apollo::perception::lidar::SppCCDetector类 参考

#include <spp_seg_cc_2d.h>

apollo::perception::lidar::SppCCDetector 的协作图:

Public 成员函数
	SppCCDetector ()=default
	~SppCCDetector ()
void	Init (int rows, int cols)
void	SetData (const float *const *prob_map, const float *offset_map, float scale, float objectness_threshold)
size_t	Detect (SppLabelImage *labels)

详细描述

在文件 spp_seg_cc_2d.h 第 28 行定义.

构造及析构函数说明

SppCCDetector()

apollo::perception::lidar::SppCCDetector::SppCCDetector ( )

default

~SppCCDetector()

apollo::perception::lidar::SppCCDetector::~SppCCDetector ( )

inline

在文件 spp_seg_cc_2d.h 第 32 行定义.

                   {
    if (nodes_ != nullptr) {
      algorithm::IFree2(&nodes_);
    }
  }

成员函数说明

Detect()

size_t apollo::perception::lidar::SppCCDetector::Detect

(

SppLabelImage *

labels

)

在文件 spp_seg_cc_2d.cc 第 68 行定义.

                                                  {
  Timer timer;
  if (!first_process_) {
    worker_.Join();  // sync for cleaning nodes
  }
  first_process_ = false;
  BuildNodes(0, rows_);
  double init_time = timer.toc(true);
 
  double sync_time = timer.toc(true);
 
  TraverseNodes();
  double traverse_time = timer.toc(true);
 
  UnionNodes();
  double union_time = timer.toc(true);
 
  size_t num = ToLabelMap(labels);
  worker_.WakeUp();  // for next use
  double collect_time = timer.toc(true);
 
  AINFO << "SppSegCC2D: init: " << init_time << "\tsync: " << sync_time
        << "\ttraverse: " << traverse_time << "\tunion: " << union_time
        << "\tcollect: " << collect_time << "\t#obj: " << num;
 
  return num;
}

Init()

void apollo::perception::lidar::SppCCDetector::Init ( int  rows, int  cols  )

inline

在文件 spp_seg_cc_2d.h 第 40 行定义.

                                {
    if (rows_ * cols_ != rows * cols) {
      if (nodes_ != nullptr) {
        algorithm::IFree2(&nodes_);
      }
      nodes_ = algorithm::IAlloc2<Node>(rows, cols);
      rows_ = static_cast<int>(rows);
      cols_ = static_cast<int>(cols);
    }
    CleanNodes();
  }

SetData()

void apollo::perception::lidar::SppCCDetector::SetData	(	const float *const *	prob_map,
		const float *	offset_map,
		float	scale,
		float	objectness_threshold
	)

在文件 spp_seg_cc_2d.cc 第 26 行定义.

                                                        {
  prob_map_ = prob_map;
  offset_map_ = offset_map;
  scale_ = scale;
  objectness_threshold_ = objectness_threshold;
  worker_.Bind(std::bind(&SppCCDetector::CleanNodes, this));
  worker_.Start();
}

---

该类的文档由以下文件生成:

• modules/perception/lidar_detection/detector/cnn_segmentation/spp_engine/spp_seg_cc_2d.h
• modules/perception/lidar_detection/detector/cnn_segmentation/spp_engine/spp_seg_cc_2d.cc