apollo::perception::camera::BaseObstacleDetector类 参考

#include <base_obstacle_detector.h>

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

apollo::perception::camera::BaseObstacleDetector 的协作图:

Public 成员函数
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
virtual bool	Init (const ObstacleDetectorInitOptions &options)=0
	Interface for loading obstacle detector config files
virtual bool	Detect (CameraFrame *frame)=0
	Interface for obstacle detector main part
virtual std::string	Name () const =0
	Interface for obstacle detector name
virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
virtual bool	Init (const ObstacleDetectorInitOptions &options)=0
	Interface for loading obstacle detector config files
virtual bool	Detect (onboard::CameraFrame *frame)=0
	Interface for obstacle detector main part
virtual std::string	Name () const =0
	Interface for obstacle detector name
virtual bool	InitNetwork (const common::ModelInfo &model_info, const std::string &model_root)
	Interface for network initialization

Protected 成员函数
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)
	DISALLOW_COPY_AND_ASSIGN (BaseObstacleDetector)

Protected 属性
int	gpu_id_ = 0
std::shared_ptr< inference::Inference >	net_

详细描述

在文件 base_obstacle_detector.h 第 41 行定义.

构造及析构函数说明

BaseObstacleDetector() [1/2]

apollo::perception::camera::BaseObstacleDetector::BaseObstacleDetector ( )

default

~BaseObstacleDetector() [1/2]

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

virtualdefault

BaseObstacleDetector() [2/2]

apollo::perception::camera::BaseObstacleDetector::BaseObstacleDetector ( )

default

~BaseObstacleDetector() [2/2]

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

virtualdefault

成员函数说明

Detect() [1/2]

virtual bool apollo::perception::camera::BaseObstacleDetector::Detect ( CameraFrame *  frame )

pure virtual

Interface for obstacle detector main part

参数

frame

obstacle type and 2D bbox should be filled, required, 3D information of obstacle can be filled, optional.

返回

true

false

在 apollo::perception::camera::BEVObstacleDetector 内被实现.

Detect() [2/2]

virtual bool apollo::perception::camera::BaseObstacleDetector::Detect ( onboard::CameraFrame *  frame )

pure virtual

Interface for obstacle detector main part

参数

frame

obstacle type and 2D bbox should be filled, required, 3D information of obstacle can be filled, optional.

返回

true

false

在 apollo::perception::camera::YoloObstacleDetector, apollo::perception::camera::Yolox3DObstacleDetector, apollo::perception::camera::CaddnObstacleDetector , 以及 apollo::perception::camera::SmokeObstacleDetector 内被实现.

DISALLOW_COPY_AND_ASSIGN() [1/2]

apollo::perception::camera::BaseObstacleDetector::DISALLOW_COPY_AND_ASSIGN ( BaseObstacleDetector  )

protected

DISALLOW_COPY_AND_ASSIGN() [2/2]

apollo::perception::camera::BaseObstacleDetector::DISALLOW_COPY_AND_ASSIGN ( BaseObstacleDetector  )

protected

Init() [1/2]

virtual bool apollo::perception::camera::BaseObstacleDetector::Init ( const ObstacleDetectorInitOptions &  options )

pure virtual

Interface for loading obstacle detector config files

参数

options

返回

true

false

在 apollo::perception::camera::SmokeObstacleDetector, apollo::perception::camera::BEVObstacleDetector, apollo::perception::camera::YoloObstacleDetector, apollo::perception::camera::Yolox3DObstacleDetector , 以及 apollo::perception::camera::CaddnObstacleDetector 内被实现.

Init() [2/2]

virtual bool apollo::perception::camera::BaseObstacleDetector::Init ( const ObstacleDetectorInitOptions &  options )

pure virtual

Interface for loading obstacle detector config files

参数

options

返回

true

false

在 apollo::perception::camera::SmokeObstacleDetector, apollo::perception::camera::BEVObstacleDetector, apollo::perception::camera::YoloObstacleDetector, apollo::perception::camera::Yolox3DObstacleDetector , 以及 apollo::perception::camera::CaddnObstacleDetector 内被实现.

InitNetwork() [1/2]

bool apollo::perception::camera::BaseObstacleDetector::InitNetwork ( const common::ModelInfo &  model_info, const std::string &  model_root  )

virtual

Interface for network initialization

参数

model_info	network config
model_root	root path of network model

返回

true

false

在文件 base_obstacle_detector.cc 第 30 行定义.

                                                                    {
  // Network files
  std::string proto_file = cyber::common::GetAbsolutePath(
      model_root, model_info.proto_file().file());
  std::string weight_file = cyber::common::GetAbsolutePath(
      model_root, model_info.weight_file().file());
 
  // Network input and output names
  std::vector<std::string> input_names =
      inference::GetBlobNames(model_info.inputs());
  std::vector<std::string> output_names =
      inference::GetBlobNames(model_info.outputs());
 
  // Network type
  const auto& framework = model_info.framework();
  std::string plugin_name = model_info.infer_plugin();
  static const std::string class_namespace = "apollo::perception::inference::";
  if (model_info.has_infer_plugin() && !plugin_name.empty()) {
    plugin_name = class_namespace + plugin_name;
    net_ = apollo::cyber::plugin_manager::PluginManager::Instance()
               ->CreateInstance<inference::Inference>(plugin_name);
    net_->set_model_info(proto_file, input_names, output_names);
    AINFO << "net load plugin success: " << plugin_name;
  } else {
    net_.reset(inference::CreateInferenceByName(framework, proto_file,
                                                weight_file, output_names,
                                                input_names, model_root));
  }
 
  ACHECK(net_ != nullptr);
  net_->set_gpu_id(gpu_id_);
 
  std::map<std::string, std::vector<int>> shape_map;
  inference::AddShape(&shape_map, model_info.inputs());
  inference::AddShape(&shape_map, model_info.outputs());
 
  if (!net_->Init(shape_map)) {
    AERROR << model_info.name() << "init failed!";
    return false;
  }
  return true;
}

InitNetwork() [2/2]

virtual bool apollo::perception::camera::BaseObstacleDetector::InitNetwork ( const common::ModelInfo &  model_info, const std::string &  model_root  )

virtual

Interface for network initialization

参数

model_info	network config
model_root	root path of network model

返回

true

false

Name() [1/2]

virtual std::string apollo::perception::camera::BaseObstacleDetector::Name ( ) const

pure virtual

Interface for obstacle detector name

返回

std::string

在 apollo::perception::camera::BEVObstacleDetector, apollo::perception::camera::YoloObstacleDetector, apollo::perception::camera::Yolox3DObstacleDetector, apollo::perception::camera::CaddnObstacleDetector , 以及 apollo::perception::camera::SmokeObstacleDetector 内被实现.

Name() [2/2]

virtual std::string apollo::perception::camera::BaseObstacleDetector::Name ( ) const

pure virtual

Interface for obstacle detector name

返回

std::string

在 apollo::perception::camera::BEVObstacleDetector, apollo::perception::camera::YoloObstacleDetector, apollo::perception::camera::Yolox3DObstacleDetector, apollo::perception::camera::CaddnObstacleDetector , 以及 apollo::perception::camera::SmokeObstacleDetector 内被实现.

类成员变量说明

gpu_id_

int apollo::perception::camera::BaseObstacleDetector::gpu_id_ = 0

protected

在文件 base_obstacle_detector.h 第 81 行定义.

net_

std::shared_ptr< inference::Inference > apollo::perception::camera::BaseObstacleDetector::net_

protected

在文件 base_obstacle_detector.h 第 82 行定义.

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该类的文档由以下文件生成:

• modules/perception/camera_detection_bev/interface/base_obstacle_detector.h
• modules/perception/common/interface/base_obstacle_detector.h
• modules/perception/camera_detection_bev/interface/base_obstacle_detector.cc
• modules/perception/common/interface/base_obstacle_detector.cc