所有算法都放调度池

54c45fe9 · “liusq” · c2bb647b · 54c45fe9 · 54c45fe9 · 54c45fe9
Commit 54c45fe9 authored Jul 11, 2024 by “liusq”
10 changed files
--- a/AlgorithmTaskManage.cpp
+++ b/AlgorithmTaskManage.cpp
 #include "AlgorithmTaskManage.h"
-AlgorithmTaskManage::AlgorithmTaskManage(int humanDetectionLen):semaphore(humanDetectionLen),
+AlgorithmTaskManage::AlgorithmTaskManage(int humanDetectionLen,int licensePlateLen,int faceLen ):semaphore(humanDetectionLen),
-    plateSemaphore(humanDetectionLen){
+    plateSemaphore(licensePlateLen),faceSemaphore(faceLen){
    this->humanDetectionLen=humanDetectionLen;
+    this->licensePlateLen=licensePlateLen;
+    this->faceLen=faceLen;
 }
 void AlgorithmTaskManage::initHumanDetectionManage(const QString &modelPaths,
@@ -15,12 +18,35 @@ void AlgorithmTaskManage::initHumanDetectionManage(const QString &modelPaths,
 }
 void AlgorithmTaskManage::initLicensePlateManage(const QString &modelPaths,
                                                 float carConfidence){
-    for (int i = 0; i < humanDetectionLen; ++i) {
+    for (int i = 0; i < licensePlateLen; ++i) {
        LicensePlateRecognition* licensePlateRecognition=new LicensePlateRecognition(modelPaths,carConfidence);
        licensePlateRecognitions.emplace_back(licensePlateRecognition);
    }
 }
+void AlgorithmTaskManage::initFaceReconitionHandle(std::map<QString,QString>&maps,int numberFaces,float confidence){
+    for (int i = 0; i < faceLen; ++i) {
+        FaceReconitionHandle *faceReconitionHandle=  new FaceReconitionHandle();
+        faceReconitionHandle->initSourceImageMap(maps,numberFaces,confidence);
+        faceReconitionHandles.emplace_back(faceReconitionHandle);
+    }
+}
+void AlgorithmTaskManage::modifyImageFeature(std::map<QString,QString>&maps,int numberFaces,float confidence,bool isNull){
+    static int i=0;
+    printf("modifyImageFeature调用次数%d次\n", ++i);
+    std::lock_guard<std::mutex> lock(mtxFace);
+    for (FaceReconitionHandle* face : faceReconitionHandles) {
+        face->setImageChanged(true);
+        if(isNull){
+            face->featureRemove();
+        }else {
+            face->initSourceImageMap(maps,numberFaces,confidence);
+        }
+    }
+}
 AlgorithmTaskManage::~AlgorithmTaskManage(){
    Common & instace= Common::getInstance();
@@ -30,6 +56,9 @@ AlgorithmTaskManage::~AlgorithmTaskManage(){
    for (auto plate:licensePlateRecognitions) {
        instace.deleteObj(plate);
    }
+    for (auto face:faceReconitionHandles) {
+        instace.deleteObj(face);
+    }
 }
 void* AlgorithmTaskManage::schedulingAlgorithm(int scheType) {
@@ -111,11 +140,67 @@ void* AlgorithmTaskManage::schedulingAlgorithm(int scheType) {
        std::uniform_int_distribution<> dis(0, schedulableObjects.size() - 1);
        return schedulableObjects[dis(gen)];
-    } else {
+    }else if (scheType==0x03) {
+        std::lock_guard<std::mutex> lock(mtxFace);
+        // 获取当前时间作为基准
+        qint64 currentTime = QDateTime::currentSecsSinceEpoch();
+        qint64 maxWaitTime = 0;
+        // 记录最大等待时间的对象数量
+        int maxWaitTimeCount = 0;
+        std::vector<FaceReconitionHandle*> schedulableObjects;
+        // 遍历faceReconitionHandles，找到所有等待时间相同的未执行的FaceReconitionHandle对象
+        for (FaceReconitionHandle* face : faceReconitionHandles) {
+            if (face->getIsRunning()) continue;
+            // 计算此对象自上次执行以来的等待时间
+            qint64 waitTime = std::abs(currentTime - face->getThreadTime());
+            if (waitTime > maxWaitTime) {
+                schedulableObjects.clear();
+                schedulableObjects.push_back(face);
+                maxWaitTime = waitTime;
+                maxWaitTimeCount = 1;
+            } else if (waitTime == maxWaitTime) {
+                schedulableObjects.push_back(face);
+                maxWaitTimeCount++;
+            }
+        }
+        // 如果最大等待时间的对象数量为1，直接返回
+        if (maxWaitTimeCount == 1) {
+            return schedulableObjects.at(0);
+        }
+        if (schedulableObjects.empty()) {
+            return nullptr;  // 如果没有可调度对象，返回 nullptr 或进行适当处理
+        }
+        // 在可调度的对象中随机选择一个
+        std::random_device rd;
+        std::mt19937 gen(rd());
+        std::uniform_int_distribution<> dis(0, schedulableObjects.size() - 1);
+        return schedulableObjects[dis(gen)];
+    }
+    else {
        qInfo() << "参数错误";
        return nullptr;
    }
 }
+void AlgorithmTaskManage::executeFindDoesItExistEmployee(const cv::Mat &source,std::list<vides_data::faceRecognitionResult>&faces,QString sSn){
+    faceSemaphore.acquire();
+    ScopeSemaphoreExit guard([this]() {
+        faceSemaphore.release();  // 释放信号量
+    });
+    auto* selectedFaceReconition = static_cast<FaceReconitionHandle*>(schedulingAlgorithm(0x03));
+    if (selectedFaceReconition!=nullptr && !selectedFaceReconition->getImageChanged()) {
+        selectedFaceReconition->setIsRunning(true);
+        // 调用选定对象的doesItExistEmployee函数
+        qInfo() << "人脸识别算法抢到===>sn"<<sSn<<selectedFaceReconition;
+        selectedFaceReconition->doesItExistEmployee(source, faces);
+    } else {
+        qDebug() << "没有可用的LicensePlateRecognition对象可以调度";
+        return ;
+    }
+}
 void AlgorithmTaskManage::executeFindlicensePlateNumber(const cv::Mat &source, QString &lpNumber,vides_data::requestLicensePlate &plate,

--- a/AlgorithmTaskManage.h
+++ b/AlgorithmTaskManage.h
@@ -5,6 +5,7 @@
 #include "VidesData.h"
 #include "ScopeSemaphoreExit.h"
 #include "LicensePlateRecognition.h"
+#include "FaceReconitionHandle.h"
 #include <QThread>
 #include <random>
 #include <QSemaphore>
@@ -13,11 +14,11 @@
 #include <mutex>
 class AlgorithmTaskManage{
 public:
-    AlgorithmTaskManage(int humanDetectionLen);
+    AlgorithmTaskManage(int humanDetectionLen,int licensePlateLen,int faceLen);
    ~AlgorithmTaskManage();
-    static AlgorithmTaskManage& getInstance(int humanDetectionLen)
+    static AlgorithmTaskManage& getInstance(int humanDetectionLen,int licensePlateLen,int faceLen)
    {
-        static AlgorithmTaskManage instance(humanDetectionLen);
+        static AlgorithmTaskManage instance(humanDetectionLen,licensePlateLen,faceLen);
        return instance;
    }
    void initHumanDetectionManage(const QString &modelPaths,
@@ -25,33 +26,49 @@ public:
    void initLicensePlateManage(const QString &modelPaths,
                                float carConfidence);
-    int executeFindHuManCar(const cv::Mat &source,int res,std::vector<vides_data::ParkingArea> &currentPlate,
-                            std::map<int,int>&resMap, QString sSn);
+    void modifyImageFeature(std::map<QString,QString>&maps,int numberFaces,float confidence,bool isNull);
+    void initFaceReconitionHandle(std::map<QString,QString>&maps,int numberFaces,float confidence);
    void *schedulingAlgorithm(int scheType);
+    int executeFindHuManCar(const cv::Mat &source,int res,std::vector<vides_data::ParkingArea> &currentPlate,
+                            std::map<int,int>&resMap, QString sSn);
    void executeFindlicensePlateNumber(const cv::Mat &source, QString &lpNumber,vides_data::requestLicensePlate &plate,
                                       qint64 currentTime,QString sSn);
+    void executeFindDoesItExistEmployee(const cv::Mat &source,std::list<vides_data::faceRecognitionResult>&faces,QString sSn);
 private:
    static AlgorithmTaskManage* instance;
    std::vector<HumanDetection*>humanDetections;
    std::vector<LicensePlateRecognition*>licensePlateRecognitions;
+    std::vector<FaceReconitionHandle*>faceReconitionHandles;
    int humanDetectionLen;
+    int licensePlateLen;
+    int faceLen;
    QSemaphore semaphore;
    QSemaphore plateSemaphore;
+    QSemaphore faceSemaphore;
    std::mutex mtxHuman;
    std::mutex mtxLicense;
+    std::mutex mtxFace;
 };

--- a/CameraHandle.cpp
+++ b/CameraHandle.cpp
@@ -19,7 +19,6 @@ CameraHandle::CameraHandle(QString &url, QString &httpUrl, QString &sSn, int &ch
      dev_snap_syn_timer(new QTimer()),
      image_save(imageSave),
      faceCount(0),
-      faceReconitionHandle(new FaceReconitionHandle()),
      semaphore(1) {
    connect(this, SIGNAL(afterDownloadFile(int,int,QString)), this, SLOT(pushRecordToCloud(int,int,QString)),Qt::QueuedConnection);
@@ -28,13 +27,6 @@ CameraHandle::CameraHandle(QString &url, QString &httpUrl, QString &sSn, int &ch
    faceMapWorker.setY(0);
 }
-void CameraHandle::notificationUpdateImageMap(std::map<QString,QString>&maps,int numberFaces,float confidence){
-    faceReconitionHandle->initSourceImageMap(maps,numberFaces,confidence);
-}
-void CameraHandle::featureRemove(){
-    faceReconitionHandle->featureRemove();
-}
 CameraHandle::~CameraHandle() {
    stopRequested_=true;
    Common & instace= Common::getInstance();
@@ -51,7 +43,6 @@ CameraHandle::~CameraHandle() {
    }
    parkMap.clear();
    XSDK_DevLogout(this->hDevice);
-    instace.deleteObj(faceReconitionHandle);
    qInfo() <<  "CameraHandle:成功";
 }
@@ -447,7 +438,10 @@ void CameraHandle::checkAndUpdateCurrentPlate(ParkingSpaceInfo*park,const cv::Ma
                if(newInfo.getLicensePlate().length()<=0){
                    Common & instace= Common::getInstance();
                    int humanLen=instace.getHumanDetectionLen();
-                    AlgorithmTaskManage &algorithmTaskManage=AlgorithmTaskManage::getInstance(humanLen);
+                    int licensePlateLen=instace.getLicensePlateLen();
+                    int faceLen=instace.getFaceLen();
+                    AlgorithmTaskManage &algorithmTaskManage=AlgorithmTaskManage::getInstance(humanLen,licensePlateLen,faceLen);
                    std::vector<vides_data::ParkingArea> currentPlates;
                    std::map<int,int>resMap;
@@ -547,8 +541,10 @@ void CameraHandle::updateImage(const cv::Mat & frame,qint64 currentTime){
    int height = frame.rows; // 获取图像高度
    int humanlen=instace.getHumanDetectionLen();
    qDebug()<<"frame 宽度:"<<width<<"frame 高度:"<<height;
-    AlgorithmTaskManage &algorithmTaskManage=AlgorithmTaskManage::getInstance(humanlen);
+    int licensePlateLen=instace.getLicensePlateLen();
+    int faceLen=instace.getFaceLen();
+    AlgorithmTaskManage &algorithmTaskManage=AlgorithmTaskManage::getInstance(humanlen,licensePlateLen,faceLen);
    std::map<QString,vides_data::requestFaceReconition> mapFaces;
@@ -573,12 +569,10 @@ void CameraHandle::updateImage(const cv::Mat & frame,qint64 currentTime){
        }
    }else{
        //人形
-        if((algorithmPermissions & 0x01<<1) != 0){
+        uniforms=algorithmTaskManage.executeFindHuManCar(frame,0x00,currentPlates,resMap,sSn);
-            uniforms=algorithmTaskManage.executeFindHuManCar(frame,0x00,currentPlates,resMap,sSn);
+        if(currentPlates.size()>0x00){
-            if(currentPlates.size()>0x00){
+            faSize=resMap.at(0x00);
-                faSize=resMap.at(0x00);
+            uniforms=faSize;
-                uniforms=faSize;
-            }
        }
    }
    qint64 elapsedTime = timer.elapsed();
@@ -614,7 +608,7 @@ void CameraHandle::updateImage(const cv::Mat & frame,qint64 currentTime){
    if(faSize>0 && (algorithmPermissions & 0x01<<1) != 0){
        qDebug() << "faceRecognition.doesItExistEmployee Current thread ID: " << QThread::currentThreadId()<<sSn;
        std::list<vides_data::faceRecognitionResult>faces;
-        faceReconitionHandle->doesItExistEmployee(frame,faces);
+        algorithmTaskManage.executeFindDoesItExistEmployee(frame,faces,sSn);
        qInfo()<<"识别的人脸数量==>"<<faces.size();
        if (faces.size()>0) {
@@ -736,7 +730,7 @@ void CameraHandle::updateImage(const cv::Mat & frame,qint64 currentTime){
        }
        vides_data::requestLicensePlate resultPlate;
        resultPlate.sn=sSn;
        algorithmTaskManage.executeFindlicensePlateNumber(areaMat, lpNumber,resultPlate,currentTime,sSn);
        std::list<vides_data::LicensePlate>ps =resultPlate.plates;

--- a/CameraHandle.h
+++ b/CameraHandle.h
@@ -158,8 +158,6 @@ private :
    std::map<int, vides_data::responseRecognitionData> videoCurrentData;
    std::map<QString, QString> currentData;
-    FaceReconitionHandle *faceReconitionHandle;
    //每个区域编号对应一个区域信息
    std::map<int,ParkingSpaceInfo*>parkMap;

--- a/Common.cpp
+++ b/Common.cpp
@@ -80,8 +80,16 @@ void Common::setCarConfidenceMin(float carConfidenceMin){
 int Common::getHumanDetectionLen() const{
    return  humanDetectionLen;
 }
-void Common::setHumanDetectionLen(int humanDetectionLen){
+int Common::getLicensePlateLen() const{
+    return  licensePlateLen;
+}
+int Common::getFaceLen() const{
+    return  faceLen;
+}
+void Common::setTaskManage(int humanDetectionLen,int licensePlateLen,int faceLen){
    this->humanDetectionLen=humanDetectionLen;
+    this->licensePlateLen=licensePlateLen;
+    this->faceLen=faceLen;
 }
 QString Common::GetLocalIp() {
    QString ipAddress;

--- a/Common.h
+++ b/Common.h
@@ -51,7 +51,9 @@ public:
    void setCarConfidenceMin(float carConfidenceMin);
    int getHumanDetectionLen() const;
-    void setHumanDetectionLen(int humanDetectionLen);
+    int getLicensePlateLen() const;
+    int getFaceLen() const;
+    void setTaskManage(int humanDetectionLen,int licensePlateLen,int faceLen);
    template <typename T>
    const T& clamp(const T& v, const T& lo, const T& hi)
@@ -73,6 +75,8 @@ private:
    float carConfidenceMax;
    float carConfidenceMin;
    int humanDetectionLen;
+    int licensePlateLen;
+    int faceLen;
    Common();
    ~Common();

--- a/FaceReconitionHandle.cpp
+++ b/FaceReconitionHandle.cpp
@@ -11,15 +11,37 @@ using namespace cimg_library;
 FaceReconitionHandle::FaceReconitionHandle() {
+    static int ii=0;
+    printf("FaceReconitionHandle 创建调用次数%d次\n", ++ii);
 }
 FaceReconitionHandle::~FaceReconitionHandle(){
    if (ctxHandle != nullptr) {
+        static int ii=0;
+        printf("FaceReconitionHandle 销毁调用次数%d次\n", ++ii);
        HF_ReleaseFaceContext(ctxHandle);
        ctxHandle = nullptr;
    }
 }
+qint64 FaceReconitionHandle::getThreadTime() const{
+    return thread_time.load(std::memory_order_acquire);
+}
+bool FaceReconitionHandle::getIsRunning() const{
+    return isRunning.load(std::memory_order_acquire);
+}
+void FaceReconitionHandle::setIsRunning(bool running){
+    this->isRunning.store(running, std::memory_order_acquire);
+}
+bool FaceReconitionHandle::getImageChanged()const{
+    return isImageChanged.load(std::memory_order_acquire);
+}
+void FaceReconitionHandle::setImageChanged(bool imageChanged){
+    this->isImageChanged.store(imageChanged, std::memory_order_acquire);
+}
 cv::Mat FaceReconitionHandle::loadImage(const QString &path) {
    // 尝试使用OpenCV直接加载图像
@@ -34,7 +56,9 @@ cv::Mat FaceReconitionHandle::loadImage(const QString &path) {
 }
 void FaceReconitionHandle::initSourceImageMap(std::map<QString,QString>&maps,int numberFaces,float confidence){
-    QWriteLocker locker(&rwLock);
+    ScopeSemaphoreExit streamGuard([this]() {
+        isImageChanged.store(false, std::memory_order_acquire);
+    });
    featureRemove();
    HResult ret;
    // 初始化context
@@ -133,12 +157,14 @@ void FaceReconitionHandle::initSourceImageMap(std::map<QString,QString>&maps,int
    }
 }
 void FaceReconitionHandle::featureRemove(){
    if(customIds.size()>0){
        for(auto customId:customIds){
            HResult ret= HF_FeaturesGroupFeatureRemove(ctxHandle,customId);
            qDebug()<<"ret:featureRemove "<<ret;
        }
+        setImageChanged(false);
    }
 }
@@ -178,8 +204,10 @@ cv::Mat FaceReconitionHandle::loadImageFromByteStream(const QString& filePath) {
 void FaceReconitionHandle::doesItExistEmployee(const cv::Mat &source,std::list<vides_data::faceRecognitionResult>&faces){
-    QReadLocker locker(&rwLock);
+    thread_time.store(QDateTime::currentMSecsSinceEpoch(), std::memory_order_acquire);
+    ScopeSemaphoreExit streamGuard([this]() {
+        isRunning.store(false, std::memory_order_acquire);
+    });
    HResult ret;
    HF_ContextCustomParameter parameter = {0};
    HF_ImageData imageData = {0};
@@ -190,6 +218,8 @@ void FaceReconitionHandle::doesItExistEmployee(const cv::Mat &source,std::list<v
    imageData.format = FORMAT_BGR;
    HImageHandle imageSteamHandle;
    ret = HF_CreateImageStream(&imageData, &imageSteamHandle);
    if (ret != HSUCCEED) {
        qInfo()<<QString("image handle error:%1").arg((long) imageSteamHandle,0,10);

--- a/FaceReconitionHandle.h
+++ b/FaceReconitionHandle.h
@@ -5,8 +5,8 @@
 #include "herror.h"
 #include "LogHandle.h"
 #include "VidesData.h"
+#include "ScopeSemaphoreExit.h"
 #include <opencv2/opencv.hpp>
-#include <QReadWriteLock>
 #include<QCoreApplication>
@@ -19,7 +19,11 @@ private:
    std::vector<int32_t>customIds;
-    QReadWriteLock rwLock;
+    std::atomic<qint64> thread_time;
+    std::atomic<bool> isRunning{false};
+    std::atomic<bool>isImageChanged{false};
 public:
    FaceReconitionHandle();
    ~FaceReconitionHandle();
@@ -27,6 +31,15 @@ public:
    cv::Mat loadImage(const QString &path);
    cv::Mat loadImageFromByteStream(const QString& filePath);
+    qint64 getThreadTime() const;
+    bool getIsRunning() const;
+    void setIsRunning(bool running);
+    bool getImageChanged()const;
+    void setImageChanged(bool imageChanged);
    void doesItExistEmployee(const cv::Mat &source,std::list<vides_data::faceRecognitionResult>&face);

--- a/mainwindow.cpp
+++ b/mainwindow.cpp
@@ -46,13 +46,16 @@ MainWindow::MainWindow()
    float heightReference=qSetting->value("devices/height_reference").toFloat();
    int uniformColor=qSetting->value("devices/uniformColor").toInt();
    int humanDetectionLen=qSetting->value("devices/humanDetectionLen").toInt();
+    int licensePlateLen=qSetting->value("devices/licensePlateLen").toInt();
+    int faceLen=qSetting->value("devices/faceLen").toInt();
    float carShapeConfidence=qSetting->value("devices/carShapeConfidence").toFloat();
    Common & instace= Common::getInstance();
-    instace.setHumanDetectionLen(humanDetectionLen);
+    instace.setTaskManage(humanDetectionLen,licensePlateLen,faceLen);
    float carConfidence=qSetting->value("devices/carConfidence").toFloat();
+    AlgorithmTaskManage &algorithmTaskManage= AlgorithmTaskManage::getInstance(humanDetectionLen,licensePlateLen,faceLen);
-    AlgorithmTaskManage &algorithmTaskManage= AlgorithmTaskManage::getInstance(humanDetectionLen);
    algorithmTaskManage.initHumanDetectionManage(modelPaths,carShapeConfidence,heightReference,uniformColor);
    algorithmTaskManage.initLicensePlateManage(modelPaths,carConfidence);
    QString httpurl;
@@ -83,7 +86,11 @@ MainWindow::MainWindow()
    },Qt::QueuedConnection);
    this->startCamera(httpurl);
-    batchUpdatesCameraImageMap();
+    float confidence=qSetting->value("devices/confidence").toFloat();
+    int faceNumbers=qSetting->value("devices/faceNumbers").toInt();
+    algorithmTaskManage.initFaceReconitionHandle(localImageMap,faceNumbers,confidence);
    // 设置定时器间隔
    dePermissionSynTimer->setInterval(dePermissionTimer);
@@ -292,19 +299,27 @@ void MainWindow::updateLocalFace(const QString &httpurl) {
    }
    if (isChanged) {
+        int humalen=instance.getHumanDetectionLen();
+        int licensePlateLen=instance.getLicensePlateLen();
+        int facelen=instance.getFaceLen();
+        float confidence=qSetting->value("devices/confidence").toFloat();
+        int faceNumbers=qSetting->value("devices/faceNumbers").toInt();
+        AlgorithmTaskManage &algorithmTaskManage= AlgorithmTaskManage::getInstance(humalen,licensePlateLen,facelen);
        if (cloudImageMap.empty()) {
            // 如果云端映射现在为空，移除所有特征
            //faceRecognition.featureRemove();
-            batchUpdatesFeatureRemove();
+            algorithmTaskManage.modifyImageFeature(localImageMap,faceNumbers,confidence,true);
        } else {
            //float confidence=qSetting->value("devices/confidence").toFloat();
            //int faceNumbers=qSetting->value("devices/faceNumbers").toInt();
            qDebug()<<"startMap != endMap-->";
            // faceRecognition.initSourceImageMap(localImageMap,faceNumbers, confidence);
-            batchUpdatesCameraImageMap();
+            algorithmTaskManage.modifyImageFeature(localImageMap,faceNumbers,confidence,false);
        }
-    }
+    }    
    for (vides_data::responseFaceReconition* data : datas)
    {
        instance.deleteObj(data);
@@ -312,26 +327,6 @@ void MainWindow::updateLocalFace(const QString &httpurl) {
    datas.clear(); // 清空列表
    instance.deleteObj(res);
 }
-void MainWindow::batchUpdatesCameraImageMap(){
-    float confidence=qSetting->value("devices/confidence").toFloat();
-    int faceNumbers=qSetting->value("devices/faceNumbers").toInt();
-    for(auto iter = faceDetectionParkingPushs.begin(); iter != faceDetectionParkingPushs.end(); ++iter) {
-        CameraHandle*value= iter->second;
-        if(localImageMap.size()>0){
-            value->notificationUpdateImageMap(localImageMap,faceNumbers,confidence);
-        }
-    }
-}
-void MainWindow::batchUpdatesFeatureRemove(){
-    for(auto iter = faceDetectionParkingPushs.begin(); iter != faceDetectionParkingPushs.end(); ++iter) {
-        CameraHandle*value= iter->second;
-        if(localImageMap.size()>0){
-            value->featureRemove();
-        }
-    }
-}
 void MainWindow::findLocalSerialNumber(QString &serialNumber){
    if(vides_data::isVirtualMachine()){
        serialNumber = QSysInfo::machineUniqueId();

--- a/mainwindow.h
+++ b/mainwindow.h
@@ -77,10 +77,6 @@ public:
    void deleteCloudNotCamer (const std::map<QString,vides_data::localDeviceStatus*>& localDevices,
                              const std::list<vides_data::responseDeviceStatus>& devices);
-    void batchUpdatesCameraImageMap();
-    void batchUpdatesFeatureRemove();
    ~MainWindow();
 signals: