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Add camera calibration file reading for demo3d and demoTracker.

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Some minor fixes.

Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2021-07-21 16:14:53 +02:00
parent be2d361ac6
commit 1216e8bb74
7 changed files with 83 additions and 49 deletions
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docs/demo.md
+8 -4
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@@ -77,12 +77,15 @@ To run the 3D object detection demo follow these steps (example with CenterNet b
```
rm dla34_cnet3d_fp32.rt # be sure to delete(or move) old tensorRT files
./test_dla34_cnet3d # run the yolo test (is slow)
./demo3D dla34_cnet3d_fp32.rt ../demo/yolo_test.mp4 c
./demo3D dla34_cnet3d_fp32.rt ../demo/yolo_test.mp4 NULL c
```
The demo3D program takes the same parameters of the demo program:
```
./demo3D <network-rt-file> <path-to-video> <kind-of-network> <number-of-classes> <n-batches> <show-flag> <conf-thresh>
./demo3D <network-rt-file> <path-to-video> <calibration-file> <kind-of-network> <number-of-classes> <n-batches> <show-flag> <conf-thresh>
```
where
* ```calibration-file``` is the camera calibration file (opencv format). It is important that the file contains entry "camera_matrix" with sub-entry "rows", "cols", "data". If you do not want to pass the calibration file, pass "NULL" instead.
### Object Detection and Tracking
@@ -90,16 +93,17 @@ To run the 3D object detection & tracking demo follow these steps (example with
```
rm dla34_ctrack_fp32.rt # be sure to delete(or move) old tensorRT files
./test_dla34_ctrack # run the yolo test (is slow)
./demoTracker dla34_ctrack_fp32.rt ../demo/yolo_test.mp4 c
./demoTracker dla34_ctrack_fp32.rt ../demo/yolo_test.mp4 NULL c
```
The demoTracker program takes the same parameters of the demo program:
```
./demoTracker <network-rt-file> <path-to-video> <kind-of-network> <number-of-classes> <n-batches> <show-flag> <conf-thresh> <2D/3D-flag>
./demoTracker <network-rt-file> <path-to-video> <calibration-file> <kind-of-network> <number-of-classes> <n-batches> <show-flag> <conf-thresh> <2D/3D-flag>
```
where
* ```calibration-file``` is the camera calibration file (opencv format). It is important that the file contains entry "camera_matrix" with sub-entry "rows", "cols", "data". If you do not want to pass the calibration file, pass "NULL" instead.
* ```<2D/3D-flag>``` if set to 0 the demo will be in the 2D mode, while if set to 1 the demo will be in the 3D mode (Default is 1 - 3D mode).
### FP16 inference