246 lines
7.4 KiB
C++
246 lines
7.4 KiB
C++
#include "rknn.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include "rknn_api.h"
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#include <string.h>
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#include <pthread.h>
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#include <vector>
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#include <set>
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#include <math.h>
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#include <sys/time.h>
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#include "MppDecode.h"
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#include "cJSON.h"
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#include "pose_body.h"
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#include "yolov5.h"
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#include "common.h"
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#include "postprocess.h"
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#include "vertix.h"
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void *upload_info(void *arg);
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// #define LABEL_NALE_TXT_PATH "./model/coco_80_labels_list.txt"
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static int pre_change_frames[OBJ_CLASS_MAX] = {0};
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// static int last_objects[OBJ_NUMB_MAX_SIZE] = {0};
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static int pre_change_objects[OBJ_CLASS_MAX] = {0};
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static int size_of_last_objects = 0;
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static int size_of_pre_changed = 0;
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char *CameraID = NULL;
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int TypeID = 0;
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int UploadPort = 0;
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static char is_uploading = 0;
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pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
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// rknn_t *rk = NULL;
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char *global_model = NULL;
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float conf_threshold;
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const float nms_threshold = 0.4;
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static int init = -1;
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#ifdef DUMP_FIRST_FRAME
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#include "rga.h"
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volatile char save_flag = 1;
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#endif
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int process_a_frame(char *buf, int sw, int sh)
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{
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// pthread_mutex_lock(&frame_mutex);
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// int ret = pose_body(buf, sw, sh, 0);
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struct timeval tpend1, tpend2;
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long usec1 = 0;
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gettimeofday(&tpend1, NULL);
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int ret;
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if (pthread_mutex_trylock(&mutex) == 0)
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{
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image_buffer_t src_img = {0};
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src_img.format = IMAGE_FORMAT_RGB888;
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src_img.height = sh;
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src_img.width = sw;
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src_img.height_stride = 0;
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src_img.width_stride = 0;
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src_img.virt_addr = (unsigned char *)buf;
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src_img.size = sw * sh * 3;
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object_detect_result_list od_results;
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memset(&od_results, 0, sizeof(object_detect_result_list));
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ret = inference_yolov5_model(&rknn_app_ctx, &src_img, &od_results);
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if (rknn_app_ctx.callback != NULL) {
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rknn_app_ctx.callback(&rknn_app_ctx, &od_results, (unsigned char*)buf);
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} else {
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free(buf);
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}
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// printf("detect result: %d, %s\n", od_results.count, coco_cls_to_name(0));
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/*
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for (int i = 0; i < od_results.count; i++) {
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object_detect_result *det_result = &(od_results.results[i]);
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printf("(%d)[%s] @ (%d %d %d %d) %.3f\n", det_result->cls_id, coco_cls_to_name(det_result->cls_id),
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det_result->box.left, det_result->box.top,
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det_result->box.right, det_result->box.bottom,
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det_result->prop);
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}
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*/
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pthread_mutex_unlock(&mutex);
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}
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else
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{
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ret = -1;
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free(buf);
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printf("skipped judge\n");
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}
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// free(buf);
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gettimeofday(&tpend2, NULL);
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usec1 = 1000 * (tpend2.tv_sec - tpend1.tv_sec) + (tpend2.tv_usec - tpend1.tv_usec) / 1000;
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printf("rknn cost_time=%ld ms\n", usec1);
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pthread_mutex_unlock(&frame_mutex);
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return ret;
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}
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int print_object_detect_result(rknn_app_context_t *rknn, object_detect_result_list *group, unsigned char *buff)
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{
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int need_upload_info[OBJ_CLASS_MAX] = {-1};
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int current_objects[OBJ_CLASS_MAX] = {0};
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char need_upload = 0;
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for (int i = 0; i < group->count; i++)
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{
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if (group->results[i].cls_id >= OBJ_CLASS_REAL_NUM)
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{
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printf("skip clsid > OBJ_CLASS_NUM: %d\n", group->results[i].cls_id);
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continue;
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}
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char *label = labels[group->results[i].cls_id];
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if (group->results[i].prop < conf_threshold) {
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printf("skip prop = %f for class %s\n", group->results[i].prop, label);
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continue;
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}
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int left = group->results[i].box.left;
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int top = group->results[i].box.top;
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int right = group->results[i].box.right;
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int bottom = group->results[i].box.bottom;
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if (is_point_in_workspace(left, top, right, bottom))
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{
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printf("in ");
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current_objects[group->results[i].cls_id] += 1;
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}
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else
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{
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printf("not in ");
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}
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// char *label = labels[group->results[i].cls_id];
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printf("result %2d: (%3d %3d %3d %3d) %f, %s\n", i, group->results[i].box.left, group->results[i].box.top,
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group->results[i].box.right, group->results[i].box.bottom, group->results[i].prop, label);
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// current_objects[group->results[i].cls_id] += 1;
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}
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for (int i = 0; i < OBJ_CLASS_REAL_NUM; i++)
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{
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if (current_objects[i] != pre_change_objects[i])
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{
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pre_change_frames[i] = 1;
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pre_change_objects[i] = current_objects[i];
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}
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// 个数相同, 并且在数帧数
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else if (pre_change_frames[i] != 0)
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{
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pre_change_frames[i] += 1;
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if (pre_change_frames[i] >= 3)
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{
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need_upload = 1;
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pre_change_frames[i] = 0;
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// last_objects[i] = pre_change_objects[i];
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need_upload_info[i] = pre_change_objects[i];
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// change to current, need upload
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}
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}
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}
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if (need_upload && is_uploading == 0)
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{
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int *need_upload_copy = (int *)malloc(sizeof(int) * OBJ_CLASS_REAL_NUM);
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for (int i = 0; i < OBJ_CLASS_REAL_NUM; i++)
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{
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need_upload_copy[i] = need_upload_info[i];
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}
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pthread_t uploadth;
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pthread_create(&uploadth, NULL, upload_info, (void *)need_upload_copy);
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pthread_detach(uploadth);
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}
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free(buff);
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}
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void *upload_info(void *arg)
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{
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int *need_upload_info = (int *)arg;
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if (is_uploading != 0)
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{
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free(need_upload_info);
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return NULL;
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}
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is_uploading = 1;
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char need_uploading = 0;
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cJSON *array = cJSON_CreateArray();
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for (int i = 0; i < OBJ_CLASS_REAL_NUM; i++)
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{
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if ((need_upload_info[i] != -1) && codes[i] != 0)
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{
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need_uploading = 1;
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int total_number = need_upload_info[i];
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for (int j = i+1; j < OBJ_CLASS_REAL_NUM; j++) {
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if (codes[i] == codes[j]) {
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printf("merge %s(No: %d) to %s", labels[j], need_upload_info[j], labels[i]);
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total_number += need_upload_info[j];
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need_upload_info[j] = 0;
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}
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}
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printf("xxxxxxx class idx = %d\n", codes[i]);
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cJSON *obj = cJSON_CreateObject();
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// 事件编码，外部事件编码
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cJSON_AddNumberToObject(obj, "class_idx", codes[i]);
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cJSON_AddStringToObject(obj, "name", labels[i]);
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cJSON_AddNumberToObject(obj, "number", total_number);
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cJSON_AddItemToArray(array, obj);
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// do upload
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}
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}
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if (!need_uploading)
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{
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cJSON_Delete(array);
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free(need_upload_info);
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is_uploading = 0;
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printf("no need to upload\n");
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return NULL;
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}
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cJSON *uploadinfo = cJSON_CreateObject();
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cJSON_AddStringToObject(uploadinfo, "serial", CameraID);
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// 内部事件编码，因为没法表示多个，所以，即将废弃
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cJSON_AddNumberToObject(uploadinfo, "type", TypeID);
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cJSON_AddNumberToObject(uploadinfo, "at", current_time_stamp());
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cJSON_AddItemToObject(uploadinfo, "params", array);
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time_t now;
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now = time(NULL);
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post_json("127.0.0.1", UploadPort, "localhost", "/video/post", uploadinfo);
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cJSON_Delete(uploadinfo);
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free(need_upload_info);
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// int resgap = now % TIMEGAP;
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// printf("sleep for %d seconds", (2 * TIMEGAP - resgap));
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// sleep(2 * (TIMEGAP - resgap));
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is_uploading = 0;
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} |