diff --git a/demo/demo/demo.cpp b/demo/demo/demo.cpp index 83ed14a..59ee58c 100644 --- a/demo/demo/demo.cpp +++ b/demo/demo/demo.cpp @@ -3,7 +3,7 @@ #include /* srand, rand */ #include #include -#include +#include #include #include "utils.h" @@ -21,6 +21,8 @@ #define MAX_DETECT_SIZE 100 bool gRun; + + cv::Mat frame_v; cv::Mat frame_top_v; std::mutex sem; @@ -33,7 +35,6 @@ void sig_handler(int signo) void *showImages(void *x_void_ptr) { - while (gRun) { sem.lock(); @@ -44,6 +45,18 @@ 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; + auto length = 10*vel; + auto direction = cv::Point(length * cos(angleRad), length * sin(angleRad)); // calculate direction + double tipLength = .2 + 0.4 * ( angle%180) / 360; + int lineType = 8; + int thickness = 2; + cv::arrowedLine(frame, center, center + direction, color, thickness, lineType, 0, tipLength); // draw arrow! +} + int main(int argc, char *argv[]) { @@ -62,7 +75,6 @@ int main(int argc, char *argv[]) char *tiffile = "../demo/demo/data/map_b.tif"; if (argc > 4) tiffile = argv[4]; - /*CAMID*/ int CAM_IDX = 0; if (argc > 5) CAM_IDX = atoi(argv[5]); @@ -70,6 +82,8 @@ int main(int argc, char *argv[]) if (argc > 6) to_show = atoi(argv[6]); + + tk::dnn::Yolo3Detection yolo; yolo.init(net); yolo.thresh = 0.25; @@ -80,27 +94,31 @@ int main(int argc, char *argv[]) if (!cap.isOpened()) gRun = false; else - std::cout << "camera started\n"; + std::cout <<"camera started\n"; cv::Mat frame; cv::Mat frame_top; - cv::Mat dnn_input; - cv::namedWindow("detection", cv::WINDOW_NORMAL); - cv::namedWindow("topview", cv::WINDOW_NORMAL); - - frame_top = cv::imread("../demo/demo/data/map_b.jpg"); - + cv::Mat original_frame_top; + pthread_t visual; + + if(to_show) + { + cv::namedWindow("detection", cv::WINDOW_NORMAL); + cv::namedWindow("topview", cv::WINDOW_NORMAL); + frame_top = cv::imread("../demo/demo/data/map_b.jpg"); + original_frame_top = frame_top.clone(); + } /*projection matrix*/ - 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); + struct obj_coords *coords = (struct obj_coords *)malloc(MAX_DETECT_SIZE * sizeof(struct obj_coords)); /*socket*/ int sock; @@ -113,7 +131,7 @@ int main(int argc, char *argv[]) double lat, lon, alt; /*tracker infos*/ - srand(time(NULL)); + srand (time(NULL)); std::vector trackers; std::vector cur_frame; int initial_age = -5; @@ -121,12 +139,9 @@ int main(int argc, char *argv[]) int n_states = 5; float dt = 0.03; - struct obj_coords *coords = (struct obj_coords *)malloc(MAX_DETECT_SIZE * sizeof(struct obj_coords)); - int frame_nbr = 0; while (gRun) { - cap >> frame; if (!frame.data) { @@ -148,13 +163,7 @@ int main(int argc, char *argv[]) num_detected = MAX_DETECT_SIZE; if (proj_matrix_read == 0) - { 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], - proj_matrix[6],proj_matrix[7],proj_matrix[8]);*/ // draw dets for (int i = 0; i < num_detected; i++) @@ -178,16 +187,16 @@ int main(int argc, char *argv[]) //std::cout<= 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); - gc.enu2Geodetic(pred_pos.x_, pred_pos.y_, 0, &lat, &lon, &alt); - //std::cout << "lat: " << lat << " lon: " << lon << std::endl; - int pix_x, pix_y; - coord2pixel(lat, lon, pix_x, pix_y, adfGeoTransform); + std::vector map_p, camera_p; + map_p.push_back(cv::Point2f(pix_x, pix_y)); - //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) - cv::circle(frame_top, cv::Point(pix_x, pix_y), 7.0, cv::Scalar(t.r_, t.g_, t.b_), CV_FILLED, 8, 0); + //transform camera pixel to map pixel + cv::perspectiveTransform(map_p, camera_p, H.inv()); + //std::cout << "pix_x: " << camera_p[0].x << " pix_y: " << camera_p[0].y << std::endl; - std::vector map_p, camera_p; - map_p.push_back(cv::Point2f(pix_x, pix_y)); + 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); - //transform camera pixel to map pixel - cv::perspectiveTransform(map_p, camera_p, H.inv()); - //std::cout << "pix_x: " << camera_p[0].x << " pix_y: " << camera_p[0].y << std::endl; + 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_); + draw_arrow(t.pred_list_[p].yaw_, t.pred_list_[p].vel_,color, center, frame); - 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); + center = cv::Point(pix_x,pix_y); + draw_arrow(t.pred_list_[p].yaw_, t.pred_list_[p].vel_,color, center, frame_top); + } + } } } - - TIMER_START - sem.lock(); - frame_v = frame.clone(); - frame_top_v = frame_top.clone(); - sem.unlock(); - - TIMER_STOP - - if (frame_nbr == 0) + if(to_show) { + sem.lock(); + frame_v = frame.clone(); + frame_top_v = frame_top.clone(); + sem.unlock(); + } + if (frame_nbr == 0 && to_show) + { if (pthread_create(&visual, NULL, showImages, NULL)) { fprintf(stderr, "Error creating thread\n"); @@ -250,16 +270,9 @@ int main(int argc, char *argv[]) } frame_nbr++; - send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX); - - } - /* for (size_t i = 0; i < trackers.size(); i++) - if (trackers[i].z_list_.size() > 10) - plotTruthvsPred(trackers[i].z_list_, trackers[i].pred_list_); */ - free(coords); free(adfGeoTransform);