forked from floratest1/SpireCV
chu-zhaochen
76 lines
3.3 KiB
C++
76 lines
3.3 KiB
C++
#include <iostream>
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#include <string>
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#include <experimental/filesystem>
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// 包含SpireCV SDK头文件
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#include <sv_world.h>
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using namespace std;
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namespace fs = std::experimental::filesystem;
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int main(int argc, char *argv[]) {
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// 实例化
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sv::CommonObjectDetector cod;
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// 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
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cod.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
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cod.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
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sv::MultipleObjectTracker mot;
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// 手动导入相机参数，如果使用Amov的G1等吊舱或相机，则可以忽略该步骤，将自动下载相机参数文件
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mot.loadCameraParams(sv::get_home() + "/SpireCV/confs/calib_webcam_1280x720.yaml");
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mot.loadAlgorithmParams(sv::get_home() + "/SpireCV/confs/sv_algorithm_params.json");
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mot.init(&cod);
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// 打开摄像头
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/*
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sv::Camera cap;
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cap.setWH(mot.image_width, mot.image_height);
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cap.setFps(30);
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cap.open(sv::CameraType::V4L2CAM, 0); // CameraID 0
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*/
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std::string mot17_folder_path = sv::get_home()+"/SpireCV/dataset/MOT17/train/";
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std::string pred_file_path = sv::get_home()+"/SpireCV/dataset/pred_mot17/data/";
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for (auto & seq_path : std::experimental::filesystem::directory_iterator(mot17_folder_path))
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{
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// mkdir pred dirs and touch pred_files
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string pred_file = pred_file_path + seq_path.path().filename().string() + ".txt";
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fs::create_directories(pred_file_path);
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std::ofstream file(pred_file);
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// listdir seqence images
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string seq_image_paths = mot17_folder_path + seq_path.path().filename().string() + "/img1";
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// cout << seq_image_paths <<endl;
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std::vector<std::string> seq_image_file_path;
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cv::glob(seq_image_paths, seq_image_file_path);
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//eval MOT algorithms
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cv::Mat img;
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int frame_id = 0;
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while (frame_id < seq_image_file_path.size())
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{
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img = cv::imread(seq_image_file_path[frame_id]);
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// 实例化SpireCV的 单帧检测结果 接口类 TargetsInFrame
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sv::TargetsInFrame tgts(frame_id++);
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// 读取一帧图像到img
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//cap.read(img);
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//cv::resize(img, img, cv::Size(mot.image_width, mot.image_height));
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// 执行通用目标检测
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sv::TargetsInFrame person_tgts = mot.track(img, tgts);
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// 可视化检测结果，叠加到img上
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sv::drawTargetsInFrame(img, person_tgts);
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// printf(" Frame Size (width, height) = (%d, %d)\n", tgts.width, tgts.height);
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for (auto target : person_tgts.targets)
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{
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int center_x = int(target.cx * tgts.width);
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int center_y = int(target.cy * tgts.height);
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int width = int(target.w * tgts.width);
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int height = int(target.h * tgts.height);
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double conf = target.score;
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file << frame_id << ","<< target.tracked_id << "," << center_x - width / 2 << "," << center_y - height / 2 << "," << width << "," << height << "," << conf << "," << "-1,-1,-1" << endl;
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// file << frame_id << ","<< target.tracked_id << "," << center_x << "," << center_y << "," << width << "," << height << "," << conf << "," << "-1,-1,-1" << endl;
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}
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cv::imshow("img", img);
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cv::waitKey(10);
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}
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file.close();
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}
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return 0;
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} |