apollo::perception::camera::HistogramEstimator类 参考

#include <histogram_estimator.h>

apollo::perception::camera::HistogramEstimator 的协作图:

Public 成员函数
	HistogramEstimator ()
	~HistogramEstimator ()
void	Init (const HistogramEstimatorParams *params=nullptr)
bool	Push (float val)
void	Clear ()
const std::vector< uint32_t > &	get_hist () const
float	get_val_cur () const
float	get_val_estimation () const
uint32_t	get_bin_value (int i) const
bool	Process ()

静态 Public 属性
static const int	kMaxNrBins = 1000

详细描述

在文件 histogram_estimator.h 第 78 行定义.

构造及析构函数说明

HistogramEstimator()

apollo::perception::camera::HistogramEstimator::HistogramEstimator ( )

inline

在文件 histogram_estimator.h 第 82 行定义.

                       {
    hist_.resize(kMaxNrBins);
    std::fill(hist_.begin(), hist_.end(), 0);
 
    hist_buffer_.resize(kMaxNrBins);
    std::fill(hist_buffer_.begin(), hist_buffer_.end(), 0);
 
    hist_hat_.resize(kMaxNrBins);
    std::fill(hist_hat_.begin(), hist_hat_.end(), 0.0f);
 
    Init();
  }

~HistogramEstimator()

apollo::perception::camera::HistogramEstimator::~HistogramEstimator ( )

inline

在文件 histogram_estimator.h 第 95 行定义.

{}

成员函数说明

Clear()

void apollo::perception::camera::HistogramEstimator::Clear ( )

inline

在文件 histogram_estimator.h 第 116 行定义.

               {
    std::fill(hist_.begin(), hist_.end(), 0);
    val_cur_ = val_estimation_ = 0.0f;
  }

get_bin_value()

uint32_t apollo::perception::camera::HistogramEstimator::get_bin_value ( int  i ) const

inline

在文件 histogram_estimator.h 第 127 行定义.

                                      {
    assert(i >= 0 && i < params_.nr_bins_in_histogram);
    return hist_[i];
  }

get_hist()

const std::vector< uint32_t > & apollo::perception::camera::HistogramEstimator::get_hist ( ) const

inline

在文件 histogram_estimator.h 第 121 行定义.

{ return hist_; }

get_val_cur()

float apollo::perception::camera::HistogramEstimator::get_val_cur ( ) const

inline

在文件 histogram_estimator.h 第 123 行定义.

{ return val_cur_; }

get_val_estimation()

float apollo::perception::camera::HistogramEstimator::get_val_estimation ( ) const

inline

在文件 histogram_estimator.h 第 125 行定义.

{ return val_estimation_; }

Init()

void apollo::perception::camera::HistogramEstimator::Init

(

const HistogramEstimatorParams *

params = nullptr

)

在文件 histogram_estimator.cc 第 46 行定义.

                                                                    {
  if (params != nullptr) {
    params_ = *params;
  }
  step_bin_reversed_ = algorithm::IRec(params_.step_bin);
  assert(params_.nr_bins_in_histogram > 0);
  assert(params_.nr_bins_in_histogram <= kMaxNrBins);
  int nr_bins = params_.nr_bins_in_histogram;
  memset(hist_.data(), 0, sizeof(uint32_t) * nr_bins);
  GenerateHat(hist_hat_.data(), nr_bins);
}

Process()

bool apollo::perception::camera::HistogramEstimator::Process

(

)

在文件 histogram_estimator.cc 第 58 行定义.

                                 {
  // smooth histogram - >
  // get peak & check mass ->
  // shape anlysisi ->
  // update estimates - >
  // final decay
 
  uint32_t *hist = hist_.data();
  uint32_t *hist_smoothed = hist_buffer_.data();
  int nr_bins = params_.nr_bins_in_histogram;
  Smooth(hist, nr_bins, hist_smoothed);
#if 0
  SaveHist("input_hist", hist, nr_bins);
  SaveHist("smoothed_hist", hist_smoothed, nr_bins);
#endif
  int max_index = 0;
  uint32_t mass = 0;
  GetPeakIndexAndMass(hist_smoothed, nr_bins, &max_index, &mass);
  if (mass < params_.histogram_mass_limit) {
    AERROR << "Fail: lack enough samples.";
    return false;
  }
 
  if (!IsGoodShape(hist, nr_bins, max_index)) {
    AERROR << "Fail: distribution is not good.";
    return false;
  }
 
  val_estimation_ = GetValFromIndex(max_index);
  Decay(hist, nr_bins);
 
  return true;
}

Push()

bool apollo::perception::camera::HistogramEstimator::Push ( float  val )

inline

在文件 histogram_estimator.h 第 99 行定义.

                       {
    if (val < params_.data_sp || val >= params_.data_ep) {
      AERROR << "Input data to histogram: out-of-range";
      AERROR << params_.data_sp;
      AERROR << params_.data_ep;
      AERROR << val;
      return false;
    }
    int index = GetIndex(val);
    if (index < 0 || index >= params_.nr_bins_in_histogram) {
      return false;
    }
    ++hist_[index];
    val_cur_ = val;
    return true;
  }

类成员变量说明

kMaxNrBins

const int apollo::perception::camera::HistogramEstimator::kMaxNrBins = 1000

static

在文件 histogram_estimator.h 第 80 行定义.

---

该类的文档由以下文件生成:

• modules/perception/common/lib/calibrator/common/histogram_estimator.h
• modules/perception/common/lib/calibrator/common/histogram_estimator.cc