#include <tl_preprocessor.h>

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

apollo::perception::trafficlight::TLPreprocessor 的协作图:

Public 成员函数
	TLPreprocessor ()=default
	Construct a new TLPreprocessor object.

	~TLPreprocessor ()=default
	Destroy the TLPreprocessor object.

bool	Init (const TrafficLightPreprocessorInitOptions &options) override
	Traffic light preprocessing initialization parameters.

std::string	Name () const override
	returns the name of the preprocessing plugin.

bool	UpdateCameraSelection (const camera::CarPose &pose, const TLPreprocessorOption &option, std::vector< base::TrafficLightPtr > *lights) override
	Select the appropriate camera for preprocessing according to the position of the vehicle and the position of the traffic light.

bool	SyncInformation (const double ts, const std::string &camera_name)
	Determine whether the selected camera is available and synchronize timestamp information.

bool	UpdateLightsProjection (const camera::CarPose &pose, const TLPreprocessorOption &option, const std::string &camera_name, std::vector< base::TrafficLightPtr > *lights) override
	Update the traffic light projection status and determine whether the projection exceeds the boundary range.

bool	SetCameraWorkingFlag (const std::string &camera_name, bool is_working) override
	Set the camera working flag object.

bool	GetCameraWorkingFlag (const std::string &camera_name, bool *is_working) const override
	Get the camera working flag object.

const std::vector< std::string > &	GetCameraNamesByDescendingFocalLen () const override
	Get the camera names by descending focal len object.

bool	GetAlllightsOutsideFlag () const
	Get all projections outside the image.

Public 成员函数继承自 apollo::perception::trafficlight::BaseTLPreprocessor
	BaseTLPreprocessor ()=default
	Construct a new base trafficlight preprocessor object.

virtual	~BaseTLPreprocessor ()=default
	Destroy the base trafficlight preprocessor object.

详细描述

在文件 tl_preprocessor.h 第 37 行定义.

构造及析构函数说明

◆ TLPreprocessor()

apollo::perception::trafficlight::TLPreprocessor::TLPreprocessor ( )

default

Construct a new TLPreprocessor object.

◆ ~TLPreprocessor()

apollo::perception::trafficlight::TLPreprocessor::~TLPreprocessor ( )

default

Destroy the TLPreprocessor object.

成员函数说明

◆ GetAlllightsOutsideFlag()

bool apollo::perception::trafficlight::TLPreprocessor::GetAlllightsOutsideFlag ( ) const

Get all projections outside the image.

返回: true; false

在文件 tl_preprocessor.cc 第 324 行定义.

                                                   {
  return projections_outside_all_images_;
}

◆ GetCameraNamesByDescendingFocalLen()

const std::vector< std::string > & apollo::perception::trafficlight::TLPreprocessor::GetCameraNamesByDescendingFocalLen ( ) const

inlineoverridevirtual

Get the camera names by descending focal len object.

返回: const std::vector<std::string>&

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.h 第 127 行定义.

                                                        {
    return projection_.getCameraNamesByDescendingFocalLen();
  }

◆ GetCameraWorkingFlag()

bool apollo::perception::trafficlight::TLPreprocessor::GetCameraWorkingFlag	(	const std::string &	camera_name,
		bool *	is_working
	)		const

overridevirtual

Get the camera working flag object.

参数

camera_name
is_working

返回: true; false

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 162 行定义.

                                                                  {
  if (!projection_.HasCamera(camera_name)) {
    AERROR << "GetCameraWorkingFlag failed, "
           << "get invalid camera_name: " << camera_name;
    return false;
  }
 
  if (camera_is_working_flags_.find(camera_name) ==
          camera_is_working_flags_.end() ||
      !camera_is_working_flags_.at(camera_name)) {
    *is_working = false;
  } else {
    *is_working = true;
  }
  return true;
}

◆ Init()

bool apollo::perception::trafficlight::TLPreprocessor::Init ( const TrafficLightPreprocessorInitOptions & options )

overridevirtual

Traffic light preprocessing initialization parameters.

参数

options

返回: true; false

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 26 行定义.

                                                                            {
  trafficlight::MultiCamerasInitOption projection_init_option;
  projection_init_option.camera_names = options.camera_names;
  if (!projection_.Init(projection_init_option)) {
    AERROR << "init multi_camera_projection failed.";
    return false;
  }
 
  num_cameras_ = projection_.getCameraNamesByDescendingFocalLen().size();
  lights_on_image_array_.resize(num_cameras_);
  lights_outside_image_array_.resize(num_cameras_);
  sync_interval_seconds_ = options.sync_interval_seconds;
 
  AINFO << "preprocessor init succeed";
 
  return true;
}

◆ Name()

std::string apollo::perception::trafficlight::TLPreprocessor::Name ( ) const

overridevirtual

returns the name of the preprocessing plugin.

返回: std::string

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 328 行定义.

328{ return "TLPreprocessor"; }

◆ SetCameraWorkingFlag()

bool apollo::perception::trafficlight::TLPreprocessor::SetCameraWorkingFlag	(	const std::string &	camera_name,
		bool	is_working
	)

overridevirtual

Set the camera working flag object.

参数

camera_name
is_working

返回: true; false

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 149 行定义.

                                                           {
  if (!projection_.HasCamera(camera_name)) {
    AERROR << "SetCameraWorkingFlag failed, "
           << "get invalid camera_name: " << camera_name;
    return false;
  }
  camera_is_working_flags_[camera_name] = is_working;
  AINFO << "SetCameraWorkingFlag succeeded, camera_name: " << camera_name
        << ", flag: " << camera_is_working_flags_[camera_name];
  return true;
}

◆ SyncInformation()

bool apollo::perception::trafficlight::TLPreprocessor::SyncInformation	(	const double	ts,
		const std::string &	camera_name
	)

virtual

Determine whether the selected camera is available and synchronize timestamp information.

参数

ts
camera_name

返回: true; false

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 69 行定义.

                                                                {
  const double &proj_ts = selected_camera_name_.first;
  const std::string &proj_camera_name = selected_camera_name_.second;
  AINFO << "ready to sync information";
 
  if (!projection_.HasCamera(cam_name)) {
    AERROR << "sync_image failed, "
           << "get invalid camera_name: " << cam_name;
    return false;
  }
 
  AINFO << "Enter TLPreprocessor::sync_image. proj_ts: " << proj_ts
        << " proj_camera_name: " << proj_camera_name
        << " image_ts: " << image_timestamp
        << " image_camera_name: " << cam_name;
  if (image_timestamp < last_pub_img_ts_) {
    AWARN << "TLPreprocessor reject the image pub ts:" << image_timestamp
          << " which is earlier than last output ts:" << last_pub_img_ts_
          << ", image_camera_name: " << cam_name;
    return false;
  }
 
  if (proj_camera_name != cam_name) {
    AWARN << "sync_image failed - find close enough projection,"
          << "but camera_name not match.";
    return false;
  }
  AINFO << "sync_image succeeded.";
  last_pub_img_ts_ = image_timestamp;
  return true;
}

◆ UpdateCameraSelection()

bool apollo::perception::trafficlight::TLPreprocessor::UpdateCameraSelection	(	const camera::CarPose &	pose,
		const TLPreprocessorOption &	option,
		std::vector< base::TrafficLightPtr > *	lights
	)

overridevirtual

Select the appropriate camera for preprocessing according to the position of the vehicle and the position of the traffic light.

参数

pose
option
lights

返回: true; false

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 44 行定义.

                                            {
  const double &timestamp = pose.getTimestamp();
  selected_camera_name_.first = timestamp;
  selected_camera_name_.second = GetMaxFocalLenWorkingCameraName();
 
  AINFO << "TLPreprocessor Got signal number: " << lights->size()
        << ", ts: " << timestamp;
  if (lights->empty()) {
    AINFO << "No signals, select camera with max focal length: "
          << selected_camera_name_.second;
    return true;
  }
 
  if (!ProjectLightsAndSelectCamera(pose, option,
                                    &(selected_camera_name_.second), lights)) {
    AERROR << "project_lights_and_select_camera failed, ts: " << timestamp;
  }
 
  AINFO << "selected_camera_id: " << selected_camera_name_.second;
 
  return true;
}

◆ UpdateLightsProjection()

bool apollo::perception::trafficlight::TLPreprocessor::UpdateLightsProjection	(	const camera::CarPose &	pose,
		const TLPreprocessorOption &	option,
		const std::string &	camera_name,
		std::vector< base::TrafficLightPtr > *	lights
	)

overridevirtual

Update the traffic light projection status and determine whether the projection exceeds the boundary range.

参数

pose
option
camera_name
lights

返回: true; false

实现了 apollo::perception::trafficlight::BaseTLPreprocessor.

在文件 tl_preprocessor.cc 第 102 行定义.

                                            {
  lights_on_image_.clear();
  lights_outside_image_.clear();
 
  AINFO << "clear lights_outside_image_ " << lights_outside_image_.size();
 
  if (lights->empty()) {
    AINFO << "No lights to be projected";
    return true;
  }
 
  if (!ProjectLights(pose, camera_name, lights, &lights_on_image_,
                     &lights_outside_image_)) {
    AERROR << "update_lights_projection project lights on " << camera_name
           << " image failed";
    return false;
  }
 
  if (lights_outside_image_.size() > 0) {
    AERROR << "update_lights_projection failed,"
           << "lights_outside_image->size() " << lights_outside_image_.size()
           << " ts: " << pose.getTimestamp();
    return false;
  }
 
  auto min_focal_len_working_camera = GetMinFocalLenWorkingCameraName();
  if (camera_name == min_focal_len_working_camera) {
    return lights_on_image_.size() > 0;
  }
  for (const base::TrafficLightPtr &light : lights_on_image_) {
    if (camera::OutOfValidRegion(light->region.projection_roi,
                         projection_.getImageWidth(camera_name),
                         projection_.getImageHeight(camera_name),
                         option.image_borders_size->at(camera_name))) {
      AINFO << "update_lights_projection light project out of image region. "
            << "camera_name: " << camera_name;
      return false;
    }
  }
 
  AINFO << "UpdateLightsProjection success";
  return true;
}

该类的文档由以下文件生成:

modules/perception/traffic_light_region_proposal/preprocessor/tl_preprocessor.h
modules/perception/traffic_light_region_proposal/preprocessor/tl_preprocessor.cc

Public 成员函数

详细描述

构造及析构函数说明

◆ TLPreprocessor()

◆ ~TLPreprocessor()

成员函数说明

◆ GetAlllightsOutsideFlag()

◆ GetCameraNamesByDescendingFocalLen()

◆ GetCameraWorkingFlag()

◆ Init()

◆ Name()

◆ SetCameraWorkingFlag()

◆ SyncInformation()

◆ UpdateCameraSelection()

◆ UpdateLightsProjection()