apollo::perception::camera::BEVObstacleDetector类 参考

#include <bev_obstacle_detector.h>

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

apollo::perception::camera::BEVObstacleDetector 的协作图:

Public 成员函数
	BEVObstacleDetector ()=default
virtual	~BEVObstacleDetector ()=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 bev_obstacle_detector.h 第 35 行定义.

构造及析构函数说明

BEVObstacleDetector()

apollo::perception::camera::BEVObstacleDetector::BEVObstacleDetector ( )

default

~BEVObstacleDetector()

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

virtualdefault

成员函数说明

Detect()

bool apollo::perception::camera::BEVObstacleDetector::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 bev_obstacle_detector.cc 第 152 行定义.

                                                   {
  if (frame == nullptr) {
    return false;
  }
 
  // Inputs
  auto model_inputs = model_param_.info().inputs();
  auto input_img_blob = net_->get_blob(model_inputs[0].name());
  auto input_img2lidar_blob = net_->get_blob(model_inputs[1].name());
 
  ImagePreprocess(frame, input_img_blob);
  ImageExtrinsicPreprocess(input_img2lidar_blob);
 
  // Net forward
  net_->Infer();
 
  // Outputs
  auto model_outputs = model_param_.info().outputs();
  auto output_bbox_blob = net_->get_blob(model_outputs[0].name());
  auto output_score_blob = net_->get_blob(model_outputs[1].name());
  auto output_label_blob = net_->get_blob(model_outputs[2].name());
 
  float threshold = model_param_.score_threshold();
  GetObjects(output_bbox_blob, output_label_blob, output_score_blob, types_,
             threshold, &frame->detected_objects);
 
  Nuscenes2Apollo(&frame->detected_objects);
 
  return true;
}

Init()

bool apollo::perception::camera::BEVObstacleDetector::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 bev_obstacle_detector.cc 第 73 行定义.

                                                                         {
  options_ = options;
 
  std::string config_file =
      GetConfigFile(options_.config_path, options_.config_file);
  if (!cyber::common::GetProtoFromFile(config_file, &model_param_)) {
    AERROR << "Read model param failed!";
    return false;
  }
 
  InitTypes(model_param_);
  InitImageSize(model_param_);
 
  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;
  }
  return true;
}

Name()

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

inlineoverridevirtual

Interface for obstacle detector name

返回

std::string

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

在文件 bev_obstacle_detector.h 第 57 行定义.

{ return "BEVObstacleDetector"; }

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该类的文档由以下文件生成:

• modules/perception/camera_detection_bev/detector/petr/bev_obstacle_detector.h
• modules/perception/camera_detection_bev/detector/petr/bev_obstacle_detector.cc