修复src图片alignWidth为0导致崩溃的问题；

完善road_seg返回结果

修复src图片alignWidth为0导致崩溃的问题；
完善road_seg返回结果
Hu Chunming
1 parent 6ec23cbb
Showing 6 changed files with 146 additions and 14 deletions
src/PicAnalysis.cpp
src/PicAnalysis.h
src/ai_engine_module/RoadSegAnalysis.cpp
src/ai_engine_module/RoadSegAnalysis.h
src/demo/main.cpp
src/village_inc.h
@@ -182,23 +182,31 @@ vector&lt;AnalysisResult&gt; PicAnalysis::analysis_img(vector&lt;sy_img&gt; vec_img){
     }
     va_result* result = m_vehicle_analysis.detect(vec_img);
-
     if (result) {
-
         vec_result = va_result2AnalysisResult(result, batch_size);
         m_vehicle_analysis.release_result(result, vec_img.size());
     }
-    m_road_seg_algorithm.detect(vec_img);
+    std::vector<RoadInfo> vec_road = m_road_seg_algorithm.detect(vec_img);
+    if (vec_road.size() == batch_size && vec_result.size() == batch_size) {
+        for (size_t i = 0; i < batch_size; i++) {
+            vec_result[i].vec_line = vec_road[i].vec_line;
+            vec_result[i].vec_road = vec_road[i].vec_road;
+        }
+    }
     for (int b = 0; b < vec_result.size(); b++)
     {
         vector<VehicleInfo>& vec_info = vec_result[b].info;
         sy_img img = vec_img[b];
+
         ImageData src;
         src.width = img.w_;
         src.height = img.h_;
+        src.alignWidth = ALIGN_UP16(img.w_);
+        src.alignHeight = ALIGN_UP2(img.h_);
+        src.size = YUV420SP_SIZE(src.alignWidth, src.alignHeight);
         src.data_naked = img.data_;
         for(int c=0;c<vec_info.size();c++)
         {
@@ -322,7 +330,7 @@ vector&lt;AnalysisResult&gt; PicAnalysis::analysis_img(vector&lt;sy_img&gt; vec_img){
     //     head_tail_result.clear();
     // }
-    LOG_INFO("analysis_sync finished!");
+    LOG_INFO("analysis finished!");
     return vec_result;
 }
@@ -23,7 +23,6 @@ public:
     int init(VillageParam param);
-    // todo 接口定义是二进制流的，这个地方有待修改
     vector<AnalysisResult> analysis_file(vector<string> file_path);
     vector<AnalysisResult> analysis_img(vector<sy_img> vec_img);
 #include "RoadSegAnalysis.h"
-#include "road_seg.h"
+
+uint8_t seg_colors[][3] = { {0, 0, 0}, {0, 255, 255}, {128, 255, 0}, {255, 128, 0}, {128, 0, 255}, {255, 0, 128}, {0, 128, 255}, {0, 255, 128}, {128, 255, 255}};
+uint8_t lane_colors[][3] = { {0, 0, 0}, {255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {255, 255, 0}, {255, 0, 255}, {0, 255, 255}, {128, 255, 0}, {255, 128, 0}};
+
+void lanes_process(const rs_lane* lanes, int lane_count, std::vector<std::pair<std::vector<cv::Point>, int>>& combined, float scale_w = 1.0, float scale_h = 1.0) {   
+    std::vector<std::vector<cv::Point> > lanes_xys;
+    std::vector<int> lanes_cls;
+	for (int i = 0; i < lane_count; i++) {
+        std::vector<cv::Point> xys;
+		for (int j = 0; j < lanes[i].num_points; j++) {
+            int x = static_cast<int>(lanes[i].points[j].x_ * scale_w);
+            int y = static_cast<int>(lanes[i].points[j].y_ * scale_h);
+            if (x > 0 && y > 0) {
+                xys.emplace_back(x, y);
+            }
+        }
+        if (!xys.empty()) {
+            lanes_xys.push_back(xys);
+            lanes_cls.push_back(lanes[i].cls);
+        }
+    }
+
+    for (size_t i = 0; i < lanes_xys.size(); ++i) {
+        combined.push_back(std::make_pair(lanes_xys[i], lanes_cls[i]));
+    }
+    if (!combined.empty()) {
+        //按车道线起点坐标排序,相应的类别顺序也会变化以保证标签对齐
+		std::sort(combined.begin(), combined.end(), [](const std::pair<std::vector<cv::Point>, int>& a, const std::pair<std::vector<cv::Point>, int>& b) {
+			return a.first[0].x < b.first[0].x;
+		});
+    }
+}
 RoadSegAnalysis::RoadSegAnalysis(/* args */)
 {
@@ -29,9 +60,9 @@ int RoadSegAnalysis::init(int devId){
     return SY_SUCCESS;
 }
-int RoadSegAnalysis::detect(vector<sy_img> vec_img){
+std::vector<RoadInfo> RoadSegAnalysis::detect(vector<sy_img> vec_img){
-    ACL_CALL(aclrtSetCurrentContext(ctx), SY_SUCCESS, SY_FAILED);
+    std::vector<RoadInfo> vec_road;
     const int batchsize = vec_img.size();
     rs_result results[batchsize];
@@ -45,13 +76,38 @@ int RoadSegAnalysis::detect(vector&lt;sy_img&gt; vec_img){
     do
     {
+        ret = aclrtSetCurrentContext(ctx);
+        if (SY_SUCCESS != ret) {
+            printf("aclrtSetCurrentContext failed!");
+            break;
+        }
+
         ret = rs_batch(m_handle, vec_img.data(), batchsize, results);
         if (SY_SUCCESS != ret) {
-            printf("mrc_batch failed!");
+            printf("rs_batch failed!");
             break;
         }
-        // todo 结果处理
+        for (int b = 0; b < batchsize; b++) {
+            auto one_result = results[b];
+            RoadInfo one_road;
+            for (size_t i = 0; i < one_result.lane_count; i++)
+            {
+                auto one_lane = one_result.reg_array[i];
+                LineInfo info;
+                for (size_t j = 0; j < one_lane.num_points; j++)
+                {
+                    info.vec_pt.push_back(one_lane.points[j]);
+                }
+                info.line_type = one_lane.cls;
+                one_road.vec_line.push_back(info);
+            }
+
+            one_road.vec_road = parse_seg(one_result, vec_img[b]);
+            
+            vec_road.push_back(one_road);
+        }
+
     } while (0);
      for (int b = 0; b < batchsize; b++) {
@@ -61,7 +117,7 @@ int RoadSegAnalysis::detect(vector&lt;sy_img&gt; vec_img){
         results[b].direct_seg = NULL;
     }
-    return ret;
+    return vec_road;
 }
 int RoadSegAnalysis::release() {
@@ -78,4 +134,48 @@ int RoadSegAnalysis::release() {
     }
     return SY_SUCCESS;
+}
+
+std::vector<SegInfo> RoadSegAnalysis::parse_seg(rs_result one_result, sy_img src) {
+    int w = 640;
+    int h = 360;
+    float alpha = 0.75;
+    cv::Mat overlayed_img(cv::Size(w,h), CV_8UC3, cv::Scalar(0, 0, 0));
+    // 将车道线标签转换为彩色图像
+    for (int i = 0; i < h; ++i) {
+        for (int j = 0; j < w; ++j) {
+            int idx = one_result.seg_array[(i * w + j)];
+            overlayed_img.at<cv::Vec3b>(i, j)[0] = seg_colors[idx][0]; // R通道;
+            overlayed_img.at<cv::Vec3b>(i, j)[1] = seg_colors[idx][1]; // G通道
+            overlayed_img.at<cv::Vec3b>(i, j)[2] = seg_colors[idx][2]; // B通道
+        }
+    }
+
+    cv::resize(overlayed_img, overlayed_img, cv::Size(src.w_,src.h_), 0, 0, cv::INTER_LINEAR); 
+    // 将原始图像和彩色车道线图进行混合
+    // cv::addWeighted(cvImg, alpha, overlayed_img, 1 - alpha, 0, overlayed_img);
+
+    float scale_w = src.w_ / 640.0;
+	float scale_h = src.h_ / 360.0;
+    std::vector<std::pair<std::vector<cv::Point>, int>> combined;
+    lanes_process(one_result.reg_array, one_result.lane_count, combined, scale_w, scale_h);
+
+    std::vector<SegInfo> vec_seg;
+    for (const auto& lane_info : combined) {
+        const auto& xys = lane_info.first;
+        int cls = lane_info.second;
+        SegInfo info;
+        info.seg_type = cls;
+		// cv::Scalar color(lane_colors[cls][0],lane_colors[cls][1],lane_colors[cls][2]);
+        for (size_t i = 1; i < xys.size(); ++i) {
+            // cv::line(overlayed_img, xys[i - 1], xys[i], color, 4);
+            sy_point pt;
+            pt.x_ = xys[i].x;
+            pt.y_ = xys[i].y;
+            info.vec_pt.push_back(pt);
+        }
+        vec_seg.push_back(info);
+    }
+
+    return vec_seg;
 }
 \ No newline at end of file
 #include "include.h"
+#include "../village_inc.h"
+#include "road_seg.h"
+
+#include <vector>
+
+using namespace std;
+
+struct RoadInfo{
+    std::vector<LineInfo> vec_line;
+    std::vector<SegInfo> vec_road;
+};
 class RoadSegAnalysis
 {
@@ -8,11 +19,13 @@ public:
     int init(int devId);
-    int detect(vector<sy_img> vec_img);
+    std::vector<RoadInfo> detect(vector<sy_img> vec_img);
 private:
     int release();
+    std::vector<SegInfo> parse_seg(rs_result one_result, sy_img src);
+
 private:
     void* m_handle{nullptr};
     aclrtContext ctx{nullptr};
@@ -13,7 +13,7 @@ int main() {
     vector<string> vec_path;
     for (size_t i = 0; i < 1; i++)
     {
-        vec_path.push_back("./test_all.jpg");
+        vec_path.push_back("./img/test_road1.jpg");
     }
     pic_analysis.analysis_file(vec_path);
@@ -45,8 +45,20 @@ typedef struct VehicleInfo {
 } VehicleInfo;
+struct LineInfo{
+    int line_type;
+    std::vector<sy_point> vec_pt;
+};
+
+struct SegInfo {
+    int seg_type;
+    std::vector<sy_point> vec_pt;
+};
+
 typedef struct AnalysisResult {		                 
-    std::vector<VehicleInfo> info;		             				              
+    std::vector<VehicleInfo> info;	             				              
+    std::vector<LineInfo> vec_line;
+    std::vector<SegInfo> vec_road;
 } AnalysisResult;   
 #endif          // __VILLAGE_INC_H__
 \ No newline at end of file