apollo::perception::camera::MultiCueTransformer类 参考

#include <multicue_transformer.h>

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

apollo::perception::camera::MultiCueTransformer 的协作图:

Public 成员函数
	MultiCueTransformer ()=default
virtual	~MultiCueTransformer ()=default
bool	Init (const TransformerInitOptions &options=TransformerInitOptions()) override
	Init for ObjectTemplate and Object map
bool	Transform (onboard::CameraFrame *frame) override
	Transform 2D detections to 3D bounding box
std::string	Name () const override
Public 成员函数 继承自 apollo::perception::camera::BaseTransformer
	BaseTransformer ()=default
virtual	~BaseTransformer ()=default
	DISALLOW_COPY_AND_ASSIGN (BaseTransformer)

Protected 属性
ObjectTemplateManager *	object_template_manager_ = nullptr

详细描述

在文件 multicue_transformer.h 第 35 行定义.

构造及析构函数说明

MultiCueTransformer()

apollo::perception::camera::MultiCueTransformer::MultiCueTransformer ( )

default

~MultiCueTransformer()

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

virtualdefault

成员函数说明

Init()

bool apollo::perception::camera::MultiCueTransformer::Init ( const TransformerInitOptions &  options = TransformerInitOptions() )

overridevirtual

Init for ObjectTemplate and Object map

参数

options

configuration for object template and object map

返回

true

false

实现了 apollo::perception::camera::BaseTransformer.

在文件 multicue_transformer.cc 第 32 行定义.

                                                                    {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  if (!cyber::common::GetProtoFromFile(config_file, &multicue_param_)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
  AINFO << multicue_param_.DebugString();
 
  // Init object template
  object_template_manager_ = ObjectTemplateManager::Instance();
  ACHECK(object_template_manager_->Init());
  mapper_.reset(new ObjMapper);
 
  return true;
}

Name()

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

inlineoverridevirtual

实现了 apollo::perception::camera::BaseTransformer.

在文件 multicue_transformer.h 第 59 行定义.

{ return "MultiCueTransformer"; }

Transform()

bool apollo::perception::camera::MultiCueTransformer::Transform ( onboard::CameraFrame *  frame )

overridevirtual

Transform 2D detections to 3D bounding box

参数

frame

input camera frame

返回

true

false

实现了 apollo::perception::camera::BaseTransformer.

在文件 multicue_transformer.cc 第 223 行定义.

                                                             {
  if (frame->detected_objects.empty()) {
    ADEBUG << "No object input to transformer.";
    return true;
  }
 
  const auto &camera_k_matrix = frame->camera_k_matrix;
  float k_mat[9] = {0};
  for (size_t i = 0; i < 3; ++i) {
    for (size_t j = 0; j < 3; ++j) {
      k_mat[i * 3 + j] = camera_k_matrix(i, j);
    }
  }
  ADEBUG << "Camera k matrix input to transformer: \n"
         << k_mat[0] << ", " << k_mat[1] << ", " << k_mat[2] << "\n"
         << k_mat[3] << ", " << k_mat[4] << ", " << k_mat[5] << "\n"
         << k_mat[6] << ", " << k_mat[7] << ", " << k_mat[8] << "\n";
 
  const int width_image = frame->data_provider->src_width();
  const int height_image = frame->data_provider->src_height();
  const auto &camera2world_pose = frame->camera2world_pose;
  mapper_->Init(k_mat, width_image, height_image);
 
  ObjMapperOptions obj_mapper_options;
  float object_center[3] = {0};
  float dimension_hwl[3] = {0};
  float rotation_y = 0.0f;
  int nr_transformed_obj = 0;
 
  for (auto &obj : frame->detected_objects) {
    if (obj == nullptr) {
      ADEBUG << "Empty object input to transformer.";
      continue;
    }
 
    // set object mapper options
    float theta_ray = 0.0f;
    SetObjMapperOptions(obj, camera_k_matrix, width_image, height_image,
                        &obj_mapper_options, &theta_ray);
 
    // process
    mapper_->Solve3dBbox(obj_mapper_options, object_center, dimension_hwl,
                         &rotation_y);
 
    // fill back results
    FillResults(object_center, dimension_hwl, rotation_y, camera2world_pose,
                theta_ray, obj);
 
    ++nr_transformed_obj;
  }
 
  return nr_transformed_obj > 0;
}

类成员变量说明

object_template_manager_

ObjectTemplateManager* apollo::perception::camera::MultiCueTransformer::object_template_manager_ = nullptr

protected

在文件 multicue_transformer.h 第 77 行定义.

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该类的文档由以下文件生成:

• modules/perception/camera_location_estimation/transformer/multicue/multicue_transformer.h
• modules/perception/camera_location_estimation/transformer/multicue/multicue_transformer.cc