class stuff

include/Yolo3Detection.h

@@ -30,6 +30,8 @@ class Yolo3Detection {
         cv::Mat imageF;
         cv::Mat bgr[3]; 
 
+        
+
     public:
         int classes = 0;
         int num = 0;
@@ -49,7 +51,7 @@ class Yolo3Detection {
          * @return Success of the initialization
          */
         bool init(std::string tensor_path);
-
+        void addBorders(cv::Mat &imageORIG, cv::Mat &imageWBorders, int &top, int &left);
         void update(cv::Mat &frame);
 
 };

include/send.h

@@ -0,0 +1,189 @@
+#ifndef SEND_H
+#define SEND_H
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/time.h>
+#include <sys/socket.h> //socket
+#include <arpa/inet.h>  //inet_addr
+#include <unistd.h>     //write
+
+struct obj_coords
+{
+    float LAT;
+    float LONG;
+    float cl;
+};
+
+
+char *serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX)
+{
+
+    char *buffer = (char *)malloc(100000 * sizeof(char));
+
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+    unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
+
+    sprintf(buffer, "m %lld %d %d ", t_stamp_ms, CAM_IDX, obj_n);
+    int i;
+    for (i = 0; i < obj_n; i++)
+        sprintf(buffer + strlen(buffer), "%.9f %.9f %.0f ", c[i].LAT, c[i].LONG, c[i].cl);
+
+    //printf("%s\n", buffer);
+
+    return buffer;
+}
+
+struct obj_coords *deserialize_coords(char *buffer, int *obj_n)
+{
+
+    int cam_id;
+    unsigned long long t_stamp_ms;
+    char type_of_m;
+
+    int consumed_chars = 0;
+    char shifted_chars[100000];
+
+    sscanf(buffer, "%c %lld %d %d ", &type_of_m, &t_stamp_ms, &cam_id, obj_n);
+    sprintf(shifted_chars, "%c %lld %d %d ", type_of_m, t_stamp_ms, cam_id, *obj_n);
+    consumed_chars += strlen(shifted_chars);
+    //printf("%c %lld %d %d\n", type_of_m, t_stamp_ms, cam_id, *obj_n);
+
+    struct obj_coords *c = (struct obj_coords *)malloc(*obj_n * sizeof(struct obj_coords));
+
+    int i;
+    for (i = 0; i < *obj_n; i++)
+    {
+        sscanf(buffer + consumed_chars, "%f %f %f ", &c[i].LAT, &c[i].LONG, &c[i].cl);
+        sprintf(shifted_chars, "%.9f %.9f %.0f ", c[i].LAT, c[i].LONG, c[i].cl);
+        consumed_chars += strlen(shifted_chars);
+        //printf("%Lf %f %f \n", c[i].LAT, c[i].LONG, c[i].cl);
+    }
+
+    return c;
+}
+
+int map_class_coco_to_voc(int coco_class)
+{
+    switch (coco_class)
+    {
+    case 0:
+        return 14; //person
+    case 1:
+        return 1; //bicycle
+    case 2:
+        return 6; //car
+    case 3:
+        return 13; //motorkbike
+    case 5:
+        return 5; //bus
+    }
+    return -1;
+}
+
+void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class,float * proj_matrix)
+{
+
+    
+
+    float obj_x = x, obj_y = y, obj_z = 1;
+    float tmp_z = 0;
+
+    coords[i].LAT = proj_matrix[0] * obj_x + proj_matrix[1] * obj_y + proj_matrix[2] * obj_z;
+    coords[i].LONG = proj_matrix[3] * obj_x + proj_matrix[4] * obj_y + proj_matrix[5] * obj_z;
+    tmp_z = proj_matrix[6] * obj_x + proj_matrix[7] * obj_y + proj_matrix[8] * obj_z;
+    
+    if(tmp_z != 0.0)
+    {
+        coords[i].LAT = coords[i].LAT / tmp_z;
+        coords[i].LONG = coords[i].LONG / tmp_z;
+        printf("lat: %f, long %f\n", coords[i].LAT, coords[i].LONG);
+    }
+    else
+        printf("Division by 0 (tmp_z)\n");
+    coords[i].cl = map_class_coco_to_voc(detected_class);
+}
+
+void read_projection_matrix(float * proj_matrix, int &proj_matrix_read)
+{
+    FILE *fp;
+    char *line = NULL;
+    size_t len = 0;
+    ssize_t read;
+
+    fp = fopen("/home/classfog1/repos/MASA_server/pmatrix/proj_matrix_20937.txt", "r");
+    if (fp == NULL)
+        exit(EXIT_FAILURE);
+
+    int i = 0;
+    while ((read = getline(&line, &len, fp)) != -1)
+    {
+        if (3 == sscanf(line, "%f %f %f", &proj_matrix[i*3+0], &proj_matrix[i*3+1], &proj_matrix[i*3+2]))
+        {
+            i++;
+            proj_matrix_read = 1;
+        }
+    }
+    free(line);
+    fclose(fp);
+}
+
+int open_socket(char *ip, int &sock, int &socket_opened)
+{
+    struct sockaddr_in server;
+    sock = socket(AF_INET, SOCK_STREAM, 0);
+    if (sock == -1)
+    {
+        printf("Could not create socket");
+    }
+    puts("Socket created");    
+
+    server.sin_addr.s_addr = inet_addr(ip);
+    server.sin_family = AF_INET;
+    server.sin_port = htons(8888);
+
+    /*connect to remote server*/
+    if (connect(sock, (struct sockaddr *)&server, sizeof(server)) < 0)
+    {
+        perror("connect failed. Error");
+        socket_opened = 0;
+        return 0;
+    }
+    puts("Connected\n");
+    socket_opened = 1;
+    return 1;
+}
+
+int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &socket_opened, int CAM_IDX)
+{
+    /*serialize coords*/
+    char *message = serialize_coords(coords, n_coords, CAM_IDX);
+
+    /*open socket if not already opened*/
+    if (socket_opened == 0)
+    {
+        int res = open_socket("127.0.0.1",sock, socket_opened);
+        if(res)
+            printf("Socket opened!\n");
+        else
+        {
+            printf("Problem: socket NOT opened!\n");
+            return 0;
+        }
+    }
+
+    /*send message to server*/
+    if (send(sock, message, strlen(message), 0) < 0)
+    {
+        puts("Send failed");
+        socket_opened = 0;
+    }
+
+    free(message);
+    //close(sock);
+    return 1;
+}
+
+#endif /*SEND_H*/