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Add the calibration matrix reading for CenterTrack

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Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2021-04-30 17:10:51 +02:00
parent be6ad27c11
commit 2367519799
6 changed files with 75 additions and 44 deletions
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demo/demo/demo3D.cpp
+20 -5
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@@ -70,8 +70,17 @@ int main(int argc, char *argv[]) {
default:
FatalError("Network type not allowed (3rd parameter)\n");
}
detNN->init(net, n_classes, n_batch, conf_thresh);
std::vector<cv::Mat> calibs;
// cv::Mat calib = cv::Mat::zeros(cv::Size(3,3), CV_32F);
// calib.at<float>(0,0) = 864.1243196486207;// * 512.0;//884.081444212;//864.1243196486207 * 512.0;// 633.0;
// calib.at<float>(0,2) = 726.7271690557819;// * 512.0;//0.0;//726.7271690557819 * 512.0;// 0.0; //w/2
// calib.at<float>(1,1) = 883.6552349216504;// * 512.0;//884.081444212;//883.6552349216504 * 512.0;// 633.0;
// calib.at<float>(1,2) = 506.8548506986564;// * 512.0;//0.0;//506.8548506986564 * 512.0;// 0.0; //h/2
// calibs.push_back(calib);
// calibs.push_back(calib);
// calibs.push_back(calib);
// calibs.push_back(calib);
detNN->init(net, n_classes, n_batch, conf_thresh, calibs);
gRun = true;
@@ -87,7 +96,8 @@ int main(int argc, char *argv[]) {
int h = cap.get(cv::CAP_PROP_FRAME_HEIGHT);
resultVideo.open("result.mp4", cv::VideoWriter::fourcc('M','P','4','V'), 30, cv::Size(w, h));
}
cv::Size sz_resize = cv::Size(512,512);
std::vector<cv::Size> sz_orig;
cv::Mat frame;
if(show)
cv::namedWindow("detection", cv::WINDOW_NORMAL);
@@ -98,12 +108,15 @@ int main(int argc, char *argv[]) {
while(gRun) {
batch_dnn_input.clear();
batch_frame.clear();
sz_orig.clear();
for(int bi=0; bi< n_batch; ++bi){
cap >> frame;
if(!frame.data)
break;
sz_orig.push_back(frame.size());
if(calibs.size() != 0)
resize(frame, frame, sz_resize);
batch_frame.push_back(frame);
// this will be resized to the net format
@@ -113,11 +126,13 @@ int main(int argc, char *argv[]) {
break;
//inference
detNN->update(batch_dnn_input, n_batch);
detNN->update(batch_dnn_input, n_batch, false, nullptr, false, sz_orig);
detNN->draw(batch_frame);
if(show){
for(int bi=0; bi< n_batch; ++bi){
if(calibs.size() != 0)
resize(batch_frame[bi], batch_frame[bi], sz_orig[bi]);
cv::imshow("detection", batch_frame[bi]);
cv::waitKey(1);
}