apollo::perception::camera::UndistortionHandler类 参考

#include <undistortion_handler.h>

apollo::perception::camera::UndistortionHandler 的协作图:

Public 成员函数
	UndistortionHandler ()
	~UndistortionHandler ()
bool	set_device (int device)
bool	Init (const std::string &sensor_name, int device)
void	InitUndistortRectifyMap (const Eigen::Matrix3f &camera_model, const Eigen::Matrix< float, 8, 1 > &distortion, const Eigen::Matrix3f &R, const Eigen::Matrix3f &new_camera_model, int width, int height, base::Blob< float > *d_mapx, base::Blob< float > *d_mapy)
bool	Handle (const base::Image8U &src_img, base::Image8U *dst_img)
	: Processing each image @params: src_img - input image array dst_img - output image array
bool	Release (void)

详细描述

在文件 undistortion_handler.h 第 28 行定义.

构造及析构函数说明

UndistortionHandler()

apollo::perception::camera::UndistortionHandler::UndistortionHandler ( )

inline

在文件 undistortion_handler.h 第 30 行定义.

{ inited_ = false; }

~UndistortionHandler()

apollo::perception::camera::UndistortionHandler::~UndistortionHandler ( )

inline

在文件 undistortion_handler.h 第 32 行定义.

{ Release(); }

成员函数说明

Handle()

bool apollo::perception::camera::UndistortionHandler::Handle	(	const base::Image8U &	src_img,
		base::Image8U *	dst_img
	)

: Processing each image @params: src_img - input image array dst_img - output image array

在文件 undistortion_handler.cc 第 85 行定义.

                                                       {
  if (!inited_) {
    return false;
  }
 
  if (!set_device(device_)) {
    return false;
  }
 
  return imageRemap(src_img, dst_img, width_, height_, d_mapx_, d_mapy_);
}

Init()

bool apollo::perception::camera::UndistortionHandler::Init	(	const std::string &	sensor_name,
		int	device
	)

在文件 undistortion_handler.cc 第 45 行定义.

                                                                       {
  if (inited_) {
    return true;
  }
 
  std::vector<double> D;
  std::vector<double> K;
 
  algorithm::SensorManager *sensor_manager =
      algorithm::SensorManager::Instance();
  if (!sensor_manager->IsSensorExist(sensor_name)) {
    AERROR << "Sensor '" << sensor_name << "' not exists!";
    return false;
  }
 
  if (!set_device(device)) {
    return false;
  }
 
  base::BrownCameraDistortionModelPtr distort_model =
      std::dynamic_pointer_cast<base::BrownCameraDistortionModel>(
          sensor_manager->GetDistortCameraModel(sensor_name));
 
  height_ = static_cast<int>(distort_model->get_height());
  width_ = static_cast<int>(distort_model->get_width());
  d_mapx_.Reshape({height_, width_});
  d_mapy_.Reshape({height_, width_});
 
  Eigen::Matrix3f I;
  I << 1.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 1.f;
 
  InitUndistortRectifyMap(distort_model->get_intrinsic_params(),
                          distort_model->get_distort_params(), I,
                          distort_model->get_intrinsic_params(), width_,
                          height_, &d_mapx_, &d_mapy_);
 
  inited_ = true;
  return true;
}

InitUndistortRectifyMap()

void apollo::perception::camera::UndistortionHandler::InitUndistortRectifyMap	(	const Eigen::Matrix3f &	camera_model,
		const Eigen::Matrix< float, 8, 1 > &	distortion,
		const Eigen::Matrix3f &	R,
		const Eigen::Matrix3f &	new_camera_model,
		int	width,
		int	height,
		base::Blob< float > *	d_mapx,
		base::Blob< float > *	d_mapy
	)

在文件 undistortion_handler.cc 第 103 行定义.

                                                      {
  float fx = camera_model(0, 0);
  float fy = camera_model(1, 1);
  float cx = camera_model(0, 2);
  float cy = camera_model(1, 2);
  float nfx = new_camera_model(0, 0);
  float nfy = new_camera_model(1, 1);
  float ncx = new_camera_model(0, 2);
  float ncy = new_camera_model(1, 2);
  float k1 = distortion(0, 0);
  float k2 = distortion(1, 0);
  float p1 = distortion(2, 0);
  float p2 = distortion(3, 0);
  float k3 = distortion(4, 0);
  float k4 = distortion(5, 0);  // add k4,k5,k6 for Rational model
  float k5 = distortion(6, 0);
  float k6 = distortion(7, 0);
 
  Eigen::Matrix3f Rinv = R.inverse();
 
  for (int v = 0; v < height_; ++v) {
    float *x_ptr = d_mapx->mutable_cpu_data() + d_mapx->offset(v);
    float *y_ptr = d_mapy->mutable_cpu_data() + d_mapy->offset(v);
    for (int u = 0; u < width_; ++u) {
      Eigen::Matrix<float, 3, 1> xy1;
      xy1 << (static_cast<float>(u) - ncx) / nfx,
          (static_cast<float>(v) - ncy) / nfy, 1;
      auto XYW = Rinv * xy1;
      double nx = XYW(0, 0) / XYW(2, 0);
      double ny = XYW(1, 0) / XYW(2, 0);
      double r_square = nx * nx + ny * ny;
      double r_quad = r_square * r_square;
      double r_sextic = r_quad * r_square;
      double scale = (1 + r_square * k1 + r_quad * k2 + r_sextic * k3) /
                     (1 + r_square * k4 + r_quad * k5 + r_sextic * k6);
      double nnx =
          nx * scale + 2 * p1 * nx * ny + p2 * (r_square + 2 * nx * nx);
      double nny =
          ny * scale + p1 * (r_square + 2 * ny * ny) + 2 * p2 * nx * ny;
      x_ptr[u] = static_cast<float>(nnx * fx + cx);
      y_ptr[u] = static_cast<float>(nny * fy + cy);
    }
  }
}

Release()

bool apollo::perception::camera::UndistortionHandler::Release

(

void

)

在文件 undistortion_handler.cc 第 98 行定义.

                                      {
  inited_ = false;
  return true;
}

set_device()

bool apollo::perception::camera::UndistortionHandler::set_device

(

int

device

)

在文件 undistortion_handler.cc 第 30 行定义.

                                               {
  device_ = device;
  auto code = cudaSetDevice(device_);
  if (code != cudaSuccess) {
    AERROR << "cudaSetDevice failed: " << cudaGetErrorString(code);
    return false;
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/common/camera/common/undistortion_handler.h
• modules/perception/common/camera/common/undistortion_handler.cc