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Update 3d detection

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This commit updates the CenternetDetection3d class and fixes
some bugs.

It also removes the resnet101 network for CenterNet 3D.
This network doesn't exist.

Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2021-07-21 15:51:13 +02:00
parent f78f7bfddc
commit be2d361ac6
4 changed files with 55 additions and 486 deletions
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src/CenternetDetection3D.cpp
+53 -40
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@@ -106,17 +106,22 @@ bool CenternetDetection3D::init(const std::string& tensor_path, const int n_clas
calibs_.at<float>(0,2) = 604.0814;
calibs_.at<float>(1,1) = 707.0493;
calibs_.at<float>(1,2) = 180.5066;
calibs_.at<float>(0,3) = 45.75831;
calibs_.at<float>(1,3) = -0.3454157;
calibs_.at<float>(2,2) = 1.0;
calibs_.at<float>(2,3) = 0.004981016;
}
else {
calibs_.at<float>(0,0) = inputCalibs[bi].at<float>(0,0) * dim.w / 1440;
calibs_.at<float>(0,2) = inputCalibs[bi].at<float>(0,2) * dim.w / 1440;
calibs_.at<float>(1,1) = inputCalibs[bi].at<float>(1,1) * dim.h / 1080;
calibs_.at<float>(1,2) = inputCalibs[bi].at<float>(1,2) * dim.h / 1080;
calibs_.at<float>(0,0) = inputCalibs[bi].at<float>(0,0);// * (1440.0/dim.w);// / 1440;
calibs_.at<float>(0,2) = inputCalibs[bi].at<float>(0,2);// * (1440.0/dim.w);// / 1440;
calibs_.at<float>(1,1) = inputCalibs[bi].at<float>(1,1);// * (1080.0/dim.h);//dim.h / 1080;
calibs_.at<float>(1,2) = inputCalibs[bi].at<float>(1,2);// * (1080.0/dim.h);//dim.h / 1080;
calibs_.at<float>(2,2) = 1.0;
}
calibs_.at<float>(0,3) = 45.75831;
calibs_.at<float>(1,3) = -0.3454157;
calibs_.at<float>(2,2) = 1.0;
calibs_.at<float>(2,3) = 0.004981016;
// calibs_.at<float>(0,3) = 45.75831;
// calibs_.at<float>(1,3) = -0.3454157;
// calibs_.at<float>(2,2) = 1.0;
// calibs_.at<float>(2,3) = 0.004981016;
calibs.push_back(calibs_);
}
@@ -165,16 +170,21 @@ bool CenternetDetection3D::init(const std::string& tensor_path, const int n_clas
}
void CenternetDetection3D::preprocess(cv::Mat &frame, const int bi){
// auto start_t = std::chrono::steady_clock::now();
// auto step_t = std::chrono::steady_clock::now();
// auto end_t = std::chrono::steady_clock::now();
cv::Size sz = originalSize[bi];
// std::cout<<"image: "<<sz.width<<", "<<sz.height<<std::endl;
cv::Size sz_old;
float scale = 1.0;
float new_height = sz.height * scale;
float new_width = sz.width * scale;
float new_height = dim.h;//sz.height * scale;
float new_width = dim.w;//sz.width * scale;
if(sz.height != sz_old.height && sz.width != sz_old.width){
if(inputCalibs.size() == 0 || inputCalibs[bi].empty()) {
calibs[bi].at<float>(0,2) = new_width / 2.0f;
calibs[bi].at<float>(1,2) = new_height /2.0f;
}
else {
calibs[bi].at<float>(0,0) = inputCalibs[bi].at<float>(0,0) * 2.0 * dim.w / sz.width;
calibs[bi].at<float>(0,2) = inputCalibs[bi].at<float>(0,2) * dim.w / sz.width ;
calibs[bi].at<float>(1,1) = inputCalibs[bi].at<float>(1,1) * 2.0 * dim.h / sz.height;
calibs[bi].at<float>(1,2) = inputCalibs[bi].at<float>(1,2) * dim.h / sz.height;
}
float c[] = {new_width / 2.0f, new_height /2.0f};
float s[] = {new_width, new_height};
// ----------- get_affine_transform
@@ -206,13 +216,13 @@ void CenternetDetection3D::preprocess(cv::Mat &frame, const int bi){
}
sz_old = sz;
#ifdef OPENCV_CUDACONTRIB
std::cout<<"OPENCV CPMTROB\n";
// std::cout<<"OPENCV CPMTROB\n";
cv::cuda::GpuMat im_Orig;
cv::cuda::GpuMat imageF1_d, imageF2_d;
im_Orig = cv::cuda::GpuMat(frame);
// cv::cuda::resize (im_Orig, imageF1_d, cv::Size(new_width, new_height));
imageF1_d = im_Orig;
cv::cuda::resize (im_Orig, imageF1_d, cv::Size(dim.w, dim.h));//cv::Size(new_width, new_height));
// imageF1_d = im_Orig;
checkCuda( cudaDeviceSynchronize() );
sz = imageF1_d.size();
@@ -252,10 +262,10 @@ void CenternetDetection3D::preprocess(cv::Mat &frame, const int bi){
// std::cout << " TIME Memcpy to input_d: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
// step_t = end_t;
#else
std::cout<<"NO OPENCV CPMTROB\n";
// std::cout<<"NO OPENCV CPMTROB\n";
cv::Mat imageF;
// resize(frame, imageF, cv::Size(new_width, new_height));
imageF = frame;
resize(frame, imageF, cv::Size(dim.w, dim.h));//cv::Size(new_width, new_height));
// imageF = frame;
sz = imageF.size();
// std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
// end_t = std::chrono::steady_clock::now();
@@ -485,37 +495,40 @@ void CenternetDetection3D::draw(std::vector<cv::Mat>& frames) {
int thickness = 2;
for(int bi=0; bi<frames.size(); ++bi){
float scale_x = float(originalSize[bi].width)/dim.w;
float scale_y = float(originalSize[bi].height)/dim.h;
resize(frames[bi], frames[bi], originalSize[bi]);
// draw dets
for(int i=0; i<batchDetected[bi].size(); i++) {
b = batchDetected[bi][i];
for(int ind_f = 3; ind_f>=0; ind_f--) {
for(int j=0; j<4; j++) {
cv::line(frames[bi], cv::Point(b.corners.at(faceId.at(ind_f).at(j) * 2),
b.corners.at(faceId.at(ind_f).at(j) * 2 + 1)),
cv::Point(b.corners.at(faceId.at(ind_f).at((j+1)%4) * 2),
b.corners.at(faceId.at(ind_f).at((j+1)%4) * 2 + 1)),
cv::line(frames[bi], cv::Point(b.corners.at(faceId.at(ind_f).at(j) * 2) * scale_x,
b.corners.at(faceId.at(ind_f).at(j) * 2 + 1) * scale_y),
cv::Point(b.corners.at(faceId.at(ind_f).at((j+1)%4) * 2) * scale_x,
b.corners.at(faceId.at(ind_f).at((j+1)%4) * 2 + 1) * scale_y),
colors[b.cl], 2);
if(ind_f == 0) {
cv::line(frames[bi], cv::Point(b.corners.at(faceId.at(ind_f).at(0) * 2),
b.corners.at(faceId.at(ind_f).at(0) * 2 + 1)),
cv::Point(b.corners.at(faceId.at(ind_f).at(2) * 2),
b.corners.at(faceId.at(ind_f).at(2) * 2 + 1)), colors[b.cl], 2);
cv::line(frames[bi], cv::Point(b.corners.at(faceId.at(ind_f).at(1) * 2),
b.corners.at(faceId.at(ind_f).at(1) * 2 + 1)),
cv::Point(b.corners.at(faceId.at(ind_f).at(3) * 2),
b.corners.at(faceId.at(ind_f).at(3) * 2 + 1)), colors[b.cl], 2);
cv::line(frames[bi], cv::Point(b.corners.at(faceId.at(ind_f).at(0) * 2) * scale_x,
b.corners.at(faceId.at(ind_f).at(0) * 2 + 1)* scale_y),
cv::Point(b.corners.at(faceId.at(ind_f).at(2) * 2) * scale_x,
b.corners.at(faceId.at(ind_f).at(2) * 2 + 1) * scale_y), colors[b.cl], 2);
cv::line(frames[bi], cv::Point(b.corners.at(faceId.at(ind_f).at(1) * 2)* scale_x,
b.corners.at(faceId.at(ind_f).at(1) * 2 + 1)* scale_y),
cv::Point(b.corners.at(faceId.at(ind_f).at(3) * 2)* scale_x,
b.corners.at(faceId.at(ind_f).at(3) * 2 + 1)* scale_y), colors[b.cl], 2);
}
}
}
// draw label
cv::Size text_size = getTextSize(classesNames[b.cl], cv::FONT_HERSHEY_SIMPLEX, font_scale, thickness, &baseline);
cv::rectangle(frames[bi], cv::Point(b.corners.at(faceId.at(0).at(0) * 2),
b.corners.at(faceId.at(0).at(0) * 2 + 1)),
cv::Point((b.corners.at(faceId.at(0).at(0) * 2) + text_size.width - 2),
(b.corners.at(faceId.at(0).at(0) * 2 + 1)) - text_size.height - 2), colors[b.cl], -1);
cv::putText(frames[bi], classesNames[b.cl], cv::Point(b.corners.at(faceId.at(0).at(0) * 2),
b.corners.at(faceId.at(0).at(0) * 2 + 1) - (baseline / 2)),
cv::rectangle(frames[bi], cv::Point(b.corners.at(faceId.at(0).at(0) * 2)* scale_x,
b.corners.at(faceId.at(0).at(0) * 2 + 1)* scale_y),
cv::Point((b.corners.at(faceId.at(0).at(0) * 2)* scale_x + text_size.width - 2),
(b.corners.at(faceId.at(0).at(0) * 2 + 1)* scale_y - text_size.height - 2)), colors[b.cl], -1);
cv::putText(frames[bi], classesNames[b.cl], cv::Point(b.corners.at(faceId.at(0).at(0) * 2)* scale_x,
(b.corners.at(faceId.at(0).at(0) * 2 + 1)* scale_y - (baseline / 2))),
cv::FONT_HERSHEY_SIMPLEX, font_scale, cv::Scalar(255, 255, 255), thickness);
}
}