apollo::perception::trafficlight::CropBox类 参考

#include <cropbox.h>

类 apollo::perception::trafficlight::CropBox 继承关系图:

apollo::perception::trafficlight::CropBox 的协作图:

Public 成员函数
	CropBox (float crop_scale, int min_crop_size)
	Construct a new crop box object.
void	Init (float crop_scale, int min_crop_size)
	Initialize crop box object parameters.
virtual void	getCropBox (const int width, const int height, const base::TrafficLightPtr &light, base::RectI *crop_box)
	Get the crop box object.

详细描述

在文件 cropbox.h 第 42 行定义.

构造及析构函数说明

CropBox()

apollo::perception::trafficlight::CropBox::CropBox	(	float	crop_scale,
		int	min_crop_size
	)

Construct a new crop box object.

参数

crop_scale
min_crop_size

在文件 cropbox.cc 第 81 行定义.

                                                    {
    Init(crop_scale, min_crop_size);
}

成员函数说明

getCropBox()

void apollo::perception::trafficlight::CropBox::getCropBox ( const int  width, const int  height, const base::TrafficLightPtr &  light, base::RectI *  crop_box  )

virtual

Get the crop box object.

参数

width
height
light
crop_box

实现了 apollo::perception::trafficlight::IGetBox.

在文件 cropbox.cc 第 26 行定义.

                                                                                                                 {
    int rows = height;
    int cols = width;
 
    if (camera::OutOfValidRegion(light->region.projection_roi, width, height)
        || light->region.projection_roi.Area() <= 0) {
        crop_box->x = 0;
        crop_box->y = 0;
        crop_box->width = 0;
        crop_box->height = 0;
        return;
    }
 
    int xl = light->region.projection_roi.x;
    int yt = light->region.projection_roi.y;
    int xr = xl + light->region.projection_roi.width - 1;
    int yb = yt + light->region.projection_roi.height - 1;
 
    // scale
    int center_x = (xr + xl) / 2;
    int center_y = (yb + yt) / 2;
    int resize = static_cast<int>(
            crop_scale_
            * static_cast<float>(std::max(light->region.projection_roi.width, light->region.projection_roi.height)));
 
    resize = std::max(resize, min_crop_size_);
    resize = std::min(resize, width);
    resize = std::min(resize, height);
 
    // clamp
    xl = center_x - resize / 2 + 1;
    xl = (xl < 0) ? 0 : xl;
    yt = center_y - resize / 2 + 1;
    yt = (yt < 0) ? 0 : yt;
    xr = xl + resize - 1;
    yb = yt + resize - 1;
    if (xr >= cols - 1) {
        xl -= xr - cols + 1;
        xr = cols - 1;
    }
 
    if (yb >= rows - 1) {
        yt -= yb - rows + 1;
        yb = rows - 1;
    }
 
    crop_box->x = xl;
    crop_box->y = yt;
    crop_box->width = xr - xl + 1;
    crop_box->height = yb - yt + 1;
}

Init()

void apollo::perception::trafficlight::CropBox::Init	(	float	crop_scale,
		int	min_crop_size
	)

Initialize crop box object parameters.

参数

crop_scale
min_crop_size

在文件 cropbox.cc 第 77 行定义.

                                                      {
    crop_scale_ = crop_scale;
    min_crop_size_ = min_crop_size;
}

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该类的文档由以下文件生成:

• modules/perception/traffic_light_detection/algorithm/cropbox.h
• modules/perception/traffic_light_detection/algorithm/cropbox.cc