Updated to have more launching parameters

demo/demo/demo.cpp

@@ -12,6 +12,10 @@
 #include "Yolo3Detection.h"
 #include "send.h"
 
+#define MAX_DETECT_SIZE 100
+
+
+
 bool gRun;
 
 void sig_handler(int signo) {
@@ -31,6 +35,16 @@ int main(int argc, char *argv[]) {
     char *input = "../demo/yolo_test.mp4";
     if(argc > 2)
         input = argv[2]; 
+    char *pmatrix = "/home/classfog1/repos/MASA_server/pmatrix/proj_matrix_20937.txt";
+    if(argc > 3)
+        pmatrix = argv[3];
+    /*CAMID*/
+    int CAM_IDX = 0;
+    if(argc > 4)
+        CAM_IDX = atoi(argv[4]);
+    bool to_show = true;
+    if(argc > 5)
+        to_show = atoi(argv[5]);
 
     tk::dnn::Yolo3Detection yolo;
     yolo.init(net);
@@ -48,9 +62,6 @@ int main(int argc, char *argv[]) {
     cv::Mat dnn_input;
     cv::namedWindow("detection", cv::WINDOW_NORMAL);    
 
-    /*CAMID*/
-    const int CAM_IDX = 0;
-
     /*projection matrix*/
     float* proj_matrix = (float*) malloc(9*sizeof(float));
     int proj_matrix_read = 0;
@@ -59,6 +70,8 @@ int main(int argc, char *argv[]) {
     int sock;
     int socket_opened = 0;
     
+    struct obj_coords *coords = (struct obj_coords*)malloc(MAX_DETECT_SIZE*sizeof(struct obj_coords));
+
     while(gRun) {
 
 
@@ -73,16 +86,19 @@ int main(int argc, char *argv[]) {
         yolo.update(dnn_input);
 
         int coord_i = 0;
-        struct obj_coords *coords = (struct obj_coords*)malloc(yolo.detected.size()*sizeof(struct obj_coords));
+        int num_detected = yolo.detected.size();
+        if (num_detected > MAX_DETECT_SIZE)
+            num_detected = MAX_DETECT_SIZE;
+
         if(proj_matrix_read == 0)
-            read_projection_matrix(proj_matrix, proj_matrix_read);
+            read_projection_matrix(proj_matrix, 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<yolo.detected.size(); i++) {
+        for(int i=0; i<num_detected; i++) {
             tk::dnn::box b = yolo.detected[i];
             int x0   = b.x;
             int x1   = b.x + b.w;
@@ -105,12 +121,17 @@ int main(int argc, char *argv[]) {
         }
 
         send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
-        free(coords);
     
+        if (to_show)
+       {
         cv::imshow("detection", frame);
         cv::waitKey(1);
+       } 
     }
 
+    free(coords);
+    free(proj_matrix);
+
     std::cout<<"detection end\n";   
     return 0;
 }

include/send.h

@@ -99,21 +99,21 @@ void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected
     {
         coords[i].LAT = coords[i].LAT / tmp_z;
         coords[i].LONG = coords[i].LONG / tmp_z;
-        printf("lat: %f, long %f\n", coords[i].LAT, coords[i].LONG);
+        //printf("lat: %f, long %f\n", coords[i].LAT, coords[i].LONG);
     }
     else
         printf("Division by 0 (tmp_z)\n");
     coords[i].cl = map_class_coco_to_voc(detected_class);
 }
 
-void read_projection_matrix(float * proj_matrix, int &proj_matrix_read)
+void read_projection_matrix(float * proj_matrix, int &proj_matrix_read, char* path)
 {
     FILE *fp;
     char *line = NULL;
     size_t len = 0;
     ssize_t read;
 
-    fp = fopen("/home/classfog1/repos/MASA_server/pmatrix/proj_matrix_20937.txt", "r");
+    fp = fopen(path, "r");
     if (fp == NULL)
         exit(EXIT_FAILURE);