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Modify map demo, using abstract class. Move draw function in abstract class

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Signed-off-by: Micaela Verucchi <micaelaverucchi@gmail.com>
This commit is contained in:
Micaela Verucchi
2020-03-23 19:32:37 +01:00
parent bbcc33c0cf
commit df37e11709
10 changed files with 85 additions and 150 deletions
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src/CenternetDetection.cpp
+4 -35
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@@ -131,7 +131,7 @@ void CenternetDetection::preprocess(cv::Mat &frame)
// auto step_t = std::chrono::steady_clock::now();
// auto end_t = std::chrono::steady_clock::now();
cv::Size sz = originalSize;
std::cout<<"image: "<<sz.width<<", "<<sz.height<<std::endl;
// std::cout<<"image: "<<sz.width<<", "<<sz.height<<std::endl;
cv::Size sz_old;
float scale = 1.0;
float new_height = sz.height * scale;
@@ -186,7 +186,7 @@ void CenternetDetection::preprocess(cv::Mat &frame)
checkCuda( cudaDeviceSynchronize() );
sz = imageF1_d.size();
std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
// std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
// end_t = std::chrono::steady_clock::now();
// std::cout << " TIME resize: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
// step_t = end_t;
@@ -226,7 +226,7 @@ void CenternetDetection::preprocess(cv::Mat &frame)
cv::Mat imageF;
resize(frame, imageF, cv::Size(new_width, new_height));
sz = imageF.size();
std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
// std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
// end_t = std::chrono::steady_clock::now();
// std::cout << " TIME resize: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
// step_t = end_t;
@@ -238,7 +238,7 @@ void CenternetDetection::preprocess(cv::Mat &frame)
// step_t = end_t;
sz = imageF.size();
std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
// std::cout<<"size: "<<sz.height<<" "<<sz.width<<" - "<<std::endl;
imageF.convertTo(imageF, CV_32FC3, 1/255.0);
// end_t = std::chrono::steady_clock::now();
// std::cout << " TIME convertto: " << std::chrono::duration_cast<std::chrono:: microseconds>(end_t - step_t).count() << " us" << std::endl;
@@ -425,37 +425,6 @@ void CenternetDetection::postprocess(dnnType **rt_out, const int n_out)
// step_t = end_t;
}
cv::Mat CenternetDetection::draw(cv::Mat &frame)
{
tk::dnn::box b;
int x0, w, x1, y0, h, y1;
int objClass;
std::string det_class;
int baseline = 0;
float font_scale = 0.5;
int thickness = 2;
int num_detected = detected.size();
for (int i = 0; i < num_detected; i++){
b = detected[i];
x0 = b.x;
w = b.w;
x1 = b.x + w;
y0 = b.y;
h = b.h;
y1 = b.y + h;
objClass = b.cl;
det_class = classesNames[objClass];
cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), colors[objClass], 2);
// draw label
cv::Size textSize = getTextSize(det_class, cv::FONT_HERSHEY_SIMPLEX, font_scale, thickness, &baseline);
cv::rectangle(frame, cv::Point(x0, y0), cv::Point((x0 + textSize.width - 2), (y0 - textSize.height - 2)), colors[b.cl], -1);
cv::putText(frame, det_class, cv::Point(x0, (y0 - (baseline / 2))), cv::FONT_HERSHEY_SIMPLEX, font_scale, cv::Scalar(255, 255, 255), thickness);
}
return frame;
}
}}