apollo::perception::camera::OnlineCalibrationService类 参考

#include <online_calibration_service.h>

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

apollo::perception::camera::OnlineCalibrationService 的协作图:

Public 成员函数
	OnlineCalibrationService ()=default
virtual	~OnlineCalibrationService ()=default
bool	Init (const CalibrationServiceInitOptions &options=CalibrationServiceInitOptions()) override
bool	BuildIndex () override
bool	QueryDepthOnGroundPlane (int x, int y, double *depth) const override
bool	QueryPoint3dOnGroundPlane (int x, int y, Eigen::Vector3d *point3d) const override
bool	QueryGroundPlaneInCameraFrame (Eigen::Vector4d *plane_param) const override
bool	QueryCameraToGroundHeightAndPitchAngle (float *height, float *pitch) const override
float	QueryCameraToGroundHeight () const override
float	QueryPitchAngle () const override
void	Update (onboard::CameraFrame *frame) override
void	Update (CameraFrame *frame) override
void	SetCameraHeightAndPitch (const std::map< std::string, float > &name_camera_ground_height_map, const std::map< std::string, float > &name_camera_pitch_angle_diff_map, const float &pitch_angle_master_sensor) override
std::string	Name () const override
Public 成员函数 继承自 apollo::perception::camera::BaseCalibrationService
	BaseCalibrationService ()=default
virtual	~BaseCalibrationService ()=default
virtual bool	QueryCameraToWorldPose (Eigen::Matrix4d *pose) const
	DISALLOW_COPY_AND_ASSIGN (BaseCalibrationService)

详细描述

在文件 online_calibration_service.h 第 39 行定义.

构造及析构函数说明

OnlineCalibrationService()

apollo::perception::camera::OnlineCalibrationService::OnlineCalibrationService ( )

default

~OnlineCalibrationService()

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

virtualdefault

成员函数说明

BuildIndex()

bool apollo::perception::camera::OnlineCalibrationService::BuildIndex ( )

overridevirtual

实现了 apollo::perception::camera::BaseCalibrationService.

在文件 online_calibration_service.cc 第 68 行定义.

                                          {
  is_service_ready_ = HasSetIntrinsics() && HasSetGroundPlane();
  return is_service_ready_;
}

Init()

bool apollo::perception::camera::OnlineCalibrationService::Init ( const CalibrationServiceInitOptions &  options = CalibrationServiceInitOptions() )

overridevirtual

实现了 apollo::perception::camera::BaseCalibrationService.

在文件 online_calibration_service.cc 第 28 行定义.

                                                  {
  master_sensor_name_ = options.calibrator_working_sensor_name;
  sensor_name_ = options.calibrator_working_sensor_name;
  // Init k_matrix
  auto &name_intrinsic_map = options.name_intrinsic_map;
  ACHECK(name_intrinsic_map.find(master_sensor_name_) !=
         name_intrinsic_map.end());
  CameraStatus camera_status;
  name_camera_status_map_.clear();
  for (auto iter = name_intrinsic_map.begin(); iter != name_intrinsic_map.end();
       ++iter) {
    camera_status.k_matrix[0] = static_cast<double>(iter->second(0, 0));
    camera_status.k_matrix[4] = static_cast<double>(iter->second(1, 1));
    camera_status.k_matrix[2] = static_cast<double>(iter->second(0, 2));
    camera_status.k_matrix[5] = static_cast<double>(iter->second(1, 2));
    camera_status.k_matrix[8] = 1.0;
    name_camera_status_map_.insert(
        std::pair<std::string, CameraStatus>(iter->first, camera_status));
  }
  // Only init calibrator on master_sensor
  CalibratorInitOptions calibrator_init_options;
  calibrator_init_options.image_width = options.image_width;
  calibrator_init_options.image_height = options.image_height;
  calibrator_init_options.focal_x = static_cast<float>(
      name_camera_status_map_[master_sensor_name_].k_matrix[0]);
  calibrator_init_options.focal_y = static_cast<float>(
      name_camera_status_map_[master_sensor_name_].k_matrix[4]);
  calibrator_init_options.cx = static_cast<float>(
      name_camera_status_map_[master_sensor_name_].k_matrix[2]);
  calibrator_init_options.cy = static_cast<float>(
      name_camera_status_map_[master_sensor_name_].k_matrix[5]);
  calibrator_.reset(
      BaseCalibratorRegisterer::GetInstanceByName(options.calibrator_method));
  ACHECK(calibrator_ != nullptr);
  ACHECK(calibrator_->Init(calibrator_init_options))
      << "Failed to init " << options.calibrator_method;
  return true;
}

Name()

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

inlineoverridevirtual

实现了 apollo::perception::camera::BaseCalibrationService.

在文件 online_calibration_service.h 第 94 行定义.

{ return "OnlineCalibrationService"; }

QueryCameraToGroundHeight()

float apollo::perception::camera::OnlineCalibrationService::QueryCameraToGroundHeight ( ) const

inlineoverridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.h 第 66 行定义.

                                                   {
    if (is_service_ready_) {
      auto iter = name_camera_status_map_.find(sensor_name_);
      return (iter->second).camera_ground_height;
    }
    return -1.f;
  }

QueryCameraToGroundHeightAndPitchAngle()

bool apollo::perception::camera::OnlineCalibrationService::QueryCameraToGroundHeightAndPitchAngle ( float *  height, float *  pitch  ) const

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 137 行定义.

                                       {
  if (height == nullptr) {
    AERROR << "height is nullptr";
    return false;
  }
  if (pitch == nullptr) {
    AERROR << "pitch is nullptr";
    return false;
  }
  if (!is_service_ready_) {
    *height = *pitch = 0.0;
    return false;
  }
  auto iter = name_camera_status_map_.find(sensor_name_);
  *height = iter->second.camera_ground_height;
  *pitch = iter->second.pitch_angle;
  return true;
}

QueryDepthOnGroundPlane()

bool apollo::perception::camera::OnlineCalibrationService::QueryDepthOnGroundPlane ( int  x, int  y, double *  depth  ) const

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 73 行定义.

                                                                            {
  if (!is_service_ready_) {
    return false;
  }
  ACHECK(depth != nullptr);
  double pixel[2] = {static_cast<double>(x), static_cast<double>(y)};
  double point[3] = {0};
 
  auto iter = name_camera_status_map_.find(sensor_name_);
  bool success = algorithm::IBackprojectPlaneIntersectionCanonical(
      pixel, &(iter->second.k_matrix[0]), &(iter->second.ground_plane[0]),
      point);
  if (!success) {
    *depth = 0.0;
    return false;
  }
 
  *depth = point[2];
  return true;
}

QueryGroundPlaneInCameraFrame()

bool apollo::perception::camera::OnlineCalibrationService::QueryGroundPlaneInCameraFrame ( Eigen::Vector4d *  plane_param ) const

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 118 行定义.

                                      {
  if (plane_param == nullptr) {
    AERROR << "plane_param is nullptr";
    return false;
  }
  if (!is_service_ready_) {
    (*plane_param)(0) = (*plane_param)(1) = (*plane_param)(2) =
        (*plane_param)(3) = 0.0;
    return false;
  }
  auto iter = name_camera_status_map_.find(sensor_name_);
  (*plane_param)(0) = iter->second.ground_plane[0];
  (*plane_param)(1) = iter->second.ground_plane[1];
  (*plane_param)(2) = iter->second.ground_plane[2];
  (*plane_param)(3) = iter->second.ground_plane[3];
  return true;
}

QueryPitchAngle()

float apollo::perception::camera::OnlineCalibrationService::QueryPitchAngle ( ) const

inlineoverridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.h 第 74 行定义.

                                         {
    if (is_service_ready_) {
      auto iter = name_camera_status_map_.find(sensor_name_);
      return (iter->second).pitch_angle;
    }
    return -1.f;
  }

QueryPoint3dOnGroundPlane()

bool apollo::perception::camera::OnlineCalibrationService::QueryPoint3dOnGroundPlane ( int  x, int  y, Eigen::Vector3d *  point3d  ) const

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 95 行定义.

                                                {
  if (!is_service_ready_) {
    return false;
  }
  ACHECK(point3d != nullptr);
  double pixel[2] = {static_cast<double>(x), static_cast<double>(y)};
  double point[3] = {0};
  auto iter = name_camera_status_map_.find(sensor_name_);
  bool success = algorithm::IBackprojectPlaneIntersectionCanonical(
      pixel, &(iter->second.k_matrix[0]), &(iter->second.ground_plane[0]),
      point);
  if (!success) {
    (*point3d)(0) = (*point3d)(1) = (*point3d)(2) = 0.0;
    return false;
  }
 
  (*point3d)(0) = point[0];
  (*point3d)(1) = point[1];
  (*point3d)(2) = point[2];
  return true;
}

SetCameraHeightAndPitch()

void apollo::perception::camera::OnlineCalibrationService::SetCameraHeightAndPitch ( const std::map< std::string, float > &  name_camera_ground_height_map, const std::map< std::string, float > &  name_camera_pitch_angle_diff_map, const float &  pitch_angle_master_sensor  )

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 237 行定义.

                                            {
  name_camera_status_map_[master_sensor_name_].pitch_angle =
      pitch_angle_master_sensor;
  for (auto iter = name_camera_status_map_.begin();
       iter != name_camera_status_map_.end(); ++iter) {
    // get iters
    auto iter_ground_height = name_camera_ground_height_map.find(iter->first);
    auto iter_pitch_angle_diff =
        name_camera_pitch_angle_diff_map.find(iter->first);
    ACHECK(iter_ground_height != name_camera_ground_height_map.end());
    ACHECK(iter_pitch_angle_diff != name_camera_pitch_angle_diff_map.end());
    // set camera status
    name_camera_status_map_[iter->first].camera_ground_height =
        iter_ground_height->second;
    name_camera_status_map_[iter->first].pitch_angle_diff =
        iter_pitch_angle_diff->second;
    name_camera_status_map_[iter->first].pitch_angle =
        pitch_angle_master_sensor + iter_pitch_angle_diff->second;
    name_camera_status_map_[iter->first].ground_plane[1] =
        cos(name_camera_status_map_[iter->first].pitch_angle);
    name_camera_status_map_[iter->first].ground_plane[2] =
        -sin(name_camera_status_map_[iter->first].pitch_angle);
    name_camera_status_map_[iter->first].ground_plane[3] =
        -name_camera_status_map_[iter->first].camera_ground_height;
  }
}

Update() [1/2]

void apollo::perception::camera::OnlineCalibrationService::Update ( CameraFrame *  frame )

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 197 行定义.

                                                        {
  if (frame == nullptr) {
    AERROR << "frame is nullptr";
    return;
  }
  sensor_name_ = frame->data_provider->sensor_name();
  if (sensor_name_ == master_sensor_name_) {
    CalibratorOptions calibrator_options;
 
    calibrator_options.lane_objects =
        std::make_shared<std::vector<base::LaneLine>>(frame->lane_objects);
    calibrator_options.camera2world_pose.reset(
        new Eigen::Affine3d(frame->camera2world_pose));
    calibrator_options.timestamp = &(frame->timestamp);
    float pitch_angle = 0.f;
    bool updated = calibrator_->Calibrate(calibrator_options, &pitch_angle);
    // rebuild the service when updated
    if (updated) {
      name_camera_status_map_[master_sensor_name_].pitch_angle = pitch_angle;
      for (auto iter = name_camera_status_map_.begin();
           iter != name_camera_status_map_.end(); iter++) {
        // update pitch angle
        iter->second.pitch_angle =
            iter->second.pitch_angle_diff +
            name_camera_status_map_[master_sensor_name_].pitch_angle;
        // update ground plane param
        iter->second.ground_plane[1] = cos(iter->second.pitch_angle);
        iter->second.ground_plane[2] = -sin(iter->second.pitch_angle);
      }
    }
  }
  auto iter = name_camera_status_map_.find(sensor_name_);
  AINFO << "camera_ground_height: " << iter->second.camera_ground_height
        << " meter.";
  AINFO << "pitch_angle: " << iter->second.pitch_angle * 180.0 / M_PI
        << " degree.";
  // ACHECK(BuildIndex());
  is_service_ready_ = true;
}

Update() [2/2]

void apollo::perception::camera::OnlineCalibrationService::Update ( onboard::CameraFrame *  frame )

overridevirtual

重载 apollo::perception::camera::BaseCalibrationService .

在文件 online_calibration_service.cc 第 157 行定义.

                                                               {
  if (frame == nullptr) {
    AERROR << "frame is nullptr";
    return;
  }
  sensor_name_ = frame->data_provider->sensor_name();
  if (sensor_name_ == master_sensor_name_) {
    CalibratorOptions calibrator_options;
    // todo(daohu527) need complete
    // calibrator_options.lane_objects =
    //     std::make_shared<std::vector<base::LaneLine>>(frame->lane_objects);
    calibrator_options.camera2world_pose.reset(
        new Eigen::Affine3d(frame->camera2world_pose));
    calibrator_options.timestamp = &(frame->timestamp);
    float pitch_angle = 0.f;
    bool updated = calibrator_->Calibrate(calibrator_options, &pitch_angle);
    // rebuild the service when updated
    if (updated) {
      name_camera_status_map_[master_sensor_name_].pitch_angle = pitch_angle;
      for (auto iter = name_camera_status_map_.begin();
           iter != name_camera_status_map_.end(); iter++) {
        // update pitch angle
        iter->second.pitch_angle =
            iter->second.pitch_angle_diff +
            name_camera_status_map_[master_sensor_name_].pitch_angle;
        // update ground plane param
        iter->second.ground_plane[1] = cos(iter->second.pitch_angle);
        iter->second.ground_plane[2] = -sin(iter->second.pitch_angle);
      }
    }
  }
  auto iter = name_camera_status_map_.find(sensor_name_);
  AINFO << "camera_ground_height: " << iter->second.camera_ground_height
        << " meter.";
  AINFO << "pitch_angle: " << iter->second.pitch_angle * 180.0 / M_PI
        << " degree.";
  // ACHECK(BuildIndex());
  is_service_ready_ = true;
}

---

该类的文档由以下文件生成:

• modules/perception/common/lib/calibration_service/online_calibration_service/online_calibration_service.h
• modules/perception/common/lib/calibration_service/online_calibration_service/online_calibration_service.cc