lr_classifier.h

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/******************************************************************************
 * Copyright 2019 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 <algorithm>
#include <cmath>
#include <cstdlib>
#include <iostream>
#include <limits>
#include <map>
#include <string>
#include <tuple>
#include <unordered_set>
#include <vector>
 
#include "Eigen/Core"
 
#include "modules/perception/common/base/point_cloud.h"
 
namespace apollo {
namespace perception {
namespace lidar {
 
class LRClassifier {
public:
    LRClassifier() = default;
    ~LRClassifier() {}
    bool init() {
        _lr_parameters.resize(3, 4);
        _lr_parameters.coeffRef(0, 0) = 0.0510903f;
        _lr_parameters.coeffRef(0, 1) = -1.00989f;
        _lr_parameters.coeffRef(0, 2) = -1.6537f;
        _lr_parameters.coeffRef(0, 3) = 0.130055f;
        _lr_parameters.coeffRef(1, 0) = 0.266469f;
        _lr_parameters.coeffRef(1, 1) = -0.538964f;
        _lr_parameters.coeffRef(1, 2) = -0.291611f;
        _lr_parameters.coeffRef(1, 3) = -0.070701f;
        _lr_parameters.coeffRef(2, 0) = 0.497949f;
        _lr_parameters.coeffRef(2, 1) = -0.504843f;
        _lr_parameters.coeffRef(2, 2) = -0.152141f;
        _lr_parameters.coeffRef(2, 3) = -1.38024f;
        return true;
    }
    std::string GetLabel(base::PointFCloudConstPtr cloud) {
        // point cloud should be rotated
        float x_max = -std::numeric_limits<float>::max();
        float y_max = -std::numeric_limits<float>::max();
        float z_max = -std::numeric_limits<float>::max();
        float x_min = std::numeric_limits<float>::max();
        float y_min = std::numeric_limits<float>::max();
        float z_min = std::numeric_limits<float>::max();
        for (size_t i = 0; i < cloud->size(); ++i) {
            auto pt = (*cloud)[i];
            x_min = std::min(x_min, pt.x);
            x_max = std::max(x_max, pt.x);
            y_min = std::min(y_min, pt.y);
            y_max = std::max(y_max, pt.y);
            z_min = std::min(z_min, pt.z);
            z_max = std::max(z_max, pt.z);
        }
        Eigen::Vector3f fea = {x_max - x_min, y_max - y_min, z_max - z_min};
        Eigen::VectorXf response = fea.transpose() * _lr_parameters;
        int type = 0;
        response.maxCoeff(&type);
        return _labels[type];
    }
 
private:
    Eigen::MatrixXf _lr_parameters;
    std::vector<std::string> _labels = {"unknown", "nonMot", "pedestrian", "smallMot"};
};
 
}  // namespace lidar
}  // namespace perception
}  // namespace apollo