#include <object_builder.h>

apollo::perception::lidar::ObjectBuilder 的协作图:

Public 成员函数
	ObjectBuilder ()=default
	Construct a new Object Builder object

	~ObjectBuilder ()=default
	Destroy the Object Builder object

bool	Init (const ObjectBuilderInitOptions &options=ObjectBuilderInitOptions())
	Init the Object Builder object with initialization options

bool	Build (const ObjectBuilderOptions &options, LidarFrame *frame)
	Calculate and fill object size, center, directions.

std::string	Name () const
	Name of Object Builder

void	ComputePolygon2D (std::shared_ptr< apollo::perception::base::Object > object)

void	ComputePolygonSizeCenter (std::shared_ptr< apollo::perception::base::Object > object)

void	ComputeOtherObjectInformation (std::shared_ptr< apollo::perception::base::Object > object)

void	ComputeHeightAboveGround (std::shared_ptr< apollo::perception::base::Object > object)

void	JudgeFrontCritical (std::shared_ptr< apollo::perception::base::Object > object, Eigen::Affine3d &lidar2novatel_pose)

void	SetDefaultValue (const Eigen::Vector3f &min_pt, const Eigen::Vector3f &max_pt, std::shared_ptr< apollo::perception::base::Object > object)

bool	LinePerturbation (apollo::perception::base::PointCloud< apollo::perception::base::PointF > *cloud)

void	GetMinMax3D (const apollo::perception::base::PointCloud< apollo::perception::base::PointF > &cloud, Eigen::Vector3f min_pt, Eigen::Vector3f max_pt)

详细描述

在文件 object_builder.h 第 49 行定义.

构造及析构函数说明

◆ ObjectBuilder()

apollo::perception::lidar::ObjectBuilder::ObjectBuilder ( )

default

Construct a new Object Builder object

◆ ~ObjectBuilder()

apollo::perception::lidar::ObjectBuilder::~ObjectBuilder ( )

default

Destroy the Object Builder object

成员函数说明

◆ Build()

bool apollo::perception::lidar::ObjectBuilder::Build	(	const ObjectBuilderOptions &	options,
		LidarFrame *	frame
	)

Calculate and fill object size, center, directions.

参数

options	object builder options
frame	lidar frame

返回: true; false

在文件 object_builder.cc 第 34 行定义.

                                             {
  if (frame == nullptr) {
    return false;
  }
  std::vector<ObjectPtr>* objects = &(frame->segmented_objects);
  for (size_t i = 0; i < objects->size(); ++i) {
    if (objects->at(i)) {
      objects->at(i)->id = static_cast<int>(i);
      ComputePolygon2D(objects->at(i));
      ComputePolygonSizeCenter(objects->at(i));
      ComputeOtherObjectInformation(objects->at(i));
      ComputeHeightAboveGround(objects->at(i));
      if (FLAGS_need_judge_front_critical) {
          JudgeFrontCritical(objects->at(i), frame->lidar2novatel_extrinsics);
      }
    }
  }
  return true;
}

◆ ComputeHeightAboveGround()

void apollo::perception::lidar::ObjectBuilder::ComputeHeightAboveGround ( std::shared_ptr< apollo::perception::base::Object > object )

在文件 object_builder.cc 第 109 行定义.

                                                             {
    const float invalid_ground = std::numeric_limits<float>::max();
    float above_min = std::numeric_limits<float>::max();
    for (int j = 0; j < object->lidar_supplement.cloud.size(); j++) {
        auto height = object->lidar_supplement.cloud.points_height(j);
        if (height == invalid_ground) {
            continue;
        }
        above_min = std::min(above_min, height);
    }
    object->lidar_supplement.height_above_ground = above_min;
}

◆ ComputeOtherObjectInformation()

void apollo::perception::lidar::ObjectBuilder::ComputeOtherObjectInformation ( std::shared_ptr< apollo::perception::base::Object > object )

◆ ComputePolygon2D()

void apollo::perception::lidar::ObjectBuilder::ComputePolygon2D ( std::shared_ptr< apollo::perception::base::Object > object )

◆ ComputePolygonSizeCenter()

void apollo::perception::lidar::ObjectBuilder::ComputePolygonSizeCenter ( std::shared_ptr< apollo::perception::base::Object > object )

◆ GetMinMax3D()

void apollo::perception::lidar::ObjectBuilder::GetMinMax3D	(	const apollo::perception::base::PointCloud< apollo::perception::base::PointF > &	cloud,
		Eigen::Vector3f *	min_pt,
		Eigen::Vector3f *	max_pt
	)

◆ Init()

bool apollo::perception::lidar::ObjectBuilder::Init ( const ObjectBuilderInitOptions & options = ObjectBuilderInitOptions() )

Init the Object Builder object with initialization options

参数

options

返回: true; false

在文件 object_builder.cc 第 30 行定义.

                                                                {
  return true;
}

◆ JudgeFrontCritical()

void apollo::perception::lidar::ObjectBuilder::JudgeFrontCritical	(	std::shared_ptr< apollo::perception::base::Object >	object,
		Eigen::Affine3d &	lidar2novatel_pose
	)

在文件 object_builder.cc 第 213 行定义.

                                                         {
    Eigen::Vector3d obj_center = object->center;
    obj_center = lidar2novatel_pose * obj_center;
    auto x_in_novatel = obj_center(0);
    auto y_in_novatel = obj_center(1);
    if (y_in_novatel > FLAGS_y_back && y_in_novatel < FLAGS_y_front &&
        x_in_novatel > FLAGS_x_back && x_in_novatel < FLAGS_x_front &&
        object->lidar_supplement.is_clustered) {
        object->is_front_critical = true;
        AINFO << "Object " << object->id << " is FRONT-CRITICAL";
    }
}

◆ LinePerturbation()

bool apollo::perception::lidar::ObjectBuilder::LinePerturbation ( apollo::perception::base::PointCloud< apollo::perception::base::PointF > * cloud )

◆ Name()

std::string apollo::perception::lidar::ObjectBuilder::Name ( ) const

inline

Name of Object Builder

返回: std::string

在文件 object_builder.h 第 88 行定义.

88{ return "ObjectBuilder"; }

◆ SetDefaultValue()

void apollo::perception::lidar::ObjectBuilder::SetDefaultValue	(	const Eigen::Vector3f &	min_pt,
		const Eigen::Vector3f &	max_pt,
		std::shared_ptr< apollo::perception::base::Object >	object
	)

该类的文档由以下文件生成:

modules/perception/common/lidar/common/object_builder.h
modules/perception/common/lidar/common/object_builder.cc

Public 成员函数