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Fix segmentation fault on yolo3Detection object copy

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This commit fixes a segmentation fault appeared in yolo3 network
updating. Now in Camera_t structure type there is a network pointer.

Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2019-10-18 19:05:42 +02:00
parent d5ae26dfef
commit 1af2b792b8
2 changed files with 16 additions and 16 deletions
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demo/demo/demo.cpp
+15 -15
View File
@@ -167,6 +167,7 @@ void *computationTask(void *x_void_ptr)
Camera_t *camera = (Camera_t *)x_void_ptr;
pthread_t visual, originalshow, detectionshow, topviewshow, disparityshow;
pthread_t videocap;
tk::dnn::Yolo3Detection yolo = *(camera->yolo);
//create video capture thread
Frame_t info_f;
info_f.input = camera->input;
@@ -216,7 +217,6 @@ void *computationTask(void *x_void_ptr)
return (void *)1;
};
}
char *pmatrix = camera->pmatrix;
/*projection matrix from camera to map*/
cv::Mat H(cv::Size(3, 3), CV_64FC1);
@@ -306,6 +306,7 @@ void *computationTask(void *x_void_ptr)
cv::Mat frame_crop;
cv::Mat dnn_input;
bool first_iteration = true;
while (gRun)
{
TIMER_START
@@ -338,8 +339,8 @@ void *computationTask(void *x_void_ptr)
// this will be resized to the net format
dnn_input = frame.clone();
// TODO: async infer
camera->yolo.update(dnn_input);
int num_detected = camera->yolo.detected.size();
yolo.update(dnn_input);
int num_detected = yolo.detected.size();
if (num_detected > MAX_DETECT_SIZE)
num_detected = MAX_DETECT_SIZE;
@@ -409,7 +410,7 @@ void *computationTask(void *x_void_ptr)
for (int i = 0; i < num_detected; i++)
{
b = camera->yolo.detected[i];
b = yolo.detected[i];
x0 = b.x;
// w = b.w;
// x1 = b.x + w;
@@ -509,7 +510,7 @@ void *computationTask(void *x_void_ptr)
info_show.adfGeoTransform[i] = adfGeoTransform[i];
// cv::Mat H;
info_show.H = H.clone();
info_show.yolo = camera->yolo;
info_show.yolo = yolo;
// std::copy(camera->yolo.begin(), camera->yolo.end(), info_show.yolo.begin());
info_show.mask = mask.clone();
info_show.sem.unlock();
@@ -540,13 +541,12 @@ int main(int argc, char *argv[])
if(!read_parameters(argc, argv, &par))
return -1;
// tk::dnn::Yolo3Detection yolo[par.n_cameras];
// for(int i=0; i<par.n_cameras; i++)
// {
// std::cout<<"par net: "<<par.net<<std::endl;
// yolo[i].init(par.net);
// yolo[i].thresh = 0.25;
// }
tk::dnn::Yolo3Detection yolo[par.n_cameras];
for(int i=0; i<par.n_cameras; i++)
{
yolo[i].init(par.net);
yolo[i].thresh = 0.25;
}
// tk::dnn::Yolo3Detection yolo;
// yolo.init(net);
// yolo.thresh = 0.25;
@@ -563,9 +563,9 @@ int main(int argc, char *argv[])
{
for(int j = 0; j < 6; j++ )
par.cameras[i].adfGeoTransform[j] = adfGeoTransform[j];
// par.cameras[i].yolo = yolo[i];
par.cameras[i].yolo.init(par.net);
par.cameras[i].yolo.thresh = 0.25;
par.cameras[i].yolo = &yolo[i];
// par.cameras[i].yolo.init(par.net);
// par.cameras[i].yolo.thresh = 0.25;
// cameras[i].yolo = yolo[i];
// cameras[i].yolo = yolo;
include/cameraUtils.h
+1 -1
View File
@@ -16,7 +16,7 @@ struct Camera_t
char *cameraCalib;
char *maskFileOrient;
bool to_show;
tk::dnn::Yolo3Detection yolo;
tk::dnn::Yolo3Detection *yolo;
double adfGeoTransform[6];
};