apollo::perception::camera::ObjPostProcessor类 参考

#include <obj_postprocessor.h>

apollo::perception::camera::ObjPostProcessor 的协作图:

Public 成员函数
	ObjPostProcessor ()=default
virtual	~ObjPostProcessor ()=default
void	Init (const float *k_mat, int width, int height)
	process 2d 3d object
bool	PostProcessObjWithGround (const ObjPostProcessorOptions &options, float center[3], float hwl[3], float *ry)
	init params
bool	PostProcessObjWithDispmap (const ObjPostProcessorOptions &options, float center[3], float hwl[3], float *ry)
	none

详细描述

在文件 obj_postprocessor.h 第 63 行定义.

构造及析构函数说明

ObjPostProcessor()

apollo::perception::camera::ObjPostProcessor::ObjPostProcessor ( )

default

~ObjPostProcessor()

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

virtualdefault

成员函数说明

Init()

void apollo::perception::camera::ObjPostProcessor::Init ( const float *  k_mat, int  width, int  height  )

inline

process 2d 3d object

参数

k_mat	3x3 matrix
width	image width
height	image height

在文件 obj_postprocessor.h 第 74 行定义.

                                                       {
    memcpy(k_mat_, k_mat, sizeof(float) * 9);
    width_ = width;
    height_ = height;
  }

PostProcessObjWithDispmap()

bool apollo::perception::camera::ObjPostProcessor::PostProcessObjWithDispmap	(	const ObjPostProcessorOptions &	options,
		float	center[3],
		float	hwl[3],
		float *	ry
	)

none

参数

options
center	center of the object
hwl	the hwl of the object
ry	ry of the object

返回

true

false

在文件 obj_postprocessor.cc 第 59 行定义.

               {
  return true;
}

PostProcessObjWithGround()

bool apollo::perception::camera::ObjPostProcessor::PostProcessObjWithGround	(	const ObjPostProcessorOptions &	options,
		float	center[3],
		float	hwl[3],
		float *	ry
	)

init params

参数

options	options for processing
center	center of the object
hwl	the hwl of the object
ry	ry of the object

返回

true

false

在文件 obj_postprocessor.cc 第 36 行定义.

               {
  memcpy(hwl, options.hwl, sizeof(float) * 3);
  float bbox[4] = {0};
  memcpy(bbox, options.bbox, sizeof(float) * 4);
  *ry = options.ry;
 
  // soft constraints
  bool adjust_soft =
      AdjustCenterWithGround(bbox, hwl, *ry, options.plane, center);
  if (center[2] > params_.dist_far) {
    return adjust_soft;
  }
 
  // hard constraints
  bool adjust_hard = PostRefineCenterWithGroundBoundary(
      bbox, hwl, *ry, options.plane, options.line_segs, center,
      options.check_lowerbound);
 
  return adjust_soft || adjust_hard;
}

---

该类的文档由以下文件生成:

• modules/perception/camera_location_refinement/location_refiner/obj_postprocessor.h
• modules/perception/camera_location_refinement/location_refiner/obj_postprocessor.cc