NEVER USE PYTHON IN RUST

Cargo.toml

@@ -11,6 +11,4 @@ image = "0.25.6"
 show-image = "0.14.1"
 rand = "0.9.1"
 rayon = "1.10.0"
-hdbscan = "0.10.0"
+hdbscan = "0.10.0"
-pyo3 = { version = "0.21.2", features = ["auto-initialize"] }
-numpy = "0.21.0"

src/main.rs

@@ -6,14 +6,9 @@ use std::thread;
 use std::time::{Duration, Instant};
 use hdbscan::{Hdbscan, HdbscanHyperParams};
 use image::{DynamicImage, ImageReader, Rgb, RgbImage};
-use numpy::PyArray2;
-use pyo3::prelude::PyModule;
-use pyo3::Python;
-use pyo3::types::PyList;
 use rand::{Rng};
 use rayon::prelude::*;
 use show_image::{create_window, ImageInfo, ImageView, PixelFormat};
-use show_image::event::VirtualKeyCode::V;
 
 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);
@@ -106,131 +101,33 @@ fn create_transform_thread(pointcloud_rx : Receiver<Arc<Vec<Vec<f64>>>>) -> Rece
     let (projection_tx, projection_rx) = mpsc::sync_channel::<Arc<Vec<Vec<f64>>>>(1);
 
     thread::spawn(move || {
-        Python::with_gil(|py| {
+        let h_i = [
-            let simulation_image_helper = PyModule::from_code(py,r#"
+            [-7.74914499e-03, 3.95733793e-18, 3.10353257e00],
-import numpy as np
+            [8.56519716e-18, 9.42313768e-05, -1.86052093e00],
+            [2.57498016e-18, -2.73825295e-03, 1.00000000e00],
+        ];
 
+        for pointcloud in pointcloud_rx {
+            let projection = pointcloud
+                .iter()
+                .map(|pt| {
+                    let x = pt[0];
+                    let y = pt[1];
 
-class SimulationImageHelper:
+                    // Convert to homogeneous coordinates
-    """
+                    let u = h_i[0][0] * x + h_i[0][1] * y + h_i[0][2];
-    This class can be used to project points on the road surface onto the image
+                    let v = h_i[1][0] * x + h_i[1][1] * y + h_i[1][2];
-    and vice versa. It may be used for detecting lanes in simulation.
+                    let w = h_i[2][0] * x + h_i[2][1] * y + h_i[2][2];
 
-    Attributes:
+                    let u_norm = u / w;
-        yHorizon: The y-coordinate of the horizon in the image
+                    let v_norm = v / w;
 
-    Methods:
+                    vec![u_norm, v_norm]
-        image2road: project 2d image points to 3d road coords
+                })
-        road2image: project 3d road coords to 2d image points
+                .collect();
-        distance2imagerow: return which y-coord in the image corresponds to a
-        given distance on the 3d road plane
-    """
 
-    def __init__(self,notsurewhatthisis):
+            projection_tx.send(Arc::new(projection)).unwrap();
-        """
+        }
-        The class constructor.
-        """
-        # from calib_image.py
-        self.H_I = np.matrix(
-            [
-                [-7.74914499e-03, 3.95733793e-18, 3.10353257e00],
-                [8.56519716e-18, 9.42313768e-05, -1.86052093e00],
-                [2.57498016e-18, -2.73825295e-03, 1.00000000e00],
-            ]
-        )
-
-        self.H_I = self.H_I.reshape(3, 3)
-        self.H = self.H_I.I
-
-        X_infinity = np.matrix([0, 10000, 1]).reshape(3, 1)
-        self.yHorizon = self.H * X_infinity
-        self.yHorizon = int((self.yHorizon[1] / self.yHorizon[2]).item())
-
-    def image2road(self, pts2d):
-        """
-        Transform a point on the road surface from the image to 3D coordinates
-        (in DIN70000, i.e. X to front, Y to left, origin in center of vehicle at
-        height 0).
-        """
-        pts2d = np.array(pts2d)
-        N, cols = pts2d.shape
-        if (cols == 1) and (N == 2):
-            # if just two coordinates are given, we make sure we have a (2x1) vector
-            pts2d = pts2d.T
-        assert (
-            cols == 2
-        ), "pts2d should be a Nx2 numpy array, but we obtained (%d, %d)" % (N, cols)
-
-        X = self.H_I * np.hstack((pts2d, np.ones((pts2d.shape[0], 1)))).T
-        X = X / X[2, :]
-        X = X.T
-
-        # the camera is "self.C[2]" in front of the vehicle's center
-        return np.hstack((X[:, 1], -X[:, 0]))
-
-    def road2image(self, ptsRd, imSize=None):
-        """
-        Transform a 3d point on the road surface (in DIN70000, i.e. X to front,
-        Y to left) to image coordinates.
-        """
-        ptsRd = np.array(ptsRd)
-        N, cols = ptsRd.shape
-        if (cols == 1) and (N == 2):
-            # if just two coordinates are given, we make sure we have a (2x1) vector
-            ptsRd = ptsRd.T
-            N = cols
-        assert (
-            cols == 2
-        ), "ptsRd should be a Nx2 numpy array, but we obtained (%d, %d)" % (N, cols)
-
-        # go back from DIN70000 to our image coordinate system
-        pts = np.hstack(
-            (
-                -ptsRd[:, 1].reshape((-1, 1)),
-                ptsRd[:, 0].reshape((-1, 1)),
-                np.ones((N, 1)),
-            )
-        )
-        x = self.H * pts.T
-        x = x / x[2, :]
-        x = x.T
-
-        if imSize is not None:
-            valid = np.logical_and((x[:, 0] >= 0), (x[:, 1] >= 0))
-            valid = np.logical_and(valid, (x[:, 0] < imSize[1]))
-            valid = np.logical_and(valid, (x[:, 1] < imSize[0]))
-            valid = np.nonzero(valid)[0].tolist()
-            x = x[valid, :]
-
-        return np.hstack((x[:, 0], x[:, 1]))
-
-    def distance2imagerow(self, distance):
-        """
-        Compute which row in the image corresponds to a distance (in DIN70000).
-        """
-        p = self.road2image(np.array([[distance, 0]]))
-        return p[0, 1]
-
- "#,
-                    "simulation_image_helper.py",
-                    "simImgHelper",
-            ).unwrap();
-
-            let image_helper_class = simulation_image_helper
-                .getattr("SimulationImageHelper")
-                .unwrap();
-            let house = image_helper_class.call1(("",)).unwrap();
-
-            for pointcloud in pointcloud_rx {
-                let pylist = PyList::new(py, pointcloud.iter().map(|inner| PyList::new(py, inner)));
-                let result : &PyArray2<f64> = house.call_method1("image2road", (pylist,)).unwrap().extract().unwrap();
-                let arr = result.readonly().as_array().outer_iter().map(|row| {
-                    let vec = row.to_vec();
-                    vec![-vec[1], vec[0]]
-                }).collect::<Vec<_>>();
-                projection_tx.send(Arc::new(arr)).unwrap();
-            }
-        });
     });
     projection_rx
 }
@@ -240,7 +137,7 @@ fn create_filter_thread() {
 }
 
 fn dummy_image_spawner_thread() -> Receiver<Arc<Vec<u8>>> {
-    let img: DynamicImage = ImageReader::open("./images/lane_detection_loop_60.png").unwrap().decode().unwrap();
+    let img: DynamicImage = ImageReader::open("./images/lane_detection_loop_20.png").unwrap().decode().unwrap();
     let img_data: Vec<u8> = img.clone().into_bytes();
 
     let (img_tx, img_rx) = mpsc::sync_channel::<Arc<Vec<u8>>>(1);
@@ -257,7 +154,7 @@ fn dummy_image_spawner_thread() -> Receiver<Arc<Vec<u8>>> {
 #[show_image::main]
 fn main() {
     let image_rx = dummy_image_spawner_thread();
-    let pointcloud_rx = create_extract_thread(image_rx, 800, 196, 0.05);
+    let pointcloud_rx = create_extract_thread(image_rx, 800, 196, 0.025);
     let projection_rx = create_transform_thread(pointcloud_rx);
     let cluster_labels_rx = create_pointcloud_labels_thread(projection_rx);
     let clusters_rx = create_cluster_separator_thread(cluster_labels_rx);