|
|
|
|
|
import numpy as np
|
|
|
|
|
|
import cv2
|
|
|
|
|
|
import time
|
|
|
|
|
|
import torch
|
|
|
|
|
|
from . import detect_api as detect
|
|
|
|
|
|
from . import deep_sort as ds
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# # 系统状态定义
|
|
|
|
|
|
# GLB_STATUS = {
|
|
|
|
|
|
# "GLB_STATUS_UNKOWN": 0,
|
|
|
|
|
|
# "GLB_STATUS_WAIT": 1,
|
|
|
|
|
|
# "GLB_STATUS_SEARCH": 2,
|
|
|
|
|
|
# "GLB_STATUS_TRACK": 3,
|
|
|
|
|
|
# "GLB_STATUS_SCAN": 4,
|
|
|
|
|
|
# "GLB_STATUS_LOST": 5,
|
|
|
|
|
|
# "GLB_STATUS_FSCAN": 6,
|
|
|
|
|
|
# "GLB_STATUS_LOCK": 7,
|
|
|
|
|
|
# "GLB_STATUS_LOCKFAILED": 8,
|
|
|
|
|
|
# "GLB_STATUS_MOTRACK": 9,
|
|
|
|
|
|
# "GLB_STATUS_AIM": 10,
|
|
|
|
|
|
# }
|
|
|
|
|
|
|
|
|
|
|
|
# # 锁定模式
|
|
|
|
|
|
# LockMode = {
|
|
|
|
|
|
# "LOCK_NONE": 0,
|
|
|
|
|
|
# "LOCK_AUTO": 10,
|
|
|
|
|
|
# "LOCK_POINT": 21,
|
|
|
|
|
|
# "LOCK_RECT": 22,
|
|
|
|
|
|
# "LOCK_UNLOCK": 3,
|
|
|
|
|
|
# "LOCK_ID": 4,
|
|
|
|
|
|
# }
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
class EOController:
|
|
|
|
|
|
def __init__(self):
|
|
|
|
|
|
# 初始化检测器
|
|
|
|
|
|
self.detector = detect.ObjectDetector(
|
|
|
|
|
|
weights='./ArithControl/model/best_3class.pt',
|
|
|
|
|
|
imgsz=(1024, 1280))
|
|
|
|
|
|
# deepsort
|
|
|
|
|
|
self.ds = ds.DeepSort(
|
|
|
|
|
|
'./ArithControl/deep_sort/deep/checkpoint/ckpt.t7',
|
|
|
|
|
|
enable_reid=True
|
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
|
|
def run(self,frame):
|
|
|
|
|
|
detections = self.detector.detect(frame)
|
|
|
|
|
|
|
|
|
|
|
|
if len(detections) > 0:
|
|
|
|
|
|
# 转换为 torch.Tensor
|
|
|
|
|
|
det_tensor = torch.tensor(detections, dtype=torch.float32)
|
|
|
|
|
|
bbox_xywh = torch.column_stack([
|
|
|
|
|
|
(det_tensor[:, 1:3] + det_tensor[:, 3:5])/2, # x1, y1
|
|
|
|
|
|
det_tensor[:, 3:5] - det_tensor[:, 1:3] # w, h
|
|
|
|
|
|
])
|
|
|
|
|
|
confidences = det_tensor[:, 5] # conf
|
|
|
|
|
|
clss = det_tensor[:, 0].long() # cls
|
|
|
|
|
|
|
|
|
|
|
|
# 调用一次 update 处理所有目标
|
|
|
|
|
|
# 注意：deepsort输入使用中心宽高
|
|
|
|
|
|
pipe_out = self.ds.update(bbox_xywh, confidences, clss, frame)
|
|
|
|
|
|
|
|
|
|
|
|
# 返回管道
|
|
|
|
|
|
return pipe_out
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
# 解析指令
|
|
|
|
|
|
def parse_cmd(self, cmd):
|
|
|
|
|
|
if cmd.mode == 'LockMode':
|
|
|
|
|
|
self.ds.lock_point(cmd.point)
|
|
|
|
|
|
elif cmd.mode == 'Lock_RECT':
|
|
|
|
|
|
self.ds.lock_rect(cmd.rect)
|
|
|
|
|
|
elif cmd.mode == 'Lock_ID':
|
|
|
|
|
|
self.ds.lock_id(cmd.id)
|
|
|
|
|
|
elif cmd.mode == 'Lock_UNLOCK':
|
|
|
|
|
|
self.ds.lock_unlock()
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
