Chengfang Lu
7c43b44c57
Huaxu Sentinel Active Safety Platform with embedded algorithm code, Docker Compose setup, and vendored dataset scaffolds for clone-and-run. Co-authored-by: Cursor <cursoragent@cursor.com>
64 lines
1.3 KiB
Python
64 lines
1.3 KiB
Python
import cv2
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import os
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import os.path as osp
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COLORS = [
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(255, 0, 0),
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(0, 255, 0),
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(0, 0, 255),
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(255, 255, 0),
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(255, 0, 255),
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(0, 255, 255),
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(128, 255, 0),
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(255, 128, 0),
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(128, 0, 255),
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(255, 0, 128),
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(0, 128, 255),
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(0, 255, 128),
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(128, 255, 255),
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(255, 128, 255),
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(255, 255, 128),
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(60, 180, 0),
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(180, 60, 0),
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(0, 60, 180),
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(0, 180, 60),
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(60, 0, 180),
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(180, 0, 60),
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(255, 0, 0),
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(0, 255, 0),
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(0, 0, 255),
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(255, 255, 0),
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(255, 0, 255),
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(0, 255, 255),
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(128, 255, 0),
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(255, 128, 0),
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(128, 0, 255),
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]
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def imshow_lanes(img, lanes, show=False, out_file=None, width=4):
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lanes_xys = []
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for _, lane in enumerate(lanes):
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xys = []
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for x, y in lane:
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if x <= 0 or y <= 0:
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continue
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x, y = int(x), int(y)
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xys.append((x, y))
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lanes_xys.append(xys)
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lanes_xys.sort(key=lambda xys : xys[0][0])
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for idx, xys in enumerate(lanes_xys):
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for i in range(1, len(xys)):
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cv2.line(img, xys[i - 1], xys[i], COLORS[idx], thickness=width)
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if show:
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cv2.imshow('view', img)
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cv2.waitKey(0)
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if out_file:
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if not osp.exists(osp.dirname(out_file)):
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os.makedirs(osp.dirname(out_file))
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cv2.imwrite(out_file, img) |