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体验新版 GitCode,发现更多精彩内容 >>
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fb53b721
编写于
5月 08, 2019
作者:
H
Hongyi
提交者:
Kecheng Xu
5月 08, 2019
浏览文件
操作
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电子邮件补丁
差异文件
Prediction: add DrawHistory function for each obsatclehistory
上级
aee0a7ee
变更
2
隐藏空白更改
内联
并排
Showing
2 changed file
with
32 addition
and
4 deletion
+32
-4
modules/prediction/common/semantic_map.cc
modules/prediction/common/semantic_map.cc
+28
-4
modules/prediction/common/semantic_map.h
modules/prediction/common/semantic_map.h
+4
-0
未找到文件。
modules/prediction/common/semantic_map.cc
浏览文件 @
fb53b721
...
...
@@ -42,18 +42,26 @@ void SemanticMap::Init() {
void
SemanticMap
::
RunCurrFrame
(
const
FrameEnv
&
curr_frame_env
)
{
// TODO(Hongyi): moving all these magic numbers to conf
curr_timestamp_
=
curr_frame_env
.
timestamp
();
curr_base_x_
=
curr_frame_env
.
ego_history
().
feature
(
0
).
position
().
x
()
-
100.0
;
curr_base_y_
=
curr_frame_env
.
ego_history
().
feature
(
0
).
position
().
y
()
-
100.0
;
cv
::
Rect
rect
(
static_cast
<
int
>
((
curr_base_x_
-
585950.0
)
/
0.1
),
static_cast
<
int
>
(
18000
-
(
curr_base_y_
-
4140000.0
)
/
0.1
)
-
2000
,
2000
,
2000
);
base_img_
(
rect
).
copyTo
(
curr_img_
);
// double curr_timestamp = curr_frame_env.timestamp();
// Draw ego_vehicle_history
DrawHistory
(
curr_frame_env
.
ego_history
(),
cv
::
Scalar
(
0
,
255
,
255
));
// Draw obstacles_history
for
(
auto
&
history
:
curr_frame_env
.
obstacles_history
())
{
DrawHistory
(
history
);
}
// For disaplay
cv
::
namedWindow
(
"Display window"
,
cv
::
WINDOW_NORMAL
);
cv
::
imshow
(
"Display window"
,
curr_img_
);
cv
::
waitKey
(
0
);
cv
::
waitKey
();
}
void
SemanticMap
::
DrawRect
(
const
Feature
&
feature
,
const
cv
::
Scalar
&
color
)
{
...
...
@@ -79,7 +87,8 @@ void SemanticMap::DrawRect(const Feature& feature, const cv::Scalar& color) {
polygon
.
push_back
(
GetTransPoint
(
obs_x
+
(
cos
(
theta
)
*
obs_l
-
sin
(
theta
)
*
-
obs_w
)
/
2
,
obs_y
+
(
sin
(
theta
)
*
obs_l
+
cos
(
theta
)
*
-
obs_w
)
/
2
));
cv
::
fillConvexPoly
(
curr_img_
,
polygon
,
color
);
cv
::
fillPoly
(
curr_img_
,
std
::
vector
<
std
::
vector
<
cv
::
Point
>>
({
polygon
}),
color
);
}
void
SemanticMap
::
DrawPoly
(
const
Feature
&
feature
,
const
cv
::
Scalar
&
color
)
{
...
...
@@ -87,7 +96,22 @@ void SemanticMap::DrawPoly(const Feature& feature, const cv::Scalar& color) {
for
(
auto
&
polygon_point
:
feature
.
polygon_point
())
{
polygon
.
push_back
(
GetTransPoint
(
polygon_point
.
x
(),
polygon_point
.
y
()));
}
cv
::
fillConvexPoly
(
curr_img_
,
polygon
,
color
);
cv
::
fillPoly
(
curr_img_
,
std
::
vector
<
std
::
vector
<
cv
::
Point
>>
({
polygon
}),
color
);
}
void
SemanticMap
::
DrawHistory
(
const
ObstacleHistory
&
history
,
const
cv
::
Scalar
&
color
)
{
for
(
int
i
=
history
.
feature_size
()
-
1
;
i
>=
0
;
--
i
)
{
const
Feature
&
feature
=
history
.
feature
(
i
);
double
time_decay
=
1.0
-
curr_timestamp_
+
feature
.
timestamp
();
cv
::
Scalar
decay_color
=
color
*
time_decay
;
if
(
feature
.
id
()
==
-
1
)
{
DrawRect
(
feature
,
decay_color
);
}
else
{
DrawPoly
(
feature
,
decay_color
);
}
}
}
}
// namespace prediction
...
...
modules/prediction/common/semantic_map.h
浏览文件 @
fb53b721
...
...
@@ -45,11 +45,15 @@ class SemanticMap {
void
DrawPoly
(
const
Feature
&
feature
,
const
cv
::
Scalar
&
color
=
cv
::
Scalar
(
0
,
255
,
255
));
void
DrawHistory
(
const
ObstacleHistory
&
history
,
const
cv
::
Scalar
&
color
=
cv
::
Scalar
(
0
,
255
,
255
));
private:
cv
::
Mat
base_img_
;
cv
::
Mat
curr_img_
;
double
curr_base_x_
=
0.0
;
double
curr_base_y_
=
0.0
;
double
curr_timestamp_
=
0.0
;
DECLARE_SINGLETON
(
SemanticMap
)
};
...
...
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