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7a41fa62
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体验新版 GitCode,发现更多精彩内容 >>
提交
7a41fa62
编写于
2月 15, 2019
作者:
J
Jie Liu
提交者:
Xiangquan Xiao
2月 14, 2019
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Perception: fix file open and add error check as well (#6833)
上级
72980468
变更
1
隐藏空白更改
内联
并排
Showing
1 changed file
with
16 addition
and
5 deletion
+16
-5
modules/perception/camera/tools/lane_detection/lane_common.cc
...les/perception/camera/tools/lane_detection/lane_common.cc
+16
-5
未找到文件。
modules/perception/camera/tools/lane_detection/lane_common.cc
浏览文件 @
7a41fa62
...
...
@@ -68,6 +68,7 @@ void show_detect_point_set(const cv::Mat& image,
cv
::
imwrite
(
save_path
,
draw_mat
);
return
;
}
void
show_all_infer_point_set
(
const
cv
::
Mat
&
image
,
const
std
::
vector
<
LanePointInfo
>&
infer_point_set
,
const
std
::
string
&
save_path
)
{
...
...
@@ -85,6 +86,7 @@ void show_all_infer_point_set(const cv::Mat& image,
cv
::
imwrite
(
save_path
,
draw_mat
);
return
;
}
void
show_lane_lines
(
const
cv
::
Mat
&
image
,
const
std
::
vector
<
base
::
LaneLine
>&
lane_marks
,
const
std
::
string
&
save_path
)
{
...
...
@@ -94,7 +96,6 @@ void show_lane_lines(const cv::Mat& image,
const
int
ipm_height
=
static_cast
<
int
>
(
range_x
*
pixels_per_meter
);
const
int
ipm_width
=
static_cast
<
int
>
(
range_y
*
pixels_per_meter
);
cv
::
Mat
draw_ipm
=
cv
::
Mat
::
zeros
(
ipm_height
,
ipm_width
,
CV_8UC3
);
//
cv
::
Scalar
color
=
cv
::
Scalar
(
0
,
255
,
0
);
int
draw_size
=
2
;
cv
::
Mat
draw_mat
=
image
.
clone
();
...
...
@@ -109,7 +110,7 @@ void show_lane_lines(const cv::Mat& image,
}
else
{
color
=
cv
::
Scalar
(
255
,
255
,
0
);
}
//
d
raw image curve
//
D
raw image curve
float
fa
=
lane_marks
[
i
].
curve_image_coord
.
a
;
float
fb
=
lane_marks
[
i
].
curve_image_coord
.
b
;
float
fc
=
lane_marks
[
i
].
curve_image_coord
.
c
;
...
...
@@ -121,7 +122,7 @@ void show_lane_lines(const cv::Mat& image,
fb
*
pow
(
j
,
2
)
+
fc
*
static_cast
<
float
>
(
j
)
+
fd
);
cv
::
circle
(
draw_mat
,
cv
::
Point
(
x
,
j
),
draw_size
,
color
);
}
//
d
raw ipm curve
//
D
raw ipm curve
float
camera_xs
=
lane_marks
[
i
].
curve_camera_coord
.
x_start
;
float
camera_xe
=
lane_marks
[
i
].
curve_camera_coord
.
x_end
;
float
camera_fa
=
lane_marks
[
i
].
curve_camera_coord
.
a
;
...
...
@@ -162,6 +163,7 @@ void show_lane_lines(const cv::Mat& image,
cv
::
imwrite
(
save_path
,
draw_mat
);
return
;
}
void
show_lane_ccs
(
const
std
::
vector
<
unsigned
char
>&
lane_map
,
const
int
lane_map_width
,
const
int
lane_map_height
,
const
std
::
vector
<
ConnectedComponent
>&
lane_ccs
,
...
...
@@ -217,7 +219,12 @@ void show_lane_ccs(const std::vector<unsigned char>& lane_map,
void
output_laneline_to_json
(
const
std
::
vector
<
base
::
LaneLine
>
&
lane_objects
,
const
std
::
string
&
save_path
)
{
FILE
*
file_save
=
fopen
(
save_path
.
data
(),
"wt"
);
FILE
*
file_save
=
fopen
(
save_path
.
c_str
(),
"wt"
);
if
(
!
file_save
)
{
AERROR
<<
"Failed to open file: "
<<
save_path
;
return
;
}
int
lane_line_size
=
static_cast
<
int
>
(
lane_objects
.
size
());
AINFO
<<
"lane line num: "
<<
lane_line_size
;
std
::
string
msg
=
"lane line info: "
;
...
...
@@ -293,7 +300,11 @@ void output_laneline_to_json(const std::vector<base::LaneLine> &lane_objects,
void
output_laneline_to_txt
(
const
std
::
vector
<
base
::
LaneLine
>
&
lane_objects
,
const
std
::
string
&
save_path
)
{
FILE
*
file_save
=
fopen
(
save_path
.
data
(),
"wt"
);
FILE
*
file_save
=
fopen
(
save_path
.
c_str
(),
"wt"
);
if
(
!
file_save
)
{
AERROR
<<
"Failed to open file: "
<<
save_path
;
return
;
}
int
lane_line_size
=
static_cast
<
int
>
(
lane_objects
.
size
());
AINFO
<<
"lane line num: "
<<
lane_line_size
;
fprintf
(
file_save
,
"lane_line_num=%d
\n
"
,
lane_line_size
);
...
...
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