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Move several cameras into a single process.

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This commit pairs a camera with a thread. In this way, the
single process can to manage several camera. Every camera
thread create one video capture thread to read its input
stream. Only one camera thread can start the visualization.

This commit fixes the wrong data reading from file of the
read_projection_matrix function.

This commit fixes the wrong orientation mask accessing of
the addRoadUserfromTracker function. In the code there are
two sections to test.
This commit is contained in:
Davide Sapienza
2019-09-26 16:39:16 +02:00
parent b1a3620061
commit 5a1c7fb83d
2 changed files with 460 additions and 264 deletions
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demo/demo/demo.cpp
+397 -234
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File diff suppressed because it is too large Load Diff
include/classutils.h
+63 -30
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@@ -85,7 +85,7 @@ void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform
y = int(round((lat - adfGeoTransform[3]) / adfGeoTransform[5]));
}
void fillMatrix(cv::Mat &H, float *matrix, bool show = false)
void fillMatrix(cv::Mat &H, double *matrix, bool show = false)
{
double *vals = (double *)H.data;
for (int i = 0; i < 9; i++)
@@ -103,7 +103,6 @@ void convert_coords(std::vector<ObjCoords> &coords, int x, int y, int detected_c
double latitude, longitude;
std::vector<cv::Point2f> x_y, ll;
x_y.push_back(cv::Point2f(x, y));
//transform camera pixel to map pixel
cv::perspectiveTransform(x_y, ll, H);
//tranform to map pixel to map gps
@@ -136,25 +135,24 @@ void read_projection_matrix(cv::Mat &H, char *path)
size_t len = 0;
ssize_t read;
float *proj_matrix = (float *)malloc(9 * sizeof(float));
// float *proj_matrix = (float *)malloc(9 * sizeof(float));
double proj_matrix[9] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
int i = 0;
fp = fopen(path, "r");
if (fp == NULL)
exit(EXIT_FAILURE);
int i = 0;
while ((read = getline(&line, &len, fp)) != -1)
{
if (3 == sscanf(line, "%f %f %f", &proj_matrix[i * 3 + 0], &proj_matrix[i * 3 + 1], &proj_matrix[i * 3 + 2]))
{
std::cout<<line<<std::endl;
std::stringstream ss(line);
while (ss >> proj_matrix[i])
i++;
}
}
free(line);
fclose(fp);
fillMatrix(H, proj_matrix);
free(proj_matrix);
free(line);
// free(proj_matrix);
}
void draw_arrow(float angleRad, float vel, cv::Scalar color, cv::Point center, cv::Mat &frame)
@@ -176,10 +174,9 @@ unsigned long long time_in_ms()
return t_stamp_ms;
}
void addRoadUserfromTracker(const std::vector<Tracker> &trackers, Message *m, geodetic_converter::GeodeticConverter &gc, const cv::Mat& maskOrient, double *adfGeoTransform)
void addRoadUserfromTracker(const std::vector<Tracker> &trackers, Message *m, geodetic_converter::GeodeticConverter &gc, const cv::Mat& maskOrient, double *adfGeoTransform, cv::Mat H)
{
m->t_stamp_ms = time_in_ms();
m->num_objects = trackers.size();
m->objects.clear();
double lat, lon, alt;
@@ -215,29 +212,65 @@ void addRoadUserfromTracker(const std::vector<Tracker> &trackers, Message *m, ge
int pix_x, pix_y;
coord2pixel(lat, lon, pix_x, pix_y, adfGeoTransform);
// std::cout<<maskOrient.at<cv::Vec3b>(pix_y,pix_x)<<std::endl;
// TODO: test correctness - added perspective transform call to converter pix_x and pix_y
// sometimes some values are wrong. float ok?
// std::vector<cv::Point2f> map_p, camera_p;
// std::cout<<"--- pix_x, pix_y: "<<pix_x<<", "<<pix_y<<std::endl;
// map_p.push_back(cv::Point2f(pix_x, pix_y));
// std::cout<<"map_p: "<<map_p<<std::endl;
// //transform camera pixel to map pixel
// cv::perspectiveTransform(map_p, camera_p, H.inv());
// std::cout<<"size H: "<<H.cols<<", "<<H.rows<<std::endl;
// std::cout<<"camera_p: "<<camera_p<<std::endl;
// // TODO: in some cases these lines causes seg fault!
// std::cout<<"y, x :"<<camera_p[0].y<<", "<<camera_p[0].x<<std::endl;
// std::cout<<"size maskorient: "<<maskOrient.cols<<", "<<maskOrient.rows<<std::endl;
// // std::cout<<"vec3b: "<<(cv::Vec3b)(pix_y,pix_x);
// assert (camera_p[0].x < maskOrient.cols);
// assert (camera_p[0].y < maskOrient.rows);
// uint8_t maskOrientPixel = maskOrient.at<cv::Vec3b>(camera_p[0].y,camera_p[0].x)[0];
// std::cout<<"boo: "<<maskOrient.at<cv::Vec3b>(camera_p[0].y,camera_p[0].x)<<std::endl;
// uint8_t orientation;
// if(maskOrientPixel != 0)
// {
// orientation = maskOrientPixel;
// // std::cout<<"orientation given by the mask "<< int(orientation)<<std::endl;
// }
// else
// {
// orientation = uint8_t((int((t.pred_list_.back().yaw_ * 57.29 + 360)) % 360) * 17 / 24);
// //std::cout<<"orientation given by the tracker "<< int(orientation)<<std::endl;
// }
uint8_t maskOrientPixel = maskOrient.at<cv::Vec3b>(pix_y,pix_x)[0];
uint8_t orientation;
if(maskOrientPixel != 0)
{
orientation = maskOrientPixel;
// std::cout<<"orientation given by the mask "<< int(orientation)<<std::endl;
}
else
{
orientation = uint8_t((int((t.pred_list_.back().yaw_ * 57.29 + 360)) % 360) * 17 / 24);
//std::cout<<"orientation given by the tracker "<< int(orientation)<<std::endl;
}
// TODO: to validate -> it works for grayscale image (see demo.cpp, row: "cv::Mat maskOrient = cv::imread(camera->maskFileOrient, 0);")
// TODO: include perspective transform
// std::cout<<"y, x :"<<pix_y<<", "<<pix_x<<std::endl;
// std::cout<<"size maskorient: "<<maskOrient.cols<<", "<<maskOrient.rows<<std::endl;
// std::cout<<"point: "<<(cv::Point)(pix_y,pix_x);
// uint8_t maskOrientPixel = maskOrient.at<uchar>(pix_y,pix_x);
// uint8_t orientation;
// if(maskOrientPixel != 0)
// {
// orientation = maskOrientPixel;
// // std::cout<<"orientation given by the mask "<< int(orientation)<<std::endl;
// }
// else
// {
// orientation = uint8_t((int((t.pred_list_.back().yaw_ * 57.29 + 360)) % 360) * 17 / 24);
// //std::cout<<"orientation given by the tracker "<< int(orientation)<<std::endl;
// }
uint8_t orientation = uint8_t((int((t.pred_list_.back().yaw_ * 57.29 + 360)) % 360) * 17 / 24);
// std::cout<<"orient: "<<unsigned(orientation)<<std::endl;
//std::cout << "lat: " << lat << " lon: " << lon << std::endl;
uint8_t velocity = uint8_t(std::abs(t.pred_list_.back().vel_ * 3.6 / 2));
// std::cout<<"vel: "<<unsigned(velocity)<<std::endl;
RoadUser r{static_cast<float>(lat), static_cast<float>(lon), velocity, orientation, cat};
//std::cout << std::setprecision(10) << r.latitude << " , " << r.longitude << " " << int(r.speed) << " " << int(r.orientation) << " " << r.category << std::endl;
m->objects.push_back(r);
}
}
m->num_objects = m->objects.size();
}
void prepare_message(Message *m, const std::vector<ObjCoords> &coords, int idx)
@@ -247,7 +280,7 @@ void prepare_message(Message *m, const std::vector<ObjCoords> &coords, int idx)
m->num_objects = coords.size();
m->objects.clear();
for (int i = 0; i < coords.size(); i++)
for (unsigned int i = 0; i < coords.size(); i++)
{
Categories cat;