置信度添加

Zou XiKun
1 parent 06edc90d
Showing 9 changed files with 89 additions and 30 deletions
src/left_over/ConExtraction.cpp
src/left_over/ConExtraction.h
src/left_over/MSRegionSurveilance.h
src/left_over/MSRegionSurveilanceCpu.cpp
src/left_over/RegionSurveillanceProcess.h
src/left_over/left_over_det.h
src/left_over/ms_region_surveilance.cpp
src/left_over/svibe.cpp
src/left_over/svibe.h
@@ -55,6 +55,7 @@ CConExtraction::~CConExtraction()
 *******************************************************************************/
 vector<CContour> CConExtraction::ExtractContours(
 unsigned char *pSrcImage,// the point to the source imagedata
+float *MaskImgCfd,
 const int &width,        // the  pixel number of each coloum
 const int &height,       // the pixel number of each row(ÁÐ)
 const int &step          // the byte number of each colum
@@ -124,7 +125,7 @@ const int &amp;step          // the byte number of each colum
 				origin.x = x;
 				origin.y = y;
-				m_contour = FetchContour(img + step * y + x, step, origin);	
+				m_contour = FetchContour(img + step * y + x, MaskImgCfd, step, origin);
 				// for debug use
 				//m_contour.label=0;
@@ -240,6 +241,7 @@ const int &amp;step
 *******************************************************************************/
 CContour CConExtraction::FetchContour(
 unsigned char *pImage, // the pointer to the starting pixel position value of the external contour
+float * cfg,
 const int &step,       // the byte number of each colum
 iCPoint &pt            // the starting point position of the external contour
 )
@@ -339,7 +341,25 @@ iCPoint &amp;pt            // the starting point position of the external contour
 		    m_Contour.bottom = m_rect.bottom;
 			m_Contour.xCenter = (m_Contour.left + m_Contour.right) / 2;
 			m_Contour.yCenter = (m_Contour.top + m_Contour.bottom) / 2;	
-		    m_Contour.label = true;
+			int count = 0;
+			double totalCfd = 0;
+			for (auto item : m_Pointvec)
+			{
+				if (cfg[item.y * step + item.x] > 0.001)
+				{
+					totalCfd += cfg[item.y * step + item.x];
+					++count;
+				}
+			}
+			if (count)
+			{
+				m_Contour.cfd = totalCfd / count;
+				m_Contour.label = true;
+			}
+			else
+			{
+				m_Contour.label = false;
+			}
 		}
 		else
 		{
@@ -349,6 +369,7 @@ iCPoint &amp;pt            // the starting point position of the external contour
 		    m_Contour.bottom = 0;
 			m_Contour.xCenter = 0;
 			m_Contour.yCenter = 0;
+			m_Contour.cfd = 0;
 		    m_Contour.label = false;
 		}
 	}
@@ -360,6 +381,7 @@ iCPoint &amp;pt            // the starting point position of the external contour
 		m_Contour.bottom = 0;
 		m_Contour.xCenter = 0;
 		m_Contour.yCenter = 0;
+		m_Contour.cfd = 0;
 		m_Contour.label = false;
 	}
@@ -35,6 +35,7 @@ typedef struct CContour
 	int  bottom;
 	int  xCenter;
 	int  yCenter;
+	float cfd;
 	bool label;
 }CContour; // the detected target external contour of the current frame 
@@ -63,7 +64,7 @@ public:
 	virtual ~CConExtraction();
 public:
-	vector<CContour> ExtractContours (unsigned char *pSrcImage, const int &width, const int &height, const int &step);
+	vector<CContour> ExtractContours (unsigned char *pSrcImage, float *MaskImgCfd, const int &width, const int &height, const int &step);
 	//vector<CForegroundTarget> DetectTarget(unsigned char *pSrcImage, const int &width, const int &height, const int &step);
@@ -77,7 +78,7 @@ private:
 	iRect m_rect; //the rectangle of the contour
 private:
-	CContour FetchContour(unsigned char *pImage, const int &step,  iCPoint &pt);
+	CContour FetchContour(unsigned char *pImage, float * cfg, const int &step,  iCPoint &pt);
     void BoundingRect(vector<iCPoint> Pointvec); //get the corresponding rectangle of a point set
@@ -99,6 +99,7 @@ struct CForeground
 {
 	CMRect  m_rtConnect;
 	CMPoint m_ptCenter;
+	float m_cfd;
 };
 typedef struct CTarget
@@ -152,6 +153,7 @@ typedef struct CTarget
 	long nFrameCurr;    // 记录当前逗留帧数
 	int  lastFrame;     // 上次监测到逗留距离当前的帧数
 	CMRect m_TarBox;
+	float cfd;
 	int dwGlobalID;
 }CTarget;
@@ -177,6 +179,7 @@ typedef struct MS_ObjectInfo {
 	MS_Trace trace;						// 轨迹及报警状态
 	int      UniqueID;					// 当前目标的特点ID
 	CMRect   TarBox;					// 目标外接矩形
+	float    confidence;                 // 置信度
 	bool     pbAlarmState[MAXROINUM];   // 对应区域是否报警
 	int      pbAlarmType[MAXROINUM];    // 对应区域是哪种报警
 }MS_ObjectInfo;
@@ -190,6 +193,7 @@ public:
 	int OBJECT_AREA_MAX;	//默认最小过滤面积	by zl 20160304
 	int stay_dis;
 	unsigned char* MaskImgData;
+	float* MaskImgCfd;
 	int gWinSize;
 	bool gfiltFlag;
@@ -78,7 +78,7 @@ int IRegionSurveillanceCpu::rs_detect(const sy_img &amp;img_data, region_info* regio
 		{
 			result->obj_infos[totalObjCount].curPos.x_ = ObjInfo[i].curPos.x+rect[k].left_;				    // 当前坐标
 			result->obj_infos[totalObjCount].curPos.y_ = ObjInfo[i].curPos.y+rect[k].top_;				    // 当前坐标
-
+			result->obj_infos[totalObjCount].confidence = ObjInfo[i].confidence;
 			result->obj_infos[totalObjCount].trace.trace_num = ObjInfo[i].trace.nTraceNum;						// 轨迹及报警状态
 			//printf("nTraceNum = %d\n", ObjInfo[i].trace.nTraceNum);
 			for (int j = 0; j < MAXTRACENUM; ++j)
@@ -115,7 +115,7 @@ int IRegionSurveillanceCpu::rs_detect(const sy_img &amp;img_data, region_info* regio
 		{
 			result->del_infos[totalDelCount].curPos.x_ = DelInfo[i].curPos.x + rect[k].left_;				    // 当前坐标
 			result->del_infos[totalDelCount].curPos.y_ = DelInfo[i].curPos.y + rect[k].top_;				    // 当前坐标
-
+			result->del_infos[totalDelCount].confidence = DelInfo[i].confidence;
 			result->del_infos[totalDelCount].trace.trace_num = DelInfo[i].trace.nTraceNum;						// 轨迹及报警状态
 			//printf("del_infos nTraceNum = %d\n", DelInfo[i].trace.nTraceNum);
 			for (int j = 0; j < MAXTRACENUM; ++j)
@@ -2,7 +2,9 @@
 #include "left_over_det.h"
 #include <atomic>
 #include "header.h"
+#ifndef _MSC_VER
 #include "checkAuthor.h"
+#endif
 #define DEVICE_GPU 10
 typedef struct rs_params
 {
@@ -63,7 +65,9 @@ public:
 	bool init_flag = false;
 	sy_rect rect[MAXVERTEXNUM];          //有效区域
 	unsigned char rect_num;              //有效区域数量
+#ifndef _MSC_VER
  	CheckAuthor * auth = nullptr;
+#endif
 private:
 	//int mode;	              //运行模式0 cpu 
 	//MS_RegionSurveillance MS1;
@@ -92,7 +92,9 @@ typedef struct rs_param
 	double   scale;						 //缩小比例
 	sy_rect rect[MAXVERTEXNUM];          //有效区域
 	unsigned char rect_num;              //有效区域数量
+#ifndef _MSC_VER
 	rs_auth_config auth;
+#endif
 	rs_auth_type type;
 }rs_param;
 #endif
@@ -111,12 +113,13 @@ typedef struct ms_trace {
 #ifndef __RS_INFO__
 #define __RS_INFO__
 	typedef struct ms_object_info {
-		sy_point  curPos;				    // 当前坐标
+		sy_point  curPos;				        // 当前坐标
 		ms_trace  trace;						// 轨迹及报警状态
 		int       unique_id;					// 当前目标的特点ID
-		sy_rect   tar_box;					// 目标外接矩形
-		bool      pb_alarm_state[MAXROINUM];   // 对应区域是否报警
-		int       pb_alarm_type[MAXROINUM];    // 对应区域是哪种报警
+		sy_rect   tar_box;					    // 目标外接矩形
+		float    confidence;                    // 置信度
+		bool      pb_alarm_state[MAXROINUM];    // 对应区域是否报警
+		int       pb_alarm_type[MAXROINUM];     // 对应区域是哪种报警
 	}ms_object_info;
 #endif
@@ -124,13 +124,18 @@ int rs_init(void **handle, rs_param param)
 	bool auth_type = false;
 	if(param.type == PRODUCT_ID)
 	{
+#ifndef _MSC_VER
 		char uuid[36] = {};
 		FILE *Uuid = fopen("/proc/sys/kernel/random/uuid", "r");
 		fgets(uuid, 36, Uuid);
 		fclose(Uuid);
+
 		regin->auth = new CheckAuthor;
 		regin->auth->Init(param.auth.url, param.auth.port, uuid, productSN, 1);
 		auth_type = regin->auth->GetAuthorStatus();
+#else
+		auth_type = true;
+#endif
 	}
 	if (param.type == TIME)
 	{
@@ -237,11 +242,13 @@ int rs_process(void *handle, sy_img img_data, rs_result *result)
 		return -1;
 	}
 	RegionSurveillanceProcess* regin = (RegionSurveillanceProcess*)handle;
+#ifndef _MSC_VER
 	if (regin->type == PRODUCT_ID && (regin->auth && 0 == regin->auth->GetAuthorStatus()))
 	{
 		printf("auth error \n");
 		return -1;
 	}
+#endif
 	region_info pRegionInfo;
 	pRegionInfo.alarm_info = 6;
 	pRegionInfo.frame_num = regin->frame_num;
@@ -383,11 +390,13 @@ void rs_release(void **handle)
 		printf("handle is NULL \n");
 		return;
 	}
+#ifndef _MSC_VER
 	if (regin->type == PRODUCT_ID && regin->auth)
 	{
 		regin->auth->Uninit();
 		delete regin->auth;
 	}
+#endif
 	delete regin;
 	regin = nullptr;
 }
@@ -157,9 +157,11 @@ int RegionSurveillance::RSinit(int nWidth, int nHeight, int widthstep, unsigned 
 	}
 	*/
-	MaskImgData  = (unsigned char*) malloc(sizeof(unsigned char*) * GlobelWidth * GlobelHeight);
-	memset(MaskImgData, 0, sizeof(unsigned char*)* GlobelWidth * GlobelHeight);
+	MaskImgData  = (unsigned char*) malloc(sizeof(unsigned char) * GlobelWidth * GlobelHeight);
+	memset(MaskImgData, 0, sizeof(unsigned char)* GlobelWidth * GlobelHeight);
+	MaskImgCfd = (float *)malloc(sizeof(float) * GlobelWidth * GlobelHeight);
+	memset(MaskImgCfd, 0, sizeof(float)* GlobelWidth * GlobelHeight);
 	if (!vbM)
 	{
 		// 初始化模型
@@ -371,7 +373,7 @@ VibeModel_t* RegionSurveillance::VibeModelInitC3(uint8_t *image_data)
     return vbM;
 }
-void RegionSurveillance::VibeModelUpdateC1(VibeModel_t *model, uint8_t *image, uint8_t *output)
+void RegionSurveillance::VibeModelUpdateC1(VibeModel_t *model, uint8_t *image, uint8_t *output, float * confidence)
 {
 	int32_t x, y, xNG, yNG, count, index, dist, sampleOffset, imageOffset;
 	uint32_t rand;
@@ -402,7 +404,7 @@ void RegionSurveillance::VibeModelUpdateC1(VibeModel_t *model, uint8_t *image, u
 			if (count < model->nMatch)
 			{
 				output[imageOffset] = VBPARAM->DEFAULT_COLOR_FOREGROUND;
-
+				confidence[imageOffset] = 1.00 - ((float)count / (float)model->nMatch);
 				if (g_frameCount < model->nSample)
 				{
 					rand = GetRand() % (model->nSample);
@@ -415,7 +417,7 @@ void RegionSurveillance::VibeModelUpdateC1(VibeModel_t *model, uint8_t *image, u
 			else
 			{
 				output[imageOffset] = VBPARAM->DEFAULT_COLOR_BACKGROUND;
-
+				confidence[imageOffset] = 0.00;
 				if (g_frameCount < model->nSample)
 				{
 					rand = GetRand() % (model->nSample);
@@ -699,7 +701,7 @@ void RegionSurveillance::RSDetect(unsigned char* frameImgData, RegionInfo* pRegi
 				delete[] inputData;
 			}
-			VibeModelUpdateC1(vbM, greyImgData, MaskImgData);
+			VibeModelUpdateC1(vbM, greyImgData, MaskImgData, MaskImgCfd);
 		} 
 		else
 		{
@@ -729,7 +731,7 @@ void RegionSurveillance::RSDetect(unsigned char* frameImgData, RegionInfo* pRegi
 				delete[] inputData;
 			}
-			VibeModelUpdateC1(vbM, frameImgData, MaskImgData);
+			VibeModelUpdateC1(vbM, frameImgData, MaskImgData, MaskImgCfd);
 		}
 		//VibeModelUpdateC1(vbM, greyImgData, MaskImgData);
@@ -748,7 +750,7 @@ void RegionSurveillance::RSDetect(unsigned char* frameImgData, RegionInfo* pRegi
 	*/
 	//get trace
-	VibeModelGetTrace(MaskImgData, frameImgData, pRegionInfo);
+	VibeModelGetTrace(MaskImgData, MaskImgCfd, frameImgData, pRegionInfo);
 }
@@ -1104,7 +1106,7 @@ void RegionSurveillance::SortForeground(vector&lt;CForeground&gt; &amp;ForegroundArray)
 	std::sort(ForegroundArray.begin(),ForegroundArray.end(), SortByPoint);  
 }
-
+#include <math.h>
 int RegionSurveillance::dwGlobalID;
 /******************************************************************************
 * Function:        VibeModelGetTrace
@@ -1134,7 +1136,7 @@ int RegionSurveillance::dwGlobalID;
 							m_AlarmNum 报警编号 
 							//m_TarBox 目标的外接矩形
 *******************************************************************************/
-void RegionSurveillance::VibeModelGetTrace(unsigned char* pSourceImg, unsigned char* pRGBIn, RegionInfo* pRegionInfo)
+void RegionSurveillance::VibeModelGetTrace(unsigned char* pSourceImg, float *MaskImgCfd, unsigned char* pRGBIn, RegionInfo* pRegionInfo)
 {
 	/*
 	memset(regionAlarm, 0, sizeof(bool) * MAXROINUM);
@@ -1157,11 +1159,11 @@ void RegionSurveillance::VibeModelGetTrace(unsigned char* pSourceImg, unsigned c
 	// 满足条件的（像素点 面积等条件100）前景外接矩形
 	if (channel_num == 3)
 	{
-		foreContours = pConExtraction->ExtractContours(pSourceImg, GlobelWidth, GlobelHeight, GlobelWidthstep / 3);
+		foreContours = pConExtraction->ExtractContours(pSourceImg, MaskImgCfd,GlobelWidth, GlobelHeight, GlobelWidthstep / 3);
 	} 
 	else
 	{
-		foreContours = pConExtraction->ExtractContours(pSourceImg, GlobelWidth, GlobelHeight, GlobelWidthstep);
+		foreContours = pConExtraction->ExtractContours(pSourceImg, MaskImgCfd, GlobelWidth, GlobelHeight, GlobelWidthstep);
 	}
 	//轨迹匹配-zhm
@@ -1176,8 +1178,8 @@ void RegionSurveillance::VibeModelGetTrace(unsigned char* pSourceImg, unsigned c
   		testTarget.m_rtConnect.bottom = foreContours[i].bottom;
   		testTarget.m_ptCenter.x = (testTarget.m_rtConnect.left + testTarget.m_rtConnect.right) / 2;
   		testTarget.m_ptCenter.y = (testTarget.m_rtConnect.top + testTarget.m_rtConnect.bottom) / 2;
-
-	
+		testTarget.m_cfd = foreContours[i].cfd;
+		
 		//大于最小过滤面积且小于最大过滤面积	by zl 20160304
 		int targetArea = abs((testTarget.m_rtConnect.left - testTarget.m_rtConnect.right) * (testTarget.m_rtConnect.top - testTarget.m_rtConnect.bottom));
 		if ( targetArea > OBJECT_AREA_MIN && targetArea < OBJECT_AREA_MAX)
@@ -1318,7 +1320,7 @@ void RegionSurveillance::VibeModelGetTrace(unsigned char* pSourceImg, unsigned c
 			//m_TargetArray[dwBestMatch].m_AlarmState5 = false;
 			m_TargetArray[dwBestMatch].m_dwLostFrame = 0;
 			m_TargetArray[dwBestMatch].m_ptArray.push_back(ForegroundArray[i].m_ptCenter);
-
+			m_TargetArray[dwBestMatch].cfd = ForegroundArray[i].m_cfd;
 			// Update current reference point
 			int dwPointCount = m_TargetArray[dwBestMatch].m_ptArray.size();
@@ -1395,6 +1397,7 @@ void RegionSurveillance::VibeModelGetTrace(unsigned char* pSourceImg, unsigned c
 			m_TargetArray[dwBestMatch].m_CurRefPoint.y += (double)ForegroundArray[i].m_ptCenter.y / m_dwFrameWnd;
 			m_TargetArray[dwBestMatch].m_TarBox = ForegroundArray[i].m_rtConnect;
+			m_TargetArray[dwBestMatch].cfd = ForegroundArray[i].m_cfd;
 		}
@@ -2102,6 +2105,8 @@ void RegionSurveillance::getObjectInfo(int ObjCount, MS_ObjectInfo* ObjInfo)
 	{
 		int dwPointCount = m_FinalArray[i].m_ptArray.size();
 		ObjInfo[i].curPos = m_FinalArray[i].m_ptArray[dwPointCount - 1];
+		ObjInfo[i].confidence = m_FinalArray[i].cfd;
+
 		int temp_dwPointCount = dwPointCount;
 		if (dwPointCount > MAXTRACENUM)
 		{
@@ -2149,7 +2154,8 @@ void RegionSurveillance::getObjectInfo(int ObjCount, MS_ObjectInfo* ObjInfo)
 		*/
 		// unique ID for current object
 		ObjInfo[i].TarBox = m_FinalArray[i].m_TarBox;    //目标外接矩形
-		ObjInfo[i].UniqueID = m_FinalArray[i].m_dwID;	//当前目标的特点ID					
+		ObjInfo[i].UniqueID = m_FinalArray[i].m_dwID;	//当前目标的特点ID	
+		//printf("UniqueID = %d, cfd = %f\n", ObjInfo[i].UniqueID, ObjInfo[i].confidence);
 	}
 }
@@ -2161,6 +2167,7 @@ void RegionSurveillance::getDeleteInfo(int DelCount, MS_ObjectInfo* ObjInfo)
 	{
 		int dwPointCount = m_DelArray[i].m_ptArray.size();
 		ObjInfo[i].curPos = m_DelArray[i].m_ptArray[dwPointCount - 1];
+
 		int temp_dwPointCount = dwPointCount;
 		if (dwPointCount > MAXTRACENUM)
 		{
@@ -2208,7 +2215,8 @@ void RegionSurveillance::getDeleteInfo(int DelCount, MS_ObjectInfo* ObjInfo)
 		*/
 		// unique ID for current object
 		ObjInfo[i].TarBox = m_DelArray[i].m_TarBox;    //目标外接矩形
-		ObjInfo[i].UniqueID = m_DelArray[i].m_dwID;	//当前目标的特点ID					
+		ObjInfo[i].UniqueID = m_DelArray[i].m_dwID;	//当前目标的特点ID	
+		ObjInfo[i].confidence = m_DelArray[i].cfd;
 	}
 }
@@ -3340,6 +3348,13 @@ void RegionSurveillance::RSrelease()
 	//m_TargetArray.swap(vector<CTarget>(0));
 	//m_FinalArray.swap(vector<CTarget>(0));
+	
+	if (MaskImgCfd != NULL)
+	{
+		free(MaskImgCfd);
+		MaskImgCfd = NULL;
+	}
+
 	if (MaskImgData != NULL)
 	{
 		free(MaskImgData);
@@ -29,7 +29,7 @@ typedef struct VIBEPARAM	//by zl 20160520 代替宏定义 目的：可修改
 	int DEFAULT_COLOR_BACKGROUND;
 	int DEFAULT_COLOR_FOREGROUND;
 	int P_UPSPEED;
-	VIBEPARAM(int samples = 20, int threshold = 35, int p_match = 2, int bgcolor = 0, int forecolor = 255, int upspeed = 16)
+	VIBEPARAM(int samples = 20, int threshold = 35, int p_match = 20, int bgcolor = 0, int forecolor = 255, int upspeed = 16)
 	{
 		P_SAMPLES = samples;
 		P_THRESHOLD = threshold;
@@ -70,8 +70,8 @@ public:
 	VibeModel_t* VibeModelInitC1(uint8_t *image_data);
 	VibeModel_t* VibeModelInitC3(uint8_t *image_data);
-	void VibeModelGetTrace(unsigned char* inputdata,unsigned char* pRgbInData,RegionInfo* pRegionInfo);
-	void VibeModelUpdateC1(VibeModel_t *model, uint8_t *image, uint8_t *output);
+	void VibeModelGetTrace(unsigned char* inputdata, float *MaskImgCfd, unsigned char* pRgbInData,RegionInfo* pRegionInfo);
+	void VibeModelUpdateC1(VibeModel_t *model, uint8_t *image, uint8_t *output, float * confidence);
 	void VibeModelUpdateC3(VibeModel_t *model, uint8_t *image, uint8_t *output);
 	int RSinit(int nWidth, int nHeight, int widthstep, unsigned char* frameImgData, 
@@ -119,6 +119,7 @@ public:
 		stay_dis = 5;
 		greyImgData = NULL;
 		MaskImgData = NULL;
+		MaskImgCfd = NULL;
 		gWinSize = 3;
 		g_randTable = NULL;
 		g_XTable = NULL;