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feature(graph_segment, gnss_particle_corrector): make some features s…
…witchable (autowarefoundation#17) * make additional-graph-segment-pickup disablable Signed-off-by: Kento Yabuuchi <[email protected]> * enlarge gnss_mahalanobis_distance_threshold in expressway.launch Signed-off-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: Kento Yabuuchi <[email protected]>
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localization/yabloc/imgproc/graph_segment/include/graph_segment/similar_area_searcher.hpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #pragma once | ||
| #include <Eigen/Core> | ||
| #include <opencv4/opencv2/core.hpp> | ||
| #include <rclcpp/logger.hpp> | ||
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| #include <set> | ||
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| namespace pcdless::graph_segment | ||
| { | ||
| class SimilarAreaSearcher | ||
| { | ||
| public: | ||
| SimilarAreaSearcher(float similarity_score_threshold) | ||
| : similarity_score_threshold_(similarity_score_threshold), | ||
| logger_(rclcpp::get_logger("similar_area_searcher")) | ||
| { | ||
| } | ||
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| std::set<int> search( | ||
| const cv::Mat & rgb_image, const cv::Mat & segmented, int best_roadlike_class); | ||
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| private: | ||
| const float similarity_score_threshold_; | ||
| rclcpp::Logger logger_; | ||
| }; | ||
| } // namespace pcdless::graph_segment |
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96 changes: 96 additions & 0 deletions
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localization/yabloc/imgproc/graph_segment/src/similar_area_searcher.cpp
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| // Copyright 2023 TIER IV, Inc. | ||
| // | ||
| // 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. | ||
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| #include "graph_segment/similar_area_searcher.hpp" | ||
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| #include "graph_segment/histogram.hpp" | ||
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| #include <rclcpp/logging.hpp> | ||
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| #include <queue> | ||
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| namespace pcdless::graph_segment | ||
| { | ||
| struct KeyAndArea | ||
| { | ||
| KeyAndArea(int key, int count) : key(key), count(count) {} | ||
| int key; | ||
| int count; | ||
| }; | ||
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| std::set<int> SimilarAreaSearcher::search( | ||
| const cv::Mat & rgb_image, const cv::Mat & segmented, int best_roadlike_class) | ||
| { | ||
| std::unordered_map<int, Histogram> histogram_map; | ||
| std::unordered_map<int, int> count_map; | ||
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| for (int h = 0; h < rgb_image.rows; h++) { | ||
| const int * seg_ptr = segmented.ptr<int>(h); | ||
| const cv::Vec3b * rgb_ptr = rgb_image.ptr<cv::Vec3b>(h); | ||
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| for (int w = 0; w < rgb_image.cols; w++) { | ||
| int key = seg_ptr[w]; | ||
| cv::Vec3b rgb = rgb_ptr[w]; | ||
| if (count_map.count(key) == 0) { | ||
| count_map[key] = 1; | ||
| histogram_map[key].add(rgb); | ||
| } else { | ||
| count_map[key]++; | ||
| histogram_map[key].add(rgb); | ||
| } | ||
| } | ||
| } | ||
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| auto compare = [](KeyAndArea a, KeyAndArea b) { return a.count < b.count; }; | ||
| std::priority_queue<KeyAndArea, std::vector<KeyAndArea>, decltype(compare)> key_queue{compare}; | ||
| for (auto [key, count] : count_map) { | ||
| key_queue.push({key, count}); | ||
| } | ||
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| Eigen::MatrixXf ref_histogram = histogram_map.at(best_roadlike_class).eval(); | ||
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| std::stringstream debug_ss; | ||
| debug_ss << "histogram equality "; | ||
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| int index = 0; | ||
| std::set<int> acceptable_keys; | ||
| while (!key_queue.empty()) { | ||
| KeyAndArea key = key_queue.top(); | ||
| key_queue.pop(); | ||
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| Eigen::MatrixXf query = histogram_map.at(key.key).eval(); | ||
| float score = Histogram::eval_histogram_intersection(ref_histogram, query); | ||
| debug_ss << " " << score; | ||
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| if (score > similarity_score_threshold_) acceptable_keys.insert(key.key); | ||
| if (++index > 10) break; | ||
| } | ||
| RCLCPP_INFO_STREAM(logger_, debug_ss.str()); | ||
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| // // DEBUG: Visualilze | ||
| // cv::Mat new_segmented = rgb_image.clone(); | ||
| // for (int h = 0; h < rgb_image.rows; h++) { | ||
| // const int * seg_ptr = segmented.ptr<int>(h); | ||
| // cv::Vec3b * rgb_ptr = new_segmented.ptr<cv::Vec3b>(h); | ||
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| // for (int w = 0; w < rgb_image.cols; w++) { | ||
| // int key = seg_ptr[w]; | ||
| // if (acceptable_keys.count(key)) rgb_ptr[w] = cv::Vec3b(0, 0, 255); | ||
| // if (key == best_roadlike_class) rgb_ptr[w] = cv::Vec3b(0, 255, 255); | ||
| // } | ||
| // } | ||
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| return acceptable_keys; | ||
| } | ||
| } // namespace pcdless::graph_segment |
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