#include "YoloRpcElement.h"
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#include <basic/util/app/AppPreference.hpp>
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#include <QtCore/QSharedMemory>
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#include <QtCore/QString>
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#include <basic/timer_counter/Clocktimer.h>
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#include <basic/util/opencv/CvUtil.h>
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YoloRpcElement::YoloRpcElement(std::string shareMemoryName) :
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rpcClient(appPref.getStringData("yolo.proxy"), appPref.getStringData("yolo.ip"),
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appPref.getIntData("yolo.port"), "tcp"),
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sharedMemory(nullptr),
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trackingTrigger(nullptr)
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{
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trackingTrigger = new TrackingTrigger(0.5);
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sharedMemory = new QSharedMemory(QString(shareMemoryName.c_str()));
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// DBG(shareMemoryName);
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//1520 x 2688 1080 x 1920 //2560 * 1440 * 4
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if (!sharedMemory->create(4608 * 2592 * 4)) {
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sharedMemory->attach();
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}
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try {
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auto server = rpcClient.getServer();
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cocoData = server->getCocoData();
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}
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catch (std::exception &e) {
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ERR(e.what())
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}
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}
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YoloRpcElement::~YoloRpcElement() {
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if (sharedMemory) {
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delete sharedMemory;
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}
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if(trackingTrigger)
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{
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delete trackingTrigger;
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trackingTrigger=nullptr;
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}
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}
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void YoloRpcElement::setImage(const cv::Mat &value)
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{
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if (value.size != image.size)
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{
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image = cv::Mat(value.rows, value.cols, CV_8UC3, sharedMemory->data());
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}
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value.copyTo(image);
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}
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::YoloDetect::ObjInfos YoloRpcElement::getObjects() const
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{
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return objs;
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}
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std::vector<ScoredRect> YoloRpcElement::getLastScoreRects() const {
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return trackingTrigger->getLastScoreRects();
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}
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cv::Mat YoloRpcElement::getImage() const
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{
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return image;
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}
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void YoloRpcElement::threadFunc()
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{
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// ClockTimer ct("YoloRpcElement::threadFunc");
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triggerScoredRects.clear();
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try {
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auto server = rpcClient.getServer();
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if (!server)
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{
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ERR("server is null");
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return;
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}
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objs = server->YoloDetect(image.cols, image.rows, sharedMemory->key().toStdString());//TODO
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}
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catch (std::exception &e)
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{
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ERR(e.what())
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}
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// int size=objs.size();
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// if(size>30)
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// {
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// DBG("size="<<size);
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// return;
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// }
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for (auto &obj: objs)
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{
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if (obj.type != 0)
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continue;
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ScoredRect scoredRect;
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int x = obj.rcObj.left * image.cols;
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int y = obj.rcObj.top * image.rows;
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int w = (obj.rcObj.right - obj.rcObj.left) * image.cols;
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int h = (obj.rcObj.bottom - obj.rcObj.top) * image.rows;
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scoredRect.rect = cv::Rect(x, y, w, h);
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scoredRect.score = scoredRect.rect.area() > 0 ? obj.prob : 0;
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scoredRect.properties["time"] = getProperty("time");
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scoredRect.properties["imgKey"]=getProperty("imgKey");
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if (trackingTrigger->triggerOnce(scoredRect))
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{
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trackingTrigger->getLastRect().properties["id"] = to_string(scoredRect.id);
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trackingTrigger->getLastRect().properties["type"] = cocoData[obj.type];
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trackingTrigger->getLastRect().properties["time"] = getProperty("time");
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trackingTrigger->getLastRect().properties["imgKey"]=getProperty("imgKey");
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// DBG("time)"<<getProperty("time"));
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triggerScoredRects.push_back(trackingTrigger->getLastRect());
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}
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}
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trackingTrigger->triggerLine();
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// if(trackingTrigger->getLastScoreRects().size()>20)
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// {
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// DBG("");
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// }
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fireConnectors();
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}
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