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new send and submodule masa_protocol added

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This commit is contained in:
mive93
2019-05-08 11:34:18 +02:00
parent caf4ddbce2
commit e38d8e82ca
8 changed files with 206 additions and 596 deletions
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include/classutils.h
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#ifndef CLASSUTILS_H
#define CLASSUTILS_H
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <sys/socket.h> //socket
#include <arpa/inet.h> //inet_addr
#include <unistd.h> //write
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include "gdal.h"
#include <gdal_priv.h>
#include <gdal/gdal.h>
#include "gdal/gdal_priv.h"
#include "gdal/cpl_conv.h"
struct obj_coords
{
double LAT;
double LONG;
float cl;
};
void readTiff(char *filename, double *adfGeoTransform)
{
GDALDataset *poDataset;
GDALAllRegister();
poDataset = (GDALDataset *)GDALOpen(filename, GA_ReadOnly);
if (poDataset != NULL)
{
//int colms = poDataset->GetRasterXSize();
//int rows = poDataset->GetRasterYSize();
poDataset->GetGeoTransform(adfGeoTransform);
}
}
void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform)
{
//Returns global coordinates from pixel x, y coordinates
double xoff, a, b, yoff, d, e;
xoff = adfGeoTransform[0];
a = adfGeoTransform[1];
b = adfGeoTransform[2];
yoff = adfGeoTransform[3];
d = adfGeoTransform[4];
e = adfGeoTransform[5];
//printf("%f %f %f %f %f %f\n",xoff, a, b, yoff, d, e );
lon = a * x + b * y + xoff;
lat = d * x + e * y + yoff;
}
void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform)
{
x = int(round((lon - adfGeoTransform[0]) / adfGeoTransform[1]));
y = int(round((lat - adfGeoTransform[3]) / adfGeoTransform[5]));
}
void fillMatrix(cv::Mat &H, float *matrix, bool show = false)
{
double *vals = (double *)H.data;
for (int i = 0; i < 9; i++)
{
vals[i] = matrix[i];
}
if (show)
std::cout << H << "\n";
}
//FILE *out_file = fopen("prova_pixel.txt", "w");
void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class, cv::Mat H, double *adfGeoTransform, int frame_nbr)
{
double latitude, longitude;
std::vector<cv::Point2f> x_y, ll;
x_y.push_back(cv::Point2f(x, y));
//transform camera pixel to map pixel
cv::perspectiveTransform(x_y, ll, H);
//tranform to map pixel to map gps
pixel2coord(ll[0].x, ll[0].y, latitude, longitude, adfGeoTransform);
//printf("lat: %f, long:%f \n", latitude, longitude);
coords[i].LAT = latitude;
coords[i].LONG = longitude;
coords[i].cl = detected_class;
/*if (detected_class == 0)
{
struct timeval tv;
gettimeofday(&tv, NULL);
unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
//printf(out_file, "%d %lld %d %d\n",frame_nbr, t_stamp_ms, int(ll[0].x), int(ll[0].y));
fprintf(out_file, "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
//printf( "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
}*/
}
void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char *path)
{
FILE *fp;
char *line = NULL;
size_t len = 0;
ssize_t read;
float *proj_matrix = (float *)malloc(9 * sizeof(float));
fp = fopen(path, "r");
if (fp == NULL)
exit(EXIT_FAILURE);
int i = 0;
while ((read = getline(&line, &len, fp)) != -1)
{
if (3 == sscanf(line, "%f %f %f", &proj_matrix[i * 3 + 0], &proj_matrix[i * 3 + 1], &proj_matrix[i * 3 + 2]))
{
i++;
proj_matrix_read = 1;
}
}
free(line);
fclose(fp);
fillMatrix(H, proj_matrix);
free(proj_matrix);
}
#endif /*CLASSUTILS_H*/
include/send.h
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#ifndef SEND_H
#define SEND_H
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <sys/socket.h> //socket
#include <arpa/inet.h> //inet_addr
#include <unistd.h> //write
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include "gdal.h"
#include <gdal_priv.h>
#include <gdal/gdal.h>
#include "gdal/gdal_priv.h"
#include "gdal/cpl_conv.h"
#include "serialize.hpp"
struct obj_coords
{
double LAT;
double LONG;
float cl;
};
void readTiff(char *filename, double *adfGeoTransform)
{
GDALDataset *poDataset;
GDALAllRegister();
poDataset = (GDALDataset *)GDALOpen(filename, GA_ReadOnly);
if (poDataset != NULL)
{
//int colms = poDataset->GetRasterXSize();
//int rows = poDataset->GetRasterYSize();
poDataset->GetGeoTransform(adfGeoTransform);
}
}
void pixel2coord(int x, int y, double &lat, double &lon, double *adfGeoTransform)
{
//Returns global coordinates from pixel x, y coordinates
double xoff, a, b, yoff, d, e;
xoff = adfGeoTransform[0];
a = adfGeoTransform[1];
b = adfGeoTransform[2];
yoff = adfGeoTransform[3];
d = adfGeoTransform[4];
e = adfGeoTransform[5];
//printf("%f %f %f %f %f %f\n",xoff, a, b, yoff, d, e );
lon = a * x + b * y + xoff;
lat = d * x + e * y + yoff;
}
void coord2pixel(double lat, double lon, int &x, int &y, double *adfGeoTransform)
{
x = int(round((lon - adfGeoTransform[0]) / adfGeoTransform[1]));
y = int(round((lat - adfGeoTransform[3]) / adfGeoTransform[5]));
}
void fillMatrix(cv::Mat &H, float *matrix, bool show = false)
{
double *vals = (double *)H.data;
for (int i = 0; i < 9; i++)
{
vals[i] = matrix[i];
}
if (show)
std::cout << H << "\n";
}
void serialize_coords(struct obj_coords *c, int obj_n, int CAM_IDX, std::stringbuf *buf)
{
std::ostream os(buf);
cereal::PortableBinaryOutputArchive archive(os);
struct timeval tv;
gettimeofday(&tv, NULL);
unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
std::vector<Road_User> ruv;
int i;
for (i = 0; i < obj_n; i++)
{
Road_User r{c[i].LAT, c[i].LONG, 0, 0, (int)c[i].cl};
ruv.push_back(r);
}
Message m{CAM_IDX, t_stamp_ms, ruv.size(), ruv};
archive(m);
//std::cout<<buf->str()<<std::endl;
//return buf;
}
struct obj_coords *deserialize_coords(char *buffer, int *obj_n)
{
std::stringbuf buf(buffer);
std::istream is(&buf);
cereal::PortableBinaryInputArchive retrieve(is);
Message m;
retrieve(m);
int cam_id = m.cam_idx;
unsigned long long t_stamp_ms = m.t_stamp_ms;
*obj_n = m.num_objects;
struct obj_coords *c = (struct obj_coords *)malloc(*obj_n * sizeof(struct obj_coords));
int i;
for (i = 0; i < *obj_n; i++)
{
c[i].LAT = m.objects.at(i).latitude;
c[i].LONG = m.objects.at(i).longitude;
c[i].cl = m.objects.at(i).category;
//m.objects.at(i).speed;
//m.objects.at(i).orientation;
}
return c;
}
int map_class_coco_to_voc(int coco_class)
{
switch (coco_class)
{
case 0:
return 14; //person
case 1:
return 1; //bicycle
case 2:
return 6; //car
case 3:
return 13; //motorkbike
case 5:
return 5; //bus
}
return -1;
}
FILE *out_file = fopen("prova_pixel.txt", "w");
void convert_coords(struct obj_coords *coords, int i, int x, int y, int detected_class, cv::Mat H, double *adfGeoTransform, int frame_nbr)
{
double latitude, longitude;
std::vector<cv::Point2f> x_y, ll;
x_y.push_back(cv::Point2f(x, y));
//transform camera pixel to map pixel
cv::perspectiveTransform(x_y, ll, H);
//tranform to map pixel to map gps
pixel2coord(ll[0].x, ll[0].y, latitude, longitude, adfGeoTransform);
//printf("lat: %f, long:%f \n", latitude, longitude);
coords[i].LAT = latitude;
coords[i].LONG = longitude;
coords[i].cl = map_class_coco_to_voc(detected_class);
if (detected_class == 0)
{
struct timeval tv;
gettimeofday(&tv, NULL);
unsigned long long t_stamp_ms = (unsigned long long)(tv.tv_sec) * 1000 + (unsigned long long)(tv.tv_usec) / 1000;
//fprintf(out_file, "%d %lld %d %d\n",frame_nbr, t_stamp_ms, int(ll[0].x), int(ll[0].y));
fprintf(out_file, "%d %lld %f %f\n", frame_nbr, t_stamp_ms, coords[i].LAT, coords[i].LONG);
}
}
void read_projection_matrix(cv::Mat &H, int &proj_matrix_read, char *path)
{
FILE *fp;
char *line = NULL;
size_t len = 0;
ssize_t read;
float *proj_matrix = (float *)malloc(9 * sizeof(float));
fp = fopen(path, "r");
if (fp == NULL)
exit(EXIT_FAILURE);
int i = 0;
while ((read = getline(&line, &len, fp)) != -1)
{
if (3 == sscanf(line, "%f %f %f", &proj_matrix[i * 3 + 0], &proj_matrix[i * 3 + 1], &proj_matrix[i * 3 + 2]))
{
i++;
proj_matrix_read = 1;
}
}
free(line);
fclose(fp);
fillMatrix(H, proj_matrix);
free(proj_matrix);
}
int open_socket(char *ip, int &sock, int &socket_opened)
{
struct sockaddr_in server;
sock = socket(AF_INET, SOCK_STREAM, 0);
if (sock == -1)
{
printf("Could not create socket");
}
puts("Socket created");
server.sin_addr.s_addr = inet_addr(ip);
server.sin_family = AF_INET;
server.sin_port = htons(8888);
/*connect to remote server*/
if (connect(sock, (struct sockaddr *)&server, sizeof(server)) < 0)
{
perror("connect failed. Error");
socket_opened = 0;
return 0;
}
puts("Connected\n");
socket_opened = 1;
return 1;
}
int send_client_dummy(struct obj_coords *coords, int n_coords, int &sock, int &socket_opened, int CAM_IDX)
{
/*serialize coords*/
std::stringbuf *message = new std::stringbuf();
serialize_coords(coords, n_coords, CAM_IDX, message);
//std::cout<<message->str().length()<<std::endl;
/*open socket if not already opened*/
if (socket_opened == 0)
{
int res = open_socket("127.0.0.1", sock, socket_opened);
if (res)
printf("Socket opened!\n");
else
{
printf("Problem: socket NOT opened!\n");
return 0;
}
}
/*send message to server*/
if (send(sock, message->str().data(), message->str().length(), 0) < 0)
{
puts("Send failed");
socket_opened = 0;
}
delete message;
//free(message);
//close(sock);
return 1;
}
#endif /*SEND_H*/
include/serialize.hpp
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#ifndef SERIALIZE_H
#define SERIALIZE_H
#include <cereal/archives/portable_binary.hpp>
#include <cereal/types/vector.hpp>
struct Road_User{
float latitude;
float longitude;
uint8_t speed;
uint8_t orientation;
uint8_t category;
template<class Archive>
void serialize(Archive & archive)
{
archive( latitude, longitude, speed, orientation, category );
}
};
struct Message{
uint32_t cam_idx;
uint64_t t_stamp_ms;
uint16_t num_objects;
std::vector<Road_User> objects;
template<class Archive>
void serialize(Archive & archive)
{
archive( cam_idx, t_stamp_ms, num_objects, objects );
}
};
#endif