graph_segmentation.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
#pragma once
 
#include <limits>
#include <map>
#include <memory>
#include <string>
#include <utility>
#include <vector>
 
#include "modules/perception/lidar_segmentation/segmentor/graph_segmentation/proto/graph_segmentation_config.pb.h"
 
#include "cyber/common/file.h"
#include "cyber/common/log.h"
#include "modules/perception/common/algorithm/graph/graph_segmentor.h"
#include "modules/perception/common/lidar/common/lidar_frame.h"
#include "modules/perception/lidar_detection/detector/cnn_segmentation/spp_engine/spp_cluster_list.h"
#include "modules/perception/lidar_detection/interface/base_lidar_detector.h"
#include "modules/perception/lidar_segmentation/segmentor/graph_segmentation/background_map.h"
#include "modules/perception/lidar_segmentation/common/bg_object_builder.h"
#include "modules/perception/lidar_segmentation/common/object_split.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class GraphSegmentation : public BaseLidarDetector {
public:
    GraphSegmentation() = default;
    ~GraphSegmentation() = default;
    bool Init(const LidarDetectorInitOptions& options = LidarDetectorInitOptions()) override;
    bool Detect(const LidarDetectorOptions& options, LidarFrame* frame) override;
    std::string Name() const override {
        return "GraphSegmentation";
    }
    bool Segment(LidarFrame* frame);
    float NodeDistance(BgNode n1, int x1, int y1, BgNode n2, int x2, int y2);
    void GetObjectsFromClusters(LidarFrame* frame);
 
    bool Split(LidarFrame* frame);
 
    bool NeedSplit(std::shared_ptr<base::Object> object);
 
    bool SetBgObjectDefaulVal(LidarFrame* frame);
 
private:
    int grid_width_;
    int grid_height_;
    float resolution_;
    float threshold_;
    size_t min_pt_number_;
    int search_radius_;
    float height_threshold_;
    float semantic_cost_ = 2.0;
    BackgroundMap bg_map_;
    algorithm::GraphSegmentor graph_segmentor_;
    SppClusterList clusters_;
    GraphSegmentationConfig bg_config_;
    std::vector<std::shared_ptr<base::Object>> bg_objects_;
};
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo