57 lines
1.5 KiB
C
57 lines
1.5 KiB
C
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/*
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* Copyright (C) 2021, Yubao Liu, AISL, TOYOHASHI UNIVERSITY of TECHNOLOGY
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* Email: yubao.liu.ra@tut.jp
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*
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*/
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#ifndef _SEGNET_H_
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#define _SEGNET_H_
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#include "common.h"
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#include "libsegnet.h"
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namespace segnet_ros {
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class SegNet {
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public:
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static SegNet* getInstance();
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void segnetInit(const std::string& t_prototxt, const std::string& t_caffemodel, const std::string& t_lut_image);
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void start();
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void stop();
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// segment use multiple thread
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void SegmentMultiThread(const cv::Mat& t_img, cv::Mat& t_label, cv::Mat& t_label_color);
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// segment image without multiple thread
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bool SegmentSingleThread(const cv::Mat& t_img, cv::Mat& t_label, cv::Mat& t_label_color);
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// void cv2RosMessage(const cv::Mat &t_image, sensor_msgs::Image &t_msg_out);
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double m_segment_time;
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private:
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void SegmentImage(const cv::Mat& t_img);
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static SegNet* m_instance;
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void Run();
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SegNet();
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boost::thread* m_thSegNet;
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boost::mutex m_mutex_bIsSegnetThreadEnabled;
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bool bIsSegnetThreadEnabled;
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boost::mutex m_mutex_produce, m_mutex_consume;
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boost::condition_variable m_cvProduct_produce;
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boost::condition_variable m_cvProduct_consume;
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~SegNet();
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std::string m_model_file;
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std::string m_trained_file;
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std::string m_lut_file;
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cv::Mat m_label, m_label_color;
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cv::Mat m_lut_imgae;
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boost::mutex m_mutex_image;
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cv::Mat m_image;
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Classifier* m_classifier;
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};
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} // namespace segnet_ros
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#endif
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