class stuff

demo/demo/demo.cpp

@@ -10,6 +10,7 @@
 #include <opencv2/imgproc/imgproc.hpp>
 
 #include "Yolo3Detection.h"
+#include "send.h"
 
 bool gRun;
 
@@ -33,6 +34,7 @@ int main(int argc, char *argv[]) {
 
     tk::dnn::Yolo3Detection yolo;
     yolo.init(net);
+    yolo.thresh = 0.25;
 
     gRun = true;
 
@@ -45,8 +47,21 @@ int main(int argc, char *argv[]) {
     cv::Mat frame;
     cv::Mat dnn_input;
     cv::namedWindow("detection", cv::WINDOW_NORMAL);
+
+    /*CAMID*/
+    const int CAM_IDX = 0;
+
+    /*projection matrix*/
+    float* proj_matrix = (float*) malloc(9*sizeof(float));
+    int proj_matrix_read = 0;
+
+    /*socket*/
+    int sock;
+    int socket_opened = 0;
     
     while(gRun) {
+
+
         cap >> frame; 
         if(!frame.data) {
             continue;
@@ -57,6 +72,15 @@ int main(int argc, char *argv[]) {
         // TODO: async infer
         yolo.update(dnn_input);
 
+        int coord_i = 0;
+        struct obj_coords *coords = (struct obj_coords*)malloc(yolo.detected.size()*sizeof(struct obj_coords));
+        if(proj_matrix_read == 0)
+            read_projection_matrix(proj_matrix, proj_matrix_read);
+        
+        /*printf("%f %f %f \n%f %f %f\n %f %f %f\n\n", proj_matrix[0],proj_matrix[1],
+            proj_matrix[2],proj_matrix[3],proj_matrix[4],proj_matrix[5],
+            proj_matrix[6],proj_matrix[7],proj_matrix[8]);*/
+
         // draw dets
         for(int i=0; i<yolo.detected.size(); i++) {
             tk::dnn::box b = yolo.detected[i];
@@ -65,11 +89,23 @@ int main(int argc, char *argv[]) {
             int y0   = b.y;
             int y1   = b.y + b.h;
             int obj_class = b.cl;
+
+
+            if(obj_class == 0 /*person*/ || obj_class == 1/*bicycle*/ || obj_class == 2/*car*/ 
+                || obj_class == 3/*motorbike*/ || obj_class == 5/*bus*/)
+            {
+                convert_coords(coords, coord_i,x0+b.w/2, y1,obj_class, proj_matrix);
+                coord_i++;
+            }
+
             float prob = b.prob;
 
             std::cout<<obj_class<<" ("<<prob<<"): "<<x0<<" "<<y0<<" "<<x1<<" "<<y1<<"\n";
             cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), yolo.colors[obj_class], 2);                
         }
+
+        send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
+        free(coords);
     
         cv::imshow("detection", frame);
         cv::waitKey(1);