#include <recognition.h>

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

apollo::perception::trafficlight::TrafficLightRecognition 的协作图:

Public 成员函数
	TrafficLightRecognition ()=default
	Construct a new Traffic Light Recognition object

	~TrafficLightRecognition ()=default
	Destroy the Traffic Light Recognition object

bool	Init (const TrafficLightRecognitorInitOptions &options) override
	Initialize traffic light recognitor parameters.

bool	Detect (camera::TrafficLightFrame *frame) override
	recogn traffic_light from image.

Public 成员函数继承自 apollo::perception::trafficlight::BaseTrafficLightRecognitor
	BaseTrafficLightRecognitor ()=default
	Construct a new base traffic light recognitor object.

virtual	~BaseTrafficLightRecognitor ()=default
	Destroy the base traffic light recognitor object.

	DISALLOW_COPY_AND_ASSIGN (BaseTrafficLightRecognitor)

详细描述

在文件 recognition.h 第 32 行定义.

构造及析构函数说明

◆ TrafficLightRecognition()

apollo::perception::trafficlight::TrafficLightRecognition::TrafficLightRecognition ( )

default

Construct a new Traffic Light Recognition object

◆ ~TrafficLightRecognition()

apollo::perception::trafficlight::TrafficLightRecognition::~TrafficLightRecognition ( )

default

Destroy the Traffic Light Recognition object

成员函数说明

◆ Detect()

bool apollo::perception::trafficlight::TrafficLightRecognition::Detect ( camera::TrafficLightFrame * frame )

overridevirtual

recogn traffic_light from image.

参数

frame

返回: true; false

实现了 apollo::perception::trafficlight::BaseTrafficLightRecognitor.

在文件 recognition.cc 第 45 行定义.

                                                                   {
    std::vector<base::TrafficLightPtr> candidate(1);
 
    for (base::TrafficLightPtr light : frame->traffic_lights) {
        if (light->region.is_detected) {
            candidate[0] = light;
            if (light->region.detect_class_id == base::TLDetectionClass::TL_QUADRATE_CLASS) {
                AINFO << "Recognize Use Quadrate Model!";
                classify_quadrate_->Perform(frame, &candidate);
            } else if (light->region.detect_class_id == base::TLDetectionClass::TL_VERTICAL_CLASS) {
                AINFO << "Recognize Use Vertical Model!";
                classify_vertical_->Perform(frame, &candidate);
            } else if (light->region.detect_class_id == base::TLDetectionClass::TL_HORIZONTAL_CLASS) {
                AINFO << "Recognize Use Horizonal Model!";
                classify_horizontal_->Perform(frame, &candidate);
            } else {
                return false;
            }
        } else {
            light->status.color = base::TLColor::TL_UNKNOWN_COLOR;
            light->status.confidence = 0;
        }
    }
 
    return true;
}

◆ Init()

bool apollo::perception::trafficlight::TrafficLightRecognition::Init ( const TrafficLightRecognitorInitOptions & options )

overridevirtual

Initialize traffic light recognitor parameters.

参数

options

返回: true; false