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
+43 -34
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@@ -3,7 +3,7 @@
#include <stdlib.h> /* srand, rand */ #include <stdlib.h> /* srand, rand */
#include <unistd.h> #include <unistd.h>
#include <mutex> #include <mutex>
#include <ctime> #include <ctime>
#include <pthread.h> #include <pthread.h>
#include "utils.h" #include "utils.h"
@@ -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;
@@ -45,13 +44,12 @@ 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;
auto length = 10*vel; auto length = 10 * vel;
auto direction = cv::Point(length * cos(angleRad), length * sin(angleRad)); // calculate direction auto direction = cv::Point(length * cos(angleRad), length * sin(angleRad)); // calculate direction
double tipLength = .2 + 0.4 * ( angle%180) / 360; double tipLength = .2 + 0.4 * (angle % 180) / 360;
int lineType = 8; int lineType = 8;
int thickness = 2; int thickness = 2;
cv::arrowedLine(frame, center, center + direction, color, thickness, lineType, 0, tipLength); // draw arrow! cv::arrowedLine(frame, center, center + direction, color, thickness, lineType, 0, tipLength); // draw arrow!
@@ -78,12 +76,13 @@ 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);
yolo.thresh = 0.25; yolo.thresh = 0.25;
@@ -94,16 +93,16 @@ int main(int argc, char *argv[])
if (!cap.isOpened()) if (!cap.isOpened())
gRun = false; gRun = false;
else else
std::cout <<"camera started\n"; std::cout << "camera started\n";
cv::Mat frame; cv::Mat frame;
cv::Mat frame_top; cv::Mat frame_top;
cv::Mat dnn_input; cv::Mat dnn_input;
cv::Mat original_frame_top; cv::Mat original_frame_top;
pthread_t visual; pthread_t visual;
if(to_show) if (to_show)
{ {
cv::namedWindow("detection", cv::WINDOW_NORMAL); cv::namedWindow("detection", cv::WINDOW_NORMAL);
cv::namedWindow("topview", cv::WINDOW_NORMAL); cv::namedWindow("topview", cv::WINDOW_NORMAL);
@@ -130,8 +129,12 @@ 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;
std::vector<Data> cur_frame; std::vector<Data> cur_frame;
int initial_age = -5; int initial_age = -5;
@@ -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)
{ {
@@ -176,18 +180,23 @@ 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;
if (obj_class == 0 /*person*/ || obj_class == 1 /*bicycle*/ || obj_class == 2 /*car*/ cv::Scalar intensity = mask.at<uchar>(cv::Point(int(x0 + b.w / 2), y1));
|| obj_class == 3 /*motorbike*/ || obj_class == 5 /*bus*/)
if (intensity[0])
{ {
convert_coords(coords, coord_i, x0 + b.w / 2, y1, obj_class, H, adfGeoTransform, frame_nbr);
coord_i++; 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, H, adfGeoTransform, frame_nbr);
coord_i++;
}
float prob = b.prob;
//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);
} }
float prob = b.prob;
//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);
} }
TIMER_START TIMER_START
@@ -213,22 +222,22 @@ int main(int argc, char *argv[])
TIMER_STOP TIMER_STOP
std::cout << "There are " << trackers.size() << " trackers" << std::endl; std::cout << "There are " << trackers.size() << " trackers" << std::endl;
if(to_show) if (to_show)
{ {
frame_top = original_frame_top.clone(); frame_top = original_frame_top.clone();
for (auto t : trackers) for (auto t : trackers)
{ {
for(size_t p=1; p<t.pred_list_.size(); p++ ) for (size_t p = 1; p < t.pred_list_.size(); p++)
{ {
gc.enu2Geodetic(t.pred_list_[p].x_, t.pred_list_[p].y_, 0, &lat, &lon, &alt); gc.enu2Geodetic(t.pred_list_[p].x_, t.pred_list_[p].y_, 0, &lat, &lon, &alt);
//std::cout << "lat: " << lat << " lon: " << lon << std::endl; //std::cout << "lat: " << lat << " lon: " << lon << std::endl;
int pix_x, pix_y; int pix_x, pix_y;
coord2pixel(lat, lon, pix_x, pix_y, adfGeoTransform); coord2pixel(lat, lon, pix_x, pix_y, adfGeoTransform);
//std::cout << "pix_x: " << pix_x << " pix_y: " << pix_y << std::endl; //std::cout << "pix_x: " << pix_x << " pix_y: " << pix_y << std::endl;
if(pix_x < frame_top.cols && pix_y < frame_top.rows && pix_x >= 0 && pix_y >= 0) if (pix_x < frame_top.cols && pix_y < frame_top.rows && pix_x >= 0 && pix_y >= 0)
cv::circle(frame_top, cv::Point(pix_x,pix_y), 7.0, cv::Scalar(t.r_, t.g_, t.b_), CV_FILLED, 8, 0); cv::circle(frame_top, cv::Point(pix_x, pix_y), 7.0, cv::Scalar(t.r_, t.g_, t.b_), CV_FILLED, 8, 0);
std::vector<cv::Point2f> map_p, camera_p; std::vector<cv::Point2f> map_p, camera_p;
map_p.push_back(cv::Point2f(pix_x, pix_y)); map_p.push_back(cv::Point2f(pix_x, pix_y));
@@ -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_);
@@ -247,12 +256,12 @@ 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);
} }*/
} }
} }
} }
if(to_show) if (to_show)
{ {
sem.lock(); sem.lock();
frame_v = frame.clone(); frame_v = frame.clone();