Merge pull request #7 from llDev-Rootll/development

Merge to master

Author: llDev-Rootll

assets/Human Detector & Tracker - Proposal.pdf

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 #ifndef INCLUDE_HUMANDETECTOR_H_
 #define INCLUDE_HUMANDETECTOR_H_
 /**
@@ -39,6 +59,7 @@ class HumanDetector {
      * @return vector<string> 
      */
     vector<string> getOutputsNames(const Net& net);
+
  public:
  /**
   * @brief detection : Runs the neural network to detect humans.

include/HumanDetector.h

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 #ifndef INCLUDE_ROBOT_H_
 #define INCLUDE_ROBOT_H_
 /**
@@ -27,11 +47,27 @@ class Robot {
     Matrix4d transformation_cr = Matrix4d::Random();
     double pixel_to_meter = 0;
     double area_to_depth = 0;
+    /**
+     * @brief prepFrame : Pre processing of the camera frame
+     * 
+     * @param frame : Current Camera frame
+     * @return Mat : processed camera frame, ready for detection
+     */
     Mat prepFrame(Mat frame);
     // Add double pixel_to_meter, double area_to_depth) parameters
+    /**
+     * @brief transformToRobotFrame
+     * 
+     * @param bbox_coords : location of each human in camera reference frame
+     * @return vector<double> : location of each human in robot reference frame
+     */
     vector<double> transformToRobotFrame(vector<Rect> bbox_coords);
  public:
+    /**
+     * @brief detectHumans : Main method for human detection
+     */
     int detectHumans();
+    // A constructor
     explicit Robot(Matrix4d transformation_matrix);
 };
 #endif  // INCLUDE_ROBOT_H_

include/Robot.h

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 /**
  * @file HumanDetector.cpp
  * @author Iteration 1 : Aditi Ramadwar (Driver) , Arunava Basu (Navigator)

src/HumanDetector.cpp

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 /**
  * @file Robot.cpp
  * @author Iteration 1 : Aditi Ramadwar (Driver) , Arunava Basu (Navigator)
@@ -18,11 +38,10 @@ Robot::Robot(Eigen::Matrix4d transformation_matrix) {
     transformation_cr = transformation_matrix;
 }
 /**
- * @brief 
+ * @brief prepFrame : Pre processing of the camera frame
  * 
- * @param frame 
- * @param net_input_shape 
- * @return vector<cv::Mat> 
+ * @param frame : Current Camera frame
+ * @return Mat : processed camera frame, ready for detection
  */
 Mat Robot::prepFrame(Mat frame) {
     Mat blob_frame;
@@ -32,13 +51,10 @@ Mat Robot::prepFrame(Mat frame) {
     return blob_frame;
 }
 /**
- * @brief
+ * @brief transformToRobotFrame
  * 
- * @param transformation_matrix 
- * @param bbox_coords 
- * @param pixel_to_meter
- * @param area_to_depth 
- * @return vector<double> 
+ * @param bbox_coords : location of each human in camera reference frame
+ * @return vector<double> : location of each human in robot reference frame
  */
 vector<double> Robot::transformToRobotFrame(vector<Rect> bbox_coords) {
     // Initialize the position vectors
@@ -70,9 +86,7 @@ vector<double> Robot::transformToRobotFrame(vector<Rect> bbox_coords) {
     return dummy;
 }
 /**
- * @brief 
- * 
- * @return int 
+ * @brief detectHumans : Main method for human detection
  */
 int Robot::detectHumans() {
     HumanDetector hooman;

src/Robot.cpp

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 #ifndef TEST_INCLUDE_TEST_HUMANDETECTOR_H_
 #define TEST_INCLUDE_TEST_HUMANDETECTOR_H_
 /**

test/include/test_HumanDetector.h

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 #ifndef TEST_INCLUDE_TEST_ROBOT_H_
 #define TEST_INCLUDE_TEST_ROBOT_H_
 /**

test/include/test_Robot.h

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 /**
  * @file main.cpp
  * @author Iteration 1 : Aditi Ramadwar (Driver) , Arunava Basu (Navigator)

test/main.cpp

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 /**
  * @file HumanDetector.cpp
  * @author Iteration 1 : Aditi Ramadwar (Driver) , Arunava Basu (Navigator)

test/src/test_HumanDetector.cpp

@@ -1,3 +1,23 @@
+/**
+ * Copyright (c) 2021 Aditi Ramadwar, Arunava Basu
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the "Software"),
+ * to deal in the Software without restriction, including without limitation
+ * the rights to use, copy, modify, merge, publish, distribute, sublicense,
+ * and/or sell copies of the Software, and to permit persons to whom the Software
+ * is furnished to do so, subject to the following conditions:
+ * 
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+ * OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 /**
  * @file test_robot.cpp
  * @author Iteration 1 : Aditi Ramadwar (Driver) , Arunava Basu (Navigator)