mmr/tkDNN
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added tracker

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This commit is contained in:
Francesco Gatti
2019-04-20 12:33:05 +02:00
parent 9b03bfcbd7
commit 28c012cade
5 changed files with 89 additions and 9 deletions
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.gitmodules
+3
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@@ -0,0 +1,3 @@
[submodule "tracker_CLASS"]
path = tracker_CLASS
url = https://github.com/mive93/tracker_CLASS.git
CMakeLists.txt
+10 -2
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@@ -39,7 +39,8 @@ file(GLOB tkdnn_SRC "src/*.cpp")
set(tkdnn_LIBS kernels ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} -lcudnn -lnvinfer ${OpenCV_LIBS} -lgdal)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11")
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CUDA_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} ${NVINFER_INCLUDES} "~/repos/cereal/include")
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CUDA_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} ${NVINFER_INCLUDES} "~/repos/cereal/include" ${CMAKE_CURRENT_SOURCE_DIR}/tracker_CLASS/c++/src)
include_directories( BEFORE ${MY_SOURCE_DIR}/src /usr/include/python2.7 )
add_library(tkDNN SHARED ${tkdnn_SRC})
target_link_libraries(tkDNN ${tkdnn_LIBS})
@@ -93,8 +94,15 @@ target_link_libraries(test_yolo3_tetrapack_resize tkDNN)
add_executable(test_rtinference tests/test_rtinference/rtinference.cpp)
target_link_libraries(test_rtinference tkDNN)
add_executable(yolo3_demo demo/demo/demo.cpp)
add_executable(yolo3_demo demo/demo/demo.cpp
tracker_CLASS/c++/src/ekf.cpp
tracker_CLASS/c++/src/trackutils.cpp
tracker_CLASS/c++/src/plot.cpp
tracker_CLASS/c++/src/tracker.cpp )
target_link_libraries(yolo3_demo tkDNN)
target_link_libraries(yolo3_demo python2.7)
add_executable(class_server demo/server/server_less_dummy.cpp)
target_link_libraries(class_server pthread tkDNN )
demo/demo/demo.cpp
+63 -2
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@@ -11,6 +11,10 @@
#include "Yolo3Detection.h"
#include "send.h"
#include "ekf.h"
#include "trackutils.h"
#include "plot.h"
#include "tracker.h"
#define MAX_DETECT_SIZE 100
@@ -79,8 +83,23 @@ int main(int argc, char *argv[]) {
/*socket*/
int sock;
int socket_opened = 0;
/*Conversion for tracker, from gps to meters and viceversa*/
geodetic_converter::GeodeticConverter gc;
gc.initialiseReference(44.655540,10.934315, 0);
double east, north, up;
double lat, lon, alt;
/*tracker infos*/
std::vector<Tracker> trackers;
std::vector<Data> cur_frame;
int initial_age = -5;
int age_threshold = -10;
int n_states = 5;
float dt = 0.03;
struct obj_coords *coords = (struct obj_coords*)malloc(MAX_DETECT_SIZE*sizeof(struct obj_coords));
int frame_nbr = 0;
while(gRun) {
@@ -115,6 +134,9 @@ int main(int argc, char *argv[]) {
// draw dets
for(int i=0; i<num_detected; i++) {
tk::dnn::box b = yolo.detected[i];
int x0 = b.x;
int x1 = b.x + b.w;
@@ -132,10 +154,44 @@ int main(int argc, char *argv[]) {
float prob = b.prob;
std::cout<<obj_class<<" ("<<prob<<"): "<<x0<<" "<<y0<<" "<<x1<<" "<<y1<<"\n";
//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);
}
cur_frame.clear();
for(int i=0; i<coord_i; i++)
{
std::cout<<"lat orig: "<<coords[i].LAT<<" lon orig: "<<coords[i].LONG<<std::endl;
gc.geodetic2Enu(coords[i].LAT, coords[i].LONG, 0, &east, &north, &up);
std::cout<<"east: "<<east<<" north: "<<north<<std::endl;
cur_frame.push_back(Data(east,north, frame_nbr));
}
if(frame_nbr == 0)
{
for(auto f:cur_frame)
trackers.push_back(Tracker(f, initial_age, dt, n_states));
}
else
{
Track(cur_frame, dt, n_states, initial_age, age_threshold, trackers);
}
std::cout<<"There are "<<trackers.size()<<" trackers"<<std::endl;
for(auto t:trackers)
{
State s = t.ekf_.getEstimatedState();
gc.enu2Geodetic(s.x_, s.y_, 0, &lat, &lon, &alt);
std::cout<<"lat: "<<lat<<" lon: "<<lon<<std::endl;
int pix_x, pix_y;
coord2pixel(lat, lon, pix_x, pix_y, adfGeoTransform);
std::cout<<"pix_x: "<<pix_x<<" pix_y: "<<pix_y<<std::endl;
//if(t.age_ > 0)
cv::circle( frame, cv::Point( pix_x, pix_y ), 10.0, cv::Scalar( 255, 0, 0 ), CV_FILLED, 8, 0);
}
frame_nbr++;
send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
@@ -147,6 +203,11 @@ int main(int argc, char *argv[]) {
}
}
/* for (size_t i = 0; i < trackers.size(); i++)
if (trackers[i].z_list_.size() > 10)
plotTruthvsPred(trackers[i].z_list_, trackers[i].pred_list_); */
free(coords);
free(adfGeoTransform);
include/send.h
+12 -5
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@@ -18,12 +18,13 @@
#include "gdal/cpl_conv.h"
#include "serialize.hpp"
struct obj_coords
{
float LAT;
float LONG;
double LAT;
double LONG;
float cl;
};
@@ -43,7 +44,7 @@ void readTiff(char*filename, double *adfGeoTransform)
void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform)
{
//Returns global coordinates from pixel x, y coordinates
double xoff, a, b, yoff, d, e;
xoff = adfGeoTransform[0];
a = adfGeoTransform[1];
@@ -58,6 +59,12 @@ void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform
lat = d * x + e * y + yoff;
}
void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform)
{
x = int(round((lon-adfGeoTransform[0])/adfGeoTransform[1]));
y = int(round((lat-adfGeoTransform[3])/adfGeoTransform[5]));
}
void fillMatrix(cv::Mat &H, float *matrix, bool show=false)
{
@@ -156,7 +163,7 @@ void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected
cv::perspectiveTransform( x_y, ll, H);
//tranform to map pixel to map gps
pixel2coord(ll[0].x, ll[0].y, latitude,longitude, adfGeoTransform);
printf("lat: %f, long:%f \n", latitude, longitude);
//printf("lat: %f, long:%f \n", latitude, longitude);
coords[i].LAT = latitude;
coords[i].LONG = longitude;
coords[i].cl = map_class_coco_to_voc(detected_class);
@@ -237,7 +244,7 @@ int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &s
serialize_coords(coords, n_coords, CAM_IDX, message);
std::cout<<message->str().length()<<std::endl;
//std::cout<<message->str().length()<<std::endl;
/*open socket if not already opened*/
if (socket_opened == 0)
tracker_CLASS
Submodule
+1
Submodule tracker_CLASS added at 135e47ba2e