apollo::perception::lidar::FloodFill类 参考

#include <flood_fill.h>

apollo::perception::lidar::FloodFill 的协作图:

Public 成员函数
	FloodFill ()=default
	FloodFill (float grid_radius, float cell_size)
void	GetSegments (base::PointFCloudConstPtr cloud, std::vector< std::vector< int > > *segments_indices, std::vector< int > *num_cells_per_segment)
	Get the segments
int	Pos (float x, float y) const
	Get row and col position
bool	Pos2d (float x, float y, int *irow, int *jcol) const
	Get row and col position
void	BuildGrid (base::PointFCloudConstPtr cloud)
	Build grid based on point cloud
void	SetGridRadius (float grid_radius)
	Set the grid radius
void	SetCellSize (float cell_size)
	Set the cell size
int	GetNumRows () const
	Get the number of rows
int	GetNumCols () const
	Get the number of cols
int	GetNumCells () const
	Get the number of cells
const std::vector< int > &	GetPointIdxInGrid () const
	Get the indices of point cloud

详细描述

在文件 flood_fill.h 第 28 行定义.

构造及析构函数说明

FloodFill() [1/2]

apollo::perception::lidar::FloodFill::FloodFill ( )

default

FloodFill() [2/2]

apollo::perception::lidar::FloodFill::FloodFill ( float  grid_radius, float  cell_size  )

inline

在文件 flood_fill.h 第 31 行定义.

: _grid_radius(grid_radius), _cell_size(cell_size) {}

成员函数说明

BuildGrid()

void apollo::perception::lidar::FloodFill::BuildGrid

(

base::PointFCloudConstPtr

cloud

)

Build grid based on point cloud

参数

cloud

在文件 flood_fill.cc 第 55 行定义.

                                                       {
    CHECK_GT(_grid_radius, 0.0);
    CHECK_GT(_cell_size, 0.0);
    // .1 calculate grid size
    //  max_grid_size = 2.f *_grid_radius /_cell_size;
    _num_points = static_cast<int>(cloud->size());
    const double min_grid_radius = _grid_radius / 10.0;
    float min_x = static_cast<float>(-min_grid_radius);
    float min_y = static_cast<float>(-min_grid_radius);
    float max_x = static_cast<float>(min_grid_radius);
    float max_y = static_cast<float>(min_grid_radius);
 
    for (size_t i = 0; i < cloud->size(); ++i) {
        auto pt = (*cloud)[i];
        max_x = std::max(max_x, pt.x);
        min_x = std::min(min_x, pt.x);
        max_y = std::max(max_y, pt.y);
        min_y = std::min(min_y, pt.y);
    }
    CHECK_LE(min_x, max_x);
    CHECK_LE(min_y, max_y);
    // .2 move origin to the left bottom corner
    const float lower_x = std::max(min_x, -_grid_radius);
    const float lower_y = std::max(min_y, -_grid_radius);
    const float upper_x = std::min(max_x, _grid_radius);
    const float upper_y = std::min(max_y, _grid_radius);
    _offset_x = -lower_x;
    _offset_y = -lower_y;
    _grid_num_rows = static_cast<int>(ceil((upper_y - lower_y) / _cell_size)) + 1;
    _grid_num_cols = static_cast<int>(ceil((upper_x - lower_x) / _cell_size)) + 1;
    CHECK_GT(_grid_num_rows, 0);
    CHECK_GT(_grid_num_cols, 0);
    _grid_size = _grid_num_rows * _grid_num_cols;
    // .3 locate points into grid
    _point_cloud_grid_idx.assign(_num_points, -1);
    _label.assign(_grid_size, kEmptyGridLabel);
    for (int i = 0; i < _num_points; ++i) {
        const int idx = Pos((*cloud)[i].x, (*cloud)[i].y);
        if (idx >= 0) {
            _point_cloud_grid_idx[i] = idx;
            _label[idx] = kNonEmptyGridLabel;
        }
    }
}

GetNumCells()

int apollo::perception::lidar::FloodFill::GetNumCells ( ) const

inline

Get the number of cells

返回

int

在文件 flood_fill.h 第 105 行定义.

                            {
        return _grid_size;
    }

GetNumCols()

int apollo::perception::lidar::FloodFill::GetNumCols ( ) const

inline

Get the number of cols

返回

int

在文件 flood_fill.h 第 97 行定义.

                           {
        return _grid_num_cols;
    }

GetNumRows()

int apollo::perception::lidar::FloodFill::GetNumRows ( ) const

inline

Get the number of rows

返回

int

在文件 flood_fill.h 第 89 行定义.

                           {
        return _grid_num_rows;
    }

GetPointIdxInGrid()

const std::vector< int > & apollo::perception::lidar::FloodFill::GetPointIdxInGrid ( ) const

inline

Get the indices of point cloud

返回

const std::vector<int>&

在文件 flood_fill.h 第 113 行定义.

                                                    {
        return _point_cloud_grid_idx;
    }

GetSegments()

void apollo::perception::lidar::FloodFill::GetSegments	(	base::PointFCloudConstPtr	cloud,
		std::vector< std::vector< int > > *	segments_indices,
		std::vector< int > *	num_cells_per_segment
	)

Get the segments

参数

cloud
segments_indices
num_cells_per_segment

在文件 flood_fill.cc 第 128 行定义.

                                               {
    CHECK_NOTNULL(segments_indices);
    CHECK_NOTNULL(num_cells_per_segment);
    // .1 build grid
    BuildGrid(cloud);
    // .2 get connected components
    const int num_segments = GetConnectedComponents();
    CHECK_GE(num_segments, 0);
    // .3 write result
    segments_indices->clear();
    segments_indices->resize(num_segments);
    num_cells_per_segment->clear();
    num_cells_per_segment->resize(num_segments, 0);
    for (int i = 0; i < _grid_size; ++i) {
        if (_label[i] != kEmptyGridLabel) {
            (*num_cells_per_segment)[_label[i]]++;
        }
    }
    for (int i = 0; i < _num_points; ++i) {
        const int idx = _point_cloud_grid_idx[i];
        if (idx >= 0) {
            (*segments_indices)[_label[idx]].push_back(i);
        }
    }
}

Pos()

int apollo::perception::lidar::FloodFill::Pos	(	float	x,
		float	y
	)		const

Get row and col position

参数

x
y

返回

int return -1 if failed, return position if success

在文件 flood_fill.cc 第 31 行定义.

                                         {
    const int irow = static_cast<int>((y + _offset_y) / _cell_size);
    if (!IsValidRowIndex(irow)) {
        return -1;
    }
    const int jcol = static_cast<int>((x + _offset_x) / _cell_size);
    if (!IsValidColIndex(jcol)) {
        return -1;
    }
    return irow * _grid_num_cols + jcol;
}

Pos2d()

bool apollo::perception::lidar::FloodFill::Pos2d	(	float	x,
		float	y,
		int *	irow,
		int *	jcol
	)		const

Get row and col position

参数

x
y
irow	row position
jcol	col position

返回

true

false

在文件 flood_fill.cc 第 43 行定义.

                                                                  {
    *irow = static_cast<int>((y + _offset_y) / _cell_size);
    if (!IsValidRowIndex(*irow)) {
        return false;
    }
    *jcol = static_cast<int>((x + _offset_x) / _cell_size);
    if (!IsValidColIndex(*jcol)) {
        return false;
    }
    return true;
}

SetCellSize()

void apollo::perception::lidar::FloodFill::SetCellSize ( float  cell_size )

inline

Set the cell size

参数

cell_size

在文件 flood_fill.h 第 81 行定义.

                                      {
        _cell_size = cell_size;
    }

SetGridRadius()

void apollo::perception::lidar::FloodFill::SetGridRadius ( float  grid_radius )

inline

Set the grid radius

参数

grid_radius

在文件 flood_fill.h 第 73 行定义.

                                          {
        _grid_radius = grid_radius;
    }

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该类的文档由以下文件生成:

• modules/perception/lidar_segmentation/segmentor/ncut_segmentation/common/flood_fill.h
• modules/perception/lidar_segmentation/segmentor/ncut_segmentation/common/flood_fill.cc