闯红灯增加场景自适应、轨迹约束;逆行过滤横向场景;代码同步

Zhao Shuaihua
1 parent 7c962865
Showing 12 changed files with 290 additions and 36 deletions
src/ai_engine_module/road_seg_correlation_algor.cpp
src/ai_engine_module/traffic_light_process.cpp
src/ai_engine_module/traffic_light_process.h
src/ai_platform/MultiSourceProcess.cpp
src/ai_platform/MultiSourceProcess.h
src/ai_platform/stl_aiplatform.cpp
src/ai_platform/stl_aiplatform.h
src/decoder/dvpp/DvppDataMemory.hpp
src/decoder/dvpp/DvppDecoder.cpp
src/decoder/dvpp/DvppDecoder.h
src/decoder/dvpp/FFRecoderTaskManager.cpp
src/demo/demo.cpp
@@ -234,7 +234,8 @@ namespace ai_engine_module
             int deg1 = atan2(car_toward.y, car_toward.x) * 180 / Pi; // 返回与x轴的夹角
             int deg_std = atan2(std_toward.y, std_toward.x) * 180 / Pi;
             int deg_diff = abs(deg1 - deg_std);
-            if (deg_diff < 135) { return false; }
+            // if (deg_diff < 135) { return false; }
+            if (abs(deg_std) < 30 || abs(deg_std) > 150 || deg_diff < 135) return false; // 过滤横向绿化带
             else { /*std::cout << flag1 << " " << flag2 << std::endl;*/
             return true; }
         }
@@ -5,9 +5,8 @@
 #include "../common/logger.hpp"
 #include "../ai_platform/mvpt_process_assist.h"
-#if 0
+#if 1
 #include "opencv2/opencv.hpp"
-#include "opencv2/imgcodecs/legacy/constants_c.h"
 #endif
 namespace ai_engine_module
@@ -39,6 +38,7 @@ namespace ai_engine_module
         bool is_valid_box(const int top, const int left, const int right, const int bottom, const float score,
                           const algorithm_type_t &algor_type,
+                          const int src_img_w, const int src_img_h,
                           const task_param_manager::algo_param_type_t_ *params_ptr = nullptr) {
             if (!params_ptr)
                 return false;
@@ -49,10 +49,10 @@ namespace ai_engine_module
             if (params_ptr->algor_param == nullptr)
                 return false;
-
-            const unsigned width = right - left;
-            const unsigned height = bottom - top;
-
+            float scale_w = src_img_w / 1920.0;
+            float scale_h = src_img_h / 1080.0;
+            const unsigned width = (right - left) / scale_w; //归一化为1080p下的宽高，用于大小过滤(尺寸阈值按1080p设置)
+            const unsigned height = (bottom - top) / scale_h;
             if (width == 0 || height == 0)
                 return false;
@@ -126,6 +126,98 @@ namespace ai_engine_module
             return (nCross % 2 == 1);
         }
+        float contourArea(const vector<tr_point>& polygon, cv::Point2f* quad_point) {
+            std::vector<cv::Point> contour;
+            for (int i = 0; i < polygon.size(); ++i) {
+                cv::Point tmp_p;    tmp_p.x = polygon[i].x;     tmp_p.y = polygon[i].y;
+                contour.push_back(tmp_p);            
+            }
+            cv::Point2f rect_point[4];
+            cv::RotatedRect rect = cv::minAreaRect(contour);  // 最小外接矩形 rect[0]中心点 rect[1]宽 高  rect[2]旋转角度
+            rect.points(rect_point); // 求外接矩形顶点坐标，顺时针依次为box[0] box[1] box[2] box[3], -45 <= angle <= 0:box[0]在左下角； angle > 45:box[0]在右下角
+
+            // 根据外接矩形求外接四边形(有可能求出三角形)：取距矩形顶点近的4个点
+            for (int k = 0; k < 4; k ++) {
+                quad_point[k] = rect_point[k];
+                float sum_min_dist = 100000;
+                for (int j = 0; j < polygon.size(); ++j) {
+                    float t_diff_x = polygon[j].x - rect_point[k].x,  t_diff_y = polygon[j].y - rect_point[k].y;
+                    float temp_dist = sqrt(t_diff_x * t_diff_x + t_diff_y * t_diff_y);
+                    float temp_min_dist = temp_dist + 3*fabs(t_diff_y); //提高纵坐标的权重
+                    if (temp_min_dist < sum_min_dist) {
+                        quad_point[k].x = polygon[j].x;     quad_point[k].y = polygon[j].y;
+                        sum_min_dist = temp_min_dist;
+                    }
+                }
+            }            
+            return fabs(rect.angle);
+        }
+
+        // 与0作比较，小于精度则认为是和0相等，返回0 1 -1
+        int cmpzero(double d) { return (fabs(d) < PRECISION)? 0: (d > 0? 1:-1); }
+
+        // 向量叉积
+        double cross_det(double x1, double y1, double x2, double y2) { return x1*y2 - x2*y1; }
+    
+        // 判断是否在区域两侧
+        bool inBothSidesOfArea(tr_point curpos, cv::Point2f* boxPoints, float angle) {
+            // 根据叉积判断目标相对于区域边界的位置，大于0：左 小于0：右 等于0：共线 (左侧/右侧和向量起始方向有关，当前设定的起始方向是y小的那侧)
+            if (angle > 45) {
+                // 左边界
+                int l_flag = cmpzero(cross_det(boxPoints[1].x-boxPoints[2].x, boxPoints[1].y-boxPoints[2].y, curpos.x-boxPoints[2].x, curpos.y-boxPoints[2].y));
+                // 右边界
+                int r_flag = cmpzero(cross_det(boxPoints[0].x-boxPoints[3].x, boxPoints[0].y-boxPoints[3].y, curpos.x-boxPoints[0].x, curpos.y-boxPoints[3].y));
+                if (l_flag > 0 || r_flag < 0)   return true;
+            }
+            else {
+                // 左边界
+                int l_flag = cmpzero(cross_det(boxPoints[0].x-boxPoints[1].x, boxPoints[0].y-boxPoints[1].y, curpos.x-boxPoints[1].x, curpos.y-boxPoints[1].y));
+                // 右边界
+                int r_flag = cmpzero(cross_det(boxPoints[3].x-boxPoints[2].x, boxPoints[3].y-boxPoints[2].y, curpos.x-boxPoints[2].x, curpos.y-boxPoints[2].y));
+                if (l_flag > 0 || r_flag < 0)   return true;
+            }
+           
+            return false;
+        }
+
+        // 判断目标是否在区域两侧且轨迹为南北走向
+        bool inBothSidesOfAreaV2(tr_point curpos, cv::Point2f* boxPoints, float angle, const vector<sy_point>& tracker_list, int check_frames) {
+            int trackcnt = tracker_list.size();
+            tr_point p_start, p_end;
+            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_;
+    
+            // 目标方向
+            tr_point obj_toward;
+            obj_toward.x = p_end.x - p_start.x;
+            obj_toward.y = p_end.y - p_start.y;
+              
+            // 根据叉积判断目标相对于区域边界的位置，大于0：左 小于0：右 等于0：共线 (左侧/右侧和向量起始方向有关，当前设定的起始方向是y小的那侧)
+            bool flag = false;
+            if (angle > 45) {
+                // 左边界
+                int l_flag = cmpzero(cross_det(boxPoints[1].x-boxPoints[2].x, boxPoints[1].y-boxPoints[2].y, curpos.x-boxPoints[2].x, curpos.y-boxPoints[2].y));
+                // 右边界
+                int r_flag = cmpzero(cross_det(boxPoints[0].x-boxPoints[3].x, boxPoints[0].y-boxPoints[3].y, curpos.x-boxPoints[0].x, curpos.y-boxPoints[3].y));
+                if (l_flag > 0 || r_flag < 0)   flag = true;
+            }
+            else {
+                // 左边界
+                int l_flag = cmpzero(cross_det(boxPoints[0].x-boxPoints[1].x, boxPoints[0].y-boxPoints[1].y, curpos.x-boxPoints[1].x, curpos.y-boxPoints[1].y));
+                // 右边界
+                int r_flag = cmpzero(cross_det(boxPoints[3].x-boxPoints[2].x, boxPoints[3].y-boxPoints[2].y, curpos.x-boxPoints[2].x, curpos.y-boxPoints[2].y));
+                if (l_flag > 0 || r_flag < 0)   flag = true;
+            }
+
+            if (flag) {
+                int deg = atan2(obj_toward.y, obj_toward.x) * 180 / Pi; // 返回轨迹与x轴的夹角
+                if (abs(deg) < 30 || abs(deg) > 150) return false; 
+                else return true;
+            }
+        
+            return false;
+        }
+
 #if 0
         void CvtYuvToBgr(sy_img src, sy_img dst) {
             const int uvStart = src.w_ * src.h_;
@@ -239,7 +331,7 @@ namespace ai_engine_module
             return res;
         }
-        bool TrafficLightProcess::update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const std::vector<onelevel_det_result> &det_results) 
+        bool TrafficLightProcess::update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const vector<vector<vector<int>>>& traffic_region, const vector<vector<int>>& labels, map<OBJ_KEY, OBJ_INDEX> &m_total_obj_info, const std::vector<onelevel_det_result> &det_results) 
         {
             if (!check_initied())
                 return false;
@@ -275,6 +367,22 @@ namespace ai_engine_module
                 int src_img_w = src_img->getWidth();
                 int src_img_h = src_img->getHeight();
+                auto seg_regions = traffic_region[n];
+                auto seg_labels = labels[n];
+                vector<vector<int>> crosswalk_regions;    //人行道区域
+                vector<vector<int>> interestion_regions;  //十字路口区域
+                for (unsigned i = 0; i < seg_labels.size(); ++i) {
+                    const seg_label_t seg_label = static_cast<seg_label_t>(seg_labels[i]);
+                    if ((seg_label == seg_label_t::crosswalk)) {
+                        vector<int> cur_region(seg_regions[i].begin(),seg_regions[i].end());
+                        crosswalk_regions.push_back(cur_region);
+                    } 
+                    if ((seg_label == seg_label_t::interestion_area)) {
+                        vector<int> cur_region(seg_regions[i].begin(),seg_regions[i].end());
+                        interestion_regions.push_back(cur_region);
+                    } 
+                }
+
                 auto& boxes_of_one_image = det_results[n].obj;
                 for (int i = 0; i < det_results[n].obj_count; ++i)
                 {
@@ -301,17 +409,43 @@ namespace ai_engine_module
                                 continue;
                             }
-                            if (!is_valid_box(top, left, right, bottom, box.confidence, algor_type, algor_param_wrap)) 
+                            if (!is_valid_box(top, left, right, bottom, box.confidence, algor_type, src_img_w, src_img_h, algor_param_wrap)) 
                                 continue;
                             //DEBUG增加多边形区域选择及判断================================================================
                             tr_point curpos;
 						    curpos.x = (left + right) * 0.5;    curpos.y = bottom;
+#if 0
                             vector<int> args = {1552,435,1756,537,1915,537,1915,499,1725,435}; //区域(泰兴黄桥锦润福府路口)
                             // vector<int> args = {0,0,0,1080,1920,1080,1920,0}; //区域
                             vector<tr_point> tr_boxes = Mbuild_area(args);
                             int cur_flag = McheckPointPolygon(tr_boxes, curpos); //cur_flag==true表示在区域内
                             if (!cur_flag) continue;
+#else 
+                            // 目标在人行道区域且在十字路口区域的左侧或右侧---->只判南北向
+                            int check_frames = 5; //1s 25 
+                            OBJ_KEY trace_obj_key = {taskId, box.id};
+                            if (m_total_obj_info[trace_obj_key].center_points.size() < check_frames) continue; //忽略太短的轨迹 
+                            bool interestion_flag = false;
+                            for (auto region : interestion_regions) {
+                                vector<tr_point> tr_boxes = Mbuild_area(region);
+                                vector<cv::Point> boxPoints;
+                                cv::Point2f quad_point[4];
+                                float angle = contourArea(tr_boxes, quad_point);
+                                // interestion_flag = inBothSidesOfArea(curpos, quad_point, angle);
+                                interestion_flag = inBothSidesOfAreaV2(curpos, quad_point, angle, m_total_obj_info[trace_obj_key].center_points, check_frames); //判断轨迹是否是南北向
+                                if (interestion_flag) break; 
+                            }
+                            if (!interestion_flag) continue;
+                            
+                            bool cur_flag = false;
+                            for (auto region : crosswalk_regions) {
+                                vector<tr_point> tr_boxes = Mbuild_area(region);
+                                cur_flag = McheckPointPolygon(tr_boxes, curpos); //cur_flag==true表示在区域内
+                                if (cur_flag) break; 
+                            }
+                            if (!cur_flag) continue;
+#endif
                             //DEBUG END==================================================================================
                             stream_idx_and_algor_seq.algors.emplace(algor_type);
                         }
@@ -399,7 +533,7 @@ namespace ai_engine_module
                         const label_t label = static_cast<label_t>(box.index);
                         if (!is_valid_label(label))
                             continue;
-                        if (box.left < 1200 || box.top < 159 || box.right > 1307 || box.bottom > 212) continue; // 限制红绿灯的出现位置(泰兴黄桥锦润福府路口)
+                        // if (box.left < 1200 || box.top < 159 || box.right > 1307 || box.bottom > 212) continue; // 限制红绿灯的出现位置(泰兴黄桥锦润福府路口)
                         LOG_TRACE("task id is {} obj_id {} label {} index {} score {}", task_id, objId, label, box.index, box.confidence);
                         red_cnt ++;   
                     }
@@ -15,6 +15,8 @@
 #define IMAGE_CROP_EXPAND_RATIO 0
 #define MAX_OBJ_BOX_COUNT 100
 #define MAX_LANE_NUM 100
+#define PRECISION 1e-8
+#define Pi 3.14159265358979
 namespace ai_engine_module
 {
@@ -42,6 +44,22 @@ namespace ai_engine_module
             no = 12,        //灭灯
         };
+        enum class seg_label_t {
+            PLACEHOLDER = -1,
+            background = 0,             //背景
+            vehicle_lanes = 1,          //机动车道
+            nonvehicle_lanes = 2,       //非机动车道
+            emerg_lanes = 3,            //应急车道
+            guide_line = 4,             //导流线
+            crosswalk = 5,              //人行横道
+            no_parking_area = 6,        //禁停区域
+            interestion_area = 7,       //十字路口区域
+            yellow_solidline = 8,       //黄实线
+            white_solidline = 9,        //白实线
+            white_dottedline = 10,      //虚线
+            yellow_dottedline = 11,     //黄虚线
+        };
+
         typedef struct input_data_wrap_t
         {
             id_t id;
@@ -99,7 +117,8 @@ namespace ai_engine_module
             bool check_initied();
             bool init(int gpu_id, string models_dir);
-            bool update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const std::vector<onelevel_det_result> &det_results); 
+            // bool update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const std::vector<onelevel_det_result> &det_results); 
+            bool update_mstreams(const std::vector<task_id_t>& taskIds, vector<sy_img> src_interest_imgs, vector<DeviceMemory*> vec_det_input_images, const vector<vector<vector<int>>>& traffic_region, const vector<vector<int>>& labels, map<OBJ_KEY, OBJ_INDEX> &m_total_obj_info, const std::vector<onelevel_det_result> &det_results); 
             std::shared_ptr<results_data_t> get_result_by_objectid(const id_t& id, bool do_erase = true);
             void force_release_result(const task_id_t& task_id);
@@ -462,7 +462,7 @@ bool CMultiSourceProcess::AddTask(task_param _cur_task_param){
       // if(algor_face != algor_map->end()){
       //   const algor_basic_config_param_t *cur_param = ((algor_init_config_param_t *)(algor_face->second))->basic_param;
       //   LOG_INFO("face_snapshot, result_folder: {}  result_folder_little: {}", cur_param->result_folder, cur_param->result_folder_little);
-      // }
+    // }
     }
     LOG_INFO("started task {} successed!", config.name);
@@ -470,6 +470,11 @@ bool CMultiSourceProcess::AddTask(task_param _cur_task_param){
     return true;
 }
+int CMultiSourceProcess::CountRunningTask() {
+  DecoderManager* pDecManager = DecoderManager::getInstance();
+  return pDecManager->count();
+}
+
 bool CMultiSourceProcess::task_has_vpt_algor(const std::string &task_id){
     //! TODO: create enum iterator.
     auto algor_map = m_task_param_manager->get_task_other_param(task_id);
@@ -684,6 +689,11 @@ void CMultiSourceProcess::CloseAllTask(){
     LOG_INFO("CloseAllTask exit.");
 }
+void CMultiSourceProcess::CloseAllTask2() {
+  DecoderManager* pDecManager = DecoderManager::getInstance();
+  pDecManager->closeAllDecoder();
+}
+
 void CMultiSourceProcess::clear_finished_task(){// 清理已经结束的任务
   std::lock_guard<std::mutex> l1(m_FinishedTaskMtx);
@@ -720,6 +730,12 @@ bool CMultiSourceProcess::finish_task(const string taskID, const bool delete_sna
   // 任务结束，关闭跟踪
   if (!vpt_process.finishTaskTracker(taskID))
     LOG_ERROR("Finish VPT Tracker failed, task_id: {}", taskID);
+
+#ifdef WITH_FACE_DET_SS
+  // 人脸任务结束
+  if (task_has_face_algor(taskID))
+    m_face_det_ai_engine.finish_task(taskID);
+#endif
 #ifdef POST_USE_RABBITMQ
   {
@@ -897,7 +913,7 @@ int CMultiSourceProcess::algorthim_process_thread(){
     }
     aclrtDestroyContext(ctx);
-
+    aclrtResetDevice(m_devId);
     LOG_INFO("algorthim_process_thread exit.");
     return 0;
@@ -1595,6 +1611,8 @@ void CMultiSourceProcess::algorithm_traffic_light_process(vector&lt;string&gt;&amp; vpt_in
   vector<onelevel_det_result> interest_vpt_result;
   vector<DeviceMemory*> interest_imgs;  
   vector<sy_img> sy_interest_imgs;
+  vector<vector<vector<int>>> interest_traffic_region;
+  vector<vector<int>> interest_labels;
   int _idx = 0;
   for (auto _task_id_iter = vpt_interest_task_id.begin(); _task_id_iter != vpt_interest_task_id.end();
@@ -1605,6 +1623,15 @@ void CMultiSourceProcess::algorithm_traffic_light_process(vector&lt;string&gt;&amp; vpt_in
     if (algor_map->find(algorithm_type_t::PERSON_RUNNING_REDLIGHTS) != algor_map->end() || 
       algor_map->find(algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS) != algor_map->end()) {
+      
+      m_RoadSegTaskMtx.lock();
+      if (!m_RoadSegTaskMap[task_id].isseg) continue;
+      else {
+        interest_traffic_region.push_back(m_RoadSegTaskMap[task_id].traffic_region);
+        interest_labels.push_back(m_RoadSegTaskMap[task_id].labels);
+      }   
+      m_RoadSegTaskMtx.unlock();
+
       DeviceMemory* mem = vpt_interest_imgs[_idx];
       sy_img img;
       img.w_ = mem->getWidth();     img.h_ = mem->getHeight();
@@ -1618,7 +1645,9 @@ void CMultiSourceProcess::algorithm_traffic_light_process(vector&lt;string&gt;&amp; vpt_in
   }
   if (!interest_imgs.empty()){
-    traffic_lightprocess_.update_mstreams(interest_task_id, sy_interest_imgs, interest_imgs, interest_vpt_result);
+    m_TotalObjMtx.lock();
+    traffic_lightprocess_.update_mstreams(interest_task_id, sy_interest_imgs, interest_imgs, interest_traffic_region, interest_labels, m_total_obj_info, interest_vpt_result);
+    m_TotalObjMtx.unlock();
   }
 }
@@ -2274,4 +2303,4 @@ bool CMultiSourceProcess::CheckTime() {
     {
         return false;
     }
 -}
+}
 \ No newline at end of file
@@ -46,6 +46,9 @@ public:
   bool FinishTask(const string taskID);
   void CloseAllTask();
   int SnapShot(task_param param);
+  int CountRunningTask();
+
+  void CloseAllTask2();
 #ifdef POST_USE_RABBITMQ
   int AddMqConn(mq_type_t mq_type, rabbitmq_conn_params_t mq_conn_param);
@@ -95,6 +95,17 @@ int tsl_aiplatform_release(void **handle)
 	return SUCCESS;
 }
+int count_running_task(void *handle)
+{
+	CMultiSourceProcess* tools = (CMultiSourceProcess*)handle;
+	return tools->CountRunningTask();
+}
+
+void close_all_task(void *handle) 
+{
+	CMultiSourceProcess* tools = (CMultiSourceProcess*)handle;
+	tools->CloseAllTask2();
+}
 const char* get_tsl_aiplatform_version()
 {
@@ -120,6 +120,11 @@ extern &quot;C&quot;
 	TSL_AIPLATFORM_API int tsl_aiplatform_release(void **handle);
+	TSL_AIPLATFORM_API int count_running_task(void *handle);
+
+	TSL_AIPLATFORM_API void close_all_task(void *handle);
+
+
 	/*************************************************************************
 	* FUNCTION: get_tsl_aiplatform_version
 	* PURPOSE: 获取SDK版本号
@@ -129,4 +134,4 @@ extern &quot;C&quot;
 	*************************************************************************/
 	TSL_AIPLATFORM_API const char* get_tsl_aiplatform_version();
 }
 -#endif
+#endif
 \ No newline at end of file
@@ -25,7 +25,7 @@ public:
     ~DvppDataMemory(){
         if (pHwRgb) {
-            int ret = acldvppFree((uint8_t*)pHwRgb);
+            int ret = acldvppFree(pHwRgb);
             if(ret != ACL_ERROR_NONE){
                 cout << "acldvppFree failed" << endl;
             }
@@ -335,6 +335,7 @@ void DvppDecoder::read_thread() {
     int frame_count = 0;
 	int ret = -1;
+    m_bExitDecodeThd = false;
     pthread_t m_decode_thread;
     pthread_create(&m_decode_thread,0,
         [](void* arg)
@@ -429,8 +430,11 @@ void DvppDecoder::read_thread() {
 		}
 	}
-    m_bRunning=false;
+    while(m_bRunning && m_pktQueue.size() > 0) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(5));
+    }
+    m_bExitDecodeThd = true;
 	if(m_decode_thread != 0){
 		pthread_join(m_decode_thread,0);
 	}
@@ -444,6 +448,8 @@ void DvppDecoder::read_thread() {
     }
     m_pktQueue_mutex.unlock();
+    m_bRunning=false;
+
     if(decode_finished_cbk) {
         decode_finished_cbk(m_finishedDecArg);
     }
@@ -618,6 +624,7 @@ void DvppDecoder::decode_thread(){
 		return;
 	}
+    m_bExitDisplayThd = false;
     pthread_t display_thread;
     pthread_create(&display_thread,0,
         [](void* arg)
@@ -655,7 +662,7 @@ void DvppDecoder::decode_thread(){
         uint64_t frame_count = 0;
         bool bBreak = false;
-        while (m_bRunning) {
+        while (!m_bExitDecodeThd) {
             if (m_bPause){
                 std::this_thread::sleep_for(std::chrono::milliseconds(3));
                 continue;
@@ -694,18 +701,26 @@ void DvppDecoder::decode_thread(){
         CHECK_NOT_RETURN(aclvdecDestroyChannel(vdecChannelDesc), "aclvdecDestroyChannel failed");
     }while(0);
-    
-    CHECK_NOT_RETURN(aclvdecDestroyChannelDesc(vdecChannelDesc), "aclvdecDestroyChannelDesc failed");
+    // 退出 report thread
+    while(m_bRunning && m_vdecQueue.size() > 0) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(5));
+    }
+    CHECK_NOT_RETURN(aclvdecDestroyChannelDesc(vdecChannelDesc), "aclvdecDestroyChannelDesc failed");
 	// report_thread 需后于destroy退出
-	m_bRunning = false;
     m_bExitReportThd = true;
-	CHECK_NOT_RETURN(pthread_join(report_thread, nullptr), "pthread_join failed");
-    CHECK_NOT_RETURN(pthread_join(display_thread, nullptr), "pthread_join failed");
+	CHECK_NOT_RETURN(pthread_join(report_thread, nullptr), "report_thread join failed");
+
+    // 退出 display thread
+    while(m_bRunning && m_decoded_data_queue.size() > 0) {
+        std::this_thread::sleep_for(std::chrono::milliseconds(5));
+    }
+    m_bExitDisplayThd = true;
+    CHECK_NOT_RETURN(pthread_join(display_thread, nullptr), "display_thread join failed");
     // 最后清理一遍未解码的数据
     m_vdecQueue_mutex.lock();
-    if(m_vdecQueue.size() > 0){
+    while(m_vdecQueue.size() > 0){
         void* inputData = m_vdecQueue.front();
         acldvppFree(inputData);
         inputData = nullptr;
@@ -872,7 +887,7 @@ bool DvppDecoder::sendVdecEos(aclvdecChannelDesc *vdecChannelDesc) {
 void DvppDecoder::display_thread(){
     LOG_INFO("[{}]- display_thread start...", m_dec_name);
-    while(m_bRunning) {
+    while(!m_bExitDisplayThd) {
         m_decoded_data_queue_mtx.lock();
         if(m_decoded_data_queue.size() <= 0) {
             m_decoded_data_queue_mtx.unlock();
@@ -898,7 +913,7 @@ void DvppDecoder::display_thread(){
         mem = nullptr;
     }
-    LOG_INFO("[{}]- display_thread end.", m_dec_name);
+    LOG_INFO("[{}]- display_thread exit.", m_dec_name);
 }
 void DvppDecoder::release_dvpp(){
@@ -83,7 +83,10 @@ private:
     bool m_bFinished{false};
     bool m_bRunning{false};
     bool m_bPause{false};
+
     bool m_bExitReportThd{false};
+    bool m_bExitDisplayThd{false};
+    bool m_bExitDecodeThd{false};
     // 读取数据
     AVStream* stream{nullptr};
@@ -92,8 +92,6 @@ void FFRecoderTaskManager::cache_pkt(AVPacket* pkt, long long frame_nb){
     newDataPkt->pkt = new_pkt;
     newDataPkt->frame_nb = frame_nb;
-    m_pkt_list.emplace_back(newDataPkt);
-
     if(is_key_frame(pkt)){
         // 越来越大的值
         newDataPkt->isKeyFrame = true;
@@ -102,6 +100,8 @@ void FFRecoderTaskManager::cache_pkt(AVPacket* pkt, long long frame_nb){
         newDataPkt->isKeyFrame = false;
     }
+    m_pkt_list.emplace_back(newDataPkt);
+
     std::lock_guard<std::mutex> l_info(m_recoderinfo_list_mtx);
     if(m_recoderinfo_list.size() <= 0){
         // 没有任务的时候，维持500的长度
@@ -1105,11 +1105,11 @@ 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_vec3, 5);  
-    createTask(handle, algor_vec3, 6);  
-    createTask(handle, algor_vec3, 7);  
-    createTask(handle, algor_vec3, 8);  
+    // 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);  
@@ -1129,12 +1129,46 @@ void test_gpu(int gpuID){
 /*
+    createTask(handle, algor_vec, 0, false); 
+    createTask(handle, algor_vec, 0, false); 
+    createTask(handle, algor_vec, 0, false); 
+    createTask(handle, algor_vec, 0, false); 
+    createTask(handle, algor_vec, 0, false); 
+    createTask(handle, algor_vec, 0, false); 
+    createTask(handle, algor_vec, 2, false); 
+    createTask(handle, algor_vec, 2, false); 
+    createTask(handle, algor_vec, 2, false); 
+    createTask(handle, algor_vec, 2, false); 
+    createTask(handle, algor_vec, 2, false); 
+    createTask(handle, algor_vec, 2, false); 
+
+/*
     // test_snapshot(handle);
     sleep(60); //60s
     finish_task(handle, (char*)task_id2.data(), 0);
     finish_task(handle, (char*)task_id1.data(), 0);
   }*/
-    while (getchar() != 'q');
+
+  char ch = 'a';
+  while (ch != 'q') {
+    ch = getchar();
+    switch (ch)
+    {
+    case 'a':
+      createTask(handle, algor_vec3, 4, false);  
+      createTask(handle, algor_vec3, 5, false);  
+      createTask(handle, algor_vec3, 6, false);  
+      createTask(handle, algor_vec3, 7, false);  
+      createTask(handle, algor_vec3, 8, false);  
+      break;
+    case 'c':
+      close_all_task(handle);
+      break;
+    default:
+      break;
+    }
+    
+  }
     // finish_task(handle, (char*)task_id.data(), 0);
@@ -1167,4 +1201,4 @@ int main(int argc, char *argv[]) {
     printf("Done.\n"); 
     return 0;
 -}
+}
 \ No newline at end of file