forked from floratest1/SpireCV
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9 Commits
master
...
prometheus
| Author | SHA1 | Date |
|---|---|---|
Eason Yi
|
d4d26bc565 | |
zzxhwhh520
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535f0f3736 | |
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Eason Yi
|
c66bdf2510 | |
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zzxhwhh520
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335a3ad363 | |
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zzxhwhh520
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b13f0d78bc | |
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Eason Yi
|
a63faacdbe | |
|
Eason Yi
|
2bd20331d5 | |
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Eason Yi
|
34367b5e0f | |
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Eason Yi
|
8bdde82ff3 |
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@ -2,7 +2,7 @@
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.Python
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build/
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models/
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confs/
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# confs/
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ZLM/
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ZLMediaKit/
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ffmpeg-4.2.5/
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@ -758,6 +758,19 @@ int SingleObjectTrackerBase::getTarget()
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{
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return this->_target;
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}
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//增加跟踪目标位置输出
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double SingleObjectTrackerBase::getObjectWs()
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{
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return this->_object_ws;
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}
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double SingleObjectTrackerBase::getObjectHs()
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{
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return this->_object_hs;
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}
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int SingleObjectTrackerBase::useWidthOrHeight()
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{
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return this->_use_width_or_height;
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}
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void SingleObjectTrackerBase::warmUp()
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{
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@ -787,6 +800,8 @@ void SingleObjectTrackerBase::init(cv::Mat img_, const cv::Rect& bounding_box_)
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}
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void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
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{
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Rect rect;
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bool ok = trackImpl(img_, rect);
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@ -796,6 +811,10 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
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tgts_.setFPS(1000.0 / std::chrono::duration_cast<std::chrono::milliseconds>(t1 - this->_t0).count());
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this->_t0 = std::chrono::system_clock::now();
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tgts_.setTimeNow();
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double z = 0;
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double x = 0;
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double y = 0;
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if (ok)
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{
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@ -803,6 +822,26 @@ void SingleObjectTrackerBase::track(cv::Mat img_, TargetsInFrame& tgts_)
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tgt.setBox(rect.x, rect.y, rect.x+rect.width, rect.y+rect.height, img_.cols, img_.rows);
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tgt.setTrackID(1);
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tgt.setLOS(tgt.cx, tgt.cy, this->camera_matrix, img_.cols, img_.rows);
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int ow = int(round(rect.width));
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int oh = int(round(rect.height));
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if (this->_use_width_or_height == 0)
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{
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double z = this->camera_matrix.at<double>(0, 0) * this->_object_ws / ow;
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double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
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double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
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tgt.setPosition(x, y, z);
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}
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else if (this->_use_width_or_height == 1)
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{
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double z = this->camera_matrix.at<double>(1, 1) * this->_object_hs / oh;
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double x = tan(tgt.los_ax / SV_RAD2DEG) * z;
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double y = tan(tgt.los_ay / SV_RAD2DEG) * z;
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tgt.setPosition(x, y, z);
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}
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tgts_.targets.push_back(tgt);
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}
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@ -840,6 +879,18 @@ void SingleObjectTrackerBase::_load()
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else if ("target" == std::string(i->key)) {
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this->_target = i->value.toNumber();
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}
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else if ("useWidthOrHeight" == std::string(i->key))
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{
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this->_use_width_or_height = i->value.toNumber();
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}
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else if ("sigleobjectW" == std::string(i->key))
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{
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this->_object_ws = i->value.toNumber();
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}
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else if ("sigleobjectH" == std::string(i->key))
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{
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this->_object_hs = i->value.toNumber();
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}
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}
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setupImpl();
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@ -1158,14 +1209,5 @@ void CommonObjectDetectorBase::_load()
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}
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@ -0,0 +1,20 @@
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%YAML:1.0
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---
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calibration_time: "Mon 19 Feb 2024 12:26:41 CST"
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image_width: 1920
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image_height: 1080
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flags: 0
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camera_matrix: !!opencv-matrix
|
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rows: 3
|
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cols: 3
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dt: d
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data: [ 1.1499019538499235e+03, 0., 8.9571442596734767e+02, 0.,
|
||||
1.1521262836695837e+03, 4.1676362109157282e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -3.2652765002575385e-01, 1.1930967472505005e-01,
|
||||
1.1874516620581086e-03, -4.4657438605475813e-04,
|
||||
-2.0542911771362624e-02 ]
|
||||
avg_reprojection_error: 1.2404343913457176e+00
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|
|
@ -0,0 +1,20 @@
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|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "Mon 19 Feb 2024 09:47:20 CST"
|
||||
image_width: 640
|
||||
image_height: 480
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||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 3.9479472615087843e+02, 0., 3.1680548645658507e+02, 0.,
|
||||
5.3258234195695456e+02, 2.2560303647955251e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -3.0654200332908565e-01, 8.5703751899094405e-02,
|
||||
7.9399589635363447e-04, -2.2386130390877925e-04,
|
||||
8.3664876215281108e-03 ]
|
||||
avg_reprojection_error: 3.5349928023572558e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "Mon 19 Feb 2024 10:54:42 CST"
|
||||
image_width: 1280
|
||||
image_height: 720
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 8.1366718040158514e+02, 0., 6.3675814156135323e+02, 0.,
|
||||
8.1971372883272659e+02, 3.4681895215003095e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -3.4242823662593191e-01, 1.5751500244397093e-01,
|
||||
-1.3264288102205965e-03, 1.2231724419136888e-03,
|
||||
-4.2459124145250125e-02 ]
|
||||
avg_reprojection_error: 5.9403475506306169e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "Tue 05 Mar 2024 00:16:05 CST"
|
||||
image_width: 1920
|
||||
image_height: 1080
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 1.0792305238523386e+03, 0., 9.6402699186014104e+02, 0.,
|
||||
1.0789154594652043e+03, 5.2143171148859722e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -3.2399749923006838e-01, 1.4009707192270629e-01,
|
||||
-5.0929293744069739e-04, 7.7449516370686658e-04,
|
||||
-3.3041284237351247e-02 ]
|
||||
avg_reprojection_error: 4.8428655304348994e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "Tue 05 Mar 2024 00:09:28 CST"
|
||||
image_width: 640
|
||||
image_height: 480
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 3.5104728433883020e+02, 0., 3.2056231183068672e+02, 0.,
|
||||
4.6752631853837141e+02, 2.3765446898850004e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -3.2042681898621755e-01, 1.3161967829089724e-01,
|
||||
-2.5004100102887805e-04, 3.2425073118156353e-04,
|
||||
-2.8315520843532581e-02 ]
|
||||
avg_reprojection_error: 2.9118844690529377e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "2024年04月09日 星期二 17时16分01秒"
|
||||
image_width: 1280
|
||||
image_height: 720
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 6.5981810777030012e+02, 0., 6.3625030971425269e+02, 0.,
|
||||
6.5921929597654923e+02, 3.5825666624930159e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -5.1997977213625930e-02, -1.8689595668025512e-03,
|
||||
3.4576738666496700e-04, -1.8120564025011093e-03,
|
||||
1.4197596521055530e-04 ]
|
||||
avg_reprojection_error: 2.2034927383015476e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "Tue 05 Mar 2024 00:28:04 CST"
|
||||
image_width: 1280
|
||||
image_height: 720
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 6.9634892550210350e+02, 0., 6.2891897989953964e+02, 0.,
|
||||
6.9549429715646966e+02, 3.5944020158257149e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ -3.3624079866383610e-01, 1.6372128751453890e-01,
|
||||
-1.2684750265022919e-04, 8.4251208193061985e-04,
|
||||
-4.7102080237572910e-02 ]
|
||||
avg_reprojection_error: 3.9725005915610290e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "2021年01月12日 星期二 18时08分01秒"
|
||||
image_width: 1280
|
||||
image_height: 720
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
|
||||
7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
|
||||
5.5342063671841328e-03, 2.2214393775334758e-04,
|
||||
1.7127431916651392e+00 ]
|
||||
avg_reprojection_error: 2.8342964851391211e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "2021年01月12日 星期二 18时08分01秒"
|
||||
image_width: 1920
|
||||
image_height: 1080
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
|
||||
7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
|
||||
5.5342063671841328e-03, 2.2214393775334758e-04,
|
||||
1.7127431916651392e+00 ]
|
||||
avg_reprojection_error: 2.8342964851391211e-01
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
%YAML:1.0
|
||||
---
|
||||
calibration_time: "2021年01月12日 星期二 18时08分01秒"
|
||||
image_width: 640
|
||||
image_height: 480
|
||||
flags: 0
|
||||
camera_matrix: !!opencv-matrix
|
||||
rows: 3
|
||||
cols: 3
|
||||
dt: d
|
||||
data: [ 7.9379415710551370e+02, 0., 2.9783879354295328e+02, 0.,
|
||||
7.9491985564466654e+02, 3.0942416136837386e+02, 0., 0., 1. ]
|
||||
distortion_coefficients: !!opencv-matrix
|
||||
rows: 1
|
||||
cols: 5
|
||||
dt: d
|
||||
data: [ 2.0950200339181715e-01, -1.1587468096518483e+00,
|
||||
5.5342063671841328e-03, 2.2214393775334758e-04,
|
||||
1.7127431916651392e+00 ]
|
||||
avg_reprojection_error: 2.8342964851391211e-01
|
||||
|
|
@ -0,0 +1,197 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "CAR",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.6,
|
||||
"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]
|
||||
},
|
||||
"datasetCAR": {
|
||||
"kk_car": [0.12, 0.105]
|
||||
},
|
||||
"datasetCOCO": {
|
||||
"person": [-1, -1],
|
||||
"bicycle": [-1, -1],
|
||||
"car": [-1, -1],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "nano",
|
||||
"backend": 0,
|
||||
"target": 0,
|
||||
"useWidthOrHeight": 0,
|
||||
"sigleobjectW": 0.12,
|
||||
"sigleobjectH": 0.105,
|
||||
},
|
||||
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|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
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|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.134,
|
||||
"preProcessingGaussKernel": 5,
|
||||
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|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.051],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 1280,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
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|
||||
"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]
|
||||
},
|
||||
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|
||||
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|
||||
},
|
||||
"datasetCOCO": {
|
||||
"person": [-1, -1],
|
||||
"bicycle": [-1, -1],
|
||||
"car": [-1, -1],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
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|
||||
"train": [-1, -1],
|
||||
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|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
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|
||||
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|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "siamrpn",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"useWidthOrHeight": 1,
|
||||
"withSegmentation": true,
|
||||
"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],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "siamrpn",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"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],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "siamrpn",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 1280,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"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],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "siamrpn",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"useWidthOrHeight": 1,
|
||||
"withSegmentation": true,
|
||||
"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],
|
||||
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|
||||
},
|
||||
"datasetDrone": {
|
||||
"drone": [0.4, 0.2]
|
||||
},
|
||||
"datasetCOCO": {
|
||||
"person": [-1, -1],
|
||||
"bicycle": [-1, -1],
|
||||
"car": [-1, -1],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "siamrpn",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
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|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
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|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"useWidthOrHeight": 1,
|
||||
"withSegmentation": true,
|
||||
"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": {
|
||||
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|
||||
},
|
||||
"datasetCOCO": {
|
||||
"person": [-1, -1],
|
||||
"bicycle": [-1, -1],
|
||||
"car": [-1, -1],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
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|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
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|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "csrt",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
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|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
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|
||||
"minOrientedRectSide": 2.984,
|
||||
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|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"useWidthOrHeight": 1,
|
||||
"withSegmentation": true,
|
||||
"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],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "kcf",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"useWidthOrHeight": 1,
|
||||
"withSegmentation": true,
|
||||
"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": {
|
||||
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|
||||
},
|
||||
"datasetCOCO": {
|
||||
"person": [-1, -1],
|
||||
"bicycle": [-1, -1],
|
||||
"car": [-1, -1],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
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|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "nano",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
{
|
||||
"CommonObjectDetector": {
|
||||
"dataset": "COCO",
|
||||
"inputSize": 640,
|
||||
"nmsThrs": 0.6,
|
||||
"scoreThrs": 0.4,
|
||||
"useWidthOrHeight": 1,
|
||||
"withSegmentation": true,
|
||||
"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],
|
||||
"motorcycle": [-1, -1],
|
||||
"airplane": [-1, -1],
|
||||
"bus": [-1, -1],
|
||||
"train": [-1, -1],
|
||||
"truck": [-1, -1],
|
||||
"boat": [-1, -1],
|
||||
"traffic light": [-1, -1],
|
||||
"fire hydrant": [-1, -1],
|
||||
"stop sign": [-1, -1],
|
||||
"parking meter": [-1, -1],
|
||||
"bench": [-1, -1],
|
||||
"bird": [-1, -1],
|
||||
"cat": [-1, -1],
|
||||
"dog": [-1, -1],
|
||||
"horse": [-1, -1],
|
||||
"sheep": [-1, -1],
|
||||
"cow": [-1, -1],
|
||||
"elephant": [-1, -1],
|
||||
"bear": [-1, -1],
|
||||
"zebra": [-1, -1],
|
||||
"giraffe": [-1, -1],
|
||||
"backpack": [-1, -1],
|
||||
"umbrella": [-1, -1],
|
||||
"handbag": [-1, -1],
|
||||
"tie": [-1, -1],
|
||||
"suitcase": [-1, -1],
|
||||
"frisbee": [-1, -1],
|
||||
"skis": [-1, -1],
|
||||
"snowboard": [-1, -1],
|
||||
"sports ball": [-1, -1],
|
||||
"kite": [-1, -1],
|
||||
"baseball bat": [-1, -1],
|
||||
"baseball glove": [-1, -1],
|
||||
"skateboard": [-1, -1],
|
||||
"surfboard": [-1, -1],
|
||||
"tennis racket": [-1, -1],
|
||||
"bottle": [-1, -1],
|
||||
"wine glass": [-1, -1],
|
||||
"cup": [-1, -1],
|
||||
"fork": [-1, -1],
|
||||
"knife": [-1, -1],
|
||||
"spoon": [-1, -1],
|
||||
"bowl": [-1, -1],
|
||||
"banana": [-1, -1],
|
||||
"apple": [-1, -1],
|
||||
"sandwich": [-1, -1],
|
||||
"orange": [-1, -1],
|
||||
"broccoli": [-1, -1],
|
||||
"carrot": [-1, -1],
|
||||
"hot dog": [-1, -1],
|
||||
"pizza": [-1, -1],
|
||||
"donut": [-1, -1],
|
||||
"cake": [-1, -1],
|
||||
"chair": [-1, -1],
|
||||
"couch": [-1, -1],
|
||||
"potted plant": [-1, -1],
|
||||
"bed": [-1, -1],
|
||||
"dining table": [-1, -1],
|
||||
"toilet": [-1, -1],
|
||||
"tv": [-1, -1],
|
||||
"laptop": [-1, -1],
|
||||
"mouse": [-1, -1],
|
||||
"remote": [-1, -1],
|
||||
"keyboard": [-1, -1],
|
||||
"cell phone": [-1, -1],
|
||||
"microwave": [-1, -1],
|
||||
"oven": [-1, -1],
|
||||
"toaster": [-1, -1],
|
||||
"sink": [-1, -1],
|
||||
"refrigerator": [-1, -1],
|
||||
"book": [-1, -1],
|
||||
"clock": [-1, -1],
|
||||
"vase": [-1, -1],
|
||||
"scissors": [-1, -1],
|
||||
"teddy bear": [-1, -1],
|
||||
"hair drier": [-1, -1],
|
||||
"toothbrush": [-1, -1]
|
||||
}
|
||||
},
|
||||
"AutoFocusObjectDetector": {
|
||||
"lock_thres": 5,
|
||||
"unlock_thres": 5,
|
||||
"lock_scale_init": 12.0,
|
||||
"lock_scale": 8.0,
|
||||
"categories_filter": [],
|
||||
"keep_unlocked": false,
|
||||
"use_square_region": false
|
||||
},
|
||||
"SingleObjectTracker": {
|
||||
"algorithm": "siamrpn",
|
||||
"backend": 0,
|
||||
"target": 0
|
||||
},
|
||||
"MultipleObjectTracker": {
|
||||
"algorithm": "sort",
|
||||
"with_reid": false,
|
||||
"reid_input_size": [128, 128],
|
||||
"reid_num_samples": 10,
|
||||
"reid_match_thres": 2.0,
|
||||
"iou_thres": 0.5,
|
||||
"max_age": 10,
|
||||
"min_hits": 3
|
||||
},
|
||||
"LandingMarkerDetector": {
|
||||
"labels": ["x", "h"],
|
||||
"maxCandidates": 5
|
||||
},
|
||||
"EllipseDetector": {
|
||||
"radiusInMeter": 0.5,
|
||||
"preProcessingGaussKernel": 5,
|
||||
"preProcessingGaussSigma": 1.306,
|
||||
"thPosition": 1.0,
|
||||
"maxCenterDistance": 0.05,
|
||||
"minEdgeLength": 9,
|
||||
"minOrientedRectSide": 2.984,
|
||||
"distanceToEllipseContour": 0.111,
|
||||
"minScore": 0.511,
|
||||
"minReliability": 0.470,
|
||||
"ns": 22,
|
||||
"percentNe": 0.946,
|
||||
"T_CNC": 0.121,
|
||||
"T_TCN_L": 0.468,
|
||||
"T_TCN_P": 0.560,
|
||||
"thRadius": 0.202
|
||||
},
|
||||
"ArucoDetector": {
|
||||
"dictionaryId": 10,
|
||||
"markerIds": [-1],
|
||||
"markerLengths": [0.2],
|
||||
"adaptiveThreshConstant": 7,
|
||||
"adaptiveThreshWinSizeMax": 23,
|
||||
"adaptiveThreshWinSizeMin": 3,
|
||||
"adaptiveThreshWinSizeStep": 10,
|
||||
"aprilTagCriticalRad": 0.17453292519,
|
||||
"aprilTagDeglitch": 0,
|
||||
"aprilTagMaxLineFitMse": 10.0,
|
||||
"aprilTagMaxNmaxima": 10,
|
||||
"aprilTagMinClusterPixels": 5,
|
||||
"aprilTagMinWhiteBlackDiff": 5,
|
||||
"aprilTagQuadDecimate": 0.0,
|
||||
"aprilTagQuadSigma": 0.0,
|
||||
"cornerRefinementMaxIterations": 30,
|
||||
"cornerRefinementMethod": 0,
|
||||
"cornerRefinementMinAccuracy": 0.1,
|
||||
"cornerRefinementWinSize": 5,
|
||||
"detectInvertedMarker": false,
|
||||
"errorCorrectionRate": 0.6,
|
||||
"markerBorderBits": 1,
|
||||
"maxErroneousBitsInBorderRate": 0.35,
|
||||
"maxMarkerPerimeterRate": 4.0,
|
||||
"minCornerDistanceRate": 0.05,
|
||||
"minDistanceToBorder": 3,
|
||||
"minMarkerDistanceRate": 0.05,
|
||||
"minMarkerLengthRatioOriginalImg": 0,
|
||||
"minMarkerPerimeterRate": 0.03,
|
||||
"minOtsuStdDev": 5.0,
|
||||
"minSideLengthCanonicalImg": 32,
|
||||
"perspectiveRemoveIgnoredMarginPerCell": 0.13,
|
||||
"perspectiveRemovePixelPerCell": 4,
|
||||
"polygonalApproxAccuracyRate": 0.03,
|
||||
"useAruco3Detection": false
|
||||
},
|
||||
"ColorLineDetector": {
|
||||
"line_color": "black",
|
||||
"line_location": 0.5,
|
||||
"line_location_a1": 0.3,
|
||||
"line_location_a2": 0.7
|
||||
}
|
||||
}
|
||||
|
|
@ -46,6 +46,7 @@ public:
|
|||
uint32_t setGimabalPos(const AMOV_GIMBAL_POS_T &pos);
|
||||
uint32_t setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed);
|
||||
uint32_t setGimabalHome(void);
|
||||
uint32_t setGimbalDownwardHome(void);
|
||||
|
||||
uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
|
||||
uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
|
||||
|
|
@ -55,9 +56,11 @@ public:
|
|||
uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
|
||||
const AMOV_GIMBAL_VELOCITY_T &seppd,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc,
|
||||
float lng, float lat, float alt, uint32_t nState, float relAlt,
|
||||
void *extenData);
|
||||
|
||||
uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
|
||||
uint32_t setDownwardShootingMode();
|
||||
uint32_t extensionFuntions(void *cmd);
|
||||
static amovGimbal::amovGimbalBase *creat(amovGimbal::IOStreamBase *_IO)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -20,9 +20,9 @@
|
|||
uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
|
||||
{
|
||||
carrierStateMutex.lock();
|
||||
targetPos[0] = (int16_t)(pos.roll / 0.01f);
|
||||
targetPos[0] = (int16_t)(-pos.roll / 0.01f);
|
||||
targetPos[1] = (int16_t)(-pos.pitch / 0.01f);
|
||||
targetPos[2] = (int16_t)(pos.yaw / 0.01f);
|
||||
targetPos[2] = (int16_t)(-pos.yaw / 0.01f);
|
||||
carrierStateMutex.unlock();
|
||||
return pack(GX40::GIMBAL_CMD_MODE_EULER, nullptr, 0);
|
||||
}
|
||||
|
|
@ -38,9 +38,9 @@ uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
|
|||
uint32_t GX40GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
|
||||
{
|
||||
carrierStateMutex.lock();
|
||||
targetPos[0] = (int16_t)(speed.roll / 0.1f);
|
||||
targetPos[0] = (int16_t)(-speed.roll / 0.1f);
|
||||
targetPos[1] = (int16_t)(-speed.pitch / 0.1f);
|
||||
targetPos[2] = (int16_t)(speed.yaw / 0.1f);
|
||||
targetPos[2] = (int16_t)(-speed.yaw / 0.1f);
|
||||
carrierStateMutex.unlock();
|
||||
|
||||
return pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);
|
||||
|
|
@ -65,6 +65,12 @@ uint32_t GX40GimbalDriver::setGimabalHome(void)
|
|||
return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
|
||||
}
|
||||
|
||||
uint32_t GX40GimbalDriver::setGimbalDownwardHome(void)
|
||||
{
|
||||
pack(GX40::GIMBAL_CMD_MODE_OVERLOCK, nullptr, 0);
|
||||
return pack(GX40::GIMBAL_CMD_HOME, nullptr, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* The function `takePic` in the `GX40GimbalDriver` class takes a picture using the GX40 gimbal and
|
||||
* returns the packed command.
|
||||
|
|
@ -128,12 +134,21 @@ uint32_t GX40GimbalDriver::setVideo(const AMOV_GIMBAL_VIDEO_T newState)
|
|||
uint32_t GX40GimbalDriver::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
|
||||
const AMOV_GIMBAL_VELOCITY_T &seppd,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc,
|
||||
float lng, float lat, float alt, uint32_t nState, float relAlt,
|
||||
void *extenData)
|
||||
{
|
||||
carrierStateMutex.lock();
|
||||
carrierPos = pos;
|
||||
carrierSpeed = seppd;
|
||||
carrierAcc = acc;
|
||||
|
||||
carrierGNSS.lng = lng / 1E-7;
|
||||
carrierGNSS.lat = lat / 1E-7;
|
||||
carrierGNSS.alt = alt / 1E-3;
|
||||
|
||||
carrierGNSS.relAlt = relAlt / 1E-3;
|
||||
carrierGNSS.nState = nState;
|
||||
|
||||
upDataTs = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch());
|
||||
carrierStateMutex.unlock();
|
||||
return sizeof(AMOV_GIMBAL_POS_T) + sizeof(AMOV_GIMBAL_VELOCITY_T) + sizeof(AMOV_GIMBAL_VELOCITY_T);
|
||||
|
|
@ -249,3 +264,8 @@ uint32_t GX40GimbalDriver::setGNSSInfo(float lng, float lat, float alt, uint32_t
|
|||
carrierStateMutex.unlock();
|
||||
return sizeof(GX40::GIMBAL_SECONDARY_MASTER_FRAME_T);
|
||||
}
|
||||
|
||||
uint32_t GX40GimbalDriver::setDownwardShootingMode()
|
||||
{
|
||||
return pack(GX40::GIMBAL_CMD_MODE_OVERLOCK,nullptr,0);
|
||||
}
|
||||
|
|
@ -75,6 +75,7 @@ namespace amovGimbal
|
|||
uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
|
||||
|
||||
uint32_t setGimabalHome(void);
|
||||
uint32_t setGimbalDownwardHome(void);
|
||||
uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
|
||||
uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
|
||||
uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
|
||||
|
|
@ -82,11 +83,12 @@ namespace amovGimbal
|
|||
uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
|
||||
uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
|
||||
const AMOV_GIMBAL_VELOCITY_T &speed,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
|
||||
uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
|
||||
const AMOV_GIMBAL_VELOCITY_T &seppd,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
|
||||
uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
|
||||
uint32_t setDownwardShootingMode();
|
||||
uint32_t extensionFuntions(void *cmd);
|
||||
|
||||
// block functions
|
||||
|
|
|
|||
|
|
@ -40,6 +40,7 @@ extern "C"
|
|||
AMOV_GIMBAL_VELOCITY_T *speed,
|
||||
AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle);
|
||||
uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle);
|
||||
uint32_t amovGimbalSetDownwardShootingMode(void* handle);
|
||||
uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle);
|
||||
void getGimabalState(AMOV_GIMBAL_STATE_T *state, void *handle);
|
||||
void getGimbalType(char *type, void *handle);
|
||||
|
|
|
|||
|
|
@ -80,6 +80,16 @@ uint32_t amovGimbal::IamovGimbalBase::setGimabalHome(void)
|
|||
return 0;
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::gimbal::setGimbalDownwardHome(void)
|
||||
{
|
||||
return ((amovGimbalBase*)(this->devHandle))->setGimbalDownwardHome();
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::IamovGimbalBase::setGimbalDownwardHome()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::gimbal::setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate)
|
||||
{
|
||||
return ((amovGimbalBase *)(this->devHandle))->setGimbalZoom(zoom, targetRate);
|
||||
|
|
@ -132,28 +142,28 @@ uint32_t amovGimbal::IamovGimbalBase::setVideo(const AMOV_GIMBAL_VIDEO_T newStat
|
|||
|
||||
uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
|
||||
const AMOV_GIMBAL_VELOCITY_T &speed,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
|
||||
{
|
||||
return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc, extenData);
|
||||
return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(quaterion, speed, acc,lng, lat, alt, nState, relAlt, extenData);
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion,
|
||||
const AMOV_GIMBAL_VELOCITY_T &speed,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::gimbal::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
|
||||
const AMOV_GIMBAL_VELOCITY_T &speed,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
|
||||
{
|
||||
return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, extenData);
|
||||
return ((amovGimbalBase *)(this->devHandle))->attitudeCorrection(pos, speed, acc, lng, lat, alt, nState, relAlt,extenData);
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::IamovGimbalBase::attitudeCorrection(const AMOV_GIMBAL_POS_T &pos,
|
||||
const AMOV_GIMBAL_VELOCITY_T &speed,
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData)
|
||||
const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -168,6 +178,17 @@ uint32_t amovGimbal::IamovGimbalBase::setGNSSInfo(float lng, float lat, float al
|
|||
return 0;
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::gimbal::setDownwardShootingMode()
|
||||
{
|
||||
return ((amovGimbalBase*)(this->devHandle))->setDownwardShootingMode();
|
||||
}
|
||||
|
||||
uint32_t amovGimbal::IamovGimbalBase::setDownwardShootingMode()
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
uint32_t amovGimbal::gimbal::extensionFuntions(void *cmd)
|
||||
{
|
||||
return ((amovGimbalBase *)(this->devHandle))->extensionFuntions(cmd);
|
||||
|
|
|
|||
|
|
@ -66,6 +66,11 @@ uint32_t amovGimbalSetGimabalHome(void *handle)
|
|||
return ((amovGimbal::gimbal *)handle)->setGimabalHome();
|
||||
}
|
||||
|
||||
uint32_t amovGimbalSetGimbalDownwardHome(void* handle)
|
||||
{
|
||||
return ((amovGimbal::gimbal*)handle)->setGimbalDownwardHome();
|
||||
}
|
||||
|
||||
uint32_t amovGimbalSetGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate, void *handle)
|
||||
{
|
||||
return ((amovGimbal::gimbal *)handle)->setGimbalZoom(zoom, targetRate);
|
||||
|
|
@ -93,16 +98,16 @@ uint32_t amovGimbalSetVideo(AMOV_GIMBAL_VIDEO_T newState, void *handle)
|
|||
|
||||
uint32_t amovGimbalAttitudeCorrectionQ(AMOV_GIMBAL_QUATERNION_T *quaterion,
|
||||
AMOV_GIMBAL_VELOCITY_T *speed,
|
||||
AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
|
||||
AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, float lng, float lat, float alt, uint32_t nState, float relAlt,void *handle)
|
||||
{
|
||||
return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, extenData);
|
||||
return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*quaterion, *speed, *acc, lng, lat, alt, nState, relAlt,extenData);
|
||||
}
|
||||
|
||||
uint32_t amovGimbalAttitudeCorrectionE(AMOV_GIMBAL_POS_T *pos,
|
||||
AMOV_GIMBAL_VELOCITY_T *speed,
|
||||
AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, void *handle)
|
||||
AMOV_GIMBAL_VELOCITY_T *acc, void *extenData, float lng, float lat, float alt, uint32_t nState, float relAlt,void *handle)
|
||||
{
|
||||
return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, extenData);
|
||||
return ((amovGimbal::gimbal *)handle)->attitudeCorrection(*pos, *speed, *acc, lng, lat, alt, nState, relAlt,extenData);
|
||||
}
|
||||
|
||||
uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt, void *handle)
|
||||
|
|
@ -110,6 +115,12 @@ uint32_t amovGimbalSetGNSSInfo(float lng, float lat, float alt, uint32_t nState,
|
|||
return ((amovGimbal::gimbal *)handle)->setGNSSInfo(lng, lat, alt, nState, relAlt);
|
||||
}
|
||||
|
||||
uint32_t amovGimbalSetDownwardShootingMode(void* handle)
|
||||
{
|
||||
return ((amovGimbal::gimbal*)handle)->setDownwardShootingMode();
|
||||
}
|
||||
|
||||
|
||||
uint32_t amovGimbalExtensionFuntions(void *cmd, void *handle)
|
||||
{
|
||||
return ((amovGimbal::gimbal *)handle)->extensionFuntions(cmd);
|
||||
|
|
|
|||
|
|
@ -84,16 +84,19 @@ namespace amovGimbal
|
|||
virtual uint32_t setGimabalFollowSpeed(const AMOV_GIMBAL_POS_T &followSpeed);
|
||||
|
||||
virtual uint32_t setGimabalHome(void);
|
||||
virtual uint32_t setGimbalDownwardHome(void);
|
||||
virtual uint32_t setGimbalZoom(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
|
||||
virtual uint32_t setGimbalFocus(AMOV_GIMBAL_ZOOM_T zoom, float targetRate = 0);
|
||||
virtual uint32_t setGimbalROI(const AMOV_GIMBAL_ROI_T area);
|
||||
virtual uint32_t takePic(void);
|
||||
virtual uint32_t setVideo(const AMOV_GIMBAL_VIDEO_T newState);
|
||||
virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
|
||||
virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, void *extenData);
|
||||
virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_QUATERNION_T &quaterion, const AMOV_GIMBAL_VELOCITY_T &speed, const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
|
||||
virtual uint32_t attitudeCorrection(const AMOV_GIMBAL_POS_T &pos, const AMOV_GIMBAL_VELOCITY_T &seppd, const AMOV_GIMBAL_VELOCITY_T &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
|
||||
virtual uint32_t setGNSSInfo(float lng, float lat, float alt, uint32_t nState, float relAlt);
|
||||
virtual uint32_t setDownwardShootingMode();
|
||||
virtual uint32_t extensionFuntions(void *cmd);
|
||||
|
||||
|
||||
// block functions
|
||||
virtual bool setGimbalPosBlock(const AMOV_GIMBAL_POS_T &pos);
|
||||
virtual bool setGimabalHomeBlock(void);
|
||||
|
|
|
|||
|
|
@ -290,6 +290,12 @@ bool sv::Gimbal::setHome()
|
|||
}
|
||||
}
|
||||
|
||||
void sv::Gimbal::setGimbalDownwardHome(void)
|
||||
{
|
||||
amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
|
||||
pdevTemp->setGimbalDownwardHome();
|
||||
}
|
||||
|
||||
/**
|
||||
* This function sets the zoom level of a gimbal device and returns a boolean indicating success or
|
||||
* failure.
|
||||
|
|
@ -511,7 +517,7 @@ void sv::Gimbal::setAngleRateEuler(double roll_rate, double pitch_rate, double y
|
|||
}
|
||||
void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
|
||||
const GimbalVelocityT &speed,
|
||||
const GimbalVelocityT &acc, void *extenData)
|
||||
const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
|
||||
{
|
||||
amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
|
||||
AMOV_GIMBAL_QUATERNION_T temp_q;
|
||||
|
|
@ -529,12 +535,12 @@ void sv::Gimbal::attitudeCorrection(const GimbalQuaternionT &quaterion,
|
|||
temp_v2.y = acc.y;
|
||||
temp_v2.z = acc.z;
|
||||
|
||||
pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, extenData);
|
||||
pdevTemp->attitudeCorrection(temp_q, temp_v1, temp_v2, lng, lat, alt, nState, relAlt,extenData);
|
||||
}
|
||||
|
||||
void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
|
||||
const GimbalVelocityT &speed,
|
||||
const GimbalVelocityT &acc, void *extenData)
|
||||
const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData)
|
||||
{
|
||||
amovGimbal::gimbal *pdevTemp = (amovGimbal::gimbal *)this->dev;
|
||||
AMOV_GIMBAL_VELOCITY_T temp_v1, temp_v2;
|
||||
|
|
@ -551,9 +557,16 @@ void sv::Gimbal::attitudeCorrection(const GimbalPosT &pos,
|
|||
temp_p.yaw = pos.yaw;
|
||||
temp_p.roll = pos.roll;
|
||||
|
||||
pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, extenData);
|
||||
pdevTemp->attitudeCorrection(temp_p, temp_v1, temp_v2, lng, lat, alt, nState, relAlt,extenData);
|
||||
}
|
||||
|
||||
void sv::Gimbal::setDownwardShootingMode()
|
||||
{
|
||||
amovGimbal::gimbal* pdevTemp = (amovGimbal::gimbal*)this->dev;
|
||||
pdevTemp->setDownwardShootingMode();
|
||||
}
|
||||
|
||||
|
||||
sv::Gimbal::~Gimbal()
|
||||
{
|
||||
removeIO(this);
|
||||
|
|
|
|||
|
|
@ -105,6 +105,9 @@ public:
|
|||
std::string getAlgorithm();
|
||||
int getBackend();
|
||||
int getTarget();
|
||||
double getObjectWs();
|
||||
double getObjectHs();
|
||||
int useWidthOrHeight();
|
||||
protected:
|
||||
virtual bool setupImpl();
|
||||
virtual void initImpl(cv::Mat img_, const cv::Rect& bounding_box_);
|
||||
|
|
@ -114,6 +117,9 @@ protected:
|
|||
std::string _algorithm;
|
||||
int _backend;
|
||||
int _target;
|
||||
int _use_width_or_height;
|
||||
double _object_ws;
|
||||
double _object_hs;
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -181,6 +181,7 @@ namespace sv
|
|||
|
||||
// Funtions
|
||||
bool setHome();
|
||||
void setGimbalDownwardHome();
|
||||
bool setZoom(double x);
|
||||
bool setAutoZoom(int state);
|
||||
bool setAutoFocus(int state);
|
||||
|
|
@ -189,10 +190,12 @@ namespace sv
|
|||
int getVideoState();
|
||||
void attitudeCorrection(const GimbalQuaternionT &quaterion,
|
||||
const GimbalVelocityT &speed,
|
||||
const GimbalVelocityT &acc, void *extenData);
|
||||
const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
|
||||
void attitudeCorrection(const GimbalPosT &pos,
|
||||
const GimbalVelocityT &speed,
|
||||
const GimbalVelocityT &acc, void *extenData);
|
||||
const GimbalVelocityT &acc, float lng, float lat, float alt, uint32_t nState, float relAlt,void *extenData);
|
||||
|
||||
void setDownwardShootingMode();
|
||||
|
||||
//! Set gimbal angles
|
||||
/*!
|
||||
|
|
|
|||
|
|
@ -411,6 +411,22 @@ cv::Mat drawTargetsInFrame(
|
|||
bool with_seg=false,
|
||||
bool with_box=false
|
||||
);
|
||||
int findClosestTargetID(sv::TargetsInFrame& lastTgts, int clickX, int clickY);
|
||||
|
||||
void drawSpecificTargetsInFrame(
|
||||
cv::Mat& img_,
|
||||
const TargetsInFrame& tgts_,
|
||||
int clicked_id,
|
||||
bool with_all=true,
|
||||
bool with_category=false,
|
||||
bool with_tid=false,
|
||||
bool with_seg=false,
|
||||
bool with_box=false,
|
||||
bool with_ell=false,
|
||||
bool with_aruco=false,
|
||||
bool with_yaw=false
|
||||
);
|
||||
|
||||
std::string get_home();
|
||||
bool is_file_exist(std::string& fn);
|
||||
void list_dir(std::string dir, std::vector<std::string>& files, std::string suffixs="", bool r=false);
|
||||
|
|
|
|||
|
|
@ -35,21 +35,24 @@ void gimbalNoTrack(void)
|
|||
int main(int argc, char *argv[])
|
||||
{
|
||||
// 实例化吊舱
|
||||
gimbal = new sv::Gimbal(sv::GimbalType::G1, sv::GimbalLink::SERIAL);
|
||||
gimbal = new sv::Gimbal(sv::GimbalType::GX40, sv::GimbalLink::SERIAL);
|
||||
// 使用 /dev/ttyUSB0 作为控制串口
|
||||
gimbal->setSerialPort("/dev/ttyUSB0");
|
||||
// 以GimableCallback作为状态回调函数启用吊舱控制
|
||||
gimbal->open(GimableCallback);
|
||||
|
||||
gimbal->setDownwardShootingMode();
|
||||
|
||||
// 定义相机
|
||||
sv::Camera cap;
|
||||
// 设置相机流媒体地址为 192.168.2.64
|
||||
cap.setIp("192.168.2.64");
|
||||
cap.setIp("192.168.144.108");
|
||||
// 设置获取画面分辨率为720P
|
||||
cap.setWH(1280, 720);
|
||||
// 设置视频帧率为30帧
|
||||
cap.setFps(30);
|
||||
// 开启相机
|
||||
cap.open(sv::CameraType::G1);
|
||||
cap.open(sv::CameraType::GX40);
|
||||
|
||||
// 定义一个新的窗口，可在上面进行框选操作
|
||||
cv::namedWindow(RGB_WINDOW);
|
||||
|
|
|
|||
|
|
@ -519,6 +519,128 @@ cv::Mat drawTargetsInFrame(
|
|||
}
|
||||
|
||||
|
||||
void drawSpecificTargetsInFrame(
|
||||
cv::Mat& img_,
|
||||
const TargetsInFrame& tgts_,
|
||||
int clicked_id,
|
||||
bool with_all,
|
||||
bool with_category,
|
||||
bool with_tid,
|
||||
bool with_seg,
|
||||
bool with_box,
|
||||
bool with_ell,
|
||||
bool with_aruco,
|
||||
bool with_yaw
|
||||
)
|
||||
{
|
||||
|
||||
|
||||
//std::cout<<"go in void function"<<std::endl;
|
||||
if (tgts_.rois.size() > 0)
|
||||
{
|
||||
cv::Mat image_ret;
|
||||
cv::addWeighted(img_, 0.5, cv::Mat::zeros(cv::Size(img_.cols, img_.rows), CV_8UC3), 0, 0, image_ret);
|
||||
cv::Rect roi = cv::Rect(tgts_.rois[0].x1, tgts_.rois[0].y1, tgts_.rois[0].x2 - tgts_.rois[0].x1, tgts_.rois[0].y2 - tgts_.rois[0].y1);
|
||||
img_(roi).copyTo(image_ret(roi));
|
||||
image_ret.copyTo(img_);
|
||||
}
|
||||
std::vector<std::vector<cv::Point2f> > aruco_corners;
|
||||
std::vector<int> aruco_ids;
|
||||
|
||||
//int i = 0;
|
||||
//for (Target tgt : tgts_.targets)
|
||||
for (int i=0; i<tgts_.targets.size(); i++)
|
||||
{
|
||||
//i++;
|
||||
if (clicked_id != -1 && tgts_.targets[i].category_id != clicked_id) continue;
|
||||
|
||||
|
||||
|
||||
|
||||
cv::circle(img_, cv::Point(int(tgts_.targets[i].cx * tgts_.width), int(tgts_.targets[i].cy * tgts_.height)), 4, cv::Scalar(0,255,0), 2);
|
||||
if ((with_all || with_aruco) && tgts_.targets[i].has_aruco)
|
||||
{
|
||||
std::vector<cv::Point2f> a_corners;
|
||||
int a_id;
|
||||
if (((Target)tgts_.targets[i]).getAruco(a_id, a_corners)) { aruco_ids.push_back(a_id); aruco_corners.push_back(a_corners); }
|
||||
}
|
||||
if ((with_all || with_box) && tgts_.targets[i].has_box)
|
||||
{
|
||||
Box b;
|
||||
((Target)tgts_.targets[i]).getBox(b);
|
||||
cv::rectangle(img_, cv::Rect(b.x1, b.y1, b.x2-b.x1+1, b.y2-b.y1+1), cv::Scalar(0,0,255), 1, 1, 0);
|
||||
if ((with_all || with_category) && tgts_.targets[i].has_category)
|
||||
{
|
||||
cv::putText(img_, tgts_.targets[i].category, cv::Point(b.x1, b.y1-4), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(255,0,0));
|
||||
}
|
||||
if ((with_all || with_tid) && tgts_.targets[i].has_tid)
|
||||
{
|
||||
char tmp[32];
|
||||
sprintf(tmp, "TID: %d", tgts_.targets[i].tracked_id);
|
||||
cv::putText(img_, tmp, cv::Point(b.x1, b.y1-14), cv::FONT_HERSHEY_DUPLEX, 0.4, cv::Scalar(0,0,255));
|
||||
}
|
||||
}
|
||||
if ((with_all || with_ell) && tgts_.targets[i].has_ell)
|
||||
{
|
||||
double xc, yc, a, b, rad;
|
||||
|
||||
}
|
||||
if ((with_all || with_seg) && tgts_.targets[i].has_seg)
|
||||
{
|
||||
|
||||
std::cout<<"here is mask "<<std::endl;
|
||||
cv::Mat mask = ((Target)tgts_.targets[i]).getMask() * 255;
|
||||
cv::threshold(mask, mask, 127, 255, cv::THRESH_BINARY);
|
||||
mask.convertTo(mask, CV_8UC1);
|
||||
|
||||
cv::resize(mask, mask, cv::Size(1280,720));
|
||||
std::vector<std::vector<cv::Point> > contours;
|
||||
std::vector<cv::Vec4i> hierarchy;
|
||||
|
||||
cv::findContours(mask, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
|
||||
cv::Mat mask_disp = img_.clone();
|
||||
cv::fillPoly(mask_disp, contours, cv::Scalar(255,255,255), cv::LINE_AA);
|
||||
cv::polylines(img_, contours, true, cv::Scalar(255,255,255), 2, cv::LINE_AA);
|
||||
|
||||
double alpha = 0.6;
|
||||
cv::addWeighted(img_, alpha, mask_disp, 1.0-alpha, 0, img_);
|
||||
}
|
||||
|
||||
if ((with_all || with_aruco) && aruco_ids.size() > 0)
|
||||
{
|
||||
cv::aruco::drawDetectedMarkers(img_, aruco_corners, aruco_ids);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int findClosestTargetID(sv::TargetsInFrame& lastTgts, int clickX, int clickY) {
|
||||
std::set<std::pair<int, int>> distancesAndIDs; // 存储距离平方和对应的tracked_id
|
||||
for (int i = 0; i < lastTgts.targets.size(); i++) {
|
||||
int halfWidth = static_cast<int>((lastTgts.targets[i].w * lastTgts.width) / 2);
|
||||
int halfHeight = static_cast<int>((lastTgts.targets[i].h * lastTgts.height) / 2);
|
||||
int x = static_cast<int>(lastTgts.targets[i].cx * lastTgts.width);
|
||||
int y = static_cast<int>(lastTgts.targets[i].cy * lastTgts.height);
|
||||
|
||||
int diffX = x - clickX;
|
||||
int diffY = y - clickY;
|
||||
|
||||
if ((abs(diffX) < halfWidth) && (abs(diffY) < halfHeight)) {
|
||||
int distanceSquared = diffX * diffX + diffY * diffY;
|
||||
distancesAndIDs.insert({distanceSquared, lastTgts.targets[i].tracked_id});
|
||||
}
|
||||
}
|
||||
|
||||
if (!distancesAndIDs.empty()) {
|
||||
// 返回距离最近的目标检测框的ID
|
||||
return distancesAndIDs.begin()->second;
|
||||
} else {
|
||||
// 如果没有找到任何框，则返回-1
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
std::string Target::getJsonStr()
|
||||
{
|
||||
std::string json_str = "{";
|
||||
|
|
@ -1349,6 +1471,4 @@ void VideoStreamerBase::releaseImpl()
|
|||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue