apollo::perception::camera::BaseFeatureExtractor类 参考

#include <base_feature_extractor.h>

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

apollo::perception::camera::BaseFeatureExtractor 的协作图:

Public 成员函数
	BaseFeatureExtractor ()=default
virtual	~BaseFeatureExtractor ()=default
virtual bool	Init (const FeatureExtractorInitOptions &init_options)=0
virtual bool	Extract (const FeatureExtractorOptions &options, camera::CameraTrackingFrame *frame)=0
void	set_roi (int x, int y, int w, int h)
void	decode_bbox (std::vector< std::shared_ptr< base::Object > > *objects)
void	encode_bbox (std::vector< std::shared_ptr< base::Object > > *objects)

Protected 属性
std::shared_ptr< base::Blob< float > >	feat_blob_ = nullptr
int	roi_x_ = 0
int	roi_y_ = 0
int	roi_w_ = 0
int	roi_h_ = 0

详细描述

在文件 base_feature_extractor.h 第 48 行定义.

构造及析构函数说明

BaseFeatureExtractor()

apollo::perception::camera::BaseFeatureExtractor::BaseFeatureExtractor ( )

default

~BaseFeatureExtractor()

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

virtualdefault

成员函数说明

decode_bbox()

void apollo::perception::camera::BaseFeatureExtractor::decode_bbox ( std::vector< std::shared_ptr< base::Object > > *  objects )

inline

在文件 base_feature_extractor.h 第 65 行定义.

                                                                  {
    for (auto obj : *objects) {
      auto &xmin = obj->camera_supplement.box.xmin;
      auto &ymin = obj->camera_supplement.box.ymin;
      auto &xmax = obj->camera_supplement.box.xmax;
      auto &ymax = obj->camera_supplement.box.ymax;
      xmin = xmin * static_cast<float>(roi_w_) + static_cast<float>(roi_x_);
      xmax = xmax * static_cast<float>(roi_w_) + static_cast<float>(roi_x_);
      ymin = ymin * static_cast<float>(roi_h_) + static_cast<float>(roi_y_);
      ymax = ymax * static_cast<float>(roi_h_) + static_cast<float>(roi_y_);
    }
  }

encode_bbox()

void apollo::perception::camera::BaseFeatureExtractor::encode_bbox ( std::vector< std::shared_ptr< base::Object > > *  objects )

inline

在文件 base_feature_extractor.h 第 78 行定义.

                                                                  {
    for (auto obj : *objects) {
      auto &xmin = obj->camera_supplement.box.xmin;
      auto &ymin = obj->camera_supplement.box.ymin;
      auto &xmax = obj->camera_supplement.box.xmax;
      auto &ymax = obj->camera_supplement.box.ymax;
      xmin = (xmin - static_cast<float>(roi_x_)) / static_cast<float>(roi_w_);
      xmax = (xmax - static_cast<float>(roi_x_)) / static_cast<float>(roi_w_);
      ymin = (ymin - static_cast<float>(roi_y_)) / static_cast<float>(roi_h_);
      ymax = (ymax - static_cast<float>(roi_y_)) / static_cast<float>(roi_h_);
    }
  }

Extract()

virtual bool apollo::perception::camera::BaseFeatureExtractor::Extract ( const FeatureExtractorOptions &  options, camera::CameraTrackingFrame *  frame  )

pure virtual

在 apollo::perception::camera::ExternalFeatureExtractor, apollo::perception::camera::ProjectFeature , 以及 apollo::perception::camera::TrackingFeatureExtractor 内被实现.

Init()

virtual bool apollo::perception::camera::BaseFeatureExtractor::Init ( const FeatureExtractorInitOptions &  init_options )

pure virtual

在 apollo::perception::camera::ExternalFeatureExtractor, apollo::perception::camera::ProjectFeature , 以及 apollo::perception::camera::TrackingFeatureExtractor 内被实现.

set_roi()

void apollo::perception::camera::BaseFeatureExtractor::set_roi ( int  x, int  y, int  w, int  h  )

inline

在文件 base_feature_extractor.h 第 58 行定义.

                                           {
    roi_x_ = x;
    roi_y_ = y;
    roi_w_ = w;
    roi_h_ = h;
  }

类成员变量说明

feat_blob_

std::shared_ptr<base::Blob<float> > apollo::perception::camera::BaseFeatureExtractor::feat_blob_ = nullptr

protected

在文件 base_feature_extractor.h 第 92 行定义.

roi_h_

int apollo::perception::camera::BaseFeatureExtractor::roi_h_ = 0

protected

在文件 base_feature_extractor.h 第 96 行定义.

roi_w_

int apollo::perception::camera::BaseFeatureExtractor::roi_w_ = 0

protected

在文件 base_feature_extractor.h 第 95 行定义.

roi_x_

int apollo::perception::camera::BaseFeatureExtractor::roi_x_ = 0

protected

在文件 base_feature_extractor.h 第 93 行定义.

roi_y_

int apollo::perception::camera::BaseFeatureExtractor::roi_y_ = 0

protected

在文件 base_feature_extractor.h 第 94 行定义.

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该类的文档由以下文件生成:

• modules/perception/camera_tracking/interface/base_feature_extractor.h