#include <bevformer_obstacle_detector.h>

类 apollo::perception::camera::BEVFORMERObstacleDetector 继承关系图:

apollo::perception::camera::BEVFORMERObstacleDetector 的协作图:

Public 成员函数
	BEVFORMERObstacleDetector ()=default

virtual	~BEVFORMERObstacleDetector ()=default

bool	Init (const ObstacleDetectorInitOptions &options=ObstacleDetectorInitOptions()) override
	Init ObstacleDetector constructor.

bool	Detect (CameraFrame *frame) override
	Get obstacles detection result

std::string	Name () const override
	Interface for obstacle detector name

Public 成员函数继承自 apollo::perception::camera::BaseObstacleDetector
	BaseObstacleDetector ()=default

virtual	~BaseObstacleDetector ()=default

virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization

	BaseObstacleDetector ()=default

virtual	~BaseObstacleDetector ()=default

virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization

	BaseObstacleDetector ()=default

virtual	~BaseObstacleDetector ()=default

virtual bool	Detect (onboard::CameraFrame *frame)=0
	Interface for obstacle detector main part

virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization

额外继承的成员函数
Protected 成员函数继承自 apollo::perception::camera::BaseObstacleDetector
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)

	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)

	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)

Protected 属性继承自 apollo::perception::camera::BaseObstacleDetector
int	gpu_id_ = 0

std::shared_ptr< inference::Inference >	net_

详细描述

在文件 bevformer_obstacle_detector.h 第 40 行定义.

构造及析构函数说明

◆ BEVFORMERObstacleDetector()

apollo::perception::camera::BEVFORMERObstacleDetector::BEVFORMERObstacleDetector ( )

default

◆ ~BEVFORMERObstacleDetector()

virtual apollo::perception::camera::BEVFORMERObstacleDetector::~BEVFORMERObstacleDetector ( )

virtualdefault

成员函数说明

◆ Detect()

bool apollo::perception::camera::BEVFORMERObstacleDetector::Detect ( CameraFrame * frame )

overridevirtual

Get obstacles detection result

参数

frame camera frame

返回: true; false

实现了 apollo::perception::camera::BaseObstacleDetector.

在文件 bevformer_obstacle_detector.cc 第 571 行定义.

                                                         {
  if (frame == nullptr) {
    return false;
  }
  // AERROR << "current time is " << std::to_string(frame->timestamp);
 
  auto model_inputs = model_param_.info().inputs();
  auto input_blob_img = net_->get_blob(model_inputs[0].name());
  auto input_blob_prev_bev = net_->get_blob(model_inputs[1].name());
  auto input_blob_use_prev_bev = net_->get_blob(model_inputs[2].name());
  auto input_blob_can_bus = net_->get_blob(model_inputs[3].name());
  auto input_blob_lidar2img = net_->get_blob(model_inputs[4].name());
  auto input_blob_no_pad_image_shape = net_->get_blob(model_inputs[5].name());
  auto model_outputs = model_param_.info().outputs();
 
  PERF_BLOCK("stage bev process")
  memcpy(input_blob_no_pad_image_shape->mutable_cpu_data(),
         no_pad_image_shape_.data(),
         sizeof(float) * no_pad_image_shape_.size());
  ImageExtrinsicPreprocess(frame, input_blob_lidar2img);
  ImagePreprocessGPU(frame, input_blob_img);
  FillCanBus(frame, input_blob_can_bus);
  memcpy(input_blob_use_prev_bev->mutable_cpu_data(), use_prev_bev_,
         sizeof(float));
  if (*use_prev_bev_) {
    auto bev_embed = net_->get_blob(model_outputs[0].name());
    cudaMemcpy(input_blob_prev_bev->mutable_gpu_data(), bev_embed->gpu_data(),
               prev_bev_size_ * sizeof(float), cudaMemcpyHostToDevice);
  }
  PERF_BLOCK_END
 
  PERF_BLOCK("stage bev infer")
  net_->Infer();
  PERF_BLOCK_END
 
  PERF_BLOCK("stage bev get objects")
  auto outputs_classes = net_->get_blob(model_outputs[1].name());
  auto outputs_coords = net_->get_blob(model_outputs[2].name());
  const float *outputs_classes_ptr = outputs_classes->cpu_data();
  const float *outputs_coords_ptr = outputs_coords->cpu_data();
  GetObjects(frame, outputs_classes_ptr, outputs_coords_ptr,
              &frame->detected_objects);
  PERF_BLOCK_END
 
  PERF_BLOCK("stage bev get occ")
  if (model_param_.save_occ_result()) {
    auto outputs_occupancy =
        net_->get_blob(model_outputs[occ_blob_index_].name());
    const float *outputs_occupancy_ptr = outputs_occupancy->cpu_data();
    GetOccResults(frame, outputs_occupancy_ptr);
  }
  PERF_BLOCK_END
 
  Nuscenes2Apollo(&frame->detected_objects);
  *use_prev_bev_ = 1.0;
  return true;
}

◆ Init()

bool apollo::perception::camera::BEVFORMERObstacleDetector::Init ( const ObstacleDetectorInitOptions & options = ObstacleDetectorInitOptions() )

overridevirtual

Init ObstacleDetector constructor.

参数

options the option object of obstacle

返回: true; false

实现了 apollo::perception::camera::BaseObstacleDetector.

在文件 bevformer_obstacle_detector.cc 第 117 行定义.

                                                {
  options_ = options;
  gpu_id_ = options.gpu_id;
  BASE_GPU_CHECK(cudaSetDevice(gpu_id_));
  BASE_GPU_CHECK(cudaStreamCreate(&stream_));
 
  std::string config_file =
      GetConfigFile(options_.config_path, options_.config_file);
  std::cout << " config file is " << config_file << std::endl;
  if (!cyber::common::GetProtoFromFile(config_file, &model_param_)) {
    AERROR << "Read model param failed!";
    return false;
  }
 
  InitTypes(model_param_);
  InitImageSize(model_param_);
 
  common::Normalize normalize = model_param_.normalize();
  mean_bgr_ = {normalize.mean()[0], normalize.mean()[1], normalize.mean()[2]};
  std_bgr_ = {normalize.std()[0], normalize.std()[1], normalize.std()[2]};
 
  const auto &model_info = model_param_.info();
  std::string model_path = GetModelPath(model_info.name());
 
  if (!InitNetwork(model_param_.info(), model_path)) {
    AERROR << "Init network failed!";
    return false;
  }
  std::cout << "bevformer model init success from "
            << model_info.proto_file().file() << std::endl;
 
  auto model_outputs = model_param_.info().outputs();
  num_decoder_layer_ = model_outputs[1].shape()[0];
  num_queries_ = model_outputs[1].shape()[2];
  num_classes_det_ = model_outputs[1].shape()[3];
  code_size_ = model_outputs[2].shape()[3];
  class_blob_start_index_ =
      (num_decoder_layer_ - 1) * num_queries_ * num_classes_det_;
  class_blob_end_index_ =
      (num_decoder_layer_)*num_queries_ * num_classes_det_;
  box_blob_start_index_ =
      (num_decoder_layer_ - 1) * num_queries_ * code_size_;
  AINFO << "number of decoder layer:" << num_decoder_layer_
        << " number of query: " << num_queries_
        << " number of classes: " << num_classes_det_
        << " code size: " << code_size_
        << " class blob start index: " << class_blob_start_index_
        << " class blob end index: " << class_blob_end_index_
        << " box blob start index: " << box_blob_start_index_;
 
  num_voxels_ = model_outputs[occ_blob_index_].shape()[1];
  num_classes_occ_ = model_outputs[occ_blob_index_].shape()[2];
  AINFO << " number of occ voxels " << num_voxels_
        << " number of occ classes " << num_classes_occ_;
  occ_xmin_ = model_param_.occ_xmin();
  occ_xmax_ = model_param_.occ_xmax();
  occ_ymin_ = model_param_.occ_ymin();
  occ_ymax_ = model_param_.occ_ymax();
  occ_zmin_ = model_param_.occ_zmin();
  occ_zmax_ = model_param_.occ_zmax();
  voxel_size_ = model_param_.voxel_size();
  occ_x_grid_ = (occ_xmax_ - occ_xmin_) / voxel_size_;
  occ_y_grid_ = (occ_ymax_ - occ_ymin_) / voxel_size_;
  occ_z_grid_ = (occ_zmax_ - occ_zmin_) / voxel_size_;
 
 
  auto model_inputs = model_param_.info().inputs();
  auto prev_bev_shape = model_inputs[1].shape();
  for (auto size : prev_bev_shape) {
    prev_bev_size_ *= size;
  }
  use_prev_bev_ = new float(0.0);
 
  float no_pad_image_width = model_param_.no_pad_image_width();
  float no_pad_image_height = model_param_.no_pad_image_height();
  CHECK(no_pad_image_width <= model_inputs[0].shape()[3]);
  CHECK(no_pad_image_height <= model_inputs[0].shape()[4]);
  no_pad_image_shape_[0] = no_pad_image_width;
  no_pad_image_shape_[1] = no_pad_image_height;
  occ_threshold_ = model_param_.occ_threshold();
 
  trans_wrapper_.reset(new onboard::TransformWrapper());
  // tf_camera_frame_id
  trans_wrapper_->Init("CAM_FRONT");
  return true;
}

◆ Name()

std::string apollo::perception::camera::BEVFORMERObstacleDetector::Name ( ) const

inlineoverridevirtual

Interface for obstacle detector name

返回: std::string

实现了 apollo::perception::camera::BaseObstacleDetector.

在文件 bevformer_obstacle_detector.h 第 62 行定义.

62{ return "BEVObstacleDetector"; }

该类的文档由以下文件生成:

modules/perception/camera_detection_occupancy/detector/bevformer/bevformer_obstacle_detector.h
modules/perception/camera_detection_occupancy/detector/bevformer/bevformer_obstacle_detector.cc

Public 成员函数

额外继承的成员函数

详细描述

构造及析构函数说明

◆ BEVFORMERObstacleDetector()

◆ ~BEVFORMERObstacleDetector()

成员函数说明

◆ Detect()

◆ Init()

◆ Name()