apollo::perception::camera::CaddnObstacleDetector类 参考

#include <caddn_obstacle_detector.h>

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

apollo::perception::camera::CaddnObstacleDetector 的协作图:

Public 成员函数
	CaddnObstacleDetector ()=default
virtual	~CaddnObstacleDetector ()=default
bool	Init (const ObstacleDetectorInitOptions &options=ObstacleDetectorInitOptions()) override
	Init function for CaddnObstacleDetector
bool	Detect (onboard::CameraFrame *frame) override
	Main part to detect obstacle
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	Detect (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
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
virtual bool	Detect (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
	BaseObstacleDetector ()=default
virtual	~BaseObstacleDetector ()=default
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 caddn_obstacle_detector.h 第 33 行定义.

构造及析构函数说明

CaddnObstacleDetector()

apollo::perception::camera::CaddnObstacleDetector::CaddnObstacleDetector ( )

default

~CaddnObstacleDetector()

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

virtualdefault

成员函数说明

Detect()

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

overridevirtual

Main part to detect obstacle

参数

frame

camera frame

返回

true

false

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

在文件 caddn_obstacle_detector.cc 第 131 行定义.

                                                            {
  if (frame == nullptr) {
    return false;
  }
 
  // Inputs
  auto model_inputs = model_param_.info().inputs();
  auto input_image_blob = net_->get_blob(model_inputs[0].name());
  auto input_cam2img_blob = net_->get_blob(model_inputs[1].name());
  auto input_lidar2cam_blob = net_->get_blob(model_inputs[2].name());
 
  const auto &camera_k_matrix = options_.intrinsic;
  float *input_cam_intrinsic = input_cam2img_blob->mutable_cpu_data();
  for (size_t i = 0; i < 3; ++i) {
    for (size_t j = 0; j < 4; ++j) {
      if (3 == j) {
        input_cam_intrinsic[i * 4 + j] = 0.0;
      } else {
        input_cam_intrinsic[i * 4 + j] = camera_k_matrix(i, j);
      }
    }
  }
 
  float *input_lidar2cam_data = input_lidar2cam_blob->mutable_cpu_data();
  for (int i = 0; i < 16; ++i) {
    input_lidar2cam_data[i] = lidar_to_cam_[i];
  }
 
  DataProvider::ImageOptions image_options;
  image_options.target_color = base::Color::BGR;
  std::shared_ptr<base::Image8U> image = std::make_shared<base::Image8U>();
  frame->data_provider->GetImage(image_options, image.get());
 
  Preprocess(image.get(), input_image_blob);
 
  // Infer
  net_->Infer();
 
  // Outputs
  auto model_outputs = model_param_.info().outputs();
  auto out_detections = net_->get_blob(model_outputs[0].name());
  auto out_labels = net_->get_blob(model_outputs[1].name());
  auto out_scores = net_->get_blob(model_outputs[2].name());
 
  // todo(daohu527): The caddn model currently does not output tracking features
  // appearance features for tracking
  // frame->feature_blob = net_->get_blob(model_outputs[3].name());
 
  GetCaddnObjects(&frame->detected_objects, model_param_, types_,
                  out_detections, out_labels, out_scores);
 
  return true;
}

Init()

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

overridevirtual

Init function for CaddnObstacleDetector

参数

options

configuration options

返回

true

false

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

在文件 caddn_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;
  }
 
  InitImageSize(model_param_);
  InitParam(model_param_);
  InitTypes(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::CaddnObstacleDetector::Name ( ) const

inlineoverridevirtual

Interface for obstacle detector name

返回

std::string

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

在文件 caddn_obstacle_detector.h 第 55 行定义.

{ return "CaddnObstacleDetector"; }

---

该类的文档由以下文件生成:

• modules/perception/camera_detection_single_stage/detector/caddn/caddn_obstacle_detector.h
• modules/perception/camera_detection_single_stage/detector/caddn/caddn_obstacle_detector.cc