apollo::perception::lidar::SppEngine类 参考

#include <spp_engine.h>

apollo::perception::lidar::SppEngine 的协作图:

Public 成员函数
	SppEngine ()=default
	~SppEngine ()=default
void	Init (size_t width, size_t height, float range, const SppParams &param=SppParams(), const std::string &sensor_name="velodyne64")
size_t	ProcessForegroundSegmentation (const base::PointFCloudConstPtr point_cloud)
size_t	RemoveGroundPointsInForegroundCluster (const base::PointFCloudConstPtr full_point_cloud, const base::PointIndices &roi_indices, const base::PointIndices &roi_non_ground_indices)
const SppClusterList &	clusters () const
SppClusterList &	clusters ()
SppData &	GetSppData ()
const SppData &	GetSppData () const

详细描述

在文件 spp_engine.h 第 33 行定义.

构造及析构函数说明

SppEngine()

apollo::perception::lidar::SppEngine::SppEngine ( )

default

~SppEngine()

apollo::perception::lidar::SppEngine::~SppEngine ( )

default

成员函数说明

clusters() [1/2]

SppClusterList & apollo::perception::lidar::SppEngine::clusters ( )

inline

在文件 spp_engine.h 第 63 行定义.

{ return clusters_; }

clusters() [2/2]

const SppClusterList & apollo::perception::lidar::SppEngine::clusters ( ) const

inline

在文件 spp_engine.h 第 60 行定义.

{ return clusters_; }

GetSppData() [1/2]

SppData & apollo::perception::lidar::SppEngine::GetSppData ( )

inline

在文件 spp_engine.h 第 65 行定义.

{ return data_; }

GetSppData() [2/2]

const SppData & apollo::perception::lidar::SppEngine::GetSppData ( ) const

inline

在文件 spp_engine.h 第 67 行定义.

{ return data_; }

Init()

void apollo::perception::lidar::SppEngine::Init	(	size_t	width,
		size_t	height,
		float	range,
		const SppParams &	param = SppParams(),
		const std::string &	sensor_name = "velodyne64"
	)

在文件 spp_engine.cc 第 26 行定义.

                                                                           {
  // initialize connect component detector
  detector_2d_cc_.Init(static_cast<int>(height), static_cast<int>(width));
  detector_2d_cc_.SetData(data_.obs_prob_data_ref, data_.offset_data,
                          static_cast<float>(height) / (2.f * range),
                          data_.objectness_threshold);
  // initialize label image
  labels_2d_.Init(width, height, sensor_name);
  labels_2d_.InitRangeMask(range, param.confidence_range);
  // set parameters of dynamic map
  params_ = param;
 
  // initialize feature size
  width_ = width;
  height_ = height;
  range_ = range;
  // bind worker
  worker_.Bind([&]() {
    data_.confidence_pt_blob->cpu_data();
    data_.classify_pt_blob->cpu_data();
    data_.heading_pt_blob->cpu_data();
    data_.height_pt_blob->cpu_data();
    return true;
  });
  worker_.Start();
}

ProcessForegroundSegmentation()

size_t apollo::perception::lidar::SppEngine::ProcessForegroundSegmentation

(

const base::PointFCloudConstPtr

point_cloud

)

在文件 spp_engine.cc 第 125 行定义.

                                               {
  mask_.clear();
  ProcessConnectedComponentCluster(point_cloud, mask_);
  AINFO << "Foreground: " << clusters_.size() << " clusters";
  return clusters_.size();
}

RemoveGroundPointsInForegroundCluster()

size_t apollo::perception::lidar::SppEngine::RemoveGroundPointsInForegroundCluster	(	const base::PointFCloudConstPtr	full_point_cloud,
		const base::PointIndices &	roi_indices,
		const base::PointIndices &	roi_non_ground_indices
	)

在文件 spp_engine.cc 第 133 行定义.

                                                    {
  mask_.Set(full_point_cloud->size(), 0);
  mask_.AddIndices(roi_indices);
  mask_.RemoveIndicesOfIndices(roi_indices, roi_non_ground_indices);
  mask_.Flip();
  // at this time, all ground points has mask value 0
  for (size_t i = 0; i < clusters_.size(); ++i) {
    clusters_[static_cast<int>(i)]->RemovePoints(mask_);
  }
  clusters_.RemoveEmptyClusters();
  return clusters_.size();
}

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该类的文档由以下文件生成:

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