76 lines
3.0 KiB
C++
76 lines
3.0 KiB
C++
#include "DetectAlgorithm.h"
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#include "BoostLog.h"
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#include "ImageUtilities.h"
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#include <ds_pedestrian_mot_hisi.h>
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#include <filesystem>
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#include <thread>
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class DetectAlgorithmPrivate {
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public:
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std::vector<io_TrackData> tracks;
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};
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DetectAlgorithm::DetectAlgorithm() : m_d(new DetectAlgorithmPrivate()) {
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}
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DetectAlgorithm::~DetectAlgorithm() {
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if (m_handle != nullptr) {
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ds_pedestrian_hisi_release(&m_handle);
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}
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if (m_d != nullptr) {
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delete m_d;
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}
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}
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DetectAlgorithm::Result DetectAlgorithm::detect(const uint8_t *nv21ImageData, uint64_t frameIndex) {
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DetectAlgorithm::Result ret;
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if (m_handle == nullptr) { // 一定得在这里执行
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initialize();
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}
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ImageUtilities::NV21ToBGR24(nv21ImageData, m_rgbImageBuffer.data(), DetectWidth, DetectHeight);
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std::vector<PedestrianRect> pedestrians;
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ds_pedestrian_det_hisi(m_handle, m_rgbImageBuffer.data(), pedestrians);
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ds_pedestrian_track_hisi(m_handle, m_rgbImageBuffer.data(), frameIndex, pedestrians, m_d->tracks);
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LOG(info) << "frame: " << frameIndex << ", pedestrians: " << pedestrians.size()
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<< ", tracks: " << m_d->tracks.size();
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for (auto iterator = m_d->tracks.cbegin(); iterator != m_d->tracks.cend();) {
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if (iterator->track_state == TrackState::Remove) {
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ret.leaveTrackers.push_back(iterator->track_id);
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iterator = m_d->tracks.erase(iterator);
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continue;
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} else if (iterator->track_state == TrackState::Confirmed) {
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LOG(info) << iterator->prediction.body.conf << " " << iterator->prediction.head.conf;
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LOG(info) << iterator->prediction.body.state[0] << " " << iterator->prediction.body.state[1] << " "
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<< iterator->prediction.body.state[2] << " " << iterator->prediction.body.state[3];
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LOG(info) << iterator->prediction.head.state[0] << " " << iterator->prediction.head.state[1] << " "
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<< iterator->prediction.head.state[2] << " " << iterator->prediction.head.state[3];
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}
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++iterator;
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}
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return ret;
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}
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void DetectAlgorithm::initialize() {
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constexpr auto licensePath = "/kdata/net.lic";
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bool licenseExisted = std::filesystem::exists(licensePath);
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if (licenseExisted && std::filesystem::file_size(licensePath) <= 0) {
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LOG(warning) << "license " << licensePath << " content is empty, remove it.";
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std::filesystem::remove(licensePath);
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licenseExisted = false;
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}
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ds_pedestrian_hisi_set_lic_path("/kdata");
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int status = ds_pedestrian_hisi_init(&m_handle, "/system/models/ds_mot_m0_2000.bin",
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"/system/models/ds_mot_m1_2000.bin", DetectWidth, DetectHeight, 3);
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if (status != 0) {
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LOG(error) << "ds_pedestrian_hisi_init() failed, status: " << status;
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m_handle = nullptr;
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} else {
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LOG(info) << "detect algorithm initialization successfully.";
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}
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if (!licenseExisted && std::filesystem::exists(licensePath)) {
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system("sync");
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}
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}
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