apollo::perception::camera::CameraGroundPlaneDetector类 参考

#include <camera_ground_plane.h>

apollo::perception::camera::CameraGroundPlaneDetector 的协作图:

Public 成员函数
	CameraGroundPlaneDetector ()
	~CameraGroundPlaneDetector ()
void	Init (const std::vector< float > &k_mat, int width, int height, float baseline, int max_nr_samples=1080)
int	get_min_nr_samples ()
bool	DetetGround (float pitch, float camera_height, float *vd, int count_vd, const std::vector< float > &plane={})
bool	GetGroundModel (float *l) const

详细描述

在文件 camera_ground_plane.h 第 100 行定义.

构造及析构函数说明

CameraGroundPlaneDetector()

apollo::perception::camera::CameraGroundPlaneDetector::CameraGroundPlaneDetector ( )

inline

在文件 camera_ground_plane.h 第 102 行定义.

                              {
    ground_plane_tracker_ = new GroundPlaneTracker(params_.nr_frames_track);
  }

~CameraGroundPlaneDetector()

apollo::perception::camera::CameraGroundPlaneDetector::~CameraGroundPlaneDetector ( )

inline

在文件 camera_ground_plane.h 第 105 行定义.

                               {
    delete ground_plane_tracker_;
    ground_plane_tracker_ = nullptr;
  }

成员函数说明

DetetGround()

bool apollo::perception::camera::CameraGroundPlaneDetector::DetetGround	(	float	pitch,
		float	camera_height,
		float *	vd,
		int	count_vd,
		const std::vector< float > &	plane = {}
	)

在文件 camera_ground_plane.cc 第 217 行定义.

                                                                           {
  ground_is_valid_ = false;
 
  std::vector<float> ground3(l_, l_ + 3);
  std::vector<float> k_mat(k_mat_, k_mat_ + 9);
 
  if (!plane.empty()) {  // assigned from outside
    //    GetGeneralGroundPlaneModelReversed(k_mat_, baseline_, plane.data(),
    //    l_);
    ConvertGround4ToGround3(baseline_, k_mat, plane, &ground3);
    FillGroundModel(ground3);
    AINFO << "set ground plane from outside: " << plane[0] << ", " << plane[1]
          << ", " << plane[2] << ", " << plane[3];
    ground_is_valid_ = true;
    return true;
  } else {
    bool success = false;
    float inlier_ratio = 0.0f;
    std::vector<float> ph(2, 0);
    if (CameraGroundPlaneDetector::DetectGroundFromSamples(vd, count_vd,
                                                           &inlier_ratio)) {
      ADEBUG << "l: " << l_[0] << ", " << l_[1] << ", " << l_[2];
      ground3.assign(l_, l_ + 3);
      GetGroundPlanePitchHeight(baseline_, k_mat, ground3, &ph[0], &ph[1]);
      ADEBUG << "ph: " << ph[0] << ", " << ph[1];
      success = fabs(ph[0]) < params_.max_tilt_angle &&
                ph[1] < params_.max_camera_ground_height;
      if (success) {
        ground_plane_tracker_->Push(ph, inlier_ratio);
        ground_plane_tracker_->GetGround(&ph[0], &ph[1]);
        GetGround3FromPitchHeight(k_mat, baseline_, ph[0], ph[1], &ground3);
        FillGroundModel(ground3);
        ADEBUG << "l tracked: " << l_[0] << ", " << l_[1] << ", " << l_[2];
        ADEBUG << "ph tracked: " << ph[0] << ", " << ph[1];
      }
    }
 
    if (success) {
      ADEBUG << "succeed with inlier ratio: " << inlier_ratio;
      ground_is_valid_ = true;
      return true;
    }
 
    // backup using last successful frame or given pitch & height
    if (ground_plane_tracker_->GetCurTrackLength() > 0) {
      ground_plane_tracker_->GetGround(&ph[0], &ph[1]);
      GetGround3FromPitchHeight(k_mat, baseline_, ph[0], ph[1], &ground3);
      FillGroundModel(ground3);
    } else {
      ACHECK(fabs(pitch) < params_.max_tilt_angle);
      ACHECK(camera_height < params_.max_camera_ground_height);
      CHECK_GT(camera_height, 0.f);
      GetGround3FromPitchHeight(k_mat, baseline_, pitch, camera_height,
                                &ground3);
      FillGroundModel(ground3);
    }
    ground_plane_tracker_->Restart();
    return false;
  }
}

get_min_nr_samples()

int apollo::perception::camera::CameraGroundPlaneDetector::get_min_nr_samples ( )

inline

在文件 camera_ground_plane.h 第 121 行定义.

{ return params_.min_nr_samples; }

GetGroundModel()

bool apollo::perception::camera::CameraGroundPlaneDetector::GetGroundModel ( float *  l ) const

inline

在文件 camera_ground_plane.h 第 130 行定义.

                                      {
    l[0] = l_[0];
    l[1] = l_[1];
    l[2] = l_[2];
    return ground_is_valid_;
  }

Init()

void apollo::perception::camera::CameraGroundPlaneDetector::Init ( const std::vector< float > &  k_mat, int  width, int  height, float  baseline, int  max_nr_samples = 1080  )

inline

在文件 camera_ground_plane.h 第 110 行定义.

                                                       {
    CHECK_EQ(k_mat.size(), 9U);
    memcpy(k_mat_, k_mat.data(), sizeof(float) * 9);
    width_ = width;
    height_ = height;
    baseline_ = baseline;
    ss_flt_.resize(max_nr_samples * 2);
    ss_int_.resize(max_nr_samples * 2);
  }

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该类的文档由以下文件生成:

• modules/perception/common/camera/common/camera_ground_plane.h
• modules/perception/common/camera/common/camera_ground_plane.cc