apollo::perception::radar4d::ObjectBuilder类 参考

#include <object_builder.h>

apollo::perception::radar4d::ObjectBuilder 的协作图:

Public 成员函数
	ObjectBuilder ()=default
	Construct a new Object Builder object
	~ObjectBuilder ()=default
	Destroy the Object Builder object
bool	Init (const DetectorInitOptions &options=DetectorInitOptions())
	Init the Object Builder object with initialization options
bool	Build (const DetectorOptions &options, RadarFrame *frame)
	Calculate and fill object size, center, directions.
std::string	Name () const
	Name of Object Builder

详细描述

在文件 object_builder.h 第 36 行定义.

构造及析构函数说明

ObjectBuilder()

apollo::perception::radar4d::ObjectBuilder::ObjectBuilder ( )

default

Construct a new Object Builder object

~ObjectBuilder()

apollo::perception::radar4d::ObjectBuilder::~ObjectBuilder ( )

default

Destroy the Object Builder object

成员函数说明

Build()

bool apollo::perception::radar4d::ObjectBuilder::Build	(	const DetectorOptions &	options,
		RadarFrame *	frame
	)

Calculate and fill object size, center, directions.

参数

options	object builder options
frame	radar frame

返回

true

false

在文件 object_builder.cc 第 42 行定义.

                                             {
  if (frame == nullptr) {
    return false;
  }
  std::vector<ObjectPtr>* objects = &(frame->segmented_objects);
  for (size_t i = 0; i < objects->size(); ++i) {
    if (objects->at(i)) {
      objects->at(i)->id = static_cast<int>(i);
      ComputePolygon2D(objects->at(i));
      ComputePolygonSizeCenter(objects->at(i));
      ComputeOtherObjectInformation(objects->at(i));
    }
  }
  return true;
}

Init()

bool apollo::perception::radar4d::ObjectBuilder::Init

(

const DetectorInitOptions &

options = DetectorInitOptions()

)

Init the Object Builder object with initialization options

参数

options

返回

true

false

在文件 object_builder.cc 第 38 行定义.

                                                           {
  return true;
}

Name()

std::string apollo::perception::radar4d::ObjectBuilder::Name ( ) const

inline

Name of Object Builder

返回

std::string

在文件 object_builder.h 第 75 行定义.

{ return "ObjectBuilder"; }

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该类的文档由以下文件生成:

• modules/perception/radar4d_detection/lib/object_builder/object_builder.h
• modules/perception/radar4d_detection/lib/object_builder/object_builder.cc