initial commit

.gitignore

@@ -0,0 +1,202 @@
+# Created by https://www.toptal.com/developers/gitignore/api/python,visualstudiocode
+# Edit at https://www.toptal.com/developers/gitignore?templates=python,visualstudiocode
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+### Python Patch ###
+# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
+poetry.toml
+
+# ruff
+.ruff_cache/
+
+# LSP config files
+pyrightconfig.json
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+# End of https://www.toptal.com/developers/gitignore/api/python,visualstudiocode
+
+# yolo 模型路径
+yolo_server/ppyoloe_plus_crn_t_auxhead_320_300e_coco
+yolo_server/*.zip
+
+# 任务识别 模型路径
+person_yolo_server/model

cfg_infer_server.toml

@@ -5,6 +5,10 @@ logger_format = "{time} {level} {message}"
 
 [server]
 lane_infer_port = 6666
+yolo_infer_port = 6667
+ocr_infer_port = 6668
 
 [camera]
 front_camera_port = 5555
+camera1_port = 5556
+camera2_port = 5557

lane_server/infer.py

@@ -1,20 +1,25 @@
 import paddle.inference as paddle_infer
 import numpy as np
 import paddle.vision.transforms as T
-
 class Lane_model_infer:
     def __init__(self, model_dir="./lane_model"):
-        # 初始化paddle推理
+        # 初始化 paddle 推理
         self.model_dir = model_dir
         self.config = paddle_infer.Config(model_dir + "/model.pdmodel", model_dir + "/model.pdiparams")
+        self.config.disable_glog_info()
         self.config.enable_use_gpu(200, 0)
+        # self.config.enable_memory_optim(True)
+        # self.config.switch_ir_optim(True)
+        # self.config.switch_use_feed_fetch_ops(False)
+        # self.config.delete_pass("conv_elementwise_add_act_fuse_pass")
+        # self.config.delete_pass("conv_elementwise_add_fuse_pass")
         self.predictor = paddle_infer.create_predictor(self.config)
         self.input_names = self.predictor.get_input_names()
         self.input_handle = self.predictor.get_input_handle(self.input_names[0])
         self.output_names = self.predictor.get_output_names()
         self.output_handle = self.predictor.get_output_handle(self.output_names[0])
         self.normalize_transform = T.Normalize(mean=[127.5], std=[127.5])
-    
+        # print(self.config.summary())
     def infer(self,src) -> np.ndarray:
         image = self.normalize_transform(src)
         image = image.transpose(2, 0, 1)
@@ -22,4 +27,11 @@ class Lane_model_infer:
         self.input_handle.copy_from_cpu(image)
         self.predictor.run()
         results = self.output_handle.copy_to_cpu()[0]
-        return results
+        return results
+
+# if __name__ == "__main__":
+#     predictor = Lane_model_infer()
+#     import time
+#     while True:
+#         time.sleep(1)
+#         print('123')

lane_server/lane_infer_server.py

@@ -5,16 +5,22 @@ import zmq
 from infer import Lane_model_infer
 import numpy as np
 import cv2
+
 lock = threading.Lock()
 response = {'code': 0, 'data': 0}
 
-# 处理server响应数据
+
+# context2 = zmq.Context()
+# socket_server = context2.socket(zmq.PUB)
+# socket_server.bind("tcp://*:7778")
+
+# 处理 server 响应数据
 def server_resp(lane_infer_port):
     logger.info("lane server thread init success")
     global response
     
     context = zmq.Context()
-    # 启动server
+    # 启动 server
     socket = context.socket(zmq.REP)
     socket.bind(f"tcp://*:{lane_infer_port}")
     logger.info("lane infer server init success")
@@ -23,8 +29,6 @@ def server_resp(lane_infer_port):
         with lock:
             socket.send_pyobj(response)
 
-
-
 if __name__ == "__main__":
 
     cfg = toml.load('../cfg_infer_server.toml')
@@ -32,29 +36,36 @@ if __name__ == "__main__":
     # 配置日志输出
     logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention = 5, level="INFO")
 
-    # 连接摄像头server 巡线只需要连接前摄像头
+    # 连接摄像头 server 巡线只需要连接前摄像头
     context = zmq.Context()
-    camera_socket = context.socket(zmq.SUB)
+    camera_socket = context.socket(zmq.REQ)
     camera_socket.connect(f"tcp://localhost:{cfg['camera']['front_camera_port']}")
-    camera_socket.setsockopt_string(zmq.SUBSCRIBE, "")
     logger.info("connect camera success")
-    # 初始化paddle推理器
+
+    # 初始化 paddle 推理器
     predictor = Lane_model_infer()
     logger.info("lane model load success")
-    # 启动lane_infer_server线程
+    # 启动 lane_infer_server 线程
     mythread = threading.Thread(target=server_resp,
                                 args=(cfg['server']['lane_infer_port'],),
                                 daemon=True)
+    
     mythread.start()
 
     while True:
+        camera_socket.send_string("")
         message = camera_socket.recv()
         np_array = np.frombuffer(message, dtype=np.uint8)
         frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
-        frame = cv2.resize(frame,(320,240))
+        frame = cv2.cvtColor(frame, cv2.COLOR_RGB2BGR)
         result = predictor.infer(frame)
         with lock:
             response['data'] = result
+        # print(result)
+        # cv2.circle(frame,(int(result[0]),int(result[1])),5,(0,255,0),-1)
+        # socket_server.send_pyobj(frame)
+        if cv2.waitKey(1) == 27:
+            break
     mythread.join()
     logger.info("lane infer server exit")
 

lane_server/test_camera_recv.py

@@ -5,7 +5,7 @@ import cv2
 
 context = zmq.Context()
 socket = context.socket(zmq.SUB)
-socket.connect("tcp://localhost:5555")
+socket.connect("tcp://localhost:5556")
 socket.setsockopt_string(zmq.SUBSCRIBE, '')
 
 while True:

ocr_server/ocr_infer_server.py

@@ -0,0 +1,46 @@
+import toml
+from loguru import logger
+import logging
+import zmq
+from paddleocr import PaddleOCR
+import cv2
+logging.getLogger('paddleocr').setLevel(logging.CRITICAL)
+
+if __name__ == "__main__":
+
+    cfg = toml.load('../cfg_infer_server.toml')
+
+    # 配置日志输出
+    logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention = 5, level="INFO")
+
+    # 连接摄像头
+    cap = cv2.VideoCapture(4)
+    cap.set(cv2.CAP_PROP_FRAME_WIDTH, 320)
+    cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 240)
+
+    # 初始化 paddle 推理器
+    predictor = PaddleOCR(use_angle_cls=False, use_gpu=True)
+    logger.info("ocr model load success")
+
+    # 初始化 server
+    context = zmq.Context()
+    # 启动 server
+    socket = context.socket(zmq.REP)
+    socket.bind(f"tcp://*:{cfg['server']['ocr_infer_port']}")
+
+    while True:
+        socket.recv_string("")
+        ret, frame = cap.read()
+        try:
+            if ret:
+                result = predictor.ocr(frame)
+                response = {'code': 0, 'data': result}
+                socket.send_pyobj(response)
+            else:
+                socket.send_pyobj({'code': -1, 'data': None})
+        except:
+            socket.send_pyobj({'code': -1, 'data': None})
+        if cv2.waitKey(1) == 27:
+            break
+    logger.info("ocr infer server exit")
+

person_yolo_server/infer.py

@@ -0,0 +1,51 @@
+import paddle.inference as paddle_infer
+import numpy as np
+import cv2
+class Person_model_infer:
+    def __init__(self, model_dir="./model", target_size=[640, 640]):
+        # 初始化 paddle 推理
+        self.model_dir = model_dir
+        self.config = paddle_infer.Config(model_dir + "/model.pdmodel", model_dir + "/model.pdiparams")
+        self.config.disable_glog_info()
+        self.config.enable_use_gpu(200, 0)
+        self.predictor = paddle_infer.create_predictor(self.config)
+        self.input_names = self.predictor.get_input_names()
+        self.input_handle = self.predictor.get_input_handle(self.input_names[0])
+        self.input_handle1 = self.predictor.get_input_handle(self.input_names[1])
+        self.output_names = self.predictor.get_output_names()
+        self.output_handle = self.predictor.get_output_handle(self.output_names[0])
+        
+        self.target_size = target_size
+        origin_shape = (240, 320)
+        resize_h, resize_w = self.target_size
+        self.im_scale_y = resize_h / float(origin_shape[0])
+        self.im_scale_x = resize_w / float(origin_shape[1])
+        self.scale_info = np.array([[self.im_scale_y, self.im_scale_x]]).astype('float32')
+    def infer(self,src) -> np.ndarray:
+        image = self.preprocess(src)
+        self.input_handle.copy_from_cpu(image)
+        self.input_handle1.copy_from_cpu(self.scale_info)
+        self.predictor.run()
+        results = self.output_handle.copy_to_cpu()
+        return results
+    def preprocess(self, src):
+        # resize
+        # keep_ratio=0
+        img = cv2.resize(
+            src,
+            None,
+            None,
+            fx=self.im_scale_x,
+            fy=self.im_scale_y,
+            interpolation=2)
+        # Permute
+        img = img.astype(np.float32, copy=False)
+        img = img.transpose((2, 0, 1))
+        img = np.array((img, ))
+        return img
+if __name__ == "__main__":
+    predictor = Person_model_infer()
+    # import time
+    # while True:
+    #     time.sleep(1)
+    #     print('123')

person_yolo_server/person_yolo_infer_server.py

@@ -0,0 +1,53 @@
+import toml
+from loguru import logger
+import zmq
+import numpy as np
+import cv2
+
+from infer import Person_model_infer
+from visualize import visualize_box_mask
+
+labels = [
+    "pedestrian"
+]
+
+if __name__ == "__main__":
+    cfg = toml.load('../cfg_infer_server.toml')
+
+    # Configure log output
+    logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention=5, level="INFO")
+
+    # Initialize YOLO inference model
+    predictor = Person_model_infer()
+    logger.info("person yolo model load success")
+
+    context1 = zmq.Context()
+    camera1_socket = context1.socket(zmq.REQ)
+    camera1_socket.connect(f"tcp://localhost:{cfg['camera']['camera1_port']}")
+    logger.info("connect camera1 success")
+
+    context2 = zmq.Context()
+    socket = context2.socket(zmq.REP)
+    socket.bind("tcp://*:7778")
+    logger.info("bind server success")
+    while True:
+        message = socket.recv()
+        camera1_socket.send_string("")
+        message = camera1_socket.recv()
+        np_array = np.frombuffer(message, dtype=np.uint8)
+        frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
+        result = predictor.infer(frame)
+        img = visualize_box_mask(cv2.cvtColor(frame, cv2.COLOR_RGB2BGR),result,labels)
+        showim = np.array(img)
+        socket.send_pyobj(showim)
+        if cv2.waitKey(1) == 27:
+            break
+    camera1_socket.close()
+    socket.close()
+    context1.term()
+    context2.term()
+
+    logger.info("Interrupt received, stopping...")
+    logger.info("person yolo infer server exit")
+                
+    

person_yolo_server/visualize.py

@@ -0,0 +1,649 @@
+# Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import division
+
+import os
+import cv2
+import math
+import numpy as np
+import PIL
+from PIL import Image, ImageDraw, ImageFile
+ImageFile.LOAD_TRUNCATED_IMAGES = True
+
+def imagedraw_textsize_c(draw, text):
+    if int(PIL.__version__.split('.')[0]) < 10:
+        tw, th = draw.textsize(text)
+    else:
+        left, top, right, bottom = draw.textbbox((0, 0), text)
+        tw, th = right - left, bottom - top
+
+    return tw, th
+    
+
+def visualize_box_mask(im, results, labels, threshold=0.5):
+    """
+    Args:
+        im (str/np.ndarray): path of image/np.ndarray read by cv2
+        results (dict): include 'boxes': np.ndarray: shape:[N,6], N: number of box,
+                        matix element:[class, score, x_min, y_min, x_max, y_max]
+                        MaskRCNN's results include 'masks': np.ndarray:
+                        shape:[N, im_h, im_w]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): Threshold of score.
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+    # if 'masks' in results and 'boxes' in results and len(results['boxes']) > 0:
+    #     im = draw_mask(
+    #         im, results['boxes'], results['masks'], labels, threshold=threshold)
+    # if 'boxes' in results and len(results['boxes']) > 0:
+    im = draw_box(im, results, labels, threshold=threshold)
+    # if 'segm' in results:
+    #     im = draw_segm(
+    #         im,
+    #         results['segm'],
+    #         results['label'],
+    #         results['score'],
+    #         labels,
+    #         threshold=threshold)
+    return im
+
+
+def get_color_map_list(num_classes):
+    """
+    Args:
+        num_classes (int): number of class
+    Returns:
+        color_map (list): RGB color list
+    """
+    color_map = num_classes * [0, 0, 0]
+    for i in range(0, num_classes):
+        j = 0
+        lab = i
+        while lab:
+            color_map[i * 3] |= (((lab >> 0) & 1) << (7 - j))
+            color_map[i * 3 + 1] |= (((lab >> 1) & 1) << (7 - j))
+            color_map[i * 3 + 2] |= (((lab >> 2) & 1) << (7 - j))
+            j += 1
+            lab >>= 3
+    color_map = [color_map[i:i + 3] for i in range(0, len(color_map), 3)]
+    return color_map
+
+
+def draw_mask(im, np_boxes, np_masks, labels, threshold=0.5):
+    """
+    Args:
+        im (PIL.Image.Image): PIL image
+        np_boxes (np.ndarray): shape:[N,6], N: number of box,
+            matix element:[class, score, x_min, y_min, x_max, y_max]
+        np_masks (np.ndarray): shape:[N, im_h, im_w]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): threshold of mask
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+    color_list = get_color_map_list(len(labels))
+    w_ratio = 0.4
+    alpha = 0.7
+    im = np.array(im).astype('float32')
+    clsid2color = {}
+    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
+    np_boxes = np_boxes[expect_boxes, :]
+    np_masks = np_masks[expect_boxes, :, :]
+    im_h, im_w = im.shape[:2]
+    np_masks = np_masks[:, :im_h, :im_w]
+    for i in range(len(np_masks)):
+        clsid, score = int(np_boxes[i][0]), np_boxes[i][1]
+        mask = np_masks[i]
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color_mask = clsid2color[clsid]
+        for c in range(3):
+            color_mask[c] = color_mask[c] * (1 - w_ratio) + w_ratio * 255
+        idx = np.nonzero(mask)
+        color_mask = np.array(color_mask)
+        im[idx[0], idx[1], :] *= 1.0 - alpha
+        im[idx[0], idx[1], :] += alpha * color_mask
+    return Image.fromarray(im.astype('uint8'))
+
+
+def draw_box(im, np_boxes, labels, threshold=0.5):
+    """
+    Args:
+        im (PIL.Image.Image): PIL image
+        np_boxes (np.ndarray): shape:[N,6], N: number of box,
+                               matix element:[class, score, x_min, y_min, x_max, y_max]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): threshold of box
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+    clsid2color = {}
+    color_list = get_color_map_list(len(labels))
+    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
+    np_boxes = np_boxes[expect_boxes, :]
+
+    for dt in np_boxes:
+        clsid, bbox, score = int(dt[0]), dt[2:], dt[1]
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color = tuple(clsid2color[clsid])
+
+        if len(bbox) == 4:
+            xmin, ymin, xmax, ymax = bbox
+            # print('class_id:{:d}, confidence:{:.4f}, left_top:[{:.2f},{:.2f}],'
+            #       'right_bottom:[{:.2f},{:.2f}]'.format(
+            #           int(clsid), score, xmin, ymin, xmax, ymax))
+            # draw bbox
+            draw.line(
+                [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
+                 (xmin, ymin)],
+                width=draw_thickness,
+                fill=color)
+        elif len(bbox) == 8:
+            x1, y1, x2, y2, x3, y3, x4, y4 = bbox
+            draw.line(
+                [(x1, y1), (x2, y2), (x3, y3), (x4, y4), (x1, y1)],
+                width=2,
+                fill=color)
+            xmin = min(x1, x2, x3, x4)
+            ymin = min(y1, y2, y3, y4)
+
+        # draw label
+        text = "{} {} {:.4f}".format(clsid, labels[clsid], score)
+        tw, th = imagedraw_textsize_c(draw, text)
+        draw.rectangle(
+            [(xmin + 1, ymin - th), (xmin + tw + 1, ymin)], fill=color)
+        draw.text((xmin + 1, ymin - th), text, fill=(255, 255, 255))
+    return im
+
+
+def draw_segm(im,
+              np_segms,
+              np_label,
+              np_score,
+              labels,
+              threshold=0.5,
+              alpha=0.7):
+    """
+    Draw segmentation on image
+    """
+    mask_color_id = 0
+    w_ratio = .4
+    color_list = get_color_map_list(len(labels))
+    im = np.array(im).astype('float32')
+    clsid2color = {}
+    np_segms = np_segms.astype(np.uint8)
+    for i in range(np_segms.shape[0]):
+        mask, score, clsid = np_segms[i], np_score[i], np_label[i]
+        if score < threshold:
+            continue
+
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color_mask = clsid2color[clsid]
+        for c in range(3):
+            color_mask[c] = color_mask[c] * (1 - w_ratio) + w_ratio * 255
+        idx = np.nonzero(mask)
+        color_mask = np.array(color_mask)
+        idx0 = np.minimum(idx[0], im.shape[0] - 1)
+        idx1 = np.minimum(idx[1], im.shape[1] - 1)
+        im[idx0, idx1, :] *= 1.0 - alpha
+        im[idx0, idx1, :] += alpha * color_mask
+        sum_x = np.sum(mask, axis=0)
+        x = np.where(sum_x > 0.5)[0]
+        sum_y = np.sum(mask, axis=1)
+        y = np.where(sum_y > 0.5)[0]
+        x0, x1, y0, y1 = x[0], x[-1], y[0], y[-1]
+        cv2.rectangle(im, (x0, y0), (x1, y1),
+                      tuple(color_mask.astype('int32').tolist()), 1)
+        bbox_text = '%s %.2f' % (labels[clsid], score)
+        t_size = cv2.getTextSize(bbox_text, 0, 0.3, thickness=1)[0]
+        cv2.rectangle(im, (x0, y0), (x0 + t_size[0], y0 - t_size[1] - 3),
+                      tuple(color_mask.astype('int32').tolist()), -1)
+        cv2.putText(
+            im,
+            bbox_text, (x0, y0 - 2),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.3, (0, 0, 0),
+            1,
+            lineType=cv2.LINE_AA)
+    return Image.fromarray(im.astype('uint8'))
+
+
+def get_color(idx):
+    idx = idx * 3
+    color = ((37 * idx) % 255, (17 * idx) % 255, (29 * idx) % 255)
+    return color
+
+
+def visualize_pose(imgfile,
+                   results,
+                   visual_thresh=0.6,
+                   save_name='pose.jpg',
+                   save_dir='output',
+                   returnimg=False,
+                   ids=None):
+    try:
+        import matplotlib.pyplot as plt
+        import matplotlib
+        plt.switch_backend('agg')
+    except Exception as e:
+        print('Matplotlib not found, please install matplotlib.'
+              'for example: `pip install matplotlib`.')
+        raise e
+    skeletons, scores = results['keypoint']
+    skeletons = np.array(skeletons)
+    kpt_nums = 17
+    if len(skeletons) > 0:
+        kpt_nums = skeletons.shape[1]
+    if kpt_nums == 17:  #plot coco keypoint
+        EDGES = [(0, 1), (0, 2), (1, 3), (2, 4), (3, 5), (4, 6), (5, 7), (6, 8),
+                 (7, 9), (8, 10), (5, 11), (6, 12), (11, 13), (12, 14),
+                 (13, 15), (14, 16), (11, 12)]
+    else:  #plot mpii keypoint
+        EDGES = [(0, 1), (1, 2), (3, 4), (4, 5), (2, 6), (3, 6), (6, 7), (7, 8),
+                 (8, 9), (10, 11), (11, 12), (13, 14), (14, 15), (8, 12),
+                 (8, 13)]
+    NUM_EDGES = len(EDGES)
+
+    colors = [[255, 0, 0], [255, 85, 0], [255, 170, 0], [255, 255, 0], [170, 255, 0], [85, 255, 0], [0, 255, 0], \
+            [0, 255, 85], [0, 255, 170], [0, 255, 255], [0, 170, 255], [0, 85, 255], [0, 0, 255], [85, 0, 255], \
+            [170, 0, 255], [255, 0, 255], [255, 0, 170], [255, 0, 85]]
+    cmap = matplotlib.cm.get_cmap('hsv')
+    plt.figure()
+
+    img = cv2.imread(imgfile) if type(imgfile) == str else imgfile
+
+    color_set = results['colors'] if 'colors' in results else None
+
+    if 'bbox' in results and ids is None:
+        bboxs = results['bbox']
+        for j, rect in enumerate(bboxs):
+            xmin, ymin, xmax, ymax = rect
+            color = colors[0] if color_set is None else colors[color_set[j] %
+                                                               len(colors)]
+            cv2.rectangle(img, (xmin, ymin), (xmax, ymax), color, 1)
+
+    canvas = img.copy()
+    for i in range(kpt_nums):
+        for j in range(len(skeletons)):
+            if skeletons[j][i, 2] < visual_thresh:
+                continue
+            if ids is None:
+                color = colors[i] if color_set is None else colors[color_set[j]
+                                                                   %
+                                                                   len(colors)]
+            else:
+                color = get_color(ids[j])
+
+            cv2.circle(
+                canvas,
+                tuple(skeletons[j][i, 0:2].astype('int32')),
+                2,
+                color,
+                thickness=-1)
+
+    to_plot = cv2.addWeighted(img, 0.3, canvas, 0.7, 0)
+    fig = matplotlib.pyplot.gcf()
+
+    stickwidth = 2
+
+    for i in range(NUM_EDGES):
+        for j in range(len(skeletons)):
+            edge = EDGES[i]
+            if skeletons[j][edge[0], 2] < visual_thresh or skeletons[j][edge[
+                    1], 2] < visual_thresh:
+                continue
+
+            cur_canvas = canvas.copy()
+            X = [skeletons[j][edge[0], 1], skeletons[j][edge[1], 1]]
+            Y = [skeletons[j][edge[0], 0], skeletons[j][edge[1], 0]]
+            mX = np.mean(X)
+            mY = np.mean(Y)
+            length = ((X[0] - X[1])**2 + (Y[0] - Y[1])**2)**0.5
+            angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
+            polygon = cv2.ellipse2Poly((int(mY), int(mX)),
+                                       (int(length / 2), stickwidth),
+                                       int(angle), 0, 360, 1)
+            if ids is None:
+                color = colors[i] if color_set is None else colors[color_set[j]
+                                                                   %
+                                                                   len(colors)]
+            else:
+                color = get_color(ids[j])
+            cv2.fillConvexPoly(cur_canvas, polygon, color)
+            canvas = cv2.addWeighted(canvas, 0.4, cur_canvas, 0.6, 0)
+    if returnimg:
+        return canvas
+    save_name = os.path.join(
+        save_dir, os.path.splitext(os.path.basename(imgfile))[0] + '_vis.jpg')
+    plt.imsave(save_name, canvas[:, :, ::-1])
+    print("keypoint visualize image saved to: " + save_name)
+    plt.close()
+
+
+def visualize_attr(im, results, boxes=None, is_mtmct=False):
+    if isinstance(im, str):
+        im = Image.open(im)
+        im = np.ascontiguousarray(np.copy(im))
+        im = cv2.cvtColor(im, cv2.COLOR_RGB2BGR)
+    else:
+        im = np.ascontiguousarray(np.copy(im))
+
+    im_h, im_w = im.shape[:2]
+    text_scale = max(0.5, im.shape[0] / 3000.)
+    text_thickness = 1
+
+    line_inter = im.shape[0] / 40.
+    for i, res in enumerate(results):
+        if boxes is None:
+            text_w = 3
+            text_h = 1
+        elif is_mtmct:
+            box = boxes[i]  # multi camera, bbox shape is x,y, w,h
+            text_w = int(box[0]) + 3
+            text_h = int(box[1])
+        else:
+            box = boxes[i]  # single camera, bbox shape is 0, 0, x,y, w,h
+            text_w = int(box[2]) + 3
+            text_h = int(box[3])
+        for text in res:
+            text_h += int(line_inter)
+            text_loc = (text_w, text_h)
+            cv2.putText(
+                im,
+                text,
+                text_loc,
+                cv2.FONT_ITALIC,
+                text_scale, (0, 255, 255),
+                thickness=text_thickness)
+    return im
+
+
+def visualize_action(im,
+                     mot_boxes,
+                     action_visual_collector=None,
+                     action_text="",
+                     video_action_score=None,
+                     video_action_text=""):
+    im = cv2.imread(im) if isinstance(im, str) else im
+    im_h, im_w = im.shape[:2]
+
+    text_scale = max(1, im.shape[1] / 400.)
+    text_thickness = 2
+
+    if action_visual_collector:
+        id_action_dict = {}
+        for collector, action_type in zip(action_visual_collector, action_text):
+            id_detected = collector.get_visualize_ids()
+            for pid in id_detected:
+                id_action_dict[pid] = id_action_dict.get(pid, [])
+                id_action_dict[pid].append(action_type)
+        for mot_box in mot_boxes:
+            # mot_box is a format with [mot_id, class, score, xmin, ymin, w, h] 
+            if mot_box[0] in id_action_dict:
+                text_position = (int(mot_box[3] + mot_box[5] * 0.75),
+                                 int(mot_box[4] - 10))
+                display_text = ', '.join(id_action_dict[mot_box[0]])
+                cv2.putText(im, display_text, text_position,
+                            cv2.FONT_HERSHEY_PLAIN, text_scale, (0, 0, 255), 2)
+
+    if video_action_score:
+        cv2.putText(
+            im,
+            video_action_text + ': %.2f' % video_action_score,
+            (int(im_w / 2), int(15 * text_scale) + 5),
+            cv2.FONT_ITALIC,
+            text_scale, (0, 0, 255),
+            thickness=text_thickness)
+
+    return im
+
+
+def visualize_vehicleplate(im, results, boxes=None):
+    if isinstance(im, str):
+        im = Image.open(im)
+        im = np.ascontiguousarray(np.copy(im))
+        im = cv2.cvtColor(im, cv2.COLOR_RGB2BGR)
+    else:
+        im = np.ascontiguousarray(np.copy(im))
+
+    im_h, im_w = im.shape[:2]
+    text_scale = max(1.0, im.shape[0] / 400.)
+    text_thickness = 2
+
+    line_inter = im.shape[0] / 40.
+    for i, res in enumerate(results):
+        if boxes is None:
+            text_w = 3
+            text_h = 1
+        else:
+            box = boxes[i]
+            text = res
+            if text == "":
+                continue
+            text_w = int(box[2])
+            text_h = int(box[5] + box[3])
+            text_loc = (text_w, text_h)
+            cv2.putText(
+                im,
+                "LP: " + text,
+                text_loc,
+                cv2.FONT_ITALIC,
+                text_scale, (0, 255, 255),
+                thickness=text_thickness)
+    return im
+
+
+def draw_press_box_lanes(im, np_boxes, labels, threshold=0.5):
+    """
+    Args:
+        im (PIL.Image.Image): PIL image
+        np_boxes (np.ndarray): shape:[N,6], N: number of box,
+                               matix element:[class, score, x_min, y_min, x_max, y_max]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): threshold of box
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+    clsid2color = {}
+    color_list = get_color_map_list(len(labels))
+
+    if np_boxes.shape[1] == 7:
+        np_boxes = np_boxes[:, 1:]
+
+    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
+    np_boxes = np_boxes[expect_boxes, :]
+
+    for dt in np_boxes:
+        clsid, bbox, score = int(dt[0]), dt[2:], dt[1]
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color = tuple(clsid2color[clsid])
+
+        if len(bbox) == 4:
+            xmin, ymin, xmax, ymax = bbox
+            # draw bbox
+            draw.line(
+                [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
+                 (xmin, ymin)],
+                width=draw_thickness,
+                fill=(0, 0, 255))
+        elif len(bbox) == 8:
+            x1, y1, x2, y2, x3, y3, x4, y4 = bbox
+            draw.line(
+                [(x1, y1), (x2, y2), (x3, y3), (x4, y4), (x1, y1)],
+                width=2,
+                fill=color)
+            xmin = min(x1, x2, x3, x4)
+            ymin = min(y1, y2, y3, y4)
+
+        # draw label
+        text = "{}".format(labels[clsid])
+        tw, th = imagedraw_textsize_c(draw, text)
+        draw.rectangle(
+            [(xmin + 1, ymax - th), (xmin + tw + 1, ymax)], fill=color)
+        draw.text((xmin + 1, ymax - th), text, fill=(0, 0, 255))
+    return im
+
+
+def visualize_vehiclepress(im, results, threshold=0.5):
+    results = np.array(results)
+    labels = ['violation']
+    im = draw_press_box_lanes(im, results, labels, threshold=threshold)
+    return im
+
+
+def visualize_lane(im, lanes):
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+
+    if len(lanes) > 0:
+        for lane in lanes:
+            draw.line(
+                [(lane[0], lane[1]), (lane[2], lane[3])],
+                width=draw_thickness,
+                fill=(0, 0, 255))
+
+    return im
+
+
+def visualize_vehicle_retrograde(im, mot_res, vehicle_retrograde_res):
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+
+    lane = vehicle_retrograde_res['fence_line']
+    if lane is not None:
+        draw.line(
+            [(lane[0], lane[1]), (lane[2], lane[3])],
+            width=draw_thickness,
+            fill=(0, 0, 0))
+
+    mot_id = vehicle_retrograde_res['output']
+    if mot_id is None or len(mot_id) == 0:
+        return im
+
+    if mot_res is None:
+        return im
+    np_boxes = mot_res['boxes']
+
+    if np_boxes is not None:
+        for dt in np_boxes:
+            if dt[0] not in mot_id:
+                continue
+            bbox = dt[3:]
+            if len(bbox) == 4:
+                xmin, ymin, xmax, ymax = bbox
+                # draw bbox
+                draw.line(
+                    [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
+                     (xmin, ymin)],
+                    width=draw_thickness,
+                    fill=(0, 255, 0))
+
+            # draw label
+            text = "retrograde"
+            tw, th = imagedraw_textsize_c(draw, text)
+            draw.rectangle(
+                [(xmax + 1, ymin - th), (xmax + tw + 1, ymin)],
+                fill=(0, 255, 0))
+            draw.text((xmax + 1, ymin - th), text, fill=(0, 255, 0))
+
+    return im
+
+
+COLORS = [
+    (255, 0, 0),
+    (0, 255, 0),
+    (0, 0, 255),
+    (255, 255, 0),
+    (255, 0, 255),
+    (0, 255, 255),
+    (128, 255, 0),
+    (255, 128, 0),
+    (128, 0, 255),
+    (255, 0, 128),
+    (0, 128, 255),
+    (0, 255, 128),
+    (128, 255, 255),
+    (255, 128, 255),
+    (255, 255, 128),
+    (60, 180, 0),
+    (180, 60, 0),
+    (0, 60, 180),
+    (0, 180, 60),
+    (60, 0, 180),
+    (180, 0, 60),
+    (255, 0, 0),
+    (0, 255, 0),
+    (0, 0, 255),
+    (255, 255, 0),
+    (255, 0, 255),
+    (0, 255, 255),
+    (128, 255, 0),
+    (255, 128, 0),
+    (128, 0, 255),
+]
+
+
+def imshow_lanes(img, lanes, show=False, out_file=None, width=4):
+    lanes_xys = []
+    for _, lane in enumerate(lanes):
+        xys = []
+        for x, y in lane:
+            if x <= 0 or y <= 0:
+                continue
+            x, y = int(x), int(y)
+            xys.append((x, y))
+        lanes_xys.append(xys)
+    lanes_xys.sort(key=lambda xys: xys[0][0] if len(xys) > 0 else 0)
+
+    for idx, xys in enumerate(lanes_xys):
+        for i in range(1, len(xys)):
+            cv2.line(img, xys[i - 1], xys[i], COLORS[idx], thickness=width)
+
+    if show:
+        cv2.imshow('view', img)
+        cv2.waitKey(0)
+
+    if out_file:
+        if not os.path.exists(os.path.dirname(out_file)):
+            os.makedirs(os.path.dirname(out_file))
+        cv2.imwrite(out_file, img)

yolo_server/infer.py

@@ -0,0 +1,65 @@
+import paddle.inference as paddle_infer
+import numpy as np
+import cv2
+class Yolo_model_infer:
+    def __init__(self, model_dir="./yolo_model", target_size=[640, 640]):
+        # 初始化 paddle 推理
+        self.model_dir = model_dir
+        self.config = paddle_infer.Config(model_dir + "/model.pdmodel", model_dir + "/model.pdiparams")
+        self.config.enable_memory_optim()
+        self.config.switch_ir_optim()
+        self.config.enable_use_gpu(1000, 0)
+        
+        self.predictor = paddle_infer.create_predictor(self.config)
+        self.input_names = self.predictor.get_input_names()
+        self.input_handle = self.predictor.get_input_handle(self.input_names[0])
+        self.input_handle1 = self.predictor.get_input_handle(self.input_names[1])
+        self.output_names = self.predictor.get_output_names()
+        self.output_handle = self.predictor.get_output_handle(self.output_names[0])
+
+        self.target_size = target_size
+        self.fill_value = [114.0, 114.0, 114.0]
+    def infer(self,src) -> np.ndarray:
+        image, scale_info = self.preprocess(src)
+        
+        self.input_handle.copy_from_cpu(image)
+        self.input_handle1.copy_from_cpu(scale_info)
+        self.predictor.run()
+        results = self.output_handle.copy_to_cpu()
+        return results
+    def preprocess(self,src):
+        # resize
+        origin_shape = src.shape[:2]
+        # keep_ratio==1
+        im_size_min = np.min(origin_shape)
+        im_size_max = np.max(origin_shape)
+        target_size_min = np.min(self.target_size)
+        target_size_max = np.max(self.target_size)
+        im_scale = float(target_size_min) / float(im_size_min)
+        if np.round(im_scale * im_size_max) > target_size_max:
+            im_scale = float(target_size_max) / float(im_size_max)
+        im_scale_x = im_scale
+        im_scale_y = im_scale
+
+        img = cv2.resize(
+            src,
+            None,
+            None,
+            fx=im_scale_x,
+            fy=im_scale_y,
+            interpolation=1)
+        # pad
+        # pad = Pad((640, 640))
+        # img = pad(img)
+        im_h, im_w = img.shape[:2]
+        h, w = self.target_size
+        canvas = np.ones((h, w, 3), dtype=np.float32)
+        canvas *= np.array(self.fill_value, dtype=np.float32)
+        canvas[0:im_h, 0:im_w, :] = img.astype(np.float32)
+        img = canvas
+
+        # Permute
+        img = img.transpose((2, 0, 1)).copy()
+        img = np.array((img, )).astype('float32')
+        return img, np.array([im_scale_y, im_scale_x]).astype('float32')
+        

yolo_server/infer_new.py

@@ -0,0 +1,53 @@
+import paddle.inference as paddle_infer
+import numpy as np
+import cv2
+class Yolo_model_infer:
+    def __init__(self, model_dir="./ppyoloe_plus_crn_t_auxhead_320_300e_coco", target_size=[320, 320]):
+        # 初始化 paddle 推理
+        self.model_dir = model_dir
+        self.config = paddle_infer.Config(model_dir + "/model.pdmodel", model_dir + "/model.pdiparams")
+        self.config.disable_glog_info()
+        self.config.enable_use_gpu(500, 0)
+        self.config.enable_memory_optim()
+        self.config.switch_ir_optim()
+        self.config.switch_use_feed_fetch_ops(False)
+        self.predictor = paddle_infer.create_predictor(self.config)
+        self.input_names = self.predictor.get_input_names()
+        self.input_handle = self.predictor.get_input_handle(self.input_names[0])
+        self.input_handle1 = self.predictor.get_input_handle(self.input_names[1])
+        self.output_names = self.predictor.get_output_names()
+        self.output_handle = self.predictor.get_output_handle(self.output_names[0])
+
+        self.target_size = target_size
+        origin_shape = (240, 320)
+        resize_h, resize_w = self.target_size
+        self.im_scale_y = resize_h / float(origin_shape[0])
+        self.im_scale_x = resize_w / float(origin_shape[1])
+        self.scale_info = np.array([[self.im_scale_y, self.im_scale_x]]).astype('float32')
+    def infer(self,src) -> np.ndarray:
+        image = self.preprocess(src)
+        self.input_handle.copy_from_cpu(image)
+        self.input_handle1.copy_from_cpu(self.scale_info)
+        self.predictor.run()
+        results = self.output_handle.copy_to_cpu()
+        return results
+    def preprocess(self,src):
+        # resize
+        # keep_ratio=0
+        img = cv2.resize(
+            src,
+            None,
+            None,
+            fx=self.im_scale_x,
+            fy=self.im_scale_y,
+            interpolation=2)
+        # NormalizeImage
+        img = img.astype(np.float32, copy=False)
+        scale = 1.0 / 255.0
+        img *= scale
+        # Permute
+        img = img.transpose((2, 0, 1))
+        img = np.array((img, ))
+        # .astype('float32')
+        return img
+        

yolo_server/visualize.py

@@ -0,0 +1,649 @@
+# Copyright (c) 2021 PaddlePaddle Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import division
+
+import os
+import cv2
+import math
+import numpy as np
+import PIL
+from PIL import Image, ImageDraw, ImageFile
+ImageFile.LOAD_TRUNCATED_IMAGES = True
+
+def imagedraw_textsize_c(draw, text):
+    if int(PIL.__version__.split('.')[0]) < 10:
+        tw, th = draw.textsize(text)
+    else:
+        left, top, right, bottom = draw.textbbox((0, 0), text)
+        tw, th = right - left, bottom - top
+
+    return tw, th
+    
+
+def visualize_box_mask(im, results, labels, threshold=0.5):
+    """
+    Args:
+        im (str/np.ndarray): path of image/np.ndarray read by cv2
+        results (dict): include 'boxes': np.ndarray: shape:[N,6], N: number of box,
+                        matix element:[class, score, x_min, y_min, x_max, y_max]
+                        MaskRCNN's results include 'masks': np.ndarray:
+                        shape:[N, im_h, im_w]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): Threshold of score.
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+    # if 'masks' in results and 'boxes' in results and len(results['boxes']) > 0:
+    #     im = draw_mask(
+    #         im, results['boxes'], results['masks'], labels, threshold=threshold)
+    # if 'boxes' in results and len(results['boxes']) > 0:
+    im = draw_box(im, results, labels, threshold=threshold)
+    # if 'segm' in results:
+    #     im = draw_segm(
+    #         im,
+    #         results['segm'],
+    #         results['label'],
+    #         results['score'],
+    #         labels,
+    #         threshold=threshold)
+    return im
+
+
+def get_color_map_list(num_classes):
+    """
+    Args:
+        num_classes (int): number of class
+    Returns:
+        color_map (list): RGB color list
+    """
+    color_map = num_classes * [0, 0, 0]
+    for i in range(0, num_classes):
+        j = 0
+        lab = i
+        while lab:
+            color_map[i * 3] |= (((lab >> 0) & 1) << (7 - j))
+            color_map[i * 3 + 1] |= (((lab >> 1) & 1) << (7 - j))
+            color_map[i * 3 + 2] |= (((lab >> 2) & 1) << (7 - j))
+            j += 1
+            lab >>= 3
+    color_map = [color_map[i:i + 3] for i in range(0, len(color_map), 3)]
+    return color_map
+
+
+def draw_mask(im, np_boxes, np_masks, labels, threshold=0.5):
+    """
+    Args:
+        im (PIL.Image.Image): PIL image
+        np_boxes (np.ndarray): shape:[N,6], N: number of box,
+            matix element:[class, score, x_min, y_min, x_max, y_max]
+        np_masks (np.ndarray): shape:[N, im_h, im_w]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): threshold of mask
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+    color_list = get_color_map_list(len(labels))
+    w_ratio = 0.4
+    alpha = 0.7
+    im = np.array(im).astype('float32')
+    clsid2color = {}
+    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
+    np_boxes = np_boxes[expect_boxes, :]
+    np_masks = np_masks[expect_boxes, :, :]
+    im_h, im_w = im.shape[:2]
+    np_masks = np_masks[:, :im_h, :im_w]
+    for i in range(len(np_masks)):
+        clsid, score = int(np_boxes[i][0]), np_boxes[i][1]
+        mask = np_masks[i]
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color_mask = clsid2color[clsid]
+        for c in range(3):
+            color_mask[c] = color_mask[c] * (1 - w_ratio) + w_ratio * 255
+        idx = np.nonzero(mask)
+        color_mask = np.array(color_mask)
+        im[idx[0], idx[1], :] *= 1.0 - alpha
+        im[idx[0], idx[1], :] += alpha * color_mask
+    return Image.fromarray(im.astype('uint8'))
+
+
+def draw_box(im, np_boxes, labels, threshold=0.5):
+    """
+    Args:
+        im (PIL.Image.Image): PIL image
+        np_boxes (np.ndarray): shape:[N,6], N: number of box,
+                               matix element:[class, score, x_min, y_min, x_max, y_max]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): threshold of box
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+    clsid2color = {}
+    color_list = get_color_map_list(len(labels))
+    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
+    np_boxes = np_boxes[expect_boxes, :]
+
+    for dt in np_boxes:
+        clsid, bbox, score = int(dt[0]), dt[2:], dt[1]
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color = tuple(clsid2color[clsid])
+
+        if len(bbox) == 4:
+            xmin, ymin, xmax, ymax = bbox
+            # print('class_id:{:d}, confidence:{:.4f}, left_top:[{:.2f},{:.2f}],'
+            #       'right_bottom:[{:.2f},{:.2f}]'.format(
+            #           int(clsid), score, xmin, ymin, xmax, ymax))
+            # draw bbox
+            draw.line(
+                [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
+                 (xmin, ymin)],
+                width=draw_thickness,
+                fill=color)
+        elif len(bbox) == 8:
+            x1, y1, x2, y2, x3, y3, x4, y4 = bbox
+            draw.line(
+                [(x1, y1), (x2, y2), (x3, y3), (x4, y4), (x1, y1)],
+                width=2,
+                fill=color)
+            xmin = min(x1, x2, x3, x4)
+            ymin = min(y1, y2, y3, y4)
+
+        # draw label
+        text = "{} {} {:.4f}".format(clsid, labels[clsid], score)
+        tw, th = imagedraw_textsize_c(draw, text)
+        draw.rectangle(
+            [(xmin + 1, ymin - th), (xmin + tw + 1, ymin)], fill=color)
+        draw.text((xmin + 1, ymin - th), text, fill=(255, 255, 255))
+    return im
+
+
+def draw_segm(im,
+              np_segms,
+              np_label,
+              np_score,
+              labels,
+              threshold=0.5,
+              alpha=0.7):
+    """
+    Draw segmentation on image
+    """
+    mask_color_id = 0
+    w_ratio = .4
+    color_list = get_color_map_list(len(labels))
+    im = np.array(im).astype('float32')
+    clsid2color = {}
+    np_segms = np_segms.astype(np.uint8)
+    for i in range(np_segms.shape[0]):
+        mask, score, clsid = np_segms[i], np_score[i], np_label[i]
+        if score < threshold:
+            continue
+
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color_mask = clsid2color[clsid]
+        for c in range(3):
+            color_mask[c] = color_mask[c] * (1 - w_ratio) + w_ratio * 255
+        idx = np.nonzero(mask)
+        color_mask = np.array(color_mask)
+        idx0 = np.minimum(idx[0], im.shape[0] - 1)
+        idx1 = np.minimum(idx[1], im.shape[1] - 1)
+        im[idx0, idx1, :] *= 1.0 - alpha
+        im[idx0, idx1, :] += alpha * color_mask
+        sum_x = np.sum(mask, axis=0)
+        x = np.where(sum_x > 0.5)[0]
+        sum_y = np.sum(mask, axis=1)
+        y = np.where(sum_y > 0.5)[0]
+        x0, x1, y0, y1 = x[0], x[-1], y[0], y[-1]
+        cv2.rectangle(im, (x0, y0), (x1, y1),
+                      tuple(color_mask.astype('int32').tolist()), 1)
+        bbox_text = '%s %.2f' % (labels[clsid], score)
+        t_size = cv2.getTextSize(bbox_text, 0, 0.3, thickness=1)[0]
+        cv2.rectangle(im, (x0, y0), (x0 + t_size[0], y0 - t_size[1] - 3),
+                      tuple(color_mask.astype('int32').tolist()), -1)
+        cv2.putText(
+            im,
+            bbox_text, (x0, y0 - 2),
+            cv2.FONT_HERSHEY_SIMPLEX,
+            0.3, (0, 0, 0),
+            1,
+            lineType=cv2.LINE_AA)
+    return Image.fromarray(im.astype('uint8'))
+
+
+def get_color(idx):
+    idx = idx * 3
+    color = ((37 * idx) % 255, (17 * idx) % 255, (29 * idx) % 255)
+    return color
+
+
+def visualize_pose(imgfile,
+                   results,
+                   visual_thresh=0.6,
+                   save_name='pose.jpg',
+                   save_dir='output',
+                   returnimg=False,
+                   ids=None):
+    try:
+        import matplotlib.pyplot as plt
+        import matplotlib
+        plt.switch_backend('agg')
+    except Exception as e:
+        print('Matplotlib not found, please install matplotlib.'
+              'for example: `pip install matplotlib`.')
+        raise e
+    skeletons, scores = results['keypoint']
+    skeletons = np.array(skeletons)
+    kpt_nums = 17
+    if len(skeletons) > 0:
+        kpt_nums = skeletons.shape[1]
+    if kpt_nums == 17:  #plot coco keypoint
+        EDGES = [(0, 1), (0, 2), (1, 3), (2, 4), (3, 5), (4, 6), (5, 7), (6, 8),
+                 (7, 9), (8, 10), (5, 11), (6, 12), (11, 13), (12, 14),
+                 (13, 15), (14, 16), (11, 12)]
+    else:  #plot mpii keypoint
+        EDGES = [(0, 1), (1, 2), (3, 4), (4, 5), (2, 6), (3, 6), (6, 7), (7, 8),
+                 (8, 9), (10, 11), (11, 12), (13, 14), (14, 15), (8, 12),
+                 (8, 13)]
+    NUM_EDGES = len(EDGES)
+
+    colors = [[255, 0, 0], [255, 85, 0], [255, 170, 0], [255, 255, 0], [170, 255, 0], [85, 255, 0], [0, 255, 0], \
+            [0, 255, 85], [0, 255, 170], [0, 255, 255], [0, 170, 255], [0, 85, 255], [0, 0, 255], [85, 0, 255], \
+            [170, 0, 255], [255, 0, 255], [255, 0, 170], [255, 0, 85]]
+    cmap = matplotlib.cm.get_cmap('hsv')
+    plt.figure()
+
+    img = cv2.imread(imgfile) if type(imgfile) == str else imgfile
+
+    color_set = results['colors'] if 'colors' in results else None
+
+    if 'bbox' in results and ids is None:
+        bboxs = results['bbox']
+        for j, rect in enumerate(bboxs):
+            xmin, ymin, xmax, ymax = rect
+            color = colors[0] if color_set is None else colors[color_set[j] %
+                                                               len(colors)]
+            cv2.rectangle(img, (xmin, ymin), (xmax, ymax), color, 1)
+
+    canvas = img.copy()
+    for i in range(kpt_nums):
+        for j in range(len(skeletons)):
+            if skeletons[j][i, 2] < visual_thresh:
+                continue
+            if ids is None:
+                color = colors[i] if color_set is None else colors[color_set[j]
+                                                                   %
+                                                                   len(colors)]
+            else:
+                color = get_color(ids[j])
+
+            cv2.circle(
+                canvas,
+                tuple(skeletons[j][i, 0:2].astype('int32')),
+                2,
+                color,
+                thickness=-1)
+
+    to_plot = cv2.addWeighted(img, 0.3, canvas, 0.7, 0)
+    fig = matplotlib.pyplot.gcf()
+
+    stickwidth = 2
+
+    for i in range(NUM_EDGES):
+        for j in range(len(skeletons)):
+            edge = EDGES[i]
+            if skeletons[j][edge[0], 2] < visual_thresh or skeletons[j][edge[
+                    1], 2] < visual_thresh:
+                continue
+
+            cur_canvas = canvas.copy()
+            X = [skeletons[j][edge[0], 1], skeletons[j][edge[1], 1]]
+            Y = [skeletons[j][edge[0], 0], skeletons[j][edge[1], 0]]
+            mX = np.mean(X)
+            mY = np.mean(Y)
+            length = ((X[0] - X[1])**2 + (Y[0] - Y[1])**2)**0.5
+            angle = math.degrees(math.atan2(X[0] - X[1], Y[0] - Y[1]))
+            polygon = cv2.ellipse2Poly((int(mY), int(mX)),
+                                       (int(length / 2), stickwidth),
+                                       int(angle), 0, 360, 1)
+            if ids is None:
+                color = colors[i] if color_set is None else colors[color_set[j]
+                                                                   %
+                                                                   len(colors)]
+            else:
+                color = get_color(ids[j])
+            cv2.fillConvexPoly(cur_canvas, polygon, color)
+            canvas = cv2.addWeighted(canvas, 0.4, cur_canvas, 0.6, 0)
+    if returnimg:
+        return canvas
+    save_name = os.path.join(
+        save_dir, os.path.splitext(os.path.basename(imgfile))[0] + '_vis.jpg')
+    plt.imsave(save_name, canvas[:, :, ::-1])
+    print("keypoint visualize image saved to: " + save_name)
+    plt.close()
+
+
+def visualize_attr(im, results, boxes=None, is_mtmct=False):
+    if isinstance(im, str):
+        im = Image.open(im)
+        im = np.ascontiguousarray(np.copy(im))
+        im = cv2.cvtColor(im, cv2.COLOR_RGB2BGR)
+    else:
+        im = np.ascontiguousarray(np.copy(im))
+
+    im_h, im_w = im.shape[:2]
+    text_scale = max(0.5, im.shape[0] / 3000.)
+    text_thickness = 1
+
+    line_inter = im.shape[0] / 40.
+    for i, res in enumerate(results):
+        if boxes is None:
+            text_w = 3
+            text_h = 1
+        elif is_mtmct:
+            box = boxes[i]  # multi camera, bbox shape is x,y, w,h
+            text_w = int(box[0]) + 3
+            text_h = int(box[1])
+        else:
+            box = boxes[i]  # single camera, bbox shape is 0, 0, x,y, w,h
+            text_w = int(box[2]) + 3
+            text_h = int(box[3])
+        for text in res:
+            text_h += int(line_inter)
+            text_loc = (text_w, text_h)
+            cv2.putText(
+                im,
+                text,
+                text_loc,
+                cv2.FONT_ITALIC,
+                text_scale, (0, 255, 255),
+                thickness=text_thickness)
+    return im
+
+
+def visualize_action(im,
+                     mot_boxes,
+                     action_visual_collector=None,
+                     action_text="",
+                     video_action_score=None,
+                     video_action_text=""):
+    im = cv2.imread(im) if isinstance(im, str) else im
+    im_h, im_w = im.shape[:2]
+
+    text_scale = max(1, im.shape[1] / 400.)
+    text_thickness = 2
+
+    if action_visual_collector:
+        id_action_dict = {}
+        for collector, action_type in zip(action_visual_collector, action_text):
+            id_detected = collector.get_visualize_ids()
+            for pid in id_detected:
+                id_action_dict[pid] = id_action_dict.get(pid, [])
+                id_action_dict[pid].append(action_type)
+        for mot_box in mot_boxes:
+            # mot_box is a format with [mot_id, class, score, xmin, ymin, w, h] 
+            if mot_box[0] in id_action_dict:
+                text_position = (int(mot_box[3] + mot_box[5] * 0.75),
+                                 int(mot_box[4] - 10))
+                display_text = ', '.join(id_action_dict[mot_box[0]])
+                cv2.putText(im, display_text, text_position,
+                            cv2.FONT_HERSHEY_PLAIN, text_scale, (0, 0, 255), 2)
+
+    if video_action_score:
+        cv2.putText(
+            im,
+            video_action_text + ': %.2f' % video_action_score,
+            (int(im_w / 2), int(15 * text_scale) + 5),
+            cv2.FONT_ITALIC,
+            text_scale, (0, 0, 255),
+            thickness=text_thickness)
+
+    return im
+
+
+def visualize_vehicleplate(im, results, boxes=None):
+    if isinstance(im, str):
+        im = Image.open(im)
+        im = np.ascontiguousarray(np.copy(im))
+        im = cv2.cvtColor(im, cv2.COLOR_RGB2BGR)
+    else:
+        im = np.ascontiguousarray(np.copy(im))
+
+    im_h, im_w = im.shape[:2]
+    text_scale = max(1.0, im.shape[0] / 400.)
+    text_thickness = 2
+
+    line_inter = im.shape[0] / 40.
+    for i, res in enumerate(results):
+        if boxes is None:
+            text_w = 3
+            text_h = 1
+        else:
+            box = boxes[i]
+            text = res
+            if text == "":
+                continue
+            text_w = int(box[2])
+            text_h = int(box[5] + box[3])
+            text_loc = (text_w, text_h)
+            cv2.putText(
+                im,
+                "LP: " + text,
+                text_loc,
+                cv2.FONT_ITALIC,
+                text_scale, (0, 255, 255),
+                thickness=text_thickness)
+    return im
+
+
+def draw_press_box_lanes(im, np_boxes, labels, threshold=0.5):
+    """
+    Args:
+        im (PIL.Image.Image): PIL image
+        np_boxes (np.ndarray): shape:[N,6], N: number of box,
+                               matix element:[class, score, x_min, y_min, x_max, y_max]
+        labels (list): labels:['class1', ..., 'classn']
+        threshold (float): threshold of box
+    Returns:
+        im (PIL.Image.Image): visualized image
+    """
+
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+    clsid2color = {}
+    color_list = get_color_map_list(len(labels))
+
+    if np_boxes.shape[1] == 7:
+        np_boxes = np_boxes[:, 1:]
+
+    expect_boxes = (np_boxes[:, 1] > threshold) & (np_boxes[:, 0] > -1)
+    np_boxes = np_boxes[expect_boxes, :]
+
+    for dt in np_boxes:
+        clsid, bbox, score = int(dt[0]), dt[2:], dt[1]
+        if clsid not in clsid2color:
+            clsid2color[clsid] = color_list[clsid]
+        color = tuple(clsid2color[clsid])
+
+        if len(bbox) == 4:
+            xmin, ymin, xmax, ymax = bbox
+            # draw bbox
+            draw.line(
+                [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
+                 (xmin, ymin)],
+                width=draw_thickness,
+                fill=(0, 0, 255))
+        elif len(bbox) == 8:
+            x1, y1, x2, y2, x3, y3, x4, y4 = bbox
+            draw.line(
+                [(x1, y1), (x2, y2), (x3, y3), (x4, y4), (x1, y1)],
+                width=2,
+                fill=color)
+            xmin = min(x1, x2, x3, x4)
+            ymin = min(y1, y2, y3, y4)
+
+        # draw label
+        text = "{}".format(labels[clsid])
+        tw, th = imagedraw_textsize_c(draw, text)
+        draw.rectangle(
+            [(xmin + 1, ymax - th), (xmin + tw + 1, ymax)], fill=color)
+        draw.text((xmin + 1, ymax - th), text, fill=(0, 0, 255))
+    return im
+
+
+def visualize_vehiclepress(im, results, threshold=0.5):
+    results = np.array(results)
+    labels = ['violation']
+    im = draw_press_box_lanes(im, results, labels, threshold=threshold)
+    return im
+
+
+def visualize_lane(im, lanes):
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+
+    if len(lanes) > 0:
+        for lane in lanes:
+            draw.line(
+                [(lane[0], lane[1]), (lane[2], lane[3])],
+                width=draw_thickness,
+                fill=(0, 0, 255))
+
+    return im
+
+
+def visualize_vehicle_retrograde(im, mot_res, vehicle_retrograde_res):
+    if isinstance(im, str):
+        im = Image.open(im).convert('RGB')
+    elif isinstance(im, np.ndarray):
+        im = Image.fromarray(im)
+
+    draw_thickness = min(im.size) // 320
+    draw = ImageDraw.Draw(im)
+
+    lane = vehicle_retrograde_res['fence_line']
+    if lane is not None:
+        draw.line(
+            [(lane[0], lane[1]), (lane[2], lane[3])],
+            width=draw_thickness,
+            fill=(0, 0, 0))
+
+    mot_id = vehicle_retrograde_res['output']
+    if mot_id is None or len(mot_id) == 0:
+        return im
+
+    if mot_res is None:
+        return im
+    np_boxes = mot_res['boxes']
+
+    if np_boxes is not None:
+        for dt in np_boxes:
+            if dt[0] not in mot_id:
+                continue
+            bbox = dt[3:]
+            if len(bbox) == 4:
+                xmin, ymin, xmax, ymax = bbox
+                # draw bbox
+                draw.line(
+                    [(xmin, ymin), (xmin, ymax), (xmax, ymax), (xmax, ymin),
+                     (xmin, ymin)],
+                    width=draw_thickness,
+                    fill=(0, 255, 0))
+
+            # draw label
+            text = "retrograde"
+            tw, th = imagedraw_textsize_c(draw, text)
+            draw.rectangle(
+                [(xmax + 1, ymin - th), (xmax + tw + 1, ymin)],
+                fill=(0, 255, 0))
+            draw.text((xmax + 1, ymin - th), text, fill=(0, 255, 0))
+
+    return im
+
+
+COLORS = [
+    (255, 0, 0),
+    (0, 255, 0),
+    (0, 0, 255),
+    (255, 255, 0),
+    (255, 0, 255),
+    (0, 255, 255),
+    (128, 255, 0),
+    (255, 128, 0),
+    (128, 0, 255),
+    (255, 0, 128),
+    (0, 128, 255),
+    (0, 255, 128),
+    (128, 255, 255),
+    (255, 128, 255),
+    (255, 255, 128),
+    (60, 180, 0),
+    (180, 60, 0),
+    (0, 60, 180),
+    (0, 180, 60),
+    (60, 0, 180),
+    (180, 0, 60),
+    (255, 0, 0),
+    (0, 255, 0),
+    (0, 0, 255),
+    (255, 255, 0),
+    (255, 0, 255),
+    (0, 255, 255),
+    (128, 255, 0),
+    (255, 128, 0),
+    (128, 0, 255),
+]
+
+
+def imshow_lanes(img, lanes, show=False, out_file=None, width=4):
+    lanes_xys = []
+    for _, lane in enumerate(lanes):
+        xys = []
+        for x, y in lane:
+            if x <= 0 or y <= 0:
+                continue
+            x, y = int(x), int(y)
+            xys.append((x, y))
+        lanes_xys.append(xys)
+    lanes_xys.sort(key=lambda xys: xys[0][0] if len(xys) > 0 else 0)
+
+    for idx, xys in enumerate(lanes_xys):
+        for i in range(1, len(xys)):
+            cv2.line(img, xys[i - 1], xys[i], COLORS[idx], thickness=width)
+
+    if show:
+        cv2.imshow('view', img)
+        cv2.waitKey(0)
+
+    if out_file:
+        if not os.path.exists(os.path.dirname(out_file)):
+            os.makedirs(os.path.dirname(out_file))
+        cv2.imwrite(out_file, img)

yolo_server/yolo_infer_server.py

@@ -0,0 +1,151 @@
+import toml
+import threading
+from loguru import logger
+import zmq
+import numpy as np
+import cv2
+import time
+
+# Custom imports
+from infer_new import Yolo_model_infer
+from visualize import visualize_box_mask
+# Initialize locks
+lock1 = threading.Lock()
+lock2 = threading.Lock()
+lock3 = threading.Lock()
+
+# Global variables
+src_camera_id = 1
+response = {'code': 0, 'data': []}
+frame = None
+start = False
+exit_event = threading.Event()
+
+
+context2 = zmq.Context()
+socket_server = context2.socket(zmq.PUB)
+socket_server.setsockopt(zmq.SNDHWM,10)
+socket_server.bind("tcp://*:7777")
+
+
+labels = [
+    "tplatform", "tower", "sign", "shelter", "hospital", "basket", "base", 
+    "Yball", "Spiller", "Rmark", "Rblock", "Rball", "Mpiller", 
+    "Lpiller", "Lmark", "Bblock", "Bball"
+]
+
+# Handle server response data
+def server_resp(yolo_infer_port):
+    logger.info("yolo server thread init success")
+    global response
+    global src_camera_id
+
+    context = zmq.Context()
+    # Start server
+    socket = context.socket(zmq.REP)
+    socket.bind(f"tcp://*:{yolo_infer_port}")
+    logger.info("yolo infer server init success")
+    while not exit_event.is_set():
+        try:
+            message = socket.recv_string()
+            # Send character 1 and 2 to switch camera, empty string requests inference data
+            if message != '':
+                with lock1:
+                    logger.error(message)
+                    src_camera_id = int(message)
+                    logger.info("switch camera")
+                    socket.send_pyobj(response) 
+            else:
+                with lock2:
+                    socket.send_pyobj(response)
+                    response['data'] = np.array([])
+        except zmq.Again:
+            time.sleep(0.01)
+
+    socket.close()
+    context.term()
+
+# Handle camera data
+def camera_resp(camera1_port, camera2_port):
+    global frame
+    global src_camera_id
+    global start
+    context = zmq.Context()
+    camera1_socket = context.socket(zmq.REQ)
+    camera1_socket.connect(f"tcp://localhost:{camera1_port}")
+    logger.info("connect camera1 success")
+    context1 = zmq.Context()
+    camera2_socket = context1.socket(zmq.REQ)
+    camera2_socket.connect(f"tcp://localhost:{camera2_port}")
+    logger.info("connect camera2 success")
+
+    while not exit_event.is_set():
+        with lock1:
+            try:
+                if src_camera_id == 1:
+                    camera1_socket.send_string("")
+                    message = camera1_socket.recv()
+                else:
+                    camera2_socket.send_string("")
+                    message = camera2_socket.recv()
+                np_array = np.frombuffer(message, dtype=np.uint8)
+                with lock3:
+                    frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
+                    start = True
+            except:
+                time.sleep(0.01)
+
+    camera1_socket.close()
+    camera2_socket.close()
+    context.term()
+    context1.term()
+
+if __name__ == "__main__":
+    cfg = toml.load('../cfg_infer_server.toml')
+
+    # Configure log output
+    logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention=5, level="INFO")
+
+    # Initialize YOLO inference model
+    predictor = Yolo_model_infer()
+    logger.info("yolo model load success")
+
+    # Start threads
+    mythread1 = threading.Thread(target=server_resp, args=(cfg['server']['yolo_infer_port'],), daemon=True)
+    mythread2 = threading.Thread(target=camera_resp, args=(cfg['camera']['camera1_port'], cfg['camera']['front_camera_port']), daemon=True)
+    mythread1.start()
+    mythread2.start()
+    while not exit_event.is_set():
+        with lock3:
+            if start:
+                result = predictor.infer(frame)
+                img = visualize_box_mask(cv2.cvtColor(frame, cv2.COLOR_RGB2BGR),result,labels)
+                showim = np.array(img)
+                socket_server.send_pyobj(showim)
+                with lock2:
+                    response['data'] = result
+        # time.sleep(0.01)
+        if cv2.waitKey(1) == 27:
+            break
+    logger.info("Interrupt received, stopping...")
+    exit_event.set()
+    mythread1.join()
+    mythread2.join()
+    logger.info("yolo infer server exit")
+    # try:
+    #     while not exit_event.is_set():
+    #         with lock3:
+    #             if start:
+    #                 result = predictor.infer(frame)
+    #                 img = visualize_box_mask(cv2.cvtColor(frame, cv2.COLOR_RGB2BGR),result,labels)
+    #                 showim = np.array(img)
+    #                 socket_server.send_pyobj(showim)
+    #                 with lock2:
+    #                     response['data'] = result
+    #         time.sleep(0.01)
+    # except KeyboardInterrupt:
+    #     logger.info("Interrupt received, stopping...")
+    #     exit_event.set()
+    #     mythread1.join()
+    #     mythread2.join()
+    #     logger.info("yolo infer server exit")

yolo_server/yolo_infer_server_bak.py

@@ -0,0 +1,101 @@
+import toml
+import threading
+from loguru import logger
+import zmq
+from infer_new import Yolo_model_infer
+import numpy as np
+import cv2
+import time
+lock1 = threading.Lock()
+lock2 = threading.Lock()
+lock3 = threading.Lock()
+src_camera_id = 1
+response = {'code': 0, 'data': []}
+frame = None
+start = False
+# 处理 server 响应数据
+def server_resp(yolo_infer_port):
+    logger.info("yolo server thread init success")
+    global response
+    global src_camera_id
+    
+    context = zmq.Context()
+    # 启动 server
+    socket = context.socket(zmq.REP)
+    socket.bind(f"tcp://*:{yolo_infer_port}")
+    logger.info("yolo infer server init success")
+    while True:
+        message = socket.recv_string()
+        # 发送字符 1 和 2 切换摄像头 空字符表示请求推理数据
+        if message != '':
+            with lock1:
+                src_camera_id = int(message)
+            socket.send_pyobj({'code': 0, 'data': []}) 
+        else:
+            with lock2:
+                socket.send_pyobj(response)
+
+# 处理摄像头数据
+def camera_resp(camera1_port, camera2_port):
+    global frame
+    global src_camera_id
+    global start
+    context = zmq.Context()
+    camera1_socket = context.socket(zmq.SUB)
+    camera1_socket.connect(f"tcp://localhost:{camera1_port}")
+    camera1_socket.setsockopt_string(zmq.SUBSCRIBE, "")
+    logger.info("connect camera1 success")
+    context1 = zmq.Context()
+    camera2_socket = context1.socket(zmq.SUB)
+    camera2_socket.connect(f"tcp://localhost:{camera2_port}")
+    camera2_socket.setsockopt_string(zmq.SUBSCRIBE, "")
+    logger.info("connect camera2 success")
+    
+    while True:
+        logger.info('111')
+        with lock1:
+            if src_camera_id == 1:
+                message = camera1_socket.recv()
+            else:
+                message = camera2_socket.recv()
+            
+            # logger.info('111')
+            np_array = np.frombuffer(message, dtype=np.uint8)
+            with lock3:
+                frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
+                frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
+                start = True
+
+if __name__ == "__main__":
+
+    cfg = toml.load('../cfg_infer_server.toml')
+
+    # 配置日志输出
+    logger.add(cfg['debug']['logger_filename'], format=cfg['debug']['logger_format'], retention = 5, level="INFO")
+
+
+    # 初始化 paddle 推理器
+    predictor = Yolo_model_infer()
+    logger.info("yolo model load success")
+    # 启动 线程 1
+    mythread1 = threading.Thread(target=server_resp,
+                                args=(cfg['server']['yolo_infer_port'],),
+                                daemon=True)
+    mythread2 = threading.Thread(target=camera_resp,
+                                args=(
+                                    cfg['camera']['camera1_port'],
+                                    cfg['camera']['camera2_port']
+                                ),
+                                daemon=True)
+    mythread1.start()
+    mythread2.start()
+    while True:
+        with lock3:
+            if start:
+                result = predictor.infer(frame)
+                with lock2:
+                    response['data'] = result
+    mythread1.join()
+    mythread2.join()
+    logger.info("yolo infer server exit")
+

yolo_server/yolo_infer_test.py

@@ -0,0 +1,84 @@
+# from infer import Yolo_model_infer
+# import cv2
+
+
+# infer = Yolo_model_infer()
+
+# image = cv2.imread("ball_0094.png")
+# image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+# results = infer.infer(image)
+
+# expect_boxes = (results[:, 1] > 0.5) & (results[:, 0] > -1)
+# np_boxes = results[expect_boxes, :]
+
+# print(np_boxes)
+
+from infer_new import Yolo_model_infer
+import cv2
+from visualize import visualize_box_mask
+import zmq
+import numpy as np
+from loguru import logger
+
+import time
+
+
+# infer = Yolo_model_infer()
+# image = cv2.imread("20240108161722.jpg")
+# image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+# results = infer.infer(image)
+# print(results)
+# expect_boxes = (results[:, 1] > 0.5) & (results[:, 0] > -1)
+# np_boxes = results[expect_boxes, :]
+# print(np_boxes)
+
+# context = zmq.Context()
+# camera1_socket = context.socket(zmq.SUB)
+# hwm = 5
+# camera1_socket.setsockopt(zmq.RCVHWM, hwm) 
+# camera1_socket.connect("tcp://localhost:5556")
+# camera1_socket.setsockopt_string(zmq.SUBSCRIBE, "")
+ 
+# camera1_socket.set_hwm(1)
+context1 = zmq.Context()
+socket_server = context1.socket(zmq.PUB)
+socket_server.bind("tcp://*:7777")
+
+
+labels = [
+    "tower", "sign", "shelter", "hospital", "basket", "base", 
+    "Yball", "Spiller", "Rmark", "Rblock", "Rball", "Mpiller", 
+    "Lpiller", "Lmark", "Bblock", "Bball"
+]
+
+infer = Yolo_model_infer()
+cap = cv2.VideoCapture(2)
+cap.set(cv2.CAP_PROP_FRAME_WIDTH,320)
+cap.set(cv2.CAP_PROP_FRAME_HEIGHT,240)
+ret = True
+while True:
+    # message = camera1_socket.recv()
+    # np_array = np.frombuffer(message, dtype=np.uint8)
+    # frame = cv2.imdecode(np_array, cv2.IMREAD_COLOR)
+    ret, frame = cap.read()
+    
+    if ret:
+
+        results = infer.infer(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB))
+        # logger.info("111")
+        img = visualize_box_mask(frame,results,labels)
+        showim = np.array(img)
+        # cv2.imshow("Received", showim)
+        _, encode_frame = cv2.imencode(".jpg", showim)
+        socket_server.send(encode_frame.tobytes())
+    # if cv2.waitKey(1) == 27:
+    #     break
+    # image = cv2.imread("20240525_170248.jpg")
+    # image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)
+    # results = infer.infer(image)
+
+#     # expect_boxes = (results[:, 1] > 0.5) & (results[:, 0] > -1)
+#     # np_boxes = results[expect_boxes, :]
+#     # print(np_boxes)
+#     # img = visualize_box_mask(image,results,labels)
+#     # img.save('20240525_170248_box.jpg', quality=95)