filter.h 文件参考

#include <algorithm>
#include <cmath>
#include <vector>
#include "modules/perception/lidar_segmentation/segmentor/ncut_segmentation/common/graph_felzenszwalb/convolve.h"
#include "modules/perception/lidar_segmentation/segmentor/ncut_segmentation/common/graph_felzenszwalb/image.h"
#include "modules/perception/lidar_segmentation/segmentor/ncut_segmentation/common/graph_felzenszwalb/imconv.h"
#include "modules/perception/lidar_segmentation/segmentor/ncut_segmentation/common/graph_felzenszwalb/misc.h"

filter.h 的引用(Include)关系图:

此图展示该文件直接或间接的被哪些文件引用了:

浏览源代码.

命名空间
namespace	apollo
	class register implement
namespace	apollo::perception
	apollo::perception
namespace	apollo::perception::lidar

宏定义
#define	MAKE_FILTER(name, fun)
	Make filters

函数
void	apollo::perception::lidar::normalize (std::vector< float > *mask_input)
	Normalize mask so it integrates to one
	apollo::perception::lidar::MAKE_FILTER (fgauss, exp(-0.5 *square(i/sigma)))
Image< float > *	apollo::perception::lidar::smooth (Image< float > *src, float sigma)
	Convolve image with gaussian filter
Image< float > *	apollo::perception::lidar::smooth (Image< uchar > *src, float sigma)
	Convolve image with gaussian filter
Image< float > *	apollo::perception::lidar::laplacian (Image< float > *src)
	Compute laplacian

变量
const double	apollo::perception::lidar::WIDTH = 4.0

宏定义说明

MAKE_FILTER

#define MAKE_FILTER	(		name,
			fun
	)

值:

    std::vector<float> make_##name(float sigma) {            \
        sigma = std::max(sigma, 0.01F);                      \
        int len = static_cast<int>(ceil(sigma * WIDTH)) + 1; \
        std::vector<float> mask(len);                        \
        for (int i = 0; i < len; i++) {                      \
            mask[i] = fun;                                   \
        }                                                    \
        return mask;                                         \
    }

Make filters

在文件 filter.h 第 67 行定义.

                                              {            \
        sigma = std::max(sigma, 0.01F);                      \
        int len = static_cast<int>(ceil(sigma * WIDTH)) + 1; \
        std::vector<float> mask(len);                        \
        for (int i = 0; i < len; i++) {                      \
            mask[i] = fun;                                   \
        }                                                    \
        return mask;                                         \
    }