apollo::perception::lidar::OfflinePointcloudGroundDetection类 参考

apollo::perception::lidar::OfflinePointcloudGroundDetection 的协作图:

Public 成员函数
	OfflinePointcloudGroundDetection ()=default
	~OfflinePointcloudGroundDetection ()=default
bool	Init ()
bool	TransformCloud (const base::PointFCloudPtr &local_cloud, const Eigen::Affine3d &pose, base::PointDCloudPtr world_cloud) const
bool	Run ()
bool	SavePCD (size_t frame_id, LidarFrame *frame, const std::string &path)

Protected 属性
std::unique_ptr< BaseGroundDetector >	ground_detector_

详细描述

在文件 offline_pointcloud_ground_detection.cc 第 44 行定义.

构造及析构函数说明

OfflinePointcloudGroundDetection()

apollo::perception::lidar::OfflinePointcloudGroundDetection::OfflinePointcloudGroundDetection ( )

default

~OfflinePointcloudGroundDetection()

apollo::perception::lidar::OfflinePointcloudGroundDetection::~OfflinePointcloudGroundDetection ( )

default

成员函数说明

Init()

bool apollo::perception::lidar::OfflinePointcloudGroundDetection::Init ( )

inline

在文件 offline_pointcloud_ground_detection.cc 第 50 行定义.

              {
    BaseGroundDetector* ground_detector =
        BaseGroundDetectorRegisterer::GetInstanceByName(
            FLAGS_ground_detector_name);
    CHECK_NOTNULL(ground_detector);
    ground_detector_.reset(ground_detector);
 
    GroundDetectorInitOptions ground_detector_init_options;
    ground_detector_init_options.config_path = FLAGS_config_path;
    ground_detector_init_options.config_file = FLAGS_config_file;
    ACHECK(ground_detector_->Init(ground_detector_init_options))
        << "Failed to init ground detection.";
 
    return true;
  }

Run()

bool apollo::perception::lidar::OfflinePointcloudGroundDetection::Run ( )

inline

在文件 offline_pointcloud_ground_detection.cc 第 90 行定义.

             {
    std::string pcd_folder = FLAGS_pcd_path;
    std::vector<std::string> pcd_file_names;
    if (!algorithm::GetFileList(pcd_folder, ".pcd", &pcd_file_names)) {
      AERROR << "pcd_folder: " << pcd_folder << " get file list error.";
      return false;
    }
 
    std::sort(pcd_file_names.begin(), pcd_file_names.end(),
              [](const std::string& lhs, const std::string& rhs) {
                if (lhs.length() != rhs.length()) {
                  return lhs.length() < rhs.length();
                }
                return lhs <= rhs;
              });
 
    for (size_t i = 0; i < pcd_file_names.size(); ++i) {
      AINFO << "***************** Frame " << i << " ******************";
      AINFO << pcd_file_names[i];
 
      std::shared_ptr<LidarFrame> frame = LidarFramePool::Instance().Get();
      if (frame->cloud == nullptr) {
        frame->cloud = base::PointFCloudPool::Instance().Get();
      }
      if (frame->world_cloud == nullptr) {
        frame->world_cloud = base::PointDCloudPool::Instance().Get();
      }
      LoadPCLPCD(pcd_file_names[i], frame->cloud.get());
      // frame->lidar2world_pose is default identity matrix
      TransformCloud(frame->cloud, frame->lidar2world_pose, frame->world_cloud);
      AINFO << "Read point cloud from " << pcd_file_names[i]
            << " with cloud size: " << frame->cloud->size();
 
      GroundDetectorOptions ground_detector_options;
      if (!ground_detector_->Detect(ground_detector_options, frame.get())) {
        AERROR << "Ground detect error.";
        return false;
      }
 
      std::string output_path = FLAGS_output_path;
      SavePCD(i, frame.get(), output_path);
    }
 
    return true;
  }

SavePCD()

bool apollo::perception::lidar::OfflinePointcloudGroundDetection::SavePCD ( size_t  frame_id, LidarFrame *  frame, const std::string &  path  )

inline

在文件 offline_pointcloud_ground_detection.cc 第 136 行定义.

                                                                          {
    if (!cyber::common::EnsureDirectory(path)) {
      AERROR << "Failed to create: " << path;
      return false;
    }
 
    std::string file_path = absl::StrCat(path, "/", frame_id, ".pcd");
    WritePcdByLabel(file_path, *(frame->cloud), LidarPointLabel::GROUND);
 
    return true;
  }

TransformCloud()

bool apollo::perception::lidar::OfflinePointcloudGroundDetection::TransformCloud ( const base::PointFCloudPtr &  local_cloud, const Eigen::Affine3d &  pose, base::PointDCloudPtr  world_cloud  ) const

inline

在文件 offline_pointcloud_ground_detection.cc 第 66 行定义.

                                                            {
    if (local_cloud == nullptr) {
      return false;
    }
    world_cloud->clear();
    world_cloud->reserve(local_cloud->size());
    for (size_t i = 0; i < local_cloud->size(); ++i) {
      auto& pt = local_cloud->at(i);
      Eigen::Vector3d trans_point(pt.x, pt.y, pt.z);
      trans_point = pose * trans_point;
      base::PointD world_point;
      world_point.x = trans_point(0);
      world_point.y = trans_point(1);
      world_point.z = trans_point(2);
      world_point.intensity = pt.intensity;
      world_cloud->push_back(world_point, local_cloud->points_timestamp(i),
                             std::numeric_limits<float>::max(),
                             local_cloud->points_beam_id()[i], 0);
    }
    return true;
  }

类成员变量说明

ground_detector_

std::unique_ptr<BaseGroundDetector> apollo::perception::lidar::OfflinePointcloudGroundDetection::ground_detector_

protected

在文件 offline_pointcloud_ground_detection.cc 第 149 行定义.

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该类的文档由以下文件生成:

• modules/perception/pointcloud_ground_detection/tools/offline_pointcloud_ground_detection.cc