mask

demo/demo/demo.cpp

@@ -22,7 +22,6 @@
 
 bool gRun;
 
-
 cv::Mat frame_v;
 cv::Mat frame_top_v;
 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)
 {
     int angle = angleRad * 180.0 / CV_PI;
@@ -78,11 +76,12 @@ int main(int argc, char *argv[])
     int CAM_IDX = 0;
     if (argc > 5)
         CAM_IDX = atoi(argv[5]);
-    bool to_show = false;
+    bool to_show = true;
     if (argc > 6)
         to_show = atoi(argv[6]);
-
-    
+    char *maskfile = "../demo/demo/data/mask36.jpg";
+    if (argc > 7)
+        maskfile = argv[7];
 
     tk::dnn::Yolo3Detection yolo;
     yolo.init(net);
@@ -130,6 +129,10 @@ int main(int argc, char *argv[])
     double east, north, up;
     double lat, lon, alt;
 
+    /*Mask info*/
+    cv::Mat mask;
+    mask = cv::imread(maskfile, cv::IMREAD_GRAYSCALE);
+
     /*tracker infos*/
     srand(time(NULL));
     std::vector<Tracker> trackers;
@@ -142,6 +145,7 @@ int main(int argc, char *argv[])
     int frame_nbr = 0;
     while (gRun)
     {
+
         cap >> frame;
         if (!frame.data)
         {
@@ -176,6 +180,11 @@ int main(int argc, char *argv[])
             int y1 = b.y + b.h;
             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*/
                     || 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";
                 cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), yolo.colors[obj_class], 2);
-        
+            }
         }
 
         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);
 
-                    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 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);
                         draw_arrow(t.pred_list_[p].yaw_, t.pred_list_[p].vel_,color, center, frame_top);
-                    }
+                    }*/
                 }
             }
         }