mmr/tkDNN
Archived
1
0
Fork 0
Code Issues 46 Pull Requests 12 Releases 4 Activity

added send of trackers infos

Browse Source
This commit is contained in:
mive93
2019-05-14 08:38:52 +02:00
parent ff5e376873
commit 86da302163
3 changed files with 62 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/classutils.h
+48 -3
View File
@@ -17,6 +17,8 @@
#include "gdal/gdal_priv.h"
#include "gdal/cpl_conv.h"
#include "tracker.h"
#include <yaml-cpp/yaml.h>
#include "../masa_protocol/include/send.hpp"
@@ -76,8 +78,6 @@ void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform
lon = a * x + b * y + xoff;
lat = d * x + e * y + yoff;
}
void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform)
{
@@ -176,6 +176,51 @@ unsigned long long time_in_ms()
return t_stamp_ms;
}
void addRoadUserfromTracker(const std::vector<Tracker>& trackers, Message *m, geodetic_converter::GeodeticConverter& gc)
{
m->t_stamp_ms = time_in_ms();
m->num_objects = trackers.size();
m->objects.clear();
double lat, lon, alt;
for (auto t : trackers)
{
if (t.pred_list_.size() > 0)
{
Categories cat;
switch (t.class_)
{
case 0:
cat = Categories::C_person;
break;
case 1:
cat = Categories::C_car;
break;
case 2:
cat = Categories::C_car;
break;
case 3:
cat = Categories::C_bus;
break;
case 4:
cat = Categories::C_motorbike;
break;
case 5:
cat = Categories::C_bycicle;
break;
}
//std::cout << t.pred_list_.size() << std::endl;
gc.enu2Geodetic(t.pred_list_.back().x_, t.pred_list_.back().y_, 0, &lat, &lon, &alt);
//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;
m->objects.push_back(r);
}
}
}
void prepare_message(Message *m, const std::vector<ObjCoords> &coords, int idx)
{
m->cam_idx = idx;
@@ -209,7 +254,7 @@ void prepare_message(Message *m, const std::vector<ObjCoords> &coords, int idx)
break;
}
RoadUser r{static_cast<float>(coords[i].lat_), static_cast<float>(coords[i].long_), 0, 1, cat};
std::cout<<std::setprecision(10) <<r.latitude<<" , "<<r.longitude << " " << cat << std::endl;
std::cout << std::setprecision(10) << r.latitude << " , " << r.longitude << " " << cat << std::endl;
m->objects.push_back(r);
}