1

2026-09-03 17:50:23 +08:00
parent 7bfafc7be3
commit 77d3aad6fc
45 changed files with 1398 additions and 1088 deletions
@@ -4,6 +4,7 @@ import 'package:flutter/foundation.dart';

 import '../detection/detection_result.dart';
 import '../detection/motion_aggregator.dart';
+import '../detection/nms.dart';
 import '../reminder/reminder.dart';

@immutable
@@ -21,6 +22,10 @@ class CameraUiState {
  final int debugLastMs;
  final String debugYuv;

+  /// 近 [CameraViewModel.latencyWindow] 帧推理耗时滚动平均（毫秒；无样本为 null）。
+  /// 给 C 端用户看的设备识别延迟。
+  final double? latencyAvgMs;
+
  const CameraUiState({
    this.modelReady = false,
    this.results = const [],
@@ -34,6 +39,7 @@ class CameraUiState {
    this.framesReceived = 0,
    this.debugLastMs = 0,
    this.debugYuv = '',
+    this.latencyAvgMs,
  });
 }

@@ -43,6 +49,9 @@ class CameraUiState {
 ///   高于 0.35 视为强证据。
 /// - 低于 0.35 的框：需要多帧稳定（[confirmFrames] 帧）或 活动证据
 ///   （运动区域/背景新出现区域重叠）才确认显示。
+/// - 同位置去重（2026-09-03）：多模型对同一目标交替检出时各轨迹都会在
+///   忘记窗内持续显示 → 轨迹层跨标签同目标补挂 + 显示层
+///   [dedupeVisibleOverlaps] 同类别强重叠只保留高置信度框。
 class CameraViewModel extends ChangeNotifier {
  static const int maxTracks = 30;
  static const double motionBoost = 0.15;
@@ -52,6 +61,10 @@ class CameraViewModel extends ChangeNotifier {
  static const int displayAgeMs = 500;
  static const int forgetMs = 2000;

+  /// 延迟滚动平均窗口（帧数）：单帧抖动大，取近期均值给用户展示
+  static const int latencyWindow = 30;
+  final List<int> _procWindow = [];
+
  /// 推理后台 isolate 是否就绪（由相机页创建 worker 后设置）
  bool modelReady = false;

@@ -68,6 +81,8 @@ class CameraViewModel extends ChangeNotifier {
  void setModelReady(bool ready) {
    if (modelReady == ready) return;
    modelReady = ready;
+    // 换 worker / 停识别：旧窗口样本作废，从零起算
+    _procWindow.clear();
    _state = CameraUiState(modelReady: ready);
    notifyListeners();
  }
@@ -122,9 +137,18 @@ class CameraViewModel extends ChangeNotifier {
    for (final r in results) {
      if (r.score > highest) highest = r.score;
    }
+    if (lastProcessMs > 0) {
+      _procWindow.add(lastProcessMs);
+      if (_procWindow.length > latencyWindow) {
+        _procWindow.removeAt(0);
+      }
+    }
+    final latencyAvg = _procWindow.isEmpty
+        ? null
+        : _procWindow.reduce((a, b) => a + b) / _procWindow.length;
    _state = CameraUiState(
      modelReady: modelReady,
-      results: visible,
+      results: dedupeVisibleOverlaps(visible),
      rotation: rotation,
      imageWidthPx: imageWidthPx,
      imageHeightPx: imageHeightPx,
@@ -135,6 +159,7 @@ class CameraViewModel extends ChangeNotifier {
      framesReceived: framesReceived,
      debugLastMs: lastProcessMs,
      debugYuv: yuvDiag.isNotEmpty ? yuvDiag : _state.debugYuv,
+      latencyAvgMs: latencyAvg,
    );
    notifyListeners();
  }
@@ -161,6 +186,24 @@ class CameraViewModel extends ChangeNotifier {
          best = t;
        }
      }
+      // 跨标签同目标补挂（2026-09-03 用户实测修订：重叠位置只保留高置信度框）：
+      // 中心距超过跨标签收紧半径、但几何强重叠指向同一位置（不同模型对同一
+      // 目标的框偏移/紧致度不同）的检测并入既有轨迹，防止同目标两条轨迹并存
+      // → 同位置双名常驻/重复提醒。疑似↔目标（不同类别预警）不并入。
+      if (best == null) {
+        _Track? adopt;
+        var adoptD = double.infinity;
+        for (final t in _tracks.values) {
+          if (matched.contains(t.id)) continue;
+          if (t.isSuspect != r.isSuspect || !sameTarget(t.result, r)) continue;
+          final d = _centerDist(t.result, r);
+          if (d < adoptD) {
+            adoptD = d;
+            adopt = t;
+          }
+        }
+        best = adopt;
+      }
      if (best != null) {
        matched.add(best.id);
        best.update(r, now);
@@ -234,8 +277,30 @@ class _Track {
      : lastSeenMs = firstSeenMs,
        label = result.label;

+  /// 当前框是否疑似类别（随关联的最新检测更新——轨迹框在跨标签补挂后
+  /// 会换成其他标签的框；轨迹 label 仅创建时记账）
+  bool get isSuspect => result.isSuspect;
+
  void update(DetectionResult r, int now) {
    lastSeenMs = now;
    result = r;
  }
 }
+
+/// 同屏抑制（2026-09-03 用户实测修订：同一位置/重叠位置出现同/异模型检出的
+/// 物种只保留高置信度者）。根因：多个模型对同一目标**交替**检出时，每帧合并
+/// 层只压掉当帧低分框，但各自轨迹都落在 2s 忘记窗内持续显示 → 同位置双名
+/// 常驻。显示层兜底：可见框内同类别（都目标/都疑似）、且 [sameTarget] 强
+/// 重叠指向同一位置的框每帧只保留最高分者。异类别（目标×疑似生境预警）是
+/// 两种语义不同的框，同位置也各自保留。
+List<DetectionResult> dedupeVisibleOverlaps(List<DetectionResult> visible) {
+  if (visible.length <= 1) return visible;
+  final sorted = [...visible]..sort((a, b) => b.score.compareTo(a.score));
+  final kept = <DetectionResult>[];
+  for (final r in sorted) {
+    if (!kept.any((k) => k.isSuspect == r.isSuspect && sameTarget(k, r))) {
+      kept.add(r);
+    }
+  }
+  return kept;
+}