apollo::prediction::AffineTransform类 参考

#include <affine_transform.h>

apollo::prediction::AffineTransform 的协作图:

Public 成员函数
	AffineTransform ()
	~AffineTransform ()
bool	Init (cv::Size size, int type)
	init function to the class
int	GetCoeffs (const double heading, const cv::Point2i &center_point, const double scale, double coeffs[2][3])
	calculate the coeffs martix
int	AffineTransformsFromMat (const cv::Mat &input_img, const cv::Point2i &center_point, const double heading, const double scale, cv::Mat *output_img)
	perform the affine transform from cv mat

详细描述

在文件 affine_transform.h 第 30 行定义.

构造及析构函数说明

AffineTransform()

apollo::prediction::AffineTransform::AffineTransform

(

)

在文件 affine_transform.cc 第 31 行定义.

{}

~AffineTransform()

apollo::prediction::AffineTransform::~AffineTransform

(

)

在文件 affine_transform.cc 第 33 行定义.

                                  {
  for (auto it = pointer_table_.begin(); it != pointer_table_.end(); it++) {
    if (*it) {
      cudaFreeHost(*it);
    }
  }
}

成员函数说明

AffineTransformsFromMat()

int apollo::prediction::AffineTransform::AffineTransformsFromMat	(	const cv::Mat &	input_img,
		const cv::Point2i &	center_point,
		const double	heading,
		const double	scale,
		cv::Mat *	output_img
	)

perform the affine transform from cv mat

参数

input_img	the input of image
center_point	rotation point of the image
heading	the heading angle
scale	the scale of affine transform
output_img	output buffer

在文件 affine_transform.cc 第 76 行定义.

                                           {
  double coeffs[2][3];
  void* process_buff;
  void* output_buff;
 
  cudaMalloc(&process_buff, size_.width * size_.height * 3);
  cudaMalloc(&output_buff, size_.width * size_.height * 3);
  // auto output_buff = out_pool_->GetObject();
  // auto stream = stream_pool_->GetObject();
 
  // perform affine transform of the whole image
  NppiRect src_ROI{0, 0, input_img.size().width, input_img.size().height};
  NppiRect dst_ROI{0, 0, input_img.size().width, input_img.size().height};
  NppiSize image_size{input_img.size().width, input_img.size().height};
 
  if (GetCoeffs(heading, center_point, scale, coeffs)) {
    AERROR << "Fail to get rotation matrix";
    return -1;
  }
 
  cudaMemcpy(process_buff, (unsigned char*) input_img.data,
             input_img.size().width * input_img.size().height * 3,
             cudaMemcpyHostToDevice);
 
  NppStatus status = nppiWarpAffine_8u_C3R(
                      static_cast<Npp8u*>(process_buff),
                      image_size, input_img.step, src_ROI,
                      static_cast<Npp8u*>(output_buff),
                      input_img.step, dst_ROI, coeffs, NPPI_INTER_NN);
  if (status) {
    AERROR << "Affine transform failed, error: " << status;
    return -1;
  }
 
  *output_img = cv::Mat(input_img.size(),
            input_img.type(), cv::Scalar(0, 0, 0));
 
  cudaMemcpy((unsigned char*) output_img->data, output_buff,
             input_img.size().width * input_img.size().height * 3,
             cudaMemcpyDeviceToHost);
 
  cudaFree(process_buff);
  cudaFree(output_buff);
 
  return 0;
}

GetCoeffs()

int apollo::prediction::AffineTransform::GetCoeffs	(	const double	heading,
		const cv::Point2i &	center_point,
		const double	scale,
		double	coeffs[2][3]
	)

calculate the coeffs martix

参数

heading	the heading angle
center_point	rotation point of the image
scale	the scale of affine transform
coeffs	output coeffs martix

在文件 affine_transform.cc 第 56 行定义.

                                                     {
  double alpha, beta, angle;
 
  angle = heading * M_PI / 180;
  alpha = std::cos(angle) * scale;
  beta = std::sin(angle) * scale;
 
  *((*(coeffs+0))+0) = alpha;
  *((*(coeffs+0))+1) = beta;
  *((*(coeffs+0))+2) = (1 - alpha) * center_point.x - beta * center_point.y;
  *((*(coeffs+1))+0) = -beta;
  *((*(coeffs+1))+1) = alpha;
  *((*(coeffs+1))+2) = beta * center_point.x + (1 - alpha) * center_point.y;
 
  return 0;
}

Init()

bool apollo::prediction::AffineTransform::Init	(	cv::Size	size,
		int	type
	)

init function to the class

参数

size	size of the image
type	the image format type

在文件 affine_transform.cc 第 41 行定义.

                                                {
  size_ = size;
  type_ = type;
 
  auto src_mat = cv::Mat(size_, type_, cv::Scalar(0, 0, 0));
  cv::Mat out_mat;
  cv::Point2i center = cv::Point2i(src_mat.cols / 2, src_mat.rows / 2);
  double angle = -90.0;
  double scale = 1.0;
  AffineTransformsFromMat(src_mat, center, angle, scale, &out_mat);
 
  return true;
}

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该类的文档由以下文件生成:

• modules/prediction/common/affine_transform.h
• modules/prediction/common/affine_transform.cc