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third_party/trt_vehicle/util/algorithm_util.h

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+#ifndef __IMAGE_ANALYSIS_ROI_OBJECT_BOX_UTIL_H__
+#define __IMAGE_ANALYSIS_ROI_OBJECT_BOX_UTIL_H__
+
+#include <opencv2/core.hpp>
+#include <opencv2/imgproc.hpp>
+#include <string>
+#include <vector>
+
+using namespace std;
+
+namespace trt_vehicle{
+    
+    struct GridCoord
+    {
+        int x;
+        int y;
+        int i;
+    };
+
+    struct ObjBox
+    {
+        int x;
+        int y;
+        int width;
+        int height;
+        float score;
+        int class_;
+        std::string label;
+        std::vector<GridCoord> gridCoords;
+    };
+    
+    struct ObjCls {
+        int class_;
+        std::string label;
+        float score;
+    };
+
+    float overlap( float x1, float w1, float x2, float w2);
+
+    //calculation intersection area
+    float boxIntersection(ObjBox& a, ObjBox& b);
+
+    //calculation union area
+    float boxUnion(ObjBox& a, ObjBox& b);
+
+    //calculate iou of tow boxes
+    float rectIou(ObjBox& a, ObjBox& b);
+    float rectIouRegion(ObjBox& a, ObjBox& b);
+    float rectIouDivOne(ObjBox& a, ObjBox& b);
+
+    //coords change : from xyxy to objBox
+    void xyxy2objBox(int x1,int y1,int x2,int y2, ObjBox& b);
+
+    //Sort from large to small , return indeices
+    std::vector<int> getSortIndex(std::vector<float>& scores);
+
+    //nms for bounding boxes
+    int nonMaximumSuppression(vector<ObjBox>& boxes, vector<float>& scores, float overlapThreshold,vector<ObjBox>& outBoxes);
+
+    //difference map pf two pictures
+    cv::Mat diffImgs(cv::Mat bgImg,cv::Mat frontImg);
+
+    //sort
+    void sort(std::vector<float>& scores,std::vector<float>& coordXs,std::vector<float>& coordYs);
+    void sort(std::vector<double>& scores);
+    
+    //draw boxes to img , and return the drawed img
+    cv::Mat drawRectangle(cv::Mat img,std::vector<ObjBox>& boxes,cv::Scalar color);
+
+    //Calculate the Euclidean distance between two vectors
+    double calVectorDistance(std::vector<float> f1,std::vector<float> f2);
+
+    //Batch calculation of Euclidean distance between two vectors
+    std::vector<double> calVectorDistances(std::vector<std::vector<float>> fs1,std::vector<std::vector<float>> fs2);
+
+    //Generate binary vector from distance value(score)
+    void genBinaryVectorfromScore(vector<int> binaryScores,vector<double> scores,int imgW,int imgH,int downScale);
+
+    //Generate gray image from distance value(score)
+    void genImgfromScore(cv::Mat& img,vector<double> scores,int imgW,int imgH,int downScale);
+
+    //filter rectangles through regions of interest region
+    std::vector<ObjBox> selectRectByInterestMask(std::vector<ObjBox>& rects,cv::Mat interestedMask);
+    
+    //find adjacent grids
+    int disInVector(GridCoord gridCoord,std::vector<std::vector<GridCoord>>& indicesAll);
+
+    //generate rectangles using distance vector
+    void genBoxesFromVector(std::vector<double>& dis,int gridW,int downScale,std::vector<ObjBox>* rects,std::vector<std::vector<GridCoord>>* indicesAll);
+
+    //generate rectangles using binary
+    std::vector<ObjBox> genBoxesFromBinary(cv::Mat& binary);
+
+    //compare the current image with the background image to find different areas
+    bool compareAlarmRectToBg(ObjBox rectCurr,std::vector<ObjBox>& rects,ObjBox& rect);
+
+    //filter rectangular boxes by scale / aspect ratio / region of interest / iou , etc
+    class RectSelector{
+        private:
+            std::vector<ObjBox> m_rects;
+            int m_cursor;
+            ObjBox next();
+            bool hasNext();
+            void remove();
+            void remove_inside(ObjBox rect);
+            void remove_overlop(ObjBox rect,float iouThres);
+        public:
+            void init(std::vector<ObjBox> rects);
+            void rmInside();
+            void rmOverlop(float iouThres);
+            void rmLittle(int minW,int minH);
+            void rmBig(int maxW,int maxH);
+            void rmBigRatio(int maxW,int maxH,int imgH, float ratio);
+            void rmBigWithRoadMask(cv::Mat& mask,std::vector<float>& roadNumsList,float carLeastWidth);
+            void rmRatio();
+            std::vector<ObjBox> getRect();
+    };
+
+}
+#endif