apollo::perception::lidar::SppClusterList类 参考

#include <spp_cluster_list.h>

apollo::perception::lidar::SppClusterList 的协作图:

Public 成员函数
	SppClusterList ()
void	Init (size_t size, const std::string &sensor_name="velodyne64")
void	Reset ()
void	resize (size_t size)
void	AddPointSample (size_t cluster_id, const base::PointF &point, float height, uint32_t point_id)
std::vector< SppClusterPtr > &	clusters ()
const std::vector< SppClusterPtr > &	clusters () const
size_t	size () const
SppClusterPtr &	operator[] (int id)
const SppClusterPtr &	operator[] (int id) const
void	Merge (SppClusterList *rhs)
size_t	HeightCut (float max_gap, size_t start_id=0)
bool	ComputeHeightAndSplitCluster (size_t id, float max_gap)
void	RemoveEmptyClusters ()
void	EraseCluster (size_t id)
SppClusterList &	operator= (const SppLabelImage &rhs)

详细描述

在文件 spp_cluster_list.h 第 29 行定义.

构造及析构函数说明

SppClusterList()

apollo::perception::lidar::SppClusterList::SppClusterList ( )

inline

在文件 spp_cluster_list.h 第 31 行定义.

{ clusters_.reserve(kDefaultReserveSize); }

成员函数说明

AddPointSample()

void apollo::perception::lidar::SppClusterList::AddPointSample	(	size_t	cluster_id,
		const base::PointF &	point,
		float	height,
		uint32_t	point_id
	)

在文件 spp_cluster_list.cc 第 40 行定义.

                                                       {
  if (clusters_.size() <= cluster_id) {
    resize(cluster_id + 1);
  }
  clusters_[cluster_id]->AddPointSample(point, height, point_id);
}

clusters() [1/2]

std::vector< SppClusterPtr > & apollo::perception::lidar::SppClusterList::clusters ( )

inline

在文件 spp_cluster_list.h 第 50 行定义.

{ return clusters_; }

clusters() [2/2]

const std::vector< SppClusterPtr > & apollo::perception::lidar::SppClusterList::clusters ( ) const

inline

在文件 spp_cluster_list.h 第 53 行定义.

                                                          {
    return clusters_;
  }

ComputeHeightAndSplitCluster()

bool apollo::perception::lidar::SppClusterList::ComputeHeightAndSplitCluster	(	size_t	id,
		float	max_gap
	)

在文件 spp_cluster_list.cc 第 70 行定义.

                                                                          {
  if (id >= clusters_.size()) {
    return false;
  }
 
  clusters_[id]->SortPoint();
  std::vector<SppPoint>& points = clusters_[id]->points;
  std::vector<uint32_t>& indices = clusters_[id]->point_ids;
 
  float gap = 0.f;
  std::vector<size_t> split_indices(1, 0);
  for (size_t i = 1; i < points.size(); ++i) {
    if (points[i].h < 0) {
      continue;
    }
    gap = points[i].z - points[i - 1].z;
    if (gap > max_gap) {
      split_indices.push_back(i);
    }
  }
  size_t split_num = split_indices.size();
  if (split_num > 0) {
    size_t max_index = split_indices.size() - 1;
    size_t length = points.size() - split_indices.back();
    size_t max_length = length;
    for (size_t i = 1; i < split_indices.size(); ++i) {
      length = split_indices[i] - split_indices[i - 1];
      if (length > max_length) {
        max_length = length;
        max_index = i - 1;
      }
    }
    // the highest split is not stable
    if (max_index != split_indices.size() - 1) {
      size_t split_index = split_indices[max_index + 1];
      points.resize(split_index);
      indices.resize(split_index);
      return true;
    }
  }
  return false;
}

EraseCluster()

void apollo::perception::lidar::SppClusterList::EraseCluster

(

size_t

id

)

在文件 spp_cluster_list.cc 第 126 行定义.

                                           {
  if (clusters_.size() <= id) {
    return;
  }
  clusters_[id] = clusters_.back();
  clusters_.resize(clusters_.size() - 1);
}

HeightCut()

size_t apollo::perception::lidar::SppClusterList::HeightCut	(	float	max_gap,
		size_t	start_id = 0
	)

在文件 spp_cluster_list.cc 第 56 行定义.

                                                               {
  size_t size = clusters_.size();
  size_t count = 0;
  for (size_t i = start_id; i < size; ++i) {
    if (clusters_[i]->points.size() > 0) {
      if (ComputeHeightAndSplitCluster(i, max_gap)) {
        ++count;
      }
    }
  }
  AINFO << "Split " << count << " clusters in 3d";
  return count;
}

Init()

void apollo::perception::lidar::SppClusterList::Init	(	size_t	size,
		const std::string &	sensor_name = "velodyne64"
	)

在文件 spp_cluster_list.cc 第 25 行定义.

                                                                   {
  sensor_name_ = sensor_name;
  clusters_.clear();
  SppClusterPool::Instance(sensor_name_).BatchGet(size, &clusters_);
}

Merge()

void apollo::perception::lidar::SppClusterList::Merge

(

SppClusterList *

rhs

)

在文件 spp_cluster_list.cc 第 49 行定义.

                                              {
  clusters_.reserve(clusters_.size() + rhs->clusters_.size());
  for (size_t i = 0; i < rhs->size(); ++i) {
    clusters_.push_back((*rhs)[static_cast<int>(i)]);
  }
}

operator=()

SppClusterList & apollo::perception::lidar::SppClusterList::operator= ( const SppLabelImage &  rhs )

inline

在文件 spp_cluster_list.h 第 83 行定义.

                                                      {
    clusters_ = rhs.GetClusters();
    return *this;
  }

operator[]() [1/2]

SppClusterPtr & apollo::perception::lidar::SppClusterList::operator[] ( int  id )

inline

在文件 spp_cluster_list.h 第 61 行定义.

{ return clusters_[id]; }

operator[]() [2/2]

const SppClusterPtr & apollo::perception::lidar::SppClusterList::operator[] ( int  id ) const

inline

在文件 spp_cluster_list.h 第 64 行定义.

{ return clusters_[id]; }

RemoveEmptyClusters()

void apollo::perception::lidar::SppClusterList::RemoveEmptyClusters

(

)

在文件 spp_cluster_list.cc 第 113 行定义.

                                         {
  size_t current = 0;
  for (size_t i = 0; i < clusters_.size(); ++i) {
    if (clusters_[i]->points.size() > 0) {
      if (current != i) {
        clusters_[current] = clusters_[i];
      }
      ++current;
    }
  }
  clusters_.resize(current);
}

Reset()

void apollo::perception::lidar::SppClusterList::Reset ( )

inline

在文件 spp_cluster_list.h 第 37 行定义.

{ clusters_.clear(); }

resize()

void apollo::perception::lidar::SppClusterList::resize

(

size_t

size

)

在文件 spp_cluster_list.cc 第 31 行定义.

                                       {
  if (clusters_.size() < size) {
    SppClusterPool::Instance(sensor_name_)
        .BatchGet(size - clusters_.size(), &clusters_);
  } else {
    clusters_.resize(size);
  }
}

size()

size_t apollo::perception::lidar::SppClusterList::size ( ) const

inline

在文件 spp_cluster_list.h 第 58 行定义.

{ return clusters_.size(); }

---

该类的文档由以下文件生成:

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