apollo::perception::camera::LaneBasedCalibrator类 参考

#include <lane_based_calibrator.h>

apollo::perception::camera::LaneBasedCalibrator 的协作图:

Public 成员函数
	LaneBasedCalibrator ()
	~LaneBasedCalibrator ()
void	Init (const LocalCalibratorInitOptions &options, const CalibratorParams *params=nullptr)
void	ClearUp ()
bool	Process (const EgoLane &lane, const float &velocity, const float &yaw_rate, const float &time_diff)
float	get_pitch_estimation () const
float	get_vanishing_row () const

静态 Public 属性
static const int	kMaxNrHistoryFrames = 1000

详细描述

在文件 lane_based_calibrator.h 第 75 行定义.

构造及析构函数说明

LaneBasedCalibrator()

apollo::perception::camera::LaneBasedCalibrator::LaneBasedCalibrator ( )

inline

在文件 lane_based_calibrator.h 第 79 行定义.

{ vp_buffer_.clear(); }

~LaneBasedCalibrator()

apollo::perception::camera::LaneBasedCalibrator::~LaneBasedCalibrator ( )

inline

在文件 lane_based_calibrator.h 第 81 行定义.

{ ClearUp(); }

成员函数说明

ClearUp()

void apollo::perception::camera::LaneBasedCalibrator::ClearUp

(

)

在文件 lane_based_calibrator.cc 第 113 行定义.

                                  {
  vp_buffer_.clear();
  pitch_histogram_.Clear();
  image_width_ = 0;
  image_height_ = 0;
  memset(k_mat_, 0.0f, sizeof(float) * 9);
  pitch_cur_ = 0.0f;
  pitch_estimation_ = 0.0f;
  vanishing_row_ = 0.0f;
  accumulated_straight_driving_in_meter_ = 0.0f;
}

get_pitch_estimation()

float apollo::perception::camera::LaneBasedCalibrator::get_pitch_estimation ( ) const

inline

在文件 lane_based_calibrator.h 第 93 行定义.

{ return pitch_estimation_; }

get_vanishing_row()

float apollo::perception::camera::LaneBasedCalibrator::get_vanishing_row ( ) const

inline

在文件 lane_based_calibrator.h 第 99 行定义.

{ return vanishing_row_; }

Init()

void apollo::perception::camera::LaneBasedCalibrator::Init	(	const LocalCalibratorInitOptions &	options,
		const CalibratorParams *	params = nullptr
	)

在文件 lane_based_calibrator.cc 第 93 行定义.

                                                               {
  ClearUp();
  image_width_ = options.image_width;
  image_height_ = options.image_height;
  assert(image_width_ > 0);
  assert(image_height_ > 0);
  k_mat_[0] = options.focal_x;
  k_mat_[4] = options.focal_y;
  k_mat_[2] = options.cx;
  k_mat_[5] = options.cy;
  k_mat_[1] = k_mat_[3] = k_mat_[6] = k_mat_[7] = 0.0f;
  k_mat_[8] = 1.0f;
 
  if (params != nullptr) {
    params_ = *params;
  }
  pitch_histogram_.Init(&params_.hist_estimator_params);
}

Process()

bool apollo::perception::camera::LaneBasedCalibrator::Process	(	const EgoLane &	lane,
		const float &	velocity,
		const float &	yaw_rate,
		const float &	time_diff
	)

在文件 lane_based_calibrator.cc 第 125 行定义.

                                                          {
  float distance_traveled_in_meter = velocity * time_diff;
  float vehicle_yaw_changed = yaw_rate * time_diff;
 
  // distance_traveled_in_meter = 0.5f;  // hardcode for debug
 
  // TODO(Xun): Change cout or cerr to log.
 
  // Check for driving straight
  if (!IsTravelingStraight(vehicle_yaw_changed)) {
    AINFO << "Do not calibate if not moving straight: "
          << "yaw angle changed " << vehicle_yaw_changed;
    vp_buffer_.clear();
    return false;
  }
 
  VanishingPoint vp_cur;
  VanishingPoint vp_work;
 
  // Get the current estimation on vanishing point from lane
  if (!GetVanishingPoint(lane, &vp_cur)) {
    AINFO << "Lane is not valid for calibration.";
    return false;
  }
  vp_cur.distance_traveled = distance_traveled_in_meter;
  //  std::cout << "#current v-row: " << vp_cur.pixel_pos[1] << std::endl;
 
  // Push vanishing point into buffer
  PushVanishingPoint(vp_cur);
  if (!PopVanishingPoint(&vp_work)) {
    AINFO << "Driving distance is not long enough";
    return false;
  }
 
  // Get current estimation on pitch
  pitch_cur_ = 0.0f;
  if (!GetPitchFromVanishingPoint(vp_work, &pitch_cur_)) {
    AINFO << "Failed to estimate pitch from vanishing point.";
    return false;
  }
  //  std::cout << "#current pitch: " << pitch_cur_ << std::endl;
  vanishing_row_ = vp_work.pixel_pos[1];
 
  // Get the filtered output using histogram
  if (!AddPitchToHistogram(pitch_cur_)) {
    AINFO << "Calculated pitch is out-of-range.";
    return false;
  }
 
  accumulated_straight_driving_in_meter_ += distance_traveled_in_meter;
  //  std::cout << "acc_d: " << accumulated_straight_driving_in_meter_ << "\n";
  if (accumulated_straight_driving_in_meter_ >
          params_.min_distance_to_update_calibration_in_meter &&
      pitch_histogram_.Process()) {
    pitch_estimation_ = pitch_histogram_.get_val_estimation();
    const float cy = k_mat_[5];
    const float fy = k_mat_[4];
    vanishing_row_ = tanf(pitch_estimation_) * fy + cy;
    accumulated_straight_driving_in_meter_ = 0.0f;
    return true;
  }
  return false;
}

类成员变量说明

kMaxNrHistoryFrames

const int apollo::perception::camera::LaneBasedCalibrator::kMaxNrHistoryFrames = 1000

static

在文件 lane_based_calibrator.h 第 77 行定义.

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该类的文档由以下文件生成:

• modules/perception/common/lib/calibrator/laneline/lane_based_calibrator.h
• modules/perception/common/lib/calibrator/laneline/lane_based_calibrator.cc