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陈赣
137
nodes/broker/vp_embeddings_properties_socket_broker_node.cpp
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137
nodes/broker/vp_embeddings_properties_socket_broker_node.cpp
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#include "vp_embeddings_properties_socket_broker_node.h"
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namespace vp_nodes {
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vp_embeddings_properties_socket_broker_node::vp_embeddings_properties_socket_broker_node(std::string node_name,
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std::string des_ip,
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int des_port,
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std::string cropped_dir,
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int min_crop_width,
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int min_crop_height,
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vp_broke_for broke_for,
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bool only_for_tracked,
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int broking_cache_warn_threshold,
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int broking_cache_ignore_threshold):
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vp_msg_broker_node(node_name, broke_for, broking_cache_warn_threshold, broking_cache_ignore_threshold),
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des_ip(des_ip),
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des_port(des_port),
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cropped_dir(cropped_dir),
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min_crop_width(min_crop_width),
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min_crop_height(min_crop_height),
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only_for_tracked(only_for_tracked) {
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// only for vp_frame_target
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assert(broke_for == vp_broke_for::NORMAL);
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udp_writer = kissnet::udp_socket(kissnet::endpoint(des_ip, des_port));
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VP_INFO(vp_utils::string_format("[%s] [message broker] set des_ip as `%s` and des_port as [%d]", node_name.c_str(), des_ip.c_str(), des_port));
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this->initialized();
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}
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vp_embeddings_properties_socket_broker_node::~vp_embeddings_properties_socket_broker_node() {
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deinitialized();
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stop_broking();
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}
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void vp_embeddings_properties_socket_broker_node::format_msg(const std::shared_ptr<vp_objects::vp_frame_meta>& meta, std::string& msg) {
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/* format:
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line 0, <--
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line 1, 1st cropped image's path
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line 2, 1st properties, multi property labels splited by ','
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line 3, 1st sub target info, empty line if sub target detected (sub target may be vehicle plate)
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line 4, 1st embeddings
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line 5, -->
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line 6, <--
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line 7, 2nd cropped image's path
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line 8, 2nd properties, multi property labels splited by ','
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line 9, 2nd sub target info, empty line if sub target detected (sub target may be vehicle plate)
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line 10, 2nd embeddings
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line 11, -->
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line 12, ...
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*/
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auto& broked = all_broked[meta->channel_index];
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// remove 50 elements every 100 ids
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if (broked.size() > 100) {
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broked.erase(broked.begin(), broked.begin() + 50);
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}
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std::stringstream msg_stream;
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auto format_embeddings = [&](const std::vector<float>& embeddings) {
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for (int i = 0; i < embeddings.size(); i++) {
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msg_stream << embeddings[i];
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if (i != embeddings.size() - 1) {
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msg_stream << ",";
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}
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}
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msg_stream << std::endl;
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};
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auto format_sub_target = [&](const std::string& sub_target_info) {
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msg_stream << sub_target_info << std::endl;
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};
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auto format_properties = [&](const std::vector<std::string>& secondary_labels) {
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for (int i = 0; i < secondary_labels.size(); i++) {
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msg_stream << secondary_labels[i];
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if (i != secondary_labels.size() - 1) {
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msg_stream << ",";
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}
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}
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msg_stream << std::endl;
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};
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auto save_cropped_image = [&](cv::Mat& frame, cv::Rect rect, std::string name) {
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auto cropped = frame(rect);
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cv::imwrite(name, cropped);
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msg_stream << name << std::endl;
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};
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if (broke_for == vp_broke_for::NORMAL) {
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for (int i = 0; i < meta->targets.size(); i++) {
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auto& t = meta->targets[i];
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// only broke for tracked targets and have enough frames
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if ((only_for_tracked && t->track_id < 0) || (only_for_tracked && t->tracks.size() < min_tracked_frames)) {
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continue;
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}
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// only broke 1 time for specific track id if it has been tracked, or broke many times
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if (t->track_id >= 0 &&
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std::find(broked.begin(), broked.end(), t->track_id) != broked.end()) {
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continue;
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}
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// size filter
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if (t->width < min_crop_width || t->height < min_crop_height) {
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continue;
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}
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if (t->track_id >= 0) {
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broked.push_back(t->track_id);
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}
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auto name = cropped_dir + "/" + std::to_string(t->channel_index) + "_" + std::to_string(t->frame_index) + "_" + std::to_string(t->track_id >= 0 ? t->track_id : i) + ".jpg";
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// start flag
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msg_stream << "<--" << std::endl;
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// save small cropped image
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save_cropped_image(meta->frame, cv::Rect(t->x, t->y, t->width, t->height), name);
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// format properties
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format_properties(t->secondary_labels);
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// format sub target (vehicle plate here), just using the first sub target's label is enough.
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format_sub_target(t->sub_targets.size() > 0 ? t->sub_targets[0]->label : "");
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// format embeddings
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format_embeddings(t->embeddings);
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// end flag
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msg_stream << "-->";
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if (i != meta->targets.size() - 1) {
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msg_stream << std::endl; // not the last one
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}
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}
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}
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msg = msg_stream.str();
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}
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void vp_embeddings_properties_socket_broker_node::broke_msg(const std::string& msg) {
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// broke msg to socket by udp
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auto bytes_2_send = reinterpret_cast<const std::byte*>(msg.c_str());
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auto bytes_2_send_len = msg.size();
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udp_writer.send(bytes_2_send, bytes_2_send_len);
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}
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}
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