增加侧边右向行车摄像头使用箱角进行切分

ai_matrix/Config/Config.cpp

@@ -56,6 +56,7 @@ namespace ai_matrix
                 dataSourceConfig.iSkipInterval = it["skip_interval"].as<int>();
                 dataSourceConfig.vecIdentifyAreas = it["identify_areas"].as<std::vector<int>>();
                 dataSourceConfig.strDivideModel = it["divide_mode"].as<std::string>();
+                dataSourceConfig.strRunDirection = it["run_direction"].as<std::string>();
                 this->vecDataSourceConfig_.emplace_back(dataSourceConfig);
             }
 

ai_matrix/Config/Config.h

@@ -64,6 +64,8 @@ namespace ai_matrix
         std::vector<int> vecIdentifyAreas;
         // 切箱方式
         std::string strDivideModel;
+        // 汽车行进方向
+        std::string strRunDirection;
     };
 
     // 识别参数

common/AppCommon.h

@@ -137,8 +137,8 @@ using namespace nvcaffeparser1;
 #define STEP1_CLASS_NUM 19    //step1 7分类
 #define STEP1_CLEAR_NUM 21     //step1 21个清晰度
 
-#define STEP1_INPUT_H  960        //step1 输入图像高
+#define STEP1_INPUT_H  640        //step1 输入图像高
-#define STEP1_INPUT_W  960       //step1 输入图像宽
+#define STEP1_INPUT_W  640       //step1 输入图像宽
 #define STEP1_BATCH_SIZE 1
 #define STEP1_OUTPUT_HISTOGRAM_N 5    //不能超过139167
 

common/CommonStruct.h

@@ -330,6 +330,8 @@ typedef  struct
     Step2ResultData step2ResultData;
     // 箱角大框
     std::vector<Step2ResultData> vecCornerResultData;
+    // 图片
+    cv::Mat cvImage;
     // 是否最后一节
     bool bIsEnd = false;
 } VStep2OutputData;

config/config.yaml

@@ -32,6 +32,8 @@ data_source:
     identify_areas: [120, 0, 1800, 1080]
     # 切箱方式
     divide_mode: "corner" #[corner, pixel]
+    # 汽车行进方向
+    run_direction: "down" #[up, down, left, right]
   - # 侧部摄像头
     url: "./videos/buertai2.mp4"
     # 跳帧数
@@ -40,6 +42,8 @@ data_source:
     identify_areas: [ 120, 0, 1800, 1080 ]
     # 切箱方式
     divide_mode: "pixel" #[corner, pixel]
+    # 汽车行进方向
+    run_direction: "right" #[up, down, left, right]
   - # 侧边摄像头
     url: "./videos/buertai2.mp4"
     # 跳帧数
@@ -48,6 +52,8 @@ data_source:
     identify_areas: [ 120, 0, 1800, 1080 ]
     # 切箱方式
     divide_mode: "pixel" #[corner, pixel]
+    # 汽车行进方向
+    run_direction: "left" #[up, down, left, right]
 
 # 识别参数
 identify:

engine/ControlEngine/ControlEngine.cpp

@@ -245,12 +245,12 @@ APP_ERROR ControlEngine::Process()
             outputQueMap_[strPort3_]->push(std::static_pointer_cast<void>(pVDetectInfo), true);
 
             // 存图
-            std::shared_ptr<SaveImgData> pSaveImgData = std::make_shared<SaveImgData>();
+//            std::shared_ptr<SaveImgData> pSaveImgData = std::make_shared<SaveImgData>();
-            pSaveImgData->strFilePath = strFilePath;
+//            pSaveImgData->strFilePath = strFilePath;
-            pSaveImgData->strFileName = std::to_string(this->mapDetectNO_[pProcessData->iDataSource]) + "_" + std::to_string(pProcessData->iDataSource) + ".jpg";
+//            pSaveImgData->strFileName = std::to_string(this->mapDetectNO_[pProcessData->iDataSource]) + "_" + std::to_string(pProcessData->iDataSource) + ".jpg";
-            pSaveImgData->cvImage = image;
+//            pSaveImgData->cvImage = image;
-            pSaveImgData->bIsEnd = pProcessData->bIsEnd;
+//            pSaveImgData->bIsEnd = pProcessData->bIsEnd;
-            outputQueMap_[strPort4_]->push(std::static_pointer_cast<void>(pSaveImgData), true);
+//            outputQueMap_[strPort4_]->push(std::static_pointer_cast<void>(pSaveImgData), true);
 
             this->mapDetectNO_[pProcessData->iDataSource]++;
         }

engine/DetectDivideEngine/ContainerDivideEngine.h

@@ -25,7 +25,7 @@ private:
     void divideInfo(std::shared_ptr<VStep2OutputData> pVStep2OutputData);
     void divideByPixelInfo(std::shared_ptr<VStep2OutputData> pVStep2OutputData);
     void divideByCornerInfo(std::shared_ptr<VStep2OutputData> pVStep2OutputData);
-    void setectBestByCorner();
+    bool setectBestByCorner();
     void sendBestData(const VSelectBestData& selectBestData);
     void makeResult(const std::shared_ptr<VStep2OutputData>& pVStep2OutputData,
                                 VSelectBestData & selectBestData) const;

engine/SaveDebugImageEngine/SaveDebugImageEngine.cpp

@@ -42,16 +42,8 @@ APP_ERROR SaveDebugImageEngine::Process()
             continue;
         }
 
-        if (!this->baseConfig_.bTestModel)
-        {
-            usleep(1000);
-            continue;
-        }
-
-
         std::shared_ptr<VStep2OutputData> pVStep2OutputData = std::static_pointer_cast<VStep2OutputData>(pvoidd);
 
-
         std::string strDataDir = this->baseConfig_.strDebugResultPath + "/"
                                  + pVStep2OutputData->strDetectDate + "/"
                                  + StringUtil::getins()->replace_all_distinct(pVStep2OutputData->strDetectTime, ":", "-")
@@ -72,70 +64,74 @@ APP_ERROR SaveDebugImageEngine::Process()
             continue;
         }
 
-        cv::Mat image = cv::imread(strImagePath);
+//        cv::Mat image = cv::imread(strImagePath);
 
-        if (image.empty())
+        if (pVStep2OutputData->cvImage.empty())
         {
-            LogWarn << "图像未找到：" << strImagePath;
+            LogWarn << " 帧:" << pVStep2OutputData->iFrameId << " 数据源:" << pVStep2OutputData->iDataSource << " debug图像未找到";
             continue;
         }
 
-        std::stringstream ss;
+        if (this->baseConfig_.bTestModel)
-        std::vector<std::string> vecTitle;
-        vecTitle.emplace_back("FrameID:" + to_string(pVStep2OutputData->iFrameId));
-        vecTitle.emplace_back("TimeStamp:" + jvFrameInfo["timeStamp"].asString());
-
-        int base_line = 0;
-        cv::Point text_org(15, 45); // 文本起始点
-        for (const auto & i : vecTitle)
         {
-            cv::Size text_size = cv::getTextSize(i, cv::FONT_HERSHEY_SIMPLEX, 1, 2, 0);
+//            std::stringstream ss;
-            cv::Point baseline_loc(text_org);
+            std::vector<std::string> vecTitle;
-            baseline_loc.y += base_line + text_size.height;
+            vecTitle.emplace_back("FrameID:" + to_string(pVStep2OutputData->iFrameId));
-            cv::putText(image, i, baseline_loc, cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(0, 255, 0, 255), 2);
+            vecTitle.emplace_back("TimeStamp:" + jvFrameInfo["timeStamp"].asString());
-            // 手动调整x位置，为下一个单词留出空间
-            text_org.x += text_size.width + 10;
-            text_org.x = text_org.x > IMAGE_WIDTH ? 15 : text_org.x;
-            base_line++;
-        }
 
-        cv::Scalar cvScalar = {0, 255, 0, 255};
+            int base_line = 0;
+            cv::Point text_org(15, 45); // 文本起始点
+            for (const auto & i : vecTitle)
+            {
+                cv::Size text_size = cv::getTextSize(i, cv::FONT_HERSHEY_SIMPLEX, 1, 2, 0);
+                cv::Point baseline_loc(text_org);
+                baseline_loc.y += base_line + text_size.height;
+                cv::putText(pVStep2OutputData->cvImage, i, baseline_loc, cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(0, 255, 0, 255), 2);
+                // 手动调整x位置，为下一个单词留出空间
+                text_org.x += text_size.width + 10;
+                text_org.x = text_org.x > IMAGE_WIDTH ? 15 : text_org.x;
+                base_line++;
+            }
 
-        float centerX = pVStep2OutputData->step2ResultData.fLTX + (pVStep2OutputData->step2ResultData.fRBX - pVStep2OutputData->step2ResultData.fLTX)/2;
+            cv::Scalar cvScalar = {0, 255, 0, 255};
-        float centerY = pVStep2OutputData->step2ResultData.fLTY + (pVStep2OutputData->step2ResultData.fRBY - pVStep2OutputData->step2ResultData.fLTY)/2;
+
+            float centerX = pVStep2OutputData->step2ResultData.fLTX + (pVStep2OutputData->step2ResultData.fRBX - pVStep2OutputData->step2ResultData.fLTX)/2;
+            float centerY = pVStep2OutputData->step2ResultData.fLTY + (pVStep2OutputData->step2ResultData.fRBY - pVStep2OutputData->step2ResultData.fLTY)/2;
 //        auto start = std::chrono::system_clock::now();  //计时开始
-        cv::rectangle(image,
+            cv::rectangle(pVStep2OutputData->cvImage,
-                      cv::Point(pVStep2OutputData->step2ResultData.fLTX, pVStep2OutputData->step2ResultData.fLTY),
+                          cv::Point(pVStep2OutputData->step2ResultData.fLTX, pVStep2OutputData->step2ResultData.fLTY),
-                      cv::Point(pVStep2OutputData->step2ResultData.fRBX, pVStep2OutputData->step2ResultData.fRBY),
+                          cv::Point(pVStep2OutputData->step2ResultData.fRBX, pVStep2OutputData->step2ResultData.fRBY),
-                      cvScalar, 2);
-        cv::line(image,
-                 cv::Point(centerX, pVStep2OutputData->step2ResultData.fLTY-30), cv::Point(centerX, pVStep2OutputData->step2ResultData.fRBY+30),
-                 cvScalar, 1);
-
-        cv::Size text_size = cv::getTextSize(pVStep2OutputData->step2ResultData.transInfo.strTmpResult, cv::FONT_HERSHEY_SIMPLEX, 1, 2, 0);
-        cv::Point linePoint(pVStep2OutputData->step2ResultData.fLTX, pVStep2OutputData->step2ResultData.fRBY + text_size.height + 5);
-        cv::putText(image,
-                    pVStep2OutputData->step2ResultData.transInfo.strTmpResult,
-                    linePoint,
-                    cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(0, 255, 0, 180), 2);
-
-
-        for (const auto &step2ResultData : pVStep2OutputData->vecCornerResultData)
-        {
-            cvScalar = {0, 255, 255, 255};
-            float centerX_corner = step2ResultData.fLTX + (step2ResultData.fRBX - step2ResultData.fLTX)/2;
-            cv::rectangle(image,
-                          cv::Point(step2ResultData.fLTX, step2ResultData.fLTY),
-                          cv::Point(step2ResultData.fRBX, step2ResultData.fRBY),
                           cvScalar, 2);
-            cv::line(image,
+            cv::line(pVStep2OutputData->cvImage,
-                     cv::Point(centerX_corner, step2ResultData.fLTY-30), cv::Point(centerX_corner, step2ResultData.fRBY+30),
+                     cv::Point(centerX, pVStep2OutputData->step2ResultData.fLTY-30), cv::Point(centerX, pVStep2OutputData->step2ResultData.fRBY+30),
                      cvScalar, 1);
+
+            cv::Size text_size = cv::getTextSize(pVStep2OutputData->step2ResultData.transInfo.strTmpResult, cv::FONT_HERSHEY_SIMPLEX, 1, 2, 0);
+            cv::Point linePoint(pVStep2OutputData->step2ResultData.fLTX, pVStep2OutputData->step2ResultData.fRBY + text_size.height + 5);
+            cv::putText(pVStep2OutputData->cvImage,
+                        pVStep2OutputData->step2ResultData.transInfo.strTmpResult,
+                        linePoint,
+                        cv::FONT_HERSHEY_SIMPLEX, 1, cv::Scalar(0, 255, 0, 180), 2);
+
+
+            for (const auto &step2ResultData : pVStep2OutputData->vecCornerResultData)
+            {
+                cvScalar = {0, 255, 255, 255};
+                float centerX_corner = step2ResultData.fLTX + (step2ResultData.fRBX - step2ResultData.fLTX)/2;
+                cv::rectangle(pVStep2OutputData->cvImage,
+                              cv::Point(step2ResultData.fLTX, step2ResultData.fLTY),
+                              cv::Point(step2ResultData.fRBX, step2ResultData.fRBY),
+                              cvScalar, 2);
+                cv::line(pVStep2OutputData->cvImage,
+                         cv::Point(centerX_corner, step2ResultData.fLTY-30), cv::Point(centerX_corner, step2ResultData.fRBY+30),
+                         cvScalar, 1);
+            }
         }
+
 //        auto end = std::chrono::system_clock::now();
 //        LogDebug << "图片存储用时: " << std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << "ms  " << strImagePath;
 
-        if (!cv::imwrite(strImagePath, image, this->vecCompressionParams_))
+        if (!cv::imwrite(strImagePath, pVStep2OutputData->cvImage, this->vecCompressionParams_))
         {
             LogError << "图片存储失败：" << strImagePath;
         }

engine/SaveDebugImageEngine/SaveDebugImageEngine.h

@@ -24,7 +24,7 @@ private:
     ai_matrix::BaseConfig baseConfig_;
 
     std::string strPort0_;
-    int iPicQuality_ = 80;
+    int iPicQuality_ = 100;
     std::vector<int> vecCompressionParams_;
 
 };