3d demo

# -*- coding: utf-8 -*-
from __future__ import division
import numpy as np  
import sys,os  
import cv2
caffe_root = '/home/jiasj/workspaces/Caffe/Calmcar_file/caffe_deephi/'
sys.path.insert(0, caffe_root + 'python')  
import caffe  
import time
net_file= 'train_val_reach15.prototxt'  
caffe_model='SSD_480x360_GENIII_15_iter_701100.caffemodel'    
test_dir = "/home/jiasj/Desktop/ces_demo1"
image_outdir = "/home/jiasj/Desktop/demo/"
if not os.path.exists(image_outdir):
    os.makedirs(image_outdir)
if not os.path.exists(caffe_model):
    print("MobileNetSSD_deploy.caffemodel does not exist,")
    print("use merge_bn.py to generate it.")
    exit()
net = caffe.Net(net_file,caffe_model,caffe.TEST)  
caffe.set_mode_gpu()
caffe.set_device(0)
CLASSES = ('background',
           'car_whole', 'car_rear', 'car_front', 'bus_whole',
           'bus_rear', 'bus_front', 'truck_whole', 'truck_rear', 'truck_front','person','bicycle','motorbike','tricycle',"speed_limit_sign","traffic_cone")
def preprocess(src):
    img = cv2.resize(src, (480,360))
    img = img - 127.5
    #img = img * 0.007843img - 127.5
    return img
def postprocess(img, out):   
    h = img.shape[0]
    w = img.shape[1]
    box = out['detection_out'][0,0,:,3:7] * np.array([w, h, w, h])
    cls = out['detection_out'][0,0,:,1]
    conf = out['detection_out'][0,0,:,2]
    return (box.astype(np.int32), conf, cls)
def compute_iou(rec1, rec2):
    left_column_max  = max(rec1[0],rec2[0])
    right_column_min = min(rec1[2],rec2[2])
    up_row_max       = max(rec1[1],rec2[1])
    down_row_min     = min(rec1[3],rec2[3])
    S1 = (rec1[2]-rec1[0])*(rec1[3]-rec1[1])
    S2 = (rec2[2]-rec2[0])*(rec2[3]-rec2[1])
    if left_column_max>=right_column_min or up_row_max >=down_row_min:
       return 0
    else:
       S_cross = (down_row_min-up_row_max)*(right_column_min-left_column_max)
       return S_cross/(S1+S2-S_cross)
def class_loop(origimg, file_name, box, conf, cls, class_f, class_s1, class_s2):
    for i in range(len(box)):
       if ((conf[i] > 0.3)&((str(CLASSES[int(cls[i])]) == class_f))):
          car=(box[i][0], box[i][1],box[i][2], box[i][3])
          for j in range(len(box)):
              if ((conf[j] > 0.3)&((str(CLASSES[int(cls[j])]) == class_s1) | (str(CLASSES[int(cls[j])]) == class_s2))):
                  car_front = (box[j][0], box[j][1],box[j][2], box[j][3])
                  iou=compute_iou(car, car_front)
                  if (iou>0.1)&(iou <1):
                      xmin_ = abs(car[0] - car_front[0])
                      xmax_ = abs(car[2] - car_front[2])
                      if xmin_ < xmax_:
                          car_outside, car_inside = draw_3d_road_left(car, car_front)
                          cv2.rectangle(origimg, (car_outside[0], car_outside[1]), (car_outside[2], car_outside[3]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_outside[0], car_outside[1]), (car_inside[0], car_inside[1]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_outside[2], car_outside[1]), (car_inside[2], car_inside[1]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_outside[2], car_outside[3]), (car_inside[2], car_inside[3]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_inside[0], car_inside[1]), (car_inside[2], car_inside[1]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_inside[2], car_inside[1]), (car_inside[2], car_inside[3]), (255, 128, 128), 2)                         
                          cv2.imwrite(image_outdir + '/'+ file_name, origimg)
                      elif xmin_ > xmax_:
                          car_outside, car_inside = draw_3d_road_right(car, car_front)
                          cv2.rectangle(origimg, (car_outside[0], car_outside[1]), (car_outside[2], car_outside[3]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_outside[0], car_outside[1]), (car_inside[0], car_inside[1]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_outside[2], car_outside[1]), (car_inside[2], car_inside[1]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_outside[0], car_outside[3]), (car_inside[0], car_inside[3]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_inside[0], car_inside[1]), (car_inside[2], car_inside[1]), (255, 128, 128), 2)
                          cv2.line(origimg, (car_inside[0], car_inside[1]), (car_inside[0], car_inside[3]), (255, 128, 128), 2)                         
                          cv2.imwrite(image_outdir + '/'+ file_name, origimg)
                      conf[j] = 0
                      conf[i] = 0
                      break
def detect(imgfile):
    file_path,file_name = os.path.split(imgfile)
    print file_name
    start = time.time()
    origimg = cv2.imread(imgfile)
    img = preprocess(origimg)
    img = img.astype(np.float32)
    img = img.transpose((2, 0, 1))
    net.blobs['data'].data[...] = img
    out = net.forward()  
    box, conf, cls = postprocess(origimg, out)
    class_loop(origimg, file_name, box, conf, cls, 'car_whole', 'car_rear', 'car_front')
    class_loop(origimg, file_name, box, conf, cls, 'bus_whole', 'bus_rear', 'bus_front')
    class_loop(origimg, file_name, box, conf, cls, 'truck_whole', 'truck_rear', 'truck_front')
    for i in range(len(box)):
       if (conf[i] > 0.3):
           p3 = (max(box[i][0], 15), max(box[i][1], 15))
           cv2.rectangle(origimg, (box[i][0], box[i][1]), (box[i][2], box[i][3]), (255, 128, 128),2)
           cv2.imwrite(image_outdir + '/'+ file_name, origimg)
    cv2.imshow("SSD", origimg)    
    k = cv2.waitKey(1) & 0xff    
    return True
def draw_3d_road_left(car, car_rear):
    w = car[2] - car[0]
    h = car[3] - car[1]
    top_back_y = car[1]
    wheel_front = (car[2], int(car[3] - (car[3] - car[1]) * 0.15))
    wheel_back = (car_rear[2], car_rear[3])
    light_middle = car_rear[2]
    v1 = car[3]
    l1 = h
    v2 = wheel_front[1]
    l2 = int(v2 / v1 * l1)
    retf_ul_x = car[2] - (car_rear[2] - car_rear[0])
    retf_ul_y = wheel_front[1] - int(l2 * (1 - 0.125))
    retf_dr_x = wheel_front[0]    
    retf_dr_y = int(car[1] + h - (light_middle - wheel_front[0]) *
                    (wheel_back[1] - wheel_front[1]) / (wheel_back[0] - wheel_front[0]))
    return car_rear, (retf_ul_x, retf_ul_y, retf_dr_x, retf_dr_y)
def draw_3d_road_right(car, car_rear):
    w = car[2] - car[0]
    h = car[3] - car[1]
    top_back_y = car[1]
    wheel_front = (car[0], int(car[3] - (car[3] - car[1]) * 0.15))
    wheel_back = (car_rear[0], car_rear[3])
    light_middle = car_rear[0]
    v1 = car[3]
    l1 = h
    v2 = wheel_front[1]
    l2 = int(v2 / v1 * l1)
    retf_ul_x = wheel_front[0]  
    retf_ul_y = wheel_front[1] - int(l2 * (1 - 0.125))
    retf_dr_x = wheel_front[0] + car[2] - light_middle
    retf_dr_y = int(car[1] + h - (light_middle - wheel_front[0]) *
                    (wheel_back[1] - wheel_front[1]) / (wheel_back[0] - wheel_front[0]))    
    return (light_middle, top_back_y, car[2], car[3]), (retf_ul_x, retf_ul_y, retf_dr_x, retf_dr_y)
for f in sorted(os.listdir(test_dir)):
    if detect(test_dir + "/" + f) == False:
       break

3dbbox.pdf