apollo::perception::radar::RadarObstaclePerception类 参考

#include <radar_obstacle_perception.h>

类 apollo::perception::radar::RadarObstaclePerception 继承关系图:

apollo::perception::radar::RadarObstaclePerception 的协作图:

Public 成员函数
	RadarObstaclePerception ()=default
	Radar object detection processor, which include 3 steps: object detection, ROI filtering and tracking.
virtual	~RadarObstaclePerception ()=default
bool	Init (const PerceptionInitOptions &options) override
	Init the radar object detection processor includes config, create classes, etc.
bool	Perceive (const drivers::ContiRadar &corrected_obstacles, const RadarPerceptionOptions &options, std::vector< base::ObjectPtr > *objects) override
	Process the radar raw data obtained from radar driver, and get targets after tracking.
std::string	Name () const override
	The name of the radar object detection processor
Public 成员函数 继承自 apollo::perception::radar::BaseRadarObstaclePerception
	BaseRadarObstaclePerception ()=default
	Construct a new Base Radar Obstacle Perception object
virtual	~BaseRadarObstaclePerception ()=default

详细描述

在文件 radar_obstacle_perception.h 第 28 行定义.

构造及析构函数说明

RadarObstaclePerception()

apollo::perception::radar::RadarObstaclePerception::RadarObstaclePerception ( )

default

Radar object detection processor, which include 3 steps: object detection, ROI filtering and tracking.

~RadarObstaclePerception()

virtual apollo::perception::radar::RadarObstaclePerception::~RadarObstaclePerception ( )

virtualdefault

成员函数说明

Init()

bool apollo::perception::radar::RadarObstaclePerception::Init ( const PerceptionInitOptions &  options )

overridevirtual

Init the radar object detection processor includes config, create classes, etc.

参数

options

init options

返回

true

false

实现了 apollo::perception::radar::BaseRadarObstaclePerception.

在文件 radar_obstacle_perception.cc 第 30 行定义.

                                                                       {
  std::string config_file =
      GetConfigFile(options.config_path, options.config_file);
  RadarObstaclePerceptionConfig radar_obstacle_config;
  if (!cyber::common::GetProtoFromFile(config_file, &radar_obstacle_config)) {
    AERROR << "Read config failed: " << config_file;
    return false;
  }
 
  auto detector_param = radar_obstacle_config.detector_param();
  DetectorInitOptions detector_init_options;
  detector_init_options.config_path = detector_param.config_path();
  detector_init_options.config_file = detector_param.config_file();
  BaseDetector* detector =
      BaseDetectorRegisterer::GetInstanceByName(detector_param.name());
  CHECK_NOTNULL(detector);
  detector_.reset(detector);
  ACHECK(detector_->Init(detector_init_options)) << "radar detector init error";
 
  auto roi_filter_param = radar_obstacle_config.roi_filter_param();
  RoiFilterInitOptions roi_filter_init_options;
  roi_filter_init_options.config_path = roi_filter_param.config_path();
  roi_filter_init_options.config_file = roi_filter_param.config_file();
  BaseRoiFilter* roi_filter =
      BaseRoiFilterRegisterer::GetInstanceByName(roi_filter_param.name());
  CHECK_NOTNULL(roi_filter);
  roi_filter_.reset(roi_filter);
  ACHECK(roi_filter_->Init(roi_filter_init_options))
      << "radar roi filter init error";
 
  auto tracker_param = radar_obstacle_config.tracker_param();
  TrackerInitOptions tracker_init_options;
  tracker_init_options.config_path = tracker_param.config_path();
  tracker_init_options.config_file = tracker_param.config_file();
  BaseTracker* tracker =
      BaseTrackerRegisterer::GetInstanceByName(tracker_param.name());
  CHECK_NOTNULL(tracker);
  tracker_.reset(tracker);
  ACHECK(tracker_->Init(tracker_init_options)) << "radar tracker init error";
 
  return true;
}

Name()

std::string apollo::perception::radar::RadarObstaclePerception::Name ( ) const

overridevirtual

The name of the radar object detection processor

返回

std::string

实现了 apollo::perception::radar::BaseRadarObstaclePerception.

在文件 radar_obstacle_perception.cc 第 112 行定义.

                                              {
  return "RadarObstaclePerception";
}

Perceive()

bool apollo::perception::radar::RadarObstaclePerception::Perceive ( const drivers::ContiRadar &  corrected_obstacles, const RadarPerceptionOptions &  options, std::vector< base::ObjectPtr > *  objects  )

overridevirtual

Process the radar raw data obtained from radar driver, and get targets after tracking.

参数

corrected_obstacles	raw data obtained from radar driver
options	processing options
objects	targets after tracking

返回

true

false

实现了 apollo::perception::radar::BaseRadarObstaclePerception.

在文件 radar_obstacle_perception.cc 第 73 行定义.

                                       {
  PERF_FUNCTION();
  const std::string& sensor_name = options.sensor_name;
  PERF_BLOCK_START();
  base::FramePtr detect_frame_ptr(new base::Frame());
 
  if (!detector_->Detect(corrected_obstacles, options.detector_options,
                         detect_frame_ptr)) {
    AERROR << "radar detect error";
    return false;
  }
  ADEBUG << "Detected frame objects number: "
         << detect_frame_ptr->objects.size();
  PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "detector");
  if (!roi_filter_->RoiFilter(options.roi_filter_options, detect_frame_ptr)) {
    ADEBUG << "All radar objects were filtered out";
  }
  ADEBUG << "RoiFiltered frame objects number: "
         << detect_frame_ptr->objects.size();
  PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "roi_filter");
 
  base::FramePtr tracker_frame_ptr(new base::Frame);
  if (!tracker_->Track(*detect_frame_ptr, options.track_options,
                       tracker_frame_ptr)) {
    AERROR << "radar track error";
    return false;
  }
  ADEBUG << "tracked frame objects number: "
         << tracker_frame_ptr->objects.size();
  PERF_BLOCK_END_WITH_INDICATOR(sensor_name, "tracker");
 
  *objects = tracker_frame_ptr->objects;
 
  return true;
}

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该类的文档由以下文件生成:

• modules/perception/radar_detection/app/radar_obstacle_perception.h
• modules/perception/radar_detection/app/radar_obstacle_perception.cc