apollo::perception::lidar::FeatureGenerator类 参考

#include <feature_generator.h>

apollo::perception::lidar::FeatureGenerator 的协作图:

Public 成员函数
	FeatureGenerator ()
	Construct a new Feature Generator object
virtual	~FeatureGenerator ()
	Destroy the Feature Generator object
bool	Init (const cnnseg::FeatureParam &feature_param, base::Blob< float > *out_blob)
	Init the Feature Generator
void	Generate (const base::PointFCloudPtr &pc_ptr, const std::vector< int > &point2grid)
	Generate features for cnnseg
std::string	Name () const
	Name of Feature Generator

友元
class	FeatureGeneratorTest

详细描述

在文件 feature_generator.h 第 33 行定义.

构造及析构函数说明

FeatureGenerator()

apollo::perception::lidar::FeatureGenerator::FeatureGenerator ( )

inline

Construct a new Feature Generator object

在文件 feature_generator.h 第 39 行定义.

                     {
#if USE_GPU == 1
    pc_gpu_size_ = kMaxPointCloudGPUSize;
    BASE_GPU_CHECK(cudaMalloc(reinterpret_cast<void**>(&pc_gpu_),
                               pc_gpu_size_ * sizeof(base::PointF)));
    BASE_GPU_CHECK(cudaMalloc(reinterpret_cast<void**>(&point2grid_gpu_),
                               pc_gpu_size_ * sizeof(int)));
#endif
  }

~FeatureGenerator()

virtual apollo::perception::lidar::FeatureGenerator::~FeatureGenerator ( )

inlinevirtual

Destroy the Feature Generator object

在文件 feature_generator.h 第 53 行定义.

                              {
#if USE_GPU == 1
    ReleaseGPUMemory();
#endif
  }

成员函数说明

Generate()

void apollo::perception::lidar::FeatureGenerator::Generate ( const base::PointFCloudPtr &  pc_ptr, const std::vector< int > &  point2grid  )

inline

Generate features for cnnseg

参数

pc_ptr	input point cloud
point2grid	point to grid mapping

在文件 feature_generator.h 第 76 行定义.

                                                  {
#if USE_GPU == 1
    GenerateGPU(pc_ptr, point2grid);
#else
    GenerateCPU(pc_ptr, point2grid);
#endif
  }

Init()

bool apollo::perception::lidar::FeatureGenerator::Init	(	const cnnseg::FeatureParam &	feature_param,
		base::Blob< float > *	out_blob
	)

Init the Feature Generator

参数

feature_param	params
out_blob	output blobs

返回

true

false

在文件 feature_generator.cc 第 27 行定义.

                                                       {
  // set output feature blob
  out_blob_ = out_blob;
 
  // set feature parameters
  range_ = feature_param.point_cloud_range();
  width_ = feature_param.width();
  height_ = feature_param.height();
  min_height_ = feature_param.min_height();
  max_height_ = feature_param.max_height();
  CHECK_EQ(width_, height_)
      << "Current implementation version requires input_width == input_height.";
  use_intensity_feature_ = feature_param.use_intensity_feature();
  use_constant_feature_ = feature_param.use_constant_feature();
 
  // set log lookup table
  log_table_.resize(kMaxLogNum);
  for (size_t i = 0; i < log_table_.size(); ++i) {
    log_table_[i] = std::log(static_cast<float>(1 + i));
  }
 
  // set output feature blob data
  float* out_blob_data = nullptr;
#if USE_GPU == 1
  log_blob_.reset(
      new base::Blob<float>(1, 1, 1, static_cast<int>(log_table_.size())));
  float* log_table = log_blob_->mutable_gpu_data();
  cudaMemcpy(log_table, log_table_.data(), log_table_.size() * sizeof(float),
             cudaMemcpyHostToDevice);
  out_blob_data = out_blob_->mutable_gpu_data();
#else
  out_blob_data = out_blob_->mutable_cpu_data();
#endif
 
  // set raw feature data
  int channel_index = 0;
  max_height_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
  mean_height_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
  count_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
  if (use_constant_feature_) {
    direction_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
  }
  if (use_intensity_feature_) {
    top_intensity_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
    mean_intensity_data_ =
        out_blob_data + out_blob_->offset(0, channel_index++);
  }
  if (use_constant_feature_) {
    distance_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
  }
  nonempty_data_ = out_blob_data + out_blob_->offset(0, channel_index++);
  CHECK_EQ(out_blob_->offset(0, channel_index), out_blob_->count());
 
  // compute direction and distance features
  if (use_constant_feature_) {
    int map_size = height_ * width_;
    std::vector<float> direction_data(map_size);
    std::vector<float> distance_data(map_size);
    for (int row = 0; row < height_; ++row) {
      for (int col = 0; col < width_; ++col) {
        int idx = row * width_ + col;
        // * row <-> x, column <-> y
        float center_x = Pixel2Pc(row, static_cast<float>(height_), range_);
        float center_y = Pixel2Pc(col, static_cast<float>(width_), range_);
        direction_data[idx] =
            static_cast<float>(std::atan2(center_y, center_x) / (2.0 * kPI));
        distance_data[idx] =
            static_cast<float>(std::hypot(center_x, center_y) / 60.0 - 0.5);
      }
    }
 
// memory copy direction and distance features
#if USE_GPU == 1
    cudaMemcpy(direction_data_, direction_data.data(),
               direction_data.size() * sizeof(float), cudaMemcpyHostToDevice);
    cudaMemcpy(distance_data_, distance_data.data(),
               distance_data.size() * sizeof(float), cudaMemcpyHostToDevice);
#else
    memcpy(direction_data_, direction_data.data(),
           direction_data.size() * sizeof(float));
    memcpy(distance_data_, distance_data.data(),
           distance_data.size() * sizeof(float));
#endif
  }
  return true;
}

Name()

std::string apollo::perception::lidar::FeatureGenerator::Name ( ) const

inline

Name of Feature Generator

返回

std::string

在文件 feature_generator.h 第 90 行定义.

{ return "FeatureGenerator"; }

友元及相关函数文档

FeatureGeneratorTest

friend class FeatureGeneratorTest

friend

在文件 feature_generator.h 第 148 行定义.

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该类的文档由以下文件生成:

• modules/perception/lidar_detection/detector/cnn_segmentation/feature_generator.h
• modules/perception/lidar_detection/detector/cnn_segmentation/feature_generator.cc