apollo::perception::lidar::AnchorMaskCuda 的协作图:

Public 成员函数
	AnchorMaskCuda (const int num_threads, const int num_inds_for_scan, const int num_anchor, const float min_x_range, const float min_y_range, const float pillar_x_size, const float pillar_y_size, const int grid_x_size, const int grid_y_size)
	Constructor

void	DoAnchorMaskCuda (int dev_sparse_pillar_map, int dev_cumsum_along_x, int dev_cumsum_along_y, const float dev_box_anchors_min_x, const float dev_box_anchors_min_y, const float dev_box_anchors_max_x, const float dev_box_anchors_max_y, int dev_anchor_mask)
	call cuda code for making anchor mask

详细描述

在文件 anchor_mask_cuda.h 第 46 行定义.

构造及析构函数说明

apollo::perception::lidar::AnchorMaskCuda::AnchorMaskCuda	(	const int	num_threads,
		const int	num_inds_for_scan,
		const int	num_anchor,
		const float	min_x_range,
		const float	min_y_range,
		const float	pillar_x_size,
		const float	pillar_y_size,
		const int	grid_x_size,
		const int	grid_y_size
	)

Constructor

参数

[in]	num_threads	Number of threads per block
[in]	num_inds_for_scan	Number of indexes for scan(cumsum)
[in]	num_anchor	Number of anchors in total
[in]	min_x_range	Minimum x value for point cloud
[in]	min_y_range	Minimum y value for point cloud
[in]	pillar_x_size	Size of x-dimension for a pillar
[in]	pillar_y_size	Size of y-dimension for a pillar
[in]	grid_x_size	Number of pillars in x-coordinate
[in]	grid_y_size	Number of pillars in y-coordinate

Captital variables never change after the compile

void apollo::perception::lidar::AnchorMaskCuda::DoAnchorMaskCuda	(	int *	dev_sparse_pillar_map,
		int *	dev_cumsum_along_x,
		int *	dev_cumsum_along_y,
		const float *	dev_box_anchors_min_x,
		const float *	dev_box_anchors_min_y,
		const float *	dev_box_anchors_max_x,
		const float *	dev_box_anchors_max_y,
		int *	dev_anchor_mask
	)

call cuda code for making anchor mask

参数

[in]	dev_sparse_pillar_map	Grid map representation for pillar occupancy
[in]	dev_cumsum_along_x	Array for storing cumsum-ed dev_sparse_pillar_map values
[in]	dev_cumsum_along_y	Array for storing cumsum-ed dev_cumsum_along_y values
[in]	dev_box_anchors_min_x	Array for storing min x value for each anchor
[in]	dev_box_anchors_min_y	Array for storing min y value for each anchor
[in]	dev_box_anchors_max_x	Array for storing max x value for each anchor
[in]	dev_box_anchors_max_y	Array for storing max y value for each anchor
[in]	dev_box_anchors_max_y	Array for storing max y value for each anchor
[out]	dev_anchor_mask	Anchor mask for filtering the network output

dev_* means device memory. Make a mask for filtering pillar occupancy area

该类的文档由以下文件生成:

modules/perception/lidar_detection/detector/point_pillars_detection/anchor_mask_cuda.h