mmr/tkDNN
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reading from yaml file

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mive93
2019-05-07 22:43:39 +02:00
parent be31ae10d2
commit 8627c5feeb
3 changed files with 42 additions and 17 deletions
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demo/demo/demo.cpp
+19 -16
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@@ -84,6 +84,9 @@ int main(int argc, char *argv[])
char *maskfile = "../demo/demo/data/mask36.jpg";
if (argc > 7)
maskfile = argv[7];
char *cameraCalib = "../demo/demo/data/calib36.params";
if (argc > 8)
cameraCalib = argv[7];
tk::dnn::Yolo3Detection yolo;
yolo.init(net);
@@ -112,25 +115,26 @@ int main(int argc, char *argv[])
original_frame_top = frame_top.clone();
}
/*projection matrix*/
/*projection matrix from camera to map*/
int proj_matrix_read = 0;
cv::Mat H(cv::Size(3, 3), CV_64FC1);
/*Camera calibration*/
float data[9] = {1.6158690952190570e+03, 0., 9.4702812371722337e+02, 0., 1.6123979985757153e+03, 5.1995630055718266e+02, 0., 0., 1.};
cv::Mat camera_matrix = cv::Mat(3, 3, CV_32F, data);
std::cout << camera_matrix << std::endl;
float data_dc[5] = {-4.0971199964304100e-01, 1.8755404192050384e-01, -5.3059322427743867e-03, -1.0380603625304912e-03, 0.};
cv::Mat distortion_coefficients = cv::Mat(5, 1, CV_32F, data_dc);
std::cout << distortion_coefficients << std::endl;
YAML::Node config = YAML::LoadFile("/home/classfog1/repos/tkDNN/demo/demo/data/calib36.params");
YAML::Node config = YAML::LoadFile(cameraCalib);
const YAML::Node &node_test1 = config["camera_matrix"];
for (std::size_t i = 0; i < node_test1.size(); i++)
{
const YAML::Node &node_test2 = node_test1[i];
//std::cout << "Id: " << node_test2["data"].as<std::string>() << std::endl;
}
float data_cm[9];
for (std::size_t i = 0; i < node_test1["data"].size(); i++)
data_cm[i] = node_test1["data"][i].as<float>();
cv::Mat cameraMat = cv::Mat(3, 3, CV_32F, data_cm);
std::cout << cameraMat << std::endl;
const YAML::Node &node_test2 = config["distortion_coefficients"];
float data_dc[5];
for (std::size_t i = 0; i < node_test2["data"].size(); i++)
data_dc[i] = node_test2["data"][i].as<float>();
cv::Mat distCoeff = cv::Mat(5, 1, CV_32F, data_dc);
std::cout << distCoeff << std::endl;
/*GPS information*/
double *adfGeoTransform = (double *)malloc(6 * sizeof(double));
@@ -163,12 +167,11 @@ int main(int argc, char *argv[])
int frame_nbr = 0;
while (gRun)
{
break;
cap >> frame;
cv::Mat temp = frame.clone();
undistort(temp, frame, camera_matrix, distortion_coefficients);
undistort(temp, frame, cameraMat, distCoeff);
//cv::imwrite("undistorted.jpg", frame);
if (!frame.data)