package sdk
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import (
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"analysis/logo"
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"analysis/work"
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"context"
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"github.com/gogo/protobuf/proto"
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"analysis/gohumantrack"
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"basic.com/pubsub/protomsg.git"
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"basic.com/valib/gogpu.git"
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)
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// HumanTracker track
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type HumanTracker struct {
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tracker *gohumantrack.HumanTracker
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gpu int
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batchSize int
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flag int
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list *LockList
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mapCameraImageIndex map[string]int
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recvImageCount int
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index int
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images [batchSize]*gohumantrack.ImageHumanTracker
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msgs [batchSize]*work.MsgRS
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}
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// NewHumanTracker new
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func NewHumanTracker(gpu, batchSize, flag int) *HumanTracker {
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return &HumanTracker{
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gpu: gpu,
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batchSize: batchSize,
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flag: flag,
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list: NewLockList(6),
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recvImageCount: 0,
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index: 0,
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}
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}
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// Free free
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func (t *HumanTracker) Free() {
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if t.tracker != nil {
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t.tracker.Free()
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}
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}
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// Init impl
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func (t *HumanTracker) Init() bool {
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if t.batchSize != 1 {
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logo.Errorln("ONLY SUPPORT BATCH SIZE = 1")
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return false
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}
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gpu := t.gpu
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if gpu == -1 {
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gpu = gogpu.ValidGPU(2048)
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}
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logo.Infof("start gpu %d, batch %d, flag %d\n", gpu, t.batchSize, t.flag)
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t.tracker = gohumantrack.NewHumanTracker(gpu, t.batchSize, t.flag)
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if t.tracker != nil {
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logo.Infoln("Start Success")
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return true
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}
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logo.Infoln("Start Failed")
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return false
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}
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func (t *HumanTracker) track(rMsg work.MsgRS, out chan<- work.MsgRS, typ string) {
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i := unpackImage(rMsg, typ)
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if i == nil || i.Data == nil || i.Width <= 0 || i.Height <= 0 {
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ejectResult(nil, rMsg, out)
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return
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}
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imgW, imgH := int(i.Width), int(i.Height)
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var images []gohumantrack.ImageHumanTracker
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img := gohumantrack.ImageHumanTracker{
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Data: i.Data,
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Width: imgW,
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Height: imgH,
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Channel: 3,
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}
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images = append(images, img)
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res, err := t.tracker.Process(images)
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if err != nil {
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ejectResult(nil, rMsg, out)
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return
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}
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hr := convert2ProtoHumanTrackResult(res)
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result := protomsg.HumanTrackResult{Result: hr}
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data, err := proto.Marshal(&result)
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if err != nil {
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logo.Errorln("HUMAN TRACKER MARSHAL PROTO PLATE IDS ERROR", err)
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data = nil
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}
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ejectResult(data, rMsg, out)
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var id, name string
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if rMsg.Msg.Tasklab != nil {
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id, name = rMsg.Msg.Tasklab.Taskid, rMsg.Msg.Tasklab.Taskname
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}
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logo.Infoln("CAMERAID: ", rMsg.Msg.Cid, " TASKID: ", id, " TASKNAME: ", name, " Human Track COUNT: ", len(hr[0]))
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}
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func (t *HumanTracker) trackBatch(rMsg work.MsgRS, out chan<- work.MsgRS, typ string) {
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i := unpackImage(rMsg, typ)
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if i == nil || i.Data == nil || i.Width <= 0 || i.Height <= 0 {
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ejectResult(nil, rMsg, out)
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return
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}
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imgW, imgH := int(i.Width), int(i.Height)
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img := gohumantrack.ImageHumanTracker{
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Data: i.Data,
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Width: imgW,
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Height: imgH,
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Channel: 3,
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}
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// mapCameraImageIndex map[string]int
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// images []gohumantrack.ImageHumanTracker
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t.recvImageCount++
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if t.mapCameraImageIndex == nil {
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t.mapCameraImageIndex = make(map[string]int)
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for i := 0; i < t.batchSize; i++ {
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t.images[i] = nil
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}
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for i := 0; i < t.batchSize; i++ {
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t.msgs[i] = nil
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}
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}
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if i, ok := t.mapCameraImageIndex[rMsg.Msg.Cid]; ok {
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if i < batchSize {
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t.images[i] = &img
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t.msgs[i] = &rMsg
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}
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} else {
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if t.index < batchSize {
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t.images[t.index] = &img
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t.msgs[t.index] = &rMsg
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t.mapCameraImageIndex[rMsg.Msg.Cid] = t.index
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}
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t.index++
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}
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if t.recvImageCount < t.batchSize+t.batchSize/2 {
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return
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}
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res, err := t.tracker.ProcessImagePointer(t.images[:])
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if err != nil {
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t.mapCameraImageIndex = nil
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ejectResult(nil, rMsg, out)
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return
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}
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for i := 0; i < t.batchSize; i++ {
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if t.images[i] == nil {
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continue
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}
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hr := convert2ProtoHumanTrackResult(res[i])
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result := protomsg.HumanTrackResult{Result: hr}
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data, err := proto.Marshal(&result)
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if err != nil {
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logo.Errorln("HUMAN TRACKER MARSHAL PROTO PLATE IDS ERROR", err)
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data = nil
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}
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msg := *t.msgs[i]
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ejectResult(data, msg, out)
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var id, name string
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if msg.Msg.Tasklab != nil {
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id, name = msg.Msg.Tasklab.Taskid, msg.Msg.Tasklab.Taskname
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}
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logo.Infoln("CAMERAID: ", msg.Msg.Cid, " TASKID: ", id, " TASKNAME: ", name, " Human Track COUNT: ", len(hr[0]))
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}
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}
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// Run impl
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func (t *HumanTracker) Run(ctx context.Context, in <-chan work.MsgRS, out chan<- work.MsgRS, typ string) {
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// FlowSimple(ctx, in, out, typ, t.list.Push, t.list.Pop, t.track, t.Free)
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FlowSimple(ctx, in, out, typ, t.list.Push, t.list.Pop, t.trackBatch, t.Free)
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}
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// message HumanTrack {
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// Rect rcHuman = 1;
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// float confidence = 2;
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// int32 x = 3;
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// int32 y = 4;
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// int32 id = 5;
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// repeated float feature = 6;
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// }
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// message HumanTrackResult {
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// repeated HumanTrack result = 1;
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// }
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func convert2ProtoHumanTrackResult(obj gohumantrack.FgResult) []*protomsg.HumanTrack {
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res := []*protomsg.HumanTrack{}
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for i := 0; i < int(v.FgNum); i++ {
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r := v.Fginfo[i]
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rect := protomsg.Rect{
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Left: r.Left,
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Right: r.Right,
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Top: r.Top,
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Bottom: r.Bottom,
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}
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pr := &protomsg.HumanTrack{
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RcHuman: &rect,
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Confidence: r.Confidence,
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X: r.X,
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Y: r.Y,
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Id: r.ID,
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Feature: r.Feature[:],
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}
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res = append(res, pr)
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}
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return res
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}
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