road_seg_3cls_statistics.h
3.09 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
#pragma once
#include <string.h>
#include <vector>
#include <opencv2/opencv.hpp>
#include "sy_common.h"
#include "sy_errorinfo.h"
#include <math.h>
#include "../common/logger.hpp"
#include "../ai_platform/macro_definition.h"
#include "road_seg_3cls.h"
#include "acl/acl.h"
#include "acl/ops/acl_dvpp.h"
#include "../util/vpc_util.h"
#include "../util/JpegUtil.h"
using namespace std;
using namespace cv;
class Road3clsSegProcess {
public:
Road3clsSegProcess();
~Road3clsSegProcess();
/*************************************************************************
* FUNCTION: Init
* PURPOSE: 初始化
* PARAM:
[in] segparam 参数
* RETURN: handle
* NOTES:
*************************************************************************/
int init(int gpu_id, string models_dir);
/**
* @brief 道路分割
*
* @param handle [in]
* @param batch_img [in]
* @param batchsize [in]
* @param result [in]
* @return int -1：图像错误； 其他：检测到的个数
*/
int process_gpu(sy_img * batch_img, vector<DeviceMemory*> vec_segMem, vector<string>& tasklist,
vector<vector<vector<int>>>& traffic_region, vector<vector<int>>& labels);
/*************************************************************************
* FUNCTION: Release
* PURPOSE: 资源释放
* PARAM:
[in] handle - 处理句柄
* RETURN: NULL
* NOTES:
*************************************************************************/
void release();
cv::Mat mask_to_rgb(cv::Mat img, cv::Mat mask);
float contourArea(std::vector<cv::Point> contour, cv::Point2f& center);
void lanes_process(const rs3cls_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);
cv::Mat imshow_lanes(cv::Mat img, const rs3cls_lane* lanes, int lane_count);
int Mask2LanePoints(const cv::Mat& pred, std::vector<std::vector<cv::Point>>&lanes, std::vector<int>& cats);
cv::Mat seg_post_process(bool large_resolution, unsigned char *seg_array, std::vector<std::pair<std::vector<cv::Point>, int>> combined, std::vector<std::vector<cv::Point>> &poly_masks, std::vector<int> ®ion_classes, std::vector<std::vector<cv::Point>> &lanes, std::vector<int> &cats, std::map<double, int> &x_sort);
private:
int m_devId;
aclrtContext m_algorthim_ctx;
JpegUtil jpegUtil;
void* m_seg_handle{nullptr};
float threshold{0.6};
int m_max_batchsize;
int SEG_IMG_RES_W = 640;
int SEG_IMG_RES_H = 360;
int seg_num_cls = 8;
int seg_num_seg = 4;
int seg_min_region_area = 512; //1024
float seg_min_lane_score = 0.35; //230625
uint8_t seg_colors[9][3] = { {0, 0, 0}, {255, 0, 0}, {0, 255, 0}, {0, 0, 255}, {0, 255, 128}, {128, 255, 255}, {255, 128, 255}, {255, 255, 128}, {60, 180, 0}};
uint8_t lane_colors[9][3] = { {0, 0, 0}, {255, 255, 0}, {255, 0, 255}, {0, 255, 255}, {128, 255, 0}, {255, 128, 0}, {128, 0, 255}, {255, 0, 128}, {0, 128, 255}};
};