AbandonedObjectionsAlgo/detector/components/abandobj/source/AbandObjApp.cpp

#include "AbandObjApp.h"

#include "DetUtils.h"

NAMESPACE_MAS_BEGIN

NAMESPACE_ABANDOBJ_BEGIN

tzc::Mutex AbandObjApp::_mutex;
AbandObjApp* AbandObjApp::_instance = nullptr;

AbandObjApp* AbandObjApp::Instance()
{
    if (!_instance)
	{
        _mutex.Lock();
        if (!_instance)
		{
            _instance = new AbandObjApp();
            TZLogInfo("AbandObjApp Instance created~~~");
        }
        _mutex.Unlock();
    }

    ++(_instance->m_usecnt);
    return _instance;
}

void AbandObjApp::DestroyInstance()
{
    tzc::ScopedLock lock(_mutex);
    if ((_instance->m_usecnt) < 0)
	{
        TZLogWarn("AbandObjApp Instance does not exist!!!");
		_instance->m_usecnt = 0;
    }
    else if ((_instance->m_usecnt) == 0)
	{
        TZ_delete(_instance);
        TZLogInfo("AbandObjApp Instance destroyed~~~");
    }
    else
	{
        TZLogWarn("AbandObjApp still in use by %d objects!", _instance->m_usecnt);
		TZ_delete(_instance);
		TZLogInfo("AbandObjApp Instance destroyed~~~");
    }
}

TZ_INT AbandObjApp::Initialize(const std::string& initParam)
{
    if (m_inited)
	{
        TZLogInfo("AbandObjApp has been initialized~~~");
        return MEC_OK;
    }

    AbandObjBuild buildParam;
    AbandObjBuild::fromJson(initParam, buildParam);
    m_factor = buildParam.factor;
    m_shortTermRate = buildParam.short_term_rate;
    m_shortTermHistory = buildParam.short_term_history;
    m_longTermRate = buildParam.long_term_rate;
    m_longTermHistory = buildParam.long_term_history;
    m_varThreshold = buildParam.var_threshold;
    m_detectShadows = buildParam.detect_shadows;
    m_iouThreshold = buildParam.iou_threshold;
    m_areaThreshold = buildParam.area_threshold;
    m_perimeterThreshold = buildParam.perimeter_threshold;

    if (buildParam.algo == "MOG2")
    {
        m_pLongBG = cv::createBackgroundSubtractorMOG2(m_longTermHistory,
                                                    m_varThreshold,
                                                    m_detectShadows);
        m_pShortBG = cv::createBackgroundSubtractorMOG2(m_shortTermHistory,
                                                    m_varThreshold,
                                                    m_detectShadows);
    }
    else
    {
        TZLogError("Invalid algorithm name!!!");
        return MEC_FAILED;
    }

    m_inited = TRUE;

    TZLogInfo("AbandObjApp Initialized~~~");

    return MEC_OK;
}

TZ_INT AbandObjApp::SetDetectCfg(const std::string& initParam)
{
    AbandObjCfg cfgParam;
    AbandObjCfg::fromJson(initParam, cfgParam);

    m_factor = cfgParam.factor;
    m_shortTermRate = cfgParam.short_term_rate;
    m_shortTermHistory = cfgParam.short_term_history;
    m_longTermRate = cfgParam.long_term_rate;
    m_longTermHistory = cfgParam.long_term_history;
    m_varThreshold = cfgParam.var_threshold;
    m_detectShadows = cfgParam.detect_shadows;
    m_iouThreshold = cfgParam.iou_threshold;
    m_areaThreshold = cfgParam.area_threshold;
    m_perimeterThreshold = cfgParam.perimeter_threshold;

    if (cfgParam.algo == "MOG2")
    {
        m_pLongBG = cv::createBackgroundSubtractorMOG2(m_longTermHistory,
                                                    m_varThreshold,
                                                    m_detectShadows);
        m_pShortBG = cv::createBackgroundSubtractorMOG2(m_shortTermHistory,
                                                    m_varThreshold,
                                                    m_detectShadows);
    }
    else
    {
        TZLogError("Invalid algorithm name!!!");
        return MEC_FAILED;
    }

    return MEC_OK;
}

TZ_INT AbandObjApp::Dispose()
{
    if (!m_inited)
	{
        return MEC_NOT_INITED;
    }

    _mutex.Lock();

    --(m_usecnt);
    TZLogInfo("AbandObjApp usecnt -1, now = %d~~~", m_usecnt);
    TZ_BOOL empty = (m_usecnt == 0);

    _mutex.Unlock();

    if (empty)
	{
        m_inited = FALSE;
        TZLogInfo("AbandObjApp Dispose~~~");
        this->DestroyInstance();
    }

    return MEC_OK;
}

TZ_INT AbandObjApp::DoDetect(cv::Mat& input, std::vector<Proposal>& propRes)
{
    cv::Mat image;
    cv::resize(input, image, cv::Size(input.cols / m_factor, input.rows / m_factor));

    cv::Mat ltMask, stMask, subMask;

    // 高斯模糊
    cv::GaussianBlur(image, image, cv::Size(5, 5), 0);
    // 转换为灰度图
    cv::cvtColor(image, image, cv::COLOR_BGR2GRAY);

    // 更新背景模型并获取前景掩码
    m_pLongBG->apply(image, ltMask, m_longTermRate);
    m_pShortBG->apply(image, stMask, m_shortTermRate);

    // 计算长期掩码减去短期掩码，得到差分掩码
    cv::subtract(ltMask, stMask, subMask);

    // 对差分掩码进行去噪处理
    // 先腐蚀再膨胀（开操作）
    cv::Mat kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(5, 5));
    cv::erode(subMask, subMask, kernel, cv::Point(-1, -1), 2, 1, 1);
    kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(3, 3));
    cv::dilate(subMask, subMask, cv::Mat(), cv::Point(-1, -1), 2, 1, 1);

    // 高斯模糊进一步平滑掩码
    cv::GaussianBlur(subMask, subMask, cv::Size(49, 49), 7);

    // 将低于阈值的像素设为0，进一步清理噪点
    subMask.setTo(0, subMask <= 5);

    // 查找轮廓
    std::vector<std::vector<cv::Point>> contours;
    cv::findContours(subMask, contours, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);

    // 遍历所有轮廓
    for (size_t i = 0; i < contours.size(); i++) {
        double area = cv::contourArea(contours[i]);
        double perimeter = cv::arcLength(contours[i], true);
        // 过滤掉面积或周长过小的轮廓
        if (area > m_areaThreshold && perimeter > m_perimeterThreshold) {
            // 绘制轮廓
            cv::drawContours(image, contours, i, cv::Scalar(0, 0, 255), 2);

            // 获取轮廓的边界矩形
            cv::Rect rect = cv::boundingRect(contours[i]);
            // 绘制矩形
            cv::rectangle(image, rect, cv::Scalar(0, 255, 0), 2);

            // 创建proposal对象
            Proposal p;
            p.x = rect.x * m_factor; // 恢复到原始尺寸
            p.y = rect.y * m_factor;
            p.w = rect.width * m_factor;
            p.h = rect.height * m_factor;
            p.life = 10; // 初始生命周期
            p.status = Active; // 初始状态

            // 检查当前proposal是否与已有proposal重叠
            for (size_t j = 0; j < m_proposals.size(); j++) {
                AreaBox boxA, boxB;
                boxA.LTX = p.x;
                boxA.LTY = p.y;
                boxA.RBX = p.x + p.w;
                boxA.RBY = p.y + p.h;

                boxB.LTX = m_proposals[j].x;
                boxB.LTY = m_proposals[j].y;
                boxB.RBX = m_proposals[j].x + m_proposals[j].w;
                boxB.RBY = m_proposals[j].y + m_proposals[j].h;
                if (!detutils::IsIoULeqThreshold(boxA, boxB, m_iouThreshold)) {
                    p.status = Overlap; // 重叠，不添加新的proposal
                    m_proposals[j].life++; // 延长已有proposal的生命周期
                    if (m_proposals[j].status == Accepted){
                        continue; // 已经进行过检测
                    }
                    m_proposals[j].status = Active; // 标记为需要检测的有效proposal
                }
            }

            // 如果没有与任何proposal重叠，则添加为新的proposal
            if (p.status == Active){
                m_proposals.push_back(p);
            }
        }
    }

    // 遍历所有proposal，更新其状态
    for (size_t i = 0; i < m_proposals.size(); i++) {
        if (m_proposals[i].status == Active) { // 需要检测的proposal
            if (m_proposals[i].life > 60) { // 生存超过60帧
                // 处理proposal区域
                //Mat roi = solve_proposal(origin_frame, proposals[i]);
                // TODO: 对roi进行CLIP视觉特征提取和结果保存
                propRes.push_back(m_proposals[i]);
                m_proposals[i].status = Accepted; // 标记为已检测
            }
        } else {
            // 减少proposal的生命周期
            m_proposals[i].life--;
            if (m_proposals[i].life == 0) {
                // 生命周期结束，删除proposal
                m_proposals.erase(m_proposals.begin() + i);
                i--; // 调整索引
            }
        }
    }

    return MEC_OK;
}

AbandObjApp::AbandObjApp()
    : m_inited(FALSE),
      m_usecnt(0) {}

AbandObjApp::~AbandObjApp()
{
    this->Dispose();
}

NAMESPACE_ABANDOBJ_END

NAMESPACE_MAS_END