mmr/tkDNN
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tracking integrated

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This commit is contained in:
Micaela Verucchi
2019-04-20 15:48:52 +02:00
parent 9a4a65a3c3
commit 9b413b77ab
5 changed files with 139 additions and 142 deletions
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demo/demo/data/proj_matrix_map_b.txt
+3 -3
View File
@@ -1,3 +1,3 @@
0.1472053693584627 -13.052205853952705 439.9459667398692
-0.6469057430349019 -6.339418443938649 578.7156423035825
-0.00025681337819676855 -0.007446975429175878 1.0
-0.4122368700442484 -10.479982981650977 812.1821012303
-0.6536846365005352 -4.951476039607947 512.0831604767536
-0.00042630219831388434 -0.006003223898658603 1.0
demo/demo/demo.cpp
+35 -29
View File
@@ -16,24 +16,22 @@
#include "plot.h"
#include "tracker.h"
#define MAX_DETECT_SIZE 100
bool gRun;
void sig_handler(int signo) {
void sig_handler(int signo)
{
std::cout << "request gateway stop\n";
gRun = false;
}
int main(int argc, char *argv[]) {
int main(int argc, char *argv[])
{
std::cout << "detection\n";
signal(SIGINT, sig_handler);
char *net = "yolo3_coco4.rt";
if (argc > 1)
net = argv[1];
@@ -79,7 +77,6 @@ int main(int argc, char *argv[]) {
double *adfGeoTransform = (double *)malloc(6 * sizeof(double));
readTiff(tiffile, adfGeoTransform);
/*socket*/
int sock;
int socket_opened = 0;
@@ -94,24 +91,23 @@ int main(int argc, char *argv[]) {
std::vector<Tracker> trackers;
std::vector<Data> cur_frame;
int initial_age = -5;
int age_threshold = -10;
int age_threshold = -20;
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) {
while (gRun)
{
cap >> frame;
if(!frame.data) {
if (!frame.data)
{
usleep(1000000);
cap.open(input);
printf("cap reinitialize\n");
continue;
}
// this will be resized to the net format
@@ -126,16 +122,17 @@ 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++) {
for (int i = 0; i < num_detected; i++)
{
tk::dnn::box b = yolo.detected[i];
int x0 = b.x;
@@ -144,7 +141,6 @@ int main(int argc, char *argv[]) {
int y1 = b.y + b.h;
int obj_class = b.cl;
if (obj_class == 0 /*person*/ || obj_class == 1 /*bicycle*/ || obj_class == 2 /*car*/
|| obj_class == 3 /*motorbike*/ || obj_class == 5 /*bus*/)
{
@@ -158,16 +154,17 @@ int main(int argc, char *argv[]) {
cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), yolo.colors[obj_class], 2);
}
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;
//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;
//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)
@@ -178,18 +175,29 @@ int main(int argc, char *argv[]) {
Track(cur_frame, dt, n_states, initial_age, age_threshold, trackers);
}
std::cout<<"There are "<<trackers.size()<<" trackers"<<std::endl;
//std::cout << "There are " << trackers.size() << " trackers" << std::endl;
for (auto t : trackers)
{
State s = t.ekf_.getEstimatedState();
gc.enu2Geodetic(s.x_, s.y_, 0, &lat, &lon, &alt);
std::cout<<"lat: "<<lat<<" lon: "<<lon<<std::endl;
for(auto pred_pos: t.pred_list_ )
{
gc.enu2Geodetic(pred_pos.x_, pred_pos.y_, 0, &lat, &lon, &alt);
//std::cout << "lat: " << lat << " lon: " << lon << std::endl;
int pix_x, pix_y;
coord2pixel(lat, lon, pix_x, pix_y, adfGeoTransform);
std::cout<<"pix_x: "<<pix_x<<" pix_y: "<<pix_y<<std::endl;
//if(t.age_ > 0)
cv::circle( frame, cv::Point( pix_x, pix_y ), 10.0, cv::Scalar( 255, 0, 0 ), CV_FILLED, 8, 0);
//std::cout << "pix_x: " << pix_x << " pix_y: " << pix_y << std::endl;
std::vector<cv::Point2f> map_p, camera_p;
map_p.push_back(cv::Point2f(pix_x, pix_y));
//transform camera pixel to map pixel
cv::perspectiveTransform(map_p, camera_p, H.inv());
//std::cout << "pix_x: " << camera_p[0].x << " pix_y: " << camera_p[0].y << std::endl;
cv::circle(frame, cv::Point(camera_p[0].x, camera_p[0].y), 3.0, cv::Scalar(255, 0, 0), CV_FILLED, 8, 0);
}
}
frame_nbr++;
@@ -203,7 +211,6 @@ int main(int argc, char *argv[]) {
}
}
/* 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_); */
@@ -214,4 +221,3 @@ int main(int argc, char *argv[]) {
std::cout << "detection end\n";
return 0;
}
include/send.h
+4 -13
View File
@@ -17,8 +17,6 @@
#include "gdal/gdal_priv.h"
#include "gdal/cpl_conv.h"
#include "serialize.hpp"
struct obj_coords
@@ -28,7 +26,6 @@ struct obj_coords
float cl;
};
void readTiff(char *filename, double *adfGeoTransform)
{
GDALDataset *poDataset;
@@ -57,7 +54,6 @@ 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)
{
@@ -65,18 +61,17 @@ void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransfor
y = int(round((lat - adfGeoTransform[3]) / adfGeoTransform[5]));
}
void fillMatrix(cv::Mat &H, float *matrix, bool show = false)
{
double *vals = (double *)H.data;
for(int i=0; i<9; i++) {
for (int i = 0; i < 9; i++)
{
vals[i] = matrix[i];
}
if (show)
std::cout << H << "\n";
}
void serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX, std::stringbuf *buf)
{
@@ -99,7 +94,6 @@ void serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX, std::stringb
Message m{CAM_IDX, t_stamp_ms, ruv.size(), ruv};
archive(m);
//std::cout<<buf->str()<<std::endl;
//return buf;
@@ -177,9 +171,7 @@ void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected
//fprintf(out_file, "%d %lld %d %d\n",frame_nbr, t_stamp_ms, int(ll[0].x), int(ll[0].y));
fprintf(out_file, "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
}
}
void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char *path)
@@ -208,6 +200,8 @@ void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char* path)
fclose(fp);
fillMatrix(H, proj_matrix);
free(proj_matrix);
}
@@ -243,7 +237,6 @@ int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &s
std::stringbuf *message = new std::stringbuf();
serialize_coords(coords, n_coords, CAM_IDX, message);
//std::cout<<message->str().length()<<std::endl;
/*open socket if not already opened*/
@@ -259,8 +252,6 @@ int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &s
}
}
/*send message to server*/
if (send(sock, message->str().data(), message->str().length(), 0) < 0)
{
tracker_CLASS
+1 -1
Submodule tracker_CLASS updated: 135e47ba2e...29d9cdf1bd