apollo::perception::camera::ProjectFeature类 参考

#include <project_feature.h>

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

apollo::perception::camera::ProjectFeature 的协作图:

Public 成员函数
	ProjectFeature ()=default
	~ProjectFeature ()=default
bool	Init (const FeatureExtractorInitOptions &init_options) override
bool	Extract (const FeatureExtractorOptions &options, CameraTrackingFrame *frame) override
Public 成员函数 继承自 apollo::perception::camera::BaseFeatureExtractor
	BaseFeatureExtractor ()=default
virtual	~BaseFeatureExtractor ()=default
void	set_roi (int x, int y, int w, int h)
void	decode_bbox (std::vector< std::shared_ptr< base::Object > > *objects)
void	encode_bbox (std::vector< std::shared_ptr< base::Object > > *objects)

额外继承的成员函数
Protected 属性 继承自 apollo::perception::camera::BaseFeatureExtractor
std::shared_ptr< base::Blob< float > >	feat_blob_ = nullptr
int	roi_x_ = 0
int	roi_y_ = 0
int	roi_w_ = 0
int	roi_h_ = 0

详细描述

在文件 project_feature.h 第 32 行定义.

构造及析构函数说明

ProjectFeature()

apollo::perception::camera::ProjectFeature::ProjectFeature ( )

default

~ProjectFeature()

apollo::perception::camera::ProjectFeature::~ProjectFeature ( )

default

成员函数说明

Extract()

bool apollo::perception::camera::ProjectFeature::Extract ( const FeatureExtractorOptions &  options, CameraTrackingFrame *  frame  )

overridevirtual

实现了 apollo::perception::camera::BaseFeatureExtractor.

在文件 project_feature.cc 第 78 行定义.

                                                         {
  auto input_blob = net_->get_blob(model_param_.info().inputs(0).name());
  auto output_blob = net_->get_blob(model_param_.info().outputs(0).name());
  if (frame->detected_objects.empty()) {
    return true;
  }
  input_blob->Reshape(frame->track_feature_blob->shape());
  cudaMemcpy(
      input_blob->mutable_gpu_data(), frame->track_feature_blob->gpu_data(),
      frame->track_feature_blob->count() * sizeof(float), cudaMemcpyDefault);
 
  cudaDeviceSynchronize();
  net_->Infer();
  cudaDeviceSynchronize();
  frame->track_feature_blob->Reshape(
      {static_cast<int>(frame->detected_objects.size()), output_blob->shape(1),
       output_blob->shape(2), output_blob->shape(3)});
 
  cudaMemcpy(
      frame->track_feature_blob->mutable_gpu_data(), output_blob->gpu_data(),
      frame->track_feature_blob->count() * sizeof(float), cudaMemcpyDefault);
 
  norm_.L2Norm(frame->track_feature_blob.get());
  return true;
}

Init()

bool apollo::perception::camera::ProjectFeature::Init ( const FeatureExtractorInitOptions &  init_options )

overridevirtual

实现了 apollo::perception::camera::BaseFeatureExtractor.

在文件 project_feature.cc 第 33 行定义.

                                                                    {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  if (!cyber::common::GetProtoFromFile(config_file, &model_param_)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  AINFO << "Load config Success: " << model_param_.ShortDebugString();
 
  const auto &model_info = model_param_.info();
  std::string model_path = GetModelPath(model_info.name());
  std::string proto_file =
      GetModelFile(model_path, model_info.proto_file().file());
  std::string weight_file =
      GetModelFile(model_path, model_info.weight_file().file());
 
  // Network input and output names
  std::vector<std::string> input_names =
      inference::GetBlobNames(model_info.inputs());
  std::vector<std::string> output_names =
      inference::GetBlobNames(model_info.outputs());
 
  net_.reset(inference::CreateInferenceByName(
      model_info.framework(), proto_file, weight_file, output_names,
      input_names, model_path));
  ACHECK(nullptr != net_) << "Failed to init CNNAdapter";
 
  gpu_id_ = GlobalConfig::Instance()->track_feature_gpu_id;
  net_->set_gpu_id(gpu_id_);
  net_->set_max_batch_size(100);
 
  std::map<std::string, std::vector<int>> shape_map;
  inference::AddShape(&shape_map, model_info.inputs());
  inference::AddShape(&shape_map, model_info.outputs());
 
  if (!net_->Init(shape_map)) {
    AERROR << model_info.name() << "init failed!";
    return false;
  }
 
  net_->Infer();
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/camera_tracking/feature_extract/project_feature.h
• modules/perception/camera_tracking/feature_extract/project_feature.cc