cropbox.cc

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the License);
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#include "modules/perception/traffic_light_detection/algorithm/cropbox.h"
 
#include <algorithm>
 
#include "modules/perception/common/camera/common/util.h"
 
namespace apollo {
namespace perception {
namespace trafficlight {
 
void CropBox::getCropBox(const int width, const int height,
                         const base::TrafficLightPtr &light,
                         base::RectI *crop_box) {
  int rows = height;
  int cols = width;
 
  if (camera::OutOfValidRegion(light->region.projection_roi, width, height) ||
      light->region.projection_roi.Area() <= 0) {
    crop_box->x = 0;
    crop_box->y = 0;
    crop_box->width = 0;
    crop_box->height = 0;
    return;
  }
 
  int xl = light->region.projection_roi.x;
  int yt = light->region.projection_roi.y;
  int xr = xl + light->region.projection_roi.width - 1;
  int yb = yt + light->region.projection_roi.height - 1;
 
  // scale
  int center_x = (xr + xl) / 2;
  int center_y = (yb + yt) / 2;
  int resize =
      static_cast<int>(crop_scale_ * static_cast<float>(std::max(
                                         light->region.projection_roi.width,
                                         light->region.projection_roi.height)));
 
  resize = std::max(resize, min_crop_size_);
  resize = std::min(resize, width);
  resize = std::min(resize, height);
 
  // clamp
  xl = center_x - resize / 2 + 1;
  xl = (xl < 0) ? 0 : xl;
  yt = center_y - resize / 2 + 1;
  yt = (yt < 0) ? 0 : yt;
  xr = xl + resize - 1;
  yb = yt + resize - 1;
  if (xr >= cols - 1) {
    xl -= xr - cols + 1;
    xr = cols - 1;
  }
 
  if (yb >= rows - 1) {
    yt -= yb - rows + 1;
    yb = rows - 1;
  }
 
  crop_box->x = xl;
  crop_box->y = yt;
  crop_box->width = xr - xl + 1;
  crop_box->height = yb - yt + 1;
}
void CropBox::Init(float crop_scale, int min_crop_size) {
  crop_scale_ = crop_scale;
  min_crop_size_ = min_crop_size;
}
CropBox::CropBox(float crop_scale, int min_crop_size) {
  Init(crop_scale, min_crop_size);
}
void CropBoxWholeImage::getCropBox(const int width, const int height,
                                   const base::TrafficLightPtr &light,
                                   base::RectI *crop_box) {
  if (!camera::OutOfValidRegion(light->region.projection_roi, width, height) &&
      light->region.projection_roi.Area() > 0) {
    crop_box->x = crop_box->y = 0;
    crop_box->width = width;
    crop_box->height = height;
    return;
  }
 
  crop_box->x = 0;
  crop_box->y = 0;
  crop_box->width = 0;
  crop_box->height = 0;
}
 
}  // namespace trafficlight
}  // namespace perception
}  // namespace apollo