apollo::perception::camera::DenselineLanePostprocessor类 参考

#include <denseline_lane_postprocessor.h>

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

apollo::perception::camera::DenselineLanePostprocessor 的协作图:

Public 成员函数
	DenselineLanePostprocessor ()
virtual	~DenselineLanePostprocessor ()=default
bool	Init (const LanePostprocessorInitOptions &options=LanePostprocessorInitOptions()) override
bool	Process2D (const LanePostprocessorOptions &options, CameraFrame *frame) override
bool	Process3D (const LanePostprocessorOptions &options, CameraFrame *frame) override
std::vector< std::vector< LanePointInfo > >	GetLanelinePointSet ()
std::vector< LanePointInfo >	GetAllInferLinePointSet ()
void	GetLaneCCs (std::vector< unsigned char > *lane_map, int *lane_map_width, int *lane_map_height, std::vector< ConnectedComponent > *connected_components, std::vector< ConnectedComponent > *select_connected_components)
std::string	Name () const override
Public 成员函数 继承自 apollo::perception::camera::BaseLanePostprocessor
	BaseLanePostprocessor ()=default
virtual	~BaseLanePostprocessor ()=default
virtual void	SetIm2CarHomography (const Eigen::Matrix3d &homography_im2car)
	DISALLOW_COPY_AND_ASSIGN (BaseLanePostprocessor)

详细描述

在文件 denseline_lane_postprocessor.h 第 42 行定义.

构造及析构函数说明

DenselineLanePostprocessor()

apollo::perception::camera::DenselineLanePostprocessor::DenselineLanePostprocessor ( )

inline

在文件 denseline_lane_postprocessor.h 第 44 行定义.

: BaseLanePostprocessor() {}

~DenselineLanePostprocessor()

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

virtualdefault

成员函数说明

GetAllInferLinePointSet()

std::vector< LanePointInfo > apollo::perception::camera::DenselineLanePostprocessor::GetAllInferLinePointSet

(

)

在文件 denseline_lane_postprocessor.cc 第 759 行定义.

                                                    {
  float x_ratio =
      static_cast<float>(input_crop_width_) * lane_map_width_inverse_;
  float y_ratio =
      static_cast<float>(input_crop_height_) * lane_map_height_inverse_;
  image_laneline_point_set_.clear();
  int lane_map_dim = lane_map_width_ * lane_map_height_;
  float lane_map_width_float = static_cast<float>(lane_map_width_);
  for (int i = 0; i < lane_map_height_; i++) {
    for (int j = 0; j < lane_map_width_; j++) {
      int pixel_pos = i * lane_map_width_ + j;
      float score = lane_output_[lane_map_dim * 2 + pixel_pos];
      if (score < laneline_point_score_thresh_) {
        continue;
      }
      float dist_left = lane_output_[pixel_pos];
      float dist_right = lane_output_[lane_map_dim + pixel_pos];
      float map_x_left =
          static_cast<float>(j) - dist_left * lane_map_width_float;
      float map_x_right =
          static_cast<float>(j) + dist_right * lane_map_width_float;
      float org_img_y =
          static_cast<float>(i) * y_ratio + static_cast<float>(input_offset_y_);
      if (map_x_left > 0) {
        LanePointInfo left_point;
        float org_img_x_left =
            map_x_left * x_ratio + static_cast<float>(input_offset_x_);
        left_point.x = org_img_x_left;
        left_point.y = org_img_y;
        left_point.score = score;
        image_laneline_point_set_.push_back(left_point);
      }
      if (map_x_right < lane_map_width_float) {
        LanePointInfo right_point;
        float org_img_x_right =
            map_x_right * x_ratio + static_cast<float>(input_offset_x_);
        right_point.x = org_img_x_right;
        right_point.y = org_img_y;
        right_point.score = score;
        image_laneline_point_set_.push_back(right_point);
      }
    }
  }
  return image_laneline_point_set_;
}

GetLaneCCs()

void apollo::perception::camera::DenselineLanePostprocessor::GetLaneCCs	(	std::vector< unsigned char > *	lane_map,
		int *	lane_map_width,
		int *	lane_map_height,
		std::vector< ConnectedComponent > *	connected_components,
		std::vector< ConnectedComponent > *	select_connected_components
	)

在文件 denseline_lane_postprocessor.cc 第 805 行定义.

                                                                {
  *lane_map = lane_map_;
  *lane_map_width = lane_map_width_;
  *lane_map_height = lane_map_height_;
  *connected_components = lane_ccs_;
  *select_connected_components = select_lane_ccs_;
}

GetLanelinePointSet()

std::vector< std::vector< LanePointInfo > > apollo::perception::camera::DenselineLanePostprocessor::GetLanelinePointSet

(

)

在文件 denseline_lane_postprocessor.cc 第 754 行定义.

                                                {
  return image_group_point_set_;
}

Init()

bool apollo::perception::camera::DenselineLanePostprocessor::Init ( const LanePostprocessorInitOptions &  options = LanePostprocessorInitOptions() )

overridevirtual

实现了 apollo::perception::camera::BaseLanePostprocessor.

在文件 denseline_lane_postprocessor.cc 第 33 行定义.

                                                 {
  //  read postprocessor parameter
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  if (!cyber::common::GetProtoFromFile(config_file,
                                       &lane_postprocessor_param_)) {
    AERROR << "Read config detect_param failed: " << config_file;
    return false;
  }
 
  AINFO << "lane_postprocessor param: "
        << lane_postprocessor_param_.DebugString();
  input_offset_x_ = lane_postprocessor_param_.input_offset_x();
  input_offset_y_ = lane_postprocessor_param_.input_offset_y();
  input_crop_height_ = lane_postprocessor_param_.crop_height();
  input_crop_width_ = lane_postprocessor_param_.crop_width();
 
  omit_bottom_line_num_ = lane_postprocessor_param_.omit_bottom_line_num();
  laneline_map_score_thresh_ =
      lane_postprocessor_param_.laneline_map_score_thresh();
  laneline_point_score_thresh_ =
      lane_postprocessor_param_.laneline_point_score_thresh();
  laneline_point_min_num_thresh_ =
      lane_postprocessor_param_.laneline_point_min_num_thresh();
  cc_valid_pixels_ratio_ = lane_postprocessor_param_.cc_valid_pixels_ratio();
  laneline_reject_dist_thresh_ =
      lane_postprocessor_param_.laneline_reject_dist_thresh();
 
  lane_map_dim_ = lane_map_width_ * lane_map_height_;
  lane_pos_blob_.Reshape({4, lane_map_dim_});
  lane_hist_blob_.Reshape({2, lane_map_dim_});
  return true;
}

Name()

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

overridevirtual

实现了 apollo::perception::camera::BaseLanePostprocessor.

在文件 denseline_lane_postprocessor.cc 第 816 行定义.

                                                 {
  return "DenselineLanePostprocessor";
}

Process2D()

bool apollo::perception::camera::DenselineLanePostprocessor::Process2D ( const LanePostprocessorOptions &  options, CameraFrame *  frame  )

overridevirtual

实现了 apollo::perception::camera::BaseLanePostprocessor.

在文件 denseline_lane_postprocessor.cc 第 68 行定义.

                                                                 {
  frame->lane_objects.clear();
  // 1. locate the lane line point set
  bool flag = LocateLanelinePointSet(frame);
  if (!flag) {
    return true;
  }
 
  //  2. classify the lane line pos type
  std::vector<base::LaneLinePositionType> line_pos_type_vec(
      image_group_point_set_.size());
  std::vector<bool> line_flag(image_group_point_set_.size(), false);
  ClassifyLanelinePosTypeInImage(image_group_point_set_, &line_pos_type_vec,
                                 &line_flag);
  base::LaneLineType line_type = base::LaneLineType::WHITE_SOLID;
  for (int line_index = 0;
       line_index < static_cast<int>(image_group_point_set_.size());
       line_index++) {
    if (!line_flag[line_index]) {
      ADEBUG << "line_pos_type is invalid";
      continue;
    }
    AddImageLaneline(image_group_point_set_[line_index], line_type,
                     line_pos_type_vec[line_index], line_index,
                     &(frame->lane_objects));
  }
  AINFO << "[AfterProcess2D]lane_lines_num: " << frame->lane_objects.size();
 
  return true;
}

Process3D()

bool apollo::perception::camera::DenselineLanePostprocessor::Process3D ( const LanePostprocessorOptions &  options, CameraFrame *  frame  )

overridevirtual

实现了 apollo::perception::camera::BaseLanePostprocessor.

在文件 denseline_lane_postprocessor.cc 第 100 行定义.

                                                                 {
  ConvertImagePoint2Camera(frame);
  PolyFitCameraLaneline(frame);
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/lane_detection/lib/postprocessor/denseline/denseline_lane_postprocessor.h
• modules/perception/lane_detection/lib/postprocessor/denseline/denseline_lane_postprocessor.cc