apollo::perception::lidar::GpuDownSample类 参考

#include <gpu_down_sample.h>

类 apollo::perception::lidar::GpuDownSample 继承关系图:

apollo::perception::lidar::GpuDownSample 的协作图:

Public 成员函数
	GpuDownSample ()=default
virtual	~GpuDownSample ()=default
bool	Init (const DownSampleInitOptions &options=DownSampleInitOptions()) override
	Init of GpuDownSample object
bool	Process (const DownSampleOptions &options, base::PointFCloudPtr &cloud_ptr) override
	filter mark area objects
std::string	Name () const override
	Name of GpuDownSample object
Public 成员函数 继承自 apollo::perception::lidar::BaseDownSample
	BaseDownSample ()=default
	Construct a new Base Down Sample object
virtual	~BaseDownSample ()=default
	Destroy the Base Down Sample object

详细描述

在文件 gpu_down_sample.h 第 36 行定义.

构造及析构函数说明

GpuDownSample()

apollo::perception::lidar::GpuDownSample::GpuDownSample ( )

default

~GpuDownSample()

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

virtualdefault

成员函数说明

Init()

bool apollo::perception::lidar::GpuDownSample::Init ( const DownSampleInitOptions &  options = DownSampleInitOptions() )

overridevirtual

Init of GpuDownSample object

参数

options

object down sample options

返回

true

false

实现了 apollo::perception::lidar::BaseDownSample.

在文件 gpu_down_sample.cc 第 28 行定义.

                                                             {
    std::string config_file = GetConfigFile(options.config_path, options.config_file);
    GpuDownSampleConfig config;
    ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
    downsample_voxel_size_x_ = config.downsample_voxel_size_x();
    downsample_voxel_size_y_ = config.downsample_voxel_size_y();
    downsample_voxel_size_z_ = config.downsample_voxel_size_z();
    downsample_use_centroid = config.downsample_use_centroid();
 
    AINFO << "GpuDownSample plugin init success.";
    return true;
}

Name()

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

inlineoverridevirtual

Name of GpuDownSample object

返回

std::string name

实现了 apollo::perception::lidar::BaseDownSample.

在文件 gpu_down_sample.h 第 65 行定义.

                                    {
        return "GpuDownSample";
    }

Process()

bool apollo::perception::lidar::GpuDownSample::Process ( const DownSampleOptions &  options, base::PointFCloudPtr &  cloud_ptr  )

overridevirtual

filter mark area objects

参数

options	down sample options
cloud_ptr	point cloud to process

返回

true

false

实现了 apollo::perception::lidar::BaseDownSample.

在文件 gpu_down_sample.cc 第 41 行定义.

                                                                                           {
    base::PointF* h_point_cloud;
    base::PointF* d_point_cloud;
    cudaError_t err = ::cudaSuccess;
    unsigned int flags = cudaHostAllocMapped;
    err = cudaHostAlloc(&h_point_cloud, cloud_ptr->size() * sizeof(base::PointF), flags);
    if (err != ::cudaSuccess) {
        AERROR << "cudaHostAlloc returns failed";
    }
    err = cudaHostGetDevicePointer(&d_point_cloud, h_point_cloud, 0);
    if (err != ::cudaSuccess) {
        AERROR << "cudaHostGetDevicePointer returns failed";
    }
    for (int i = 0; i < cloud_ptr->size(); i++) {
        h_point_cloud[i].x = cloud_ptr->at(i).x;
        h_point_cloud[i].y = cloud_ptr->at(i).y;
        h_point_cloud[i].z = cloud_ptr->at(i).z;
        h_point_cloud[i].intensity = cloud_ptr->at(i).intensity;
    }
 
    // DownSample
    int filtered_point_count = cloud_ptr->size();
    if (!downSample(
                d_point_cloud,
                filtered_point_count,
                downsample_voxel_size_x_,
                downsample_voxel_size_y_,
                downsample_voxel_size_z_,
                downsample_use_centroid)) {
        AERROR << "downSample is wrong!";
    }
    cudaDeviceSynchronize();
 
    // After DownSample
    cloud_ptr->resize(filtered_point_count);
    for (int i = 0; i < filtered_point_count; i++) {
        cloud_ptr->at(i).x = h_point_cloud[i].x;
        cloud_ptr->at(i).y = h_point_cloud[i].y;
        cloud_ptr->at(i).z = h_point_cloud[i].z;
        cloud_ptr->at(i).intensity = h_point_cloud[i].intensity;
    }
    cudaFreeHost(h_point_cloud);
    return true;
}

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该类的文档由以下文件生成:

• modules/perception/perception_plugin/lidar_detection/gpu_down_sample/gpu_down_sample.h
• modules/perception/perception_plugin/lidar_detection/gpu_down_sample/gpu_down_sample.cc