apollo::perception::trafficlight::MultiCamerasProjection类 参考

#include <multi_camera_projection.h>

apollo::perception::trafficlight::MultiCamerasProjection 的协作图:

Public 成员函数
	MultiCamerasProjection ()
	Construct a new multi cameras projection object.
	~MultiCamerasProjection ()=default
	Destroy the multi cameras projection object.
bool	Init (const MultiCamerasInitOption &options)
	multicamera project initialization parameters.
bool	Project (const camera::CarPose &pose, const ProjectOption &option, base::TrafficLight *light) const
	Boundary projection based on vehicle position and traffic lights.
bool	HasCamera (const std::string &camera_name) const
	Determine whether the camera exists.
int	getImageWidth (const std::string &camera_name) const
	Get the image width object.
int	getImageHeight (const std::string &camera_name) const
	Get the image height object.
const std::vector< std::string > &	getCameraNamesByDescendingFocalLen () const
	Get the camera names by descending focal len object.

详细描述

在文件 multi_camera_projection.h 第 41 行定义.

构造及析构函数说明

MultiCamerasProjection()

apollo::perception::trafficlight::MultiCamerasProjection::MultiCamerasProjection ( )

inline

Construct a new multi cameras projection object.

在文件 multi_camera_projection.h 第 47 行定义.

{}

~MultiCamerasProjection()

apollo::perception::trafficlight::MultiCamerasProjection::~MultiCamerasProjection ( )

default

Destroy the multi cameras projection object.

成员函数说明

getCameraNamesByDescendingFocalLen()

const std::vector< std::string > & apollo::perception::trafficlight::MultiCamerasProjection::getCameraNamesByDescendingFocalLen ( ) const

inline

Get the camera names by descending focal len object.

返回

const std::vector<std::string>&

在文件 multi_camera_projection.h 第 99 行定义.

                                                                         {
    return camera_names_;
  }

getImageHeight()

int apollo::perception::trafficlight::MultiCamerasProjection::getImageHeight

(

const std::string &

camera_name

)

const

Get the image height object.

参数

camera_name

返回

int

在文件 multi_camera_projection.cc 第 130 行定义.

                                        {
  if (!HasCamera(camera_name)) {
    AERROR << "getImageHeight failed, camera_name: " << camera_name;
    return -1;
  }
  return static_cast<int>(camera_models_.at(camera_name)->get_height());
}

getImageWidth()

int apollo::perception::trafficlight::MultiCamerasProjection::getImageWidth

(

const std::string &

camera_name

)

const

Get the image width object.

参数

camera_name

返回

int

在文件 multi_camera_projection.cc 第 121 行定义.

                                        {
  if (!HasCamera(camera_name)) {
    AERROR << "getImageWidth failed, camera_name: " << camera_name;
    return -1;
  }
  return static_cast<int>(camera_models_.at(camera_name)->get_width());
}

HasCamera()

bool apollo::perception::trafficlight::MultiCamerasProjection::HasCamera

(

const std::string &

camera_name

)

const

Determine whether the camera exists.

参数

camera_name

返回

true

false

在文件 multi_camera_projection.cc 第 114 行定义.

                                                                         {
  auto iter =
      std::find(camera_names_.begin(), camera_names_.end(), camera_name);
  return iter != camera_names_.end() &&
         camera_models_.find(camera_name) != camera_models_.end();
}

Init()

bool apollo::perception::trafficlight::MultiCamerasProjection::Init

(

const MultiCamerasInitOption &

options

)

multicamera project initialization parameters.

参数

options

返回

true

false

在文件 multi_camera_projection.cc 第 35 行定义.

                                                                       {
  if (options.camera_names.empty()) {
    AERROR << "no cameras to be projected";
    return false;
  }
  algorithm::SensorManager* sensor_manager =
      algorithm::SensorManager::Instance();
  if (!sensor_manager->Init()) {
    AERROR << "sensor_manager init failed";
  }
 
  for (size_t i = 0; i < options.camera_names.size(); ++i) {
    const std::string& cur_camera_name = options.camera_names.at(i);
    AINFO << "init camera " << cur_camera_name;
 
    if (!sensor_manager->IsSensorExist(cur_camera_name)) {
      AERROR << "sensor " << cur_camera_name << " do not exist";
      return false;
    }
    camera_models_[cur_camera_name] =
        std::dynamic_pointer_cast<base::BrownCameraDistortionModel>(
            sensor_manager->GetDistortCameraModel(cur_camera_name));
    if (!(camera_models_[cur_camera_name])) {
      AERROR << "get null camera_model, camera_name: " << cur_camera_name;
      return false;
    }
    camera_names_.push_back(cur_camera_name);
  }
  // sort camera_names_ by focal lengths (descending order)
  std::sort(camera_names_.begin(), camera_names_.end(),
            [&](const std::string& lhs, const std::string& rhs) {
              const auto lhs_cam_intrinsics =
                  camera_models_[lhs]->get_intrinsic_params();
              const auto rhs_cam_intrinsics =
                  camera_models_[rhs]->get_intrinsic_params();
              auto lhs_focal_length =
                  0.5 * (lhs_cam_intrinsics(0, 0) + lhs_cam_intrinsics(1, 1));
              auto rhs_focal_length =
                  0.5 * (rhs_cam_intrinsics(0, 0) + rhs_cam_intrinsics(1, 1));
              return lhs_focal_length > rhs_focal_length;
            });
  AINFO << "camera_names sorted by descending focal lengths: "
        << std::accumulate(camera_names_.begin(), camera_names_.end(),
                           std::string(""),
                           [](std::string& sum, const std::string& s) {
                             return sum + s + " ";
                           });
 
  return true;
}

Project()

bool apollo::perception::trafficlight::MultiCamerasProjection::Project	(	const camera::CarPose &	pose,
		const ProjectOption &	option,
		base::TrafficLight *	light
	)		const

Boundary projection based on vehicle position and traffic lights.

参数

pose
option
light

返回

true

false

在文件 multi_camera_projection.cc 第 86 行定义.

                                                                    {
  if (!HasCamera(option.camera_name)) {
    AERROR << "no camera: " << option.camera_name;
    return false;
  }
 
  Eigen::Matrix4d c2w_pose;
 
  if (pose.c2w_poses_.find(option.camera_name) == pose.c2w_poses_.end()) {
    return false;
  }
  c2w_pose = pose.c2w_poses_.at(option.camera_name);
 
  bool ret = false;
  AINFO << "project use camera_name: " << option.camera_name;
  ret = BoundaryBasedProject(camera_models_.at(option.camera_name), c2w_pose,
                             light->region.points, light);
 
  if (!ret) {
    AWARN << "Projection failed projection the traffic light. "
          << "camera_name: " << option.camera_name;
    return false;
  }
  return true;
}

---

该类的文档由以下文件生成:

• modules/perception/traffic_light_region_proposal/preprocessor/multi_camera_projection.h
• modules/perception/traffic_light_region_proposal/preprocessor/multi_camera_projection.cc