mmr/tkDNN
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georeferencing

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This commit is contained in:
Francesco Gatti
2019-04-19 16:21:56 +02:00
parent 46c32edb94
commit 3c32d0c876
3 changed files with 106 additions and 28 deletions
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CMakeLists.txt
+1 -1
View File
@@ -34,7 +34,7 @@ cuda_include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CUDA_INCLUDE_DIRS
cuda_add_library(kernels SHARED ${tkdnn_CUSRC})
file(GLOB tkdnn_SRC "src/*.cpp")
set(tkdnn_LIBS kernels ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} -lcudnn -lnvinfer ${OpenCV_LIBS})
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})
demo/demo/demo.cpp
+22 -8
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@@ -12,6 +12,7 @@
#include "Yolo3Detection.h"
#include "send.h"
#define MAX_DETECT_SIZE 100
@@ -38,13 +39,16 @@ int main(int argc, char *argv[]) {
char *pmatrix = "/home/classfog1/repos/MASA_server/pmatrix/proj_matrix_20937.txt";
if(argc > 3)
pmatrix = argv[3];
char *tiffile = "/home/davide/repos/projection_tool/img/map_b.tif";
if(argc > 4)
tiffile = argv[4];
/*CAMID*/
int CAM_IDX = 0;
if(argc > 4)
CAM_IDX = atoi(argv[4]);
bool to_show = true;
if(argc > 5)
to_show = atoi(argv[5]);
CAM_IDX = atoi(argv[5]);
bool to_show = true;
if(argc > 6)
to_show = atoi(argv[6]);
tk::dnn::Yolo3Detection yolo;
yolo.init(net);
@@ -63,8 +67,14 @@ int main(int argc, char *argv[]) {
cv::namedWindow("detection", cv::WINDOW_NORMAL);
/*projection matrix*/
float* proj_matrix = (float*) malloc(9*sizeof(float));
int proj_matrix_read = 0;
cv::Mat H(cv::Size(3,3),CV_64FC1);
/*GPS information*/
double *adfGeoTransform = (double*)malloc(6*sizeof(double));
readTiff(tiffile, adfGeoTransform);
/*socket*/
int sock;
@@ -72,6 +82,7 @@ int main(int argc, char *argv[]) {
struct obj_coords *coords = (struct obj_coords*)malloc(MAX_DETECT_SIZE*sizeof(struct obj_coords));
int frame_nbr = 0;
while(gRun) {
@@ -86,12 +97,13 @@ int main(int argc, char *argv[]) {
yolo.update(dnn_input);
int coord_i = 0;
int num_detected = yolo.detected.size();
if (num_detected > MAX_DETECT_SIZE)
num_detected = MAX_DETECT_SIZE;
if(proj_matrix_read == 0)
read_projection_matrix(proj_matrix, proj_matrix_read, pmatrix);
read_projection_matrix(H, proj_matrix_read, pmatrix);
/*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],
@@ -110,7 +122,7 @@ int main(int argc, char *argv[]) {
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);
convert_coords(coords, coord_i,x0+b.w/2, y1,obj_class, H, adfGeoTransform, frame_nbr);
coord_i++;
}
@@ -120,6 +132,8 @@ int main(int argc, char *argv[]) {
cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), yolo.colors[obj_class], 2);
}
frame_nbr++;
send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
if (to_show)
@@ -130,7 +144,7 @@ int main(int argc, char *argv[]) {
}
free(coords);
free(proj_matrix);
free(adfGeoTransform);
std::cout<<"detection end\n";
return 0;
include/send.h
+83 -19
View File
@@ -9,6 +9,16 @@
#include <arpa/inet.h> //inet_addr
#include <unistd.h> //write
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include "gdal.h"
#include <gdal_priv.h>
#include <gdal/gdal.h>
#include "gdal/gdal_priv.h"
#include "gdal/cpl_conv.h"
struct obj_coords
{
float LAT;
@@ -17,6 +27,47 @@ struct obj_coords
};
void readTiff(char*filename, double *adfGeoTransform)
{
GDALDataset *poDataset;
GDALAllRegister();
poDataset = (GDALDataset *) GDALOpen( filename, GA_ReadOnly );
if( poDataset != NULL )
{
//int colms = poDataset->GetRasterXSize();
//int rows = poDataset->GetRasterYSize();
poDataset->GetGeoTransform( adfGeoTransform );
}
}
void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform)
{
double xoff, a, b, yoff, d, e;
xoff = adfGeoTransform[0];
a = adfGeoTransform[1];
b = adfGeoTransform[2];
yoff = adfGeoTransform[3];
d = adfGeoTransform[4];
e = adfGeoTransform[5];
//printf("%f %f %f %f %f %f\n",xoff, a, b, yoff, d, e );
lon = a * x + b * y + xoff;
lat = d * x + e * y + yoff;
}
void fillMatrix(cv::Mat &H, float *matrix, bool show=false)
{
double *vals = (double*) H.data;
for(int i=0; i<9; i++) {
vals[i] = matrix[i];
}
if(show)
std::cout<<H<<"\n";
}
char *serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX)
{
@@ -83,36 +134,46 @@ int map_class_coco_to_voc(int coco_class)
return -1;
}
void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class,float * proj_matrix)
FILE *out_file = fopen("prova_pixel.txt", "w");
void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class,cv::Mat H, double *adfGeoTransform, int frame_nbr)
{
double latitude, longitude;
std::vector<cv::Point2f> x_y, ll;
x_y.push_back(cv::Point2f(x, y));
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");
//transform camera pixel to map pixel
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);
coords[i].LAT = latitude;
coords[i].LONG = longitude;
coords[i].cl = map_class_coco_to_voc(detected_class);
if(detected_class == 0)
{
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;
//fprintf(out_file, "%d %lld %d %d\n",frame_nbr, t_stamp_ms, int(ll[0].x), int(ll[0].y));
fprintf(out_file, "%d %lld %f %f\n",frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
}
}
void read_projection_matrix(float * proj_matrix, int &proj_matrix_read, char* path)
void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char* path)
{
FILE *fp;
char *line = NULL;
size_t len = 0;
ssize_t read;
float* proj_matrix = (float*) malloc(9*sizeof(float));
fp = fopen(path, "r");
if (fp == NULL)
exit(EXIT_FAILURE);
@@ -128,6 +189,9 @@ void read_projection_matrix(float * proj_matrix, int &proj_matrix_read, char* pa
}
free(line);
fclose(fp);
fillMatrix(H, proj_matrix);
free(proj_matrix);
}
int open_socket(char *ip, int &sock, int &socket_opened)