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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/Yolo3Detection.cpp
+2 -32
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@@ -43,6 +43,8 @@ bool Yolo3Detection::init(const std::string& tensor_path, const int n_classes) {
float b = getColor(0, offset, classes);
colors[c] = cv::Scalar(int(255.0*b), int(255.0*g), int(255.0*r));
}
classesNames = getYoloLayer()->classesNames;
return true;
}
@@ -60,7 +62,6 @@ void Yolo3Detection::preprocess(cv::Mat &frame)
//write channels
for(int i=0; i<netRT->input_dim.c; i++) {
std::cout<<"copio il channel"<<i<<std::endl;
int idx = i*imagePreproc.rows*imagePreproc.cols;
int ch = netRT->input_dim.c-1 -i;
checkCuda( cudaMemcpy((void*)&input_d[idx], (void*)bgr[ch].data, imagePreproc.rows*imagePreproc.cols*sizeof(dnnType), cudaMemcpyDeviceToDevice));
@@ -122,8 +123,6 @@ void Yolo3Detection::postprocess(dnnType **rt_out, const int n_out)
float x_ratio = float(originalSize.width) / float(netRT->input_dim.w);
float y_ratio = float(originalSize.height) / float(netRT->input_dim.h);
std::cout<<"RATIO:"<<x_ratio<<" "<<y_ratio<<std::endl;
// compute dets
nDets = 0;
for(int i=0; i<n_out; i++) {
@@ -166,37 +165,8 @@ void Yolo3Detection::postprocess(dnnType **rt_out, const int n_out)
detected.push_back(res);
}
}
std::cout<<"N detections: "<<detected.size()<<std::endl;
}
cv::Mat Yolo3Detection::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;
// draw dets
for(int i=0; i<detected.size(); i++) {
b = detected[i];
x0 = b.x;
x1 = b.x + b.w;
y0 = b.y;
y1 = b.y + b.h;
det_class = getYoloLayer()->classesNames[b.cl];
// draw rectangle
cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), colors[b.cl], 2);
// draw label
cv::Size text_size = getTextSize(det_class, cv::FONT_HERSHEY_SIMPLEX, font_scale, thickness, &baseline);
cv::rectangle(frame, cv::Point(x0, y0), cv::Point((x0 + text_size.width - 2), (y0 - text_size.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;
}
tk::dnn::Yolo* Yolo3Detection::getYoloLayer(int n)
{