57 lines
2.0 KiB
C++
57 lines
2.0 KiB
C++
#include "RwAlgorithm.h"
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#include "Core/Logger.h"
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#include <ds_pedestrian_mot_hisi.h>
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#include <filesystem>
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#include <opencv2/opencv.hpp>
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bool RwAlgorithm::initialize() {
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using namespace std::chrono;
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if (m_firstTime == system_clock::time_point{}) {
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m_firstTime = system_clock::now();
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}
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if (duration_cast<seconds>(system_clock::now() - m_firstTime) < seconds(10)) {
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return false;
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}
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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 =
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ds_pedestrian_hisi_init(&m_handle, "/system/models/ds_mot_m0_2100.bin", "/system/models/ds_mot_m1_2100.bin",
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DetectImageWidth, DetectImageHeight, 3); // 不知道什么原因，直接崩溃
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if (status != 0) {
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LOG(error) << "ds_pedestrian_hisi_init() failed, error: " << status;
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m_handle = NULL;
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} else {
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if (!licenseExisted && std::filesystem::exists(licensePath)) {
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system("sync");
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}
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LOG(info) << "algorithm initialize succeeded.";
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}
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return m_handle != nullptr;
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}
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void RwAlgorithm::detect(const uint8_t *imageData) {
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if (m_handle == nullptr) {
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initialize();
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}
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if (m_handle == nullptr) return;
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NV21ToBGR24(imageData, m_buffer.data(), DetectImageWidth, DetectImageHeight);
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std::vector<PedestrianRect> bboxes;
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ds_pedestrian_det_hisi(m_handle, m_buffer.data(), bboxes);
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}
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void RwAlgorithm::NV21ToBGR24(const unsigned char *nv21Data, unsigned char *bgr24Data, int width, int height) {
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cv::Mat nv21Image(height + height / 2, width, CV_8UC1, const_cast<unsigned char *>(nv21Data));
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cv::Mat bgrImage(height, width, CV_8UC3, bgr24Data);
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cv::cvtColor(nv21Image, bgrImage, cv::COLOR_YUV2BGR_NV21);
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}
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