generated from zhangwei/Matrixai
451 lines
17 KiB
C++
451 lines
17 KiB
C++
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#include "TrainStep1InferenceEngine.h"
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#include <opencv2/opencv.hpp>
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//#include "myqueue.h"
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using namespace ai_matrix;
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TrainStep1InferenceEngine::TrainStep1InferenceEngine() {}
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TrainStep1InferenceEngine::~TrainStep1InferenceEngine() {}
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APP_ERROR TrainStep1InferenceEngine::Init()
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{
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strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
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this->modelConfig_ = Config::getins()->getModelByTrainStep1Config();
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this->dataSourceConfig_ = Config::getins()->getDataSourceConfig();
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this->identifyConfig_ = Config::getins()->getIdentifyConfig();
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int iFolderExist = access(modelConfig_.strModelPath.c_str(), R_OK);
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if (iFolderExist == -1)
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{
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LogError << "模型：" << modelConfig_.strModelPath << " 不存在!";
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return false;
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}
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class_num = this->modelConfig_.vecClass.size();
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score_threshold = this->modelConfig_.fScoreThreshold;
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int ret = initModel();
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if (ret != APP_ERR_OK)
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{
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LogError << "Failed to read model info, ret = " << ret;
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return ret;
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}
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LogInfo << "Step1InferenceEngine Init ok";
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return APP_ERR_OK;
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}
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APP_ERROR TrainStep1InferenceEngine::initModel()
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{
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modelinfo.yolov5ClearityModelParam.uiClassNum = class_num;
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modelinfo.yolov5ClearityModelParam.uiClearNum = clear_num;
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modelinfo.yolov5ClearityModelParam.uiDetSize = det_size;
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modelinfo.yolov5ClearityModelParam.fScoreThreshold = score_threshold;
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modelinfo.yolov5ClearityModelParam.fNmsThreshold = nms_threshold;
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modelinfo.modelCommonInfo.uiModelWidth = model_width;
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modelinfo.modelCommonInfo.uiModelHeight = model_height;
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modelinfo.modelCommonInfo.uiInputSize = input_size;
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modelinfo.modelCommonInfo.uiOutputSize = output_size;
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modelinfo.modelCommonInfo.uiChannel = INPUT_CHANNEL;
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modelinfo.modelCommonInfo.uiBatchSize = batch_size;
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modelinfo.modelCommonInfo.strInputBlobName = INPUT_BLOB_NAME;
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modelinfo.modelCommonInfo.strOutputBlobName = OUTPUT_BLOB_NAME;
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string strModelName = "";
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int nRet = yolov5model.YoloV5ClearityInferenceInit(&modelinfo,
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strModelName,
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this->modelConfig_.strModelPath);
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if (nRet != 0)
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{
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LogError << "YoloV5ClassifyInferenceInit nRet:" << nRet;
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return APP_ERR_COMM_READ_FAIL;
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}
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return APP_ERR_OK;
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}
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APP_ERROR TrainStep1InferenceEngine::DeInit()
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{
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yolov5model.YoloV5ClearityInferenceDeinit();
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LogInfo << "Step1InferenceEngine DeInit ok";
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return APP_ERR_OK;
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}
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/**
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* 获取第1步得分最高框
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* inParam : std::vector<stDetection> &vecResult 推理符合结果
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* outParam: std::vector<stDetection> &vecResult 每个类别得分最高结果
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* return : N/A
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*/
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void TrainStep1InferenceEngine::getMaxScoreResult(std::vector<stDetection> &vecResult)
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{
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if (vecResult.size() < 2)
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{
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return;
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}
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std::map<Target, std::vector<stDetection>> mapResult;
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for (size_t i = 0; i < vecResult.size(); i++)
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{
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stDetection stDTemp = vecResult.at(i);
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if (stDTemp.class_id == 0)
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{
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mapResult[HEAD].emplace_back(stDTemp);
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}
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else if (stDTemp.class_id == 1)
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{
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mapResult[PRO].emplace_back(stDTemp);
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}
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else if ((stDTemp.class_id >= 2 && stDTemp.class_id <= 6) || stDTemp.class_id == 8 || stDTemp.class_id == 15)
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{
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mapResult[NUM].emplace_back(stDTemp);
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}
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else if (stDTemp.class_id >= 9 && stDTemp.class_id <= 17 && stDTemp.class_id != 15)
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{
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mapResult[TRAINSPACE].emplace_back(stDTemp);
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}
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else if (stDTemp.class_id == 18)
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{
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mapResult[SPACE].emplace_back(stDTemp);
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}
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else if (stDTemp.class_id == 7)
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{
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mapResult[CONTAINER].emplace_back(stDTemp);
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}
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}
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//清空之前的结果
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vecResult.clear();
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// 每个类别中，获取得分最高的框
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for (auto iter = mapResult.begin(); iter != mapResult.end(); iter++)
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{
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int iMaxPos = -1;
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for (size_t i = 0; i < iter->second.size(); i++)
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{
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if (iMaxPos == -1)
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{
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iMaxPos = i;
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}
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else if (iter->second.at(i).class_conf > iter->second.at(iMaxPos).class_conf)
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{
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iMaxPos = i;
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}
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}
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if (iMaxPos >= 0)
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{
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vecResult.emplace_back(iter->second.at(iMaxPos));
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}
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}
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}
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/**
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* 设置大框类型
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* inParam : PostSubData &postSubData :推理结果
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* outParam: PostSubData &postSubData :推理结果
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* return : N/A
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*/
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void TrainStep1InferenceEngine::getTargetType(SingleData &singleData)
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{
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if (singleData.iClassId == TRAIN_HEAD)
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{
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singleData.iTargetType = HEAD;
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}
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else if (singleData.iClassId == TRAIN_PRO)
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{
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singleData.iTargetType = PRO;
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}
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else if ((singleData.iClassId >= 2 && singleData.iClassId <= 6) ||
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singleData.iClassId == J_TRAIN_NUM ||
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singleData.iClassId == W_TRAIN_NUM)
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{
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singleData.iTargetType = NUM;
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}
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else if (singleData.iClassId >= 9 && singleData.iClassId <= 17 && singleData.iClassId != 15)
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{
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singleData.iTargetType = TRAINSPACE;
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}
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else if (singleData.iClassId == U_TRAIN_SPACE)
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{
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singleData.iTargetType = SPACE;
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}
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else if (singleData.iClassId == CONTAINERNUM)
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{
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singleData.iTargetType = CONTAINER;
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}
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}
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/**
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* 过滤无效信息
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* inParam : std::vector<stDetection> &vecRet :识别结果数据
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: std::shared_ptr<ProcessData> pProcessData :帧信息数据
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* outParam: N/A
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* return : N/A
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*/
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void TrainStep1InferenceEngine::filterInvalidInfo(std::vector<stDetection> &vecInferenceResult,
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std::shared_ptr<VTrainStep1Data> &pVTrainStep1Data)
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{
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std::vector<stDetection> vecSpaceInfo;
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for (auto it = vecInferenceResult.begin(); it != vecInferenceResult.end();)
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{
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// LogDebug << " 帧:" << pVTrainStep1Data->iFrameId
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// << " --iClassId:" << it->class_id
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//// << " iLine:" << it->clear_conf
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// << " confidence=" << it->class_conf
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// << " lx=" << it->bbox[0]
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// << " ly=" << it->bbox[1]
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// << " rx=" << it->bbox[2]
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// << " ry=" << it->bbox[3]
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// << " clear:" << it->clear_conf;
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// 根据配置文件中 设置的识别范围，过滤掉无效数据
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if (!(it->bbox[0] >= this->dataSourceConfig_.vecIdentifyAreas[0] &&
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it->bbox[1] >= this->dataSourceConfig_.vecIdentifyAreas[1] &&
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it->bbox[2] <= this->dataSourceConfig_.vecIdentifyAreas[2] &&
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it->bbox[3] <= this->dataSourceConfig_.vecIdentifyAreas[3]))
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{
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LogDebug << "frameId:" << pVTrainStep1Data->iFrameId
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<< " 类别:" << it->class_id << " 超出识别区域-识别区域：("
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<< this->dataSourceConfig_.vecIdentifyAreas[0] << ","
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<< this->dataSourceConfig_.vecIdentifyAreas[1] << "),("
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<< this->dataSourceConfig_.vecIdentifyAreas[2] << ","
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<< this->dataSourceConfig_.vecIdentifyAreas[2] << ")";
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it = vecInferenceResult.erase(it);
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continue;
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}
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// 如果设置了不识别车头，则去掉车头标记的大框 !this->identifyConfig_.bTrainHeardDetect &&
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if (it->class_id == TRAIN_HEAD)
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{
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LogDebug << "frameId:" << pVTrainStep1Data->iFrameId << " 过滤掉车头编号";
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it = vecInferenceResult.erase(it);
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continue;
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}
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// 去除车头时的非车头编号信息
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if(pVTrainStep1Data->iTrainStage == MONITOR_MODEL_TRAIN_HEAD )
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{
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if(it->class_id != TRAIN_HEAD)
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{
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LogDebug << " 帧号:" << pVTrainStep1Data->iFrameId
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<< " 大类:" << it->class_id << " 识别于车头位置，无效！";
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it = vecInferenceResult.erase(it);
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continue;
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}
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}
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// 去除车尾的车头编号信息
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if (pVTrainStep1Data->iTrainStage != MONITOR_MODEL_TRAIN_HEAD)
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{
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if (it->class_id == TRAIN_HEAD)
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{
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LogDebug << " 帧号:" << pVTrainStep1Data->iFrameId
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<< " 大类:" << it->class_id << " 识别于非车头位置，无效！";
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it = vecInferenceResult.erase(it);
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continue;
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}
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}
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// 去除车尾 和 车头车体之间 的间隔信息
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if ((pVTrainStep1Data->iTrainStage == MONITOR_MODEL_TRAIN_TAIL || pVTrainStep1Data->iTrainStage == MONITOR_MODEL_HEAD_FIRST)
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&& (it->class_id >= C_TRAIN_SPACE && it->class_id <= U_TRAIN_SPACE && it->class_id != W_TRAIN_NUM))
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{
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LogDebug << " frameId:" << pVTrainStep1Data->iFrameId
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<< " bigclassid:" << it->class_id
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<<" 识别于车尾或者车头与车身交接部分,无效！";
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it = vecInferenceResult.erase(it);
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continue;
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}
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// 过滤掉识别于模型反馈无车状态下的所有大框信息
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if (pVTrainStep1Data->iTrainStage == MONITOR_MODEL_NO_TRAIN)
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{
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LogDebug << " frameId:" << pVTrainStep1Data->iFrameId
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<< " bigclassid:" << it->class_id
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<<" 识别于模型反馈的无车状态下,无效！";
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it = vecInferenceResult.erase(it);
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continue;
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}
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//剔除高度大于宽的车号大框
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if (((it->class_id >= K_TRAIN_NUM && it->class_id <= NX_TRAIN_NUM)
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|| it->class_id == J_TRAIN_NUM
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|| it->class_id == W_TRAIN_NUM) &&
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(it->bbox[3] - it->bbox[1]) > (it->bbox[2] - it->bbox[0]))
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{
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LogWarn << " frameId:" << pVTrainStep1Data->iFrameId
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<< " bigclassid:" << it->class_id << " 过滤 高度大于宽度的车号";
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it = vecInferenceResult.erase(it);
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continue;
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}
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if (it->class_id == K_TRAIN_NUM)
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{
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int iCenterY = IMAGE_HEIGHT / 2;
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int iHeight0 = it->bbox[1] / 2 + it->bbox[3] / 2;
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if (iHeight0 > iCenterY) {
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LogWarn << "矿车编号大框在画面Y轴中线以下，帧号:"
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<< pVTrainStep1Data->iFrameId
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<< " 画面Y轴中心：" << iCenterY
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<< " 大框Y轴中心：" << iHeight0 ;
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// << "[" << it->bbox[0] << "," << it->bbox[1] << "]"
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// << "[" << it->bbox[2] << "," << it->bbox[3] << "]";
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it = vecInferenceResult.erase(it);
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continue;
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}
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}
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if (it->class_id >= C_TRAIN_SPACE && it->class_id <= U_TRAIN_SPACE && it->class_id != W_TRAIN_NUM)
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{
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vecSpaceInfo.emplace_back(*it);
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}
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++it;
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}
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if (vecInferenceResult.size() <= 0) return;
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// 过滤与间隔X轴重合的其他大框
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// for (auto it = vecInferenceResult.begin(); it != vecInferenceResult.end();)
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// {
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// if (!((it->class_id >= 9 && it->class_id <= 17 && it->class_id != 15) || it->class_id == 18))
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// {
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// for (int i = 0; i < vecSpaceInfo.size(); i++)
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// {
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// if (
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// (it->bbox[0] > vecSpaceInfo[i].bbox[0]
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// && it->bbox[0] < vecSpaceInfo[i].bbox[2])
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// ||
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// (it->bbox[2] > vecSpaceInfo[i].bbox[0]
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// && it->bbox[2] < vecSpaceInfo[i].bbox[2])
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// )
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|||
|
|
// {
|
|||
|
|
// LogWarn << "-- " << it->class_id << " _ " << vecSpaceInfo[i].class_id
|
|||
|
|
// << " " << it->bbox[0] << "," << it->bbox[2] << " || " << vecSpaceInfo[i].bbox[0] << "," << vecSpaceInfo[i].bbox[2];
|
|||
|
|
// it = vecInferenceResult.erase(it);
|
|||
|
|
// break;
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
// }
|
|||
|
|
|
|||
|
|
//主摄像头1帧如果只识别2个大框，如果非平车的车号和属性场景，则必有间隔框
|
|||
|
|
if (vecInferenceResult.size() >= 2)
|
|||
|
|
{
|
|||
|
|
int iHeight0 = vecInferenceResult[0].bbox[1] / 2 + vecInferenceResult[0].bbox[3] / 2;
|
|||
|
|
int iHeight1 = vecInferenceResult[1].bbox[1] / 2 + vecInferenceResult[1].bbox[3] / 2;
|
|||
|
|
int iCenterY = IMAGE_HEIGHT / 2;
|
|||
|
|
if (iHeight0 < iCenterY && iHeight1 < iCenterY) //非平车
|
|||
|
|
{
|
|||
|
|
bool bHaveSpace = false;
|
|||
|
|
for (auto &it : vecInferenceResult)
|
|||
|
|
{
|
|||
|
|
if (it.class_id >= C_TRAIN_SPACE
|
|||
|
|
&& it.class_id <= U_TRAIN_SPACE
|
|||
|
|
&& it.class_id != W_TRAIN_NUM)
|
|||
|
|
{
|
|||
|
|
bHaveSpace = true;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (!bHaveSpace)
|
|||
|
|
{
|
|||
|
|
LogDebug << " frameId:" << pVTrainStep1Data->iFrameId << " no space";
|
|||
|
|
vecInferenceResult.clear();
|
|||
|
|
}
|
|||
|
|
// if (!(vecInferenceResult[0].class_id >= C_TRAIN_SPACE
|
|||
|
|
// && vecInferenceResult[0].class_id <= U_TRAIN_SPACE
|
|||
|
|
// && vecInferenceResult[0].class_id != W_TRAIN_NUM)
|
|||
|
|
// && !(vecInferenceResult[1].class_id >= C_TRAIN_SPACE
|
|||
|
|
// && vecInferenceResult[1].class_id <= U_TRAIN_SPACE
|
|||
|
|
// && vecInferenceResult[1].class_id != W_TRAIN_NUM))
|
|||
|
|
// {
|
|||
|
|
// LogDebug << " frameId:" << pVTrainStep1Data->iFrameId << " no space";
|
|||
|
|
// vecInferenceResult.clear();
|
|||
|
|
// }
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
APP_ERROR TrainStep1InferenceEngine::Process()
|
|||
|
|
{
|
|||
|
|
int iRet = APP_ERR_OK;
|
|||
|
|
|
|||
|
|
while (!isStop_)
|
|||
|
|
{
|
|||
|
|
std::shared_ptr<void> pVoidData0 = nullptr;
|
|||
|
|
inputQueMap_[strPort0_]->pop(pVoidData0);
|
|||
|
|
if (nullptr == pVoidData0)
|
|||
|
|
{
|
|||
|
|
usleep(1000); //1ms
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
std::shared_ptr<VTrainStep1Data> pVTrainStep1Data = std::static_pointer_cast<VTrainStep1Data>(pVoidData0);
|
|||
|
|
|
|||
|
|
if (pVTrainStep1Data->cvImage.empty())
|
|||
|
|
{
|
|||
|
|
usleep(1000); //1ms
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
// else
|
|||
|
|
// {
|
|||
|
|
// vector<int> compression_params;
|
|||
|
|
// compression_params.push_back(cv::IMWRITE_JPEG_QUALITY); //选择jpeg
|
|||
|
|
// compression_params.push_back(100); //图片质量
|
|||
|
|
// cv::imwrite("./jpg/" + std::to_string(pVTrainStep1Data->iFrameId) + ".jpg", pVTrainStep1Data->cvImage, compression_params);
|
|||
|
|
//
|
|||
|
|
// }
|
|||
|
|
|
|||
|
|
//进行推理
|
|||
|
|
std::vector<stDetection> vecInferenceResult;
|
|||
|
|
yolov5model.YoloV5ClearityInferenceModel(pVTrainStep1Data->cvImage, vecInferenceResult);
|
|||
|
|
|
|||
|
|
//过滤无效信息
|
|||
|
|
this->filterInvalidInfo(vecInferenceResult, pVTrainStep1Data);
|
|||
|
|
|
|||
|
|
this->getMaxScoreResult(vecInferenceResult);
|
|||
|
|
|
|||
|
|
std::shared_ptr<InferenceResultData> pInferenceResultData = std::make_shared<InferenceResultData>();
|
|||
|
|
|
|||
|
|
pInferenceResultData->iFrameId = pVTrainStep1Data->iFrameId;
|
|||
|
|
pInferenceResultData->bIsEnd = pVTrainStep1Data->bIsEnd;
|
|||
|
|
pInferenceResultData->strTrainDate = pVTrainStep1Data->strTrainDate;
|
|||
|
|
pInferenceResultData->strTrainTime = pVTrainStep1Data->strTrainTime;
|
|||
|
|
|
|||
|
|
for (size_t j = 0; j < vecInferenceResult.size(); j++)
|
|||
|
|
{
|
|||
|
|
/*
|
|||
|
|
[0:车头; 1:属性; 2:煤炭漏斗车(兖矿自备,枣矿自备); 3:敞车; 4:棚车; 5:罐车; 6:平车
|
|||
|
|
7:集装箱; 8:牲畜车; 9:敞车间隔; 10:自备车间隔; 11:平车间隔; 12:罐车间隔; 13:棚车车间隔;
|
|||
|
|
14:牲畜车间隔; 15:毒品车; 16: 毒品车间隔; 17:混合车厢间隔; 18:连接轴通用间隔; 19:集装箱号; 20:倒集装箱号]
|
|||
|
|
*/
|
|||
|
|
if (vecInferenceResult[j].class_id < 0 || vecInferenceResult[j].class_id > 20)
|
|||
|
|
{
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
SingleData singledata;
|
|||
|
|
singledata.iClassId = vecInferenceResult[j].class_id;
|
|||
|
|
singledata.fScore = vecInferenceResult[j].class_conf;
|
|||
|
|
singledata.fLTX = vecInferenceResult[j].bbox[0];
|
|||
|
|
singledata.fLTY = vecInferenceResult[j].bbox[1];
|
|||
|
|
singledata.fRBX = vecInferenceResult[j].bbox[2];
|
|||
|
|
singledata.fRBY = vecInferenceResult[j].bbox[3];
|
|||
|
|
singledata.fClear = vecInferenceResult[j].clear_id;
|
|||
|
|
|
|||
|
|
this->getTargetType(singledata);
|
|||
|
|
pInferenceResultData->vecSingleData.emplace_back(singledata);
|
|||
|
|
|
|||
|
|
LogDebug << " 帧:" << pInferenceResultData->iFrameId
|
|||
|
|
<< " --iClassId:" << singledata.iClassId
|
|||
|
|
<< " iLine:" << singledata.iLine
|
|||
|
|
<< " confidence=" << singledata.fScore
|
|||
|
|
<< " lx=" << singledata.fLTX
|
|||
|
|
<< " ly=" << singledata.fLTY
|
|||
|
|
<< " rx=" << singledata.fRBX
|
|||
|
|
<< " ry=" << singledata.fRBY
|
|||
|
|
<< " clear:" << singledata.fClear;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(pInferenceResultData), true);
|
|||
|
|
}
|
|||
|
|
return APP_ERR_OK;
|
|||
|
|
}
|