bev_obstacle_detector.h

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/******************************************************************************
 * Copyright 2022 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the License);
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <string>
#include <vector>
 
#include "Eigen/Core"
#include "opencv2/opencv.hpp"
 
#include "modules/perception/camera_detection_bev/detector/petr/proto/model_param.pb.h"
 
#include "modules/perception/camera_detection_bev/camera_frame.h"
#include "modules/perception/camera_detection_bev/interface/base_obstacle_detector.h"
#include "modules/perception/common/base/blob.h"
#include "modules/perception/common/base/object_types.h"
 
namespace apollo {
namespace perception {
namespace camera {
 
class BEVObstacleDetector : public BaseObstacleDetector {
 public:
  BEVObstacleDetector() = default;
  virtual ~BEVObstacleDetector() = default;
  bool Init(const ObstacleDetectorInitOptions &options =
                ObstacleDetectorInitOptions()) override;
  bool Detect(CameraFrame *frame) override;
 
  std::string Name() const override { return "BEVObstacleDetector"; }
 
 private:
  bool InitTypes(const petr::ModelParam &model_param);
 
  void InitImageSize(const petr::ModelParam &model_param);
 
  bool ImagePreprocess(const CameraFrame *frame,
                       base::BlobPtr<float> input_img_blob);
 
  bool ImageExtrinsicPreprocess(base::BlobPtr<float> input_img2lidar_blob);
 
  bool Nuscenes2Apollo(std::vector<base::ObjectPtr> *objects);
 
  void Mat2Vec(const cv::Mat &im, float *data);
 
 private:
  int height_;
  int width_;
  int img_height_crop_ = 320;
  int img_width_crop_ = 800;
 
  std::vector<float> k_data_{
      -1.40307297e-03, 9.07780395e-06,  4.84838307e-01,  -5.43047376e-02,
      -1.40780103e-04, 1.25770375e-05,  1.04126692e+00,  7.67668605e-01,
      -1.02884378e-05, -1.41007011e-03, 1.02823459e-01,  -3.07415128e-01,
      0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00,
      -9.39000631e-04, -7.65239349e-07, 1.14073277e+00,  4.46270645e-01,
      1.04998052e-03,  1.91798881e-05,  2.06218868e-01,  7.42717385e-01,
      1.48074005e-05,  -1.40855671e-03, 7.45946690e-02,  -3.16081315e-01,
      0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00,
      -7.0699735e-04,  4.2389297e-07,   -5.5183989e-01,  -5.3276348e-01,
      -1.2281288e-03,  2.5626015e-05,   1.0212017e+00,   6.1102939e-01,
      -2.2421273e-05,  -1.4170362e-03,  9.3639769e-02,   -3.0863306e-01,
      0.0000000e+00,   0.0000000e+00,   0.0000000e+00,   1.0000000e+00,
      2.2227580e-03,   2.5312484e-06,   -9.7261822e-01,  9.0684637e-02,
      1.9360810e-04,   2.1347081e-05,   -1.0779887e+00,  -7.9227984e-01,
      4.3742721e-06,   -2.2310747e-03,  1.0842450e-01,   -2.9406491e-01,
      0.0000000e+00,   0.0000000e+00,   0.0000000e+00,   1.0000000e+00,
      5.97175560e-04,  -5.88774265e-06, -1.15893924e+00, -4.49921310e-01,
      -1.28312141e-03, 3.58297058e-07,  1.48300052e-01,  1.14334166e-01,
      -2.80917516e-06, -1.41527120e-03, 8.37693438e-02,  -2.36765608e-01,
      0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00,
      3.6048229e-04,   3.8333174e-06,   7.9871160e-01,   4.3321830e-01,
      1.3671946e-03,   6.7484652e-06,   -8.4722507e-01,  1.9411178e-01,
      7.5027779e-06,   -1.4139183e-03,  8.2083985e-02,   -2.4505949e-01,
      0.0000000e+00,   0.0000000e+00,   0.0000000e+00,   1.0000000e+00};
 
  petr::ModelParam model_param_;
  ObstacleDetectorInitOptions options_;
  std::vector<base::ObjectSubType> types_;
};
 
}  // namespace camera
}  // namespace perception
}  // namespace apollo