| 310 | } |
| 311 | |
| 312 | void visualize(string &full_im_name, vector<vector<Point2f>> &anno_lanes, vector<vector<Point2f>> &detect_lanes, vector<int> anno_match, int width_lane, string visualize_path) |
| 313 | { |
| 314 | cerr<<full_im_name<<endl; |
| 315 | Mat img = imread(full_im_name, 1); |
| 316 | Mat img2 = imread(full_im_name, 1); |
| 317 | vector<Point2f> curr_lane; |
| 318 | vector<Point2f> p_interp; |
| 319 | Spline splineSolver; |
| 320 | Scalar color_B = Scalar(255, 0, 0); |
| 321 | Scalar color_G = Scalar(0, 255, 0); |
| 322 | Scalar color_R = Scalar(0, 0, 255); |
| 323 | Scalar color_P = Scalar(255, 0, 255); |
| 324 | Scalar color; |
| 325 | for (int i = 0; i < anno_lanes.size(); i++) |
| 326 | { |
| 327 | curr_lane = anno_lanes[i]; |
| 328 | if (curr_lane.size() == 2) |
| 329 | { |
| 330 | p_interp = curr_lane; |
| 331 | } |
| 332 | else |
| 333 | { |
| 334 | p_interp = splineSolver.splineInterpTimes(curr_lane, 50); |
| 335 | } |
| 336 | if (anno_match[i] >= 0) |
| 337 | { |
| 338 | color = color_G; |
| 339 | } |
| 340 | else |
| 341 | { |
| 342 | color = color_G; |
| 343 | } |
| 344 | for (int n = 0; n < p_interp.size() - 1; n++) |
| 345 | { |
| 346 | line(img, p_interp[n], p_interp[n + 1], color, width_lane); |
| 347 | line(img2, p_interp[n], p_interp[n + 1], color, 2); |
| 348 | } |
| 349 | } |
| 350 | bool detected; |
| 351 | for (int i = 0; i < detect_lanes.size(); i++) |
| 352 | { |
| 353 | detected = false; |
| 354 | curr_lane = detect_lanes[i]; |
| 355 | if (curr_lane.size() == 2) |
| 356 | { |
| 357 | p_interp = curr_lane; |
| 358 | } |
| 359 | else |
| 360 | { |
| 361 | p_interp = splineSolver.splineInterpTimes(curr_lane, 50); |
| 362 | } |
| 363 | for (int n = 0; n < anno_lanes.size(); n++) |
| 364 | { |
| 365 | if (anno_match[n] == i) |
| 366 | { |
| 367 | detected = true; |
| 368 | break; |
| 369 | } |
no test coverage detected