apollo::perception::camera::SingleStageTransformer类 参考

#include <singlestage_transformer.h>

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

apollo::perception::camera::SingleStageTransformer 的协作图:

Public 成员函数
	SingleStageTransformer ()=default
virtual	~SingleStageTransformer ()=default
bool	Init (const TransformerInitOptions &options=TransformerInitOptions()) override
	Init transformer by setting parameters
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)

详细描述

在文件 singlestage_transformer.h 第 43 行定义.

构造及析构函数说明

SingleStageTransformer()

apollo::perception::camera::SingleStageTransformer::SingleStageTransformer ( )

default

~SingleStageTransformer()

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

virtualdefault

成员函数说明

Init()

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

overridevirtual

Init transformer by setting parameters

参数

options

返回

true

false

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

在文件 singlestage_transformer.cc 第 40 行定义.

                                                                       {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  if (!cyber::common::GetProtoFromFile(config_file, &singlestage_param_)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
  AINFO << "Load transformer parameters from " << config_file
        << " \nmin dimension: " << singlestage_param_.min_dimension_val()
        << " \ndo template search: " << singlestage_param_.check_dimension();
 
  return true;
}

Name()

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

inlineoverridevirtual

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

在文件 singlestage_transformer.h 第 66 行定义.

{ return "SingleStageTransformer"; }

Transform()

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

overridevirtual

transform 2D detections to 3D bounding box

参数

frame

camera frame

返回

true

false

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

在文件 singlestage_transformer.cc 第 101 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++) {
    size_t i3 = i * 3;
    for (size_t j = 0; j < 3; j++) {
      k_mat[i3 + 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 auto &camera2world_pose = frame->camera2world_pose;
 
  int height = frame->data_provider->src_height();
  int width = frame->data_provider->src_width();
  int nr_transformed_obj = 0;
  const float PI = algorithm::Constant<float>::PI();
  for (auto &obj : frame->detected_objects) {
    if (obj == nullptr) {
      ADEBUG << "Empty object input to transformer.";
      continue;
    }
 
    // set object mapper options
    float theta_ray = atan2(obj->camera_supplement.local_center[0],
                            obj->camera_supplement.local_center[2]);
 
    // process
    float object_center[3] = {obj->camera_supplement.local_center[0],
                              obj->camera_supplement.local_center[1],
                              obj->camera_supplement.local_center[2]};
    float dimension_hwl[3] = {obj->size(2), obj->size(1), obj->size(0)};
    float rotation_y =
        theta_ray + static_cast<float>(obj->camera_supplement.alpha);
    if (rotation_y < -PI) {
      rotation_y += 2 * PI;
    } else if (rotation_y >= PI) {
      rotation_y -= 2 * PI;
    }
 
    // adjust center point
    float bbox[4] = {0};
    bbox[0] = obj->camera_supplement.box.xmin;
    bbox[1] = obj->camera_supplement.box.ymin;
    bbox[2] = obj->camera_supplement.box.xmax;
    bbox[3] = obj->camera_supplement.box.ymax;
    float center2d[3] = {0};
 
    CenterPointFromBbox(bbox, dimension_hwl, rotation_y, object_center,
                        center2d, k_mat, height, width);
    // fill back results
    FillResults(object_center, dimension_hwl, rotation_y, camera2world_pose,
                theta_ray, obj);
 
    ++nr_transformed_obj;
  }
  return nr_transformed_obj > 0;
}

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该类的文档由以下文件生成:

• modules/perception/camera_location_estimation/transformer/singlestage/singlestage_transformer.h
• modules/perception/camera_location_estimation/transformer/singlestage/singlestage_transformer.cc