apollo::perception::camera::CalibratorParams结构体 参考

#include <lane_based_calibrator.h>

apollo::perception::camera::CalibratorParams 的协作图:

Public 成员函数
	CalibratorParams ()
void	Init ()
void	operator= (const CalibratorParams &params)

Public 属性
int	min_nr_pts_laneline
float	sampling_lane_point_rate
float	max_allowed_yaw_angle_in_radian
float	min_distance_to_update_calibration_in_meter
float	min_required_straight_driving_distance_in_meter
HistogramEstimatorParams	hist_estimator_params

详细描述

在文件 lane_based_calibrator.h 第 38 行定义.

构造及析构函数说明

CalibratorParams()

apollo::perception::camera::CalibratorParams::CalibratorParams ( )

inline

在文件 lane_based_calibrator.h 第 39 行定义.

{ Init(); }

成员函数说明

Init()

void apollo::perception::camera::CalibratorParams::Init

(

)

在文件 lane_based_calibrator.cc 第 49 行定义.

                            {
  // General
  min_nr_pts_laneline = 20;
  sampling_lane_point_rate = 0.05f;  // 0.05f
  max_allowed_yaw_angle_in_radian = algorithm::IDegreeToRadians(3.0f);
 
  // Slow set-up
  // min_distance_to_update_calibration_in_meter = 1600.0f;
  // min_required_straight_driving_distance_in_meter = 40.0f;
 
  // Fast set-up
  min_distance_to_update_calibration_in_meter = 100.0f;
  min_required_straight_driving_distance_in_meter = 20.0f;
 
  // Histogram params
  hist_estimator_params.nr_bins_in_histogram = 400;
  hist_estimator_params.data_sp = -algorithm::IDegreeToRadians(10.0f);
  // -10 ~ 10 degree
  hist_estimator_params.data_ep = -hist_estimator_params.data_sp;
 
  hist_estimator_params.step_bin =
      (hist_estimator_params.data_ep - hist_estimator_params.data_sp);
  hist_estimator_params.step_bin /=
      static_cast<float>(hist_estimator_params.nr_bins_in_histogram);
 
  hist_estimator_params.smooth_kernel.clear();
  hist_estimator_params.smooth_kernel.push_back(1);
  hist_estimator_params.smooth_kernel.push_back(3);
  hist_estimator_params.smooth_kernel.push_back(5);
  hist_estimator_params.smooth_kernel.push_back(3);
  hist_estimator_params.smooth_kernel.push_back(1);
  hist_estimator_params.smooth_kernel_width =
      static_cast<int>(hist_estimator_params.smooth_kernel.size());
  hist_estimator_params.smooth_kernel_radius =
      hist_estimator_params.smooth_kernel_width >> 1;
 
  hist_estimator_params.hat_min_allowed = 0.40f;
  hist_estimator_params.hat_std_allowed = 6.25f;
  // hist_estimator_params.histogram_mass_limit = 500;
  hist_estimator_params.histogram_mass_limit = 50;
  // Decay 6-times to half value
  hist_estimator_params.decay_factor = 0.8908987f;
}

operator=()

void apollo::perception::camera::CalibratorParams::operator= ( const CalibratorParams &  params )

inline

在文件 lane_based_calibrator.h 第 52 行定义.

                                                 {
    min_nr_pts_laneline = params.min_nr_pts_laneline;
 
    min_distance_to_update_calibration_in_meter =
        params.min_distance_to_update_calibration_in_meter;
    min_distance_to_update_calibration_in_meter =
        params.min_distance_to_update_calibration_in_meter;
    min_required_straight_driving_distance_in_meter =
        params.min_required_straight_driving_distance_in_meter;
 
    hist_estimator_params = params.hist_estimator_params;
  }

类成员变量说明

hist_estimator_params

HistogramEstimatorParams apollo::perception::camera::CalibratorParams::hist_estimator_params

在文件 lane_based_calibrator.h 第 50 行定义.

max_allowed_yaw_angle_in_radian

float apollo::perception::camera::CalibratorParams::max_allowed_yaw_angle_in_radian

在文件 lane_based_calibrator.h 第 46 行定义.

min_distance_to_update_calibration_in_meter

float apollo::perception::camera::CalibratorParams::min_distance_to_update_calibration_in_meter

在文件 lane_based_calibrator.h 第 47 行定义.

min_nr_pts_laneline

int apollo::perception::camera::CalibratorParams::min_nr_pts_laneline

在文件 lane_based_calibrator.h 第 43 行定义.

min_required_straight_driving_distance_in_meter

float apollo::perception::camera::CalibratorParams::min_required_straight_driving_distance_in_meter

在文件 lane_based_calibrator.h 第 48 行定义.

sampling_lane_point_rate

float apollo::perception::camera::CalibratorParams::sampling_lane_point_rate

在文件 lane_based_calibrator.h 第 45 行定义.

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该结构体的文档由以下文件生成:

• modules/perception/common/lib/calibrator/laneline/lane_based_calibrator.h
• modules/perception/common/lib/calibrator/laneline/lane_based_calibrator.cc