92 lines
2.9 KiB
Rust
92 lines
2.9 KiB
Rust
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use grant_tracker::meter::scene::{Participant, Scene};
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use grant_common::Detection;
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use nalgebra as na;
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fn map_to_top_view(det: &Detection, offset: (f32, f32), height: i32, fov: f32, angle: f32, scale: f32) -> Detection {
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let appy = fov / height as f32;
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let h2 = height as f32 / 2.0;
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let y = (height as f32 - det.y) - h2;
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let ay = y * appy;
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let s = (angle + ay).tan();
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println!("{} {}", y, s);
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Detection {
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x: offset.0 + (det.x * s) * scale,
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y: offset.1 + ((-y) * s) * scale,
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w: (det.w * s) * scale,
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h: (det.h * s) * scale,
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confidence: det.confidence,
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class: det.class,
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}
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}
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fn main() -> Result<(), grant_tracker::error::Error> {
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use std::io::BufRead;
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let mut args = std::env::args();
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let _ = args.next().unwrap();
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let in_file_name = args.next().expect("expected detections file name");
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let dets_file = std::fs::File::open(in_file_name)?;
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let width = 1280.0f32;
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let height = 720.0f32;
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let padding = 20.0;
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let poly = vec![
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nalgebra::Point2::new(padding, padding),
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nalgebra::Point2::new(width - padding - padding, padding),
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nalgebra::Point2::new(width - padding - padding, height - padding - padding),
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nalgebra::Point2::new(padding, height - padding - padding),
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];
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let mut scene = Scene::new(poly);
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let reader = std::io::BufReader::new(dets_file).lines();
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let mut line_reader = reader.into_iter();
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loop {
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let (ts, xx): (f64, Vec<Detection>) = match line_reader.next() {
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Some(x) => {
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let x = x.unwrap();
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if let Some(idx) = x.find(':') {
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let (ts, vector) = x.split_at(idx);
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match (ts.parse::<u64>(), serde_json::from_str(&vector[1..])) {
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(Ok(ts), Ok(vector)) => (ts as f64, vector),
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(Ok(_), _) => {
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eprintln!("wrong file format: parse json failed");
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continue
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},
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(_, Ok(_)) => {
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eprintln!("wrong file format: parse timestamp failed");
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continue
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},
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_ => {
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eprintln!("wrong file format: parse failed");
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continue
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},
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}
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} else {
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eprintln!("wrong file format: expected `:`");
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continue;
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}
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},
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None => break,
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};
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let ts_us = (ts * 1000.0).round() as u64;
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let mapping = scene.map_detections(ts_us, &xx);
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scene.update(mapping);
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for t in &scene.tracks {
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if t.id > 0 {
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println!("{} {} {} {} {}", t.id, t.object.position.x, t.object.position.y, t.last_hit_score, ts_us);
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}
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}
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}
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Ok(())
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}
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