feat(pipeline): 添加逆行处理器

- 新增 DrawDirectionProcessor 用于绘制车辆行驶方向和轨迹
- 新增 DrawGraffitiProcessor 用于绘制热力图和网格方向箭头
- 新增 DrawObjectBoxProcessor 用于绘制检测框、ID、标签和置信度
- 新增 GraffitiVisualizer 用于涂鸦可视化处理
- 新增 GraffitiProcessor 用于计算车辆轨迹并更新车道涂鸦

pipeline/handler/DrawGraffitiProcessor.py

@@ -0,0 +1,198 @@
+import cv2
+import numpy as np
+import math
+from yolo_gs.pipeline.base_processor import BaseProcessor
+from yolo_gs.pipeline.pipeline_data import PipelineData
+
+
+class DrawGraffitiProcessor(BaseProcessor):
+    """涂鸦绘制处理器：绘制热力图和网格方向箭头"""
+
+    def __init__(self,
+                 name: str = "涂鸦绘制处理器",
+                 heatmap_opacity: float = 0.45,
+                 grid_step: int = 40,
+                 grid_heat_threshold: float = 0.6,
+                 grid_draw_every: int = 2,
+                 max_heat: float = 10.0):
+        super().__init__(name)
+        self.heatmap_opacity = heatmap_opacity
+        self.grid_step = grid_step
+        self.grid_heat_threshold = grid_heat_threshold
+        self.grid_draw_every = grid_draw_every
+        self.max_heat = max_heat
+
+        # 箭头参数
+        self.arrow_length_min = 10.0
+        self.grid_arrow_color = (0, 128, 255)  # 橙色 - 网格箭头
+
+        # 帧计数器
+        self.frame_idx = 0
+
+    def process(self, data: PipelineData) -> PipelineData:
+        """绘制热力图和网格方向箭头"""
+        if data.frame is None:
+            return data
+
+        self.frame_idx = data.frame_idx
+        vis = data.frame.copy()
+
+        # 获取涂鸦数据
+        heat_map = data.get_data("graffiti", "heat_map")
+        dir_x_map = data.get_data("graffiti", "dir_x_map")
+        dir_y_map = data.get_data("graffiti", "dir_y_map")
+
+        # 绘制热力图
+        if heat_map is not None:
+            vis = self._draw_heatmap(vis, heat_map)
+
+        # 绘制网格方向箭头
+        if (dir_x_map is not None and dir_y_map is not None and
+                self.frame_idx % self.grid_draw_every == 0):
+            vis = self._draw_grid_arrows(vis, heat_map, dir_x_map, dir_y_map)
+
+        # TODO 绘制调试信息，这个应该是单独的处理器
+        vis = self._draw_debug_info(vis)
+
+        data.frame = vis
+        return data
+
+    def _draw_heatmap(self, vis, heat_map):
+        """绘制热力图叠加层"""
+        # 归一化热力图
+        heat_norm = np.clip(heat_map / self.max_heat, 0.0, 1.0)
+        heat_u8 = (heat_norm * 255).astype(np.uint8)
+
+        # 创建红色通道叠加层
+        red_overlay = np.zeros_like(vis)
+        red_overlay[:, :, 2] = heat_u8  # 红色通道
+
+        # 叠加热力图
+        vis = cv2.addWeighted(vis, 1.0, red_overlay, self.heatmap_opacity, 0)
+
+        return vis
+
+    def _draw_grid_arrows(self, vis, heat_map, dir_x_map, dir_y_map):
+        """在网格上绘制持久方向箭头"""
+        h, w = heat_map.shape
+
+        for gy in range(0, h, self.grid_step):
+            for gx in range(0, w, self.grid_step):
+                x0, y0 = gx, gy
+                x1 = min(gx + self.grid_step, w)
+                y1 = min(gy + self.grid_step, h)
+
+                # 检查网格区域热力
+                heat_window = heat_map[y0:y1, x0:x1]
+                if heat_window.size == 0:
+                    continue
+
+                avg_heat = float(heat_window.mean())
+
+                # 如果平均热力达到阈值，绘制方向箭头
+                if avg_heat / self.max_heat >= self.grid_heat_threshold:
+                    avg_dx = float(dir_x_map[y0:y1, x0:x1].sum())
+                    avg_dy = float(dir_y_map[y0:y1, x0:x1].sum())
+
+                    if avg_dx == 0 and avg_dy == 0:
+                        continue
+
+                    # 计算网格中心点
+                    cell_center = (x0 + (x1 - x0) // 2, y0 + (y1 - y0) // 2)
+
+                    # 绘制网格边界（可选，用于调试）
+                    # cv2.rectangle(vis, (x0, y0), (x1, y1), (100, 100, 100), 1)
+
+                    # 绘制方向箭头
+                    self._draw_arrow(vis, cell_center,
+                                     (avg_dx * 5.0, avg_dy * 5.0))
+
+        return vis
+
+    def _draw_arrow(self, img, start, vec, color=None, thickness=2):
+        """绘制箭头"""
+        if color is None:
+            color = self.grid_arrow_color
+
+        sx, sy = int(round(start[0])), int(round(start[1]))
+        vx, vy = float(vec[0]), float(vec[1])
+
+        norm = math.hypot(vx, vy)
+        if norm < 1e-3:
+            return
+
+        # 确保箭头有最小长度
+        scale = 1.0
+        if norm < self.arrow_length_min:
+            scale = self.arrow_length_min / (norm + 1e-6)
+
+        ex = int(round(sx + vx * scale))
+        ey = int(round(sy + vy * scale))
+
+        cv2.arrowedLine(img,
+                        (sx, sy),
+                        (ex, ey),
+                        color, thickness,
+                        tipLength=0.3)
+
+    def _draw_debug_info(self, vis):
+        """绘制调试信息"""
+        # 绘制帧号
+        cv2.putText(vis,
+                    f"Frame:{self.frame_idx}",
+                    (10, 20),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.6,
+                    (200, 200, 200), 2)
+
+        # 绘制热力图参数
+        cv2.putText(vis,
+                    f"HeatMax:{self.max_heat} TrustThr:3.0",
+                    (10, 45),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.5,
+                    (200, 200, 200), 1)
+
+        # 绘制网格参数
+        cv2.putText(vis,
+                    f"Grid:{self.grid_step}px Thresh:{self.grid_heat_threshold}",
+                    (10, 65),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.5,
+                    (200, 200, 200), 1)
+
+        # 绘制热力图图例
+        legend_y = vis.shape[0] - 30
+        legend_x = 10
+
+        # 图例标题
+        cv2.putText(vis, "Heat Legend:",
+                    (legend_x, legend_y),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.5,
+                    (200, 200, 200), 1)
+
+        # 绘制颜色条
+        colorbar_width = 100
+        colorbar_height = 10
+        colorbar_x = legend_x + 80
+        colorbar_y = legend_y - 5
+
+        # 创建渐变颜色条
+        for i in range(colorbar_width):
+            intensity = i / colorbar_width
+            color = (0, 0, int(intensity * 255))
+            cv2.line(vis,
+                     (colorbar_x + i, colorbar_y),
+                     (colorbar_x + i, colorbar_y + colorbar_height),
+                     color, 1)
+
+        # 标注最小值
+        cv2.putText(vis, "0",
+                    (colorbar_x - 10, colorbar_y + 15),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.4,
+                    (200, 200, 200), 1)
+
+        # 标注最大值
+        cv2.putText(vis, f"{self.max_heat}",
+                    (colorbar_x + colorbar_width - 10, colorbar_y + 15),
+                    cv2.FONT_HERSHEY_SIMPLEX, 0.4,
+                    (200, 200, 200), 1)
+
+        return vis