apollo::perception::radar4d::util 命名空间参考

函数
void	FromStdToVector (const std::vector< float > &src_prob, Vectord *dst_prob)
	From std to vector
void	FromEigenToVector (const Vectord &src_prob, std::vector< float > *dst_prob)
	Transfrom Eigen to vector
void	ToLog (Vectord *prob)
	Compute log of Vectord
void	ToExp (Vectord *prob)
	Compute exponential of Vectord
void	ToExpStable (Vectord *prob)
	Compute stable exponential of Vectord
void	Normalize (Vectord *prob)
	Compute normalize of Vectord
void	NormalizeRow (Matrixd *prob)
	Compute normalize row of Matrixd
bool	LoadSingleMatrix (std::ifstream &fin, Matrixd *matrix)
	Load single matrix
bool	LoadSingleMatrixFile (const std::string &filename, Matrixd *matrix)
	Load single matrix from file
bool	LoadMultipleMatricesFile (const std::string &filename, EigenMap< std::string, Matrixd > *matrices)
bool	LoadMultipleMatricesFile (const std::string &filename, apollo::common::EigenMap< std::string, Matrixd > *matrices)
	Load multiple matrices from file

函数说明

FromEigenToVector()

void apollo::perception::radar4d::util::FromEigenToVector	(	const Vectord &	src_prob,
		std::vector< float > *	dst_prob
	)

Transfrom Eigen to vector

参数

src_prob
dst_prob

在文件 util.cc 第 37 行定义.

                                                                            {
  dst_prob->assign(static_cast<int>(ObjectType::MAX_OBJECT_TYPE), 0);
  dst_prob->at(0) = static_cast<float>(src_prob(0));
  for (size_t i = 3; i < static_cast<size_t>(ObjectType::MAX_OBJECT_TYPE);
       ++i) {
    dst_prob->at(i) = static_cast<float>(src_prob(i - 2));
  }
}

FromStdToVector()

void apollo::perception::radar4d::util::FromStdToVector	(	const std::vector< float > &	src_prob,
		Vectord *	dst_prob
	)

From std to vector

参数

src_prob
dst_prob

在文件 util.cc 第 29 行定义.

                                                                          {
  (*dst_prob)(0) = src_prob[0];
  for (size_t i = 3; i < static_cast<size_t>(ObjectType::MAX_OBJECT_TYPE);
       ++i) {
    (*dst_prob)(i - 2) = static_cast<double>(src_prob[i]);
  }
}

LoadMultipleMatricesFile() [1/2]

bool apollo::perception::radar4d::util::LoadMultipleMatricesFile	(	const std::string &	filename,
		apollo::common::EigenMap< std::string, Matrixd > *	matrices
	)

Load multiple matrices from file

参数

filename	file to load matrices
matrices

返回

true

false

LoadMultipleMatricesFile() [2/2]

bool apollo::perception::radar4d::util::LoadMultipleMatricesFile	(	const std::string &	filename,
		EigenMap< std::string, Matrixd > *	matrices
	)

在文件 util.cc 第 108 行定义.

                                                                      {
  if (matrices == nullptr) {
    return false;
  }
  std::ifstream fin(filename);
  if (!fin.is_open()) {
    AERROR << "Fail to open file: " << filename;
    return false;
  }
  matrices->clear();
  size_t num = 0;
  fin >> num;
  if (num > 100) {
    fin.close();
    return false;
  }
  for (size_t i = 0; i < num; ++i) {
    std::string name;
    fin >> name;
    Matrixd matrix;
    LoadSingleMatrix(fin, &matrix);
    matrices->emplace(name, matrix);
  }
  fin.close();
  return true;
}

LoadSingleMatrix()

bool apollo::perception::radar4d::util::LoadSingleMatrix	(	std::ifstream &	fin,
		Matrixd *	matrix
	)

Load single matrix

参数

fin
matrix

返回

true

false

在文件 util.cc 第 85 行定义.

                                                         {
  for (size_t row = 0; row < VALID_OBJECT_TYPE; ++row) {
    for (size_t col = 0; col < VALID_OBJECT_TYPE; ++col) {
      fin >> (*matrix)(row, col);
    }
  }
  return true;
}

LoadSingleMatrixFile()

bool apollo::perception::radar4d::util::LoadSingleMatrixFile	(	const std::string &	filename,
		Matrixd *	matrix
	)

Load single matrix from file

参数

filename	file to load matrix
matrix

返回

true

false

在文件 util.cc 第 94 行定义.

                                                                      {
  if (matrix == nullptr) {
    return false;
  }
  std::ifstream fin(filename);
  if (!fin.is_open()) {
    AERROR << "Fail to open file: " << filename;
    return false;
  }
  LoadSingleMatrix(fin, matrix);
  fin.close();
  return true;
}

Normalize()

void apollo::perception::radar4d::util::Normalize

(

Vectord *

prob

)

Compute normalize of Vectord

参数

prob

在文件 util.cc 第 65 行定义.

                              {
  double sum = prob->sum();
  sum = sum < 1e-9 ? 1e-9 : sum;
  *prob /= sum;
}

NormalizeRow()

void apollo::perception::radar4d::util::NormalizeRow

(

Matrixd *

prob

)

Compute normalize row of Matrixd

参数

prob

在文件 util.cc 第 71 行定义.

                                 {
  double sum = 0.0;
  for (size_t row = 0; row < VALID_OBJECT_TYPE; ++row) {
    sum = 0.0;
    for (size_t col = 0; col < VALID_OBJECT_TYPE; ++col) {
      sum += (*prob)(row, col);
    }
    sum = sum < 1e-9 ? 1e-9 : sum;
    for (size_t col = 0; col < VALID_OBJECT_TYPE; ++col) {
      (*prob)(row, col) /= sum;
    }
  }
}

ToExp()

void apollo::perception::radar4d::util::ToExp

(

Vectord *

prob

)

Compute exponential of Vectord

参数

prob

在文件 util.cc 第 52 行定义.

                          {
  for (size_t i = 0; i < VALID_OBJECT_TYPE; ++i) {
    (*prob)(i) = exp((*prob)(i));
  }
}

ToExpStable()

void apollo::perception::radar4d::util::ToExpStable

(

Vectord *

prob

)

Compute stable exponential of Vectord

参数

prob

在文件 util.cc 第 58 行定义.

                                {
  double min_value = prob->minCoeff();
  for (size_t i = 0; i < VALID_OBJECT_TYPE; ++i) {
    (*prob)(i) = exp((*prob)(i)-min_value);
  }
}

ToLog()

void apollo::perception::radar4d::util::ToLog

(

Vectord *

prob

)

Compute log of Vectord

参数

prob

在文件 util.cc 第 46 行定义.

                          {
  for (size_t i = 0; i < VALID_OBJECT_TYPE; ++i) {
    (*prob)(i) = log((*prob)(i));
  }
}