timoschneider/ros2_lane_detect
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cleanup

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This commit is contained in:
Timo Schneider
2025-05-05 22:42:10 +02:00
parent a9da86e8af
commit a164201c9d
1 changed files with 18 additions and 19 deletions
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37
src/main.rs
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@@ -1,21 +1,20 @@
use std::collections::{HashMap, VecDeque};
use std::iter::{zip, Map};
use std::sync::{mpsc, Arc};
use std::sync::mpsc::Receiver;
use std::thread;
use std::time::{Duration, Instant};
use hdbscan::{Hdbscan, HdbscanHyperParams};
use image::{DynamicImage, ImageReader, Rgb, RgbImage};
use rand::{Rng};
use rand::Rng;
use rayon::prelude::*;
use show_image::{create_window, ImageInfo, ImageView, PixelFormat};
use std::collections::{HashMap, VecDeque};
use std::iter::zip;
use std::sync::mpsc::Receiver;
use std::sync::{mpsc, Arc};
use std::thread;
use std::time::{Duration, Instant};
fn create_extract_thread(image_rx: Receiver<Arc<Vec<u8>>>, width: u32, threshold: u8, downsample: f64) -> Receiver<Arc<Vec<Vec<f64>>>> {
let (tx, rx) = mpsc::sync_channel::<Arc<Vec<Vec<f64>>>>(1);
thread::spawn(move || {
for image in image_rx {
let max_rng = (u32::MAX as f64 * downsample) as u32;
let width_2 = width as f64 / 2.0;
let poi = image
.par_iter()
.enumerate()
@@ -55,8 +54,8 @@ fn create_pointcloud_labels_thread(pointcloud_rx: Receiver<Arc<Vec<Vec<f64>>>>)
pointcloud_labels_rx
}
fn create_cluster_separator_thread(cluster_labels: Receiver<(Arc<Vec<Vec<f64>>>, Arc<Vec<i32>>)>) -> Receiver<Arc<HashMap::<i32, Vec<Vec<f64>>>>> {
let (clusters_tx, clusters_rx) = mpsc::sync_channel::<Arc<HashMap::<i32, Vec<Vec<f64>>>>>(1);
fn create_cluster_separator_thread(cluster_labels: Receiver<(Arc<Vec<Vec<f64>>>, Arc<Vec<i32>>)>) -> Receiver<Arc<HashMap<i32, Vec<Vec<f64>>>>> {
let (clusters_tx, clusters_rx) = mpsc::sync_channel::<Arc<HashMap<i32, Vec<Vec<f64>>>>>(1);
thread::spawn(move || {
for (pointcloud, labels) in cluster_labels {
@@ -76,7 +75,7 @@ fn create_cluster_separator_thread(cluster_labels: Receiver<(Arc<Vec<Vec<f64>>>,
clusters_rx
}
fn create_isolate_lane_thread(clusters_rx: Receiver<Arc<HashMap::<i32, Vec<Vec<f64>>>>>) -> Receiver<Arc<[Vec<Vec<f64>>; 2]>> {
fn create_isolate_lane_thread(clusters_rx: Receiver<Arc<HashMap<i32, Vec<Vec<f64>>>>>) -> Receiver<Arc<[Vec<Vec<f64>>; 2]>> {
let (lanes_tx, lanes_rx) = mpsc::sync_channel::<Arc<[Vec<Vec<f64>>; 2]>>(1);
thread::spawn(move || {
@@ -132,7 +131,7 @@ fn create_transform_thread(pointcloud_rx : Receiver<Arc<Vec<Vec<f64>>>>) -> Rece
projection_rx
}
fn create_filter_thread() {
fn _create_filter_thread() {
}
@@ -172,23 +171,23 @@ fn main() {
let colors = vec![Rgb([0, 255, 0]), Rgb([255, 0, 0])];
for (i, lane) in lanes.iter().enumerate() {
let color = colors[i];
let _ = lane.iter().for_each(|(pixel)| {
let x = (pixel[0] * 10.0 + rgb_image.width() as f64 / 2.0) as u32;
let y = rgb_image.height() - (pixel[1] * 10.0) as u32;
let _ = lane.iter().for_each(|pixel| {
let x = (pixel[0] * 15.0 + rgb_image.width() as f64 / 2.0) as u32;
let y = rgb_image.height() - (pixel[1] * 15.0) as u32;
if x < 0 || x > 799 || y < 0 || y > 799 {}
if x > 799 || y > 799 {}
else {
rgb_image.put_pixel(x, y, color);
if x > 0 {
rgb_image.put_pixel(x - 1, y, color);
}
if x < 399 {
if x < 799 {
rgb_image.put_pixel(x + 1, y, color);
}
if y > 0 {
rgb_image.put_pixel(x, y - 1, color);
}
if y < 399 {
if y < 799 {
rgb_image.put_pixel(x, y + 1, color);
}
}
@@ -204,7 +203,7 @@ fn main() {
t.pop_front();
}
t.push_back(now.elapsed());
println!("Avg: {:.6} s", (t.iter().map(|d| d.as_secs_f64()).sum::<f64>() / t.len() as f64));
println!("Avg: {:.6} s", t.iter().map(|d| d.as_secs_f64()).sum::<f64>() / t.len() as f64);
now = Instant::now();
}
}