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fix lanes result & offset xy written reversed #5

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fix lanes result & offset xy written reversed #5

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fa7617e
fix lanes result
Sep 8, 2022
4c8445e
[bug] offset xy convert
zkailinzhang Nov 1, 2022
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47 changes: 29 additions & 18 deletions PINetTensorrt.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -389,7 +389,7 @@ void PINetTensorrt::generatePostData(float* confidance_data, float* offsets_data
for (int j = 0; j < dim.d[2]; ++j) {
if ((int)mask.at<uchar>(i, j)) {
cv::Vec2f pointOffset = offsets.at<cv::Vec2f>(i, j);
cv::Point2f point(pointOffset[1] + j, pointOffset[0] + i);
cv::Point2f point(pointOffset[0] + j, pointOffset[1] + i);
cv::circle(offsetImage, point * 8, 3, color, -1);
}
}
Expand Down Expand Up @@ -417,14 +417,19 @@ LaneLines PINetTensorrt::generateLaneLine(float* confidance_data, float* offsets
LaneLines laneLines;
std::vector<cv::Vec4f> laneFeatures;

auto findNearestFeature = [&laneFeatures](const cv::Vec4f& feature) -> int {

auto findNearestFeature = [&laneFeatures](const cv::Vec4f& feature) -> std::pair<int, float> {
int index=-1;
float min_feature_dis = 10000.;
for (int i = 0; i < laneFeatures.size(); ++i) {
auto delta = laneFeatures[i] - feature;
if (delta.dot(delta) <= threshold_instance) {
return i;
auto alpha = pow(delta[0],2)+pow(delta[1],2)+pow(delta[2],2)+pow(delta[3],2);
if (sqrt(alpha) <= min_feature_dis){
index = i;
min_feature_dis = sqrt(alpha);
}
}
return -1;
return std::pair<int, float>(index, min_feature_dis);
};

for (int i = 0; i < dim.d[1]; ++i) {
Expand All @@ -434,25 +439,31 @@ LaneLines PINetTensorrt::generateLaneLine(float* confidance_data, float* offsets
}

const cv::Vec2f& offset = offsets.at<cv::Vec2f>(i, j);
cv::Point2f point(offset[1] + j, offset[0] + i);
cv::Point2f point(offset[0] + j, offset[1] + i);
if (point.x > dim.d[2] || point.x < 0.f) continue;
if (point.y > dim.d[1] || point.y < 0.f) continue;

const cv::Vec4f& feature = features.at<cv::Vec4f>(i, j);
int lane_index = findNearestFeature(feature);

if (lane_index == -1) {
std::pair<int, float> lane_index = findNearestFeature(feature);

if (lane_index.first == -1) {
laneLines.emplace_back(LaneLine({point}));
laneFeatures.emplace_back(feature);
}
else if (lane_index.second <= threshold_instance ) {

auto& laneline = laneLines[lane_index.first ];
auto& lanefeature = laneFeatures[lane_index.first ];
if (lane_index.second <= threshold_instance ){
auto point_size = laneline.size();
lanefeature = lanefeature.mul(cv::Vec4f::all(point_size)) + feature;
lanefeature = lanefeature.mul(cv::Vec4f::all(1.f / (point_size + 1)));
laneline.emplace_back(point);
}
}
else{
laneLines.emplace_back(LaneLine({point}));
laneFeatures.emplace_back(feature);
} else {
auto& laneline = laneLines[lane_index];
auto& lanefeature = laneFeatures[lane_index];

auto point_size = laneline.size();

lanefeature = lanefeature.mul(cv::Vec4f::all(point_size)) + feature;
lanefeature = lanefeature.mul(cv::Vec4f::all(1.f / (point_size + 1)));
laneline.emplace_back(point);
}
}
}
Expand Down