//
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// Created by Scheaven on 2020/3/23.
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//
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#include "tracker_manager.h"
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#include <thread>
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#include <unistd.h>
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#include <cstdlib>
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TrackerManager::TrackerManager()
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{
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cout << "---------loading detect ---------" << endl;
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}
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TrackerManager::~TrackerManager()
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{
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}
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//调用其他释放函数
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void TrackerManager::release()
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{
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DetecterManager::getInstance()->release();
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FeatureEncoder::getInstance()->release();
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}
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void TrackerManager::init_load_model()
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{
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cout << "loading YOLO model ---------" << endl;
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DetecterManager::getInstance();
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Detector::getInstance();
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FeatureEncoder::getInstance();
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}
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//添加待追踪摄像头
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bool TrackerManager::add_cam(int cam_id){
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if (cam_id==(this->CAMERAS_VCT.size()+1))
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{
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auto cam_tracker = std::make_shared<tracker>(max_cosine_distance, nn_budget);
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this->CAMERAS_VCT.push_back(cam_tracker);
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return true;
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}else if(cam_id<this->CAMERAS_VCT.size())
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{
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cout << "-- The camera ID is occupied!" << endl;
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return false;
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}else
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{
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cout << "-- Camera ID discontinuous!" << endl;
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return false;
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}
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}
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// ------------------------------ SDK 代码封装部分 ----------------------------------
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// 模型检测 + 编码器 + 追踪 SDK封装
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void TrackerManager::single_SDK(const int cam_id, const void *img, TResult *t_result)
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{
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TImage *frame_img = (TImage*)img;
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cv::Mat frame(Size(frame_img->width, frame_img->height), CV_8UC3);
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frame.data = (uchar*)frame_img->data;
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DETECTIONS detections;
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DetecterManager::getInstance()->detecter_main(frame, detections);
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if(detections.size()>0)
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{
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if(FeatureEncoder::getInstance()->getRectsFeature(frame , detections) == false)
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{
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std::cout<< " encoder code failed ----" << std::endl;
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}
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single_tracker(cam_id, detections);
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switch_SDK_TResult(cam_id, frame, detections, t_result);
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}
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}
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// 转换成SDK 想要的结果
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void TrackerManager::switch_SDK_TResult(int cam_id, cv::Mat img, DETECTIONS detections, TResult *t_result)
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{
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t_result->targets = (Target*)malloc(sizeof(Target) * this->CAMERAS_VCT[cam_id]->tracks.size());
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int w_count = 0;
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for(auto& track :this->CAMERAS_VCT[cam_id]->tracks)
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{
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Target target;
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init_target(&target);
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RESULT_STRUCT result;
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if(!track->is_confirmed() || track->time_since_update > 1) continue;
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if(detections.size() <= w_count){ // 极个别无法没有confidence的问题
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break;
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}else{
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DETECTBOX tmpbox = detections[w_count].tlwh; // 检测的框信息
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target.rect.left = tmpbox(0);
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target.rect.top = tmpbox(1);
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target.rect.right = tmpbox(0) + tmpbox(2);
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target.rect.bottom = tmpbox(1) + tmpbox(3);
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target.id = track->track_id;
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target.confidence = detections[w_count].confidence*100;
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}
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t_result->targets[w_count] = target;
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w_count ++;
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}
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t_result->count = w_count;
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}
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// ------------------------------单目多线程摄像头追踪代码部分 ----------------------------
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// 模型检测 + 编码器 + 追踪
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void TrackerManager::single_detect_tracking(int cam_id, cv::Mat frame, FRAME_RESULT result_vec)
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{
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DETECTIONS detections;
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DetecterManager::getInstance()->detecter_main(frame, detections);
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if(FeatureEncoder::getInstance()->getRectsFeature(frame , detections) == false)
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{
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std::cout<< " encoder code failed ----" << std::endl;
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}
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single_tracker(cam_id, detections); //單目追踪
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}
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//一次性追踪多摄像头(添加的摄像头列表全部追踪)信息
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void TrackerManager::mul_detect_tracking(std::vector<int> cam_ids, std::vector<cv::Mat> frame_vec, std::vector<FRAME_RESULT>& results_vec) // 多摄像头追踪
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{
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std::vector<std::thread> thread_vec;
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for (int i = 0; i < cam_ids.size(); ++i)
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{
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std::thread tracking_thread(&TrackerManager::single_detect_tracking, this,cam_ids[i], frame_vec[i], results_vec[i]);
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thread_vec.emplace_back(std::move(tracking_thread));
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}
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for (auto &sub_thread : thread_vec)
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{
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sub_thread.join();
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}
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for (int i = 0; i < cam_ids.size(); ++i)
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{
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single_draw(cam_ids[i], frame_vec[i], results_vec[i]); //绘制结果信息（展示图像）
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}
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}
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// 编码器 + 追踪
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void TrackerManager::sub_thread_tracking(int cam_id, cv::Mat frame, FRAME_RESULT result_vec, DETECTIONS detections)
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{
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std::clock_t t_strat2 = std::clock();
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if(FeatureEncoder::getInstance()->getRectsFeature(frame , detections) == false)
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{
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std::cout<< " encoder code failed ----" << std::endl;
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}
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std::clock_t t_strat3 = std::clock();
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single_tracker(cam_id, detections); //單目追踪
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std::clock_t t_strat4 = std::clock();
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}
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void TrackerManager::single_tracker(int cam_id, DETECTIONS& detections)
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{
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auto cam_tracker = this->CAMERAS_VCT[cam_id];
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cam_tracker->predict();
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cam_tracker->update(detections);
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this->CAMERAS_VCT[cam_id] = cam_tracker;
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}
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void TrackerManager::single_draw(int cam_id, cv::Mat img, FRAME_RESULT& result_vec)
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{
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for(auto& track : this->CAMERAS_VCT[cam_id]->tracks)
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{
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RESULT_STRUCT result;
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if(!track->is_confirmed() || track->time_since_update > 1) continue;
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DETECTBOX tmpbox = track->to_tlwh();
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result.rect = cv::Rect(tmpbox(0),tmpbox(1),tmpbox(2),tmpbox(3));
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result.human_id = track->track_id;
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// result.confidence = detection.confidence;
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result_vec.push_back(result);
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}
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draw_result(img, result_vec);
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}
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std::vector<DETECTION_ROW> TrackerManager::deal_features(std::vector<cv::Rect> boxes, std::vector<vector<float> > feats_vec)
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{
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DETECTIONS detections;
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for (int i = 0; i < boxes.size(); ++i)
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{
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DETECTION_ROW tmpRow;
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tmpRow.tlwh = DETECTBOX(boxes[i].x, boxes[i].y, boxes[i].width, boxes[i].height);//DETECTBOX(x, y, w, h);
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tmpRow.confidence = 1;
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for(int j = 0; j < 128; j++)
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{
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tmpRow.feature[j] = feats_vec[i][j];
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}
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cout << tmpRow.tlwh << endl;
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cout << tmpRow.feature << endl;
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detections.push_back(tmpRow);
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// std::cout<<"Detections Size:::::"<<detections.size() <<std::endl;
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}
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return detections;
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}
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Mat TrackerManager:: h_tracker(int cam_id, Mat frame, DETECTIONS detections){
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auto cam_tracker = this->CAMERAS_VCT[cam_id];
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cam_tracker->predict();
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cam_tracker->update(detections);
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std::vector<RESULT_DATA> result;
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// std::cout << " tracks Size:::::" << cam_tracker->tracks.size() << std::endl;
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for(auto& track : cam_tracker->tracks) {
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if(track->is_confirmed() && track->time_since_update > 1) continue;
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result.push_back(std::make_pair(track->track_id, track->to_tlwh()));
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DETECTBOX tmpbox = track->to_tlwh();
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cv::Rect rect(tmpbox(0), tmpbox(1), tmpbox(2), tmpbox(3));
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cv::rectangle(frame, rect, cv::Scalar(0,0,255), 4);
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std::string label = to_string(track->track_id);
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cv::putText(frame, label, cv::Point(rect.x, rect.y), cv::FONT_HERSHEY_SIMPLEX, 0.8, cv::Scalar(255, 0, 0), 2);
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}
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this->CAMERAS_VCT[cam_id] = cam_tracker;
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return frame;
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}
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void TrackerManager::init_target(Target *t){
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t->attribute = NULL;
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t->feature = NULL;
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t->id = 0;
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t->rect = TRect{0,0,0,0};
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t->confidence = 0;
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}
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