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add face feature extraction pipeline

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hongshaorou
2026-07-11 21:36:14 +08:00
parent d528379961
commit 4f82e2cdaa
28 changed files with 1270 additions and 95 deletions
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31
AGENTS.md Normal file
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@@ -0,0 +1,31 @@
# Repository Guidelines
## Project Structure & Module Organization
This is a C++11/CMake face-analysis application. `app/` owns UI orchestration, `network_camera_receiver/` captures HTTP MJPEG frames, and `face_pipeline/` contains motion gating, tracking, alignment, embedding, and publishing. `libfacedetection/` is the shared CNN detector. Store fixtures in `resources/`, tests in `tests/`, and pinned inference assets in `models/`. Treat `build/` as generated output.
## Build, Test, and Development Commands
Install CMake 3.10+, a C++11 compiler, and OpenCV development headers. Then use:
```bash
cmake -S . -B build -DENABLE_AVX2=ON
cmake --build build -j
./build/app/face_detection_app
```
The application expects an MJPEG stream at `http://127.0.0.1:5000/video`; press Esc to exit. SIMD options are mutually exclusive. For AVX512 or ARM builds, disable AVX2 and enable the target option, for example `-DENABLE_AVX2=OFF -DENABLE_NEON=ON`. OpenMP is detected automatically.
Run `ctest --test-dir build --output-on-failure` after building. For live pipeline changes, also confirm frame reception, stable track IDs, first-event-only feature logs, and clean shutdown against an MJPEG stream.
## Coding Style & Naming Conventions
Follow the existing C++ style: four-space indentation, opening braces on the same line, and focused comments for non-obvious buffer layouts or concurrency. Use `PascalCase` for classes (`NetworkCameraReceiver`), `camelCase` for functions (`getLatestFrame`), and `snake_case` for local variables (`window_name`). Keep public declarations in `include/` and implementations in `src/`. Preserve const-correctness and use RAII/standard synchronization primitives for new resource or thread ownership. There is no configured formatter or linter, so match adjacent code closely.
## Testing Guidelines
Integrate coverage with CTest and name files after behavior, such as `network_camera_receiver_test.cpp`. Avoid tests that require a physical camera; prefer fixtures, synthetic frames, fake clocks, or a controllable local stream.
## Commit & Pull Request Guidelines
Recent history uses short, lowercase, imperative summaries such as `add readme`. Keep commits focused and describe the user-visible change in the subject. Pull requests should explain scope, build/test commands run, platform and SIMD option used, and any stream assumptions. Link related issues and include screenshots for changes to rendered detection output.

17
CMakeLists.txt
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@@ -13,6 +13,17 @@ endif()
# 默认导出 compile_commands.json（便于 IDE/clangd 索引）
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(SFACE_MODEL "${CMAKE_SOURCE_DIR}/models/face_recognition_sface_2021dec.onnx")
set(SFACE_MODEL_SHA256 "0ba9fbfa01b5270c96627c4ef784da859931e02f04419c829e83484087c34e79")
if(EXISTS "${SFACE_MODEL}")
file(SHA256 "${SFACE_MODEL}" SFACE_MODEL_ACTUAL_SHA256)
if(NOT SFACE_MODEL_ACTUAL_SHA256 STREQUAL SFACE_MODEL_SHA256)
message(FATAL_ERROR "Bundled SFace model checksum mismatch")
endif()
else()
message(FATAL_ERROR "Missing bundled SFace model: ${SFACE_MODEL}")
endif()
# ============================================================================
# 0. SIMD 加速选项（作用于 libfacedetection 动态库）
# X86/X64 CPU: cmake -DENABLE_AVX2=ON 或 -DENABLE_AVX512=ON
@@ -64,4 +75,10 @@ message(STATUS "Threads library enabled.")
# ============================================================================
add_subdirectory(libfacedetection)
add_subdirectory(network_camera_receiver)
add_subdirectory(face_pipeline)
add_subdirectory(app)
include(CTest)
if(BUILD_TESTING)
add_subdirectory(tests)
endif()

36
README.md
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@@ -1,6 +1,6 @@
# FaceRecognition — 实时网络视频流人脸检测
基于 CNN 的人脸检测应用：从 HTTP 网络视频流实时抓帧，调用 `libfacedetection` 进行人脸检测与关键点定位，并在窗口中绘制结果。
基于 CNN 的人脸检测与特征提取应用：从 HTTP 网络视频流实时抓帧，经运动粗筛后检测人脸与关键点，完成对齐、SFace 特征提取和 IoU 跟踪。
- 作者：Liu zhenyu
- 语言标准：C++11
@@ -27,23 +27,30 @@ FaceRecognition/
│ ├── CMakeLists.txt
│ ├── include/network_camera_receiver.h
│ └── src/network_camera_receiver.cpp
├── face_pipeline/ # 运动检测、跟踪、对齐、特征与消息接口
├── models/ # 固定版本 SFace ONNX、许可证与校验信息
├── tests/ # CTest 离线单元/模型测试
└── resources/ # 测试资源
```
### 三个子模块
### 主要模块
| 模块 | 类型 | 职责 |
|------|------|------|
| `libfacedetection` | SHARED 动态库 | CNN 人脸检测（含 5 个关键点），仅导出 `facedetect_cnn` |
| `network_camera_receiver` | STATIC 静态库 | 后台线程从 HTTP 视频流持续抓取最新帧，不包含检测逻辑 |
| `app` | 可执行程序 `face_detection_app` | 编排：拉帧 → 检测 → 绘制 → 显示 |
| `face_pipeline` | STATIC 静态库 | 运动粗筛、检测、IoU 跟踪、对齐、SFace 特征和结果接口 |
| `app` | 可执行程序 `face_detection_app` | 拉帧、提交任务并显示最新跟踪结果 |
---
## 功能特性
- **实时检测**：后台线程抓帧，主线程检测显示，互不阻塞。
- **低延迟流水线**：采集与检测分线程，容量为 1 的 latest-wins mailbox 不积压旧帧。
- **运动粗筛**：有运动时触发检测；有人脸时每秒保活，无 track 时每 5 秒兜底扫描。
- **CNN 人脸检测**：输出人脸框 + 置信度 + 5 个面部关键点（双眼、鼻尖、嘴角）。
- **特征提取**：五点相似变换对齐后，由 OpenCV SFace 输出 L2 归一化的 128 维向量。
- **简单跟踪**：IoU 分配 `track_id`，每个 track 仅首次通过 `ResultSink` 发布。
- **SIMD 加速**：支持 AVX2 / AVX512 / NEON，CMake 选项一键开关并自动配置编译标志。
- **OpenMP 加速**：卷积运算可选多线程并行。
- **置信度过滤**：仅显示置信度 > 60 的人脸，降低误检。
@@ -75,9 +82,10 @@ sudo apt-get install build-essential cmake libopencv-dev
cd FaceRecognition
cmake -S . -B build -DENABLE_AVX2=ON
cmake --build build -j
ctest --test-dir build --output-on-failure
```
生成的可执行文件：`build/app/face_detection_app`
生成的可执行文件：`build/app/face_detection_app`。配置阶段会校验 `models/face_recognition_sface_2021dec.onnx` 的 SHA-256。
### 2. SIMD 加速选项
@@ -157,7 +165,7 @@ std::string host_ip = "127.0.0.1"; // 改为推流主机 IP
./build/app/face_detection_app
```
窗口将实时显示检测到的人脸框、置信度及 5 个关键点。按 **ESC** 退出。
也可把兼容的 SFace 模型路径作为第一个参数传入。窗口显示人脸框、关键点和 `track_id`，按 **ESC** 退出。新 track 首次提取成功时输出一行 `face_feature` 日志，只记录元数据和特征维度，不打印完整向量。
---
@@ -190,17 +198,11 @@ short* p = ((short*)(pResults + 1)) + FACEDETECTION_RESULT_STRIDE_SHORTS * i;
## 项目架构流程
```
┌─────────────────────┐ 最新帧 ┌──────────────────────┐
│ network_camera_ │ ─────────> │ app (main.cpp) │
│ receiver (STATIC) │ getLatest │ ┌──────────────────┐ │
│ 后台线程抓帧 │ Frame() │ │ facedetect_cnn() │ │
└─────────────────────┘ │ │ (libfacedetect)│ │
▲ │ └────────┬─────────┘ │
│ HTTP MJPEG │ v │
│ /video │ 绘制框/关键点/置信度 │
┌───────┴──────────────┐ │ cv::imshow │
│ 推流端 (Flask/摄像头) │ └───────────────────────┘
└──────────────────────┘
HTTP MJPEG → 抓帧线程 → 主线程运动粗筛 → latest-wins mailbox
↓
检测 worker：人脸检测 → IoU 跟踪
↓（仅未发布 track）
五点对齐 → SFace → ResultSink
```
---

1
app/CMakeLists.txt
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@@ -13,6 +13,7 @@ add_executable(face_detection_app
target_link_libraries(face_detection_app PRIVATE
facedetection
network_camera_receiver
face_pipeline
${OpenCV_LIBS}
)

130
app/src/main.cpp
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@@ -1,98 +1,80 @@
/*
* @Author: Liu zhenyu
* @Description: 主程序（重构版）
* 流程：1. 从 network_camera_receiver 取最新帧；
* 2. 调用 libfacedetection 进行人脸检测；
* 3. 绘制并显示检测结果。
* libfacedetection 以独立动态库形式链接。
*/
#include <iostream>
#include <memory>
#include <string>
#include <vector>
#include <opencv2/opencv.hpp>
#include <iostream>
#include <string>
#include "face_pipeline/face_embedder.h"
#include "face_pipeline/face_pipeline.h"
#include "face_pipeline/result_sink.h"
#include "network_camera_receiver.h"
#include "facedetectcnn.h"
// 将 libfacedetection 的检测结果绘制到帧上
// pResults[0] = 人脸数量；其后每张脸占 FACEDETECTION_RESULT_STRIDE_SHORTS 个 short
static void drawFaces(cv::Mat& frame, const int* pResults) {
if (!pResults) return;
int faces = pResults[0];
namespace {
for (int i = 0; i < faces; i++) {
// 每个人脸结果占用 FACEDETECTION_RESULT_STRIDE_SHORTS(=16) 个 short：
// p[0]=置信度(score*100), p[1..4]=x/y/w/h,
// p[5..14]=5个关键点(x,y交替), p[15]=对齐填充
short* p = ((short*)(pResults + 1)) + FACEDETECTION_RESULT_STRIDE_SHORTS * i;
int confidence = p[0];
int x = p[1];
int y = p[2];
int w = p[3];
int h = p[4];
// 只显示置信度大于 60 的结果以过滤误检
if (confidence > 60) {
cv::rectangle(frame, cv::Rect(x, y, w, h), cv::Scalar(0, 255, 0), 2);
// 置信度标注
cv::putText(frame, std::to_string(confidence),
cv::Point(x, y - 5), cv::FONT_HERSHEY_SIMPLEX,
0.5, cv::Scalar(0, 255, 0), 1);
// 五个特征点
cv::circle(frame, cv::Point(p[5], p[6]), 2, cv::Scalar(255, 0, 0), -1);
cv::circle(frame, cv::Point(p[7], p[8]), 2, cv::Scalar(0, 0, 255), -1);
cv::circle(frame, cv::Point(p[9], p[10]), 2, cv::Scalar(0, 255, 0), -1);
cv::circle(frame, cv::Point(p[11], p[12]), 2, cv::Scalar(255, 0, 255), -1);
cv::circle(frame, cv::Point(p[13], p[14]), 2, cv::Scalar(0, 255, 255), -1);
void drawTracks(cv::Mat& frame, const std::vector<face_pipeline::TrackedFace>& tracks) {
for (const face_pipeline::TrackedFace& track : tracks) {
const face_pipeline::FaceObservation& face = track.observation;
cv::rectangle(frame, face.bbox, cv::Scalar(0, 255, 0), 2);
cv::putText(frame, "track " + std::to_string(track.track_id),
cv::Point(face.bbox.x, std::max(15, face.bbox.y - 5)),
cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 255, 0), 1);
for (const cv::Point2f& landmark : face.landmarks) {
cv::circle(frame, landmark, 2, cv::Scalar(0, 0, 255), -1);
}
}
}
int main() {
// 替换为你查到的视频流宿主机 IP
std::string host_ip = "127.0.0.1";
} // namespace
// 1) 接收端：仅负责抓帧
NetworkCameraReceiver receiver(host_ip, 5000);
if (!receiver.connect()) {
std::cerr << "连接视频流失败，退出。" << std::endl;
return -1;
}
receiver.start(); // 启动后台抓帧线程
int main(int argc, char** argv) {
const std::string model_path = argc > 1
? argv[1]
: std::string(SOURCE_ROOT) + "/models/face_recognition_sface_2021dec.onnx";
// libfacedetection 结果缓冲区（大小由库定义的宏决定）
unsigned char* pBuffer = new unsigned char[FACEDETECTION_RESULT_BUFFER_SIZE];
try {
std::unique_ptr<face_pipeline::FaceEmbedder> embedder(
new face_pipeline::SFaceEmbedder(model_path));
std::unique_ptr<face_pipeline::ResultSink> sink(
new face_pipeline::LoggingResultSink(std::cout));
face_pipeline::FacePipeline pipeline(std::move(embedder), std::move(sink));
const std::string window_name = "Face Detection";
NetworkCameraReceiver receiver("127.0.0.1", 5000);
if (!receiver.connect()) return 1;
pipeline.start();
receiver.start();
const std::string window_name = "Face Detection and Features";
cv::namedWindow(window_name, cv::WINDOW_AUTOSIZE);
std::cout << "Face pipeline started; press ESC to exit." << std::endl;
std::cout << "人脸检测已启动，按 ESC 退出..." << std::endl;
cv::Mat frame;
NetworkFrame network_frame;
while (true) {
// ---- 步骤 1：接收最新帧 ----
if (receiver.getLatestFrame(frame) && !frame.empty()) {
// ---- 步骤 2：调用 libfacedetection 检测 ----
// 注意：OpenCV 采集到的帧为 BGR，正好符合 facedetect_cnn 的输入要求
int* pResults = facedetect_cnn(pBuffer,
frame.data,
frame.cols,
frame.rows,
(int)frame.step);
if (receiver.getLatestFrame(network_frame) && !network_frame.image.empty()) {
face_pipeline::FramePacket packet;
packet.frame = network_frame.image;
packet.frame_id = network_frame.frame_id;
packet.captured_at = network_frame.captured_at;
packet.captured_at_unix_ms = network_frame.captured_at_unix_ms;
pipeline.submit(packet);
// ---- 步骤 3：显示检测结果 ----
drawFaces(frame, pResults);
cv::imshow(window_name, frame);
cv::Mat display = network_frame.image.clone();
drawTracks(display, pipeline.latestTracks());
cv::imshow(window_name, display);
}
if (cv::waitKey(30) == 27) break; // ESC 退出
if (cv::waitKey(30) == 27) break;
}
receiver.stop();
delete[] pBuffer;
pipeline.stop();
cv::destroyAllWindows();
} catch (const cv::Exception& error) {
std::cerr << "OpenCV initialization failed: " << error.what() << std::endl;
return 1;
} catch (const std::exception& error) {
std::cerr << "Initialization failed: " << error.what() << std::endl;
return 1;
}
return 0;
}

25
face_pipeline/CMakeLists.txt Normal file
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@@ -0,0 +1,25 @@
add_library(face_pipeline STATIC
src/motion_detector.cpp
src/face_detector.cpp
src/face_aligner.cpp
src/face_embedder.cpp
src/iou_tracker.cpp
src/result_sink.cpp
src/face_pipeline.cpp
)
target_include_directories(face_pipeline PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/include
)
target_link_libraries(face_pipeline PUBLIC
facedetection
${OpenCV_LIBS}
Threads::Threads
)
if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
target_compile_options(face_pipeline PRIVATE -O3)
elseif(MSVC)
target_compile_options(face_pipeline PRIVATE /O2)
endif()

15
face_pipeline/include/face_pipeline/face_aligner.h Normal file
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@@ -0,0 +1,15 @@
#pragma once
#include <opencv2/core.hpp>
#include "face_pipeline/types.h"
namespace face_pipeline {
class FaceAligner {
public:
static cv::Size outputSize();
bool align(const cv::Mat& frame, const FaceObservation& face, cv::Mat& aligned) const;
};
} // namespace face_pipeline

21
face_pipeline/include/face_pipeline/face_detector.h Normal file
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@@ -0,0 +1,21 @@
#pragma once
#include <vector>
#include <opencv2/core.hpp>
#include "face_pipeline/types.h"
namespace face_pipeline {
class FaceDetector {
public:
explicit FaceDetector(float minimum_score = 0.60f);
std::vector<FaceObservation> detect(const cv::Mat& frame);
private:
float minimum_score_;
std::vector<unsigned char> result_buffer_;
};
} // namespace face_pipeline

30
face_pipeline/include/face_pipeline/face_embedder.h Normal file
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@@ -0,0 +1,30 @@
#pragma once
#include <memory>
#include <string>
#include <vector>
#include <opencv2/core.hpp>
namespace face_pipeline {
class FaceEmbedder {
public:
virtual ~FaceEmbedder() = default;
virtual std::vector<float> extract(const cv::Mat& aligned_face) = 0;
virtual std::string modelName() const = 0;
};
class SFaceEmbedder : public FaceEmbedder {
public:
explicit SFaceEmbedder(const std::string& model_path);
~SFaceEmbedder() override;
std::vector<float> extract(const cv::Mat& aligned_face) override;
std::string modelName() const override;
private:
class Impl;
std::unique_ptr<Impl> impl_;
};
} // namespace face_pipeline

62
face_pipeline/include/face_pipeline/face_pipeline.h Normal file
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@@ -0,0 +1,62 @@
#pragma once
#include <atomic>
#include <condition_variable>
#include <memory>
#include <mutex>
#include <set>
#include <thread>
#include <vector>
#include "face_pipeline/face_aligner.h"
#include "face_pipeline/face_detector.h"
#include "face_pipeline/face_embedder.h"
#include "face_pipeline/iou_tracker.h"
#include "face_pipeline/motion_detector.h"
#include "face_pipeline/result_sink.h"
#include "face_pipeline/types.h"
namespace face_pipeline {
class FacePipeline {
public:
FacePipeline(std::unique_ptr<FaceEmbedder> embedder,
std::unique_ptr<ResultSink> sink);
~FacePipeline();
void start();
void stop();
bool submit(const FramePacket& packet);
std::vector<TrackedFace> latestTracks() const;
private:
void workerLoop();
void process(const FramePacket& packet);
MotionDetector motion_detector_;
FaceDetector face_detector_;
FaceAligner face_aligner_;
IouTracker tracker_;
std::unique_ptr<FaceEmbedder> embedder_;
std::unique_ptr<ResultSink> sink_;
mutable std::mutex state_mutex_;
std::vector<TrackedFace> latest_tracks_;
std::set<std::uint64_t> published_tracks_;
std::mutex mailbox_mutex_;
std::condition_variable mailbox_cv_;
FramePacket mailbox_;
bool has_mail_ = false;
bool running_ = false;
std::atomic<bool> has_active_tracks_{false};
std::atomic<std::uint64_t> submitted_frames_{0};
std::atomic<std::uint64_t> overwritten_frames_{0};
std::uint64_t processed_frames_ = 0;
std::uint64_t alignment_failures_ = 0;
std::uint64_t embedding_failures_ = 0;
std::uint64_t publish_failures_ = 0;
std::thread worker_;
};
} // namespace face_pipeline

40
face_pipeline/include/face_pipeline/iou_tracker.h Normal file
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@@ -0,0 +1,40 @@
#pragma once
#include <chrono>
#include <cstdint>
#include <vector>
#include "face_pipeline/types.h"
namespace face_pipeline {
struct IouTrackerConfig {
float match_threshold = 0.30f;
std::chrono::milliseconds track_ttl{2000};
};
class IouTracker {
public:
explicit IouTracker(const IouTrackerConfig& config = IouTrackerConfig());
std::vector<TrackedFace> update(const std::vector<FaceObservation>& observations,
SteadyTime now);
bool hasActiveTracks(SteadyTime now) const;
std::vector<std::uint64_t> activeTrackIds() const;
std::size_t size() const;
private:
struct Track {
std::uint64_t id;
FaceObservation observation;
SteadyTime last_seen;
};
static float intersectionOverUnion(const cv::Rect& a, const cv::Rect& b);
void expire(SteadyTime now);
IouTrackerConfig config_;
std::vector<Track> tracks_;
std::uint64_t next_track_id_ = 1;
};
} // namespace face_pipeline

34
face_pipeline/include/face_pipeline/motion_detector.h Normal file
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@@ -0,0 +1,34 @@
#pragma once
#include <chrono>
#include <opencv2/core.hpp>
#include "face_pipeline/types.h"
namespace face_pipeline {
struct MotionDetectorConfig {
cv::Size analysis_size{320, 180};
int pixel_threshold = 20;
double changed_ratio_threshold = 0.01;
std::chrono::milliseconds active_hold{500};
std::chrono::milliseconds tracked_scan_interval{1000};
std::chrono::milliseconds idle_scan_interval{5000};
};
class MotionDetector {
public:
explicit MotionDetector(const MotionDetectorConfig& config = MotionDetectorConfig());
bool shouldProcess(const cv::Mat& frame, SteadyTime now, bool has_active_tracks);
void reset();
private:
MotionDetectorConfig config_;
cv::Mat previous_gray_;
SteadyTime last_motion_;
SteadyTime last_request_;
bool initialized_ = false;
};
} // namespace face_pipeline

24
face_pipeline/include/face_pipeline/result_sink.h Normal file
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@@ -0,0 +1,24 @@
#pragma once
#include <ostream>
#include "face_pipeline/types.h"
namespace face_pipeline {
class ResultSink {
public:
virtual ~ResultSink() = default;
virtual bool publish(const FaceFeatureEvent& event) = 0;
};
class LoggingResultSink : public ResultSink {
public:
explicit LoggingResultSink(std::ostream& output);
bool publish(const FaceFeatureEvent& event) override;
private:
std::ostream& output_;
};
} // namespace face_pipeline

43
face_pipeline/include/face_pipeline/types.h Normal file
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@@ -0,0 +1,43 @@
#pragma once
#include <array>
#include <chrono>
#include <cstdint>
#include <string>
#include <vector>
#include <opencv2/core.hpp>
namespace face_pipeline {
using SteadyTime = std::chrono::steady_clock::time_point;
struct FramePacket {
cv::Mat frame;
std::uint64_t frame_id = 0;
SteadyTime captured_at;
std::int64_t captured_at_unix_ms = 0;
};
struct FaceObservation {
cv::Rect bbox;
float score = 0.0f;
std::array<cv::Point2f, 5> landmarks;
};
struct TrackedFace {
std::uint64_t track_id = 0;
FaceObservation observation;
bool is_new = false;
};
struct FaceFeatureEvent {
std::uint64_t track_id = 0;
std::uint64_t frame_id = 0;
std::int64_t captured_at_unix_ms = 0;
FaceObservation observation;
std::string embedding_model;
std::vector<float> embedding;
};
} // namespace face_pipeline

41
face_pipeline/src/face_aligner.cpp Normal file
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#include "face_pipeline/face_aligner.h"
#include <cmath>
#include <vector>
#include <opencv2/calib3d.hpp>
#include <opencv2/imgproc.hpp>
namespace face_pipeline {
namespace {
const std::vector<cv::Point2f> kSFaceTemplate = {
{38.2946f, 51.6963f}, {73.5318f, 51.5014f}, {56.0252f, 71.7366f},
{41.5493f, 92.3655f}, {70.7299f, 92.2041f}
};
} // namespace
cv::Size FaceAligner::outputSize() {
return cv::Size(112, 112);
}
bool FaceAligner::align(const cv::Mat& frame, const FaceObservation& face,
cv::Mat& aligned) const {
if (frame.empty() || face.bbox.width < 12 || face.bbox.height < 12) return false;
std::vector<cv::Point2f> source(face.landmarks.begin(), face.landmarks.end());
for (const cv::Point2f& point : source) {
if (!std::isfinite(point.x) || !std::isfinite(point.y)) return false;
}
cv::Mat inliers;
cv::Mat transform = cv::estimateAffinePartial2D(source, kSFaceTemplate, inliers, cv::LMEDS);
if (transform.empty() || transform.rows != 2 || transform.cols != 3) return false;
cv::warpAffine(frame, aligned, transform, outputSize(), cv::INTER_LINEAR,
cv::BORDER_CONSTANT, cv::Scalar());
return !aligned.empty();
}
} // namespace face_pipeline

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#include "face_pipeline/face_detector.h"
#include <algorithm>
#include "facedetectcnn.h"
namespace face_pipeline {
FaceDetector::FaceDetector(float minimum_score)
: minimum_score_(minimum_score), result_buffer_(FACEDETECTION_RESULT_BUFFER_SIZE) {}
std::vector<FaceObservation> FaceDetector::detect(const cv::Mat& frame) {
std::vector<FaceObservation> observations;
if (frame.empty() || frame.type() != CV_8UC3) return observations;
int* results = facedetect_cnn(result_buffer_.data(), frame.data, frame.cols, frame.rows,
static_cast<int>(frame.step));
if (!results) return observations;
observations.reserve(static_cast<std::size_t>(std::max(0, results[0])));
for (int i = 0; i < results[0]; ++i) {
short* values = reinterpret_cast<short*>(results + 1) +
FACEDETECTION_RESULT_STRIDE_SHORTS * i;
const float score = static_cast<float>(values[0]) / 100.0f;
cv::Rect bbox(values[1], values[2], values[3], values[4]);
bbox &= cv::Rect(0, 0, frame.cols, frame.rows);
if (score <= minimum_score_ || bbox.width <= 0 || bbox.height <= 0) continue;
FaceObservation observation;
observation.bbox = bbox;
observation.score = score;
for (std::size_t landmark = 0; landmark < observation.landmarks.size(); ++landmark) {
observation.landmarks[landmark] = cv::Point2f(
static_cast<float>(values[5 + landmark * 2]),
static_cast<float>(values[6 + landmark * 2]));
}
observations.push_back(observation);
}
return observations;
}
} // namespace face_pipeline

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#include "face_pipeline/face_embedder.h"
#include <cmath>
#include <stdexcept>
#include <opencv2/objdetect/face.hpp>
namespace face_pipeline {
class SFaceEmbedder::Impl {
public:
explicit Impl(const std::string& path)
: recognizer(cv::FaceRecognizerSF::create(path, "")) {
if (recognizer.empty()) throw std::runtime_error("failed to load SFace model: " + path);
}
cv::Ptr<cv::FaceRecognizerSF> recognizer;
};
SFaceEmbedder::SFaceEmbedder(const std::string& model_path)
: impl_(new Impl(model_path)) {
cv::Mat validation_input(112, 112, CV_8UC3, cv::Scalar(127, 127, 127));
extract(validation_input);
}
SFaceEmbedder::~SFaceEmbedder() = default;
std::vector<float> SFaceEmbedder::extract(const cv::Mat& aligned_face) {
if (aligned_face.empty() || aligned_face.size() != cv::Size(112, 112) ||
aligned_face.type() != CV_8UC3) {
throw std::runtime_error("SFace input must be a 112x112 BGR image");
}
cv::Mat feature;
impl_->recognizer->feature(aligned_face, feature);
cv::Mat flattened = feature.reshape(1, 1);
if (flattened.type() != CV_32F || flattened.total() != 128) {
throw std::runtime_error("SFace output must contain 128 float values");
}
const float norm = static_cast<float>(cv::norm(flattened, cv::NORM_L2));
if (!std::isfinite(norm) || norm <= 1e-12f) {
throw std::runtime_error("SFace produced an invalid feature vector");
}
flattened /= norm;
const float* begin = flattened.ptr<float>();
std::vector<float> embedding(begin, begin + flattened.total());
for (float value : embedding) {
if (!std::isfinite(value)) throw std::runtime_error("SFace produced non-finite values");
}
return embedding;
}
std::string SFaceEmbedder::modelName() const {
return "opencv_sface_2021dec";
}
} // namespace face_pipeline

144
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#include "face_pipeline/face_pipeline.h"
#include <iostream>
#include <stdexcept>
namespace face_pipeline {
FacePipeline::FacePipeline(std::unique_ptr<FaceEmbedder> embedder,
std::unique_ptr<ResultSink> sink)
: embedder_(std::move(embedder)), sink_(std::move(sink)) {
if (!embedder_ || !sink_) throw std::invalid_argument("pipeline dependencies are required");
}
FacePipeline::~FacePipeline() {
stop();
}
void FacePipeline::start() {
std::lock_guard<std::mutex> lock(mailbox_mutex_);
if (running_) return;
running_ = true;
worker_ = std::thread(&FacePipeline::workerLoop, this);
}
void FacePipeline::stop() {
{
std::lock_guard<std::mutex> lock(mailbox_mutex_);
if (!running_) return;
running_ = false;
has_mail_ = false;
}
mailbox_cv_.notify_all();
if (worker_.joinable()) worker_.join();
}
bool FacePipeline::submit(const FramePacket& packet) {
if (!motion_detector_.shouldProcess(packet.frame, packet.captured_at,
has_active_tracks_.load())) return false;
std::lock_guard<std::mutex> lock(mailbox_mutex_);
if (!running_) return false;
submitted_frames_.fetch_add(1);
if (has_mail_) overwritten_frames_.fetch_add(1);
mailbox_ = packet;
mailbox_.frame = packet.frame.clone();
has_mail_ = true;
mailbox_cv_.notify_one();
return true;
}
std::vector<TrackedFace> FacePipeline::latestTracks() const {
std::lock_guard<std::mutex> lock(state_mutex_);
return latest_tracks_;
}
void FacePipeline::workerLoop() {
while (true) {
FramePacket packet;
{
std::unique_lock<std::mutex> lock(mailbox_mutex_);
mailbox_cv_.wait(lock, [&] { return has_mail_ || !running_; });
if (!running_) break;
packet = mailbox_;
has_mail_ = false;
}
process(packet);
}
}
void FacePipeline::process(const FramePacket& packet) {
try {
++processed_frames_;
const std::vector<FaceObservation> observations = face_detector_.detect(packet.frame);
const std::vector<TrackedFace> tracked = tracker_.update(observations, packet.captured_at);
has_active_tracks_.store(tracker_.hasActiveTracks(packet.captured_at));
{
std::lock_guard<std::mutex> lock(state_mutex_);
latest_tracks_ = tracked;
const std::vector<std::uint64_t> active_ids = tracker_.activeTrackIds();
const std::set<std::uint64_t> active(active_ids.begin(), active_ids.end());
for (std::set<std::uint64_t>::iterator it = published_tracks_.begin();
it != published_tracks_.end();) {
if (active.count(*it) == 0) {
it = published_tracks_.erase(it);
} else {
++it;
}
}
}
for (const TrackedFace& face : tracked) {
{
std::lock_guard<std::mutex> lock(state_mutex_);
if (published_tracks_.count(face.track_id) != 0) continue;
}
try {
cv::Mat aligned;
if (!face_aligner_.align(packet.frame, face.observation, aligned)) {
++alignment_failures_;
continue;
}
FaceFeatureEvent event;
event.track_id = face.track_id;
event.frame_id = packet.frame_id;
event.captured_at_unix_ms = packet.captured_at_unix_ms;
event.observation = face.observation;
event.embedding_model = embedder_->modelName();
event.embedding = embedder_->extract(aligned);
if (sink_->publish(event)) {
std::lock_guard<std::mutex> lock(state_mutex_);
published_tracks_.insert(face.track_id);
} else {
++publish_failures_;
}
} catch (const cv::Exception& error) {
++embedding_failures_;
std::cerr << "feature extraction failed for track " << face.track_id
<< ": " << error.what() << std::endl;
} catch (const std::exception& error) {
++embedding_failures_;
std::cerr << "feature extraction failed for track " << face.track_id
<< ": " << error.what() << std::endl;
}
}
if (processed_frames_ % 100 == 0) {
std::clog << "face_pipeline_stats submitted=" << submitted_frames_.load()
<< " overwritten=" << overwritten_frames_.load()
<< " processed=" << processed_frames_
<< " align_failed=" << alignment_failures_
<< " embed_failed=" << embedding_failures_
<< " publish_failed=" << publish_failures_ << std::endl;
}
} catch (const cv::Exception& error) {
std::cerr << "face pipeline OpenCV error: " << error.what() << std::endl;
} catch (const std::exception& error) {
std::cerr << "face pipeline error: " << error.what() << std::endl;
}
}
} // namespace face_pipeline

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#include "face_pipeline/iou_tracker.h"
#include <algorithm>
namespace face_pipeline {
IouTracker::IouTracker(const IouTrackerConfig& config) : config_(config) {}
float IouTracker::intersectionOverUnion(const cv::Rect& a, const cv::Rect& b) {
const cv::Rect intersection = a & b;
if (intersection.area() <= 0) return 0.0f;
const float union_area = static_cast<float>(a.area() + b.area() - intersection.area());
return union_area > 0.0f ? static_cast<float>(intersection.area()) / union_area : 0.0f;
}
void IouTracker::expire(SteadyTime now) {
tracks_.erase(std::remove_if(tracks_.begin(), tracks_.end(), [&](const Track& track) {
return now - track.last_seen >= config_.track_ttl;
}), tracks_.end());
}
std::vector<TrackedFace> IouTracker::update(
const std::vector<FaceObservation>& observations, SteadyTime now) {
expire(now);
struct Candidate {
std::size_t track;
std::size_t observation;
float iou;
};
std::vector<Candidate> candidates;
for (std::size_t track = 0; track < tracks_.size(); ++track) {
for (std::size_t observation = 0; observation < observations.size(); ++observation) {
const float iou = intersectionOverUnion(tracks_[track].observation.bbox,
observations[observation].bbox);
if (iou >= config_.match_threshold) candidates.push_back({track, observation, iou});
}
}
std::sort(candidates.begin(), candidates.end(), [](const Candidate& left,
const Candidate& right) {
return left.iou > right.iou;
});
std::vector<bool> track_used(tracks_.size(), false);
std::vector<bool> observation_used(observations.size(), false);
std::vector<TrackedFace> result;
for (const Candidate& candidate : candidates) {
if (track_used[candidate.track] || observation_used[candidate.observation]) continue;
Track& track = tracks_[candidate.track];
track.observation = observations[candidate.observation];
track.last_seen = now;
track_used[candidate.track] = true;
observation_used[candidate.observation] = true;
TrackedFace tracked_face;
tracked_face.track_id = track.id;
tracked_face.observation = track.observation;
tracked_face.is_new = false;
result.push_back(tracked_face);
}
for (std::size_t observation = 0; observation < observations.size(); ++observation) {
if (observation_used[observation]) continue;
Track track{next_track_id_++, observations[observation], now};
tracks_.push_back(track);
TrackedFace tracked_face;
tracked_face.track_id = track.id;
tracked_face.observation = track.observation;
tracked_face.is_new = true;
result.push_back(tracked_face);
}
return result;
}
bool IouTracker::hasActiveTracks(SteadyTime now) const {
for (const Track& track : tracks_) {
if (now - track.last_seen < config_.track_ttl) return true;
}
return false;
}
std::vector<std::uint64_t> IouTracker::activeTrackIds() const {
std::vector<std::uint64_t> ids;
ids.reserve(tracks_.size());
for (const Track& track : tracks_) ids.push_back(track.id);
return ids;
}
std::size_t IouTracker::size() const {
return tracks_.size();
}
} // namespace face_pipeline

54
face_pipeline/src/motion_detector.cpp Normal file
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#include "face_pipeline/motion_detector.h"
#include <opencv2/imgproc.hpp>
namespace face_pipeline {
MotionDetector::MotionDetector(const MotionDetectorConfig& config) : config_(config) {}
bool MotionDetector::shouldProcess(const cv::Mat& frame, SteadyTime now,
bool has_active_tracks) {
if (frame.empty()) return false;
cv::Mat resized;
cv::Mat gray;
cv::resize(frame, resized, config_.analysis_size);
cv::cvtColor(resized, gray, cv::COLOR_BGR2GRAY);
cv::GaussianBlur(gray, gray, cv::Size(5, 5), 0.0);
if (!initialized_) {
gray.copyTo(previous_gray_);
last_motion_ = now - config_.active_hold;
last_request_ = now;
initialized_ = true;
return false;
}
cv::Mat difference;
cv::Mat changed;
cv::absdiff(previous_gray_, gray, difference);
cv::threshold(difference, changed, config_.pixel_threshold, 255, cv::THRESH_BINARY);
cv::morphologyEx(changed, changed, cv::MORPH_OPEN,
cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)));
gray.copyTo(previous_gray_);
const double changed_ratio = static_cast<double>(cv::countNonZero(changed)) /
static_cast<double>(changed.total());
if (changed_ratio >= config_.changed_ratio_threshold) last_motion_ = now;
const std::chrono::milliseconds scan_interval = has_active_tracks
? config_.tracked_scan_interval : config_.idle_scan_interval;
const bool motion_active = now - last_motion_ < config_.active_hold;
const bool scan_due = now - last_request_ >= scan_interval;
if (!motion_active && !scan_due) return false;
last_request_ = now;
return true;
}
void MotionDetector::reset() {
previous_gray_.release();
initialized_ = false;
}
} // namespace face_pipeline

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face_pipeline/src/result_sink.cpp Normal file
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#include "face_pipeline/result_sink.h"
namespace face_pipeline {
LoggingResultSink::LoggingResultSink(std::ostream& output) : output_(output) {}
bool LoggingResultSink::publish(const FaceFeatureEvent& event) {
output_ << "face_feature track_id=" << event.track_id
<< " frame_id=" << event.frame_id
<< " captured_at_ms=" << event.captured_at_unix_ms
<< " bbox=" << event.observation.bbox.x << ',' << event.observation.bbox.y
<< ',' << event.observation.bbox.width << ',' << event.observation.bbox.height
<< " score=" << event.observation.score
<< " model=" << event.embedding_model
<< " embedding_dim=" << event.embedding.size() << std::endl;
return static_cast<bool>(output_);
}
} // namespace face_pipeline

202
models/LICENSE Normal file
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@@ -0,0 +1,202 @@
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18
models/README.md Normal file
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@@ -0,0 +1,18 @@
# Face Embedding Model
`face_recognition_sface_2021dec.onnx` is the OpenCV Zoo SFace model used by
the default application. It accepts an aligned 112 x 112 BGR face and returns
a 128-dimensional feature vector. The application L2-normalizes that vector
before publishing it.
- Source: https://github.com/opencv/opencv_zoo/tree/main/models/face_recognition_sface
- Download mirror: https://huggingface.co/opencv/face_recognition_sface
- Upstream project: https://github.com/opencv/opencv
- Model filename: `face_recognition_sface_2021dec.onnx`
- SHA-256: `0ba9fbfa01b5270c96627c4ef784da859931e02f04419c829e83484087c34e79`
- License: Apache License 2.0; see `LICENSE` in this directory.
Keep the license and model metadata with the model when redistributing the
repository. CMake verifies the bundled model checksum, and the application
validates its output contract during startup rather than running without feature
extraction.

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13
network_camera_receiver/include/network_camera_receiver.h
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@@ -13,6 +13,15 @@
#include <thread>
#include <mutex>
#include <atomic>
#include <chrono>
#include <cstdint>
struct NetworkFrame {
cv::Mat image;
std::uint64_t frame_id = 0;
std::chrono::steady_clock::time_point captured_at;
std::int64_t captured_at_unix_ms = 0;
};
class NetworkCameraReceiver {
public:
@@ -27,6 +36,7 @@ public:
void stop();
// 取最新帧（深拷贝到 out）；自上次取帧后若无新帧则返回 false
bool getLatestFrame(cv::Mat& out);
bool getLatestFrame(NetworkFrame& out);
// 视频流是否已打开
bool isOpened() const;
@@ -40,6 +50,9 @@ private:
std::thread capture_thread;
std::mutex mtx; // 保护 latest_frame
cv::Mat latest_frame; // 最新一帧
std::uint64_t latest_frame_id = 0;
std::chrono::steady_clock::time_point latest_captured_at;
std::int64_t latest_captured_at_unix_ms = 0;
std::atomic<bool> has_new_frame{false};
std::atomic<bool> running{false};
};

16
network_camera_receiver/src/network_camera_receiver.cpp
View File

@@ -57,17 +57,31 @@ void NetworkCameraReceiver::captureLoop() {
std::lock_guard<std::mutex> lock(mtx);
// 仅保留最新一帧，旧帧直接丢弃
frame.copyTo(latest_frame);
++latest_frame_id;
latest_captured_at = std::chrono::steady_clock::now();
latest_captured_at_unix_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::system_clock::now().time_since_epoch()).count();
}
has_new_frame.store(true);
}
}
bool NetworkCameraReceiver::getLatestFrame(cv::Mat& out) {
NetworkFrame frame;
if (!getLatestFrame(frame)) return false;
out = frame.image;
return true;
}
bool NetworkCameraReceiver::getLatestFrame(NetworkFrame& out) {
if (!has_new_frame.load()) return false;
// 先清标记：若在此期间后台又写入新帧，标记会被再次置 true，下一轮可取到
has_new_frame.store(false);
std::lock_guard<std::mutex> lock(mtx);
if (latest_frame.empty()) return false;
latest_frame.copyTo(out);
latest_frame.copyTo(out.image);
out.frame_id = latest_frame_id;
out.captured_at = latest_captured_at;
out.captured_at_unix_ms = latest_captured_at_unix_ms;
return true;
}

13
tests/CMakeLists.txt Normal file
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@@ -0,0 +1,13 @@
add_executable(face_pipeline_tests
face_pipeline_tests.cpp
)
target_link_libraries(face_pipeline_tests PRIVATE
face_pipeline
)
target_compile_definitions(face_pipeline_tests PRIVATE
SOURCE_ROOT="${CMAKE_SOURCE_DIR}"
)
add_test(NAME face_pipeline_tests COMMAND face_pipeline_tests)

137
tests/face_pipeline_tests.cpp Normal file
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@@ -0,0 +1,137 @@
#include <chrono>
#include <cmath>
#include <iostream>
#include <sstream>
#include <stdexcept>
#include <vector>
#include <opencv2/imgproc.hpp>
#include "face_pipeline/face_aligner.h"
#include "face_pipeline/face_embedder.h"
#include "face_pipeline/iou_tracker.h"
#include "face_pipeline/motion_detector.h"
#include "face_pipeline/result_sink.h"
namespace {
using face_pipeline::SteadyTime;
void require(bool condition, const char* message) {
if (!condition) throw std::runtime_error(message);
}
face_pipeline::FaceObservation observation(int x, int y, int width, int height) {
face_pipeline::FaceObservation face;
face.bbox = cv::Rect(x, y, width, height);
face.score = 0.9f;
return face;
}
void testMotionDetector() {
face_pipeline::MotionDetector detector;
const SteadyTime start = std::chrono::steady_clock::now();
const cv::Mat black(180, 320, CV_8UC3, cv::Scalar::all(0));
cv::Mat moving = black.clone();
cv::rectangle(moving, cv::Rect(40, 40, 80, 80), cv::Scalar::all(255), -1);
require(!detector.shouldProcess(black, start, false), "first frame must initialize");
require(!detector.shouldProcess(black, start + std::chrono::milliseconds(100), false),
"static frame must not trigger");
require(detector.shouldProcess(moving, start + std::chrono::milliseconds(200), false),
"local movement must trigger");
require(detector.shouldProcess(moving, start + std::chrono::milliseconds(600), false),
"motion hold must remain active");
require(detector.shouldProcess(moving, start + std::chrono::milliseconds(1600), true),
"active tracks must force a one-second scan");
}
void testFaceAligner() {
face_pipeline::FaceObservation face = observation(20, 20, 80, 80);
face.landmarks = {{{38.2946f, 51.6963f}, {73.5318f, 51.5014f},
{56.0252f, 71.7366f}, {41.5493f, 92.3655f},
{70.7299f, 92.2041f}}};
cv::Mat input(112, 112, CV_8UC3);
for (int row = 0; row < input.rows; ++row) {
for (int col = 0; col < input.cols; ++col) {
input.at<cv::Vec3b>(row, col) = cv::Vec3b(row, col, (row + col) / 2);
}
}
face_pipeline::FaceAligner aligner;
cv::Mat aligned;
require(aligner.align(input, face, aligned), "template landmarks must align");
require(aligned.size() == cv::Size(112, 112), "aligned size must be 112x112");
require(cv::norm(input, aligned, cv::NORM_INF) <= 2.0, "template alignment must be identity");
face.bbox = cv::Rect(0, 0, 5, 5);
require(!aligner.align(input, face, aligned), "tiny faces must be rejected");
}
void testIouTracker() {
face_pipeline::IouTracker tracker;
const SteadyTime start = std::chrono::steady_clock::now();
std::vector<face_pipeline::TrackedFace> first = tracker.update(
{observation(10, 10, 50, 50), observation(200, 10, 50, 50)}, start);
require(first.size() == 2 && first[0].is_new && first[1].is_new,
"first observations must create tracks");
const std::uint64_t first_id = first[0].track_id;
std::vector<face_pipeline::TrackedFace> matched = tracker.update(
{observation(14, 12, 50, 50)}, start + std::chrono::milliseconds(500));
require(matched.size() == 1 && matched[0].track_id == first_id && !matched[0].is_new,
"overlapping observation must preserve track id");
std::vector<face_pipeline::TrackedFace> expired = tracker.update(
{observation(14, 12, 50, 50)}, start + std::chrono::milliseconds(2600));
require(expired.size() == 1 && expired[0].track_id != first_id && expired[0].is_new,
"expired observation must receive a new track id");
}
void testLoggingSink() {
std::ostringstream output;
face_pipeline::LoggingResultSink sink(output);
face_pipeline::FaceFeatureEvent event;
event.track_id = 7;
event.frame_id = 42;
event.embedding_model = "test_model";
event.embedding.assign(128, 0.0f);
require(sink.publish(event), "logging sink must report success");
require(output.str().find("track_id=7") != std::string::npos,
"logging sink must include the track id");
require(output.str().find("embedding_dim=128") != std::string::npos,
"logging sink must include embedding dimension");
}
void testSFaceModel() {
face_pipeline::SFaceEmbedder embedder(
std::string(SOURCE_ROOT) + "/models/face_recognition_sface_2021dec.onnx");
cv::Mat input(112, 112, CV_8UC3, cv::Scalar(90, 120, 150));
const std::vector<float> embedding = embedder.extract(input);
require(embedding.size() == 128, "SFace must return 128 values");
double squared_norm = 0.0;
for (float value : embedding) {
require(std::isfinite(value), "SFace values must be finite");
squared_norm += static_cast<double>(value) * value;
}
require(std::abs(std::sqrt(squared_norm) - 1.0) < 1e-5,
"SFace embedding must be L2 normalized");
}
} // namespace
int main() {
try {
testMotionDetector();
testFaceAligner();
testIouTracker();
testLoggingSink();
testSFaceModel();
} catch (const std::exception& error) {
std::cerr << "face_pipeline_tests failed: " << error.what() << std::endl;
return 1;
}
std::cout << "face_pipeline_tests passed" << std::endl;
return 0;
}