darknet_2_5_python/src/parking_method.cpp

#include <opencv2/opencv.hpp>
#include <opencv2/video.hpp>

#include "parking_method.h"
#include "utility.h"
#include <sys/time.h>
#include <iostream>
#include <random>

using namespace cv;
using namespace std;

// 車輛信息結構體
struct VehicleInfo {
	Rect bbox;
	time_t firstSeen;  // 首次偵測時間
	time_t lastSeen;   // 最後一次更新的時間
	int isParked;  // 是否已停車
};

vector<vector<VehicleInfo>> putting_vehicles(MAX_DETECTION_ZONE);

// 超時清理的時間閾值 (10秒未更新就清理)
const int timeoutThreshold = 10;

// time_t now = time(0);
void push_back_to_track_vehicle(detection_pos* pNext, int detection_zone_idx) {

	if (putting_vehicles[detection_zone_idx].size() < MAX_QUEUE_VEHICLEINFO_SIZE)
	{
		VehicleInfo newVehicle;
		newVehicle.bbox.x = pNext->left_x;
		newVehicle.bbox.y = pNext->top_y;
		newVehicle.bbox.width = pNext->width;
		newVehicle.bbox.height = pNext->height;

		time_t current_time = time(0);
		newVehicle.firstSeen = current_time;
		newVehicle.lastSeen = current_time;

		newVehicle.isParked = 0;

		putting_vehicles[detection_zone_idx].push_back(newVehicle);
	}
}

void pop_not_to_track_vehicles(int detection_zone_idx, time_t current_time) {
	// 用 for 迴圈檢查車輛是否需要清除
	if (putting_vehicles[detection_zone_idx].size() >= 1) {
		for (int j = putting_vehicles[detection_zone_idx].size() - 1; j >= 0; --j) {  // 從後往前遍歷，避免刪除時影響索引
			double unseenDuration = difftime(current_time, putting_vehicles[detection_zone_idx][j].lastSeen);
			if (unseenDuration > timeoutThreshold)
			{
				putting_vehicles[detection_zone_idx].erase(putting_vehicles[detection_zone_idx].begin() + j);  // 刪除符合條件的車輛
			}
		}
		if (putting_vehicles[detection_zone_idx].empty()) {
			putting_vehicles[detection_zone_idx].clear();       // 清除所有元素
			putting_vehicles[detection_zone_idx].shrink_to_fit();  // 釋放未使用的記憶體
		}
	}
}

void clear_putting_vehicles() {
	for (int i = 0; i < MAX_DETECTION_ZONE; i++) {
		putting_vehicles[i].clear();       // 清除所有元素
		putting_vehicles[i].shrink_to_fit();  // 釋放未使用的記憶體
	}
	putting_vehicles.clear();
}

int isVehicleStatic(const Rect& prev_bbox, const Rect& curr_bbox, int threshold = 8) {
	int deltaX = abs((prev_bbox.x + prev_bbox.width / 2) - (curr_bbox.x + curr_bbox.width / 2));
	int deltaY = abs((prev_bbox.y + prev_bbox.height / 2) - (curr_bbox.y + curr_bbox.height / 2));

	// 檢查長度和寬度是否在一定範圍內
	int deltaWidth = abs(prev_bbox.width - curr_bbox.width);
	int deltaHeight = abs(prev_bbox.height - curr_bbox.height);

	if (deltaX <= threshold && deltaY <= threshold && deltaWidth <= threshold * 2 && deltaHeight <= threshold * 2)
		return 1;
	else
		return 0;
}

int check_vehicle_over_time(detection_pos* pNext,int detection_zone_idx,double parkingTimeThreshold) {
	int check_if_over_time = 0;
	if (pNext->center_stability == (float)DIRECTION_DEFAULT)
	{
		int foundMatch = 0;
		time_t current_time = time(0);

		Rect bbox(pNext->left_x, pNext->top_y, pNext->width, pNext->height);
		// 嘗試在已追蹤的車輛中找到相似位置的車輛
		for (auto& vInfo : putting_vehicles[detection_zone_idx]) {
			// 如果車輛位置相似，則更新該車輛的信息
			if (isVehicleStatic(vInfo.bbox, bbox)) {
				foundMatch = 1;
				double duration = difftime(current_time, vInfo.firstSeen);

				// 判斷是否停車
				if (duration > parkingTimeThreshold) {
					vInfo.isParked = 1;
					check_if_over_time = 1;
				}

				// 更新物件框和最後一次看到的時間
				vInfo.bbox = bbox;
				vInfo.lastSeen = current_time;
				break;
			}
		}

		// 如果沒有匹配，新增這個車輛到追蹤清單
		if (!foundMatch) {
			push_back_to_track_vehicle(pNext, detection_zone_idx);
		}
	}
	return check_if_over_time;
}