEHICLELANE, algorithm_type_t::NONMOTOR_IN_VEHICLELANE,
-                                            algorithm_type_t::NONMOTOR_CEOSSPARKLINE, algorithm_type_t::PERSON_CROSS, algorithm_type_t::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION, algorithm_type_t::VEHICLE_NOTGIVEWAY, algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND};
+                                            algorithm_type_t::NONMOTOR_CEOSSPARKLINE, algorithm_type_t::PERSON_CROSS, algorithm_type_t::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION, algorithm_type_t::VEHICLE_NOTGIVEWAY, 
+                                            algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND, algorithm_type_t::VEHICLE_NOTDECELERATION};
     // std::vector<algorithm_type_t> algor_vec3 = {algorithm_type_t::NONMOTOR_VEHICLE_NOHELMET, algorithm_type_t::NONMOTOR_VEHICLE_OVERMAN, algorithm_type_t::TRICYCLE_MANNED, algorithm_type_t::TRUCK_MANNED, algorithm_type_t::NONMOTOR_VEHICLE_USEPHONE,
     //                                         algorithm_type_t::NONMOTOR_VEHICLE_REFIT, algorithm_type_t::PERSON_RUNNING_REDLIGHTS, algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS};
-    std::vector<algorithm_type_t> algor_vec3 = {algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND};
+    std::vector<algorithm_type_t> algor_vec3 = {algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND, algorithm_type_t::VEHICLE_NOTDECELERATION};
 /*
   int repeat_num = 1000;
@@ -1088,8 +1110,8 @@ void test_gpu(int gpuID){
     createTask(handle, algor_vec3, 6);  
     createTask(handle, algor_vec3, 7);  
     createTask(handle, algor_vec3, 8);  
-    createTask(handle, algor_vec3, 9);  
-    createTask(handle, algor_vec3, 10);  
+    // createTask(handle, algor_vec3, 9);  
+    // createTask(handle, algor_vec3, 10);  
     // createTask(handle, algor_vec3, 11);  
     // createTask(handle, algor_vec3, 12);
     // createTask(handle, algor_vec3, 13);
@@ -391,6 +391,9 @@ JNIEXPORT jint JNICALL Java_com_objecteye_nativeinterface_TSLAiEngineNativeInter
     case algorithm_type_t::PERSON_RUNNING_REDLIGHTS:
     case algorithm_type_t::TRICYCLE_MANNED:
     case algorithm_type_t::VEHICLE_WRONGDIRECTION:
+    case algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND:
+    case algorithm_type_t::VEHICLE_NOTGIVEWAY:
+    case algorithm_type_t::VEHICLE_NOTDECELERATION:
     case algorithm_type_t::TRUCK_MANNED: {
       jfieldID fid = env->GetFieldID(cls_AlgorConfigParam, "hs_threshold", "I");
       jint j_hs_threshold = env->GetIntField(algorConfigParam_algorInitParam, fid);