apollo::perception::radar4d::RadarObstaclePerception类 参考

#include <radar_obstacle_perception.h>

类 apollo::perception::radar4d::RadarObstaclePerception 继承关系图:

apollo::perception::radar4d::RadarObstaclePerception 的协作图:

Public 成员函数
	RadarObstaclePerception ()=default
	Radar object detection processor, which include 3 steps: object detection, ROI filtering and tracking.
virtual	~RadarObstaclePerception ()=default
bool	Init (const PerceptionInitOptions &options) override
	Init the radar object detection processor includes config, create classes, etc.
bool	Perceive (RadarFrame *frame, const RadarPerceptionOptions &options, std::vector< base::ObjectPtr > *objects) override
	Process radar frame with preprocessed point cloud, and get targets after detection and tracking.
std::string	Name () const override
	The name of the radar object detection processor
Public 成员函数 继承自 apollo::perception::radar4d::BaseRadarObstaclePerception
	BaseRadarObstaclePerception ()=default
	Construct a new Base Radar Obstacle Perception object
virtual	~BaseRadarObstaclePerception ()=default

详细描述

在文件 radar_obstacle_perception.h 第 32 行定义.

构造及析构函数说明

RadarObstaclePerception()

apollo::perception::radar4d::RadarObstaclePerception::RadarObstaclePerception ( )

default

Radar object detection processor, which include 3 steps: object detection, ROI filtering and tracking.

~RadarObstaclePerception()

virtual apollo::perception::radar4d::RadarObstaclePerception::~RadarObstaclePerception ( )

virtualdefault

成员函数说明

Init()

bool apollo::perception::radar4d::RadarObstaclePerception::Init ( const PerceptionInitOptions &  options )

overridevirtual

Init the radar object detection processor includes config, create classes, etc.

参数

options

init options

返回

true

false

实现了 apollo::perception::radar4d::BaseRadarObstaclePerception.

在文件 radar_obstacle_perception.cc 第 30 行定义.

                                                                       {
  // Init config
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  RadarObstaclePerceptionConfig radar_obstacle_config;
  if (!cyber::common::GetProtoFromFile(config_file, &radar_obstacle_config)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  // object detector
  auto detector_param = radar_obstacle_config.detector_param();
  DetectorInitOptions detector_init_options;
  detector_init_options.config_path = detector_param.config_path();
  detector_init_options.config_file = detector_param.config_file();
  BaseDetector* detector =
      BaseDetectorRegisterer::GetInstanceByName(detector_param.name());
  CHECK_NOTNULL(detector);
  detector_.reset(detector);
  ACHECK(detector_->Init(detector_init_options)) << "radar detector init error";
 
  // object builder
  enable_roi_filter_ = radar_obstacle_config.enable_roi_filter();
  ACHECK(builder_.Init(detector_init_options)) << "radar builder init error";
 
  // hdmap roi filter
  auto roi_filter_param = radar_obstacle_config.roi_filter_param();
  RoiFilterInitOptions roi_filter_init_options;
  roi_filter_init_options.config_path = roi_filter_param.config_path();
  roi_filter_init_options.config_file = roi_filter_param.config_file();
  BaseRoiFilter* roi_filter =
      BaseRoiFilterRegisterer::GetInstanceByName(roi_filter_param.name());
  CHECK_NOTNULL(roi_filter);
  roi_filter_.reset(roi_filter);
  ACHECK(roi_filter_->Init(roi_filter_init_options))
      << "radar roi filter init error";
 
  // multi target tracking init
  auto multi_target_tracker_param =
    radar_obstacle_config.multi_target_tracker_param();
  multi_target_tracker_ = BaseMultiTargetTrackerRegisterer::GetInstanceByName(
      multi_target_tracker_param.name());
  CHECK_NOTNULL(multi_target_tracker_);
 
  MultiTargetTrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = multi_target_tracker_param.config_path();
  tracker_init_options.config_file = multi_target_tracker_param.config_file();
  ACHECK(multi_target_tracker_->Init(tracker_init_options));
 
  // fused classifier init
  auto fusion_classifier_param =
    radar_obstacle_config.fusion_classifier_param();
  fusion_classifier_ = BaseClassifierRegisterer::GetInstanceByName(
        fusion_classifier_param.name());
  CHECK_NOTNULL(fusion_classifier_);
 
  ClassifierInitOptions fusion_classifier_init_options;
  fusion_classifier_init_options.config_path =
      fusion_classifier_param.config_path();
  fusion_classifier_init_options.config_file =
      fusion_classifier_param.config_file();
  ACHECK(fusion_classifier_->Init(fusion_classifier_init_options));
  return true;
}

Name()

std::string apollo::perception::radar4d::RadarObstaclePerception::Name ( ) const

overridevirtual

The name of the radar object detection processor

返回

std::string

实现了 apollo::perception::radar4d::BaseRadarObstaclePerception.

在文件 radar_obstacle_perception.cc 第 149 行定义.

                                              {
  return "RadarObstaclePerception";
}

Perceive()

bool apollo::perception::radar4d::RadarObstaclePerception::Perceive ( RadarFrame *  frame, const RadarPerceptionOptions &  options, std::vector< base::ObjectPtr > *  objects  )

overridevirtual

Process radar frame with preprocessed point cloud, and get targets after detection and tracking.

参数

frame	radar frame with preprocessed point cloud
options	processing options
objects	targets after detection and tracking

返回

true

false

实现了 apollo::perception::radar4d::BaseRadarObstaclePerception.

在文件 radar_obstacle_perception.cc 第 95 行定义.

                                       {
  PERF_FUNCTION();
  const std::string& sensor_name = options.sensor_name;
  PERF_BLOCK_START();
 
  // object detection
  if (!detector_->Detect(frame, options.detector_options)) {
    AERROR << "radar detect error";
    return false;
  }
  // object builder
  if (!builder_.Build(options.detector_options, frame)) {
    AERROR << "radar detector, object builder error.";
    return false;
  }
  AINFO << "Detected frame objects number: "
         << frame->segmented_objects.size();
  PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "detector");
 
  // roi filter
  if (enable_roi_filter_) {
    if (!roi_filter_->RoiFilter(options.roi_filter_options, frame)) {
      AINFO << "All radar objects were filtered out";
    }
    AINFO << "RoiFiltered frame objects number: "
          << frame->segmented_objects.size();
    PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "roi_filter");
  }
 
  // multi target tracker
  MultiTargetTrackerOptions tracker_options;
  if (!multi_target_tracker_->Track(tracker_options, frame)) {
    AERROR << "radar4d tracking, multi_target_tracker_ Track error.";
    return false;
  }
  PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "tracker");
 
  // fused classifer
  // ClassifierOptions fusion_classifier_options;
  // if (!fusion_classifier_->Classify(fusion_classifier_options,
  //                                   frame)) {
  //   AERROR << "radar4d tracking, fusion_classifier_ Classify error.";
  //   return false;
  // }
  // PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "tracker");
 
  *objects = frame->tracked_objects;
 
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/radar4d_detection/app/radar_obstacle_perception.h
• modules/perception/radar4d_detection/app/radar_obstacle_perception.cc