派生自 analysis
work/sdk/humantrack.go
@@ -1,6 +1,7 @@ package sdk import ( "analysis/goconv" "analysis/logo" "analysis/work" "context" @@ -13,6 +14,13 @@ "basic.com/valib/gogpu.git" ) type imageWithID struct { img *gohumantrack.ImageHumanTracker fx float64 fy float64 id string } // HumanTracker track type HumanTracker struct { tracker *gohumantrack.HumanTracker @@ -20,6 +28,12 @@ batchSize int flag int list *LockList mapCameraImageIndex map[string]int recvImageCount int index int images []*imageWithID msgs []*work.MsgRS } // NewHumanTracker new @@ -29,6 +43,12 @@ batchSize: batchSize, flag: flag, list: NewLockList(6), recvImageCount: 0, index: 0, mapCameraImageIndex: make(map[string]int), images: make([]*imageWithID, batchSize), msgs: make([]*work.MsgRS, batchSize), } } @@ -41,10 +61,7 @@ // Init impl func (t *HumanTracker) Init() bool { if t.batchSize != 1 { logo.Errorln("ONLY SUPPORT BATCH SIZE = 1") return false } gpu := t.gpu if gpu == -1 { @@ -83,8 +100,8 @@ return } hr := convert2ProtoHumanTrackResult(res) result := protomsg.HumanTrackResult{Result: hr[0]} hr := convert2ProtoHumanTrackResult(res[0]) result := protomsg.HumanTrackResult{Result: hr} data, err := proto.Marshal(&result) if err != nil { logo.Errorln("HUMAN TRACKER MARSHAL PROTO PLATE IDS ERROR", err) @@ -95,13 +112,106 @@ if rMsg.Msg.Tasklab != nil { id, name = rMsg.Msg.Tasklab.Taskid, rMsg.Msg.Tasklab.Taskname } logo.Infoln("CAMERAID: ", rMsg.Msg.Cid, " TASKID: ", id, " TASKNAME: ", name, " Human Track COUNT: ", len(hr[0])) logo.Infoln("CAMERAID: ", rMsg.Msg.Cid, " TASKID: ", id, " TASKNAME: ", name, " Human Track COUNT: ", len(hr)) } func (t *HumanTracker) trackBatch(rMsg work.MsgRS, out chan<- work.MsgRS, typ string) { i := unpackImage(rMsg, typ) if i == nil || i.Data == nil || i.Width <= 0 || i.Height <= 0 { ejectResult(nil, rMsg, out) return } imgW, imgH := int(i.Width), int(i.Height) var imgData []byte rw, rh := 1280, 720 fx, fy := 1.0, 1.0 if imgW != rw || imgH != rh { imgData = goconv.ResizeBGR(i.Data, imgW, imgH, rw, rh) fx = (float64)(rw) / (float64)(imgW) fy = (float64)(rh) / (float64)(imgH) } img := gohumantrack.ImageHumanTracker{ Data: imgData, Width: rw, Height: rh, Channel: 3, } // mapCameraImageIndex map[string]int // images []gohumantrack.ImageHumanTracker if i, ok := t.mapCameraImageIndex[rMsg.Msg.Cid]; ok { if i < t.batchSize { t.images[i] = &imageWithID{&img, fx, fy, rMsg.Msg.Cid} t.msgs[i] = &rMsg } } else { if t.index < t.batchSize { t.images[t.index] = &imageWithID{&img, fx, fy, rMsg.Msg.Cid} t.msgs[t.index] = &rMsg t.mapCameraImageIndex[rMsg.Msg.Cid] = t.index } t.index++ } t.recvImageCount++ if t.recvImageCount < t.batchSize+t.batchSize/2 { return } for k, v := range t.mapCameraImageIndex { logo.Infoln("batch~~~~~~Map index: ", v, " camera: ", k) } var pimg []*gohumantrack.ImageHumanTracker for k, v := range t.images[:] { if v != nil { pimg = append(pimg, v.img) logo.Infoln("batch~~~~~~Image index: ", k, " camera: ", v.id, " image address: ", v.img) } else { pimg = append(pimg, nil) } } res, err := t.tracker.ProcessImagePointer(pimg, rw, rh, 3) t.recvImageCount = 0 if err != nil { logo.Infoln("batch~~~~~~Track Image Count: ", t.index, " Failed: ", err) ejectResult(nil, rMsg, out) return } for i := 0; i < t.batchSize; i++ { if t.images[i] == nil { continue } hr := convert2ProtoHumanTrackResultWithScale(res[i], t.images[i].fx, t.images[i].fy) result := protomsg.HumanTrackResult{Result: hr} data, err := proto.Marshal(&result) if err != nil { logo.Errorln("batch~~~~~~HUMAN TRACKER MARSHAL PROTO PLATE IDS ERROR", err) data = nil } msg := *t.msgs[i] ejectResult(data, msg, out) var id, name string if msg.Msg.Tasklab != nil { id, name = msg.Msg.Tasklab.Taskid, msg.Msg.Tasklab.Taskname } logo.Infoln("batch~~~~~~CAMERAID: ", msg.Msg.Cid, " TASKID: ", id, " TASKNAME: ", name, " Human Track COUNT: ", len(hr)) } } // Run impl func (t *HumanTracker) Run(ctx context.Context, in <-chan work.MsgRS, out chan<- work.MsgRS, typ string) { FlowSimple(ctx, in, out, typ, t.list.Push, t.list.Pop, t.track, t.Free) // FlowSimple(ctx, in, out, typ, t.list.Push, t.list.Pop, t.track, t.Free) FlowSimple(ctx, in, out, typ, t.list.Push, t.list.Pop, t.trackBatch, t.Free) } // message HumanTrack { @@ -117,30 +227,48 @@ // repeated HumanTrack result = 1; // } func convert2ProtoHumanTrackResult(obj []gohumantrack.FgResult) [][]*protomsg.HumanTrack { ret := [][]*protomsg.HumanTrack{} for _, v := range obj { res := []*protomsg.HumanTrack{} for i := 0; i < int(v.FgNum); i++ { r := v.Fginfo[i] rect := protomsg.Rect{ Left: r.Left, Right: r.Right, Top: r.Top, Bottom: r.Bottom, } pr := &protomsg.HumanTrack{ RcHuman: &rect, Confidence: r.Confidence, X: r.X, Y: r.Y, Id: r.ID, Feature: r.Feature[:], } res = append(res, pr) func convert2ProtoHumanTrackResult(obj gohumantrack.FgResult) []*protomsg.HumanTrack { res := []*protomsg.HumanTrack{} for i := 0; i < int(obj.FgNum); i++ { r := obj.Fginfo[i] rect := protomsg.Rect{ Left: r.Left, Right: r.Right, Top: r.Top, Bottom: r.Bottom, } ret = append(ret, res) pr := &protomsg.HumanTrack{ RcHuman: &rect, Confidence: r.Confidence, X: r.X, Y: r.Y, Id: r.ID, Feature: r.Feature[:], } res = append(res, pr) } return ret return res } func convert2ProtoHumanTrackResultWithScale(obj gohumantrack.FgResult, fx, fy float64) []*protomsg.HumanTrack { res := []*protomsg.HumanTrack{} for i := 0; i < int(obj.FgNum); i++ { r := obj.Fginfo[i] rect := protomsg.Rect{ Left: (int32)((float64)(r.Left) / fx), Right: (int32)((float64)(r.Right) / fy), Top: (int32)((float64)(r.Top) / fx), Bottom: (int32)((float64)(r.Bottom) / fy), } pr := &protomsg.HumanTrack{ RcHuman: &rect, Confidence: r.Confidence, X: (int32)((float64)(r.X) / fx), Y: (int32)((float64)(r.Y) / fy), Id: r.ID, Feature: r.Feature[:], } res = append(res, pr) } return res }
