63 lines
1.7 KiB
Go
63 lines
1.7 KiB
Go
package steering
|
|
|
|
import (
|
|
"github.com/cyrilix/robocar-protobuf/go/events"
|
|
"gocv.io/x/gocv"
|
|
"image"
|
|
)
|
|
|
|
func GroupBBoxes(bboxes []image.Rectangle) []image.Rectangle {
|
|
if len(bboxes) == 0 {
|
|
return []image.Rectangle{}
|
|
}
|
|
if len(bboxes) == 1 {
|
|
return []image.Rectangle{bboxes[0]}
|
|
}
|
|
return gocv.GroupRectangles(bboxes, 1, 0.2)
|
|
}
|
|
func GroupObjects(objects []*events.Object, imgWidth, imgHeight int) []*events.Object {
|
|
if len(objects) == 0 {
|
|
return []*events.Object{}
|
|
}
|
|
if len(objects) == 1 {
|
|
return []*events.Object{objects[0]}
|
|
}
|
|
|
|
rectangles := make([]image.Rectangle, 0, len(objects))
|
|
for _, o := range objects {
|
|
rectangles = append(rectangles, *objectToRect(o, imgWidth, imgHeight))
|
|
}
|
|
grp := gocv.GroupRectangles(rectangles, 1, 0.2)
|
|
result := make([]*events.Object, 0, len(grp))
|
|
for _, r := range grp {
|
|
result = append(result, rectToObject(&r, imgWidth, imgHeight))
|
|
}
|
|
return result
|
|
}
|
|
|
|
func objectToRect(object *events.Object, imgWidth, imgHeight int) *image.Rectangle {
|
|
r := image.Rect(
|
|
int(object.Left*float32(imgWidth)),
|
|
int(object.Top*float32(imgHeight)),
|
|
int(object.Right*float32(imgWidth)),
|
|
int(object.Bottom*float32(imgHeight)),
|
|
)
|
|
return &r
|
|
}
|
|
|
|
func sizeObject(object *events.Object, imgWidth, imgHeight int) float64 {
|
|
r := objectToRect(object, imgWidth, imgHeight)
|
|
return float64(r.Dx()) * float64(r.Dy())
|
|
}
|
|
|
|
func rectToObject(r *image.Rectangle, imgWidth, imgHeight int) *events.Object {
|
|
return &events.Object{
|
|
Type: events.TypeObject_ANY,
|
|
Left: float32(r.Min.X) / float32(imgWidth),
|
|
Top: float32(r.Min.Y) / float32(imgHeight),
|
|
Right: float32(r.Max.X) / float32(imgWidth),
|
|
Bottom: float32(r.Max.Y) / float32(imgHeight),
|
|
Confidence: -1,
|
|
}
|
|
}
|