Francesco Gatti
157 lines
3.8 KiB
C++
157 lines
3.8 KiB
C++
#include <iostream>
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#include <signal.h>
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#include <stdlib.h> /* srand, rand */
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#include <unistd.h>
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#include <mutex>
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#include "utils.h"
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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#include "Yolo3Detection.h"
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#include "send.h"
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#define MAX_DETECT_SIZE 100
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bool gRun;
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void sig_handler(int signo) {
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std::cout<<"request gateway stop\n";
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gRun = false;
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}
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int main(int argc, char *argv[]) {
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std::cout<<"detection\n";
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signal(SIGINT, sig_handler);
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char *net = "yolo3_berkeley.rt";
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if(argc > 1)
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net = argv[1];
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char *input = "../demo/yolo_test.mp4";
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if(argc > 2)
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input = argv[2];
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char *pmatrix = "/home/classfog1/repos/MASA_server/pmatrix/proj_matrix_20937.txt";
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if(argc > 3)
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pmatrix = argv[3];
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char *tiffile = "/home/davide/repos/projection_tool/img/map_b.tif";
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if(argc > 4)
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tiffile = argv[4];
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/*CAMID*/
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int CAM_IDX = 0;
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if(argc > 5)
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CAM_IDX = atoi(argv[5]);
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bool to_show = true;
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if(argc > 6)
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to_show = atoi(argv[6]);
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tk::dnn::Yolo3Detection yolo;
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yolo.init(net);
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yolo.thresh = 0.25;
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gRun = true;
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cv::VideoCapture cap(input);
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if(!cap.isOpened())
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gRun = false;
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else
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std::cout<<"camera started\n";
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cv::Mat frame;
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cv::Mat dnn_input;
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cv::namedWindow("detection", cv::WINDOW_NORMAL);
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/*projection matrix*/
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int proj_matrix_read = 0;
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cv::Mat H(cv::Size(3,3),CV_64FC1);
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/*GPS information*/
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double *adfGeoTransform = (double*)malloc(6*sizeof(double));
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readTiff(tiffile, adfGeoTransform);
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/*socket*/
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int sock;
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int socket_opened = 0;
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struct obj_coords *coords = (struct obj_coords*)malloc(MAX_DETECT_SIZE*sizeof(struct obj_coords));
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int frame_nbr = 0;
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while(gRun) {
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cap >> frame;
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if(!frame.data) {
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usleep(1000000);
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cap.open(input);
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printf("cap reinitialize\n");
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continue;
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}
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// this will be resized to the net format
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dnn_input = frame.clone();
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// TODO: async infer
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yolo.update(dnn_input);
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int coord_i = 0;
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int num_detected = yolo.detected.size();
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if (num_detected > MAX_DETECT_SIZE)
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num_detected = MAX_DETECT_SIZE;
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if(proj_matrix_read == 0)
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read_projection_matrix(H, proj_matrix_read, pmatrix);
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/*printf("%f %f %f \n%f %f %f\n %f %f %f\n\n", proj_matrix[0],proj_matrix[1],
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proj_matrix[2],proj_matrix[3],proj_matrix[4],proj_matrix[5],
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proj_matrix[6],proj_matrix[7],proj_matrix[8]);*/
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// draw dets
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for(int i=0; i<num_detected; i++) {
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tk::dnn::box b = yolo.detected[i];
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int x0 = b.x;
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int x1 = b.x + b.w;
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int y0 = b.y;
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int y1 = b.y + b.h;
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int obj_class = b.cl;
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if(obj_class == 0 /*person*/ || obj_class == 1/*bicycle*/ || obj_class == 2/*car*/
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|| obj_class == 3/*motorbike*/ || obj_class == 5/*bus*/)
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{
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convert_coords(coords, coord_i,x0+b.w/2, y1,obj_class, H, adfGeoTransform, frame_nbr);
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coord_i++;
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}
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float prob = b.prob;
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std::cout<<obj_class<<" ("<<prob<<"): "<<x0<<" "<<y0<<" "<<x1<<" "<<y1<<"\n";
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cv::rectangle(frame, cv::Point(x0, y0), cv::Point(x1, y1), yolo.colors[obj_class], 2);
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}
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frame_nbr++;
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send_client_dummy(coords, coord_i, sock, socket_opened, CAM_IDX);
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if (to_show)
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{
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cv::imshow("detection", frame);
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cv::waitKey(1);
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}
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}
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free(coords);
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free(adfGeoTransform);
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std::cout<<"detection end\n";
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return 0;
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}
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