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Fix bug in velocity conversion.

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This commit fixes a wrong operation in the velocity conversion.
A reduced speed (because we are in a urban track) is now stored
into a uint8. Thus granularity is now half km/h.

Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2019-11-11 18:07:03 +01:00
parent 1af2b792b8
commit cfb457fdec
2 changed files with 30 additions and 3 deletions
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CMakeLists.txt
+1 -1
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@@ -41,7 +41,7 @@ set(tkdnn_LIBS kernels ${CUDA_LIBRARIES} ${CUDA_CUBLAS_LIBRARIES} -lcudnn -lnvin
file(GLOB class_SRC "src/class_src/*.cpp")
set(class_LIBS ${OpenCV_LIBS} -lgdal yaml-cpp python2.7)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -std=c++11 -O3")
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CUDA_INCLUDE_DIRS} ${OPENCV_INCLUDE_DIRS} ${NVINFER_INCLUDES} "~/repos/cereal/include" ${CMAKE_CURRENT_SOURCE_DIR}/tracker_CLASS/c++/src)
include_directories( BEFORE ${MY_SOURCE_DIR}/src /usr/include/python2.7 )
src/class_src/message.cpp
+29 -2
View File
@@ -9,6 +9,32 @@ unsigned long long time_in_ms()
return t_stamp_ms;
}
/* Convert orientation from radian to quantized degree (from 360 to 255)
**/
uint8_t orientation_to_uint8(float yaw)
{
// 57.29 is (180/pi) -> conversion in degrees
// 17 / 24 is (255/360) -> quantization
// let a yaw in radians, it is converted into degrees (*57.29),
// then into positive degrees, then it is quantized into 255.
uint8_t orientation = uint8_t((int((yaw * 57.29 + 360)) % 360) * 17 / 24);
return orientation;
}
/* Convert speed from m/s to quantized km/h every 1/2 km/h
**/
uint8_t speed_to_uint8(float vel)
{
// 3.6 -> conversion in km/h
// *2 -> quantization km/h evrey 1/2
// let a velocity in m/s, it is converted into km/h (*3.6), then (*2)
// we achive a double speed. In a urban track we can consider a maximum
// speed of 127 km/h. So we can fit 127 on a byte with a multiplication
// by 2. Each increment corresponds to a speed greater than 1/2 km/h.
uint8_t velocity = uint8_t(std::abs(vel * 3.6 * 2));
return velocity;
}
void addRoadUserfromTracker(const std::vector<Tracker> &trackers, Message *m, geodetic_converter::GeodeticConverter &gc, const cv::Mat &maskOrient, double *adfGeoTransform, cv::Mat H)
{
m->t_stamp_ms = time_in_ms();
@@ -95,10 +121,11 @@ void addRoadUserfromTracker(const std::vector<Tracker> &trackers, Message *m, ge
// //std::cout<<"orientation given by the tracker "<< int(orientation)<<std::endl;
// }
uint8_t orientation = uint8_t((int((t.pred_list_.back().yaw_ * 57.29 + 360)) % 360) * 17 / 24);
uint8_t orientation = orientation_to_uint8(t.pred_list_.back().yaw_);
// std::cout<<"orient: "<<unsigned(orientation)<<std::endl;
//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 velocity = speed_to_uint8(t.pred_list_.back().vel_);
// std::cout<<"vel: "<<unsigned(velocity)<<std::endl;
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;