preprocess.cc

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/******************************************************************************
 * Copyright 2024 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/camera_detection_occupancy/detector/bevformer/preprocess.h"
 
#include "cyber/common/log.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
void BevFormerResize(cv::Mat *img, cv::Mat *img_n, int width, int height) {
  cv::resize(*img, *img_n, cv::Size(width, height));
}
 
void BevFormerCrop(cv::Mat *img, cv::Mat *img_n, int x, int y, int width,
                   int height) {
  cv::Rect roi(x, y, width, height);
  *img_n = (*img)(roi);
}
 
void BevFormerNormalize(const std::vector<float> &mean,
                        const std::vector<float> &std, float scale,
                        cv::Mat *img) {
  ACHECK(std.size() == 3);
  for (const auto std_value : std) {
    ACHECK(std_value != 0.0);
  }
  if (scale) {
    (*img).convertTo(*img, CV_32FC3, scale);
  }
  for (int h = 0; h < img->rows; ++h) {
    for (int w = 0; w < img->cols; ++w) {
      img->at<cv::Vec3f>(h, w)[0] =
          (img->at<cv::Vec3f>(h, w)[0] - mean[0]) / std[0];
      img->at<cv::Vec3f>(h, w)[1] =
          (img->at<cv::Vec3f>(h, w)[1] - mean[1]) / std[1];
      img->at<cv::Vec3f>(h, w)[2] =
          (img->at<cv::Vec3f>(h, w)[2] - mean[2]) / std[2];
    }
  }
}
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo