apollo::perception::radar4d::RadarPreprocessor类 参考

#include <radar_preprocessor.h>

类 apollo::perception::radar4d::RadarPreprocessor 继承关系图:

apollo::perception::radar4d::RadarPreprocessor 的协作图:

Public 成员函数
	RadarPreprocessor ()
virtual	~RadarPreprocessor ()
bool	Init (const PreprocessorInitOptions &options) override
	Init RadarPreprocessor config
bool	Preprocess (const std::shared_ptr< apollo::drivers::OculiiPointCloud const > &message, const PreprocessorOptions &options, RadarFrame *frame) override
	Process radar point cloud.
std::string	Name () const override
	The name of the RadarPreprocessor
Public 成员函数 继承自 apollo::perception::radar4d::BasePreprocessor
	BasePreprocessor ()=default
	Construct a new Base Preprocessor object
virtual	~BasePreprocessor ()=default

详细描述

在文件 radar_preprocessor.h 第 29 行定义.

构造及析构函数说明

RadarPreprocessor()

apollo::perception::radar4d::RadarPreprocessor::RadarPreprocessor ( )

inline

在文件 radar_preprocessor.h 第 31 行定义.

: BasePreprocessor(), rcs_offset_(0.0) {}

~RadarPreprocessor()

virtual apollo::perception::radar4d::RadarPreprocessor::~RadarPreprocessor ( )

inlinevirtual

在文件 radar_preprocessor.h 第 32 行定义.

{}

成员函数说明

Init()

bool apollo::perception::radar4d::RadarPreprocessor::Init ( const PreprocessorInitOptions &  options )

overridevirtual

Init RadarPreprocessor config

参数

options

init options

返回

true

false

实现了 apollo::perception::radar4d::BasePreprocessor.

在文件 radar_preprocessor.cc 第 33 行定义.

                                                                   {
  // load config file
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
 
  PreprocessorConfig config;
  ACHECK(cyber::common::GetProtoFromFile(config_file, &config));
 
  rcs_offset_ = config.rcs_offset();
  return true;
}

Name()

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

inlineoverridevirtual

The name of the RadarPreprocessor

返回

std::string

实现了 apollo::perception::radar4d::BasePreprocessor.

在文件 radar_preprocessor.h 第 62 行定义.

{ return "RadarPreprocessor"; }

Preprocess()

bool apollo::perception::radar4d::RadarPreprocessor::Preprocess ( const std::shared_ptr< apollo::drivers::OculiiPointCloud const > &  message, const PreprocessorOptions &  options, RadarFrame *  frame  )

overridevirtual

Process radar point cloud.

参数

message	raw data obtained from radar driver
options	preprocess options
frame	radar frame with preprocessed point cloud

返回

true

false

实现了 apollo::perception::radar4d::BasePreprocessor.

在文件 radar_preprocessor.cc 第 45 行定义.

                       {
  if (frame == nullptr) {
    return false;
  }
  if (frame->cloud == nullptr) {
    frame->cloud = base::RadarPointFCloudPool::Instance().Get();
  }
  if (frame->world_cloud == nullptr) {
    frame->world_cloud = base::RadarPointDCloudPool::Instance().Get();
  }
 
  frame->cloud->set_timestamp(message->measurement_time());
  if (message->point_size() > 0) {
    frame->cloud->reserve(message->point_size());
    base::RadarPointF point;
    for (int i = 0; i < message->point_size(); ++i) {
      // original point cloud from driver message
      const apollo::drivers::OculiiPointXYZIV& pt = message->point(i);
      const apollo::drivers::OculiiRawPointcloud& raw_pt =
        message->raw_pointclouds(i);
      // filter abnormal points
      if (filter_naninf_points_) {
        if (std::isnan(pt.x()) || std::isnan(pt.y()) || std::isnan(pt.z())) {
          continue;
        }
        if (fabs(pt.x()) > kPointInfThreshold ||
            fabs(pt.y()) > kPointInfThreshold ||
            fabs(pt.z()) > kPointInfThreshold) {
          continue;
        }
      }
      // filter points higher than the threshold
      if (filter_high_z_points_ && pt.z() > z_threshold_) {
        continue;
      }
      point.x = pt.x();
      point.y = pt.y();
      point.z = pt.z();
      // rcs offset is set for different radars used for training and testing
      point.rcs = static_cast<float>(pt.intensity() + rcs_offset_);
      // doppler velocity is returned by radar
      point.velocity = static_cast<float>(raw_pt.doppler());
      // compensated velocity of each point needs to be calculated
      point.comp_vel = CalCompensatedVelocity(point, options);
      frame->cloud->push_back(point);
    }
    // transform the cloud point from local to world
    TransformCloud(frame->cloud, frame->radar2world_pose, frame->world_cloud);
  }
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/radar4d_detection/lib/preprocessor/radar_preprocessor.h
• modules/perception/radar4d_detection/lib/preprocessor/radar_preprocessor.cc