apollo::perception::camera::LaneLineCalibrator类 参考

#include <laneline_calibrator.h>

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

apollo::perception::camera::LaneLineCalibrator 的协作图:

Public 成员函数
	LaneLineCalibrator ()=default
virtual	~LaneLineCalibrator ()=default
bool	Init (const CalibratorInitOptions &options=CalibratorInitOptions()) override
bool	Calibrate (const CalibratorOptions &options, float *pitch_angle) override
std::string	Name () const override
float	GetTimeDiff () const
float	GetYawRate () const
float	GetVelocity () const
float	GetVanishingRow () const
Public 成员函数 继承自 apollo::perception::camera::BaseCalibrator
	BaseCalibrator ()=default
virtual	~BaseCalibrator ()=default
	DISALLOW_COPY_AND_ASSIGN (BaseCalibrator)

详细描述

在文件 laneline_calibrator.h 第 29 行定义.

构造及析构函数说明

LaneLineCalibrator()

apollo::perception::camera::LaneLineCalibrator::LaneLineCalibrator ( )

default

~LaneLineCalibrator()

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

virtualdefault

成员函数说明

Calibrate()

bool apollo::perception::camera::LaneLineCalibrator::Calibrate ( const CalibratorOptions &  options, float *  pitch_angle  )

overridevirtual

实现了 apollo::perception::camera::BaseCalibrator.

在文件 laneline_calibrator.cc 第 36 行定义.

                                                       {
  if (pitch_angle == nullptr) {
    AERROR << "pitch_angle is not available";
    return false;
  }
  EgoLane ego_lane;
  if (!LoadEgoLaneline(*options.lane_objects, &ego_lane)) {
    AINFO << "Failed to get the ego lane.";
    return false;
  }
 
  double cam_ori[4] = {0};
  cam_ori[3] = 1.0;
 
  // Camera to world pose
  Eigen::Affine3d c2w = *options.camera2world_pose;
 
  double p2w[12] = {
      c2w(0, 0), c2w(0, 1), c2w(0, 2), c2w(0, 3), c2w(1, 0), c2w(1, 1),
      c2w(1, 2), c2w(1, 3), c2w(2, 0), c2w(2, 1), c2w(2, 2), c2w(2, 3),
  };
 
  ADEBUG << "c2w transform this frame:\n"
         << p2w[0] << ", " << p2w[1] << ", " << p2w[2] << ", " << p2w[3] << "\n"
         << p2w[4] << ", " << p2w[5] << ", " << p2w[6] << ", " << p2w[7] << "\n"
         << p2w[8] << ", " << p2w[9] << ", " << p2w[10] << ", " << p2w[11];
 
  algorithm::IMultAx3x4(p2w, cam_ori, cam_coord_cur_);
  time_diff_ = kTimeDiffDefault;
  yaw_rate_ = kYawRateDefault;
  velocity_ = kVelocityDefault;
 
  timestamp_cur_ = *options.timestamp;
  if (!is_first_frame_) {
    time_diff_ = fabsf(static_cast<float>(timestamp_cur_ - timestamp_pre_));
    ADEBUG << timestamp_cur_ << " " << timestamp_pre_ << std::endl;
    camera::GetYawVelocityInfo(time_diff_, cam_coord_cur_, cam_coord_pre_,
                               cam_coord_pre_pre_, &yaw_rate_, &velocity_);
    std::string timediff_yawrate_velocity_text =
        absl::StrCat("time_diff_: ", std::to_string(time_diff_).substr(0, 4),
                     " | yaw_rate_: ", std::to_string(yaw_rate_).substr(0, 4),
                     " | velocity_: ", std::to_string(velocity_).substr(0, 4));
    ADEBUG << timediff_yawrate_velocity_text << std::endl;
  }
 
  bool updated =
      calibrator_.Process(ego_lane, velocity_, yaw_rate_, time_diff_);
  if (updated) {
    *pitch_angle = calibrator_.get_pitch_estimation();
    float vanishing_row = calibrator_.get_vanishing_row();
    AINFO << "#updated pitch angle: " << *pitch_angle;
    AINFO << "#vanishing row: " << vanishing_row;
  }
 
  if (!is_first_frame_) {
    memcpy(cam_coord_pre_pre_, cam_coord_pre_, sizeof(double) * 3);
  }
  is_first_frame_ = false;
  memcpy(cam_coord_pre_, cam_coord_cur_, sizeof(double) * 3);
  timestamp_pre_ = timestamp_cur_;
  return updated;
}

GetTimeDiff()

float apollo::perception::camera::LaneLineCalibrator::GetTimeDiff ( ) const

inline

在文件 laneline_calibrator.h 第 45 行定义.

{ return time_diff_; }

GetVanishingRow()

float apollo::perception::camera::LaneLineCalibrator::GetVanishingRow ( ) const

inline

在文件 laneline_calibrator.h 第 48 行定义.

                                       {
    return calibrator_.get_vanishing_row();
  }

GetVelocity()

float apollo::perception::camera::LaneLineCalibrator::GetVelocity ( ) const

inline

在文件 laneline_calibrator.h 第 47 行定义.

{ return velocity_; }

GetYawRate()

float apollo::perception::camera::LaneLineCalibrator::GetYawRate ( ) const

inline

在文件 laneline_calibrator.h 第 46 行定义.

{ return yaw_rate_; }

Init()

bool apollo::perception::camera::LaneLineCalibrator::Init ( const CalibratorInitOptions &  options = CalibratorInitOptions() )

overridevirtual

实现了 apollo::perception::camera::BaseCalibrator.

在文件 laneline_calibrator.cc 第 24 行定义.

                                                                  {
  LocalCalibratorInitOptions local_options;
  local_options.cx = options.cx;
  local_options.cy = options.cy;
  local_options.focal_x = options.focal_x;
  local_options.focal_y = options.focal_y;
  image_width_ = local_options.image_width = options.image_width;
  image_height_ = local_options.image_height = options.image_height;
  calibrator_.Init(local_options);
  return true;
}

Name()

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

inlineoverridevirtual

实现了 apollo::perception::camera::BaseCalibrator.

在文件 laneline_calibrator.h 第 43 行定义.

{ return "LaneLineCalibrator"; }

---

该类的文档由以下文件生成:

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