#include <background_map.h>

apollo::perception::lidar::BackgroundMap 的协作图:

Public 成员函数
	BackgroundMap ()=default

	~BackgroundMap ()=default

bool	Init (int width, int height, float resolution, float height_threshold)
	Init background map

bool	Init (float xmin, float xmax, float ymin, float ymax, float resolution, float height_threshold)

bool	Reset (size_t point_number)
	Reset all data

bool	UpdateMap (LidarFrame *frame)
	Update map, update mask and node

bool	UpdateMask (LidarFrame *frame)
	Update point mask and point index

bool	UpdateNodes (LidarFrame *frame)
	Update node feature based on points

void	GetNodeCoord (float x, float y, int grid_x, int grid_y)
	Get Node Coordinate based on point

int	id ()
	Get valid node number

Public 属性
std::vector< BgNode >	bg_nodes_

std::vector< size_t >	point_idx_

std::vector< size_t >	point_importance_

std::vector< bool >	point_mask_

详细描述

在文件 background_map.h 第 45 行定义.

构造及析构函数说明

◆ BackgroundMap()

apollo::perception::lidar::BackgroundMap::BackgroundMap ( )

default

◆ ~BackgroundMap()

apollo::perception::lidar::BackgroundMap::~BackgroundMap ( )

default

成员函数说明

◆ GetNodeCoord()

void apollo::perception::lidar::BackgroundMap::GetNodeCoord	(	float	x,
		float	y,
		int *	grid_x,
		int *	grid_y
	)

Get Node Coordinate based on point

参数

x	the value of x coordinate
y	the value of y coordinate
grid_x	x coordinate of grid
grid_y	y coordinate of grid

在文件 background_map.cc 第 162 行定义.

                                                                           {
    *grid_x = static_cast<int>((x - xmin_) / resolution_);
    *grid_y = static_cast<int>((y - ymin_) / resolution_);
}

◆ id()

int apollo::perception::lidar::BackgroundMap::id ( )

inline

Get valid node number

返回: int

在文件 background_map.h 第 108 行定义.

             {
        return valid_node_number_;
    }

◆ Init() [1/2]

bool apollo::perception::lidar::BackgroundMap::Init	(	float	xmin,
		float	xmax,
		float	ymin,
		float	ymax,
		float	resolution,
		float	height_threshold
	)

在文件 background_map.cc 第 32 行定义.

                                                                                                                 {
    resolution_ = resolution;
    xmin_ = xmin;
    xmax_ = xmax;
    ymin_ = ymin;
    ymax_ = ymax;
    height_threshold_ = height_threshold;
 
    // in pointcloud-cooridinate system
    width_ = static_cast<int>((ymax - ymin) * 1.0f / resolution);
    height_ = static_cast<int>((xmax - xmin) * 1.0f / resolution);
    return true;
}

◆ Init() [2/2]

bool apollo::perception::lidar::BackgroundMap::Init	(	int	width,
		int	height,
		float	resolution,
		float	height_threshold
	)

Init background map

参数

width	map width
height	map height
resolution	grid resolution
height_threshold	point height threshold

返回: true; false

在文件 background_map.cc 第 24 行定义.

                                                                                        {
    width_ = width;
    height_ = height;
    resolution_ = resolution;
    height_threshold_ = height_threshold;
    return true;
}

◆ Reset()

bool apollo::perception::lidar::BackgroundMap::Reset ( size_t point_number )

Reset all data

参数

point_number point number

返回: true; false

在文件 background_map.cc 第 46 行定义.

                                             {
    // clear all data
    bg_nodes_.clear();
    point_idx_.clear();
    point_importance_.clear();
    point_mask_.clear();
    point_number_ = point_number;
    valid_node_number_ = 0;
 
    // reset data
    bg_nodes_.resize(width_ * height_);
    point_idx_.resize(point_number_, 0);
    point_mask_.resize(point_number_, false);
    point_importance_.resize(point_number_, false);
    return true;
}

◆ UpdateMap()

bool apollo::perception::lidar::BackgroundMap::UpdateMap ( LidarFrame * frame )

Update map, update mask and node

参数

frame lidar frame

返回: true; false

在文件 background_map.cc 第 63 行定义.

                                               {
    // update idx and mask
    ACHECK(UpdateMask(frame));
    // update node
    ACHECK(UpdateNodes(frame));
    return true;
}

◆ UpdateMask()

bool apollo::perception::lidar::BackgroundMap::UpdateMask ( LidarFrame * frame )

Update point mask and point index

参数

frame lidar frame

返回: true; false

在文件 background_map.cc 第 71 行定义.

                                                {
    if (frame->secondary_indices.indices.size() == 0) {
        AINFO << "UpdateMask, secondary_indices size is 0.";
    }
    // secondary_indices
    for (auto index : frame->secondary_indices.indices) {
        if (index < 0 || static_cast<size_t>(index) >= point_number_) {
            continue;
        }
        auto pt = frame->cloud->at(index);
        // filter point beyond height_threshold_
        Eigen::Vector4d trans_point(pt.x, pt.y, pt.z, 1);
        trans_point = frame->lidar2novatel_extrinsics * trans_point;
        if (trans_point(2) >= height_threshold_) {
            continue;
        }
        // filter point use semantic_label
        if (static_cast<PointSemanticLabel>(frame->cloud->points_semantic_label(index) & 15)
            == PointSemanticLabel::CURB) {
            continue;
        }
        // filter point outside grid
        int grid_x = -1;
        int grid_y = -1;
        GetNodeCoord(pt.x, pt.y, &grid_x, &grid_y);
        if (grid_y < 0 || grid_y >= width_ || grid_x < 0 || grid_x >= height_) {
            continue;
        }
        // valid point
        size_t grid_idx = grid_x * width_ + grid_y;
        point_mask_.at(index) = true;
        point_idx_.at(index) = grid_idx;
 
        // in novatel-cooridinate system
        if (trans_point(1) > FLAGS_y_back && trans_point(1) < FLAGS_y_front && trans_point(0) > FLAGS_x_back
            && trans_point(0) < FLAGS_x_front) {
            point_importance_.at(index) = true;
        }
    }
 
    return true;
}

◆ UpdateNodes()

bool apollo::perception::lidar::BackgroundMap::UpdateNodes ( LidarFrame * frame )

Update node feature based on points

参数

frame lidar frame

返回: true; false

在文件 background_map.cc 第 114 行定义.

                                                 {
    auto original_cloud = frame->cloud;
    for (size_t i = 0; i < point_mask_.size(); ++i) {
        if (!point_mask_.at(i)) {
            continue;
        }
        auto pt = original_cloud->at(i);
        // update node state
        size_t grid_idx = point_idx_.at(i);
        bg_nodes_.at(grid_idx).is_valid = true;
        bg_nodes_.at(grid_idx).is_important = bg_nodes_.at(grid_idx).is_important || point_importance_.at(i);
 
        if (bg_nodes_.at(grid_idx).point_number == 0) {
            bg_nodes_.at(grid_idx).id = valid_node_number_;
            valid_node_number_ += 1;
        }
        bg_nodes_.at(grid_idx).point_number += 1;
        // update node feature
        int pt_number = bg_nodes_.at(grid_idx).point_number;
        // mean height, mean intensity
        if (pt_number == 1) {
            bg_nodes_.at(grid_idx).mean_height = pt.z;
            bg_nodes_.at(grid_idx).mean_intensity = pt.intensity;
        } else {
            bg_nodes_.at(grid_idx).mean_height = bg_nodes_.at(grid_idx).mean_height
                    + (pt.z - bg_nodes_.at(grid_idx).mean_height) / static_cast<float>(pt_number);
            bg_nodes_.at(grid_idx).mean_intensity = bg_nodes_.at(grid_idx).mean_intensity
                    + (pt.intensity - bg_nodes_.at(grid_idx).mean_intensity) / static_cast<float>(pt_number);
        }
        // max height
        bg_nodes_.at(grid_idx).max_height = std::max(bg_nodes_.at(grid_idx).max_height, pt.z);
 
        // get semantic label
        PointSemanticLabel label = GetSemanticLabel(original_cloud->points_semantic_label(i));
        int index = static_cast<int>(label);
        if (index >= 0 && index < static_cast<int>(PointSemanticLabel::MAX_LABEL)) {
            bg_nodes_.at(grid_idx).pc_semantic_types[index]++;
        }
        // get motion label
        PointMotionLabel motion_label = GetMotionLabel(original_cloud->points_semantic_label(i));
        int motion_index = static_cast<int>(motion_label);
        if (motion_index >= 0 && motion_index < static_cast<int>(PointMotionLabel::MAX_LABEL)) {
            bg_nodes_.at(grid_idx).pc_motion_types[motion_index]++;
        }
    }
    return true;
}

类成员变量说明

◆ bg_nodes_

std::vector<BgNode> apollo::perception::lidar::BackgroundMap::bg_nodes_

在文件 background_map.h 第 114 行定义.

◆ point_idx_

std::vector<size_t> apollo::perception::lidar::BackgroundMap::point_idx_

在文件 background_map.h 第 116 行定义.

◆ point_importance_

std::vector<size_t> apollo::perception::lidar::BackgroundMap::point_importance_

在文件 background_map.h 第 118 行定义.

◆ point_mask_

std::vector<bool> apollo::perception::lidar::BackgroundMap::point_mask_

在文件 background_map.h 第 120 行定义.

该类的文档由以下文件生成:

modules/perception/lidar_segmentation/segmentor/graph_segmentation/background_map.h
modules/perception/lidar_segmentation/segmentor/graph_segmentation/background_map.cc

Public 成员函数

Public 属性

详细描述

构造及析构函数说明

◆ BackgroundMap()

◆ ~BackgroundMap()

成员函数说明

◆ GetNodeCoord()

◆ id()

◆ Init() [1/2]

◆ Init() [2/2]

◆ Reset()

◆ UpdateMap()

◆ UpdateMask()

◆ UpdateNodes()

类成员变量说明

◆ bg_nodes_

◆ point_idx_

◆ point_importance_

◆ point_mask_