增加实线掉头(515)功能

Zhao Shuaihua
1 parent 12fade9b
Showing 9 changed files with 454 additions and 26 deletions
src/ai_engine_module/road_seg_correlation_algor.cpp
src/ai_engine_module/road_seg_correlation_algor.h
src/ai_engine_module/road_seg_statistics.cpp
src/ai_engine_module/road_seg_statistics.h
src/ai_platform/MultiSourceProcess.cpp
src/ai_platform/task_param_manager.cpp
src/decoder/test_face.cpp → src/decoder/test_face.cpp1
src/decoder/test_recoder.cpp
src/demo/demo.cpp
@@ -20,6 +20,7 @@ namespace ai_engine_module
             algorithm_type_t::PERSON_CROSS,
             algorithm_type_t::NONMOTOR_WRONGDIRECTION,  
             algorithm_type_t::VEHICLE_WRONGDIRECTION, 
+            algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND,
             algorithm_type_t::VEHICLE_NOTGIVEWAY,  
         };
@@ -237,6 +238,91 @@ namespace ai_engine_module
             return true; }
         }
         /*----------------------分割线---------------分割线--------------------*/
+        // 获取轨迹起点/终点：去除离群点后取平均
+        bool find_traceStartEnd(const vector<sy_point>& tracker_list, int check_frames, jxline& trace_line) {
+            int stcnt = 0, edcnt = 0;
+            float center_sum_x = 0, center_sum_y = 0, center_nsum_x = 0, center_nsum_y = 0;
+            for (int tmp = tracker_list.size()-check_frames; tmp < tracker_list.size()-check_frames+3; tmp++) {
+                center_sum_x +=  tracker_list[tmp].x_;
+                center_sum_y +=  tracker_list[tmp].y_;
+            }
+            float center_ave_x = center_sum_x / 3;   float center_ave_y = center_sum_y / 3;
+            for (int tmp = tracker_list.size()-check_frames; tmp < tracker_list.size()-11; tmp++) {
+                if (abs(tracker_list[tmp].x_ - center_ave_x) > 300 || abs(tracker_list[tmp].y_ - center_ave_y) > 300)
+                    continue;
+                center_nsum_x += tracker_list[tmp].x_;
+                center_nsum_y += tracker_list[tmp].y_;
+                stcnt += 1;
+            }
+
+            float center_edsum_x = 0, center_edsum_y = 0, center_ednsum_x = 0, center_ednsum_y = 0;
+            for (int tmp = tracker_list.size()-3; tmp < tracker_list.size(); tmp++) {
+                center_edsum_x += tracker_list[tmp].x_;
+                center_edsum_y += tracker_list[tmp].y_;                          
+            }
+            float center_edave_x = center_edsum_x / 3;  float center_edave_y = center_edsum_y / 3;
+            for (int tmp = tracker_list.size()-3; tmp < tracker_list.size(); tmp++) {
+                if (abs(tracker_list[tmp].x_ - center_edave_x) > 300 || abs(tracker_list[tmp].y_ - center_edave_y) > 300)
+                    continue;
+                center_ednsum_x += tracker_list[tmp].x_;
+                center_ednsum_y += tracker_list[tmp].y_;
+                edcnt += 1;
+            }
+
+            if (stcnt > 0 && edcnt > 0) {
+                trace_line.xa = center_nsum_x / stcnt;      trace_line.ya = center_nsum_y / stcnt;
+                trace_line.xb = center_ednsum_x / edcnt;    trace_line.yb = center_ednsum_y / edcnt;
+                float t_diff_x = trace_line.xb - trace_line.xa,  t_diff_y = trace_line.yb - trace_line.ya;
+                float temp_dist = sqrt(t_diff_x * t_diff_x + t_diff_y * t_diff_y);
+                if (temp_dist > 50) return true;   // 位移限制
+            }
+
+            return false;
+        } 
+        
+        // 判断是否相交
+        bool is_intersect(jxline myline1, jxline myline2)
+        {
+            // 快速排斥实验
+            if (myline1.get_max_x() < myline2.get_min_x() ||
+                myline2.get_max_x() < myline1.get_min_x() ||
+                myline1.get_max_y() < myline2.get_min_y() ||
+                myline2.get_max_y() < myline1.get_min_y())
+                return false;
+
+            // 跨立实验(叉积异号)
+            if (((((float)myline1.xa - (float)myline2.xa)*((float)myline2.yb - (float)myline2.ya) - ((float)myline1.ya - (float)myline2.ya)*((float)myline2.xb - (float)myline2.xa))*
+                (((float)myline1.xb - (float)myline2.xa)*((float)myline2.yb - (float)myline2.ya) - ((float)myline1.yb - (float)myline2.ya)*((float)myline2.xb - (float)myline2.xa))) > 0 ||
+                ((((float)myline2.xa - (float)myline1.xa)*((float)myline1.yb - (float)myline1.ya) - ((float)myline2.ya - (float)myline1.ya)*((float)myline1.xb - (float)myline1.xa))*
+                (((float)myline2.xb - (float)myline1.xa)*((float)myline1.yb - (float)myline1.ya) - ((float)myline2.yb - (float)myline1.ya)*((float)myline1.xb - (float)myline1.xa))) > 0)  
+                return false;
+
+            return true;
+        }
+
+        // 判断掉头：以轨迹中间为界，判断前后方向是否一致
+        bool vTurnAround(const vector<sy_point>& tracker_list, int check_frames) {
+            int trackcnt = tracker_list.size();
+            int half_check_frames = check_frames / 2;
+            tr_point p_start, p_end, p_half;
+            p_start.x = tracker_list[trackcnt-check_frames-1].x_;       p_start.y = tracker_list[trackcnt-check_frames-1].y_;
+            p_end.x = tracker_list[trackcnt-1].x_;                      p_end.y = tracker_list[trackcnt-1].y_;
+            p_half.x = tracker_list[trackcnt-half_check_frames-1].x_;   p_half.y = tracker_list[trackcnt-half_check_frames-1].y_;
+            // 车辆方向
+            tr_point car_toward1, car_toward2;
+            car_toward1.x = p_half.x - p_start.x;     car_toward1.y = p_half.y - p_start.y;
+            car_toward2.x = p_end.x - p_half.x;       car_toward2.y = p_end.y - p_half.y;
+
+            float temp_dist1 = sqrt(car_toward1.x * car_toward1.x + car_toward1.y * car_toward1.y);
+            float temp_dist2 = sqrt(car_toward2.x * car_toward2.x + car_toward2.y * car_toward2.y);
+            if (temp_dist1 < 40 || temp_dist2 < 40) return false;   // 位移限制
+
+            int deg1 = atan2(car_toward1.y, car_toward1.x) * 180 / Pi; // 返回与x轴的夹角
+            int deg2 = atan2(car_toward2.y, car_toward2.x) * 180 / Pi;
+            int deg_diff = abs(deg1 - deg2);
+            if (deg_diff < 135) { return false; }
+            else { return true; }
+        }
         vector<tr_point> Mbuild_area(vector<int> args)
         {
@@ -494,7 +580,8 @@ namespace ai_engine_module
                                 continue;
                             stream_idx_and_algor_seq.algors.emplace(algor_type);
-                            if (algor_type == algorithm_type_t::VEHICLE_WRONGDIRECTION || algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY) has_vehicle_algor = true;
+                            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;
                         }
                         if (stream_idx_and_algor_seq.algors.empty())
@@ -591,7 +678,8 @@ namespace ai_engine_module
                     auto fence_labels_ = fence_labels[flattened_idx_to_batch_idx[n]];
                     vector<vector<int>> vehiclelanes_regions; //机动车区域
-                    vector<vector<int>> crosswalk_regions;    //人行道区域+十字路口区域
+                    vector<vector<int>> crosswalk_regions;    //人行道+十字路口区域
+                    vector<vector<int>> solidlines;           //黄实线+白实线
                     // printf("seg_labels.size:%d\n",seg_labels.size());
                     for (unsigned i = 0; i < seg_labels.size(); ++i) {
                         const label_t label = static_cast<label_t>(seg_labels[i]);
@@ -603,6 +691,10 @@ namespace ai_engine_module
                             vector<int> cur_region(seg_regions[i].begin(),seg_regions[i].end());
                             crosswalk_regions.push_back(cur_region);
                         } 
+                        if ((label == label_t::yellow_solidline || label == label_t::white_solidline)) {
+                            vector<int> cur_region(seg_regions[i].begin(),seg_regions[i].end());
+                            solidlines.push_back(cur_region);
+                        } 
                     }
                     vector<vector<int>> roadseg_fence_regions;//车道分割护栏区域
@@ -637,7 +729,7 @@ 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_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) && !is_valid_car(static_cast<det_class_label_t>(det_result.box.cls)))
                             continue;
                         auto& e = id_to_mn_[obj_key];
@@ -716,6 +808,32 @@ namespace ai_engine_module
                             if (!isalarm) continue;    
                         }
+                        // 机动车实线掉头
+                        if (algor_type == algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) {
+                            bool isalarm = false;
+                            int check_frames = 20; //4s 监控4s内的轨迹情况 
+                            if (m_total_obj_info[trace_obj_key].center_points.size() > check_frames) { 
+                                jxline trace_line;
+                                bool ret = find_traceStartEnd(m_total_obj_info[trace_obj_key].center_points, check_frames, trace_line);
+                                if (ret) {
+                                    for (auto region : solidlines) { 
+                                        vector<tr_point> tr_boxes = Mbuild_area(region);    if (tr_boxes.size() < 2) continue;
+                                        for (int tmp_p = 0; tmp_p < tr_boxes.size() - 1; tmp_p++) {
+                                            jxline cur_line;
+                                            cur_line.xa = tr_boxes[tmp_p].x;        cur_line.ya = tr_boxes[tmp_p].y;
+                                            cur_line.xb = tr_boxes[tmp_p + 1].x;    cur_line.yb = tr_boxes[tmp_p + 1].y;
+                                            if (is_intersect(trace_line, cur_line)) { //压线
+                                                bool cur_flag = vTurnAround(m_total_obj_info[trace_obj_key].center_points, check_frames);// 掉头 todo: 根据关键点判车头车尾朝向是否发生改变
+                                                if (cur_flag) { isalarm = true;  break; } 
+                                            }
+                                        }
+                                        if (isalarm)  break; 
+                                    }
+                                }                 
+                            }
+                            if (!isalarm) continue;    
+                        }
+
                         // 机动车不让行：针对人行道区域有行人，车辆不停车的情形
                         if (algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY) {
                             bool isalarm = false;
@@ -748,7 +866,8 @@ namespace ai_engine_module
                         {
                             if (++e.n_frame == algor_param->n || 
-                            algor_type == algorithm_type_t::NONMOTOR_CEOSSPARKLINE || algor_type == algorithm_type_t::PERSON_CROSS ) //部分功能当前版本暂不投票
+                            algor_type == algorithm_type_t::NONMOTOR_CEOSSPARKLINE || algor_type == algorithm_type_t::PERSON_CROSS || 
+                            algor_type == algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND ) //部分功能当前版本暂不投票
                             {
                                 results_data_t result;
                                 {   
@@ -36,7 +36,10 @@ namespace ai_engine_module
             crosswalk = 5,              //人行横道
             no_parking_area = 6,        //禁停区域
             interestion_area = 7,       //十字路口区域
-            // green_belt_area = 8,        //绿化带区域
+            yellow_solidline = 8,       //黄实线
+            white_solidline = 9,        //白实线
+            white_dottedline = 10,      //虚线
+            yellow_dottedline = 11,     //黄虚线
         };
         enum class fence_label_t {
@@ -124,6 +127,39 @@ namespace ai_engine_module
             std::map<id_t, mn_frame_t> id_to_mn_;
             std::map<id_t, results_data_t> id_to_result_;
         };
+
+        class jxline
+        {
+        public:
+            int xa;
+            int ya;
+            int xb;
+            int yb;
+            jxline() {}
+            jxline(int xa, int ya, int xb, int yb)
+            {
+                this->xa = xa;
+                this->ya = ya;
+                this->xb = xb;
+                this->yb = yb;
+            }
+            int get_max_x()
+            {
+                return xa > xb ? xa : xb;
+            }
+            int get_min_x()
+            {
+                return xa > xb ? xb : xa;
+            }
+            int get_max_y()
+            {
+                return ya > yb ? ya : yb;
+            }
+            int get_min_y()
+            {
+                return ya > yb ? yb : ya;
+            }
+        };
     }  // namespace road_seg_correlation_process
 } // namespace ai_engine_module
@@ -215,7 +215,7 @@ cv::Mat RoadSegProcess::seg_post_process(bool large_resolution, unsigned char *s
     for (int i = 0; i < lanes.size(); ++i) {
         int thickness = 4;
         for (int j = 0; j < lanes[i].size()-1; ++j) {
-            cv::line(mask_rmlane, lanes[i][j], lanes[i][j+1], cats[i], thickness);
+            cv::line(mask_rmlane, lanes[i][j], lanes[i][j+1], {seg_colors[cats[i]][0],seg_colors[cats[i]][1],seg_colors[cats[i]][2]}, thickness);
             // std::cout << lanes[i][j] << " " << lanes[i][j+1] << " " << cats[i] << std::endl;
         }
     }
@@ -77,7 +77,8 @@ private:
     int seg_num_seg = 7; //道路分割种类(不包含背景)
     int seg_min_region_area = 512; //1024 
     float seg_min_lane_score = 0.35; //230625
-    uint8_t seg_colors[9][3] = { {0, 0, 0}, {255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {0, 255, 128}, {128, 255, 255}, {255, 128, 255}, {255, 255, 128}, {60, 180, 0}};
+    uint8_t seg_colors[13][3] = { {0, 0, 0}, {255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {0, 255, 128}, {128, 255, 255}, {255, 128, 255}, {255, 255, 128}, {60, 180, 0}, {0, 60, 180}, 
+    {0, 180, 60},  {60, 0, 180},  {180, 0, 60} };
     uint8_t lane_colors[9][3] = { {0, 0, 0}, {255, 255, 0}, {255, 0, 255}, {0, 255, 255}, {128, 255, 0}, {255, 128, 0}, {128, 0, 255}, {255, 0, 128}, {0, 128, 255}};
 };
@@ -1647,7 +1647,8 @@ void CMultiSourceProcess::algorithm_roadseg_correlation_process(vector&lt;string&gt;&amp; 
       algor_map->find(algorithm_type_t::PERSON_CROSS) != algor_map->end() ||
       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_NOTGIVEWAY) != algor_map->end() ||
+      algor_map->find(algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) != algor_map->end() 
       ) {
         m_RoadSegTaskMtx.lock();
@@ -1845,7 +1846,7 @@ 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::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION, algorithm_type_t::VEHICLE_NOTGIVEWAY, algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND };
       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));
@@ -88,6 +88,9 @@ bool copy_algor_param_aux(const algorithm_type_t &amp;algor_type, const std::string 
   case algorithm_type_t::VEHICLE_NOTGIVEWAY:
     m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
     goto _manned_param_copy;
+  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::TRUCK_MANNED: {
     m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
   _manned_param_copy : {
+#include "./interface/DecoderManager.h"
+#include <mutex>
+#include <thread>
+#include <chrono>
+
+using namespace std;
+
+struct decode_cbk_userdata{
+  string task_id;
+  void* opaque;
+  void* opaque1;
+};
+
+deque<DeviceMemory*> m_RgbDataList;
+mutex m_DataListMtx; 
+
+thread* m_pAlgorthimThread{nullptr};
+thread* m_recodeThread{nullptr};
+bool m_bfinish{false};
+int m_devId = 0;
+const char* task_id = "test0";
+int skip_frame_ = 5;
+int m_batch_size = 20;
+
+deque<RecoderInfo> m_recoderinfo_queue;
+mutex m_recoderinfo_queue_mtx;
+
+void algorthim_process_thread();
+void recode_thread();
+void algorthim_face_detect(vector<DeviceMemory*> vec_gpuMem);
+
+void test_recode_thread();
+
+void post_decod_cbk(const void * userPtr, DeviceMemory* devFrame){
+    do{
+        if(m_bfinish){
+        break;
+        }
+        m_DataListMtx.lock();
+        if(m_RgbDataList.size() >= 30){
+        m_DataListMtx.unlock();
+        std::this_thread::sleep_for(std::chrono::milliseconds(3));
+        continue;
+        }
+        m_RgbDataList.push_back(devFrame);
+        m_DataListMtx.unlock();
+        break;
+    }while (true);
+}
+
+void decode_finished_cbk(const void * userPtr){
+    decode_cbk_userdata* ptr = (decode_cbk_userdata*)userPtr;
+    if (ptr!= nullptr){
+        printf("task finished: %s \n", ptr->task_id.c_str());
+    }
+    delete ptr;
+    ptr = nullptr;
+}
+
+int main(){
+
+    // 创建解码任务
+    DecoderManager* pDecManager = DecoderManager::getInstance();
+
+    MgrDecConfig config;
+    config.name = task_id;
+    config.cfg.uri = "/opt/cmhu/data/公安局老桥头_CVR15F89410_1465819864_1B.mp4";
+    config.cfg.post_decoded_cbk = post_decod_cbk;
+    config.cfg.decode_finished_cbk = decode_finished_cbk;
+    config.cfg.force_tcp = true;  // rtsp用tcp
+    config.cfg.gpuid = to_string(m_devId);
+    config.cfg.skip_frame = skip_frame_;
+
+    config.dec_type = DECODER_TYPE_DVPP;
+    
+    AbstractDecoder* dec = pDecManager->createDecoder(config);
+    if (!dec){
+        printf("创建解码器失败 \n");
+        return false;
+    }
+
+    decode_cbk_userdata* userPtr = new decode_cbk_userdata;
+    userPtr->task_id = string(task_id);
+    pDecManager->setPostDecArg(config.name, userPtr);
+    pDecManager->setFinishedDecArg(config.name, userPtr);
+
+
+    int input_image_width = 0;
+    int input_image_height = 0;
+    pDecManager->getResolution(config.name, input_image_width, input_image_height);
+
+    
+    // 创建算法线程
+    m_pAlgorthimThread = new thread([](void* arg) {
+      algorthim_process_thread();
+      return (void*)0;
+    }
+    , nullptr);
+
+    // m_recodeThread = new thread([](void* arg) {
+    //   recode_thread();
+    //   return (void*)0;
+    // }
+    // , nullptr);
+
+    m_recodeThread = new thread([](void* arg) {
+      test_recode_thread();
+      return (void*)0;
+    }
+    , nullptr);
+
+    pDecManager->startDecodeByName(config.name);
+
+    while (getchar() != 'q');
+}
+
+void algorthim_process_thread(){
+
+    while (true){
+        if(m_bfinish){
+            break;
+        }
+
+        vector<DeviceMemory*> vec_gpuMem;
+        m_DataListMtx.lock();
+        while (!m_RgbDataList.empty()){
+            DeviceMemory* gpuMem = m_RgbDataList.front();
+            if(gpuMem->getMem() == nullptr){
+              // 错误数据，直接删除
+              delete gpuMem;
+              gpuMem = nullptr;
+              printf("mem is null \n");
+            } else {
+              vec_gpuMem.push_back(gpuMem);
+            }
+            m_RgbDataList.pop_front();
+            if(vec_gpuMem.size() >= m_batch_size){
+                break;
+            }
+        }
+        m_DataListMtx.unlock();
+
+        if(vec_gpuMem.size() <= 0){
+            std::this_thread::sleep_for(std::chrono::milliseconds(3));
+            continue;
+        }
+
+        algorthim_face_detect(vec_gpuMem);
+
+        for(int i=0;i < vec_gpuMem.size(); i++){
+            DeviceMemory* mem = vec_gpuMem[i];
+            if(mem->getSize() <= 0){
+              continue;
+            }
+            delete mem;
+            mem = nullptr;
+        }
+        vec_gpuMem.clear();
+
+    }
+
+    printf("algorthim_process_thread exit. \n");
+}
+
+static int interval = 0;
+static int obj_id = 0;
+
+void algorthim_face_detect(vector<DeviceMemory*> vec_gpuMem) {
+  interval ++ ;
+
+  if(interval % 50 != 0) {
+    return;
+  }
+
+  for(int i= 0; i < vec_gpuMem.size(); i++) {
+    DeviceMemory* mem = vec_gpuMem[i];
+    string task_id = mem->getId();
+  
+    RecoderInfo recoderInfo;
+    recoderInfo.task_id = task_id;
+    recoderInfo.object_id = std::to_string(obj_id);
+    recoderInfo.recoderPath = "./res/recode";
+    recoderInfo.frame_nb = mem->getFrameNb();
+
+    m_recoderinfo_queue_mtx.lock();
+    m_recoderinfo_queue.push_back(recoderInfo);
+    m_recoderinfo_queue_mtx.unlock();
+
+    obj_id++;
+
+  }
+}
+
+void test_recode_thread() {
+  unsigned long long frame_index = 0;
+  while(true) {
+    std::this_thread::sleep_for(std::chrono::milliseconds(10));
+
+    DeviceMemory* mem = nullptr;
+    m_DataListMtx.lock();
+    while (!m_RgbDataList.empty()){
+        DeviceMemory* gpuMem = m_RgbDataList.front();
+        if(gpuMem->getMem() == nullptr){
+          // 错误数据，直接删除
+          delete gpuMem;
+          gpuMem = nullptr;
+          printf("mem is null \n");
+        } else {
+          frame_index ++ ;
+          if (frame_index % 50 == 0) {
+            RecoderInfo recoderInfo;
+            recoderInfo.task_id = gpuMem->getId();
+            recoderInfo.object_id = std::to_string(obj_id);
+            recoderInfo.recoderPath = "./res/recode";
+            recoderInfo.frame_nb = gpuMem->getFrameNb();
+
+            DecoderManager* pDecManager = DecoderManager::getInstance();
+            pDecManager->doRecode(recoderInfo);
+
+            obj_id++;
+          }
+          delete gpuMem;
+          gpuMem = nullptr;
+        }
+        m_RgbDataList.pop_front();
+    }
+    m_DataListMtx.unlock();
+  }
+}
+
+void recode_thread() {
+  while(true) {
+
+    m_recoderinfo_queue_mtx.lock();
+    if(m_recoderinfo_queue.size() <= 0) {
+      m_recoderinfo_queue_mtx.unlock();
+      std::this_thread::sleep_for(std::chrono::milliseconds(5));
+      continue;
+    }
+
+    RecoderInfo info = m_recoderinfo_queue.front();
+    m_recoderinfo_queue.pop_front();
+    m_recoderinfo_queue_mtx.unlock();
+
+    DecoderManager* pDecManager = DecoderManager::getInstance();
+    pDecManager->doRecode(info);
+  }
+}
 \ No newline at end of file
@@ -396,6 +396,27 @@ void set_task_params(task_param &amp;tparam, const unsigned &amp;idx, const algorithm_ty
     algor_init_params->basic_param = basic_params;
   } break;
+  case algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND: {
+    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_solid_turnaround";
+      basic_params->result_folder_little = "res/vehicle_solid_turnaround_little";
+    }
+
+    algor_init_params->algor_param = algor_params;
+    algor_init_params->basic_param = basic_params;
+  } break;
+
   case algorithm_type_t::FACE_SNAPSHOT: {
     auto basic_params = new algor_basic_config_param_t;
@@ -1037,11 +1058,10 @@ 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};
-    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::NONMOTOR_VEHICLE_NOHELMET, algorithm_type_t::NONMOTOR_VEHICLE_OVERMAN, algorithm_type_t::TRICYCLE_MANNED, algorithm_type_t::NONMOTOR_VEHICLE_USEPHONE,
-        //                                     algorithm_type_t::NONMOTOR_VEHICLE_REFIT};
+                                            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};
+    // 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};
 /*
   int repeat_num = 1000;
@@ -1063,18 +1083,18 @@ void test_gpu(int gpuID){
     // createTask(handle, algor_vec, 1);  
     // createTask(handle, algor_vec, 2);  
     // createTask(handle, algor_vec, 3);  
-    // createTask(handle, algor_vec3, 4);  
-    createTask(handle, algor_vec2, 5);  
-    createTask(handle, algor_vec2, 6);  
-    createTask(handle, algor_vec2, 7);  
-    createTask(handle, algor_vec2, 8);  
-    createTask(handle, algor_vec2, 9);  
-    createTask(handle, algor_vec2, 10);  
-    createTask(handle, algor_vec2, 11);  
-    createTask(handle, algor_vec2, 12);
-    createTask(handle, algor_vec2, 13);
-    createTask(handle, algor_vec2, 14);
-    createTask(handle, algor_vec2, 15);
+    createTask(handle, algor_vec3, 4);  
+    createTask(handle, algor_vec3, 5);  
+    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, 11);  
+    // createTask(handle, algor_vec3, 12);
+    // createTask(handle, algor_vec3, 13);
+    // createTask(handle, algor_vec3, 14);
+    // createTask(handle, algor_vec3, 15);
     // createTask(handle, algor_vec2, 16);
     // createTask(handle, algor_vec2, 17);
     // createTask(handle, algor_vec2, 18);