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feat(traffic_light_fine_detector): add const in util function #7172

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feat(traffic_light_fine_detector): add const in util function #7172

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feat(traffic_light_fine_detector): add const in util function
Shin-kyoto May 30, 2024
982eee4
Merge branch 'main' into feat/add-const
kminoda Jun 28, 2024
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14 changes: 8 additions & 6 deletions perception/traffic_light_fine_detector/src/nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,12 +32,14 @@
float calWeightedIou(
const sensor_msgs::msg::RegionOfInterest & bbox1, const tensorrt_yolox::Object & bbox2)
{
int x1 = std::max(static_cast<int>(bbox1.x_offset), bbox2.x_offset);
int x2 = std::min(static_cast<int>(bbox1.x_offset + bbox1.width), bbox2.x_offset + bbox2.width);
int y1 = std::max(static_cast<int>(bbox1.y_offset), bbox2.y_offset);
int y2 = std::min(static_cast<int>(bbox1.y_offset + bbox1.height), bbox2.y_offset + bbox2.height);
int area1 = std::max(x2 - x1, 0) * std::max(y2 - y1, 0);
int area2 = bbox1.width * bbox1.height + bbox2.width * bbox2.height - area1;
const int x1 = std::max(static_cast<int>(bbox1.x_offset), bbox2.x_offset);

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const int x2 =
std::min(static_cast<int>(bbox1.x_offset + bbox1.width), bbox2.x_offset + bbox2.width);
const int y1 = std::max(static_cast<int>(bbox1.y_offset), bbox2.y_offset);

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const int y2 =
std::min(static_cast<int>(bbox1.y_offset + bbox1.height), bbox2.y_offset + bbox2.height);
const int area1 = std::max(x2 - x1, 0) * std::max(y2 - y1, 0);
const int area2 = bbox1.width * bbox1.height + bbox2.width * bbox2.height - area1;

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if (area2 == 0) {
return 0.0;
}
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