mqtt data format
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3e118c3d84
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@ -16,6 +16,7 @@ from enums.AnalysisStatusEnum import AnalysisStatus
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from util.PlotsUtils import draw_painting_joint
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from util.QueUtil import put_queue, get_no_block_queue, clear_queue
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import io
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from util.LocationUtils import locate_byMqtt
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class FileUpload(Thread):
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__slots__ = ('_fb_queue', '_context', '_image_queue', '_analyse_type', '_msg','_mqtt_list')
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@ -24,7 +25,9 @@ class FileUpload(Thread):
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super().__init__()
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self._fb_queue, self._context, self._msg, self._image_queue, self._analyse_type,self._mqtt_list = args
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self._storage_source = self._context['service']['storage_source']
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self._algStatus = False # 默认关闭
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self._algSwitch = self._context['service']['algSwitch']
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#如果任务是在线、离线处理，则用此类
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class ImageFileUpload(FileUpload):
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__slots__ = ()
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@ -36,15 +39,14 @@ class ImageFileUpload(FileUpload):
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'''
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det_xywh:{
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'code':{
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1: [[detect_targets_code, box, score, label_array, color]]
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1: [[detect_targets_code, box, score, label_array, color,is_new]]
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}
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}
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} #is_new--是否是新的目标。
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模型编号：modeCode
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检测目标：detectTargetCode
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'''
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#print('*'*100,' mqtt_list:',len(self._mqtt_list))
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#if len(self._mqtt_list)>=10:
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# print(' mqtt[4]:',self._mqtt_list[0]['satcount'])
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print('*'*100,' mqtt_list:',len(self._mqtt_list))
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model_info = []
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# 更加模型编码解析数据
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@ -55,7 +57,14 @@ class ImageFileUpload(FileUpload):
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aFrame = frame.copy()
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for target in target_list:
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draw_painting_joint(target[1], aFrame, target[3], target[2], target[4], font_config, target[5])
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model_info.append({"modelCode": str(code), "detectTargetCode": str(cls), "aFrame": aFrame})
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igH,igW = aFrame.shape[0:2]
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if len(self._mqtt_list)>=1:
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#camParas = self._mqtt_list[0]['data']
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camParas = self._mqtt_list[0]
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gps = locate_byMqtt(target[1],igW,igH,camParas,outFormat='wgs84')
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else:
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gps=[None,None]
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model_info.append({"modelCode": str(code), "detectTargetCode": str(cls), "aFrame": aFrame,'gps':gps})
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if len(model_info) > 0:
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image_result = {
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"or_frame": frame,
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@ -74,6 +83,8 @@ class ImageFileUpload(FileUpload):
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image_queue, fb_queue, analyse_type = self._image_queue, self._fb_queue, self._analyse_type
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service_timeout = int(service["timeout"])
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frame_step = int(service["filter"]["frame_step"]) + 120
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if msg['taskType']==0: self._algStatus = False
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else: self._algStatus = True
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try:
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with ThreadPoolExecutor(max_workers=2) as t:
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# 初始化oss客户端
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@ -92,10 +103,15 @@ class ImageFileUpload(FileUpload):
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# 获取队列中的消息
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image_msg = get_no_block_queue(image_queue)
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if image_msg is not None:
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if image_msg[0] == 2:
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logger.info("图片上传线程收到命令:{}, requestId: {}",image_msg[1] ,request_id)
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if 'stop' == image_msg[1]:
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logger.info("开始停止图片上传线程, requestId:{}", request_id)
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break
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if 'algStart' == image_msg[1]: self._algStatus = True; logger.info("图片上传线程,执行算法开启命令, requestId:{}", request_id)
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if 'algStop' == image_msg[1]: self._algStatus = False; logger.info("图片上传线程,执行算法关闭命令, requestId:{}", request_id)
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if image_msg[0] == 1:
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image_result = self.handle_image(image_msg[1], frame_step)
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if image_result is not None:
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@ -147,10 +163,14 @@ class ImageFileUpload(FileUpload):
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remote_image_list[0],
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remote_image_list[ii+1],
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model_info['modelCode'],
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model_info['detectTargetCode']) )
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for msg in msg_list:
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put_queue(fb_queue, msg, timeout=2, is_ex=False)
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model_info['detectTargetCode'],
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longitude=model_info['gps'][0],
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latitude=model_info['gps'][1],
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) )
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if (not self._algSwitch) or ( self._algStatus and self._algSwitch):
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for msg in msg_list:
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put_queue(fb_queue, msg, timeout=2, is_ex=False)
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del task, msg_list
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else:
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sleep(1)
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@ -175,7 +195,7 @@ def build_image_name(*args):
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random_num, mode_type, modeCode, target, image_type)
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#如果任务是图像处理，则用此类
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class ImageTypeImageFileUpload(Thread):
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__slots__ = ('_fb_queue', '_context', '_image_queue', '_analyse_type', '_msg')
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@ -271,6 +291,7 @@ class ImageTypeImageFileUpload(Thread):
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else:
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image_result = self.handle_image(det_xywh, copy_frame, font_config)
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if image_result:
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# 图片帧数编码
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if image_url is None:
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or_result, or_image = cv2.imencode(".jpg", image_result.get("or_frame"))
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@ -345,8 +366,8 @@ class ImageTypeImageFileUpload(Thread):
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analyse_type, "", "", "",
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image_url,
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remote_url_list[ii],
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model_info.get('modelCode'),
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model_info.get('detectTargetCode'),
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model_info_list[ii].get('modelCode'),
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model_info_list[ii].get('detectTargetCode'),
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analyse_results=result))
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@ -5,7 +5,7 @@ from concurrent.futures import ThreadPoolExecutor
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from os.path import join, exists, getsize
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from time import time, sleep
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from traceback import format_exc
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import requests
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import cv2
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from multiprocessing import Process, Queue
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@ -63,7 +63,7 @@ class IntelligentRecognitionProcess(Process):
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put_queue(self._fb_queue, message_feedback(self._msg["request_id"], AnalysisStatus.WAITING.value,
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self._analyse_type, progress=init_progess), timeout=2, is_ex=True)
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self._storage_source = self._context['service']['storage_source']
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self._algStatus = False
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def sendEvent(self, eBody):
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put_queue(self.event_queue, eBody, timeout=2, is_ex=True)
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@ -276,7 +276,12 @@ class OnlineIntelligentRecognitionProcess(IntelligentRecognitionProcess):
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if event_result:
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cmdStr = event_result.get("command")
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#接收到算法开启、或者关闭的命令
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if cmdStr in ['algStart' , 'algStop' ]:
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logger.info("发送向推流进程发送算法命令, requestId: {}, {}", request_id,cmdStr )
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put_queue(push_queue, (2, cmdStr), timeout=1, is_ex=True)
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pull_process.sendCommand({"command": cmdStr})
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# 接收到停止指令
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if "stop" == cmdStr:
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logger.info("实时任务开始停止, requestId: {}", request_id)
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@ -593,6 +598,11 @@ class OfflineIntelligentRecognitionProcess(IntelligentRecognitionProcess):
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if "stop" == cmdStr:
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logger.info("离线任务开始停止, requestId: {}", request_id)
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pull_process.sendCommand({"command": 'stop'})
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if cmdStr in ['algStart' , 'algStop' ]:
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logger.info("发送向推流进程发送算法命令, requestId: {}, {}", request_id,cmdStr )
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put_queue(push_queue, (2, cmdStr), timeout=1, is_ex=True)
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pull_process.sendCommand({"command": cmdStr})
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pull_result = get_no_block_queue(pull_queue)
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if pull_result is None:
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sleep(1)
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@ -1104,16 +1114,43 @@ class PhotosIntelligentRecognitionProcess(Process):
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image_thread.setDaemon(True)
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image_thread.start()
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return image_thread
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def check_ImageUrl_Vaild(self,url,timeout=1):
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try:
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# 发送 HTTP 请求，尝试访问图片
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response = requests.get(url, timeout=timeout) # 设置超时时间为 10 秒
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if response.status_code == 200:
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return True,url
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else:
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return False,f"图片地址无效，状态码：{response.status_code}"
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except requests.exceptions.RequestException as e:
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# 捕获请求过程中可能出现的异常（如网络问题、超时等）
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return False,str(e)
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def run(self):
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fb_queue, msg, analyse_type, context = self._fb_queue, self._msg, self._analyse_type, self._context
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request_id, logo, image_queue = msg["request_id"], context['logo'], self._image_queue
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base_dir, env = context["base_dir"], context["env"]
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imageUrls = msg["image_urls"]
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image_thread = None
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with ThreadPoolExecutor(max_workers=2) as t:
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init_log(base_dir, env)
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valFlag=True
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for url in imageUrls:
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valFlag,ret = self.check_ImageUrl_Vaild(url,timeout=1)
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if not valFlag:
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logger.error("图片分析异常: {}, requestId:{},url:{}",ret, request_id,url)
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#print("AnalysisStatus.FAILED.value:{}，ExceptionType.URL_ADDRESS_ACCESS_FAILED.value[0]:{},ExceptionType.URL_ADDRESS_ACCESS_FAILED.value[1]:{}".format(AnalysisStatus.FAILED.value,ExceptionType.URL_ADDRESS_ACCESS_FAILED.value[0],ExceptionType.URL_ADDRESS_ACCESS_FAILED.value[1] ) )
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put_queue(fb_queue, message_feedback(request_id, AnalysisStatus.FAILED.value,
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analyse_type,
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ExceptionType.URL_ADDRESS_ACCESS_FAILED.value[0],
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ExceptionType.URL_ADDRESS_ACCESS_FAILED.value[1]), timeout=2)
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return
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with ThreadPoolExecutor(max_workers=1) as t:
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try:
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init_log(base_dir, env)
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#init_log(base_dir, env)
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logger.info("开始启动图片识别进程, requestId: {}", request_id)
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model_array = get_model(msg, context, analyse_type)
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image_thread = self.start_File_upload(fb_queue, context, msg, image_queue, analyse_type)
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@ -102,6 +102,10 @@ class OnlinePullVideoStreamProcess(PullVideoStreamProcess):
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logger.info("开始停止实时拉流进程, requestId:{}", request_id)
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ex_status = False
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break
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if command_msg.get("command") in ['algStart' , 'algStop' ]:
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logger.info("拉流进程中，requestId:{},向图片上传进程发送命令:{}", request_id,command_msg.get("command"))
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put_queue(image_queue, (2, command_msg.get("command") ), timeout=1)
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# 检测视频信息是否存在或拉流对象是否存在
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if check_video_stream(width, height):
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if len(frame_list) > 0:
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@ -249,6 +253,10 @@ class OfflinePullVideoStreamProcess(PullVideoStreamProcess):
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logger.info("开始停止离线拉流进程, requestId:{}", request_id)
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ex_status = False
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break
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if command_msg.get("command") in ['algStart' , 'algStop' ]:
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logger.info("拉流进程中，requestId:{},向图片上传进程发送命令:{}", request_id,command_msg.get("command"))
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put_queue(image_queue, (2, command_msg.get("command") ), timeout=1)
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# 检测视频信息是否存在或拉流对象是否存在
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if check_video_stream(width, height):
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logger.info("开始重新获取视频信息: {}次, requestId: {}", cv2_init_num, request_id)
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@ -35,7 +35,9 @@ class PushStreamProcess(Process):
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super().__init__()
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# 传参
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self._msg, self._push_queue, self._image_queue, self._push_ex_queue, self._hb_queue, self._context = args
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self._algStatus = False # 默认关闭
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self._algSwitch = self._context['service']['algSwitch']
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def build_logo_url(self):
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logo = None
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if self._context["video"]["video_add_water"]:
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@ -168,7 +170,11 @@ class OnPushStreamProcess(PushStreamProcess):
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if len(thread_p) > 0:
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for r in thread_p:
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r.result()
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frame_merge = video_conjuncing(frame, copy_frame)
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#print('----line173:',self._algSwitch,self._algStatus)
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if self._algSwitch and (not self._algStatus):
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frame_merge = video_conjuncing(frame, frame.copy())
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else:
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frame_merge = video_conjuncing(frame, copy_frame)
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# 写原视频到本地
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write_or_video_result = t.submit(write_or_video, frame, orFilePath, or_video_file,
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or_write_status, request_id)
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@ -231,6 +237,9 @@ class OnPushStreamProcess(PushStreamProcess):
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or_video_file = write_or_video_result.result(timeout=60)
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# 接收停止指令
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if push_r[0] == 2:
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logger.info("拉流进程收到控制命令为:{}, requestId: {}",push_r[1] ,request_id)
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if 'algStart' == push_r[1]: self._algStatus = True;logger.info("算法识别开启, requestId: {}", request_id)
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if 'algStop' == push_r[1]: self._algStatus = False;logger.info("算法识别关闭, requestId: {}", request_id)
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if 'stop' == push_r[1]:
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logger.info("停止推流进程, requestId: {}", request_id)
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break
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@ -238,6 +247,7 @@ class OnPushStreamProcess(PushStreamProcess):
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ex_status = False
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logger.info("停止推流进程, requestId: {}", request_id)
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break
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del push_r
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else:
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sleep(1)
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@ -286,6 +296,8 @@ class OffPushStreamProcess(PushStreamProcess):
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picture_similarity = bool(context["service"]["filter"]["picture_similarity"])
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qs_np_tmp = None
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pix_dis = 60
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if msg['taskType']==0: self._algStatus = False
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else: self._algStatus = True
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try:
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init_log(base_dir, env)
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logger.info("开始启动离线推流进程！requestId:{}", request_id)
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@ -372,7 +384,11 @@ class OffPushStreamProcess(PushStreamProcess):
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if len(thread_p) > 0:
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for r in thread_p:
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r.result()
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frame_merge = video_conjuncing(frame, copy_frame)
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print('----line384:',self._algSwitch,self._algStatus)
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if self._algSwitch and (not self._algStatus):
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frame_merge = video_conjuncing(frame, frame.copy())
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else:
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frame_merge = video_conjuncing(frame, copy_frame)
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# 写识别视频到本地
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write_ai_video_result = t.submit(write_ai_video, frame_merge, aiFilePath,
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ai_video_file,
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@ -433,6 +449,9 @@ class OffPushStreamProcess(PushStreamProcess):
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ai_video_file = write_ai_video_result.result(timeout=60)
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# 接收停止指令
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if push_r[0] == 2:
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logger.info("拉流进程收到控制命令为:{}, requestId: {}",push_r[1] ,request_id)
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if 'algStart' == push_r[1]: self._algStatus = True;logger.info("算法识别开启, requestId: {}", request_id)
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if 'algStop' == push_r[1]: self._algStatus = False;logger.info("算法识别关闭, requestId: {}", request_id)
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if 'stop' == push_r[1]:
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logger.info("停止推流进程, requestId: {}", request_id)
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break
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@ -1,6 +1,10 @@
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mqtt_flag: false
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broker : "101.133.163.127"
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mqtt_flag: true
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broker : "58.213.148.44"
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port : 1883
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topic: "test/topic"
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username: "admin"
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password: "admin##123"
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#topic: "/topic/v1/airportFly/%s/aiDroneData"
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topic: "/topic/v1/airportDrone/THJSQ03B2309TPCTD5QV/realTime/data"
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# 存储多少条消息到list里
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length: 10
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@ -30,4 +30,6 @@ service:
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storage_source: 1
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#是否启用mqtt，0--不用，1--启用
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mqtt_flag: 0
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#是否启用alg控制功能
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algSwitch: false
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@ -4,7 +4,7 @@ from util.TimeUtils import now_date_to_str
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def message_feedback(requestId, status, analyse_type, error_code="", error_msg="", progress="", original_url="",
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sign_url="", modelCode="", detectTargetCode="", analyse_results="", video_url="", ai_video_url=""):
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sign_url="", modelCode="", detectTargetCode="", analyse_results="", video_url="", ai_video_url="",longitude="",latitude=""):
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if len(analyse_results) > 0:
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analyse_results = dumps(analyse_results)
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taskbar = {
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@ -23,7 +23,9 @@ def message_feedback(requestId, status, analyse_type, error_code="", error_msg="
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"analyse_results": analyse_results,
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"model_code": modelCode,
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"detect_targets_code": detectTargetCode,
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"analyse_time": now_date_to_str()
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"analyse_time": now_date_to_str(),
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"longitude":str(longitude),
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"latitude":str(latitude),
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}
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]
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}
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|
|||
Binary file not shown.
|
|
@ -141,7 +141,7 @@ class ModelType(Enum):
|
|||
'roadVehicleAngle': 15,
|
||||
'speedRoadVehicleAngleMax': 75,
|
||||
'roundness': 1.0,
|
||||
'cls': 9,
|
||||
'cls': 10,
|
||||
'vehicleFactor': 0.1,
|
||||
'confThres': 0.25,
|
||||
'roadIou': 0.6,
|
||||
|
|
@ -628,7 +628,7 @@ class ModelType(Enum):
|
|||
|
||||
|
||||
|
||||
FORESTCROWD_FARM_MODEL = ("2", "026", "森林人群模型", 'forestCrowd', lambda device, gpuName: {
|
||||
FORESTCROWD_FARM_MODEL = ("26", "026", "森林人群模型", 'forestCrowd', lambda device, gpuName: {
|
||||
'labelnames': ["林斑", "病死树", "行人", "火焰", "烟雾","人群"],
|
||||
'postProcess':{'function':gather_post_process,'pars':{'pedestrianId':2,'crowdThreshold':4,'gatherId':5,'distancePersonScale':2.0}},
|
||||
'models':
|
||||
|
|
@ -700,7 +700,66 @@ class ModelType(Enum):
|
|||
'Segweights': '../AIlib2/weights/highWay2/stdc_360X640_%s_fp16.engine' % gpuName
|
||||
})
|
||||
|
||||
SMARTSITE_MODEL = ("28", "028", "智慧工地模型", 'smartSite', lambda device, gpuName: {
|
||||
'labelnames': [ "工人","塔式起重机","悬臂","起重机","压路机","推土机","挖掘机","卡车","装载机","泵车","混凝土搅拌车","打桩","其他车辆" ],
|
||||
'postProcess':{'function':default_mix,'pars':{}},
|
||||
'models':
|
||||
[
|
||||
{
|
||||
'weight':"../AIlib2/weights/smartSite/yolov5_%s_fp16.engine"%(gpuName),###检测模型路径
|
||||
'name':'yolov5',
|
||||
'model':yolov5Model,
|
||||
'par':{ 'half':True,'device':'cuda:0' ,'conf_thres':0.25,'iou_thres':0.45,'allowedList':list(range(20)),'segRegionCnt':1, 'trtFlag_det':True,'trtFlag_seg':False, "score_byClass":{"0":0.25,"1":0.3,"2":0.3,"3":0.3 } },
|
||||
}
|
||||
|
||||
|
||||
],
|
||||
'postFile': {
|
||||
"rainbows": COLOR
|
||||
},
|
||||
|
||||
})
|
||||
|
||||
RUBBISH_MODEL = ("29", "029", "垃圾模型", 'rubbish', lambda device, gpuName: {
|
||||
'labelnames': [ "建筑垃圾","白色垃圾","其他垃圾"],
|
||||
'postProcess':{'function':default_mix,'pars':{}},
|
||||
'models':
|
||||
[
|
||||
{
|
||||
'weight':"../AIlib2/weights/rubbish/yolov5_%s_fp16.engine"%(gpuName),###检测模型路径
|
||||
'name':'yolov5',
|
||||
'model':yolov5Model,
|
||||
'par':{ 'half':True,'device':'cuda:0' ,'conf_thres':0.25,'iou_thres':0.45,'allowedList':list(range(20)),'segRegionCnt':1, 'trtFlag_det':True,'trtFlag_seg':False, "score_byClass":{"0":0.25,"1":0.3,"2":0.3,"3":0.3 } },
|
||||
}
|
||||
|
||||
|
||||
],
|
||||
'postFile': {
|
||||
"rainbows": COLOR
|
||||
},
|
||||
|
||||
})
|
||||
|
||||
FIREWORK_MODEL = ("30", "030", "烟花模型", 'firework', lambda device, gpuName: {
|
||||
'labelnames': [ "烟花"],
|
||||
'postProcess':{'function':default_mix,'pars':{}},
|
||||
'models':
|
||||
[
|
||||
{
|
||||
'weight':"../AIlib2/weights/firework/yolov5_%s_fp16.engine"%(gpuName),###检测模型路径
|
||||
'name':'yolov5',
|
||||
'model':yolov5Model,
|
||||
'par':{ 'half':True,'device':'cuda:0' ,'conf_thres':0.25,'iou_thres':0.45,'allowedList':list(range(20)),'segRegionCnt':1, 'trtFlag_det':True,'trtFlag_seg':False, "score_byClass":{"0":0.25,"1":0.3,"2":0.3,"3":0.3 } },
|
||||
}
|
||||
|
||||
|
||||
],
|
||||
'postFile': {
|
||||
"rainbows": COLOR
|
||||
},
|
||||
|
||||
})
|
||||
|
||||
|
||||
@staticmethod
|
||||
def checkCode(code):
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -4,3 +4,5 @@
|
|||
2.2025.02.06
|
||||
(1)修改代码，把mqtt读取加入到系统中。config/service/dsp_test_service.yml，中添加mqtt_flag,决定是否启用。
|
||||
(2)修改了minio情况下的，文件名命名方式。
|
||||
3.2025.02.12
|
||||
(1)增加了对alg算法开发的代码。可以通过配置文件config/service/dsp_test_service.yml中algSwitch: true，决定是否启用。
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@ from util.RWUtils import getConfigs
|
|||
|
||||
|
||||
class DispatcherService:
|
||||
__slots__ = ('__context', '__feedbackThread', '__listeningProcesses', '__fbQueue', '__topics', '__task_type',
|
||||
__slots__ = ('__context', '__feedbackThread', '__listeningProcesses', '__fbQueue', '__topics','__taskType', '__task_type',
|
||||
'__kafka_config', '__recordingProcesses', '__pull2PushProcesses')
|
||||
|
||||
def __init__(self, base_dir, env):
|
||||
|
|
@ -79,6 +79,13 @@ class DispatcherService:
|
|||
self.__topics[4]: (AnalysisType.PULLTOPUSH.value, lambda x, y: self.pullStream(x, y),
|
||||
lambda x, y, z: self.push_stream_method(x, y, z))
|
||||
}
|
||||
self.__taskType={
|
||||
"dsp-alg-online-tasks":0,
|
||||
"dsp-alg-offline-tasks":1,
|
||||
"dsp-alg-image-tasks":2,
|
||||
"dsp-recording-task":3,
|
||||
"dsp-push-stream-task":4
|
||||
}
|
||||
gpu_name_array = get_first_gpu_name()
|
||||
gpu_array = [g for g in ('3090', '2080', '4090', 'A10') if g in gpu_name_array]
|
||||
gpu_name = '2080Ti'
|
||||
|
|
@ -109,11 +116,12 @@ class DispatcherService:
|
|||
message = m.value
|
||||
requestId = message.get("request_id")
|
||||
if requestId is None:
|
||||
logger.error("请求参数格式错误, 请检查请求体格式是否正确！")
|
||||
logger.error("请求参数格式错误, 请检查请求体格式是否正确！message:%s"%(message))
|
||||
continue
|
||||
customerKafkaConsumer.commit_offset(m, requestId)
|
||||
logger.info("当前拉取到的消息, topic:{}, offset:{}, partition: {}, body: {}, requestId:{}",
|
||||
m.topic, m.offset, m.partition, message, requestId)
|
||||
message['taskType']=self.__taskType[m.topic]
|
||||
topic_method = self.__task_type[m.topic]
|
||||
topic_method[2](topic_method[1], message, topic_method[0])
|
||||
else:
|
||||
|
|
@ -200,6 +208,14 @@ class DispatcherService:
|
|||
logger.warning("未查询到该任务，无法停止任务！requestId:{}", msg["request_id"])
|
||||
return
|
||||
ps.sendEvent({"command": "stop"})
|
||||
|
||||
# 新增该函数用于，向子任务发送命令（algStart，algStop）
|
||||
def sendCmdToChildProcess(self, msg,cmd="algStart"):
|
||||
ps = self.__listeningProcesses.get(msg["request_id"])
|
||||
if ps is None:
|
||||
logger.warning("未查询到该任务，无法停止任务！requestId:{}", msg["request_id"])
|
||||
return
|
||||
ps.sendEvent({"command": cmd})
|
||||
|
||||
@staticmethod
|
||||
def check_process(listeningProcess):
|
||||
|
|
@ -298,6 +314,8 @@ class DispatcherService:
|
|||
raise ServiceException(ExceptionType.NO_RESOURCES.value[0],
|
||||
ExceptionType.NO_RESOURCES.value[1])
|
||||
self.startOnlineProcess(message, analysisType)
|
||||
elif message.get("command") in ["algStart","algStop"]:
|
||||
self.sendCmdToChildProcess(message,cmd=message.get("command"))
|
||||
elif "stop" == message.get("command"):
|
||||
self.check_msg(message, ONLINE_STOP_SCHEMA)
|
||||
self.stopOnlineProcess(message)
|
||||
|
|
@ -312,6 +330,8 @@ class DispatcherService:
|
|||
raise ServiceException(ExceptionType.NO_RESOURCES.value[0],
|
||||
ExceptionType.NO_RESOURCES.value[1])
|
||||
self.startOfflineProcess(message, analysisType)
|
||||
elif message.get("command") in ["algStart","algStop"]:
|
||||
self.sendCmdToChildProcess( message,cmd=message.get("command"))
|
||||
elif "stop" == message.get("command"):
|
||||
self.check_msg(message, OFFLINE_STOP_SCHEMA)
|
||||
self.stopOfflineProcess(message)
|
||||
|
|
|
|||
Binary file not shown.
|
|
@ -0,0 +1,156 @@
|
|||
|
||||
import os,math
|
||||
import numpy as np
|
||||
|
||||
# WGS-84经纬度转Web墨卡托
|
||||
def wgs_to_mercator(x, y):
|
||||
y = 85.0511287798 if y > 85.0511287798 else y
|
||||
y = -85.0511287798 if y < -85.0511287798 else y
|
||||
|
||||
x2 = x * 20037508.34 / 180.0
|
||||
y2 = math.log(math.tan((90.0 + y) * math.pi / 360.0)) / (math.pi / 180.0)
|
||||
|
||||
#print( ' y:',y, " before Log:",math.tan((90.0 + y) * math.pi / 360.0), ' log:' , math.log(math.tan((90.0 + y) * math.pi / 360.0)))
|
||||
y2 = y2 * 20037508.34 / 180.0
|
||||
return x2, y2
|
||||
def mercator_to_wgs(x, y):
|
||||
"""
|
||||
将墨卡托投影坐标转换为WGS-84经纬度坐标
|
||||
:param x: 墨卡托投影的X坐标
|
||||
:param y: 墨卡托投影的Y坐标
|
||||
:return: 经度（longitude）和纬度（latitude）
|
||||
"""
|
||||
# 地球半径（米）
|
||||
R = 6378137.0
|
||||
# 墨卡托投影的X坐标转换为经度
|
||||
lon = x / R * 180.0 / math.pi
|
||||
# 墨卡托投影的Y坐标转换为纬度
|
||||
lat = math.atan(math.sinh(y / R)) * 180.0 / math.pi
|
||||
return lon, lat
|
||||
|
||||
|
||||
def ImageCorToCamCor(p0,w=1920,h=1080):
|
||||
x,y=p0[0:2]
|
||||
return x-w/2.,(h-y)-h/2.
|
||||
|
||||
def wgs84_to_gcj02(lat, lon):
|
||||
"""将 WGS-84 坐标转换为 GCJ-02 坐标 (高德地图坐标)"""
|
||||
A = 6378245.0 # 长半轴
|
||||
EE = 0.00669342162296594323 # 偏心率平方
|
||||
if out_of_china(lat, lon):
|
||||
return lat, lon # 如果在中国以外，直接返回 WGS-84 坐标
|
||||
|
||||
# 坐标转换
|
||||
dlat = transform_lat(lon - 105.0, lat - 35.0)
|
||||
dlon = transform_lon(lon - 105.0, lat - 35.0)
|
||||
radlat = lat / 180.0 * math.pi
|
||||
magic = math.sin(radlat)
|
||||
magic = 1 - EE * magic * magic
|
||||
sqrt_magic = math.sqrt(magic)
|
||||
dlat = (dlat * 180.0) / (A * (1 - EE) / (magic * sqrt_magic) * math.pi)
|
||||
dlon = (dlon * 180.0) / (A / sqrt_magic * math.cos(radlat) * math.pi)
|
||||
|
||||
mg_lat = lat + dlat
|
||||
mg_lon = lon + dlon
|
||||
|
||||
return mg_lat, mg_lon
|
||||
|
||||
def out_of_china(lat, lon):
|
||||
"""检查坐标是否在中国以外"""
|
||||
return lon < 72.004 or lon > 137.8347 or lat < 0.8293 or lat > 55.8271
|
||||
|
||||
def transform_lat(lon, lat):
|
||||
"""辅助函数: 进行纬度转换"""
|
||||
ret = (-100.0 + 2.0 * lon + 3.0 * lat + 0.2 * lat * lat +
|
||||
0.1 * lon * lat + 0.2 * math.sqrt(abs(lon)))
|
||||
ret += (20.0 * math.sin(6.0 * lon * PI) + 20.0 * math.sin(2.0 * lon * PI)) * 2.0 / 3.0
|
||||
ret += (20.0 * math.sin(lat * PI) + 40.0 * math.sin(lat / 3.0 * PI)) * 2.0 / 3.0
|
||||
ret += (160.0 * math.sin(lat / 12.0 * PI) + 320.0 * math.sin(lat * PI / 30.0)) * 2.0 / 3.0
|
||||
return ret
|
||||
|
||||
def transform_lon(lon, lat):
|
||||
"""辅助函数: 进行经度转换"""
|
||||
ret = (300.0 + lon + 2.0 * lat + 0.1 * lon * lon +
|
||||
0.1 * lon * lat + 0.1 * math.sqrt(abs(lon)))
|
||||
ret += (20.0 * math.sin(6.0 * lon * PI) + 20.0 * math.sin(2.0 * lon * PI)) * 2.0 / 3.0
|
||||
ret += (20.0 * math.sin(lon * PI) + 40.0 * math.sin(lon / 3.0 * PI)) * 2.0 / 3.0
|
||||
ret += (150.0 * math.sin(lon / 12.0 * PI) + 300.0 * math.sin(lon / 30.0 * PI)) * 2.0 / 3.0
|
||||
return ret
|
||||
|
||||
def cam2word(p0,pUAV,yaw,delta=1.55e-3 * 4056.0/1920,pitch=-45,f=4.5,camH=50e3,igW=1920,igH=1080):
|
||||
|
||||
pitch = pitch/180.0*np.pi
|
||||
sinp = np.sin(pitch );cosp= np.cos(pitch)
|
||||
p0_new = ImageCorToCamCor(p0,igW,igH)
|
||||
Xc0 = p0_new[0]*delta;Zc0 = p0_new[1]*delta;
|
||||
|
||||
#(Zw0,Xw0)--相对于光心，X，Z并未校正到正东和正北。
|
||||
#f=4.5*f/24.00
|
||||
Zw0=camH*( -f*sinp + Zc0*cosp )/( f*cosp + Zc0*sinp)*1e-3
|
||||
Xw0= camH*Xc0/(f*cosp + Zc0*sinp)*1e-3
|
||||
#print(' %4.0f %4.0f %4.8f %4.8f %4.8f %4.8f f:%.2f'%( p0[0],p0[1], Xc0, Zc0,Xw0,Zw0,f ) )
|
||||
#yaw定义为拍摄方向，即图片的高方位（Z方向）偏离正北的方向，北偏东为正。
|
||||
yaw_rad = yaw/180.0*np.pi
|
||||
siny=np.sin(yaw_rad);cosy=np.cos(yaw_rad)
|
||||
Zx0_rot = Xw0*cosy + Zw0*siny + pUAV[0]
|
||||
Zw0_rot = -Xw0*siny + Zw0*cosy + pUAV[1]
|
||||
|
||||
|
||||
return Zx0_rot,Zw0_rot
|
||||
|
||||
def location( point,igW,igH,PlanWgs84,PlanH,yaw,delta,pitch,focal,outFormat='wgs84'):
|
||||
'''
|
||||
输入图像中点的X，Y坐标，及无人机相关信息、相机相关信息，输出该点的Wgs84经纬度坐标
|
||||
point--点在图像上的坐标，左上角为（0,0），X方向为宽度方向，Y方向为高度方向
|
||||
igW--图像的宽度
|
||||
igH--图像的高度
|
||||
PlanWgs84--无人机的Wgs84坐标，(lon,lat),(经度，纬度)
|
||||
PlanH--无人机拍照时的相对高度，用mm表示
|
||||
yaw--云台的yaw
|
||||
delta--单个像素的长度值，用mm表示。
|
||||
pitch--无人的pitch
|
||||
focal--真实焦距，用mm表示
|
||||
'''
|
||||
PlanX,PlanY = wgs_to_mercator(PlanWgs84[0],PlanWgs84[1])
|
||||
#print('location:',PlanX,PlanY)
|
||||
#PlanX,PlanY--东西、南北方向的墨卡托投影坐标
|
||||
#print( 'line268:',point,PlanX,PlanY,yaw, delta,pitch,focal,PlanH,igW,igH )
|
||||
cor_world = cam2word( point,(PlanX,PlanY),yaw, delta,pitch,focal,PlanH,igW,igH)
|
||||
cor_world = mercator_to_wgs(cor_world[0], cor_world[1])
|
||||
if outFormat=='GCJ02' or outFormat=='gcj02':
|
||||
cor_world = wgs84_to_gcj02(cor_world[0], cor_world[1])
|
||||
|
||||
return cor_world
|
||||
|
||||
def locate_byMqtt(box,igW,igH,camParas,outFormat='wgs84'):
|
||||
#camParas--{'lon': 3479.8250608, 'lat': 3566.7630802, 'gpssingal': 4, 'satcount': 6896, 'alt': 3.256, 'hspeed': 86.0, 'vspeed': 4.447911, 'ysingal': 0, 'tsingal': 0, 'voltage': 24.971, 'flytime': 0, 'datetime': 1739315683895, 'yaw': 70.243252, 'roll': -0.89436062, 'pitch': 0.89897547, 'armed': 'false', 'mode': 'stabilize', 'distToHome': 7.132033, 'deviceid': 'THJSQ03A2302KSPYGJ2G', 'mileage': '0', 'altasl': 21.26, 'altasl2': -20.74, 'landing_target_x': 0, 'landing_target_y': 0, 'landing_target_z': 0}
|
||||
#模型输出的点的格式是-[(486, 264), (505, 264), (505, 290), (486, 290)]
|
||||
|
||||
box_np = np.array(box);
|
||||
point = int(np.mean( box_np[:,0] )) , int(np.mean( box_np[:,1] ))
|
||||
PlanWgs84 = (float(camParas['lon']),float(camParas['lat'])) #
|
||||
PlanH = float(camParas['alt'])#
|
||||
yaw = float(camParas['camerayaw'])
|
||||
#delta = camParas['']
|
||||
delta = 1.55e-3 * 4056.0/1920
|
||||
pitch = float(camParas['camerapitch'])
|
||||
#focal = camParas['']
|
||||
focal = 3.5
|
||||
|
||||
out = location( point,igW,igH,PlanWgs84,PlanH,yaw,delta,pitch,focal,outFormat='wgs84')
|
||||
return out
|
||||
|
||||
if __name__=="__main__":
|
||||
srt="videos/DJI_20221220133918_0001_W_0.SRT"
|
||||
videoUrl = "videos/DJI_20221220133918_0001_W.MP4"
|
||||
imgOut= "videos/imgs"
|
||||
fpbeg=17273;fpend=17830
|
||||
nums = list(range(fpbeg,fpend,16))
|
||||
#generateNewSRT(srt)
|
||||
#captureImages(videoUrl,nums,imgOut)
|
||||
|
||||
process(videoUrl,srt,nums,imW=1920,imH=1080,txtDir='videos/labels' )
|
||||
#draw_results()
|
||||
|
||||
#rotate_example()
|
||||
#rotate_example3()
|
||||
|
|
@ -331,6 +331,8 @@ class IMModel:
|
|||
|
||||
new_device = torch.device(par['device'])
|
||||
model = torch.jit.load(par[img_type]['weights'])
|
||||
logger.info("########################加载 ../AIlib2/weights/conf/jkm/plate_yolov5s_v3.jit 成功 ########################, requestId:{}",
|
||||
requestId)
|
||||
self.model_conf = (modeType, allowedList, new_device, model, par, img_type)
|
||||
except Exception:
|
||||
logger.error("模型加载异常：{}, requestId:{}", format_exc(), requestId)
|
||||
|
|
@ -346,6 +348,7 @@ def im_process(args):
|
|||
boxes = post_process(pred, padInfos, device, conf_thres=par['conf_thres'],
|
||||
iou_thres=par['iou_thres'], nc=par[img_type]['nc']) # 后处理
|
||||
dataBack = get_return_data(frame, boxes, modelType=img_type, plate_dilate=par['plate_dilate'])
|
||||
print('-------line351----:',dataBack)
|
||||
return dataBack
|
||||
except ServiceException as s:
|
||||
raise s
|
||||
|
|
@ -613,6 +616,29 @@ MODEL_CONFIG = {
|
|||
lambda x, y, z: one_label(x, y, z),
|
||||
lambda x: model_process(x)
|
||||
),
|
||||
# 加载智慧工地模型
|
||||
ModelType.SMARTSITE_MODEL.value[1]: (
|
||||
lambda x, y, r, t, z, h: cityManagementModel(x, y, r, ModelType.SMARTSITE_MODEL, t, z, h),
|
||||
ModelType.SMARTSITE_MODEL,
|
||||
lambda x, y, z: one_label(x, y, z),
|
||||
lambda x: detSeg_demo2(x)
|
||||
),
|
||||
|
||||
# 加载垃圾模型
|
||||
ModelType.RUBBISH_MODEL.value[1]: (
|
||||
lambda x, y, r, t, z, h: cityManagementModel(x, y, r, ModelType.RUBBISH_MODEL, t, z, h),
|
||||
ModelType.RUBBISH_MODEL,
|
||||
lambda x, y, z: one_label(x, y, z),
|
||||
lambda x: detSeg_demo2(x)
|
||||
),
|
||||
|
||||
# 加载烟花模型
|
||||
ModelType.FIREWORK_MODEL.value[1]: (
|
||||
lambda x, y, r, t, z, h: cityManagementModel(x, y, r, ModelType.FIREWORK_MODEL, t, z, h),
|
||||
ModelType.FIREWORK_MODEL,
|
||||
lambda x, y, z: one_label(x, y, z),
|
||||
lambda x: detSeg_demo2(x)
|
||||
),
|
||||
|
||||
|
||||
}
|
||||
|
|
|
|||
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Reference in New Issue