apollo::perception::radar4d::FeatureDescriptor类 参考

#include <feature_descriptor.h>

apollo::perception::radar4d::FeatureDescriptor 的协作图:

Public 成员函数
	FeatureDescriptor (base::RadarPointFCloud *cloud)
	FeatureDescriptor ()
	~FeatureDescriptor ()=default
void	SetCloud (base::RadarPointFCloud *cloud)
void	ComputeHistogram (int bin_size, float *feature)

详细描述

在文件 feature_descriptor.h 第 28 行定义.

构造及析构函数说明

FeatureDescriptor() [1/2]

apollo::perception::radar4d::FeatureDescriptor::FeatureDescriptor ( base::RadarPointFCloud *  cloud )

inlineexplicit

在文件 feature_descriptor.h 第 30 行定义.

{ cloud_ = cloud; }

FeatureDescriptor() [2/2]

apollo::perception::radar4d::FeatureDescriptor::FeatureDescriptor ( )

inline

在文件 feature_descriptor.h 第 31 行定义.

: cloud_(nullptr) {}

~FeatureDescriptor()

apollo::perception::radar4d::FeatureDescriptor::~FeatureDescriptor ( )

default

成员函数说明

ComputeHistogram()

void apollo::perception::radar4d::FeatureDescriptor::ComputeHistogram ( int  bin_size, float *  feature  )

inline

在文件 feature_descriptor.h 第 36 行定义.

                                                      {
    GetMinMaxCenter();
    int xstep = bin_size;
    int ystep = bin_size;
    int zstep = bin_size;
    int stat_len = xstep + ystep + zstep;
    std::vector<int> stat_feat(stat_len, 0);
    float xsize =
        (max_pt_.x - min_pt_.x) / static_cast<float>(xstep) + 0.000001f;
    float ysize =
        (max_pt_.y - min_pt_.y) / static_cast<float>(ystep) + 0.000001f;
    float zsize =
        (max_pt_.z - min_pt_.z) / static_cast<float>(zstep) + 0.000001f;
 
    int pt_num = static_cast<int>(cloud_->size());
    for (int i = 0; i < pt_num; ++i) {
      base::RadarPointF& pt = cloud_->at(i);
      ++stat_feat[static_cast<int>((pt.x - min_pt_.x) / xsize)];
      ++stat_feat[xstep + static_cast<int>((pt.y - min_pt_.y) / ysize)];
      ++stat_feat[xstep + ystep + static_cast<int>((pt.z - min_pt_.z) / zsize)];
    }
 
    feature[0] = center_pt_.x / 10.0f;
    feature[1] = center_pt_.y / 10.0f;
    feature[2] = center_pt_.z;
    feature[3] = xsize;
    feature[4] = ysize;
    feature[5] = zsize;
    feature[6] = static_cast<float>(pt_num);
    for (size_t i = 0; i < stat_feat.size(); ++i) {
      feature[i + 7] =
          static_cast<float>(stat_feat[i]) / static_cast<float>(pt_num);
    }
  }

SetCloud()

void apollo::perception::radar4d::FeatureDescriptor::SetCloud ( base::RadarPointFCloud *  cloud )

inline

在文件 feature_descriptor.h 第 34 行定义.

{ cloud_ = cloud; }

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该类的文档由以下文件生成:

• modules/perception/common/radar/common/feature_descriptor.h