1、识别协议修改，增加外框轮子；

proto/def.grpc.proto

@@ -23,9 +23,8 @@ message LabelImage{
   int32 label=1;
   Image ir=2;
 }
-message Line{
-  int32 begin=1;
-  int32 end=2;
+message Pixel{
+  uint32 point = 1;
 }
 message SegBox{
   int32 x = 1;
@@ -33,7 +32,8 @@ message SegBox{
   int32 width = 3;
   int32 height = 4;
   float confidence = 5;
-  repeated Line lines= 6;
+  repeated Pixel wheels= 6;
+  repeated Pixel tires= 7;
 }
 message LabelYolo{
   int32 label=1;

yolo_seg_mqtt_async.cpp

@@ -13,6 +13,18 @@ void YoloSegmentMqttAsyncClient::init(const std::string &file) {
 
 }
 
+bool isElliptical(float x, float y, float a2, float b2) {
+    return (x * x / a2 + y * y / b2) < 1;
+}
+
+uint32_t getPixelIndex(int row, int col) {
+    // LOG(INFO) << "col " << col << ", row " << row;
+    col = MAX(0, MIN(1280, col)) % 640;
+    row = MAX(0, MIN(960, row)) % 480;
+    // LOG(INFO) << "col " << col << ", row " << row;
+    return row * 640 + col;
+}
+
 // 识别结果数据包含识别结果、时间序号、具体识别信息
 int YoloSegmentMqttAsyncClient::CloudDataArrived(void *client, char *topicName, int topicLen,
                                                  MQTTAsync_message *message) {
@@ -62,30 +74,53 @@ int YoloSegmentMqttAsyncClient::CloudDataArrived(void *client, char *topicName,
             seg_results.mutable_boxes(device_index)->set_height(iter->rect.height);
             seg_results.mutable_boxes(device_index)->set_confidence(iter->prob);
             if (iter->prob > 0.6) {
-                // LOG(INFO) << device_index << ": " << iter->prob;
-                int box_contour[480][2] = {0};
-                for (auto &pt: seg_points) {    // use 7.5~9ms
-                    pt.x -= x_alpha * merge_mat.cols / 2;
-                    pt.y -= y_alpha * merge_mat.rows / 2;
-                    if (box_contour[pt.y][0] == 0 && box_contour[pt.y][1] == 0) {
-                        box_contour[pt.y][0] = pt.x;
-                        box_contour[pt.y][1] = pt.x;
-                    } else {
-                        box_contour[pt.y][0] = MIN(pt.x, box_contour[pt.y][0]);
-                        box_contour[pt.y][1] = MAX(pt.x, box_contour[pt.y][1]);
+                // 内外椭圆参数
+                float a1 = iter->rect.width * 0.5;
+                float b1 = iter->rect.height * 0.5;
+                float a2 = iter->rect.width * 0.57;
+                float b2 = iter->rect.height * 0.57;
+
+                //
+                int center_x = iter->rect.x + iter->rect.width * 0.5;
+                int center_y = iter->rect.y + iter->rect.height * 0.5;
+                int min_x = MAX(0, center_x - a2);
+                int min_y = MAX(0, center_y - b2);
+                float a12 = a1 * a1;
+                float b12 = b1 * b1;
+                float a22 = a2 * a2;
+                float b22 = b2 * b2;
+
+                for (int x_value = min_x; x_value < center_x; x_value++) {
+                    auto t_x_value = x_value - center_x;
+                    for (int y_value = min_y; y_value < center_y; y_value++) {
+                        auto t_y_value = y_value - center_y;
+
+                        if (!isElliptical(t_x_value, t_y_value, a22, b22)) {
+                            continue;
+                        }
+                        auto x_value_sym = 2 * center_x - x_value;
+                        auto y_value_sym = 2 * center_y - y_value;
+                        if (isElliptical(t_x_value, t_y_value, a12, b12)) {
+                            seg_results.mutable_boxes(device_index)->add_wheels()->set_point(getPixelIndex(y_value, x_value));
+                            seg_results.mutable_boxes(device_index)->add_wheels()->set_point(getPixelIndex(y_value, x_value_sym));
+                            seg_results.mutable_boxes(device_index)->add_wheels()->set_point(getPixelIndex(y_value_sym, x_value));
+                            seg_results.mutable_boxes(device_index)->add_wheels()->set_point(getPixelIndex(y_value_sym, x_value_sym));
+                            continue;
+                        }
+                        seg_results.mutable_boxes(device_index)->add_tires()->set_point(getPixelIndex(y_value, x_value));
+                        seg_results.mutable_boxes(device_index)->add_tires()->set_point(getPixelIndex(y_value, x_value_sym));
+                        seg_results.mutable_boxes(device_index)->add_tires()->set_point(getPixelIndex(y_value_sym, x_value));
+                        seg_results.mutable_boxes(device_index)->add_tires()->set_point(getPixelIndex(y_value_sym, x_value_sym));
                     }
                 }
-                for (auto &ends: box_contour) {
-                    auto line = seg_results.mutable_boxes(device_index)->add_lines();
-                    line->set_begin(ends[0]);
-                    line->set_end(ends[1]);
-                }
             }
         }
+        // cv::imshow("merge_mat", merge_mat);
+        // cv::waitKey(1);
 
         char data[seg_results.ByteSizeLong()];
         seg_results.SerializeToArray((void *) data, seg_results.ByteSizeLong());
         tof_client->SendMessage("tof/seg", data, seg_results.ByteSizeLong());
     }
     return 1;
-}
+}