forked from floratest1/SpireCV
fix veri
This commit is contained in:
Daniel
140
samples/demo/udp_detection_info_receiver_by_airborne.cpp
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140
samples/demo/udp_detection_info_receiver_by_airborne.cpp
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#include <iostream>
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#include <arpa/inet.h>
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#include <netinet/in.h>
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#include <sys/socket.h>
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#include <unistd.h>
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#include <string.h>
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#define PORT 12346 // UDP端口号
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// 枚举定义消息类型
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enum MessageType {
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TIMESTAMP = 0x00,
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CLICK_COORDINATES = 0x01,
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TARGET_BOX_COORDINATES = 0x02,
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CLICK_COORDINATES_FRAME_ID = 0x03,
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TARGET_BOX_COORDINATES_FRAME_ID = 0x04
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};
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// 定义消息结构体
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#pragma pack(1) // 使用1字节对齐方式
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struct Message {
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unsigned char header[2]; // 帧头
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unsigned char type; // 消息类型
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unsigned char reserved; // 保留字段
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unsigned int requestID; // 请求ID
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unsigned int dataLength; // 数据长度
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unsigned char* data; // 数据段
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};
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#pragma pack() // 恢复默认对齐方式
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// 解析时间戳消息
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void parseTimestampMessage(unsigned char* data) {
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unsigned short year = ntohs(*reinterpret_cast<unsigned short*>(data));
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unsigned char month = *(data + 2);
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unsigned char day = *(data + 3);
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unsigned char hour = *(data + 4);
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unsigned char minute = *(data + 5);
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unsigned char second = *(data + 6);
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unsigned short millisecond = ntohs(*reinterpret_cast<unsigned short*>(data + 7));
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std::cout << "Timestamp: " << static_cast<int>(year) << "-" << static_cast<int>(month)
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<< "-" << static_cast<int>(day) << " " << static_cast<int>(hour) << ":"
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<< static_cast<int>(minute) << ":" << static_cast<int>(second) << "."
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<< static_cast<int>(millisecond) << std::endl;
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}
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// 解析点击坐标消息
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void parseClickCoordinatesMessage(unsigned char* data) {
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float x = *reinterpret_cast<float*>(data);
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float y = *reinterpret_cast<float*>(data + 4);
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std::cout << "Click coordinates: (" << x << ", " << y << ")" << std::endl;
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}
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// 解析目标框坐标消息
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void parseTargetBoxCoordinatesMessage(unsigned char* data) {
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float x1 = *reinterpret_cast<float*>(data);
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float y1 = *reinterpret_cast<float*>(data + 4);
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float x2 = *reinterpret_cast<float*>(data + 8);
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float y2 = *reinterpret_cast<float*>(data + 12);
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std::cout << "Target box coordinates: (" << x1 << ", " << y1 << ") - ("
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<< x2 << ", " << y2 << ")" << std::endl;
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}
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// 解析UDP数据包
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void parseUDPData(unsigned char* buffer, int length) {
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if (length < 13) {
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std::cout << "Invalid UDP data format" << std::endl;
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return;
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}
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Message message;
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memcpy(&message, buffer, sizeof(Message));
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// 解析消息类型
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MessageType messageType = static_cast<MessageType>(message.type);
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// 根据消息类型处理数据
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switch (messageType) {
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case TIMESTAMP:
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if (length != 9) {
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std::cout << "Invalid timestamp message length" << std::endl;
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return;
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}
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parseTimestampMessage(message.data);
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break;
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case CLICK_COORDINATES:
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if (length != 13) {
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std::cout << "Invalid click coordinates message length" << std::endl;
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return;
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}
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parseClickCoordinatesMessage(message.data);
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break;
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case TARGET_BOX_COORDINATES:
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if (length != 21) {
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std::cout << "Invalid target box coordinates message length" << std::endl;
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return;
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}
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parseTargetBoxCoordinatesMessage(message.data);
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break;
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default:
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std::cout << "Unsupported message type" << std::endl;
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break;
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}
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}
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int main() {
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int sockfd;
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struct sockaddr_in servaddr, cliaddr;
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unsigned char buffer[4096];
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// 创建UDP套接字
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sockfd = socket(AF_INET, SOCK_DGRAM, 0);
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memset(&servaddr, 0, sizeof(servaddr));
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memset(&cliaddr, 0, sizeof(cliaddr));
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servaddr.sin_family = AF_INET;
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servaddr.sin_addr.s_addr = htonl(INADDR_ANY);
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servaddr.sin_port = htons(PORT);
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// 绑定UDP套接字到端口
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bind(sockfd, (const struct sockaddr*)&servaddr, sizeof(servaddr));
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while (true) {
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socklen_t len = sizeof(cliaddr);
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// 接收UDP数据包
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ssize_t n = recvfrom(sockfd, buffer, sizeof(buffer), MSG_WAITALL,
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(struct sockaddr*)&cliaddr, &len);
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// 解析UDP数据包
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parseUDPData(buffer, n);
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}
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close(sockfd);
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return 0;
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}
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@@ -5,41 +5,85 @@
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using namespace std;
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int main(int argc, char *argv[]) {
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// 打开摄像头
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struct node
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{
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double x, y;
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};
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node p1;
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// 框选到的矩形
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cv::Rect rect_sel;
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int main(int argc, char *argv[])
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{
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// 实例化 框选目标跟踪类
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sv::VeriDetector veri;
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// 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
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veri.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
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cv::VideoCapture cap1("/home/amov/Videos/com/FlyVideo_2023-09-02_11-36-00.avi");
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cv::VideoCapture cap2("/home/amov/Videos/com/FlyVideo_2023-09-02_11-41-55.avi");
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sv::CommonObjectDetector cod;
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cod.loadCameraParams(sv::get_home() + "/SpireCV/calib_webcam_640x480.yaml");
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// 打开摄像头
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sv::Camera cap;
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// cap.setWH(640, 480);
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// cap.setFps(30);
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//cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
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cap.open(sv::CameraType::WEBCAM, 0); // CameraID 0
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// 实例化OpenCV的Mat类，用于内存单帧图像
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cv::Mat img1,img2;
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cv::Mat img;
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int frame_id = 0;
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while (1)
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{
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// 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
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sv::TargetsInFrame tgts(frame_id++);
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// 读取一帧图像到img
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cap1.read(img1);
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cap2.read(img2);
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cap.read(img);
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cv::resize(img, img, cv::Size(cod.image_width, cod.image_height));
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cv::resize(img1, img1, cv::Size(224, 224));
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cv::resize(img2, img2, cv::Size(224, 224));
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// 执行通用目标检测
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cod.detect(img, tgts);
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veri.detect(img1, img2, tgts);
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// 可视化检测结果，叠加到img上
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sv::drawTargetsInFrame(img, tgts);
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// 控制台打印通用目标检测结果
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printf("Frame-[%d]\n", frame_id);
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// 打印当前检测的FPS
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printf(" FPS = %.2f\n", tgts.fps);
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// 打印当前相机的视场角（degree）
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printf(" FOV (fx, fy) = (%.2f, %.2f)\n", tgts.fov_x, tgts.fov_y);
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for (int i = 0; i < tgts.targets.size(); i++)
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{
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printf("Frame-[%d], Object-[%d]\n", frame_id, i);
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// 打印每个目标的中心位置，cx，cy的值域为[0, 1]
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printf(" Object Center (cx, cy) = (%.3f, %.3f)\n", tgts.targets[i].cx, tgts.targets[i].cy);
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// 打印每个目标的外接矩形框的宽度、高度，w，h的值域为(0, 1]
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printf(" Object Size (w, h) = (%.3f, %.3f)\n", tgts.targets[i].w, tgts.targets[i].h);
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// 打印每个目标的置信度
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printf(" Object Score = %.3f\n", tgts.targets[i].score);
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// 打印每个目标的类别，字符串类型
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printf(" Object Category = %s, Category ID = [%d]\n", tgts.targets[i].category.c_str(), tgts.targets[i].category_id);
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// 打印每个目标的视线角，跟相机视场相关
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printf(" Object Line-of-sight (ax, ay) = (%.3f, %.3f)\n", tgts.targets[i].los_ax, tgts.targets[i].los_ay);
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// 打印每个目标的3D位置（在相机坐标系下），跟目标实际长宽、相机参数相关
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printf(" Object Position = (x, y, z) = (%.3f, %.3f, %.3f)\n", tgts.targets[i].px, tgts.targets[i].py, tgts.targets[i].pz);
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// 显示img
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// cv::imshow("img", img);
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// cv::waitKey(10);
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if (tgts.targets[i].category_id == 2)
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{
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p1.x = tgts.targets[i].cx * tgts.width - tgts.targets[i].w * tgts.width / 2;
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p1.y = tgts.targets[i].cy * tgts.height - tgts.targets[i].h * tgts.height / 2;
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rect_sel = cv::Rect(p1.x, p1.y, tgts.targets[i].w * tgts.width, tgts.targets[i].h * tgts.height);
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veri.detect(img, rect_sel, tgts.targets[i]);
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// 打印每个目标的CosineSimilarity
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printf(" CosineSimilarity Score = %.3f\n", tgts.targets[i].sim_score);
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}
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}
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// 显示检测结果img
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cv::imshow("img", img);
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cv::waitKey(10);
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}
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return 0;
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}
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