mmr/tkDNN
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optimized undistortion

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mive93
2019-05-16 19:48:59 +02:00
parent 12fd8d0109
commit 5f444825ad
2 changed files with 49 additions and 13 deletions
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include/classutils.h
+22 -3
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@@ -176,7 +176,7 @@ unsigned long long time_in_ms()
return t_stamp_ms;
}
void addRoadUserfromTracker(const std::vector<Tracker>& trackers, Message *m, geodetic_converter::GeodeticConverter& gc)
void addRoadUserfromTracker(const std::vector<Tracker> &trackers, Message *m, geodetic_converter::GeodeticConverter &gc, const cv::Mat& maskOrient, double *adfGeoTransform)
{
m->t_stamp_ms = time_in_ms();
m->num_objects = trackers.size();
@@ -211,11 +211,30 @@ void addRoadUserfromTracker(const std::vector<Tracker>& trackers, Message *m, ge
}
//std::cout << t.pred_list_.size() << std::endl;
gc.enu2Geodetic(t.pred_list_.back().x_, t.pred_list_.back().y_, 0, &lat, &lon, &alt);
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;
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;
}
//std::cout << "lat: " << lat << " lon: " << lon << std::endl;
uint8_t velocity = uint8_t(std::abs(t.pred_list_.back().vel_ * 3.6 / 2));
uint8_t orientation = uint8_t((int((t.pred_list_.back().yaw_ * 57.29 + 360)) % 360) * 17 / 24);
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;
//std::cout << std::setprecision(10) << r.latitude << " , " << r.longitude << " " << int(r.speed) << " " << int(r.orientation) << " " << r.category << std::endl;
m->objects.push_back(r);
}
}