mmr/tkDNN
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mask

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mive93
2019-05-07 21:07:18 +02:00
parent 5c7301f7f4
commit 428858eaae
2 changed files with 43 additions and 34 deletions
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demo/demo/data/mask36.jpg
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demo/demo/demo.cpp
+17 -8
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@@ -22,7 +22,6 @@
bool gRun; bool gRun;
cv::Mat frame_v; cv::Mat frame_v;
cv::Mat frame_top_v; cv::Mat frame_top_v;
std::mutex sem; std::mutex sem;
@@ -45,7 +44,6 @@ void *showImages(void *x_void_ptr)
} }
} }
void draw_arrow(float angleRad, float vel, cv::Scalar color, cv::Point center, cv::Mat &frame) void draw_arrow(float angleRad, float vel, cv::Scalar color, cv::Point center, cv::Mat &frame)
{ {
int angle = angleRad * 180.0 / CV_PI; int angle = angleRad * 180.0 / CV_PI;
@@ -78,11 +76,12 @@ int main(int argc, char *argv[])
int CAM_IDX = 0; int CAM_IDX = 0;
if (argc > 5) if (argc > 5)
CAM_IDX = atoi(argv[5]); CAM_IDX = atoi(argv[5]);
bool to_show = false; bool to_show = true;
if (argc > 6) if (argc > 6)
to_show = atoi(argv[6]); to_show = atoi(argv[6]);
char *maskfile = "../demo/demo/data/mask36.jpg";
if (argc > 7)
maskfile = argv[7];
tk::dnn::Yolo3Detection yolo; tk::dnn::Yolo3Detection yolo;
yolo.init(net); yolo.init(net);
@@ -130,6 +129,10 @@ int main(int argc, char *argv[])
double east, north, up; double east, north, up;
double lat, lon, alt; double lat, lon, alt;
/*Mask info*/
cv::Mat mask;
mask = cv::imread(maskfile, cv::IMREAD_GRAYSCALE);
/*tracker infos*/ /*tracker infos*/
srand(time(NULL)); srand(time(NULL));
std::vector<Tracker> trackers; std::vector<Tracker> trackers;
@@ -142,6 +145,7 @@ int main(int argc, char *argv[])
int frame_nbr = 0; int frame_nbr = 0;
while (gRun) while (gRun)
{ {
cap >> frame; cap >> frame;
if (!frame.data) if (!frame.data)
{ {
@@ -176,6 +180,11 @@ int main(int argc, char *argv[])
int y1 = b.y + b.h; int y1 = b.y + b.h;
int obj_class = b.cl; int obj_class = b.cl;
cv::Scalar intensity = mask.at<uchar>(cv::Point(int(x0 + b.w / 2), y1));
if (intensity[0])
{
if (obj_class == 0 /*person*/ || obj_class == 1 /*bicycle*/ || obj_class == 2 /*car*/ if (obj_class == 0 /*person*/ || obj_class == 1 /*bicycle*/ || obj_class == 2 /*car*/
|| obj_class == 3 /*motorbike*/ || obj_class == 5 /*bus*/) || obj_class == 3 /*motorbike*/ || obj_class == 5 /*bus*/)
{ {
@@ -187,7 +196,7 @@ int main(int argc, char *argv[])
//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); cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), yolo.colors[obj_class], 2);
}
} }
TIMER_START TIMER_START
@@ -239,7 +248,7 @@ int main(int argc, char *argv[])
cv::circle(frame, cv::Point(camera_p[0].x, camera_p[0].y), 3.0, cv::Scalar(t.r_, t.g_, t.b_), CV_FILLED, 8, 0); cv::circle(frame, cv::Point(camera_p[0].x, camera_p[0].y), 3.0, cv::Scalar(t.r_, t.g_, t.b_), CV_FILLED, 8, 0);
if(p == t.pred_list_.size()-1) /*if(p == t.pred_list_.size()-1)
{ {
auto center = cv::Point(camera_p[0].x, camera_p[0].y); auto center = cv::Point(camera_p[0].x, camera_p[0].y);
auto color = cv::Scalar(t.r_, t.g_, t.b_); auto color = cv::Scalar(t.r_, t.g_, t.b_);
@@ -247,7 +256,7 @@ int main(int argc, char *argv[])
center = cv::Point(pix_x,pix_y); center = cv::Point(pix_x,pix_y);
draw_arrow(t.pred_list_[p].yaw_, t.pred_list_[p].vel_,color, center, frame_top); draw_arrow(t.pred_list_[p].yaw_, t.pred_list_[p].vel_,color, center, frame_top);
} }*/
} }
} }
} }