re-added thread for visualisation

demo/demo/demo.cpp

@@ -4,6 +4,7 @@
 #include <unistd.h>
 #include <mutex>
 #include <ctime>  
+#include <pthread.h>
 #include "utils.h"
 
 #include <opencv2/core/core.hpp>
@@ -21,12 +22,28 @@
 
 bool gRun;
 
+
+cv::Mat frame_v;
+cv::Mat frame_top_v;
+std::mutex sem;
+
 void sig_handler(int signo)
 {
     std::cout << "request gateway stop\n";
     gRun = false;
 }
 
+void *showImages(void *x_void_ptr)
+{
+    while (gRun)
+    {
+        sem.lock();
+        cv::imshow("detection", frame_v);
+        cv::imshow("topview", frame_top_v);
+        sem.unlock();
+        cv::waitKey(30);
+    }
+}
 
 
 void draw_arrow(float angleRad, float vel,  cv::Scalar color, cv::Point center, cv::Mat &frame)
@@ -58,14 +75,15 @@ 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]);
-    bool to_show = true;
+    bool to_show = false;
     if (argc > 6)
         to_show = atoi(argv[6]);
 
+    
+    
     tk::dnn::Yolo3Detection yolo;
     yolo.init(net);
     yolo.thresh = 0.25;
@@ -76,26 +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 dnn_input;
-    cv::namedWindow("detection", cv::WINDOW_NORMAL);
-    cv::namedWindow("topview", cv::WINDOW_NORMAL);
-
     cv::Mat frame_top;
+    cv::Mat dnn_input;
     cv::Mat original_frame_top;
-    frame_top = cv::imread("../demo/demo/data/map_b.jpg");
+    
-    original_frame_top = frame_top.clone();
+    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;
@@ -116,13 +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)
         {
@@ -144,13 +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++)
@@ -179,17 +192,14 @@ int main(int argc, char *argv[])
 
         TIMER_START
 
+        //convert from latitude and longitude to meters for ekf
         cur_frame.clear();
         for (int i = 0; i < coord_i; i++)
         {
-            //std::cout << "lat orig: " << coords[i].LAT << " lon orig: " << coords[i].LONG << std::endl;
             gc.geodetic2Enu(coords[i].LAT, coords[i].LONG, 0, &east, &north, &up);
-            //std::cout << "east: " << east << " north: " << north << std::endl;
             cur_frame.push_back(Data(east, north, frame_nbr));
         }
 
-        
-
         if (frame_nbr == 0)
         {
             for (auto f : cur_frame)
@@ -200,7 +210,6 @@ int main(int argc, char *argv[])
             Track(cur_frame, dt, n_states, initial_age, age_threshold, trackers);
         }
 
-
         TIMER_STOP
         std::cout << "There are " << trackers.size() << " trackers" << std::endl;
 
@@ -232,41 +241,38 @@ int main(int argc, char *argv[])
 
                     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);
 
                         center = cv::Point(pix_x,pix_y);
                         draw_arrow(t.pred_list_[p].yaw_, t.pred_list_[p].vel_,color, center, frame_top);
-
-                       
                     }
-
                 }
             }
         }
 
-        frame_nbr++;
+        if(to_show)
-
-        send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
-
-        
-
-        if (to_show)
         {
-            cv::imshow("detection", frame);
+            sem.lock();
-            cv::imshow("topview", frame_top);
+            frame_v = frame.clone();
-            cv::waitKey(1);
+            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");
+                return 1;
+            }
+        }
 
+        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);