增加机动车不让行功能(516)

Zhao Shuaihua
1 parent d281e3a2
Showing 6 changed files with 100 additions and 30 deletions
src/ai_engine_module/road_seg_correlation_algor.cpp
src/ai_platform/MultiSourceProcess.cpp
src/ai_platform/header.h
src/ai_platform/task_param_manager.cpp
src/demo/demo.cpp
src/reprocessing_module/snapshot_reprocessing.cpp
@@ -19,7 +19,8 @@ namespace ai_engine_module
             algorithm_type_t::NONMOTOR_CEOSSPARKLINE,
             algorithm_type_t::PERSON_CROSS,
             algorithm_type_t::NONMOTOR_WRONGDIRECTION,  
-            algorithm_type_t::VEHICLE_WRONGDIRECTION,  
+            algorithm_type_t::VEHICLE_WRONGDIRECTION, 
+            algorithm_type_t::VEHICLE_NOTGIVEWAY,  
         };
         // 判断是否是机动车
@@ -445,6 +446,8 @@ namespace ai_engine_module
             std::map<int, int> flattened_idx_to_batch_idx;
             //! 记录每个box对应的算法以及流id.
             std::map<unsigned, stream_idx_and_algor_seq_t> flattened_idx_to_algor_seq;
+            // 记录每帧中的行人目标 k：pic index v:data
+            std::map<int, vector<input_data_wrap_t>> frame_person_data;
             /* 1. Crop & keep some interest class. */
             auto taskId_iter = taskIds.begin();
@@ -491,7 +494,7 @@ namespace ai_engine_module
                                 continue;
                             stream_idx_and_algor_seq.algors.emplace(algor_type);
-                            if (algor_type == algorithm_type_t::VEHICLE_WRONGDIRECTION ) has_vehicle_algor = true;
+                            if (algor_type == algorithm_type_t::VEHICLE_WRONGDIRECTION || algor_type == algorithm_type_t::VEHICLE_NOTGIVEWAY) has_vehicle_algor = true;
                         }
                         if (stream_idx_and_algor_seq.algors.empty())
@@ -537,6 +540,12 @@ namespace ai_engine_module
                         flattened_interest_data.emplace_back(std::move(data));
                         flattened_idx_to_algor_seq[flattened_idx] = std::move(stream_idx_and_algor_seq);
                         flattened_idx_to_batch_idx[flattened_idx++] = n;
+
+                        // 汇总当前帧的行人目标
+                        if (static_cast<det_class_label_t>(box.index) == det_class_label_t::HUMAN) {
+                            frame_person_data[n].push_back(data);
+                        }
+
                     }
                 }
                 ++taskId_iter;
@@ -628,7 +637,7 @@ 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) && !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_NOTGIVEWAY) && !is_valid_car(static_cast<det_class_label_t>(det_result.box.cls)))
                             continue;
                         auto& e = id_to_mn_[obj_key];
@@ -707,9 +716,37 @@ namespace ai_engine_module
                             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;
+                            int stop_check_frames = 30; // 30 6s
+                            float stop_min_move = 25;
+                            if (m_total_obj_info[trace_obj_key].center_points.size() > stop_check_frames) { //1. 忽略太短轨迹
+                                for (auto human_data : frame_person_data[flattened_idx_to_batch_idx[n]]) {
+                                    tr_point humanpos;
+                                    humanpos.x = (human_data.box.left + human_data.box.right) * 0.5;    humanpos.y = human_data.box.bottom;
+                                    float temp_diff_x = curpos.x-humanpos.x,  temp_diff_y = curpos.y-humanpos.y;
+                                    float temp_dist = sqrt(temp_diff_x * temp_diff_x + temp_diff_y * temp_diff_y);
+                                    //2.查找当前车辆附近的行人：距离小于车宽认为在附近
+                                    if (temp_dist < flattened_imgs[n].w_) { 
+                                        for (auto region : crosswalk_regions) {
+                                            vector<tr_point> tr_boxes = Mbuild_area(region);
+                                            bool human_flag = McheckPointPolygon(tr_boxes, humanpos); //3.判断行人是否在人行道
+                                            if (human_flag) { //4.判断行人在人行道时车辆是否停车
+                                               float res_max_dist = 0;
+                                               float total_dist = diff_car_pos(m_total_obj_info[trace_obj_key].center_points, stop_check_frames, res_max_dist); 
+                                               if (res_max_dist > stop_min_move) { isalarm = true;  break; } // 未停车--->未礼让
+                                            }
+                                        }
+                                    } 
+                                    if (isalarm)  break; 
+                                }
+                            }
+                            if (!isalarm) continue;   
+                        }
+
                         {
-                            // if (++e.n_frame == algor_param->n)
                             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
                             {
@@ -503,6 +503,9 @@ bool CMultiSourceProcess::task_has_vpt_algor(const std::string &amp;task_id){
             algor_map->find(algorithm_type_t::PERSON_RUNNING_REDLIGHTS) != algor_map->end() ||
             algor_map->find(algorithm_type_t::PERSON_CROSS) != algor_map->end() ||
             algor_map->find(algorithm_type_t::VEHICLE_WRONGDIRECTION) != algor_map->end() ||
+            algor_map->find(algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) != algor_map->end() ||
+            algor_map->find(algorithm_type_t::VEHICLE_NOTGIVEWAY) != algor_map->end() ||
+            algor_map->find(algorithm_type_t::VEHICLE_NOTDECELERATION) != algor_map->end() ||
             algor_map->find(algorithm_type_t::TRICYCLE_MANNED) != algor_map->end() ||
             algor_map->find(algorithm_type_t::TRUCK_MANNED) != algor_map->end());
 }
@@ -1643,7 +1646,8 @@ void CMultiSourceProcess::algorithm_roadseg_correlation_process(vector&lt;string&gt;&amp; 
       algor_map->find(algorithm_type_t::NONMOTOR_CEOSSPARKLINE) != algor_map->end()  ||
       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_WRONGDIRECTION) != algor_map->end() ||
+      algor_map->find(algorithm_type_t::VEHICLE_NOTGIVEWAY) != algor_map->end()
       ) {
         m_RoadSegTaskMtx.lock();
@@ -1841,7 +1845,7 @@ 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::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION, algorithm_type_t::VEHICLE_NOTGIVEWAY };
       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));
@@ -56,6 +56,9 @@ enum class algorithm_type_t {
     PERSON_CROSS = 512,               // 行人翻越护栏
     NONMOTOR_WRONGDIRECTION = 513,    // 非机动车逆行
     VEHICLE_WRONGDIRECTION = 514,     // 机动车逆行
+    VEHICLE_SOLIDLINETURNAROUND = 515,// 机动车实线掉头
+    VEHICLE_NOTGIVEWAY = 516,         // 机动车不让行
+    VEHICLE_NOTDECELERATION = 517,    // 机动车不减速
 };
@@ -85,6 +85,9 @@ bool copy_algor_param_aux(const algorithm_type_t &amp;algor_type, const std::string 
   case algorithm_type_t::VEHICLE_WRONGDIRECTION:
     m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
     goto _manned_param_copy;
+  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::TRUCK_MANNED: {
     m_algor_config_params[task_id].vehicle_algors.insert(algor_type);
   _manned_param_copy : {
@@ -210,7 +210,7 @@ void set_task_params(task_param &amp;tparam, const unsigned &amp;idx, const algorithm_ty
     {
       algor_params->m = 10;
       algor_params->n = 8;
-      algor_params->hs_count_threshold = 0;
+      algor_params->hs_count_threshold = 1;
       algor_params->obj_confidence_threshold = 0.5f;
       algor_params->obj_min_height = 6;
       algor_params->obj_min_width = 32;
@@ -354,7 +354,7 @@ 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_WRONGDIRECTION: {
+  case algorithm_type_t::VEHICLE_WRONGDIRECTION: {
     auto algor_params = new algor_config_param_manned_incident;
     {
       algor_params->m = 5;
@@ -375,6 +375,27 @@ 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_NOTGIVEWAY: {
+    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_notgiveway";
+      basic_params->result_folder_little = "res/vehicle_notgiveway_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;
@@ -1016,8 +1037,8 @@ 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};
-    std::vector<algorithm_type_t> algor_vec3 = {algorithm_type_t::NONMOTOR_WRONGDIRECTION, algorithm_type_t::VEHICLE_WRONGDIRECTION};
+                                            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::PERSON_RUNNING_REDLIGHTS, algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS};
 /*
   int repeat_num = 1000;
@@ -1039,22 +1060,22 @@ 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, 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_vec3, 16);
-    createTask(handle, algor_vec3, 17);
-    createTask(handle, algor_vec3, 18);
-    createTask(handle, algor_vec3, 19);
+    createTask(handle, algor_vec2, 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_vec2, 16);
+    createTask(handle, algor_vec2, 17);
+    createTask(handle, algor_vec2, 18);
+    createTask(handle, algor_vec2, 19);
     // createTask(handle, algor_vec2, 20);
     // createTask(handle, algor_vec2, 21);
     // createTask(handle, algor_vec2, 22);
@@ -393,8 +393,9 @@ void snapshot_reprocessing::update_village_bestsnapshot(vector&lt;DeviceMemory*&gt; ve
 				algor_param[task_id].count(algorithm_type_t::PERSON_RUNNING_REDLIGHTS) || algor_param[task_id].count(algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS) ||
 				algor_param[task_id].count(algorithm_type_t::PERSON_IN_VEHICLELANE) || algor_param[task_id].count(algorithm_type_t::NONMOTOR_IN_VEHICLELANE) ||
 				algor_param[task_id].count(algorithm_type_t::NONMOTOR_CEOSSPARKLINE) || algor_param[task_id].count(algorithm_type_t::PERSON_CROSS) ||
-				algor_param[task_id].count(algorithm_type_t::NONMOTOR_WRONGDIRECTION) || algor_param[task_id].count(algorithm_type_t::VEHICLE_WRONGDIRECTION)
-				))
+				algor_param[task_id].count(algorithm_type_t::NONMOTOR_WRONGDIRECTION) || algor_param[task_id].count(algorithm_type_t::VEHICLE_WRONGDIRECTION) ||
+				algor_param[task_id].count(algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) || algor_param[task_id].count(algorithm_type_t::VEHICLE_NOTGIVEWAY) ||
+				algor_param[task_id].count(algorithm_type_t::VEHICLE_NOTDECELERATION)))
 					continue;
 				if(!snapshot_legal_minarea(index, cur_real_width, cur_real_height)){
@@ -460,8 +461,9 @@ void snapshot_reprocessing::update_village_bestsnapshot(vector&lt;DeviceMemory*&gt; ve
 				algor_param[task_id].count(algorithm_type_t::PERSON_RUNNING_REDLIGHTS) || algor_param[task_id].count(algorithm_type_t::NONMOTOR_RUNNING_REDLIGHTS) ||
 				algor_param[task_id].count(algorithm_type_t::PERSON_IN_VEHICLELANE) || algor_param[task_id].count(algorithm_type_t::NONMOTOR_IN_VEHICLELANE) ||
 				algor_param[task_id].count(algorithm_type_t::NONMOTOR_CEOSSPARKLINE) || algor_param[task_id].count(algorithm_type_t::PERSON_CROSS) ||
-				algor_param[task_id].count(algorithm_type_t::NONMOTOR_WRONGDIRECTION) || algor_param[task_id].count(algorithm_type_t::VEHICLE_WRONGDIRECTION)
-				))
+				algor_param[task_id].count(algorithm_type_t::NONMOTOR_WRONGDIRECTION) || algor_param[task_id].count(algorithm_type_t::VEHICLE_WRONGDIRECTION) ||
+				algor_param[task_id].count(algorithm_type_t::VEHICLE_SOLIDLINETURNAROUND) || algor_param[task_id].count(algorithm_type_t::VEHICLE_NOTGIVEWAY) ||
+				algor_param[task_id].count(algorithm_type_t::VEHICLE_NOTDECELERATION)))
 					continue;
 				// 过滤边缘位置