1 line
19 KiB
C++
1 line
19 KiB
C++
#include "ContainerDivideEngine.h"
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#include <utility>
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using namespace ai_matrix;
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ContainerDivideEngine::ContainerDivideEngine() {}
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ContainerDivideEngine::~ContainerDivideEngine() {}
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APP_ERROR ContainerDivideEngine::Init()
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{
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strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
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strPort1_ = engineName_ + "_" + std::to_string(engineId_) + "_1";
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this->vecDataSourceConfig_ = Config::getins()->getAllDataSourceConfig();
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if (this->vecDataSourceConfig_.size() <= this->engineId_)
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{
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LogWarn << " -- " << engineName_ << "_" << engineId_ << " dataSource no set, Engine DeInit";
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return APP_ERR_OK;
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}
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this->dataSourceConfig_ = this->vecDataSourceConfig_.at(engineId_);
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this->baseConfig_ = Config::getins()->getBaseConfig();
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this->identifyConfig_ = Config::getins()->getIdentifyConfig();
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this->initParam();
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LogInfo << "DetectDivideEngine Init ok";
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return APP_ERR_OK;
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}
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APP_ERROR ContainerDivideEngine::DeInit()
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{
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LogInfo << "DetectDivideEngine DeInit ok";
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return APP_ERR_OK;
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}
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/**
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* 初始化参数信息
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* inParam : N/A
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* outParam: N/A
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* return : N/A
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*/
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void ContainerDivideEngine::initParam()
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{
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this->iContainerIndex = 0;
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this->pVStep2OutputDataPre_ = nullptr;
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this->vecContainerFail_.clear();
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}
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void ContainerDivideEngine::sendBestData(const VSelectBestData& selectBestData)
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{
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// 直接发送第一个箱子的箱号
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std::shared_ptr<VSelectBestData> pVSelectBestData = std::make_shared<VSelectBestData>();
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*pVSelectBestData = selectBestData;
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outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(pVSelectBestData), true);
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LogInfo << " 帧:" << selectBestData.iFrameId
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<< " 数据源:" << selectBestData.iDataSource
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<< " 节:" << selectBestData.iContainerIndex
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<< " 发送识别结果 " << selectBestData.strNumResult;
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this->stdContainerResult_ = selectBestData.strNumResult;
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this->iContainerIndex++;
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}
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void ContainerDivideEngine::makeResult(const std::shared_ptr<VStep2OutputData>& pVStep2OutputData,
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VSelectBestData & selectBestData) const
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{
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selectBestData.strDetectDate = pVStep2OutputData->strDetectDate;
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selectBestData.strDetectTime = pVStep2OutputData->strDetectTime;
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selectBestData.iDataSource = pVStep2OutputData->iDataSource;
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selectBestData.iFrameId = pVStep2OutputData->iFrameId;
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selectBestData.strNumResult = pVStep2OutputData->step2ResultData.transInfo.strTmpResult;
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selectBestData.bIsChkFlag = pVStep2OutputData->step2ResultData.transInfo.bIsChkFlag;
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selectBestData.fSumScore = pVStep2OutputData->step2ResultData.fSubScoreSum;
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selectBestData.iContainerIndex = this->iContainerIndex;
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selectBestData.bHaveTwoContainer = pVStep2OutputData->vecCornerResultData.size() > 2;
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}
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/**
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* 依据像素进行集装箱切分
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* @param pVStep2OutputData
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*/
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void ContainerDivideEngine::divideByPixelInfo(std::shared_ptr<VStep2OutputData> pVStep2OutputData)
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{
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auto vCompare = [](std::string a, std::string b) {
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if (a.size() != b.size()) return 999;
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int count = 0;
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for (int i = 0; i < a.size(); ++i)
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{
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if (a[i] != b[i])
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{
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++count;
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}
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}
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return count;
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};
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if (!this->pVStep2OutputDataPre_)
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{
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if (pVStep2OutputData->step2ResultData.fScore == 0.0f) return;
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this->pVStep2OutputDataPre_ = pVStep2OutputData;
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}
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Step2ResultData step2ResultData = pVStep2OutputData->step2ResultData;
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Step2ResultData step2ResultData_pre = this->pVStep2OutputDataPre_->step2ResultData;
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float fCenterX = (step2ResultData.fRBX + step2ResultData.fLTX)/2;
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float fCenterY = (step2ResultData.fRBY + step2ResultData.fLTY)/2;
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float fCenterX_Pre = (step2ResultData_pre.fRBX + step2ResultData_pre.fLTX)/2;
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float fCenterY_Pre = (step2ResultData_pre.fRBY + step2ResultData_pre.fLTY)/2;
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LogDebug << " 帧:" << pVStep2OutputData->iFrameId
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<< " 数据源:" << pVStep2OutputData->iDataSource
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<< " Y差值:" << std::abs(fCenterY - fCenterY_Pre) << " X差值:" << std::abs(fCenterX - fCenterX_Pre);
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if ((pVStep2OutputData->iDataSource == 0
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&& std::abs(fCenterY - fCenterY_Pre) > this->identifyConfig_.iTop_Y_SplitSpanPx)
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(pVStep2OutputData->iDataSource != 0
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&& std::abs(fCenterX - fCenterX_Pre) > this->identifyConfig_.iSide_X_SplitSpanPx))
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{
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if (step2ResultData.transInfo.bIsChkFlag)
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{
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if (stdContainerResult_ != step2ResultData.transInfo.strTmpResult)
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{
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if (stdContainerResult_.empty())
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{
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// 筛选不满足校验的部分 取最长的发送
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int iSize = 0, iIndex = 0;
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std::string strContainer_tmp;
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for (int i = 0; i < this->vecContainerFail_.size(); i++)
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{
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this->vecContainerFail_[i];
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if (iSize < this->vecContainerFail_[i].strNumResult.size())
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{
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iSize = this->vecContainerFail_[i].strNumResult.size();
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iIndex = i;
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strContainer_tmp = this->vecContainerFail_[i].strNumResult;
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}
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}
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sendBestData(this->vecContainerFail_[iIndex]);
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}
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// 记录第二箱子
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this->vecContainerFail_.clear();
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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this->sendBestData(selectBestData);
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}
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}
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else
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{
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// 筛选不满足校验的部分 取最长的发送
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int iSize = 0, iIndex = 0;
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std::string strContainer_tmp;
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for (int i = 0; i < this->vecContainerFail_.size(); i++)
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{
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this->vecContainerFail_[i];
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if (iSize < this->vecContainerFail_[i].strNumResult.size())
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{
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iSize = this->vecContainerFail_[i].strNumResult.size();
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iIndex = i;
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strContainer_tmp = this->vecContainerFail_[i].strNumResult;
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}
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}
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if (this->vecContainerFail_.size() > 0 && this->iContainerIndex < 1)
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{
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sendBestData(this->vecContainerFail_[iIndex]);
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}
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// 把之前的清理掉再存新箱子的 （有风险，有可能切分错）
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this->vecContainerFail_.clear();
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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this->vecContainerFail_.emplace_back(selectBestData);
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}
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}
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else
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{// 不满足像素差
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if (!this->stdContainerResult_.empty())
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{
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if (step2ResultData.transInfo.bIsChkFlag)
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{
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if (this->stdContainerResult_ != step2ResultData.transInfo.strTmpResult)
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{
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// if (vCompare(this->stdContainerResult_, step2ResultData.transInfo.strTmpResult) > 2)
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// {
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this->vecContainerFail_.clear();
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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this->sendBestData(selectBestData);
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// }
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}
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}
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}
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else
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{
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if (step2ResultData.transInfo.bIsChkFlag)
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{
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this->stdContainerResult_ = step2ResultData.transInfo.strTmpResult;
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this->vecContainerFail_.clear();
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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this->sendBestData(selectBestData);
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}
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else
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{
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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this->vecContainerFail_.emplace_back(selectBestData);
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}
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}
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}
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}
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bool ContainerDivideEngine::setectBestByCorner()
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{
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if (!this->vecContainer_.empty())
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{
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// 汇总下vecContainer中，有几种正确的识别结果，选出识别次数最多的
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std::map<std::string, int> mapContainer_count;
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std::map<std::string, int> mapContainer_index;
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int i = 0;
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for (auto &container: this->vecContainer_)
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{
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mapContainer_count[container.strNumResult]++;
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mapContainer_index[container.strNumResult] = i;
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++i;
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}
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std::string strBestContainer;
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int count = 0;
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// 取出现次数最高的 且与第一个箱子不一样的
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for (auto &it_max: mapContainer_count) {
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if (it_max.first.empty()) continue;
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if (it_max.second >= count) {
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count = it_max.second;
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strBestContainer = it_max.first;
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}
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}
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this->sendBestData(this->vecContainer_[mapContainer_index[strBestContainer]]);
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this->vecContainer_.clear();
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this->vecContainerFail_.clear();
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}
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else
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{
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if (this->vecContainerFail_.empty()) return false;
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// 汇总下vecContainer中，有几种正确的识别结果，选出识别次数最多的
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int iMaxSize = 0, iIndex = 0;
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std::map<std::string, int> mapContainer_index;
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int i = 0;
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for (auto &container: this->vecContainerFail_)
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{
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if (container.strNumResult.size() > iMaxSize) {
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iMaxSize = container.strNumResult.size();
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iIndex = i;
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}
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++i;
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}
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this->sendBestData(this->vecContainerFail_[iIndex]);
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this->vecContainer_.clear();
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this->vecContainerFail_.clear();
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}
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return true;
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}
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/**
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* 依据箱角切分
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* @param pVStep2OutputData
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*/
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void ContainerDivideEngine::divideByCornerInfo(std::shared_ptr<VStep2OutputData> pVStep2OutputData)
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{
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Step2ResultData step2ResultData = pVStep2OutputData->step2ResultData;
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if (pVStep2OutputData->vecCornerResultData.size() > 1 && this->iContainerIndex < 1)
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{
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if (pVStep2OutputData->vecCornerResultData.size() > 2)
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{
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LogWarn << "帧:" << pVStep2OutputData->iFrameId
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<< " 数据源:" << pVStep2OutputData->iDataSource
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<< " ---- >>> 检测到超过2个箱角，疑似画面过于倾斜或模型训练不足！";
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return;
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}
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float fDiffX = std::abs(pVStep2OutputData->vecCornerResultData[0].fLTX - pVStep2OutputData->vecCornerResultData[1].fLTX);
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float fDiffY = std::abs(pVStep2OutputData->vecCornerResultData[0].fLTY - pVStep2OutputData->vecCornerResultData[1].fLTY);
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if (fDiffX > this->identifyConfig_.iMaxContainerSpaceX || fDiffY > this->identifyConfig_.iMaxContainerSpaceY)
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{
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LogWarn << "帧:" << pVStep2OutputData->iFrameId
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<< " 数据源:" << pVStep2OutputData->iDataSource
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<< " ---- >>> 检测到超过2个间隔过远的箱角，疑似画面过于倾斜看到一个箱子的多个角或模型训练不足！";
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return;
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}
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LogInfo << "帧:" << pVStep2OutputData->iFrameId
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<< " 数据源:" << pVStep2OutputData->iDataSource
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<< " ---- >>> 检测到多个箱角，准备切分";
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if (pVStep2OutputData->iDataSource == 0 || this->dataSourceConfig_.strRunDirection == "right")
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{
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if (this->vecContainerFail_.empty())
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{
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VSelectBestData selectBestData;
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selectBestData.strDetectDate = pVStep2OutputData->strDetectDate;
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selectBestData.strDetectTime = pVStep2OutputData->strDetectTime;
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selectBestData.iDataSource = pVStep2OutputData->iDataSource;
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selectBestData.iFrameId = 1;
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selectBestData.strNumResult = "invalid-?";
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selectBestData.iContainerIndex = this->iContainerIndex;
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selectBestData.bHaveTwoContainer = true;
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this->vecContainerFail_.emplace_back(selectBestData);
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}
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this->setectBestByCorner();
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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if (step2ResultData.transInfo.bIsChkFlag)
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{
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this->vecContainer_.emplace_back(selectBestData);
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}
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else
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{
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this->vecContainerFail_.emplace_back(selectBestData);
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}
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return;
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}
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if (this->dataSourceConfig_.strRunDirection == "left")
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{
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LogWarn << "向左行驶的一侧暂不支持箱角识别，请及时修改参数 divide_mode: \"pixel\"";
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return;
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}
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}
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else
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{
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VSelectBestData selectBestData;
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this->makeResult(pVStep2OutputData, selectBestData);
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if (step2ResultData.transInfo.bIsChkFlag)
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{
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this->vecContainer_.emplace_back(selectBestData);
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}
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else
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{
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this->vecContainerFail_.emplace_back(selectBestData);
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}
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}
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}
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/**
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* 切分车厢
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* @param pVStep2OutputData
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*/
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void ContainerDivideEngine::divideInfo(std::shared_ptr<VStep2OutputData> pVStep2OutputData)
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{
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// if (!this->pVStep2OutputDataPre_) return;
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if (this->iContainerIndex > 1) return;
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if (this->vecDataSourceConfig_[pVStep2OutputData->iDataSource].strDivideModel == "corner")
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{
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this->divideByCornerInfo(pVStep2OutputData);
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}
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else
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{
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this->divideByPixelInfo(pVStep2OutputData);
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}
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}
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APP_ERROR ContainerDivideEngine::Process()
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{
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int iRet = APP_ERR_OK;
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while (!isStop_)
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{
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//pop端口0
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std::shared_ptr<void> pVoidData0 = nullptr;
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iRet = inputQueMap_[strPort0_]->pop(pVoidData0);
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if (nullptr == pVoidData0)
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{
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usleep(1000);
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continue;
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}
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std::shared_ptr<VStep2OutputData> pVStep2OutputData = std::static_pointer_cast<VStep2OutputData>(pVoidData0);
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if (pVStep2OutputData->bIsEnd)
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{
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std::shared_ptr<VSelectBestData> pVSelectBestData = std::make_shared<VSelectBestData>();
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pVSelectBestData->bIsEnd = true;
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pVSelectBestData->iDataSource = pVStep2OutputData->iDataSource;
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pVSelectBestData->strDetectDate = pVStep2OutputData->strDetectDate;
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pVSelectBestData->strDetectTime = pVStep2OutputData->strDetectTime;
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if (this->iContainerIndex > 1)
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{
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outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(pVSelectBestData), true);
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this->initParam();
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continue;
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}
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if (this->vecDataSourceConfig_[pVStep2OutputData->iDataSource].strDivideModel == "corner")
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{
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if (!this->vecContainerFail_.empty() || !this->vecContainer_.empty())
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{
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this->setectBestByCorner();
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}
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}
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else
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{
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if (!this->vecContainerFail_.empty())
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{
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// 筛选不满足校验的部分 取最长的发送
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int iSize = 0, iIndex = 0;
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std::string strContainer_tmp;
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for (int i = 0; i < this->vecContainerFail_.size(); i++)
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{
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this->vecContainerFail_[i];
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if (iSize < this->vecContainerFail_[i].strNumResult.size())
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{
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iSize = this->vecContainerFail_[i].strNumResult.size();
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iIndex = i;
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strContainer_tmp = this->vecContainerFail_[i].strNumResult;
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}
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}
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this->vecContainerFail_[iIndex].bIsEnd = true;
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sendBestData(this->vecContainerFail_[iIndex]);
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this->initParam();
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continue;
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}
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}
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outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(pVSelectBestData), true);
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this->initParam();
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continue;
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}
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std::string strFilePath ;
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strFilePath = this->baseConfig_.strDebugResultPath + "/"
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+ pVStep2OutputData->strDetectDate + "/"
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+ StringUtil::getins()->replace_all_distinct(pVStep2OutputData->strDetectTime, ":", "-") + "/"
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+ std::to_string(pVStep2OutputData->iFrameId) + "_" + std::to_string(pVStep2OutputData->iDataSource) + ".json";
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// 先读取文本内容，追加新的信息后再写入
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Json::Value jvFrameInfo;
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if (!FileUtil::getins()->readJsonInfo(jvFrameInfo, strFilePath))
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{
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LogError << "read fail:" << strFilePath;
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}
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// jvFrameInfo["isEnd"] = (pVStep2OutputData->bIsEnd || jvFrameInfo["isEnd"].asBool());
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// 识别结果存储
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float fCenter = pVStep2OutputData->step2ResultData.fLTX + (pVStep2OutputData->step2ResultData.fRBX - pVStep2OutputData->step2ResultData.fLTX) / 2;
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// this->mapContainerCenterInfo_.insert(std::make_pair(pVStep2OutputData->iFrameId, fCenter));
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Json::Value jvInfo;
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jvInfo["classid"] = pVStep2OutputData->step2ResultData.iClassId;
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jvInfo["score"] = pVStep2OutputData->step2ResultData.fScore;
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jvInfo["ltx"] = pVStep2OutputData->step2ResultData.fLTX;
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jvInfo["lty"] = pVStep2OutputData->step2ResultData.fLTY;
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jvInfo["rbx"] = pVStep2OutputData->step2ResultData.fRBX;
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jvInfo["rby"] = pVStep2OutputData->step2ResultData.fRBY;
|
||
|
||
jvFrameInfo["step1"].append(jvInfo);
|
||
|
||
for (auto &step2ResultData : pVStep2OutputData->vecCornerResultData)
|
||
{
|
||
float fCenter = step2ResultData.fLTX + (step2ResultData.fRBX - step2ResultData.fLTX) / 2;
|
||
|
||
// this->mapContainerCenterInfo_.insert(std::make_pair(pVStep2OutputData->iFrameId, fCenter));
|
||
|
||
Json::Value jvInfo;
|
||
jvInfo["classid"] = step2ResultData.iClassId;
|
||
jvInfo["score"] = step2ResultData.fScore;
|
||
jvInfo["ltx"] = step2ResultData.fLTX;
|
||
jvInfo["lty"] = step2ResultData.fLTY;
|
||
jvInfo["rbx"] = step2ResultData.fRBX;
|
||
jvInfo["rby"] = step2ResultData.fRBY;
|
||
|
||
jvFrameInfo["step1"].append(jvInfo);
|
||
}
|
||
|
||
FileUtil::getins()->writeJsonInfo(jvFrameInfo, strFilePath);
|
||
|
||
if (pVStep2OutputData->step2ResultData.fScore != 0.0f)
|
||
{
|
||
LogDebug << " 帧:" << pVStep2OutputData->iFrameId
|
||
<< " 数据源:" << pVStep2OutputData->iDataSource
|
||
<< " - "<< pVStep2OutputData->step2ResultData.transInfo.strTmpResult;
|
||
}
|
||
|
||
this->divideInfo(pVStep2OutputData);
|
||
|
||
}
|
||
return APP_ERR_OK;
|
||
}
|