迁移 Flutter 端与训练脚本，模型/训练产物移出 git（遵循纯代码约定）
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import 'dart:async';
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import 'dart:isolate';
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import 'dart:typed_data';
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import 'package:camera/camera.dart';
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import 'package:flutter/foundation.dart' show debugPrint;
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import 'package:flutter/services.dart' show rootBundle;
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import '../camera/motion_detector.dart';
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import 'background_model.dart';
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import 'detection_result.dart';
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import 'tflite_detector.dart';
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import 'visual_prior.dart';
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/// 推理工作单元：模型加载与检测全部在后台 isolate 执行，
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/// 主 isolate 只投递帧数据、接收结果，UI 不被推理阻塞（iOS 真机卡顿根因）。
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class DetectorWorker {
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static const String modelAsset = 'assets/model.tflite';
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static const String labelsAsset = 'assets/labels.txt';
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final Isolate _isolate;
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final ReceivePort _responses;
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final _controlPort = Completer<SendPort>();
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final _ready = Completer<void>();
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SendPort? _port;
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/// 在途帧数（主 isolate 侧计数，用于丢帧）
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int _inFlight = 0;
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bool _dead = false;
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/// 结果回调：结果 / 运动区域 / 新颖区域 / 旋转角 / 图宽 / 图高 / 处理耗时 ms
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void Function(List<DetectionResult>, List<MotionRegion>, List<MotionRegion>,
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int, int, int, int)? onResult;
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/// 单帧处理异常回调（不影响相机流）
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void Function(String)? onError;
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/// 最近一次创建失败的诊断原因（UI 展示用）
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static String? lastLoadError;
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/// worker 最近上报的执行步骤（诊断用）
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static String? lastLog;
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DetectorWorker._(this._isolate, this._responses) {
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_responses.listen(_onMessage, onDone: () {
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_dead = true;
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if (!_ready.isCompleted) {
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_ready.completeError(StateError('推理进程异常退出'));
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}
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onError?.call('推理进程异常退出');
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});
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}
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/// 读取模型资产并启动后台推理 isolate；加载失败返回 null（App 降级为仅预览）。
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static Future<DetectorWorker?> create() async {
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try {
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final data = await rootBundle.load(modelAsset);
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final modelBytes =
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data.buffer.asUint8List(data.offsetInBytes, data.lengthInBytes);
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final labels = (await rootBundle.loadString(labelsAsset))
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.split('\n')
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.where((l) => l.trim().isNotEmpty)
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.toList();
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final responses = ReceivePort();
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final isolate = await Isolate.spawn(_workerMain, responses.sendPort);
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final worker = DetectorWorker._(isolate, responses);
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final port = await worker._controlPort.future
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.timeout(const Duration(seconds: 10),
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onTimeout: () => throw TimeoutException('worker port timeout'));
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worker._port = port;
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port.send(['load', modelBytes, labels]);
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await worker._ready.future
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.timeout(const Duration(seconds: 20), onTimeout: () {
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throw TimeoutException('model load timeout');
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});
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return worker;
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} catch (e) {
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lastLoadError = e.toString();
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debugPrint('[DetectorWorker] create failed: $e');
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return null;
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}
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}
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/// 是否忙（上一帧尚未返回）：忙则丢帧，避免在途积压
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bool get busy => _inFlight > 0;
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void analyze(CameraImage image, int rotationDegrees) {
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final port = _port;
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if (port == null || _dead) return;
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_inFlight++;
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port.send([
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'frame',
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[
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image.planes.map((p) => p.bytes).toList(),
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image.planes.map((p) => p.bytesPerRow).toList(),
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image.width,
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image.height,
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image.format.group == ImageFormatGroup.bgra8888,
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rotationDegrees,
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],
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]);
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}
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void _onMessage(dynamic msg) {
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final list = msg as List;
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switch (list[0] as String) {
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case 'port':
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_controlPort.complete(list[1] as SendPort);
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break;
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case 'ready':
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_ready.complete();
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break;
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case 'load-error':
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_ready.completeError(StateError(
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list.length > 1 ? list[1] as String : 'model load failed'));
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break;
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case 'result':
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_inFlight--;
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final dets = (list[4] as List).map((d) {
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final v = d as List;
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return DetectionResult(
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label: v[0] as String,
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score: v[1] as double,
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left: v[2] as double,
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top: v[3] as double,
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right: v[4] as double,
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bottom: v[5] as double,
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);
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}).toList();
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final motion = (list[5] as List)
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.map((m) => m as List)
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.map((v) => MotionRegion(
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v[0] as double, v[1] as double, v[2] as double, v[3] as double))
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.toList();
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final novelty = (list[6] as List)
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.map((m) => m as List)
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.map((v) => MotionRegion(
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v[0] as double, v[1] as double, v[2] as double, v[3] as double))
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.toList();
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onResult?.call(dets, motion, novelty, list[1] as int, list[2] as int,
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list[3] as int, list[7] as int);
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break;
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case 'log':
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lastLog = list[1] as String;
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debugPrint('[DetectorWorker] $lastLog');
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break;
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case 'error':
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_inFlight--;
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onError?.call(list[1] as String);
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}
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}
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/// 相机切换/场景变化后重置运动与背景参考
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void reset() {
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final port = _port;
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if (port == null || _dead) return;
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port.send(['reset']);
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}
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void dispose() {
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_dead = true;
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_isolate.kill(priority: Isolate.immediate);
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_responses.close();
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}
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}
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/// 后台 isolate 入口：串行处理 load / frame / reset 命令。
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/// 所有回发必须走 [mainPort]（主 isolate 的端口）；control 是 worker 自己的
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/// 收件箱，往 control.sendPort 发消息等于发给自己，主 isolate 永远收不到。
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Future<void> _workerMain(SendPort mainPort) async {
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final control = ReceivePort();
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mainPort.send(['port', control.sendPort]);
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mainPort.send(['log', 'worker-start']);
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TfliteDetector? detector;
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MotionDetector? motion;
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BackgroundModel? background;
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await for (final msg in control) {
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try {
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final list = msg as List;
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switch (list[0] as String) {
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case 'load':
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mainPort.send(['log', 'load-received']);
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try {
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detector = await TfliteDetector.fromBuffer(
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list[1] as Uint8List, (list[2] as List).cast<String>());
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if (detector == null) {
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mainPort.send(['load-error', 'fromBuffer 返回 null']);
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} else {
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mainPort.send(['log', 'fromBuffer-ok']);
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motion = MotionDetector();
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background = BackgroundModel();
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mainPort.send(['ready']);
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}
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} catch (e) {
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mainPort.send(['load-error', '$e']);
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}
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break;
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case 'frame':
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final d = detector;
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final m = motion;
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final b = background;
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if (d == null || m == null || b == null) break;
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final frame = list[1] as List;
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final planes = (frame[0] as List).cast<Uint8List>();
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final strides = (frame[1] as List).cast<int>();
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final width = frame[2] as int;
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final height = frame[3] as int;
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final isBgra = frame[4] as bool;
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final rotation = frame[5] as int;
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final sw = Stopwatch()..start();
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var results = d.detectRaw(
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planes: planes,
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strides: strides,
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width: width,
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height: height,
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isBgra: isBgra,
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);
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// 低分野鸡框过视觉先验（颜色/位置），减少户外误报
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results = VisualPrior.filter(
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results,
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planes: planes,
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strides: strides,
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width: width,
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height: height,
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isBgra: isBgra,
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);
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final motionRegions = m.detectMotionRaw(
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planes[0], strides[0], width, height);
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final noveltyRegions =
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b.updateRaw(planes[0], strides[0], width, height);
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sw.stop();
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mainPort.send([
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'result',
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rotation,
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width,
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height,
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results
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.map((r) =>
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[r.label, r.score, r.left, r.top, r.right, r.bottom])
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.toList(),
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motionRegions
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.map((mr) => [mr.left, mr.top, mr.right, mr.bottom])
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.toList(),
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noveltyRegions
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.map((mr) => [mr.left, mr.top, mr.right, mr.bottom])
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.toList(),
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sw.elapsedMilliseconds,
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]);
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break;
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case 'reset':
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motion?.reset();
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background?.reset();
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}
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} catch (e) {
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mainPort.send(['error', '$e']);
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}
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}
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}
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