apollo::perception::camera::GroundPlaneTracker类 参考

#include <camera_ground_plane.h>

apollo::perception::camera::GroundPlaneTracker 的协作图:

Public 成员函数
	GroundPlaneTracker (int track_length)
	~GroundPlaneTracker ()
void	Push (const std::vector< float > &ph, const float &inlier_ratio)
void	GetGround (float *pitch, float *cam_height)
void	Restart ()
int	GetCurTrackLength ()

详细描述

在文件 camera_ground_plane.h 第 52 行定义.

构造及析构函数说明

GroundPlaneTracker()

apollo::perception::camera::GroundPlaneTracker::GroundPlaneTracker ( int  track_length )

explicit

在文件 camera_ground_plane.cc 第 112 行定义.

                                                       {
  if (track_length <= 0) {
    AERROR << "track_length, " << track_length << ", should be positive";
  }
  pitch_height_inlier_tracks_.resize(track_length * 3);
  const_weight_temporal_.resize(track_length, 0.0f);
 
  weight_.resize(track_length, 0.0f);
  for (int i = track_length - 1; i >= 0; --i) {
    const_weight_temporal_.at(i) =
        algorithm::IPow(algorithm::ISqrt(2.0f), track_length - 1 - i);
  }
 
  // normalize
  float accm_sum = algorithm::ISum(const_weight_temporal_.data(), track_length);
  algorithm::IScale(const_weight_temporal_.data(), track_length,
                 algorithm::IRec(accm_sum));
 
  head_ = track_length;
}

~GroundPlaneTracker()

apollo::perception::camera::GroundPlaneTracker::~GroundPlaneTracker ( )

inline

在文件 camera_ground_plane.h 第 55 行定义.

{}

成员函数说明

GetCurTrackLength()

int apollo::perception::camera::GroundPlaneTracker::GetCurTrackLength ( )

inline

在文件 camera_ground_plane.h 第 63 行定义.

                          {
    int length = static_cast<int>(pitch_height_inlier_tracks_.size());
    CHECK_GE(length, 0);
    return length;
  }

GetGround()

void apollo::perception::camera::GroundPlaneTracker::GetGround	(	float *	pitch,
		float *	cam_height
	)

在文件 camera_ground_plane.cc 第 155 行定义.

                                                                  {
  CHECK_NOTNULL(pitch);
  CHECK_NOTNULL(cam_height);
  int i = 0;
  int length = static_cast<int>(pitch_height_inlier_tracks_.size() / 3);
  if (!length) {
    *pitch = *cam_height = 0.0f;
    return;
  } else if (length == 1) {
    *pitch = pitch_height_inlier_tracks_[0];
    *cam_height = pitch_height_inlier_tracks_[1];
    return;
  }
 
  float ph[2] = {0};
  float w = 0.0f;
  for (i = head_; i < length; i++) {
    w = pitch_height_inlier_tracks_.at(i * 3 + 2);
    weight_.at(i) = const_weight_temporal_.at(i) * w;
  }
 
  // normalize factor
  float accm_wei = algorithm::ISum(weight_.data() + head_, (length - head_));
 
  ph[0] = ph[1] = 0.0f;
  for (i = head_; i < length; i++) {
    w = weight_.at(i);
    int i3 = i * 3;
    ph[0] += pitch_height_inlier_tracks_.at(i3) * w;
    ph[1] += pitch_height_inlier_tracks_.at(i3 + 1) * w;
  }
  ph[0] = algorithm::IDiv(ph[0], accm_wei);
  ph[1] = algorithm::IDiv(ph[1], accm_wei);
  *pitch = ph[0];
  *cam_height = ph[1];
}

Push()

void apollo::perception::camera::GroundPlaneTracker::Push	(	const std::vector< float > &	ph,
		const float &	inlier_ratio
	)

在文件 camera_ground_plane.cc 第 133 行定义.

                                                         {
  CHECK_EQ(ph.size(), 2U);
  int i = 0;
  int length = static_cast<int>(pitch_height_inlier_tracks_.size());
  if (head_ == 0) {
    if (length > 3) {                      // move backwards
      for (i = length - 1; i >= 3; i--) {  // 3: pitch, height, inlier-number
        pitch_height_inlier_tracks_[i] = pitch_height_inlier_tracks_[i - 3];
      }
    }
  } else {  // _head >= zero
    head_ -= 1;
  }
 
  // fill the head_ (fresh input)
  int head3 = head_ * 3;
  pitch_height_inlier_tracks_[head3] = ph[0];
  pitch_height_inlier_tracks_[head3 + 1] = ph[1];
  pitch_height_inlier_tracks_[head3 + 2] = inlier_ratio;
}

Restart()

void apollo::perception::camera::GroundPlaneTracker::Restart

(

)

在文件 camera_ground_plane.cc 第 192 行定义.

                                 {
  unsigned int track_length =
      static_cast<unsigned int>(pitch_height_inlier_tracks_.size() / 3);
  auto &data = pitch_height_inlier_tracks_;
  unsigned int i = 0;
  for (; i < track_length; ++i) {
    int i3 = i * 3;
    data.at(i3) = data.at(i3 + 1) = data.at(i3 + 2) = 0.0f;
    weight_.at(i) = 0.0f;
  }
  head_ = track_length;  // reset to init value
}

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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