#include <graph_segmentor.h>

apollo::perception::algorithm::GraphSegmentor 的协作图:

Public 成员函数
	GraphSegmentor ()=default

	~GraphSegmentor ()=default

void	Init (const float initial_threshold)

void	SegmentGraph (const int num_vertices, const int num_edges, Edge *edges, bool need_sort=true)

Universe *	mutable_universe ()

const Universe &	universe ()

详细描述

在文件 graph_segmentor.h 第 37 行定义.

构造及析构函数说明

◆ GraphSegmentor()

apollo::perception::algorithm::GraphSegmentor::GraphSegmentor ( )

default

◆ ~GraphSegmentor()

apollo::perception::algorithm::GraphSegmentor::~GraphSegmentor ( )

default

成员函数说明

◆ Init()

void apollo::perception::algorithm::GraphSegmentor::Init ( const float initial_threshold )

在文件 graph_segmentor.cc 第 33 行定义.

                                                       {
  initial_threshold_ = initial_threshold;
  thresholds_.reserve(kMaxVerticesNum);
 
  thresholds_table_.resize(kMaxThresholdsNum);
  thresholds_table_[0] = std::numeric_limits<float>::max();
  for (size_t i = 1; i < kMaxThresholdsNum; ++i) {
    thresholds_table_[i] = GetThreshold(i, initial_threshold_);
  }
}

◆ mutable_universe()

Universe * apollo::perception::algorithm::GraphSegmentor::mutable_universe ( )

inline

在文件 graph_segmentor.h 第 55 行定义.

55{ return &universe_; }

◆ SegmentGraph()

void apollo::perception::algorithm::GraphSegmentor::SegmentGraph	(	const int	num_vertices,
		const int	num_edges,
		Edge *	edges,
		bool	need_sort = `true`
	)

在文件 graph_segmentor.cc 第 44 行定义.

                                                               {
  if (edges == nullptr) {
    AERROR << "Input Null Edges.";
    return;
  }
 
  if (need_sort) {
    std::sort(edges, edges + num_edges);
  }
 
  universe_.Reset(num_vertices);
 
  thresholds_.assign(num_vertices, initial_threshold_);
  for (int i = 0; i < num_edges; ++i) {
    Edge& edge = edges[i];
    int a = universe_.Find(edge.a);
    int b = universe_.Find(edge.b);
    if (a == b) {
      continue;
    }
    if (edge.w <= thresholds_[a] && edge.w <= thresholds_[b]) {
      universe_.Join(a, b);
      a = universe_.Find(a);
      int size_a = universe_.GetSize(a);
      thresholds_[a] =
          edge.w + (size_a < static_cast<int>(kMaxThresholdsNum)
                        ? thresholds_table_[size_a]
                        : GetThreshold(size_a, initial_threshold_));
    }
  }
}

◆ universe()

const Universe & apollo::perception::algorithm::GraphSegmentor::universe ( )