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add tracking position output

This commit is contained in:
lxm 2023-09-08 17:46:53 +08:00
parent 230c41a41c
commit b93d5c7381
4 changed files with 1359 additions and 1055 deletions
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382
algorithm/sv_algorithm_base.cpp
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@ -11,21 +11,18 @@
#define SV_MODEL_DIR "/SpireCV/models/" #define SV_MODEL_DIR "/SpireCV/models/"
#define SV_ROOT_DIR "/SpireCV/" #define SV_ROOT_DIR "/SpireCV/"
namespace sv
namespace sv { {
using namespace cv; using namespace cv;
using namespace cv::dnn; using namespace cv::dnn;
void _cameraMatrix2Fov(cv::Mat camera_matrix_, int img_w_, int img_h_, double &fov_x_, double &fov_y_) void _cameraMatrix2Fov(cv::Mat camera_matrix_, int img_w_, int img_h_, double &fov_x_, double &fov_y_)
{ {
fov_x_ = 2 * atan(img_w_ / 2. / camera_matrix_.at<double>(0, 0)) * SV_RAD2DEG; fov_x_ = 2 * atan(img_w_ / 2. / camera_matrix_.at<double>(0, 0)) * SV_RAD2DEG;
fov_y_ = 2 * atan(img_h_ / 2. / camera_matrix_.at<double>(1, 1)) * SV_RAD2DEG; fov_y_ = 2 * atan(img_h_ / 2. / camera_matrix_.at<double>(1, 1)) * SV_RAD2DEG;
} }
CameraAlgorithm::CameraAlgorithm() CameraAlgorithm::CameraAlgorithm()
{ {
// this->_value = NULL; // this->_value = NULL;
@ -66,20 +63,17 @@ void CameraAlgorithm::loadCameraParams(std::string yaml_fn_)
// std::cout << this->fov_x << ", " << this->fov_y << std::endl; // std::cout << this->fov_x << ", " << this->fov_y << std::endl;
} }
void CameraAlgorithm::loadAlgorithmParams(std::string json_fn_) void CameraAlgorithm::loadAlgorithmParams(std::string json_fn_)
{ {
this->alg_params_fn = json_fn_; this->alg_params_fn = json_fn_;
} }
ArucoDetector::ArucoDetector() ArucoDetector::ArucoDetector()
{ {
_params_loaded = false; _params_loaded = false;
_dictionary = nullptr; _dictionary = nullptr;
} }
void ArucoDetector::_load() void ArucoDetector::_load()
{ {
JsonValue all_value; JsonValue all_value;
@ -93,63 +87,79 @@ void ArucoDetector::_load()
_dictionary_id = 10; _dictionary_id = 10;
// _detector_params = aruco::DetectorParameters::create(); // _detector_params = aruco::DetectorParameters::create();
_detector_params = new aruco::DetectorParameters; _detector_params = new aruco::DetectorParameters;
for (auto i : aruco_params_value) { for (auto i : aruco_params_value)
if ("_dictionary_id" == std::string(i->key)) { {
if ("_dictionary_id" == std::string(i->key))
{
_dictionary_id = i->value.toNumber(); _dictionary_id = i->value.toNumber();
} }
else if ("adaptiveThreshConstant" == std::string(i->key)) { else if ("adaptiveThreshConstant" == std::string(i->key))
{
// std::cout << "adaptiveThreshConstant (old, new): " << _detector_params->adaptiveThreshConstant << ", " << i->value.toNumber() << std::endl; // std::cout << "adaptiveThreshConstant (old, new): " << _detector_params->adaptiveThreshConstant << ", " << i->value.toNumber() << std::endl;
_detector_params->adaptiveThreshConstant = i->value.toNumber(); _detector_params->adaptiveThreshConstant = i->value.toNumber();
} }
else if ("adaptiveThreshWinSizeMax" == std::string(i->key)) { else if ("adaptiveThreshWinSizeMax" == std::string(i->key))
{
// std::cout << "adaptiveThreshWinSizeMax (old, new): " << _detector_params->adaptiveThreshWinSizeMax << ", " << i->value.toNumber() << std::endl; // std::cout << "adaptiveThreshWinSizeMax (old, new): " << _detector_params->adaptiveThreshWinSizeMax << ", " << i->value.toNumber() << std::endl;
_detector_params->adaptiveThreshWinSizeMax = i->value.toNumber(); _detector_params->adaptiveThreshWinSizeMax = i->value.toNumber();
} }
else if ("adaptiveThreshWinSizeMin" == std::string(i->key)) { else if ("adaptiveThreshWinSizeMin" == std::string(i->key))
{
// std::cout << "adaptiveThreshWinSizeMin (old, new): " << _detector_params->adaptiveThreshWinSizeMin << ", " << i->value.toNumber() << std::endl; // std::cout << "adaptiveThreshWinSizeMin (old, new): " << _detector_params->adaptiveThreshWinSizeMin << ", " << i->value.toNumber() << std::endl;
_detector_params->adaptiveThreshWinSizeMin = i->value.toNumber(); _detector_params->adaptiveThreshWinSizeMin = i->value.toNumber();
} }
else if ("adaptiveThreshWinSizeStep" == std::string(i->key)) { else if ("adaptiveThreshWinSizeStep" == std::string(i->key))
{
// std::cout << "adaptiveThreshWinSizeStep (old, new): " << _detector_params->adaptiveThreshWinSizeStep << ", " << i->value.toNumber() << std::endl; // std::cout << "adaptiveThreshWinSizeStep (old, new): " << _detector_params->adaptiveThreshWinSizeStep << ", " << i->value.toNumber() << std::endl;
_detector_params->adaptiveThreshWinSizeStep = i->value.toNumber(); _detector_params->adaptiveThreshWinSizeStep = i->value.toNumber();
} }
else if ("aprilTagCriticalRad" == std::string(i->key)) { else if ("aprilTagCriticalRad" == std::string(i->key))
{
// std::cout << "aprilTagCriticalRad (old, new): " << _detector_params->aprilTagCriticalRad << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagCriticalRad (old, new): " << _detector_params->aprilTagCriticalRad << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagCriticalRad = i->value.toNumber(); _detector_params->aprilTagCriticalRad = i->value.toNumber();
} }
else if ("aprilTagDeglitch" == std::string(i->key)) { else if ("aprilTagDeglitch" == std::string(i->key))
{
// std::cout << "aprilTagDeglitch (old, new): " << _detector_params->aprilTagDeglitch << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagDeglitch (old, new): " << _detector_params->aprilTagDeglitch << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagDeglitch = i->value.toNumber(); _detector_params->aprilTagDeglitch = i->value.toNumber();
} }
else if ("aprilTagMaxLineFitMse" == std::string(i->key)) { else if ("aprilTagMaxLineFitMse" == std::string(i->key))
{
// std::cout << "aprilTagMaxLineFitMse (old, new): " << _detector_params->aprilTagMaxLineFitMse << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagMaxLineFitMse (old, new): " << _detector_params->aprilTagMaxLineFitMse << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagMaxLineFitMse = i->value.toNumber(); _detector_params->aprilTagMaxLineFitMse = i->value.toNumber();
} }
else if ("aprilTagMaxNmaxima" == std::string(i->key)) { else if ("aprilTagMaxNmaxima" == std::string(i->key))
{
// std::cout << "aprilTagMaxNmaxima (old, new): " << _detector_params->aprilTagMaxNmaxima << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagMaxNmaxima (old, new): " << _detector_params->aprilTagMaxNmaxima << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagMaxNmaxima = i->value.toNumber(); _detector_params->aprilTagMaxNmaxima = i->value.toNumber();
} }
else if ("aprilTagMinClusterPixels" == std::string(i->key)) { else if ("aprilTagMinClusterPixels" == std::string(i->key))
{
// std::cout << "aprilTagMinClusterPixels (old, new): " << _detector_params->aprilTagMinClusterPixels << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagMinClusterPixels (old, new): " << _detector_params->aprilTagMinClusterPixels << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagMinClusterPixels = i->value.toNumber(); _detector_params->aprilTagMinClusterPixels = i->value.toNumber();
} }
else if ("aprilTagMinWhiteBlackDiff" == std::string(i->key)) { else if ("aprilTagMinWhiteBlackDiff" == std::string(i->key))
{
// std::cout << "aprilTagMinWhiteBlackDiff (old, new): " << _detector_params->aprilTagMinWhiteBlackDiff << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagMinWhiteBlackDiff (old, new): " << _detector_params->aprilTagMinWhiteBlackDiff << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagMinWhiteBlackDiff = i->value.toNumber(); _detector_params->aprilTagMinWhiteBlackDiff = i->value.toNumber();
} }
else if ("aprilTagQuadDecimate" == std::string(i->key)) { else if ("aprilTagQuadDecimate" == std::string(i->key))
{
// std::cout << "aprilTagQuadDecimate (old, new): " << _detector_params->aprilTagQuadDecimate << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagQuadDecimate (old, new): " << _detector_params->aprilTagQuadDecimate << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagQuadDecimate = i->value.toNumber(); _detector_params->aprilTagQuadDecimate = i->value.toNumber();
} }
else if ("aprilTagQuadSigma" == std::string(i->key)) { else if ("aprilTagQuadSigma" == std::string(i->key))
{
// std::cout << "aprilTagQuadSigma (old, new): " << _detector_params->aprilTagQuadSigma << ", " << i->value.toNumber() << std::endl; // std::cout << "aprilTagQuadSigma (old, new): " << _detector_params->aprilTagQuadSigma << ", " << i->value.toNumber() << std::endl;
_detector_params->aprilTagQuadSigma = i->value.toNumber(); _detector_params->aprilTagQuadSigma = i->value.toNumber();
} }
else if ("cornerRefinementMaxIterations" == std::string(i->key)) { else if ("cornerRefinementMaxIterations" == std::string(i->key))
{
// std::cout << "cornerRefinementMaxIterations (old, new): " << _detector_params->cornerRefinementMaxIterations << ", " << i->value.toNumber() << std::endl; // std::cout << "cornerRefinementMaxIterations (old, new): " << _detector_params->cornerRefinementMaxIterations << ", " << i->value.toNumber() << std::endl;
_detector_params->cornerRefinementMaxIterations = i->value.toNumber(); _detector_params->cornerRefinementMaxIterations = i->value.toNumber();
} }
else if ("cornerRefinementMethod" == std::string(i->key)) { else if ("cornerRefinementMethod" == std::string(i->key))
{
// std::cout << "cornerRefinementMethod (old, new): " << _detector_params->cornerRefinementMethod << ", " << i->value.toNumber() << std::endl; // std::cout << "cornerRefinementMethod (old, new): " << _detector_params->cornerRefinementMethod << ", " << i->value.toNumber() << std::endl;
// _detector_params->cornerRefinementMethod = i->value.toNumber(); // _detector_params->cornerRefinementMethod = i->value.toNumber();
int method = (int)i->value.toNumber(); int method = (int)i->value.toNumber();
@ -170,109 +180,139 @@ void ArucoDetector::_load()
_detector_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_NONE; _detector_params->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_NONE;
} }
} }
else if ("cornerRefinementMinAccuracy" == std::string(i->key)) { else if ("cornerRefinementMinAccuracy" == std::string(i->key))
{
// std::cout << "cornerRefinementMinAccuracy (old, new): " << _detector_params->cornerRefinementMinAccuracy << ", " << i->value.toNumber() << std::endl; // std::cout << "cornerRefinementMinAccuracy (old, new): " << _detector_params->cornerRefinementMinAccuracy << ", " << i->value.toNumber() << std::endl;
_detector_params->cornerRefinementMinAccuracy = i->value.toNumber(); _detector_params->cornerRefinementMinAccuracy = i->value.toNumber();
} }
else if ("cornerRefinementWinSize" == std::string(i->key)) { else if ("cornerRefinementWinSize" == std::string(i->key))
{
// std::cout << "cornerRefinementWinSize (old, new): " << _detector_params->cornerRefinementWinSize << ", " << i->value.toNumber() << std::endl; // std::cout << "cornerRefinementWinSize (old, new): " << _detector_params->cornerRefinementWinSize << ", " << i->value.toNumber() << std::endl;
_detector_params->cornerRefinementWinSize = i->value.toNumber(); _detector_params->cornerRefinementWinSize = i->value.toNumber();
} }
else if ("detectInvertedMarker" == std::string(i->key)) { else if ("detectInvertedMarker" == std::string(i->key))
{
bool json_tf = false; bool json_tf = false;
if (i->value.getTag() == JSON_TRUE) json_tf = true; if (i->value.getTag() == JSON_TRUE)
json_tf = true;
// std::cout << "detectInvertedMarker (old, new): " << _detector_params->detectInvertedMarker << ", " << json_tf << std::endl; // std::cout << "detectInvertedMarker (old, new): " << _detector_params->detectInvertedMarker << ", " << json_tf << std::endl;
_detector_params->detectInvertedMarker = json_tf; _detector_params->detectInvertedMarker = json_tf;
} }
else if ("errorCorrectionRate" == std::string(i->key)) { else if ("errorCorrectionRate" == std::string(i->key))
{
// std::cout << "errorCorrectionRate (old, new): " << _detector_params->errorCorrectionRate << ", " << i->value.toNumber() << std::endl; // std::cout << "errorCorrectionRate (old, new): " << _detector_params->errorCorrectionRate << ", " << i->value.toNumber() << std::endl;
_detector_params->errorCorrectionRate = i->value.toNumber(); _detector_params->errorCorrectionRate = i->value.toNumber();
} }
else if ("markerBorderBits" == std::string(i->key)) { else if ("markerBorderBits" == std::string(i->key))
{
// std::cout << "markerBorderBits (old, new): " << _detector_params->markerBorderBits << ", " << i->value.toNumber() << std::endl; // std::cout << "markerBorderBits (old, new): " << _detector_params->markerBorderBits << ", " << i->value.toNumber() << std::endl;
_detector_params->markerBorderBits = i->value.toNumber(); _detector_params->markerBorderBits = i->value.toNumber();
} }
else if ("maxErroneousBitsInBorderRate" == std::string(i->key)) { else if ("maxErroneousBitsInBorderRate" == std::string(i->key))
{
// std::cout << "maxErroneousBitsInBorderRate (old, new): " << _detector_params->maxErroneousBitsInBorderRate << ", " << i->value.toNumber() << std::endl; // std::cout << "maxErroneousBitsInBorderRate (old, new): " << _detector_params->maxErroneousBitsInBorderRate << ", " << i->value.toNumber() << std::endl;
_detector_params->maxErroneousBitsInBorderRate = i->value.toNumber(); _detector_params->maxErroneousBitsInBorderRate = i->value.toNumber();
} }
else if ("maxMarkerPerimeterRate" == std::string(i->key)) { else if ("maxMarkerPerimeterRate" == std::string(i->key))
{
// std::cout << "maxMarkerPerimeterRate (old, new): " << _detector_params->maxMarkerPerimeterRate << ", " << i->value.toNumber() << std::endl; // std::cout << "maxMarkerPerimeterRate (old, new): " << _detector_params->maxMarkerPerimeterRate << ", " << i->value.toNumber() << std::endl;
_detector_params->maxMarkerPerimeterRate = i->value.toNumber(); _detector_params->maxMarkerPerimeterRate = i->value.toNumber();
} }
else if ("minCornerDistanceRate" == std::string(i->key)) { else if ("minCornerDistanceRate" == std::string(i->key))
{
// std::cout << "minCornerDistanceRate (old, new): " << _detector_params->minCornerDistanceRate << ", " << i->value.toNumber() << std::endl; // std::cout << "minCornerDistanceRate (old, new): " << _detector_params->minCornerDistanceRate << ", " << i->value.toNumber() << std::endl;
_detector_params->minCornerDistanceRate = i->value.toNumber(); _detector_params->minCornerDistanceRate = i->value.toNumber();
} }
else if ("minDistanceToBorder" == std::string(i->key)) { else if ("minDistanceToBorder" == std::string(i->key))
{
// std::cout << "minDistanceToBorder (old, new): " << _detector_params->minDistanceToBorder << ", " << i->value.toNumber() << std::endl; // std::cout << "minDistanceToBorder (old, new): " << _detector_params->minDistanceToBorder << ", " << i->value.toNumber() << std::endl;
_detector_params->minDistanceToBorder = i->value.toNumber(); _detector_params->minDistanceToBorder = i->value.toNumber();
} }
else if ("minMarkerDistanceRate" == std::string(i->key)) { else if ("minMarkerDistanceRate" == std::string(i->key))
{
// std::cout << "minMarkerDistanceRate (old, new): " << _detector_params->minMarkerDistanceRate << ", " << i->value.toNumber() << std::endl; // std::cout << "minMarkerDistanceRate (old, new): " << _detector_params->minMarkerDistanceRate << ", " << i->value.toNumber() << std::endl;
_detector_params->minMarkerDistanceRate = i->value.toNumber(); _detector_params->minMarkerDistanceRate = i->value.toNumber();
} }
else if ("minMarkerLengthRatioOriginalImg" == std::string(i->key)) { else if ("minMarkerLengthRatioOriginalImg" == std::string(i->key))
{
// std::cout << "minMarkerLengthRatioOriginalImg (old, new): " << _detector_params->minMarkerLengthRatioOriginalImg << ", " << i->value.toNumber() << std::endl; // std::cout << "minMarkerLengthRatioOriginalImg (old, new): " << _detector_params->minMarkerLengthRatioOriginalImg << ", " << i->value.toNumber() << std::endl;
_detector_params->minMarkerLengthRatioOriginalImg = i->value.toNumber(); _detector_params->minMarkerLengthRatioOriginalImg = i->value.toNumber();
} }
else if ("minMarkerPerimeterRate" == std::string(i->key)) { else if ("minMarkerPerimeterRate" == std::string(i->key))
{
// std::cout << "minMarkerPerimeterRate (old, new): " << _detector_params->minMarkerPerimeterRate << ", " << i->value.toNumber() << std::endl; // std::cout << "minMarkerPerimeterRate (old, new): " << _detector_params->minMarkerPerimeterRate << ", " << i->value.toNumber() << std::endl;
_detector_params->minMarkerPerimeterRate = i->value.toNumber(); _detector_params->minMarkerPerimeterRate = i->value.toNumber();
} }
else if ("minOtsuStdDev" == std::string(i->key)) { else if ("minOtsuStdDev" == std::string(i->key))
{
// std::cout << "minOtsuStdDev (old, new): " << _detector_params->minOtsuStdDev << ", " << i->value.toNumber() << std::endl; // std::cout << "minOtsuStdDev (old, new): " << _detector_params->minOtsuStdDev << ", " << i->value.toNumber() << std::endl;
_detector_params->minOtsuStdDev = i->value.toNumber(); _detector_params->minOtsuStdDev = i->value.toNumber();
} }
else if ("minSideLengthCanonicalImg" == std::string(i->key)) { else if ("minSideLengthCanonicalImg" == std::string(i->key))
{
// std::cout << "minSideLengthCanonicalImg (old, new): " << _detector_params->minSideLengthCanonicalImg << ", " << i->value.toNumber() << std::endl; // std::cout << "minSideLengthCanonicalImg (old, new): " << _detector_params->minSideLengthCanonicalImg << ", " << i->value.toNumber() << std::endl;
_detector_params->minSideLengthCanonicalImg = i->value.toNumber(); _detector_params->minSideLengthCanonicalImg = i->value.toNumber();
} }
else if ("perspectiveRemoveIgnoredMarginPerCell" == std::string(i->key)) { else if ("perspectiveRemoveIgnoredMarginPerCell" == std::string(i->key))
{
// std::cout << "perspectiveRemoveIgnoredMarginPerCell (old, new): " << _detector_params->perspectiveRemoveIgnoredMarginPerCell << ", " << i->value.toNumber() << std::endl; // std::cout << "perspectiveRemoveIgnoredMarginPerCell (old, new): " << _detector_params->perspectiveRemoveIgnoredMarginPerCell << ", " << i->value.toNumber() << std::endl;
_detector_params->perspectiveRemoveIgnoredMarginPerCell = i->value.toNumber(); _detector_params->perspectiveRemoveIgnoredMarginPerCell = i->value.toNumber();
} }
else if ("perspectiveRemovePixelPerCell" == std::string(i->key)) { else if ("perspectiveRemovePixelPerCell" == std::string(i->key))
{
// std::cout << "perspectiveRemovePixelPerCell (old, new): " << _detector_params->perspectiveRemovePixelPerCell << ", " << i->value.toNumber() << std::endl; // std::cout << "perspectiveRemovePixelPerCell (old, new): " << _detector_params->perspectiveRemovePixelPerCell << ", " << i->value.toNumber() << std::endl;
_detector_params->perspectiveRemovePixelPerCell = i->value.toNumber(); _detector_params->perspectiveRemovePixelPerCell = i->value.toNumber();
} }
else if ("polygonalApproxAccuracyRate" == std::string(i->key)) { else if ("polygonalApproxAccuracyRate" == std::string(i->key))
{
// std::cout << "polygonalApproxAccuracyRate (old, new): " << _detector_params->polygonalApproxAccuracyRate << ", " << i->value.toNumber() << std::endl; // std::cout << "polygonalApproxAccuracyRate (old, new): " << _detector_params->polygonalApproxAccuracyRate << ", " << i->value.toNumber() << std::endl;
_detector_params->polygonalApproxAccuracyRate = i->value.toNumber(); _detector_params->polygonalApproxAccuracyRate = i->value.toNumber();
} }
else if ("useAruco3Detection" == std::string(i->key)) { else if ("useAruco3Detection" == std::string(i->key))
{
bool json_tf = false; bool json_tf = false;
if (i->value.getTag() == JSON_TRUE) json_tf = true; if (i->value.getTag() == JSON_TRUE)
json_tf = true;
// std::cout << "useAruco3Detection (old, new): " << _detector_params->useAruco3Detection << ", " << json_tf << std::endl; // std::cout << "useAruco3Detection (old, new): " << _detector_params->useAruco3Detection << ", " << json_tf << std::endl;
_detector_params->useAruco3Detection = json_tf; _detector_params->useAruco3Detection = json_tf;
} }
else if ("markerIds" == std::string(i->key) && i->value.getTag() == JSON_ARRAY) { else if ("markerIds" == std::string(i->key) && i->value.getTag() == JSON_ARRAY)
{
int jcnt = 0; int jcnt = 0;
for (auto j : i->value) { for (auto j : i->value)
if (jcnt == 0 && j->value.toNumber() == -1) { {
if (jcnt == 0 && j->value.toNumber() == -1)
{
_ids_need.push_back(-1); _ids_need.push_back(-1);
break; break;
} }
else { else
{
_ids_need.push_back(j->value.toNumber()); _ids_need.push_back(j->value.toNumber());
} }
} }
} }
else if ("markerLengths" == std::string(i->key) && i->value.getTag() == JSON_ARRAY) { else if ("markerLengths" == std::string(i->key) && i->value.getTag() == JSON_ARRAY)
for (auto j : i->value) { {
if (_ids_need.size() > 0 && _ids_need[0] == -1) { for (auto j : i->value)
{
if (_ids_need.size() > 0 && _ids_need[0] == -1)
{
_lengths_need.push_back(j->value.toNumber()); _lengths_need.push_back(j->value.toNumber());
break; break;
} }
else { else
{
_lengths_need.push_back(j->value.toNumber()); _lengths_need.push_back(j->value.toNumber());
} }
} }
} }
} }
if (_ids_need.size() == 0) _ids_need.push_back(-1); if (_ids_need.size() == 0)
if (_lengths_need.size() != _ids_need.size()) { _ids_need.push_back(-1);
if (_lengths_need.size() != _ids_need.size())
{
throw std::runtime_error("SpireCV (106) Parameter markerIds.length != markerLengths.length!"); throw std::runtime_error("SpireCV (106) Parameter markerIds.length != markerLengths.length!");
} }
@ -282,7 +322,6 @@ void ArucoDetector::_load()
// std::cout << "_lengths_need: " << l << std::endl; // std::cout << "_lengths_need: " << l << std::endl;
} }
void ArucoDetector::detect(cv::Mat img_, TargetsInFrame &tgts_) void ArucoDetector::detect(cv::Mat img_, TargetsInFrame &tgts_)
{ {
if (!_params_loaded) if (!_params_loaded)
@ -311,7 +350,6 @@ void ArucoDetector::detect(cv::Mat img_, TargetsInFrame& tgts_)
// detect markers and estimate pose // detect markers and estimate pose
aruco::detectMarkers(img_, this->_dictionary, corners, ids, _detector_params, rejected); aruco::detectMarkers(img_, this->_dictionary, corners, ids, _detector_params, rejected);
if (ids.size() > 0) if (ids.size() > 0)
{ {
if (_ids_need[0] == -1) if (_ids_need[0] == -1)
@ -383,8 +421,6 @@ void ArucoDetector::detect(cv::Mat img_, TargetsInFrame& tgts_)
// waitKey(10); // waitKey(10);
} }
EllipseDetector::EllipseDetector() EllipseDetector::EllipseDetector()
{ {
this->_ed = NULL; this->_ed = NULL;
@ -393,7 +429,11 @@ EllipseDetector::EllipseDetector()
} }
EllipseDetector::~EllipseDetector() EllipseDetector::~EllipseDetector()
{ {
if (_ed) { delete _ed; _ed = NULL; } if (_ed)
{
delete _ed;
_ed = NULL;
}
} }
void EllipseDetector::detect(cv::Mat img_, TargetsInFrame &tgts_) void EllipseDetector::detect(cv::Mat img_, TargetsInFrame &tgts_)
@ -435,10 +475,8 @@ LandingMarkerDetectorBase::LandingMarkerDetectorBase()
setupImpl(); setupImpl();
} }
LandingMarkerDetectorBase::~LandingMarkerDetectorBase() LandingMarkerDetectorBase::~LandingMarkerDetectorBase()
{ {
} }
bool LandingMarkerDetectorBase::isParamsLoaded() bool LandingMarkerDetectorBase::isParamsLoaded()
@ -454,7 +492,6 @@ std::vector<std::string> LandingMarkerDetectorBase::getLabelsNeed()
return this->_labels_need; return this->_labels_need;
} }
void LandingMarkerDetectorBase::detect(cv::Mat img_, TargetsInFrame &tgts_) void LandingMarkerDetectorBase::detect(cv::Mat img_, TargetsInFrame &tgts_)
{ {
if (!_params_loaded) if (!_params_loaded)
@ -489,11 +526,16 @@ void LandingMarkerDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_)
int y1 = rect.y; int y1 = rect.y;
int x2 = rect.x + rect.width; int x2 = rect.x + rect.width;
int y2 = rect.y + rect.height; int y2 = rect.y + rect.height;
if (x1 < 0) x1 = 0; if (x1 < 0)
if (y1 < 0) y1 = 0; x1 = 0;
if (x2 > img_.cols - 1) x2 = img_.cols - 1; if (y1 < 0)
if (y2 > img_.rows - 1) y2 = img_.rows - 1; y1 = 0;
if (x2 - x1 < 5 || y2 - y1 < 5) continue; if (x2 > img_.cols - 1)
x2 = img_.cols - 1;
if (y2 > img_.rows - 1)
y2 = img_.rows - 1;
if (x2 - x1 < 5 || y2 - y1 < 5)
continue;
rect.x = x1; rect.x = x1;
rect.y = y1; rect.y = y1;
rect.width = x2 - x1; rect.width = x2 - x1;
@ -521,7 +563,8 @@ void LandingMarkerDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_)
need = true; need = true;
} }
} }
if (!need) label = 0; if (!need)
label = 0;
yaed::Ellipse e = ellsCned[i]; yaed::Ellipse e = ellsCned[i];
if (label > 0) if (label > 0)
@ -541,10 +584,8 @@ bool LandingMarkerDetectorBase::setupImpl()
} }
void LandingMarkerDetectorBase::roiCNN(std::vector<cv::Mat> &input_rois_, std::vector<int> &output_labels_) void LandingMarkerDetectorBase::roiCNN(std::vector<cv::Mat> &input_rois_, std::vector<int> &output_labels_)
{ {
} }
void LandingMarkerDetectorBase::_loadLabels() void LandingMarkerDetectorBase::_loadLabels()
{ {
JsonValue all_value; JsonValue all_value;
@ -554,13 +595,17 @@ void LandingMarkerDetectorBase::_loadLabels()
JsonValue landing_params_value; JsonValue landing_params_value;
_parser_algorithm_params("LandingMarkerDetector", all_value, landing_params_value); _parser_algorithm_params("LandingMarkerDetector", all_value, landing_params_value);
for (auto i : landing_params_value) { for (auto i : landing_params_value)
if ("labels" == std::string(i->key) && i->value.getTag() == JSON_ARRAY) { {
for (auto j : i->value) { if ("labels" == std::string(i->key) && i->value.getTag() == JSON_ARRAY)
{
for (auto j : i->value)
{
this->_labels_need.push_back(j->value.toString()); this->_labels_need.push_back(j->value.toString());
} }
} }
else if ("maxCandidates" == std::string(i->key)) { else if ("maxCandidates" == std::string(i->key))
{
this->_max_candidates = i->value.toNumber(); this->_max_candidates = i->value.toNumber();
// std::cout << "maxCandidates: " << this->_max_candidates << std::endl; // std::cout << "maxCandidates: " << this->_max_candidates << std::endl;
} }
@ -568,7 +613,6 @@ void LandingMarkerDetectorBase::_loadLabels()
setupImpl(); setupImpl();
} }
void EllipseDetector::detectAllInDirectory(std::string input_img_dir_, std::string output_json_dir_) void EllipseDetector::detectAllInDirectory(std::string input_img_dir_, std::string output_json_dir_)
{ {
if (!_params_loaded) if (!_params_loaded)
@ -652,88 +696,107 @@ void EllipseDetector::_load()
float fT_TCN_P; float fT_TCN_P;
float fThre_R; float fThre_R;
for (auto i : ell_params_value) { for (auto i : ell_params_value)
if ("preProcessingGaussKernel" == std::string(i->key)) { {
if ("preProcessingGaussKernel" == std::string(i->key))
{
int sigma = i->value.toNumber(); int sigma = i->value.toNumber();
szPreProcessingGaussKernel = cv::Size(sigma, sigma); szPreProcessingGaussKernel = cv::Size(sigma, sigma);
// std::cout << "preProcessingGaussKernel: " << sigma << std::endl; // std::cout << "preProcessingGaussKernel: " << sigma << std::endl;
} }
else if ("preProcessingGaussSigma" == std::string(i->key)) { else if ("preProcessingGaussSigma" == std::string(i->key))
{
dPreProcessingGaussSigma = i->value.toNumber(); dPreProcessingGaussSigma = i->value.toNumber();
// std::cout << "preProcessingGaussSigma: " << dPreProcessingGaussSigma << std::endl; // std::cout << "preProcessingGaussSigma: " << dPreProcessingGaussSigma << std::endl;
} }
else if ("thPosition" == std::string(i->key)) { else if ("thPosition" == std::string(i->key))
{
fThPosition = i->value.toNumber(); fThPosition = i->value.toNumber();
// std::cout << "thPosition: " << fThPosition << std::endl; // std::cout << "thPosition: " << fThPosition << std::endl;
} }
else if ("maxCenterDistance" == std::string(i->key)) { else if ("maxCenterDistance" == std::string(i->key))
{
this->_max_center_distance_ratio = i->value.toNumber(); this->_max_center_distance_ratio = i->value.toNumber();
fMaxCenterDistance = sqrt(float(this->image_width * this->image_width + this->image_height * this->image_height)) * this->_max_center_distance_ratio; fMaxCenterDistance = sqrt(float(this->image_width * this->image_width + this->image_height * this->image_height)) * this->_max_center_distance_ratio;
// std::cout << "maxCenterDistance: " << this->_max_center_distance_ratio << std::endl; // std::cout << "maxCenterDistance: " << this->_max_center_distance_ratio << std::endl;
} }
else if ("minEdgeLength" == std::string(i->key)) { else if ("minEdgeLength" == std::string(i->key))
{
iMinEdgeLength = i->value.toNumber(); iMinEdgeLength = i->value.toNumber();
// std::cout << "minEdgeLength: " << iMinEdgeLength << std::endl; // std::cout << "minEdgeLength: " << iMinEdgeLength << std::endl;
} }
else if ("minOrientedRectSide" == std::string(i->key)) { else if ("minOrientedRectSide" == std::string(i->key))
{
fMinOrientedRectSide = i->value.toNumber(); fMinOrientedRectSide = i->value.toNumber();
// std::cout << "minOrientedRectSide: " << fMinOrientedRectSide << std::endl; // std::cout << "minOrientedRectSide: " << fMinOrientedRectSide << std::endl;
} }
else if ("distanceToEllipseContour" == std::string(i->key)) { else if ("distanceToEllipseContour" == std::string(i->key))
{
fDistanceToEllipseContour = i->value.toNumber(); fDistanceToEllipseContour = i->value.toNumber();
// std::cout << "distanceToEllipseContour: " << fDistanceToEllipseContour << std::endl; // std::cout << "distanceToEllipseContour: " << fDistanceToEllipseContour << std::endl;
} }
else if ("minScore" == std::string(i->key)) { else if ("minScore" == std::string(i->key))
{
fMinScore = i->value.toNumber(); fMinScore = i->value.toNumber();
// std::cout << "minScore: " << fMinScore << std::endl; // std::cout << "minScore: " << fMinScore << std::endl;
} }
else if ("minReliability" == std::string(i->key)) { else if ("minReliability" == std::string(i->key))
{
fMinReliability = i->value.toNumber(); fMinReliability = i->value.toNumber();
// std::cout << "minReliability: " << fMinReliability << std::endl; // std::cout << "minReliability: " << fMinReliability << std::endl;
} }
else if ("ns" == std::string(i->key)) { else if ("ns" == std::string(i->key))
{
iNs = i->value.toNumber(); iNs = i->value.toNumber();
// std::cout << "ns: " << iNs << std::endl; // std::cout << "ns: " << iNs << std::endl;
} }
else if ("percentNe" == std::string(i->key)) { else if ("percentNe" == std::string(i->key))
{
dPercentNe = i->value.toNumber(); dPercentNe = i->value.toNumber();
// std::cout << "percentNe: " << dPercentNe << std::endl; // std::cout << "percentNe: " << dPercentNe << std::endl;
} }
else if ("T_CNC" == std::string(i->key)) { else if ("T_CNC" == std::string(i->key))
{
fT_CNC = i->value.toNumber(); fT_CNC = i->value.toNumber();
// std::cout << "T_CNC: " << fT_CNC << std::endl; // std::cout << "T_CNC: " << fT_CNC << std::endl;
} }
else if ("T_TCN_L" == std::string(i->key)) { else if ("T_TCN_L" == std::string(i->key))
{
fT_TCN_L = i->value.toNumber(); fT_TCN_L = i->value.toNumber();
// std::cout << "T_TCN_L: " << fT_TCN_L << std::endl; // std::cout << "T_TCN_L: " << fT_TCN_L << std::endl;
} }
else if ("T_TCN_P" == std::string(i->key)) { else if ("T_TCN_P" == std::string(i->key))
{
fT_TCN_P = i->value.toNumber(); fT_TCN_P = i->value.toNumber();
// std::cout << "T_TCN_P: " << fT_TCN_P << std::endl; // std::cout << "T_TCN_P: " << fT_TCN_P << std::endl;
} }
else if ("thRadius" == std::string(i->key)) { else if ("thRadius" == std::string(i->key))
{
fThre_R = i->value.toNumber(); fThre_R = i->value.toNumber();
// std::cout << "thRadius: " << fThre_R << std::endl; // std::cout << "thRadius: " << fThre_R << std::endl;
} }
else if ("radiusInMeter" == std::string(i->key)) { else if ("radiusInMeter" == std::string(i->key))
{
this->_radius_in_meter = i->value.toNumber(); this->_radius_in_meter = i->value.toNumber();
// std::cout << "radiusInMeter: " << this->_radius_in_meter << std::endl; // std::cout << "radiusInMeter: " << this->_radius_in_meter << std::endl;
} }
} }
if (_ed) { delete _ed; _ed = NULL; } if (_ed)
{
delete _ed;
_ed = NULL;
}
_ed = new yaed::EllipseDetector; _ed = new yaed::EllipseDetector;
_ed->SetParameters(szPreProcessingGaussKernel, dPreProcessingGaussSigma, fThPosition, fMaxCenterDistance, iMinEdgeLength, fMinOrientedRectSide, fDistanceToEllipseContour, fMinScore, fMinReliability, iNs, dPercentNe, fT_CNC, fT_TCN_L, fT_TCN_P, fThre_R); _ed->SetParameters(szPreProcessingGaussKernel, dPreProcessingGaussSigma, fThPosition, fMaxCenterDistance, iMinEdgeLength, fMinOrientedRectSide, fDistanceToEllipseContour, fMinScore, fMinReliability, iNs, dPercentNe, fT_CNC, fT_TCN_L, fT_TCN_P, fThre_R);
} }
SingleObjectTrackerBase::SingleObjectTrackerBase() SingleObjectTrackerBase::SingleObjectTrackerBase()
{ {
this->_params_loaded = false; this->_params_loaded = false;
} }
SingleObjectTrackerBase::~SingleObjectTrackerBase() SingleObjectTrackerBase::~SingleObjectTrackerBase()
{ {
} }
bool SingleObjectTrackerBase::isParamsLoaded() bool SingleObjectTrackerBase::isParamsLoaded()
{ {
@ -751,6 +814,18 @@ int SingleObjectTrackerBase::getTarget()
{ {
return this->_target; return this->_target;
} }
double SingleObjectTrackerBase::getObjectWs()
{
return this->_object_ws;
}
double SingleObjectTrackerBase::getObjectHs()
{
return this->_object_hs;
}
int SingleObjectTrackerBase::useWidthOrHeight()
{
return this->_use_width_or_height;
}
void SingleObjectTrackerBase::warmUp() void SingleObjectTrackerBase::warmUp()
{ {
@ -796,6 +871,24 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
tgt.setBox(rect.x, rect.y, rect.x + rect.width, rect.y + rect.height, img_.cols, img_.rows); tgt.setBox(rect.x, rect.y, rect.x + rect.width, rect.y + rect.height, img_.cols, img_.rows);
tgt.setTrackID(1); tgt.setTrackID(1);
tgt.setLOS(tgt.cx, tgt.cy, this->camera_matrix, img_.cols, img_.rows); tgt.setLOS(tgt.cx, tgt.cy, this->camera_matrix, img_.cols, img_.rows);
int ow = int(round(rect.width));
int oh = int(round(rect.height));
if (this->_use_width_or_height == 0)
{
double z = this->camera_matrix.at<double>(0, 0) * this->_object_ws / ow;
double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
tgt.setPosition(x, y, z);
}
else if (this->_use_width_or_height == 1)
{
double z = this->camera_matrix.at<double>(1, 1) * this->_object_hs / oh;
double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
tgt.setPosition(x, y, z);
}
tgts_.targets.push_back(tgt); tgts_.targets.push_back(tgt);
} }
@ -807,7 +900,6 @@ bool SingleObjectTrackerBase::setupImpl()
} }
void SingleObjectTrackerBase::initImpl(cv::Mat img_, const cv::Rect &bounding_box_) void SingleObjectTrackerBase::initImpl(cv::Mat img_, const cv::Rect &bounding_box_)
{ {
} }
bool SingleObjectTrackerBase::trackImpl(cv::Mat img_, cv::Rect &output_bbox_) bool SingleObjectTrackerBase::trackImpl(cv::Mat img_, cv::Rect &output_bbox_)
{ {
@ -822,23 +914,38 @@ void SingleObjectTrackerBase::_load()
JsonValue tracker_params_value; JsonValue tracker_params_value;
_parser_algorithm_params("SingleObjectTracker", all_value, tracker_params_value); _parser_algorithm_params("SingleObjectTracker", all_value, tracker_params_value);
for (auto i : tracker_params_value) { for (auto i : tracker_params_value)
if ("algorithm" == std::string(i->key)) { {
if ("algorithm" == std::string(i->key))
{
this->_algorithm = i->value.toString(); this->_algorithm = i->value.toString();
std::cout << "algorithm: " << this->_algorithm << std::endl; std::cout << "algorithm: " << this->_algorithm << std::endl;
} }
else if ("backend" == std::string(i->key)) { else if ("backend" == std::string(i->key))
{
this->_backend = i->value.toNumber(); this->_backend = i->value.toNumber();
} }
else if ("target" == std::string(i->key)) { else if ("target" == std::string(i->key))
{
this->_target = i->value.toNumber(); this->_target = i->value.toNumber();
} }
else if ("useWidthOrHeight" == std::string(i->key))
{
this->_use_width_or_height = i->value.toNumber();
}
else if ("sigleobjectW" == std::string(i->key))
{
this->_object_ws = i->value.toNumber();
}
else if ("sigleobjectH" == std::string(i->key))
{
this->_object_hs = i->value.toNumber();
}
} }
setupImpl(); setupImpl();
} }
CommonObjectDetectorBase::CommonObjectDetectorBase() // : CameraAlgorithm() CommonObjectDetectorBase::CommonObjectDetectorBase() // : CameraAlgorithm()
{ {
this->_params_loaded = false; this->_params_loaded = false;
@ -846,7 +953,6 @@ CommonObjectDetectorBase::CommonObjectDetectorBase() // : CameraAlgorithm()
} }
CommonObjectDetectorBase::~CommonObjectDetectorBase() CommonObjectDetectorBase::~CommonObjectDetectorBase()
{ {
} }
bool CommonObjectDetectorBase::isParamsLoaded() bool CommonObjectDetectorBase::isParamsLoaded()
@ -958,10 +1064,14 @@ void CommonObjectDetectorBase::detect(cv::Mat img_, TargetsInFrame& tgts_, Box*
int oy = int(round(boxes_y[j])); int oy = int(round(boxes_y[j]));
int ow = int(round(boxes_w[j])); int ow = int(round(boxes_w[j]));
int oh = int(round(boxes_h[j])); int oh = int(round(boxes_h[j]));
if (ox < 0) ox = 0; if (ox < 0)
if (oy < 0) oy = 0; ox = 0;
if (ox + ow >= img_.cols) ow = img_.cols - ox - 1; if (oy < 0)
if (oy + oh >= img_.rows) oh = img_.rows - oy - 1; oy = 0;
if (ox + ow >= img_.cols)
ow = img_.cols - ox - 1;
if (oy + oh >= img_.rows)
oh = img_.rows - oy - 1;
if (ow > 5 && oh > 5) if (ow > 5 && oh > 5)
{ {
Target tgt; Target tgt;
@ -1046,10 +1156,8 @@ void CommonObjectDetectorBase::detectImpl(
std::vector<float> &boxes_h_, std::vector<float> &boxes_h_,
std::vector<int> &boxes_label_, std::vector<int> &boxes_label_,
std::vector<float> &boxes_score_, std::vector<float> &boxes_score_,
std::vector<cv::Mat>& boxes_seg_ std::vector<cv::Mat> &boxes_seg_)
)
{ {
} }
void CommonObjectDetectorBase::_load() void CommonObjectDetectorBase::_load()
@ -1070,13 +1178,16 @@ void CommonObjectDetectorBase::_load()
this->_thrs_conf = 0.4; this->_thrs_conf = 0.4;
this->_use_width_or_height = 0; this->_use_width_or_height = 0;
for (auto i : detector_params_value) { for (auto i : detector_params_value)
{
if ("dataset" == std::string(i->key)) { if ("dataset" == std::string(i->key))
{
this->_dataset = i->value.toString(); this->_dataset = i->value.toString();
std::cout << "dataset: " << this->_dataset << std::endl; std::cout << "dataset: " << this->_dataset << std::endl;
} }
else if ("inputSize" == std::string(i->key)) { else if ("inputSize" == std::string(i->key))
{
// std::cout << "inputSize (old, new): " << this->_input_w << ", " << i->value.toNumber() << std::endl; // std::cout << "inputSize (old, new): " << this->_input_w << ", " << i->value.toNumber() << std::endl;
this->_input_w = i->value.toNumber(); this->_input_w = i->value.toNumber();
if (this->_input_w != 640 && this->_input_w != 1280) if (this->_input_w != 640 && this->_input_w != 1280)
@ -1085,35 +1196,46 @@ void CommonObjectDetectorBase::_load()
} }
this->_input_h = this->_input_w; this->_input_h = this->_input_w;
} }
else if ("nmsThrs" == std::string(i->key)) { else if ("nmsThrs" == std::string(i->key))
{
// std::cout << "nmsThrs (old, new): " << this->_thrs_nms << ", " << i->value.toNumber() << std::endl; // std::cout << "nmsThrs (old, new): " << this->_thrs_nms << ", " << i->value.toNumber() << std::endl;
this->_thrs_nms = i->value.toNumber(); this->_thrs_nms = i->value.toNumber();
} }
else if ("scoreThrs" == std::string(i->key)) { else if ("scoreThrs" == std::string(i->key))
{
// std::cout << "scoreThrs (old, new): " << this->_thrs_conf << ", " << i->value.toNumber() << std::endl; // std::cout << "scoreThrs (old, new): " << this->_thrs_conf << ", " << i->value.toNumber() << std::endl;
this->_thrs_conf = i->value.toNumber(); this->_thrs_conf = i->value.toNumber();
} }
else if ("useWidthOrHeight" == std::string(i->key)) { else if ("useWidthOrHeight" == std::string(i->key))
{
// std::cout << "useWidthOrHeight (old, new): " << this->_use_width_or_height << ", " << i->value.toNumber() << std::endl; // std::cout << "useWidthOrHeight (old, new): " << this->_use_width_or_height << ", " << i->value.toNumber() << std::endl;
this->_use_width_or_height = i->value.toNumber(); this->_use_width_or_height = i->value.toNumber();
} }
else if ("withSegmentation" == std::string(i->key)) { else if ("withSegmentation" == std::string(i->key))
{
bool json_tf = false; bool json_tf = false;
if (i->value.getTag() == JSON_TRUE) json_tf = true; if (i->value.getTag() == JSON_TRUE)
json_tf = true;
this->_with_segmentation = json_tf; this->_with_segmentation = json_tf;
} }
else if ("dataset" + this->_dataset == std::string(i->key)) { else if ("dataset" + this->_dataset == std::string(i->key))
if (i->value.getTag() == JSON_OBJECT) { {
for (auto j : i->value) { if (i->value.getTag() == JSON_OBJECT)
{
for (auto j : i->value)
{
// std::cout << j->key << std::endl; // std::cout << j->key << std::endl;
_class_names.push_back(std::string(j->key)); _class_names.push_back(std::string(j->key));
if (j->value.getTag() == JSON_ARRAY) if (j->value.getTag() == JSON_ARRAY)
{ {
int k_cnt = 0; int k_cnt = 0;
for (auto k : j->value) { for (auto k : j->value)
{
// std::cout << k->value.toNumber() << std::endl; // std::cout << k->value.toNumber() << std::endl;
if (k_cnt == 0) _class_ws.push_back(k->value.toNumber()); if (k_cnt == 0)
else if (k_cnt == 1) _class_hs.push_back(k->value.toNumber()); _class_ws.push_back(k->value.toNumber());
else if (k_cnt == 1)
_class_hs.push_back(k->value.toNumber());
k_cnt++; k_cnt++;
} }
} }
@ -1123,20 +1245,6 @@ void CommonObjectDetectorBase::_load()
} }
setupImpl(); setupImpl();
} }
} }

7
include/sv_algorithm_base.h
View File

@ -104,6 +104,10 @@ public:
std::string getAlgorithm(); std::string getAlgorithm();
int getBackend(); int getBackend();
int getTarget(); int getTarget();
double getObjectWs();
double getObjectHs();
int useWidthOrHeight();
protected: protected:
virtual bool setupImpl(); virtual bool setupImpl();
virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_); virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_);
@ -113,6 +117,9 @@ protected:
std::string _algorithm; std::string _algorithm;
int _backend; int _backend;
int _target; int _target;
int _use_width_or_height;
double _object_ws;
double _object_hs;
}; };

2
samples/demo/single_object_tracking.cpp
View File

@ -92,6 +92,8 @@ int main(int argc, char *argv[]) {
int(tgts.targets[0].h * tgts.height)); int(tgts.targets[0].h * tgts.height));
// 打印 跟踪目标 的视线角，跟相机视场相关 // 打印 跟踪目标 的视线角，跟相机视场相关
printf(" Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay); printf(" Tracking Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[0].los_ax, tgts.targets[0].los_ay);
// 打印每个二维码的3D位置（在相机坐标系下），跟二维码实际边长、相机参数相关
printf(" Tracking Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[0].px, tgts.targets[0].py, tgts.targets[0].pz);
} }
} }

187
sv_algorithm_params.json Normal file
View File

@ -0,0 +1,187 @@
{
"CommonObjectDetector": {
"dataset": "COCO",
"inputSize": 1280,
"nmsThrs": 0.6,
"scoreThrs": 0.3,
"useWidthOrHeight": 1,
"withSegmentation": false,
"datasetPersonVehicle": {
"person": [0.5, 1.8],
"car": [4.1, 1.5],
"bus": [10, 3],
"truck": [-1, -1],
"bike": [-1, -1],
"train": [-1, -1],
"boat": [-1, -1],
"aeroplane": [-1, -1]
},
"datasetDrone": {
"drone": [0.4, 0.2]
},
"datasetCOCO": {
"person": [-1, -1],
"bicycle": [-1, -1],
"car": [-1, -1],
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}
},
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},
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},
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},
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}
}