Add configuration file to read CLASS parameters

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>

demo/demo/demo.cpp

@@ -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";
+    Parameters_t par;
-    if (argc > 1)
+
-        net = argv[1];
+    if(!read_parameters(argc, argv, &par))
-    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)
         return -1;
-
+    
-    tk::dnn::Yolo3Detection yolo[n_cameras];
+    // tk::dnn::Yolo3Detection yolo[par.n_cameras];
-    for (int i = 0; i < n_cameras; i++)
+    // for(int i=0; i<par.n_cameras; i++)
-    {
+    // {
-        yolo[i].init(net);
+    //     std::cout<<"par net: "<<par.net<<std::endl;
-        yolo[i].thresh = 0.25;
+    //     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);
+    readTiff(par.tiffile, adfGeoTransform);
-
+    // Camera_t cameras[par.n_cameras]; 
-    for (int i = 0; i < n_cameras; i++)
+    for(int i=0; i<par.n_cameras; i++)
     {
-        for (int j = 0; j < 6; j++)
+        for(int j = 0; j < 6; j++ )
-            cameras[i].adfGeoTransform[j] = adfGeoTransform[j];
+            par.cameras[i].adfGeoTransform[j] = adfGeoTransform[j];
-        cameras[i].yolo = yolo[i];
+        // 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[par.n_cameras];
-    pthread_t camera_task[n_cameras];
+    for(int i=0; i<par.n_cameras; i++)
-    for (int i = 0; i < n_cameras; i++)
     {
-        std::cout << "creating thread\n";
+        std::cout<<"creating thread\n";
-        if (pthread_create(&camera_task[i], NULL, computationTask, (void *)&cameras[i]))
+        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;
-}
+}

include/configuration.h

@@ -0,0 +1,21 @@
+#ifndef CONFIGURATION_H
+#define CONFIGURATION_H
+
+#include "cameraUtils.h"
+#include <iostream>
+#include <cstring>
+
+#include <yaml-cpp/yaml.h>
+
+struct Parameters_t 
+{
+    char *net;
+    char *tiffile;
+    int n_cameras;
+    Camera_t *cameras;
+};
+
+void readCamerasParametersYaml(const std::string &camerasParams, Parameters_t *par);
+bool read_parameters(int argc, char *argv[], Parameters_t *par);
+
+#endif /*CONFIGURATION_H*/

src/class_src/configuration.cpp

@@ -0,0 +1,154 @@
+#include "configuration.h"
+
+/* Read the configuration file. The yaml file contains the information about the network, 
+ * the map and the cameras.
+**/
+void readCamerasParametersYaml(const std::string &camerasParams, Parameters_t *par)
+{
+
+    std::string cam, tmp;
+    YAML::Node config = YAML::LoadFile(camerasParams);
+    tmp = config["weights"].as<std::string>();//config["lastLogin"].as<DateTime>()
+    par->net = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+    strcpy(par->net, tmp.c_str());
+    par->net[strlen(tmp.c_str())] = '\0';
+    // std::cout<<"- "<<par->net<<std::endl;  
+    tmp = config["tif_map"].as<std::string>();
+    par->tiffile = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+    strcpy(par->tiffile, tmp.c_str());
+    par->tiffile[strlen(tmp.c_str())] = '\0';
+    // std::cout<<"- "<<par->tiffile<<std::endl;
+        
+    //read cameras infomrations
+    for (int i = 0; i<par->n_cameras; i++)
+    {
+        cam = std::to_string(par->cameras[i].CAM_IDX);
+        // std::cout<<"read "<<cam<<std::endl;
+        tmp = config[cam]["input_stream"].as<std::string>();
+        par->cameras[i].input = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+        strcpy(par->cameras[i].input, tmp.c_str());
+        par->cameras[i].input[strlen(tmp.c_str())] = '\0';
+        // std::cout<<"- "<<par->cameras[i].input<<std::endl;
+        tmp = config[cam]["pmatrix"].as<std::string>();
+        par->cameras[i].pmatrix = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+        strcpy(par->cameras[i].pmatrix, tmp.c_str());
+        par->cameras[i].pmatrix[strlen(tmp.c_str())] = '\0';
+        // std::cout<<"- "<<par->cameras[i].pmatrix<<std::endl;
+        tmp = config[cam]["maskfile"].as<std::string>();
+        par->cameras[i].maskfile = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+        strcpy(par->cameras[i].maskfile, tmp.c_str());
+        par->cameras[i].maskfile[strlen(tmp.c_str())] = '\0';
+        // std::cout<<"- "<<par->cameras[i].maskfile<<std::endl;
+        tmp = config[cam]["cameraCalib"].as<std::string>();
+        par->cameras[i].cameraCalib = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+        strcpy(par->cameras[i].cameraCalib, tmp.c_str());
+        par->cameras[i].cameraCalib[strlen(tmp.c_str())] = '\0';
+        // std::cout<<"- "<<par->cameras[i].cameraCalib<<std::endl;
+        tmp = config[cam]["maskFileOrient"].as<std::string>();
+        par->cameras[i].maskFileOrient = (char *) malloc((strlen(tmp.c_str())+1) * sizeof(char));
+        strcpy(par->cameras[i].maskFileOrient, tmp.c_str());
+        par->cameras[i].maskFileOrient[strlen(tmp.c_str())] = '\0';
+        // std::cout<<"- "<<par->cameras[i].maskFileOrient<<std::endl;
+    }
+}
+
+/* Read the parameters from the command line and configuration file.
+**/
+bool read_parameters(int argc, char *argv[], Parameters_t *par)
+{
+    bool no_params = false;
+    std::string params;// = "../../prova.yaml";
+    par->n_cameras = 0;
+    int opt;
+    char *help = "Yolo3 demo\nCommand:\n -i\tencrypted parameters file\n -n\tnumer of cameras\n \tlist of camera numbers (see -n)\n \tlist of flags for the visualization (see -n)\n\n";
+    // first read n_cameras parameter and/or help option 
+    while((opt = getopt(argc, argv, ":n:i:h")) != -1)
+    {
+        switch(opt)
+        {
+            case 'n': //number of cameras
+                std::cout<<"number of cameras"<<std::endl;
+                par->n_cameras = atoi(optarg);
+                break;
+            case 'h':
+                std::cout<<"help"<<std::endl;
+                std::cout<<help<<std::endl;
+                return false;
+            case 'i':
+                    std::cout<<"input parameters file"<<std::endl;
+                    params = optarg;
+                    std::cout<<"file: "<<params<<std::endl;
+                    break;
+            case ':':
+                printf("option needs a value\n");
+                no_params = true;
+                par->n_cameras = 1;
+                break;
+            case '?':
+                printf("unknown option: %c\n", optopt);
+                break;
+        }
+    }
+    par->cameras = (Camera_t *) malloc(par->n_cameras * sizeof(Camera_t)); 
+    bool *to_show = (bool *) malloc(par->n_cameras * sizeof(bool)); 
+    if(no_params) 
+    {
+        par->net = "yolo3_coco4.rt";
+        par->tiffile = "../demo/demo/data/map_b.tif";
+        par->cameras[0].CAM_IDX = 20936;
+        par->cameras[0].input = (char *)"../demo/demo/data/single_ped_2.mp4";
+        par->cameras[0].pmatrix = (char *)"../demo/demo/data/pmundist.txt";
+        par->cameras[0].maskfile = (char *)"../demo/demo/data/mask36.jpg";
+        par->cameras[0].cameraCalib = (char *)"../demo/demo/data/calib36.params";
+        par->cameras[0].maskFileOrient = (char *)"../demo/demo/data/mask_orient/6315_mask_orient.jpg";
+        par->cameras[0].to_show = true;
+        to_show[0] = true;
+    }
+    else
+    {    
+        int i = 0;
+        for(; optind < argc; optind++)
+        {
+            if(i==par->n_cameras)
+                break;
+            printf("extra arguments: %s\n", argv[optind]);
+            par->cameras[i].CAM_IDX = atoi(argv[optind]);
+            i++;
+        }
+        i=0;
+        for(; optind < argc; optind++)
+        {
+            if(i==par->n_cameras)
+                break;
+            printf("extra arguments: %s\n", argv[optind]);
+            par->cameras[i].to_show = atoi(argv[optind]); //only one camera can be shown
+            to_show[i] = par->cameras[i].to_show;
+            i++;
+        }
+        // TODO: now only one camera can be visualized
+        int check_visualization=0;
+        for(int i = 0; i<par->n_cameras; i++)
+            check_visualization += to_show[i];
+        if(check_visualization > 1)
+            return false;
+        //decrypt the input file, save it in tmp directory
+        char s[200] = "";
+        strcat(s, "openssl enc -aes-256-cbc -d -in ");
+        strcat(s, params.c_str());
+        strcat(s, " -base64 -md sha1 -out /tmp/decrypt.yaml");
+        if(system(s))
+        {
+            fprintf(stderr, "Error system\n");
+            return false;
+        }
+        // read the file yaml to get the camera parameters
+        readCamerasParametersYaml("/tmp/decrypt.yaml", par);
+        // delete the file decrypted
+        if (system("rm /tmp/decrypt.yaml"))
+        {
+            fprintf(stderr, "Error system\n");
+            return false;
+        }
+    }
+    return true;
+}