package sdk
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import (
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"analysis/goconv"
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"analysis/logo"
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"analysis/work"
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"context"
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"time"
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"basic.com/pubsub/protomsg.git"
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"basic.com/valib/gosdk.git"
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"github.com/gogo/protobuf/proto"
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)
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func (y *YoloDetect) detectTrack(ctx context.Context, in <-chan work.MsgRS, out chan<- work.MsgRS, typ string) {
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y.tracker = make(map[string]*trackInfo)
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go y.work(ctx, out, typ)
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for {
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select {
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case <-ctx.Done():
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return
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default:
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rMsg := <-in
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if !validRemoteMessage(rMsg, typ) {
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logo.Errorln("yolo validremotemessage invalid")
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ejectResult(nil, rMsg, out)
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continue
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}
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y.push(rMsg)
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}
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}
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}
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func (y *YoloDetect) push(data work.MsgRS) {
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y.cv.L.Lock()
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y.cache.PushBack(data)
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if y.cache.Len() > 12 {
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for i := 0; i < y.cache.Len(); {
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y.cache.Remove(y.cache.Front())
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i = i + 2
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}
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}
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// logo.Infof("push to cache count : %d\n", t.cache.Len())
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y.cond = true
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y.cv.Signal()
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y.cv.L.Unlock()
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}
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func (y *YoloDetect) work(ctx context.Context, out chan<- work.MsgRS, typ string) {
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tm := time.Now()
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sc := 0
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for {
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select {
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case <-ctx.Done():
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goconv.Free()
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return
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default:
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y.cv.L.Lock()
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for !y.cond {
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y.cv.Wait()
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}
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rMsg := y.cache.Front().Value.(work.MsgRS)
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y.track(rMsg, out, typ)
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y.cache.Remove(y.cache.Front())
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y.cond = false
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y.cv.L.Unlock()
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sc++
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if sc == 25 {
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logo.Infoln("YOLO RUN 25 FRAME USE TIME: ", time.Since(tm))
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sc = 0
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tm = time.Now()
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}
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if time.Since(tm) > time.Second {
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logo.Infof("YOLO RUN %d FRAME USE TIME: %v", sc, time.Since(tm))
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sc = 0
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tm = time.Now()
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}
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}
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}
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}
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func (y *YoloDetect) track(rMsg work.MsgRS, out chan<- work.MsgRS, typ string) {
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/////////////////////////////////////////////
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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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logo.Errorln("yolo image error: ", i)
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ejectResult(nil, rMsg, out)
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return
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}
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// conv to bgr24 and resize
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imgW, imgH := int(i.Width), int(i.Height)
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bgrData := goconv.YUV2BGR(i.Data, imgW, imgH)
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if bgrData == nil {
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ejectResult(nil, rMsg, out)
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return
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}
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img := gosdk.SDKImage{Data: bgrData, Width: imgW, Height: imgH}
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v, ok := y.tracker[rMsg.Msg.Cid]
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if !ok {
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i := &trackInfo{}
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y.tracker[rMsg.Msg.Cid] = i
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v = i
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}
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allOrig, _ := gosdk.YoloDetectTrack2(y.yolo, v.lastTrackObjs, &v.lastTrackID, img, 0.4, 0)
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y.tracker[rMsg.Msg.Cid].lastTrackObjs = allOrig
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y.tracker[rMsg.Msg.Cid].lastTrackID = v.lastTrackID
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/// filter rules
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var allF []gosdk.CObjTrackInfo
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sdkid := rMsg.Msg.Tasklab.Sdkinfos[rMsg.Msg.Tasklab.Index].Ipcid
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for _, v := range allOrig {
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size := (v.ObjInfo.RcObj.Right - v.ObjInfo.RcObj.Left) * (v.ObjInfo.RcObj.Bottom - v.ObjInfo.RcObj.Top)
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if filter(rMsg.Msg.Tasklab.Taskid, sdkid, v.ObjInfo.Prob, 0, int(size)) {
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allF = append(allF, v)
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}
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}
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/// filter rules
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allO := allF
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// allO := allOrig
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var data []byte
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var err error
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if len(allO) > 0 {
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infos := convert2ProtoYoloTrack(allO, 1.0, 1.0)
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p := protomsg.ParamYoloObj{Infos: infos}
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// logo.Infoln("CID: ", rMsg.Msg.Cid, " TASK: ", rMsg.Msg.Tasklab.Taskid, " YOLO TRACK OBJS: ", len(infos))
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data, err = proto.Marshal(&p)
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if err != nil {
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logo.Errorln("ydetect track marshal proto yolo obj error", err)
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data = nil
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}
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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, " DETECT YOLO COUNT: ", len(allO))
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}
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func convert2ProtoYoloTrack(obj []gosdk.CObjTrackInfo, fx, fy float64) []*protomsg.ObjInfo {
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ret := []*protomsg.ObjInfo{}
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for _, v := range obj {
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if fx < 1.0 || fy < 1.0 {
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v.ObjInfo.RcObj.Left = (int32)((float64)(v.ObjInfo.RcObj.Left) / fx)
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v.ObjInfo.RcObj.Right = (int32)((float64)(v.ObjInfo.RcObj.Right) / fx)
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v.ObjInfo.RcObj.Top = (int32)((float64)(v.ObjInfo.RcObj.Top) / fy)
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v.ObjInfo.RcObj.Bottom = (int32)((float64)(v.ObjInfo.RcObj.Bottom) / fy)
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}
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rect := protomsg.Rect{
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Left: v.ObjInfo.RcObj.Left,
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Right: v.ObjInfo.RcObj.Right,
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Top: v.ObjInfo.RcObj.Top,
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Bottom: v.ObjInfo.RcObj.Bottom,
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}
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obj := protomsg.ObjInfo{
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RcObj: &rect,
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Typ: v.ObjInfo.Typ,
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Prob: v.ObjInfo.Prob,
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ObjID: v.ID,
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}
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ret = append(ret, &obj)
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}
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return ret
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}
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