307 lines
11 KiB
Python
307 lines
11 KiB
Python
import sys
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from pathlib import Path
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import math
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import cv2
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import numpy as np
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import torch
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FILE = Path(__file__).absolute()
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#sys.path.append(FILE.parents[0].as_posix()) # add yolov5/ to path
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'''
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修改说明：
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1、pars中增加了recScale参数。船舶判断是否悬挂国旗时，需将船舶检测框乘以扩大系数imgScale后，与国旗中心点坐标比较。
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pars={'imgSize':(imgwidth,imgheight),'wRation':1/6.0,'hRation':1/6.0,'smallId':0,'bigId':3,'newId':4,'recScale':1.2}
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2、增加expand_rect(preds_boat, recScale, imgSize)函数，在图像范围内，将矩形框扩大recScale倍数。
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3、增加或修改以下两行：
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preds_boat_flag_expand=expand_rect(preds_boat_flag[i],pars['recScale'],pars['imgSize']) #新增！
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if point_in_rectangle(preds_flag,preds_boat_flag_expand)>=1: #新增后修改！
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'''
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def channel2_post_process(predsList,pars):
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print('----line24:',predsList)
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#pars={'imgSize':(imgwidth,imgheight),'wRation':1/6.0,'hRation':1/6.0,'smallId':0,'bigId':3,'newId':4,'recScale':1.2}
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'''
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后处理程序，将检测结果中未悬挂国旗的船只，其类别改为4，即'unflagged_ship'
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最终类别汇总如下，
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['flag', 'buoy', 'shipname', 'ship','unflagged_ship','uncover']=[0,1,2,3,4,5]
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输入：
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preds 一张图像的检测结果，为嵌套列表，tensor，包括x_y_x_y_conf_class
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imgwidth,imgheight 图像的原始宽度及长度
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输出：检测结果（将其中未悬挂国旗的显示）
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'''
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preds = torch.tensor(predsList[0])
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preds=preds.tolist()
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preds = filter_detection_results(preds,pars)
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preds=[[*sublist[:-1], int(sublist[-1])] for sublist in preds] #类别从浮点型转为整型
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#设置空的列表
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output_detection=[] #存放往接口传的类别
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#1、判断类别中哪些有船？取出船检测结果，并取出国旗检测结果。
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# output_detection.append[] 这里将船和国旗以外的类别加进去
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preds_boat=[]
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preds_flag=[]
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#jcq： 增加封仓
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preds_uncover = []
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# 1、处理未封仓
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preds = filter_detection_results(preds,pars)
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for i in range(len(preds)):
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if preds[i][5]==pars['boatId']: #识别为船
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preds_boat.append(preds[i])
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elif preds[i][5]==pars['flagId']: #识别为国旗
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preds_flag.append(preds[i])
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# output_detection.append(preds[i])
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#jcq:
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elif preds[i][5]==pars['uncoverId']: #未封仓
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preds_uncover.append(preds[i])
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# output_detection.append(preds[i])
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else:
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output_detection.append(preds[i])
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# pass
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# return output_detection
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#2、船尺寸与图像比较，其中长或宽有一个维度超过图像宽高平均值的1/3，启动国旗检测
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#①if 判断：判断超过1/3的，则取出这些大船，进一步判断是否悬挂国旗
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#不超过1/3的，则output_detection.append[]
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boat_uncover = preds_boat+preds_uncover
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for i in range(len(boat_uncover)):
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length_bbx,width_bbx=get_rectangle_dimensions(boat_uncover[i])
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length_bbx, width_bbx=int(length_bbx),int(width_bbx)
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if length_bbx>(pars['imgSize'][0]+pars['imgSize'][1])* pars['hRation'] or width_bbx>(pars['imgSize'][0]+pars['imgSize'][1])*pars['wRation']:
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boat_uncover[i] = unflag(boat_uncover[i], preds_flag, pars)
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return output_detection + boat_uncover
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def unflag(boat_uncover,preds_flag,pars):
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preds_boat_flag_expand = expand_rect(boat_uncover, pars['recScale'], pars['imgSize']) # 新增！
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if not point_in_rectangle(preds_flag, preds_boat_flag_expand) >= 1: # 新增后修改！
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if boat_uncover[5] == pars['uncoverId']:
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boat_uncover[5] = pars['unflagAndcoverId'] # 将类别标签改为6，未挂国旗且未封仓
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else:
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boat_uncover[5] = pars['unflagId'] # 将类别标签改为4，即为未悬挂国旗的船只
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return boat_uncover
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def center_coordinate(boundbxs):
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'''
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根据检测矩形框，得到其矩形长度和宽度
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输入：两个对角坐标xyxy
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输出：矩形框重点坐标xy
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'''
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boundbxs_x1 = boundbxs[0]
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boundbxs_y1 = boundbxs[1]
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boundbxs_x2 = boundbxs[2]
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boundbxs_y2 = boundbxs[3]
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center_x = 0.5 * (boundbxs_x1 + boundbxs_x2)
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center_y = 0.5 * (boundbxs_y1 + boundbxs_y2)
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return center_x, center_y
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def get_rectangle_dimensions(boundbxs):
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'''
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根据检测矩形框，得到其矩形长度和宽度
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输入：两个对角坐标xyxy
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输出：矩形框四个角点坐标，以contours顺序。
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'''
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# 计算两点之间的水平距离
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width = math.fabs(boundbxs[2] - boundbxs[0])
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# 计算两点之间的垂直距离
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height = math.fabs(boundbxs[3]- boundbxs[1])
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return width, height
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def fourcorner_coordinate(boundbxs):
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'''
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通过矩形框对角xyxy坐标，得到矩形框轮廓
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输入：两个对角坐标xyxy
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输出：矩形框四个角点坐标，以contours顺序。
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'''
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boundbxs_x1 = boundbxs[0]
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boundbxs_y1 = boundbxs[1]
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boundbxs_x2 = boundbxs[2]
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boundbxs_y2 = boundbxs[3]
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wid = boundbxs_x2 - boundbxs_x1
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hei = boundbxs_y2 - boundbxs_y1
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boundbxs_x3 = boundbxs_x1 + wid
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boundbxs_y3 = boundbxs_y1
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boundbxs_x4 = boundbxs_x1
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boundbxs_y4 = boundbxs_y1 + hei
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contours_rec = [[boundbxs_x1, boundbxs_y1], [boundbxs_x3, boundbxs_y3], [boundbxs_x2, boundbxs_y2],
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[boundbxs_x4, boundbxs_y4]]
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return contours_rec
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def point_in_rectangle(preds_flag,preds_boat_flag):
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'''
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遍历所有国旗坐标，判断落在检测框中的数量
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输入：
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preds_flag 国旗类别的检测结果列表
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preds_boat_flag 待判定船只的检测结果（单个船只）
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输出：落入检测框的国旗数量
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'''
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iii=0
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boat_contour=fourcorner_coordinate(preds_boat_flag)
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boat_contour=np.array(boat_contour,dtype=np.float32)
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for i in range(len(preds_flag)):
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center_x, center_y = center_coordinate(preds_flag[i])
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if cv2.pointPolygonTest(boat_contour, (center_x, center_y), False)==1:
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iii+=1
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else:
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pass
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return iii
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def expand_rect(preds_boat, recScale, imgSize):
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'''
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在图像范围内，将矩形框扩大recScale倍数。
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输入：
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preds_boat 国旗类别的检测结果列表 xyxy_conf_class
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imgSize 从pars传来的元组
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输出：调整后的preds_boat
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'''
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# preds_boat_1=preds_boat
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preds_boat_1=[x for x in preds_boat]
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x1, y1 = preds_boat[0],preds_boat[1]
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x2, y2 = preds_boat[2],preds_boat[3]
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width = x2 - x1
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height = y2 - y1
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# 计算新的宽度和高度
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new_width = width * recScale
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new_height = height * recScale
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# 计算新的对角坐标
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new_x1 = max(x1 - (new_width - width) / 2, 0) # 确保不会超出左边界
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new_y1 = max(y1 - (new_height - height) / 2, 0) # 确保不会超出上边界
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new_x2 = min(x2 + (new_width - width) / 2, imgSize[0]) # 图像宽度是imgSize[0]
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new_y2 = min(y2 + (new_height - height) / 2, imgSize[1]) # 图像高度是imgSize[1]
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preds_boat_1[0]=new_x1
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preds_boat_1[1]=new_y1
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preds_boat_1[2]=new_x2
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preds_boat_1[3]=new_y2
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return preds_boat_1
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###jcq : 增加封仓后处理函数
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def filter_detection_results(results, par):
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target_cls = par['target_cls'] # 船只
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filter_cls = par['filter_cls'] # 非封仓
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# 分离处理与非处理的结果
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non_process = [box for box in results if box[5] not in {target_cls, filter_cls}]
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to_process = [box for box in results if box[5] in {target_cls, filter_cls}]
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# 提取目标类别和过滤类别的检测框
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class_target = [box for box in to_process if box[5] == target_cls] # 船只
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class_filter = [box for box in to_process if box[5] == filter_cls] # 非封仓
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# 处理过滤类别（映射条件）
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for i in range(len(class_target)):
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t_box = class_target[i]
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if any( # 检查是否在任意目标框内部
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(t_box[0] <= f_box[0] and
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t_box[1] <= f_box[1] and
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t_box[2] >= f_box[2] and
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t_box[3] >= f_box[3])
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for f_box in class_filter
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):
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class_target[i][5] = par['uncoverId'] # 映射类别4->5
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# 合并结果（保留非处理类别）
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return non_process + class_target
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def filter_detection_results_uncover(results, par):
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target_cls = par['target_cls']
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filter_cls = par['filter_cls']
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# 分离处理与非处理的结果
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non_process = [box for box in results if box[5] not in {target_cls, filter_cls}]
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to_process = [box for box in results if box[5] in {target_cls, filter_cls}]
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# 提取目标类别和过滤类别的检测框
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class_target = [box for box in to_process if box[5] == target_cls]
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class_filter = [box for box in to_process if box[5] == filter_cls]
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processed = []
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# 处理过滤类别（映射条件）
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for f_box in class_filter:
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if any( # 检查是否在任意目标框内部
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(f_box[0] >= t_box[0] and
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f_box[1] >= t_box[1] and
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f_box[2] <= t_box[2] and
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f_box[3] <= t_box[3])
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for t_box in class_target
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):
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new_box = f_box.copy()
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new_box[5] = 5 # 映射类别4->5
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processed.append(new_box)
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# 保留所有目标类别检测框
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processed += class_target
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# 合并结果（保留非处理类别）
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return non_process + processed
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if __name__ == "__main__":
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# 对应DJI_20230306140129_0001_Z_165.jpg检测结果
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# preds=[[6.49000e+02, 2.91000e+02, 1.07900e+03, 7.33000e+02, 9.08165e-01, 3.00000e+00],
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# [8.11000e+02, 2.99000e+02, 1.31200e+03, 7.65000e+02, 8.61268e-01, 3.00000e+00],
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# [7.05000e+02, 1.96000e+02, 7.19000e+02, 2.62000e+02, 5.66877e-01, 0.00000e+00]]
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# 对应DJI_20230306152702_0001_Z_562.jpg检测结果
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preds=[[7.62000e+02, 7.14000e+02, 1.82800e+03, 9.51000e+02, 9.00902e-01, 3.00000e+00],
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[2.00000e+01, 3.45000e+02, 1.51300e+03, 6.71000e+02, 8.81440e-01, 3.00000e+00],
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[8.35000e+02, 8.16000e+02, 8.53000e+02, 8.30000e+02, 7.07651e-01, 0.00000e+00],
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[1.35600e+03, 4.56000e+02, 1.42800e+03, 4.94000e+02, 6.70549e-01, 2.00000e+00]]
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print('before :\n ',preds)
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#preds=torch.tensor(preds) #返回的预测结果
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imgwidth=1920
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imgheight=1680
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pars={'imgSize':(imgwidth,imgheight),'wRation':1/6.0,'hRation':1/6.0,'smallId':0,'bigId':3,'newId':4,'recScale':1.2}
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# 'smallId':0(国旗)，'bigId':3(船只),wRation和hRation表示判断的阈值条件，newId--新目标的id
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yyy=channel2_post_process([preds],pars) #送入后处理函数
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print('after :\n ',yyy)
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