目标消失时增加一次推送;修复算法框和目标不匹配问题，改善跟踪效果

Zhao Shuaihua
1 parent 27f0a463
Showing 9 changed files with 527 additions and 10 deletions
src/ai_engine_module/VPTProcess.cpp
src/ai_engine_module/VPTProcess.cpp_debug
src/ai_engine_module/VPTProcess.h
src/ai_engine_module/sort/Sort.cpp
src/ai_engine_module/sort/Sort.h
src/ai_engine_module/traffic_light_process.cpp
src/ai_platform/MultiSourceProcess.cpp
src/ai_platform/header.h
src/demo/demo.cpp
@@ -138,7 +138,8 @@ int VPTProcess::process_gpu(sy_img * batch_img, vector&lt;string&gt;&amp; tasklist,
                 /* 跟踪：第一帧 带检测框信息的跟踪，取结果返回 */
                 if (j == 0)
                 {
-                    int objCount = cur_sort.update_v2(isUseDet, /*save lk = */false, /*center_dist = */true, maxLen, detectResult[detectIndex], result[detectIndex].obj, deleteObjectID[detectIndex]);
+                    // int objCount = cur_sort.update_v2(isUseDet, /*save lk = */false, /*center_dist = */true, maxLen, detectResult[detectIndex], result[detectIndex].obj, deleteObjectID[detectIndex]);
+                    int objCount = cur_sort.update_v3(isUseDet, /*save lk = */false, /*center_dist = */false, maxLen, detectResult[detectIndex], result[detectIndex].obj, deleteObjectID[detectIndex]);
                     result[detectIndex].obj_count = objCount;
                     result[detectIndex].task_id = task_id;
@@ -149,7 +150,8 @@ int VPTProcess::process_gpu(sy_img * batch_img, vector&lt;string&gt;&amp; tasklist,
                 {
                     onelevel_det_result un_result;
                     //un_result.obj_count = cur_sort.update(isUseDet, false, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
-                    un_result.obj_count = cur_sort.update_v2(isUseDet, false, true, maxLen, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
+                    // un_result.obj_count = cur_sort.update_v2(isUseDet, false, true, maxLen, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
+                    un_result.obj_count = cur_sort.update_v3(isUseDet, false, false, maxLen, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
                 }
             }
         }
+#include "VPTProcess.h"
+#include "../common/logger.hpp"
+#include "../ai_platform/task_param_manager.h"
+
+#include <stdlib.h>
+#include <time.h>
+#include <fstream>
+
+#include "vpt.h"
+#include "../ai_platform/macro_definition.h"
+#include "../ai_platform/det_obj_header.h"
+
+#include "opencv2/opencv.hpp"
+
+#include "../util/vpc_util.h"
+
+VPTProcess::VPTProcess(){
+    m_max_batchsize = 16;
+}
+
+VPTProcess::~VPTProcess(){
+    release();
+}
+
+/* 算法初始化 */
+int VPTProcess::init(VPTProcess_PARAM vparam){
+
+    string model_path = vparam.model_dir + "/models/vpt230323_310p.om" ;
+
+    LOG_INFO("vpt 版本：{}  模型路径：{}", vpt_get_version(), model_path);
+
+    vpt_param param;
+    char modelNames[100];
+    strcpy(modelNames, model_path.c_str());
+    param.modelNames = modelNames;
+    param.threshold = vparam.threshold;
+    param.devId = vparam.gpuid;
+    param.isTrk = false;
+
+    m_devId = param.devId;
+    ACL_CALL(aclrtSetDevice(m_devId), ACL_ERROR_NONE, -1);
+    ACL_CALL(aclrtCreateContext(&m_algorthim_ctx, m_devId), ACL_ERROR_NONE, -1);
+
+    int ret = vpt_init(&m_det_handle, param);
+    if(ret != 0){
+        LOG_DEBUG("vpt init error.");
+        return -1;
+    }
+    jpegUtil.jpeg_init(m_devId);
+
+    return 0;
+}
+
+/* 算法计算 */
+// int VPTProcess::process_gpu(sy_img * batch_img, vector<string>& tasklist,
+// 					vector<onelevel_det_result>& result, vector<vector<int>>& deleteObjectID, vector<vector<onelevel_det_result>>& unUsedResult)
+int VPTProcess::process_gpu(sy_img * batch_img, vector<DeviceMemory*> vec_vptMem, vector<string>& tasklist, 
+                        vector<onelevel_det_result>& result, vector<vector<int>>& deleteObjectID, vector<vector<onelevel_det_result>>& unUsedResult)
+{
+	int batchsize = tasklist.size();
+
+	if (result.empty())
+		result.resize(batchsize);
+
+	/* 结果结构体初始化 */
+	vpt_result *vpt_det_result = new vpt_result[batchsize];
+	for (int b = 0; b < batchsize; b++){
+		vpt_det_result[b].obj_count_ = 0;
+		vpt_det_result[b].obj_results_ = new vpt_obj_result[MAX_DET_COUNT];
+	}
+
+    do{
+        /* 路数太多时 按照最大batchsize数 拆批次运行 */
+        int cur_batch_size = m_max_batchsize;
+        int cycleTimes = batchsize / cur_batch_size + (batchsize % cur_batch_size == 0 ? 0 : 1);
+
+        for (int c = 0; c < cycleTimes; c++){
+
+            int real_batchsize = c == cycleTimes - 1 ? (batchsize - cur_batch_size*c) : cur_batch_size;
+            int startbatch = c*cur_batch_size;
+
+            vpt_result *real_res = vpt_det_result + startbatch;
+
+            aclrtSetDevice(m_devId);
+            int ret = aclrtSetCurrentContext(m_algorthim_ctx);
+            if(ACL_ERROR_NONE != ret){
+                break;
+            }
+            ret = vpt_batch(m_det_handle, batch_img + startbatch, real_batchsize, real_res);
+            if(ret != 0){
+                break;
+            }
+        }
+
+        vector <vector< vector <float>>> detectResult(batchsize);  // sort
+
+        /* 将检测的结果放进数组 转换为跟踪的输入需要（若为人脸 则检测结果可能跟多，比如需要带上ldmk点） */
+        // filter by threshold.
+        for (int b = 0; b < batchsize; b++)
+        {
+            vpt_result cur_result = vpt_det_result[b];
+
+            for (int c = 0; c < cur_result.obj_count_ && c < MAX_OBJ_COUNT; c++)
+            {
+                float x1 = vpt_det_result[b].obj_results_[c].obj_rect.left_;
+                float y1 = vpt_det_result[b].obj_results_[c].obj_rect.top_;
+                float x2 = vpt_det_result[b].obj_results_[c].obj_rect.left_ + vpt_det_result[b].obj_results_[c].obj_rect.width_;
+                float y2 = vpt_det_result[b].obj_results_[c].obj_rect.top_ + vpt_det_result[b].obj_results_[c].obj_rect.height_;
+
+                float class_id = vpt_det_result[b].obj_results_[c].obj_index;
+                float score = vpt_det_result[b].obj_results_[c].obj_score;
+
+                if (score >= THRESHOLD)
+                {
+                    vector <float> obj;
+                    obj.push_back(x1);
+                    obj.push_back(y1);
+                    obj.push_back(x2);
+                    obj.push_back(y2);
+                    obj.push_back(score);
+                    obj.push_back(class_id);
+                    detectResult[b].push_back(obj);
+                }
+            }
+        }
+
+#if 0
+	for (int b = 0; b < batchsize; b++)
+	{
+        std::string file_path = "res/vpt_test/";
+		auto time_now = std::chrono::system_clock::now();
+		std::string cur_timestamp_us =  std::to_string(std::chrono::duration_cast<std::chrono::microseconds>(time_now.time_since_epoch()).count());
+		std::string img_filename = file_path + cur_timestamp_us + "_" + std::to_string(detectResult[b].size()) + ".jpg";
+    
+        vpc_img_info src_img_info = VPCUtil::vpc_devMem2vpcImg(vec_vptMem[b]);
+        bool bSaved = jpegUtil.jpeg_encode(src_img_info.pic_desc, img_filename);
+
+        cv::Mat big_img = cv::imread(img_filename);
+		for (int c = 0; c < detectResult[b].size(); c++) {
+			cv::rectangle(big_img, cv::Rect(detectResult[b][c][0], detectResult[b][c][1], detectResult[b][c][2] - detectResult[b][c][0],
+				detectResult[b][c][3] - detectResult[b][c][1]), cv::Scalar(158, 52, 254), 3, 1, 0);
+		}
+        cv::imwrite(img_filename, big_img);
+
+        VPCUtil::vpc_img_release(src_img_info);
+	}
+#endif
+
+        bool isUseDet = true;
+        for (size_t detectIndex = 0; detectIndex < batchsize; detectIndex++) {
+            string task_id = tasklist[detectIndex];
+
+            if (! taskTrackers[task_id].tracker.GetState())
+                continue;
+
+            Sort &cur_sort = taskTrackers[task_id].tracker;
+            isUseDet = true;
+            
+            const float maxLen = std::sqrt(batch_img[detectIndex].w_ * batch_img[detectIndex].w_ + batch_img[detectIndex].h_ * batch_img[detectIndex].h_); //-modified by zsh 220719
+            /* FusionInterval是跳帧参数，以十类人车物为例，一般跳5帧，所以第一帧检测，后续四帧纯跟踪 */
+            for (int j = 0; j < taskTrackers[task_id].tracker.FusionInterval; j++)
+            {
+                /* 跟踪：第一帧 带检测框信息的跟踪，取结果返回 */
+                if (j == 0)
+                {
+                    // int objCount = cur_sort.update_v2(isUseDet, /*save lk = */false, /*center_dist = */true, maxLen, detectResult[detectIndex], result[detectIndex].obj, deleteObjectID[detectIndex]);
+                    int objCount = cur_sort.update_v3(isUseDet, /*save lk = */false, /*center_dist = */true, maxLen, detectResult[detectIndex], result[detectIndex].obj, deleteObjectID[detectIndex]);
+                    result[detectIndex].obj_count = objCount;
+                    result[detectIndex].task_id = task_id;
+
+                    // vector<vector<float>>().swap(detectResult[detectIndex]);
+                    // detectResult[detectIndex].clear();
+                    isUseDet = false;
+                } else  /* 跟踪：后四帧 纯粹跟踪 纯跟踪结果不返回 */
+                {
+                    onelevel_det_result un_result;
+                    //un_result.obj_count = cur_sort.update(isUseDet, false, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
+                    // un_result.obj_count = cur_sort.update_v2(isUseDet, false, true, maxLen, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
+                    un_result.obj_count = cur_sort.update_v3(isUseDet, false, true, maxLen, detectResult[detectIndex], un_result.obj, deleteObjectID[detectIndex]);
+                }
+            }
+        }
+#if 1
+	for (int b = 0; b < batchsize; b++)
+	{
+        std::string file_path = "res/vpt_track/";
+		auto time_now = std::chrono::system_clock::now();
+		std::string cur_timestamp_us =  std::to_string(std::chrono::duration_cast<std::chrono::microseconds>(time_now.time_since_epoch()).count());
+		std::string img_filename = file_path + cur_timestamp_us + "_" + std::to_string(result[b].obj_count) + ".jpg";
+		vpc_img_info src_img_info = VPCUtil::vpc_devMem2vpcImg(vec_vptMem[b]);
+        bool flag = false;
+		for (int c = 0; c < result[b].obj_count; c++) {
+            if (result[b].obj[c].id > 7700 && result[b].obj[c].id < 8000) flag = true;	
+		}
+
+        if (flag) {
+            bool bSaved = jpegUtil.jpeg_encode(src_img_info.pic_desc, img_filename);
+            cv::Mat big_img = cv::imread(img_filename);
+
+            for (int c = 0; c < result[b].obj_count; c++) {
+                cv::putText(big_img, std::to_string(result[b].obj[c].id), cv::Point(result[b].obj[c].left, result[b].obj[c].top-5), cv::FONT_HERSHEY_SIMPLEX, 0.75, cv::Scalar(255,0,0),2,8); 
+                cv::rectangle(big_img, cv::Rect(result[b].obj[c].left, result[b].obj[c].top, result[b].obj[c].right - result[b].obj[c].left,
+                    result[b].obj[c].bottom - result[b].obj[c].top), cv::Scalar(158, 52, 254), 3, 1, 0);
+            }
+
+            for (int c = 0; c < detectResult[b].size(); c++) {
+                cv::rectangle(big_img, cv::Rect(detectResult[b][c][0], detectResult[b][c][1], detectResult[b][c][2] - detectResult[b][c][0],
+                    detectResult[b][c][3] - detectResult[b][c][1]), cv::Scalar(0, 0, 255), 3, 1, 0);
+            }
+            cv::imwrite(img_filename, big_img);
+        }
+		VPCUtil::vpc_img_release(src_img_info);
+	}
+#endif
+
+        vector <vector< vector <float>>>().swap(detectResult);  // free memory.
+    } while (0);
+    
+	if(vpt_det_result){
+		for (int b = 0; b < batchsize; b++){
+			delete[] vpt_det_result[b].obj_results_;
+		}
+		delete[] vpt_det_result;
+	}
+
+	return 0;
+}
+
+
+/* 算法句柄 资源释放 */
+void VPTProcess::release(){
+    if (m_det_handle){
+        vpt_release(&m_det_handle);
+        m_det_handle = NULL;
+    }
+    jpegUtil.jpeg_release();
+    if(m_algorthim_ctx){
+        aclrtDestroyContext(m_algorthim_ctx);
+    }
+}
+
+// 221117byzsh
+void VPTProcess::addTaskTracker(const string taskID, double rWidth, double rHeight, int skip_frame)
+{
+	TaskTracker t;
+	t.TaskID = taskID;
+	t.ratioWidth = rWidth;
+	t.ratioHeight = rHeight;
+	t.tracker.FusionInterval = skip_frame;
+
+	taskTrackers[taskID] = t;
+}
+
+/* 任务结束跟踪器 */
+bool VPTProcess::finishTaskTracker(const string taskID)
+{
+    taskTrackers.erase(taskID);
+	return true;
+}
 \ No newline at end of file
@@ -11,6 +11,8 @@
 #include "sort/Sort.h"
 #include "acl/acl.h"
 #include "acl/ops/acl_dvpp.h"
+#include "../util/vpc_util.h"
+#include "../util/JpegUtil.h"
 using namespace std;
@@ -68,7 +70,8 @@ public:
      */
     int process_gpu(sy_img * batch_img, vector<string>& tasklist, 
                         vector<onelevel_det_result>& result, vector<vector<int>>& deleteObjectID, vector<vector<onelevel_det_result>>& unUsedResult);
-
+    int process_gpu(sy_img * batch_img, vector<DeviceMemory*> vec_vptMem, vector<string>& tasklist, 
+                        vector<onelevel_det_result>& result, vector<vector<int>>& deleteObjectID, vector<vector<onelevel_det_result>>& unUsedResult);
     /*************************************************************************
     * FUNCTION: VPT_Release
@@ -87,7 +90,7 @@ public:
 private:
     int m_devId; 
     aclrtContext m_algorthim_ctx;
-
+    JpegUtil jpegUtil;
     void* m_det_handle{nullptr};
 	float threshold{0.6};
 	int m_max_batchsize;
@@ -380,6 +380,232 @@ int Sort::update_v2(bool isUseDet, bool copy_ldmk, bool center_dist, float maxLe
 }
+int Sort::update_v3(bool isUseDet, bool copy_ldmk, bool center_dist, float maxLen, vector< vector<float> > &dets, det_objinfo *result, vector<int> &deleteObjectID)
+{
+    //get predicted locations from existing trackers.
+    vector< vector<float> > trks;
+    vector<float> pos;
+	  int ObjCount = 0;		//by zl 本帧图像中的有效前景个数
+	  vector<float> bbox;
+
+    for (int i = 0; i < trackers.size(); i++ )
+    {
+        pos = trackers[i].predict(); // 对跟踪列表中的框进行预测（包含初始化的和匹配后update的）
+        pos.push_back(1);
+        pos.push_back(trackers[i].cls);
+        trks.push_back(pos);
+        pos.clear();
+    }
+
+    if (isUseDet == true)
+    {
+        vector< vector<int> > matched;
+        vector<int> unmatched_dets;
+        vector<int> unmatched_trks;
+
+        if(center_dist) {
+            Sort::associate_detections_to_trackers_v2(matched, unmatched_dets, unmatched_trks, dets, trks, maxLen); // 中心距离匹配
+        }
+        else {
+            Sort::associate_detections_to_trackers(matched, unmatched_dets, unmatched_trks, dets, trks, 0.3); // iou匹配
+        }
+        //update matched trackers with assigned detections----匹配上的更新跟踪信息
+        for (int matched_number = 0; matched_number < matched.size(); matched_number++)
+        {
+            trackers[matched[matched_number][1]].update(dets[matched[matched_number][0]]);
+            trackers[matched[matched_number][1]].score = dets[matched[matched_number][0]][4];
+            trackers[matched[matched_number][1]].cls = dets[matched[matched_number][0]][5];
+			if (copy_ldmk)//存入关键点信息
+			{
+				for (int m = 0; m < 50; ++m)
+				{
+					trackers[matched[matched_number][1]].ldmk.push_back(dets[matched[matched_number][0]][m + 6]);
+				}
+                // added by zsh 姿态角信息--------------------------------------------------------
+                trackers[matched[matched_number][1]].roll = dets[matched[matched_number][0]][56];
+                trackers[matched[matched_number][1]].yaw = dets[matched[matched_number][0]][57];
+                trackers[matched[matched_number][1]].pitch = dets[matched[matched_number][0]][58];
+                //--------------------------------------------------------------------------------
+			}
+#if 1
+            //返回加上ID信息的检测框===================================================================
+            if (ObjCount < MAX_OBJ_COUNT) {
+            // if (ObjCount < MAX_OBJ_COUNT && (trackers[matched[matched_number][1]].time_since_update < FusionInterval) && ((trackers[matched[matched_number][1]].hit_streak >= min_hits) || (frame_count <= (min_hits * FusionInterval)))) {
+                if (trackers[matched[matched_number][1]].id == -1)
+                    trackers[matched[matched_number][1]].id = trackcount++;
+                result[ObjCount].id = trackers[matched[matched_number][1]].id;
+                result[ObjCount].num = trackers[matched[matched_number][1]].frame_count;
+
+                result[ObjCount].left = dets[matched[matched_number][0]][0];
+                result[ObjCount].top = dets[matched[matched_number][0]][1];
+                result[ObjCount].right = dets[matched[matched_number][0]][2];
+                result[ObjCount].bottom = dets[matched[matched_number][0]][3];
+                result[ObjCount].confidence = dets[matched[matched_number][0]][4];
+                result[ObjCount].index = dets[matched[matched_number][0]][5];
+                result[ObjCount].center_x = result[ObjCount].left + (result[ObjCount].right - result[ObjCount].left) * 0.5; // 中心点    add by 20170227
+                result[ObjCount].center_y = result[ObjCount].top + (result[ObjCount].bottom - result[ObjCount].top) * 0.5;  // 中心点
+                if (trackers[matched[matched_number][1]].age == 2 * FusionInterval) {
+                    result[ObjCount].snap_flag = 1; // 中心点
+                }
+                else {
+                    result[ObjCount].snap_flag = 0; // 中心点
+                }
+
+				if (copy_ldmk) // 存入关键点信息
+				{
+					for (int m = 0; m < 25; ++m)
+					{
+						result[ObjCount].landmark_point[m].x_ = trackers[matched[matched_number][1]].ldmk[2 * m];
+						result[ObjCount].landmark_point[m].y_ = trackers[matched[matched_number][1]].ldmk[2 * m + 1];
+					}
+                    // added by zsh 姿态角信息--------------------------------
+                    result[ObjCount].roll = trackers[matched[matched_number][1]].roll;
+                    result[ObjCount].yaw = trackers[matched[matched_number][1]].yaw;
+                    result[ObjCount].pitch = trackers[matched[matched_number][1]].pitch;
+                    //--------------------------------------------------------
+				}
+
+                ObjCount++;
+            }
+            //===================================================================================
+#endif
+        }
+
+        //create and initialise new trackers for unmatched detections----为未匹配上的检测框分配新tracker
+        for (int unmatched_dets_number = 0; unmatched_dets_number < unmatched_dets.size(); unmatched_dets_number++)
+        {
+            KalmanBoxTracker tracker = KalmanBoxTracker(dets[unmatched_dets[unmatched_dets_number]], max_track_length);
+            tracker.id = -1;
+            tracker.FusionInterval = FusionInterval; //221117byzsh
+            trackers.push_back(tracker);
+            trackers[trackers.size() - 1].score = dets[unmatched_dets[unmatched_dets_number]][4];//by zl 20170525 解决第一次检测时置信度为0问题
+
+			if (copy_ldmk)//存入关键点信息
+			{
+				for (int m = 0; m < 50; ++m)
+				{
+					trackers[trackers.size() - 1].ldmk.push_back(dets[unmatched_dets[unmatched_dets_number]][m + 6]);
+				}
+                // added by zsh 姿态角信息------------------------------------------------------------
+                trackers[trackers.size() - 1].roll = dets[unmatched_dets[unmatched_dets_number]][56];
+                trackers[trackers.size() - 1].yaw = dets[unmatched_dets[unmatched_dets_number]][57];
+                trackers[trackers.size() - 1].pitch = dets[unmatched_dets[unmatched_dets_number]][58];
+                //-----------------------------------------------------------------------------------
+			}
+
+            // cout << "trackers size: " << trackers.size() << endl;
+
+        }
+
+        for (int trackers_number = 0; trackers_number < trackers.size();)
+        {
+            // cout << trackers[trackers_number].id  << " " <<trackers[trackers_number].time_since_update << " " << trackers[trackers_number].hit_streak << " " << min_hits << " " << frame_count << endl;
+            if (trackers[trackers_number].time_since_update > max_age) // 失配次数超过max_age，放入轨迹消失列表，从跟踪列表中删除
+            {
+                if (trackers[trackers_number].id != -1)
+                {
+                    deleteObjectID.push_back(trackers[trackers_number].id);
+                }
+
+                trackcount++;
+                std::vector<float>().swap(trackers[trackers_number].ldmk);
+                trackers.erase(trackers.begin() + trackers_number);
+                continue;
+            }
+#if 0            
+            // 失配次数小于FusionInterval且满足最小匹配次数则返回
+            if (ObjCount < MAX_OBJ_COUNT && (trackers[trackers_number].time_since_update < FusionInterval) && ((trackers[trackers_number].hit_streak >= min_hits) || (frame_count <= (min_hits * FusionInterval))))
+            {
+                if (trackers[trackers_number].id == -1)
+                    trackers[trackers_number].id = trackcount++;
+                result[ObjCount].id = trackers[trackers_number].id;
+                result[ObjCount].num = trackers[trackers_number].frame_count;
+
+                bbox = trackers[trackers_number].get_state(); // 跟踪框
+                result[ObjCount].left = bbox[0];    // bbout[i][0];
+                result[ObjCount].top = bbox[1]; //bbout[i][1];
+                result[ObjCount].right = bbox[2];   //bbout[i][2];
+                result[ObjCount].bottom = bbox[3];  //bbout[i][3];
+                result[ObjCount].confidence = trackers[trackers_number].score; // bbout[i][4];
+                result[ObjCount].index = trackers[trackers_number].cls; // bbout[i][5] - 1;
+                result[ObjCount].center_x = result[ObjCount].left + (result[ObjCount].right - result[ObjCount].left) * 0.5; // 中心点    add by 20170227
+                result[ObjCount].center_y = result[ObjCount].top + (result[ObjCount].bottom - result[ObjCount].top) * 0.5;  // 中心点
+                if (trackers[trackers_number].age == 2 * FusionInterval)
+                {
+                    result[ObjCount].snap_flag = 1; // 中心点
+                }
+                else
+                {
+                    result[ObjCount].snap_flag = 0; // 中心点
+                }
+
+				if (copy_ldmk) // 存入关键点信息
+				{
+					for (int m = 0; m < 25; ++m)
+					{
+						result[ObjCount].landmark_point[m].x_ = trackers[trackers_number].ldmk[2 * m];
+						result[ObjCount].landmark_point[m].y_ = trackers[trackers_number].ldmk[2 * m + 1];
+					}
+                    // added by zsh 姿态角信息--------------------------------
+                    result[ObjCount].roll = trackers[trackers_number].roll;
+                    result[ObjCount].yaw = trackers[trackers_number].yaw;
+                    result[ObjCount].pitch = trackers[trackers_number].pitch;
+                    //--------------------------------------------------------
+				}
+#if _Debug
+                printf("trackers_number = %d, trackers.size() = %d, update: index = %d,  id = %d, (%d, %d), (%d, %d)\n", trackers_number, trackers.size(), result[ObjCount].index, result[ObjCount].id, result[ObjCount].left, result[ObjCount].top, result[ObjCount].right, result[ObjCount].bottom);
+#endif
+                ObjCount++;
+            }
+#endif 
+            trackers_number++;//共多少条轨迹
+        }
+    }
+    else
+    {
+        for (int trackers_number = 0; trackers_number < trackers.size() && ObjCount < MAX_OBJ_COUNT; trackers_number++)
+        {
+            if (trackers[trackers_number].id == -1)
+                trackers[trackers_number].id = trackcount++;
+            result[trackers_number].num = trackers[trackers_number].frame_count;
+            bbox = trackers[trackers_number].get_state();
+            result[trackers_number].id = trackers[trackers_number].id;
+            result[trackers_number].left = bbox[0]; // bbout[i][0];
+            result[trackers_number].top = bbox[1];  //bbout[i][1];
+            result[trackers_number].right = bbox[2];    //bbout[i][2];
+            result[trackers_number].bottom = bbox[3];   //bbout[i][3];
+            result[trackers_number].confidence = trackers[trackers_number].score; // bbout[i][4];
+            result[trackers_number].index = trackers[trackers_number].cls;//bbox[5] - 1;// trackers[trackers_number].cls - 1; // bbout[i][5] - 1;
+            result[trackers_number].center_x = (int)(result[trackers_number].left + (result[trackers_number].right - result[trackers_number].left) * 0.5);  // 中心点    add by 20170227
+            result[trackers_number].center_y = (int)(result[trackers_number].top + (result[trackers_number].bottom - result[trackers_number].top) * 0.5);   // 中心点
+
+			if (copy_ldmk)//存入关键点信息
+			{
+				for (int m = 0; m < 25; ++m)
+				{
+					result[trackers_number].landmark_point[m].x_ = trackers[trackers_number].ldmk[2 * m];
+					result[trackers_number].landmark_point[m].y_ = trackers[trackers_number].ldmk[2 * m + 1];
+				}
+                // added by zsh 姿态角信息---------------------------------------
+                result[trackers_number].roll = trackers[trackers_number].roll;
+                result[trackers_number].yaw = trackers[trackers_number].yaw;
+                result[trackers_number].pitch = trackers[trackers_number].pitch;
+                //--------------------------------------------------------------
+			}
+
+            result[ObjCount].snap_flag = 0; // 中心点
+
+            ObjCount++;
+        }
+    }
+
+    //---------------------------注释掉了这步操作 用了新的绘制轨迹的函数 需要绘制调用addTracker(Mat *img)方法 by lm---------------------------------------------/
+    //addTracker(result, ObjCount);
+
+    frame_count += 1;	//帧数加一
+    return ObjCount;
+
+}
 //---------------------------利用trackers中的history 绘制路径 -by lm ---------------------------------------------/
 //固定长度的轨迹，采用循环队列，仅保存目前最前N length的轨迹，避免对于停留在画面中目标 导致的内存一直增长
@@ -47,6 +47,7 @@ public:
 	Sort();
 	int update(bool isUseDet, bool copy_ldmk, vector< vector<float> > &dets, det_objinfo *result, vector<int> &deleteObjectID);
 	int update_v2(bool isUseDet, bool copy_ldmk, bool center_dist, float maxLen, vector< vector<float> > &dets, det_objinfo *result, vector<int> &deleteObjectID); // added by zsh 220719
+	int update_v3(bool isUseDet, bool copy_ldmk, bool center_dist, float maxLen, vector< vector<float> > &dets, det_objinfo *result, vector<int> &deleteObjectID); 
 	void Release();
 	void ReSet();
 	void Pause();
@@ -454,8 +454,11 @@ namespace ai_engine_module
                         // LOG_TRACE("task id is {} algor type is {} obj_id {}", task_id, int(algor_type), objId);
                         if (algor_type == algorithm_type_t::PERSON_RUNNING_REDLIGHTS && static_cast<det_class_label_t>(det_result.box.cls) != det_class_label_t::HUMAN)
                             continue;
-                        if (algor_type == algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS && (static_cast<det_class_label_t>(det_result.box.cls) != det_class_label_t::MOTOCYCLE ||
-                            static_cast<det_class_label_t>(det_result.box.cls) != det_class_label_t::BICYCLE))
+                        // if (algor_type == algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS && (static_cast<det_class_label_t>(det_result.box.cls) != det_class_label_t::MOTOCYCLE ||
+                        //     static_cast<det_class_label_t>(det_result.box.cls) != det_class_label_t::BICYCLE))
+                        //     continue;
+
+                        if (algor_type == algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS && static_cast<det_class_label_t>(det_result.box.cls) == det_class_label_t::HUMAN)
                             continue;
                         auto& e = id_to_mn_[obj_key];
@@ -869,7 +869,7 @@ int CMultiSourceProcess::algorthim_vpt(vector&lt;DeviceMemory*&gt; vec_gpuMem){
       /* 一级检测器，内部已完成跟踪操作 */
       vpt_process.process_gpu(vpt_interest_imgs.data(), vpt_interest_task_id, vptResult, deleteObjectID, unUsedResult); // do det & track.
-
+      // vpt_process.process_gpu(vpt_interest_imgs.data(), vec_vptMem, vpt_interest_task_id, vptResult, deleteObjectID, unUsedResult); // debug
       m_snapshot_reprocessing->screen_effective_snapshot(vptResult); 
 #ifndef VEHICLE_MULTI_BOXES
@@ -1698,6 +1698,27 @@ void CMultiSourceProcess::village_snapshot(vector&lt;string&gt;&amp; vpt_interest_task_id,
       }
+      // 推送轨迹结束的目标用于数量统计
+      {
+        const OBJ_VALUES obj_value = it->second;
+        std::vector<video_object_snapshot> algo_results;
+        std::vector<int> algorithm_types;
+        algorithm_types.push_back((int)algorithm_type_t::FLOW_STATISTICS);
+#ifdef POST_USE_RABBITMQ
+        video_object_snapshot new_obj_ss_info;
+        new_obj_ss_info.analysisRes = nullptr;
+        new_obj_ss_info.object_id = obj_key.obj_id;
+        new_obj_ss_info.obj_info.set_data(obj_value.snapShots[1].index.index, obj_value.snapShots[1].confidence, 0, 0, 0, 0);
+        strcpy(new_obj_ss_info.task_id, obj_key.video_id.c_str());
+        strcpy(new_obj_ss_info.video_image_path, "");
+        strcpy(new_obj_ss_info.snapshot_image_path, "");
+        algo_results.push_back(new_obj_ss_info);
+        auto json_str = helpers::gen_json::gen_village_json(task_id, obj_key.obj_id, algorithm_types, algo_results, "");
+        mq_manager_->publish(mq_type_t::ALARM_MQ, json_str.c_str(), true);
+#endif
+      }
+
+
       if (village_alarm) {
         const OBJ_VALUES obj_value = it->second;
         std::string cur_timestamp_ms =  std::to_string(helpers::timer::get_cur_time_ms());
@@ -41,6 +41,7 @@ enum class algorithm_type_t {
     NONMOTOR_VEHICLE_SNAPSHOT = 401,
     TAKEAWAY_MEMBER_CLASSIFICATION = 402,
+    FLOW_STATISTICS = 500,          // 用于数量统计
     NONMOTOR_VEHICLE_NOHELMET = 501,// 电动/摩托车不戴头盔
     NONMOTOR_VEHICLE_OVERMAN = 502, // 电动/摩托车超员
     TRICYCLE_MANNED = 503,  // 三轮车载人
@@ -774,7 +774,8 @@ string createTask(void *handle, std::vector&lt;algorithm_type_t&gt; algor_vec, int gi,
       tparam.ipc_url = "/data/share/data/燕高路口高点_CVR_2015-12-30_09-00-00_2015-12-30.mp4";
       break;
     case 9:
-      tparam.ipc_url = "/opt/share/data/1-00000002d55_h265.mp4";
+      // tparam.ipc_url = "/opt/share/data/1-00000002d55_h265.mp4";
+      tparam.ipc_url = "/data/share/data/燕高路口高点_CVR_2015-12-30_09-00-00_2015-12-30.mp4";
       break;
     case 10:
       tparam.ipc_url = "/opt/share/data/1-00000002d55.mp4";
@@ -894,7 +895,7 @@ 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};
-    std::vector<algorithm_type_t> algor_vec3 = {algorithm_type_t::FACE_SNAPSHOT};
+    std::vector<algorithm_type_t> algor_vec3 = {algorithm_type_t::NONMOTOR_VEHICLE_OVERMAN};
 /*
   int repeat_num = 1000;
@@ -921,7 +922,7 @@ void test_gpu(int gpuID){
     createTask(handle, algor_vec2, 6);  
     createTask(handle, algor_vec2, 7);  
     createTask(handle, algor_vec2, 8);  
-    // createTask(handle, algor_vec, 9);  
+    createTask(handle, algor_vec2, 9);  
     // createTask(handle, algor_vec, 10);  
     // createTask(handle, algor_vec, 11);  
     // createTask(handle, algor_vec, 12);