apollo::perception::lidar::GroundServiceDetector类 参考

#include <ground_service_detector.h>

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

apollo::perception::lidar::GroundServiceDetector 的协作图:

Public 成员函数
	GroundServiceDetector ()=default
	~GroundServiceDetector ()=default
bool	Init (const GroundDetectorInitOptions &options=GroundDetectorInitOptions()) override
	Init ground service detector
bool	Detect (const GroundDetectorOptions &options, LidarFrame *frame) override
	Ground service detect
std::string	Name () const override
	Get class name
Public 成员函数 继承自 apollo::perception::lidar::BaseGroundDetector
	BaseGroundDetector ()=default
virtual	~BaseGroundDetector ()=default

详细描述

在文件 ground_service_detector.h 第 29 行定义.

构造及析构函数说明

GroundServiceDetector()

apollo::perception::lidar::GroundServiceDetector::GroundServiceDetector ( )

default

~GroundServiceDetector()

apollo::perception::lidar::GroundServiceDetector::~GroundServiceDetector ( )

default

成员函数说明

Detect()

bool apollo::perception::lidar::GroundServiceDetector::Detect ( const GroundDetectorOptions &  options, LidarFrame *  frame  )

overridevirtual

Ground service detect

参数

options
frame	loacation to save point height

返回

true

false

实现了 apollo::perception::lidar::BaseGroundDetector.

在文件 ground_service_detector.cc 第 45 行定义.

                                                      {
  if (frame == nullptr || frame->world_cloud == nullptr) {
    AERROR << "Frame is nullptr.";
    return false;
  }
  ground_service_->GetServiceContentCopy(&ground_service_content_);
  if (!ground_service_content_.IsServiceReady()) {
    AERROR << "service is not ready.";
    return false;
  }
  auto& cloud = frame->world_cloud;
  auto& non_ground_indices = frame->non_ground_indices;
  non_ground_indices.indices.clear();
  non_ground_indices.indices.reserve(cloud->size());
  for (size_t i = 0; i < cloud->size(); ++i) {
    auto& pt = cloud->at(i);
    Eigen::Vector3d world_point(pt.x, pt.y, pt.z);
    float dist = ground_service_->QueryPointToGroundDistance(
        world_point, ground_service_content_);
    frame->cloud->mutable_points_height()->at(i) = dist;
    frame->world_cloud->mutable_points_height()->at(i) = dist;
    if (dist > ground_threshold_) {
      non_ground_indices.indices.push_back(static_cast<int>(i));
    } else {
      frame->cloud->mutable_points_label()->at(i) =
          static_cast<uint8_t>(LidarPointLabel::GROUND);
    }
  }
  return true;
}

Init()

bool apollo::perception::lidar::GroundServiceDetector::Init ( const GroundDetectorInitOptions &  options = GroundDetectorInitOptions() )

overridevirtual

Init ground service detector

参数

options

返回

true

false

实现了 apollo::perception::lidar::BaseGroundDetector.

在文件 ground_service_detector.cc 第 29 行定义.

                                                                         {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  GroundServiceDetectorConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
  ground_threshold_ = config.ground_threshold();
 
  ground_service_ = std::dynamic_pointer_cast<GroundService>(
      SceneManager::Instance().Service("GroundService"));
  if (ground_service_ == nullptr) {
    AERROR << "Ground service is nullptr, Init scene manager first !";
    return false;
  }
  return true;
}

Name()

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

inlineoverridevirtual

Get class name

返回

std::string

实现了 apollo::perception::lidar::BaseGroundDetector.

在文件 ground_service_detector.h 第 56 行定义.

{ return "GroundServiceDetector"; }

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该类的文档由以下文件生成:

• modules/perception/pointcloud_ground_detection/ground_detector/ground_service_detector/ground_service_detector.h
• modules/perception/pointcloud_ground_detection/ground_detector/ground_service_detector/ground_service_detector.cc