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
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zimoyin
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import cv2
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import numpy as np
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from yolo_gs.pipeline.base_processor import BaseProcessor
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from yolo_gs.pipeline.pipeline_data import PipelineData
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import math
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class RetrogradeProcessor(BaseProcessor):
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"""逆行检测处理器：检测逆向行驶的车辆"""
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def __init__(self, name: str = "逆行检测处理器"):
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super().__init__(name)
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# 可调参数
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self.TRUST_THRESHOLD = 3.0
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self.PARTIAL_OVERLAP_THRESHOLD = 0.1
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self.MAJORITY_OVERLAP_THRESHOLD = 0.5
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self.DEC_PER_OPPOSITE = 1.0
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# self.OPPOSITE_ANGLE_COS_THRESH = -0.9397
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self.OPPOSITE_ANGLE_COS_THRESH = math.cos(math.radians(1))
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self.VEHICLE_CLASSES = {2, 3, 5, 7}
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# 存储上一帧的事件信息
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self.track_last_event = {}
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self.frame_idx = 0
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def process(self, data: PipelineData) -> PipelineData:
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"""检测逆行行为"""
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if data.current_result is None:
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return data
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self.frame_idx = data.frame_idx
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# 获取涂鸦数据
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heat_map = data.get_data("graffiti", "heat_map")
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dir_x_map = data.get_data("graffiti", "dir_x_map")
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dir_y_map = data.get_data("graffiti", "dir_y_map")
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track_hist = data.get_data("graffiti", "track_hist")
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if heat_map is None or track_hist is None:
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return data
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boxes = getattr(data.current_result, "boxes", None)
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if boxes is None:
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return data
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frame_events = {}
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events_all0 = {}
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# 处理每个检测框
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for box in boxes:
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try:
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# 解析检测框
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xyxy = getattr(box, "xyxy", None)
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if xyxy is None:
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continue
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x1, y1, x2, y2 = map(float, xyxy[0].tolist())
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cls = int(getattr(box, "cls", -1))
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track_id = int(getattr(box, "id", -1))
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# 仅处理车辆类
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if cls not in self.VEHICLE_CLASSES:
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continue
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# 获取车辆历史轨迹
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hist = track_hist.get(track_id, [])
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if len(hist) < 2:
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continue
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# 计算当前方向
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cp_prev = hist[-2]
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cp_cur = hist[-1]
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dir_vec = self._normalize_vec((cp_cur[0] - cp_prev[0], cp_cur[1] - cp_prev[1]))
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# 计算车辆经过的区域
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vehicle_width = max(8.0, x2 - x1)
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poly = self._polygon_from_segment(cp_prev, cp_cur, vehicle_width)
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if poly is None:
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continue
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# 创建ROI掩码
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frame_shape = heat_map.shape[:2] if len(heat_map.shape) == 2 else heat_map.shape
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bbox_roi, mask_roi = self._polygon_mask_roi_from_pts(poly, frame_shape)
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if mask_roi.size == 0:
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continue
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# 计算与现有涂鸦的重叠
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x, y, w_roi, h_roi = bbox_roi
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heat_roi = heat_map[y:y + h_roi, x:x + w_roi]
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overlap_pixels = np.logical_and(mask_roi > 0, heat_roi > 0)
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overlap_ratio = float(overlap_pixels.sum()) / max(1.0, mask_roi.sum())
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# 计算区域平均热力和方向
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region_heat = self._region_avg_heat(heat_roi, mask_roi)
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region_dir = self._region_avg_direction(dir_x_map[y:y + h_roi, x:x + w_roi],
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dir_y_map[y:y + h_roi, x:x + w_roi],
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mask_roi)
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# 判断事件类型
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event = self._detect_retrograde_event(
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region_heat, region_dir, dir_vec, overlap_ratio
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)
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events_all0[track_id] = event
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if event:
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frame_events[track_id] = event
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# 减少涂鸦区域热力（逆向行驶会减少涂鸦可信度）
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self._reduce_paint(heat_map, dir_x_map, dir_y_map, bbox_roi, mask_roi, overlap_ratio)
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except Exception as e:
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continue
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# 存储事件信息
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data.put_data("retrograde", "current_events", frame_events)
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data.put_data("retrograde", "all_events", self.track_last_event)
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# 输出逆行信息
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for track_id, event in events_all0.items():
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print(f"【逆行检测器】帧{self.frame_idx} - 检测到事件：{event} - 轨迹ID: {track_id}")
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# 更新事件历史
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for track_id, event in frame_events.items():
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self.track_last_event[track_id] = (self.frame_idx, event)
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return data
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def _detect_retrograde_event(self, region_heat, region_dir, current_dir, overlap_ratio):
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"""检测逆行事件类型"""
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if region_heat >= 1.0 and region_dir is not None:
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cos_sim = self._cos_between(region_dir, current_dir)
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if cos_sim < self.OPPOSITE_ANGLE_COS_THRESH:
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if region_heat >= self.TRUST_THRESHOLD:
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if overlap_ratio >= self.MAJORITY_OVERLAP_THRESHOLD:
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return "REVERSE"
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elif overlap_ratio >= self.PARTIAL_OVERLAP_THRESHOLD:
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return "CROSS_LINE"
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else:
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return "SUSPECT"
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else:
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return "SUSPECT"
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else:
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return "NORMAL"
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return None
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def _reduce_paint(self, heat_map, dir_x_map, dir_y_map, bbox_roi, mask_roi, overlap_ratio):
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"""减少涂鸦区域热力（逆向行驶惩罚）"""
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x, y, w, h = bbox_roi
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amount = self.DEC_PER_OPPOSITE * overlap_ratio
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dec = amount * mask_roi.astype(np.float32)
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# 减少热力
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heat_roi = heat_map[y:y + h, x:x + w]
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heat_roi_before = heat_roi.copy()
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heat_roi_after = np.maximum(0.0, heat_roi_before - dec)
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# 按比例减少方向强度
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eps = 1e-6
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ratio = np.ones_like(heat_roi_before)
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nonzero_mask = heat_roi_before > eps
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ratio[nonzero_mask] = heat_roi_after[nonzero_mask] / (heat_roi_before[nonzero_mask] + eps)
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dir_x_map[y:y + h, x:x + w] *= ratio
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dir_y_map[y:y + h, x:x + w] *= ratio
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heat_map[y:y + h, x:x + w] = heat_roi_after
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def _polygon_from_segment(self, center_prev, center_cur, veh_width_px):
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"""从两点构造矩形带"""
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x0, y0 = center_prev
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x1, y1 = center_cur
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vx = x1 - x0
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vy = y1 - y0
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dist = math.hypot(vx, vy)
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if dist == 0:
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return None
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ux, uy = vx / dist, vy / dist
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px, py = -uy, ux
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half_w = veh_width_px / 2.0
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p0 = (int(round(x0 + px * half_w)), int(round(y0 + py * half_w)))
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p1 = (int(round(x0 - px * half_w)), int(round(y0 - py * half_w)))
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p2 = (int(round(x1 - px * half_w)), int(round(y1 - py * half_w)))
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p3 = (int(round(x1 + px * half_w)), int(round(y1 + py * half_w)))
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return np.array([p0, p1, p2, p3], dtype=np.int32)
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def _polygon_mask_roi_from_pts(self, pts, img_shape):
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"""在多边形最小包围矩形内生成局部掩码"""
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if pts is None or len(pts) == 0:
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return (0, 0, 0, 0), np.zeros((0, 0), dtype=np.uint8)
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x, y, w, h = cv2.boundingRect(pts)
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x2 = min(x + w, img_shape[1])
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y2 = min(y + h, img_shape[0])
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w = x2 - x
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h = y2 - y
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if w <= 0 or h <= 0:
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return (0, 0, 0, 0), np.zeros((0, 0), dtype=np.uint8)
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pts_roi = pts.copy()
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pts_roi[:, 0] -= x
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pts_roi[:, 1] -= y
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mask = np.zeros((h, w), dtype=np.uint8)
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cv2.fillPoly(mask, [pts_roi], 1)
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return (x, y, w, h), mask
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def _region_avg_heat(self, heat_roi, mask_roi):
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"""计算区域平均热力"""
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mask = mask_roi.astype(bool)
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if mask.sum() == 0:
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return 0.0
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return float(heat_roi[mask].mean())
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def _region_avg_direction(self, dir_x_roi, dir_y_roi, mask_roi):
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"""计算区域平均方向"""
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mask = mask_roi.astype(bool)
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if mask.sum() == 0:
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return None
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sx = dir_x_roi[mask].sum()
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sy = dir_y_roi[mask].sum()
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vec = np.array([sx, sy], dtype=np.float32)
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norm = np.linalg.norm(vec)
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if norm == 0:
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return None
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return vec / norm
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def _normalize_vec(self, v):
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"""归一化向量"""
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v = np.array(v, dtype=np.float32)
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norm = np.linalg.norm(v)
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if norm == 0:
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return np.array([0.0, 0.0], dtype=np.float32)
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return v / norm
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def _cos_between(self, a, b):
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"""计算两个向量的余弦相似度"""
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an = self._normalize_vec(a)
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bn = self._normalize_vec(b)
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return float(np.dot(an, bn))
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