apollo::perception::camera::ExternalFeatureExtractor类 参考

#include <external_feature_extractor.h>

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

apollo::perception::camera::ExternalFeatureExtractor 的协作图:

Public 成员函数
	ExternalFeatureExtractor ()=default
	~ExternalFeatureExtractor ()=default
bool	Init (const FeatureExtractorInitOptions &init_options) override
bool	Extract (const FeatureExtractorOptions &options, CameraTrackingFrame *frame) override
Public 成员函数 继承自 apollo::perception::camera::BaseFeatureExtractor
	BaseFeatureExtractor ()=default
virtual	~BaseFeatureExtractor ()=default
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)

额外继承的成员函数
Protected 属性 继承自 apollo::perception::camera::BaseFeatureExtractor
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 external_feature_extractor.h 第 30 行定义.

构造及析构函数说明

ExternalFeatureExtractor()

apollo::perception::camera::ExternalFeatureExtractor::ExternalFeatureExtractor ( )

default

~ExternalFeatureExtractor()

apollo::perception::camera::ExternalFeatureExtractor::~ExternalFeatureExtractor ( )

default

成员函数说明

Extract()

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

overridevirtual

实现了 apollo::perception::camera::BaseFeatureExtractor.

在文件 external_feature_extractor.cc 第 100 行定义.

                                                                   {
  int raw_height = frame->data_provider->src_height();
  int raw_width = frame->data_provider->src_width();
  auto input_blob = net_->get_blob(model_param_.info().inputs(0).name());
  DataProvider::ImageOptions image_options;
  image_options.target_color = base::Color::BGR;
  auto offset_y_ = static_cast<int>(
      model_param_.offset_ratio() * static_cast<float>(raw_height) + 0.5f);
  image_options.crop_roi =
      base::RectI(0, offset_y_, raw_width, raw_height - offset_y_);
  image_options.do_crop = true;
  // Timer timer;
  frame->data_provider->GetImage(image_options, image_.get());
  inference::ResizeGPU(*image_, input_blob, raw_width, 0);
  net_->Infer();
  FeatureExtractorOptions feat_options;
  feat_options.normalized = false;
  feature_extractor_->set_roi(
      image_options.crop_roi.x, image_options.crop_roi.y,
      image_options.crop_roi.width, image_options.crop_roi.height);
  feature_extractor_->Extract(feat_options, frame);
  AINFO << "Extract Done";
  return true;
}

Init()

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

overridevirtual

实现了 apollo::perception::camera::BaseFeatureExtractor.

在文件 external_feature_extractor.cc 第 33 行定义.

                                                {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  if (!cyber::common::GetProtoFromFile(config_file, &model_param_)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  AINFO << "Load config Success: " << model_param_.ShortDebugString();
 
  const auto &model_info = model_param_.info();
  std::string model_path = GetModelPath(model_info.name());
  std::string proto_file =
      GetModelFile(model_path, model_info.proto_file().file());
  std::string weight_file =
      GetModelFile(model_path, 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());
 
  height_ = model_param_.resize().height();
  width_ = model_param_.resize().width();
 
  net_.reset(inference::CreateInferenceByName(
      model_info.framework(), proto_file, weight_file, output_names,
      input_names, model_path));
  ACHECK(nullptr != net_) << "Failed to init CNNAdapter";
 
  gpu_id_ = GlobalConfig::Instance()->track_feature_gpu_id;
  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;
  }
 
  net_->Infer();
 
  InitFeatureExtractor(options);
  image_.reset(new base::Image8U(height_, width_, base::Color::BGR));
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/camera_tracking/feature_extract/external_feature_extractor.h
• modules/perception/camera_tracking/feature_extract/external_feature_extractor.cc