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Add configuration file to read CLASS parameters

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This commit changes the parameters reading. It introduces
getopt to read input parameters from command line and it
uses a configuration yaml file to read the input parameters
for the network, the map and the cameras.

This commit fixes a bug in message sending to the aggregator.

Signed-off-by: Davide Sapienza <sapienza.dav@gmail.com>
This commit is contained in:
Davide Sapienza
2019-10-15 09:59:39 +02:00
parent 35787cc771
commit d5ae26dfef
3 changed files with 208 additions and 94 deletions
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demo/demo/demo.cpp
+33 -94
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@@ -4,6 +4,7 @@
#include "Yolo3Detection.h"
#include "message.h"
#include "visualization.h"
#include "configuration.h"
#include "tracker.h"
#include "../masa_protocol/include/send.hpp"
@@ -483,7 +484,7 @@ void *computationTask(void *x_void_ptr)
}
std::cout << "There are " << trackers.size() << " trackers" << std::endl;
//prepare message with tracker info
if (trackers.size() == 0)
if (trackers.size() != 0)
{
// mutex_cv.lock();
addRoadUserfromTracker(trackers, m, gc, maskOrient, adfGeoTransform, H);
@@ -533,120 +534,58 @@ int main(int argc, char *argv[])
std::cout << "detection\n";
signal(SIGINT, sig_handler);
srand(time(NULL));
bool no_params = false; //flag to indicate if there are camera parameters or we use mp4 test video
char *net = (char *)"yolo3_coco4.rt";
if (argc > 1)
net = argv[1];
char *tiffile = (char *)"../demo/demo/data/map_b.tif";
if (argc > 2)
tiffile = argv[2];
char *n;
if (argc > 3)
{
n = argv[3];
if (strcmp(n, "-n"))
return -1;
};
int n_cameras = 0;
if (argc > 4)
{
n_cameras = atoi(argv[4]);
if (argc < 5 + 7 * n_cameras)
{
std::cout << "too few parameters\n";
return -1;
}
if (!n_cameras)
{
n_cameras = 1;
no_params = true;
}
}
Camera_t cameras[n_cameras];
bool *to_show = (bool *)malloc(n_cameras * sizeof(bool));
if (no_params)
{
cameras[0].CAM_IDX = 20936;
cameras[0].input = (char *)"../demo/demo/data/single_ped_2.mp4";
cameras[0].pmatrix = (char *)"../demo/demo/data/pmundist.txt";
cameras[0].maskfile = (char *)"../demo/demo/data/mask36.jpg";
cameras[0].cameraCalib = (char *)"../demo/demo/data/calib36.params";
cameras[0].maskFileOrient = (char *)"../demo/demo/data/mask_orient/6315_mask_orient.jpg";
cameras[0].to_show = true;
to_show[0] = true;
}
else
{
for (int i = 0; i < n_cameras; i++)
cameras[i].CAM_IDX = atoi(argv[5 + i]);
for (int i = 0; i < n_cameras; i++)
cameras[i].input = argv[5 + n_cameras + i];
for (int i = 0; i < n_cameras; i++)
cameras[i].pmatrix = argv[5 + 2 * n_cameras + i];
for (int i = 0; i < n_cameras; i++)
cameras[i].maskfile = argv[5 + 3 * n_cameras + i];
for (int i = 0; i < n_cameras; i++)
cameras[i].cameraCalib = argv[5 + 4 * n_cameras + i];
for (int i = 0; i < n_cameras; i++)
cameras[i].maskFileOrient = argv[5 + 5 * n_cameras + i];
for (int i = 0; i < n_cameras; i++)
{
cameras[i].to_show = atoi(argv[5 + 6 * n_cameras + i]); //only one camera can be shown
to_show[i] = atoi(argv[5 + 6 * n_cameras + i]);
}
}
//TODO now only one camera can be visualized
int check_visualization = 0;
for (int i = 0; i < n_cameras; i++)
check_visualization += to_show[i];
if (check_visualization > 1)
Parameters_t par;
if(!read_parameters(argc, argv, &par))
return -1;
tk::dnn::Yolo3Detection yolo[n_cameras];
for (int i = 0; i < n_cameras; i++)
{
yolo[i].init(net);
yolo[i].thresh = 0.25;
}
// tk::dnn::Yolo3Detection yolo[par.n_cameras];
// for(int i=0; i<par.n_cameras; i++)
// {
// std::cout<<"par net: "<<par.net<<std::endl;
// yolo[i].init(par.net);
// yolo[i].thresh = 0.25;
// }
// tk::dnn::Yolo3Detection yolo;
// yolo.init(net);
// yolo.thresh = 0.25;
// yolo.thresh = 0.25;
gRun = true;
// start the local clock. It is used to check the incoming frames (by different cameras)
// start the local clock. It is used to check the incoming frames (by different cameras)
local_clock_start = std::chrono::steady_clock::now();
/*GPS information*/
double *adfGeoTransform = (double *)malloc(6 * sizeof(double));
readTiff(tiffile, adfGeoTransform);
for (int i = 0; i < n_cameras; i++)
readTiff(par.tiffile, adfGeoTransform);
// Camera_t cameras[par.n_cameras];
for(int i=0; i<par.n_cameras; i++)
{
for (int j = 0; j < 6; j++)
cameras[i].adfGeoTransform[j] = adfGeoTransform[j];
cameras[i].yolo = yolo[i];
for(int j = 0; j < 6; j++ )
par.cameras[i].adfGeoTransform[j] = adfGeoTransform[j];
// par.cameras[i].yolo = yolo[i];
par.cameras[i].yolo.init(par.net);
par.cameras[i].yolo.thresh = 0.25;
// cameras[i].yolo = yolo[i];
// cameras[i].yolo = yolo;
}
std::cout << "INIZIA:\n";
pthread_t camera_task[n_cameras];
for (int i = 0; i < n_cameras; i++)
pthread_t camera_task[par.n_cameras];
for(int i=0; i<par.n_cameras; i++)
{
std::cout << "creating thread\n";
if (pthread_create(&camera_task[i], NULL, computationTask, (void *)&cameras[i]))
std::cout<<"creating thread\n";
if(pthread_create(&camera_task[i], NULL, computationTask, (void*)&(par.cameras[i])))
{
fprintf(stderr, "error creating thread\n");
return 1;
}
std::cout << "WHAT2\n";
}
for (int i = 0; i < n_cameras; i++)
for(int i=0; i<par.n_cameras; i++)
{
pthread_join(camera_task[i], NULL);
}
std::cout << " free adfGeoT \n";
std::cout <<" free adfGeoT \n";
free(adfGeoTransform);
std::cout << "detection end\n";
return 0;
}
}