#include <fstream>
|
#include "vp_seg_osd_node.h"
|
#include "../../utils/vp_utils.h"
|
|
namespace vp_nodes {
|
|
vp_seg_osd_node::vp_seg_osd_node(std::string node_name, std::string classes_file, std::string colors_file): vp_node(node_name) {
|
// load classes names if possible
|
if (!classes_file.empty()) {
|
std::ifstream ifs(classes_file.c_str());
|
assert(ifs.is_open());
|
std::string line;
|
while (std::getline(ifs, line)) {
|
classes.push_back(line);
|
}
|
ifs.close();
|
}
|
|
// load colors if possible
|
if (!colors_file.empty()) {
|
std::ifstream ifs(colors_file.c_str());
|
assert(ifs.is_open());
|
std::string line;
|
while (std::getline(ifs, line)) {
|
auto color_s = vp_utils::string_split(line, ',');
|
cv::Vec3b color(static_cast<uchar>(std::stoi(color_s[0])), static_cast<uchar>(std::stoi(color_s[1])), static_cast<uchar>(std::stoi(color_s[2])));
|
colors.push_back(color);
|
}
|
ifs.close();
|
}
|
|
this->initialized();
|
}
|
|
vp_seg_osd_node::~vp_seg_osd_node() {
|
deinitialized();
|
}
|
|
std::shared_ptr<vp_objects::vp_meta> vp_seg_osd_node::handle_frame_meta(std::shared_ptr<vp_objects::vp_frame_meta> meta) {
|
// operations on osd_frame
|
if (meta->osd_frame.empty()) {
|
// add a gap at the left of osd frame
|
meta->osd_frame = cv::Mat(meta->frame.rows, meta->frame.cols + gap, meta->frame.type(), cv::Scalar(255, 255, 255));
|
|
// initialize by copying frame to osd frame
|
auto roi = meta->osd_frame(cv::Rect(gap, 0, meta->frame.cols, meta->frame.rows));
|
meta->frame.copyTo(roi);
|
}
|
|
// left for display color/class pairs
|
auto canvas_left = meta->osd_frame(cv::Rect(0, 0, gap, meta->osd_frame.rows));
|
// right for display result
|
auto canvas_right = meta->osd_frame(cv::Rect(gap, 0, meta->frame.cols, meta->osd_frame.rows));
|
|
if (!meta->mask.empty()) {
|
cv::Mat segm;
|
colorizeSegmentation(meta->mask, segm);
|
|
cv::resize(segm, segm, canvas_right.size(), 0, 0, cv::INTER_NEAREST);
|
cv::addWeighted(canvas_right, 0, segm, 1, 0.0, canvas_right);
|
}
|
|
if (!classes.empty()) {
|
showLegend(canvas_left);
|
}
|
|
return meta;
|
}
|
|
|
void vp_seg_osd_node::colorizeSegmentation(const cv::Mat &score, cv::Mat &segm) {
|
using namespace cv;
|
const int rows = score.size[2];
|
const int cols = score.size[3];
|
const int chns = score.size[1];
|
|
if (colors.empty()) {
|
// Generate colors.
|
colors.push_back(Vec3b());
|
for (int i = 1; i < chns; ++i) {
|
Vec3b color;
|
for (int j = 0; j < 3; ++j)
|
color[j] = (colors[i - 1][j] + rand() % 256) / 2;
|
colors.push_back(color);
|
}
|
}
|
|
assert(colors.size() == chns);
|
|
Mat maxCl = Mat::zeros(rows, cols, CV_8UC1);
|
Mat maxVal(rows, cols, CV_32FC1, score.data);
|
for (int ch = 1; ch < chns; ch++) {
|
for (int row = 0; row < rows; row++) {
|
const float *ptrScore = score.ptr<float>(0, ch, row);
|
uint8_t *ptrMaxCl = maxCl.ptr<uint8_t>(row);
|
float *ptrMaxVal = maxVal.ptr<float>(row);
|
for (int col = 0; col < cols; col++) {
|
if (ptrScore[col] > ptrMaxVal[col]) {
|
ptrMaxVal[col] = ptrScore[col];
|
ptrMaxCl[col] = (uchar)ch;
|
}
|
}
|
}
|
}
|
|
segm.create(rows, cols, CV_8UC3);
|
for (int row = 0; row < rows; row++) {
|
const uchar *ptrMaxCl = maxCl.ptr<uchar>(row);
|
Vec3b *ptrSegm = segm.ptr<Vec3b>(row);
|
for (int col = 0; col < cols; col++) {
|
ptrSegm[col] = colors[ptrMaxCl[col]];
|
}
|
}
|
}
|
|
void vp_seg_osd_node::showLegend(cv::Mat& board) {
|
using namespace cv;
|
auto kBlockHeight = 30;
|
const int numClasses = (int)classes.size();
|
|
for (int i = 0; i < numClasses; i++) {
|
Mat block = board.rowRange(i * kBlockHeight, (i + 1) * kBlockHeight);
|
block.setTo(colors[i]);
|
putText(block, classes[i], Point(0, kBlockHeight / 2), FONT_HERSHEY_SIMPLEX, 0.5, Vec3b(255, 255, 255));
|
}
|
}
|
}
|
