487 lines
21 KiB
Python
487 lines
21 KiB
Python
import cv2
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import numpy as np
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import time
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# import requests
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from collections import deque
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from biz.base_detector import BaseDetector
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from biz.base_frame_processor import BaseFrameProcessorWorker
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from algorithm.common.npu_yolo_onnx_person_car_phone import YOLOv8_ONNX
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from yolox.tracker.byte_tracker import BYTETracker
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from common.constants import MODEL_ROOT_PATH
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# ========================= 走廊场景专属配置 =========================
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DETECT_MODEL_PATH = 'YOLO_Weight/kanshousuo.onnx' # 犯人检测onnx模型路径
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INPUT_SIZE = 640 # 模型输入尺寸
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RTSP_FPS = 10 # 视频流目标FPS
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ALERT_PUSH_INTERVAL = 5 # 相同报警5秒内仅推送1次
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# ALERT_PUSH_URL = "http://123.57.151.210:10000/picenter/websocket/test/process"
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# 消失判定：中心点在ROI内消失后，持续无检测的帧数（1.0秒，可微调）
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ROI_LOST_FRAMES_THRESH = int(0.5 * RTSP_FPS) # todo: 从frame改为时间
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# ========================= 默认ROI区域配置（当config.yaml未配置时使用） =========================
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DEFAULT_DOOR_ROIS = {
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"left": {
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"points": [[0.195, 0.245], [0.42, 0], [0.421, 0.185], [0.248, 0.8]],
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"color": [255, 0, 0]
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},
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"right": {
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"points": [[0.575, 0.], [0.81, 0.22], [0.78, 0.8], [0.575, 0.185]],
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"color": [255, 0, 0]
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}
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}
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# ==================================================================================
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class PrisonerDoorDetector(BaseDetector):
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def __init__(self, params=None):
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super().__init__()
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self.params = params or {}
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# 0. 从params解析ROI配置，无则使用默认值
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door_rois_config = self.params.get('door_rois', DEFAULT_DOOR_ROIS)
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self.roi_config = {}
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self.roi_colors = {}
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for door_name, door_cfg in door_rois_config.items():
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self.roi_config[door_name] = door_cfg['points']
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self.roi_colors[door_name] = tuple(door_cfg['color'])
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model_path = self.params.get('model_path')
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if model_path:
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full_model_path = f"{MODEL_ROOT_PATH}/{model_path}"
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else:
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full_model_path = DETECT_MODEL_PATH
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self.detector = YOLOv8_ONNX(
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full_model_path,
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conf_threshold=0.7, # 置信度阈值，可根据模型精度调整
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iou_threshold=0.4, # IOU阈值
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input_size=INPUT_SIZE
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)
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# 2. 初始化ByteTracker跟踪器（适配走廊单/多犯人跟踪）
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class TrackerArgs:
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track_thresh = 0.65
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track_buffer = 60 # 减小缓冲避免跟踪漂移
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match_thresh = 0.5
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mot20 = False
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self.tracker = BYTETracker(TrackerArgs(), frame_rate=RTSP_FPS)
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# 3. 状态变量初始化
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# self.last_alert_time = 0.0 # 最后报警时间（防重复推送）
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# 犯人跟踪信息：{track_id: {'is_cx_in_roi': 中心点是否在ROI, 'lost_frames': 消失帧数, 'lost_roi': 消失的ROI名称, 'last_cxcy': 最后中心点坐标}}
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self.prisoner_track_info = {}
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self.frame_width = 0 # 帧宽度（动态获取）
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self.frame_height = 0 # 帧高度（动态获取）
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self.roi_abs_cache = {} # ROI绝对坐标缓存：{roi_name: np.int32数组}
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self.entry_frame_cache = {}
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# 基于位置的跟踪状态管理
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self.active_targets = {} # {target_id: {...}}
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self.next_target_id = 0
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self.position_history = {} # {target_id: deque of positions}
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# 距离阈值（用于匹配检测框和已有目标）
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self.distance_threshold = 100 # 像素距离
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buffer_seconds = 3 # 最大回溯3秒
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self.init_frame_buffer(buffer_seconds, RTSP_FPS)
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self.detect_rollback_time = 0.9 # 警报帧回溯时间（秒）
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def compute_center_distance(self, box1, box2):
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"""计算两个框中心点的欧氏距离"""
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cx1 = (box1[0] + box1[2]) / 2
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cy1 = (box1[1] + box1[3]) / 2
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cx2 = (box2[0] + box2[2]) / 2
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cy2 = (box2[1] + box2[3]) / 2
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return np.sqrt((cx1 - cx2) ** 2 + (cy1 - cy2) ** 2)
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def compute_iou(self, boxA, boxB):
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"""IOU计算：匹配跟踪框与犯人检测框，过滤非犯人目标"""
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xA = max(boxA[0], boxB[0])
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yA = max(boxA[1], boxB[1])
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xB = min(boxA[2], boxB[2])
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yB = min(boxA[3], boxB[3])
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interW = max(0, xB - xA)
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interH = max(0, yB - yA)
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interArea = interW * interH
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boxAArea = (boxA[2] - boxA[0]) * (boxA[3] - boxA[1])
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boxBArea = (boxB[2] - boxB[0]) * (boxB[3] - boxB[1])
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unionArea = boxAArea + boxBArea - interArea
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return interArea / unionArea if unionArea > 0 else 0.0
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def _get_roi_abs(self, roi_name):
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"""相对坐标转绝对像素坐标（适配当前帧分辨率，OpenCV要求int32）"""
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if roi_name not in self.roi_config:
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return None
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roi_rel = np.array(self.roi_config[roi_name], dtype=np.float64)
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roi_abs = roi_rel * np.array([self.frame_width, self.frame_height])
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return roi_abs.astype(np.int32)
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def is_cxcy_in_roi(self, cx, cy):
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"""判断犯人框**中心点(cx,cy)** 是否在任意ROI内，返回：(是否在ROI, 所在ROI名称)"""
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for roi_name, roi_abs in self.roi_abs_cache.items():
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# OpenCV点在多边形内判定：>=0 表示在内部/边上
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if cv2.pointPolygonTest(roi_abs, (cx, cy), False) >= 0:
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return (True, roi_name)
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return (False, "outside")
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def match_detection_to_target(self, detection_box, detection_conf):
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"""
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【核心】将检测框匹配到已有目标
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返回: (matched_target_id, match_score)
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"""
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best_match_id = None
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best_match_score = 0
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det_center = np.array([(detection_box[0] + detection_box[2]) / 2,
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(detection_box[1] + detection_box[3]) / 2])
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for target_id, target_info in self.active_targets.items():
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# 计算与目标最后已知位置的距离
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last_box = target_info['last_box']
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last_center = np.array([(last_box[0] + last_box[2]) / 2,
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(last_box[1] + last_box[3]) / 2])
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distance = np.linalg.norm(det_center - last_center)
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# 计算IOU（如果目标最近刚更新）
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time_since_update = time.time() - target_info['last_update_time']
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iou_score = self.compute_iou(detection_box, last_box) if time_since_update < 1.0 else 0
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# 综合评分：距离近 + IOU高
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distance_score = max(0, 1 - distance / self.distance_threshold)
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match_score = 0.3 * distance_score + 0.7 * iou_score
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# 考虑位置预测（如果目标在移动中）
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if target_id in self.position_history and len(self.position_history[target_id]) >= 2:
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# 简单的线性预测
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hist = list(self.position_history[target_id])
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if len(hist) >= 2:
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velocity = hist[-1] - hist[-2]
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predicted_pos = last_center + velocity
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pred_distance = np.linalg.norm(det_center - predicted_pos)
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pred_score = max(0, 1 - pred_distance / self.distance_threshold)
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match_score = 0.7 * match_score + 0.3 * pred_score
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if match_score > best_match_score and match_score > 0.3: # 阈值可调
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best_match_score = match_score
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best_match_id = target_id
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return best_match_id, best_match_score
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# def push_alert(self, camera_id, target_id, lost_roi, last_cxcy, timestamp, entry_frame):
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# """报警推送"""
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# current_time = time.time()
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# if current_time - self.last_alert_time < ALERT_PUSH_INTERVAL:
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# return False
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#
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# _, frame_encoded = cv2.imencode('.jpg', entry_frame)
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# frame_base64 = frame_encoded.tobytes()
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#
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# alert_info = {
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# "camera_id": camera_id,
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# "alert_type": "prisoner_cx_disappear_in_roi",
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# "prisoner_track_id": target_id,
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# "disappear_roi": lost_roi,
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# "last_cx": round(last_cxcy[0], 2),
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# "last_cy": round(last_cxcy[1], 2),
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# "timestamp": timestamp,
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# "entry_frame_base64": frame_base64,
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# "details": f"犯人框中心点在{lost_roi}区域内消失"
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# }
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#
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# try:
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# requests.post(ALERT_PUSH_URL, json=alert_info, timeout=3)
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# print(f"[报警成功] target_id={target_id}, roi={lost_roi}")
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# self.last_alert_time = current_time
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# return True
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# except Exception as e:
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# print(f"[报警失败] {str(e)}")
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# return False
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def process_frame(self, frame, camera_id: int, timestamp: float) -> dict:
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"""
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核心帧处理：
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1. 绘制5个ROI区域 2. 检测+跟踪犯人 3. 判定中心点是否在ROI内
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4. 中心点在ROI内消失则累计帧数，达到阈值触发报警
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"""
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self.frame_height, self.frame_width = frame.shape[:2]
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current_frame_alerts = [] # 本帧报警信息
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frame_copy = frame.copy()
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current_time = time.time()
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# ========================= 1. 初始化ROI绝对坐标并绘制ROI =========================
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self.roi_abs_cache.clear()
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for roi_name in self.roi_config:
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roi_abs = self._get_roi_abs(roi_name)
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if roi_abs is None:
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continue
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self.roi_abs_cache[roi_name] = roi_abs
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# 绘制ROI多边形（闭合）+ ROI名称标签
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roi_draw = roi_abs.reshape((-1, 1, 2)) # OpenCV绘制要求形状 (n,1,2)
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color = self.roi_colors.get(roi_name, (255, 255, 255))
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cv2.polylines(frame, [roi_draw], isClosed=True, color=color, thickness=2)
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cv2.putText(frame, roi_name, (roi_abs[0][0], roi_abs[0][1] - 5),
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cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 2)
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# ========================= 2. 模型推理：仅提取犯人检测框 =========================
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detect_results = self.detector(frame)
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prisoner_detections = []
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if detect_results:
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for det in detect_results:
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x1, y1, x2, y2, conf, cls_id = det
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# 确保坐标在图像范围内
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x1 = max(0, min(x1, self.frame_width - 1))
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y1 = max(0, min(y1, self.frame_height - 1))
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x2 = max(0, min(x2, self.frame_width - 1))
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y2 = max(0, min(y2, self.frame_height - 1))
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if cls_id == 1 and x2 > x1 and y2 > y1 and (x2 - x1) * (y2 - y1) > 100: # 过滤太小的框
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prisoner_detections.append([x1, y1, x2, y2, conf, cls_id])
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# ========================= 3. ByteTracker跟踪 =========================
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prisoner_det_boxes = np.array(
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[[x1, y1, x2, y2, conf] for x1, y1, x2, y2, conf, cls_id in prisoner_detections],
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dtype=np.float32) if prisoner_detections else np.empty((0, 5))
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if len(prisoner_det_boxes) > 0:
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track_results = self.tracker.update(
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prisoner_det_boxes,
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[self.frame_height, self.frame_width],
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[self.frame_height, self.frame_width]
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)
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else:
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track_results = []
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# ========================= 4. 【核心改进】融合跟踪和检测 =========================
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# 4.1 先处理跟踪结果
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tracked_detections = {} # {track_id: detection_box}
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used_det_indices = set()
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for track in track_results:
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track_id = track.track_id
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t_box = [float(x) for x in track.tlbr]
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# 寻找匹配的检测框
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best_iou = 0.0 # 最低阈值
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best_det_idx = -1
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for det_idx, det in enumerate(prisoner_detections):
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if det_idx in used_det_indices:
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continue
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iou = self.compute_iou(t_box, det[:4])
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if iou > best_iou:
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best_iou = iou
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best_det_idx = det_idx
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if best_det_idx != -1:
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# 跟踪框有对应的检测框，使用检测框（更准确）
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tracked_detections[f"track_{track_id}"] = {
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'box': prisoner_detections[best_det_idx][:4],
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'conf': prisoner_detections[best_det_idx][4],
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'source': 'tracked'
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}
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used_det_indices.add(best_det_idx)
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else:
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# 跟踪框没有对应的检测框，但仍保留跟踪框
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tracked_detections[f"track_{track_id}"] = {
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'box': t_box,
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'conf': 0.5, # 给个中等置信度
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'source': 'track_only'
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}
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# 4.2 处理未被跟踪的检测框
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for det_idx, det in enumerate(prisoner_detections):
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if det_idx not in used_det_indices:
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tracked_detections[f"det_{det_idx}"] = {
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'box': det[:4],
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'conf': det[4],
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'source': 'det_only'
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}
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# ========================= 5. 匹配到已有目标 =========================
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current_target_ids = set()
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matched_det_keys = set()
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for det_key, det_info in tracked_detections.items():
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det_box = det_info['box']
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det_conf = det_info['conf']
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# 计算中心点
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cx = (det_box[0] + det_box[2]) / 2
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cy = (det_box[1] + det_box[3]) / 2
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# 匹配到已有目标
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matched_target_id, match_score = self.match_detection_to_target(det_box, det_conf)
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if matched_target_id is not None and match_score > 0.3:
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# 更新已有目标
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target_id = matched_target_id
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target_info = self.active_targets[target_id]
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# 更新位置历史
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if target_id not in self.position_history:
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self.position_history[target_id] = deque(maxlen=10)
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self.position_history[target_id].append(np.array([cx, cy]))
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# 判断是否在ROI内
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is_cx_in_roi, current_roi = self.is_cxcy_in_roi(cx, cy)
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# 首次进入ROI缓存帧
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if not target_info.get('in_roi', False) and is_cx_in_roi:
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self.entry_frame_cache[target_id] = frame_copy.copy()
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target_info['lost_frames'] = 0
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# 更新目标信息
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target_info.update({
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'last_box': det_box,
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'last_cxcy': (cx, cy),
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'last_conf': det_conf,
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'last_update_time': current_time,
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'in_roi': is_cx_in_roi,
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'current_roi': current_roi if is_cx_in_roi else target_info.get('current_roi', 'outside'),
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'detection_source': det_info['source']
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})
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current_target_ids.add(target_id)
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matched_det_keys.add(det_key)
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else:
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# 创建新目标
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target_id = self.next_target_id
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self.next_target_id += 1
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is_cx_in_roi, current_roi = self.is_cxcy_in_roi(cx, cy)
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self.active_targets[target_id] = {
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'first_seen': current_time,
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'last_box': det_box,
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'last_cxcy': (cx, cy),
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'last_conf': det_conf,
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'last_update_time': current_time,
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'in_roi': is_cx_in_roi,
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'current_roi': current_roi if is_cx_in_roi else 'outside',
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'lost_frames': 0,
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'detection_source': det_info['source']
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}
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self.position_history[target_id] = deque(maxlen=10)
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self.position_history[target_id].append(np.array([cx, cy]))
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if is_cx_in_roi:
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self.entry_frame_cache[target_id] = frame_copy.copy()
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current_target_ids.add(target_id)
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matched_det_keys.add(det_key)
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# ========================= 6. 处理消失和报警 =========================
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for target_id in list(self.active_targets.keys()):
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target_info = self.active_targets[target_id]
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if target_id not in current_target_ids:
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# 目标在当前帧未出现
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if target_info['in_roi']:
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# 在ROI内消失
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target_info['lost_frames'] += 1
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if target_info['lost_frames'] >= ROI_LOST_FRAMES_THRESH:
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# 触发报警
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# entry_frame = self.entry_frame_cache.get(target_id, frame_copy)
|
||
# self.push_alert(
|
||
# camera_id=camera_id,
|
||
# target_id=target_id,
|
||
# lost_roi=target_info['current_roi'],
|
||
# last_cxcy=target_info['last_cxcy'],
|
||
# timestamp=timestamp,
|
||
# entry_frame=entry_frame
|
||
# )
|
||
alert_frame = self.find_target_frame(timestamp - self.detect_rollback_time)
|
||
|
||
current_frame_alerts.append({
|
||
"time": timestamp,
|
||
"camera_id": camera_id,
|
||
"action": "Indoor Violation",
|
||
'image': alert_frame,
|
||
"prisoner_track_id": target_id,
|
||
"disappear_roi": target_info['current_roi'],
|
||
"last_cx": round(target_info['last_cxcy'][0], 2),
|
||
"last_cy": round(target_info['last_cxcy'][1], 2)
|
||
})
|
||
|
||
# 清理
|
||
del self.active_targets[target_id]
|
||
if target_id in self.position_history:
|
||
del self.position_history[target_id]
|
||
if target_id in self.entry_frame_cache:
|
||
del self.entry_frame_cache[target_id]
|
||
else:
|
||
# 不在ROI内消失，直接清理
|
||
del self.active_targets[target_id]
|
||
if target_id in self.position_history:
|
||
del self.position_history[target_id]
|
||
if target_id in self.entry_frame_cache:
|
||
del self.entry_frame_cache[target_id]
|
||
else:
|
||
# 目标仍在，但可能已离开ROI
|
||
if not target_info['in_roi']:
|
||
target_info['lost_frames'] = 0
|
||
|
||
# ========================= 7. 清理超时目标 =========================
|
||
timeout_threshold = 5.0 # 5秒无更新就清理
|
||
for target_id in list(self.active_targets.keys()):
|
||
if current_time - self.active_targets[target_id]['last_update_time'] > timeout_threshold:
|
||
del self.active_targets[target_id]
|
||
if target_id in self.position_history:
|
||
del self.position_history[target_id]
|
||
if target_id in self.entry_frame_cache:
|
||
del self.entry_frame_cache[target_id]
|
||
|
||
# ========================= 8. 绘制可视化 =========================
|
||
for target_id, target_info in self.active_targets.items():
|
||
box = target_info['last_box']
|
||
cx, cy = target_info['last_cxcy']
|
||
in_roi = target_info['in_roi']
|
||
current_roi = target_info['current_roi']
|
||
source = target_info.get('detection_source', 'unknown')
|
||
|
||
# 根据状态选择颜色
|
||
if in_roi:
|
||
color = (0, 0, 255) # 红色：在ROI内
|
||
else:
|
||
color = (0, 255, 0) # 绿色：不在ROI内
|
||
|
||
# 根据来源选择线型
|
||
thickness = 3 if source == 'tracked' else 2
|
||
|
||
cv2.rectangle(frame, (int(box[0]), int(box[1])),
|
||
(int(box[2]), int(box[3])), color, thickness)
|
||
cv2.circle(frame, (int(cx), int(cy)), 5, color, -1)
|
||
|
||
status = f"T{target_id}_{current_roi[:2]}"
|
||
if source == 'det_only':
|
||
status += "_DET"
|
||
cv2.putText(frame, status, (int(box[0]), int(box[1]) - 10),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 0.5, color, 2)
|
||
|
||
# ========================= 9. 统计信息 =========================
|
||
cv2.putText(frame, f"Camera: {camera_id}", (20, self.frame_height - 20),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 0), 2)
|
||
cv2.putText(frame, f"Active Targets: {len(self.active_targets)}",
|
||
(20, self.frame_height - 50),
|
||
cv2.FONT_HERSHEY_SIMPLEX, 0.7, (255, 255, 0), 2)
|
||
|
||
self.append_frame(frame, timestamp)
|
||
|
||
return {"image": frame, "alerts": current_frame_alerts}
|
||
|
||
|
||
# ========================= 帧处理线程 =========================
|
||
class FrameProcessorWorker(BaseFrameProcessorWorker):
|
||
"""看守所走廊犯人检测 - 增强跟踪版"""
|
||
DETECTOR_FACTORY = lambda params: PrisonerDoorDetector(params)
|
||
POST_TYPE = 3
|
||
TARGET_FPS = RTSP_FPS |