apollo::perception::camera::HistogramEstimatorParams结构体 参考

#include <histogram_estimator.h>

apollo::perception::camera::HistogramEstimatorParams 的协作图:

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

Public 属性
int	nr_bins_in_histogram = 0
float	data_sp = 0.0f
float	data_ep = 0.0f
float	step_bin = 0.0f
std::vector< uint32_t >	smooth_kernel = {}
int	smooth_kernel_width = 0
int	smooth_kernel_radius = 0
float	hat_min_allowed = 0.0f
float	hat_std_allowed = 0.0f
uint32_t	histogram_mass_limit = 0
float	decay_factor = 0.0f

详细描述

在文件 histogram_estimator.h 第 29 行定义.

构造及析构函数说明

HistogramEstimatorParams()

apollo::perception::camera::HistogramEstimatorParams::HistogramEstimatorParams ( )

inline

在文件 histogram_estimator.h 第 30 行定义.

{ Init(); }

成员函数说明

Init()

void apollo::perception::camera::HistogramEstimatorParams::Init

(

)

在文件 histogram_estimator.cc 第 24 行定义.

                                    {  // set default value
  nr_bins_in_histogram = 64;
  data_sp = 0;
  data_ep = 255;
  assert(nr_bins_in_histogram > 0);
  assert(data_ep > data_sp);
 
  step_bin = (data_ep - data_sp) / static_cast<float>(nr_bins_in_histogram);
 
  smooth_kernel.clear();
  smooth_kernel.push_back(1);
  smooth_kernel.push_back(2);
  smooth_kernel.push_back(1);
  smooth_kernel_width = static_cast<int>(smooth_kernel.size());
  smooth_kernel_radius = smooth_kernel_width >> 1;
 
  hat_min_allowed = 0.2f;
  hat_std_allowed = 6.0f;
  histogram_mass_limit = 100;
  decay_factor = 0.9f;
}

operator=()

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

inline

在文件 histogram_estimator.h 第 49 行定义.

                                                         {
    nr_bins_in_histogram = params.nr_bins_in_histogram;
 
    data_sp = params.data_sp;
    data_ep = params.data_ep;
    assert(nr_bins_in_histogram > 0 && data_ep > data_sp);
 
    step_bin = (data_ep - data_sp) / static_cast<float>(nr_bins_in_histogram);
 
    int w = static_cast<int>(params.smooth_kernel.size());
    assert(w >= 1);
    smooth_kernel_width = w;
    smooth_kernel.resize(smooth_kernel_width);
    memcpy(smooth_kernel.data(), params.smooth_kernel.data(),
           sizeof(uint32_t) * smooth_kernel_width);
    smooth_kernel_radius = smooth_kernel_width >> 1;
 
    hat_min_allowed = params.hat_min_allowed;
    hat_std_allowed = params.hat_std_allowed;
 
    histogram_mass_limit = params.histogram_mass_limit;
    assert(histogram_mass_limit > 0);
 
    decay_factor = params.decay_factor;
    assert(decay_factor > 0.0f);
  }

类成员变量说明

data_ep

float apollo::perception::camera::HistogramEstimatorParams::data_ep = 0.0f

在文件 histogram_estimator.h 第 35 行定义.

data_sp

float apollo::perception::camera::HistogramEstimatorParams::data_sp = 0.0f

在文件 histogram_estimator.h 第 34 行定义.

decay_factor

float apollo::perception::camera::HistogramEstimatorParams::decay_factor = 0.0f

在文件 histogram_estimator.h 第 47 行定义.

hat_min_allowed

float apollo::perception::camera::HistogramEstimatorParams::hat_min_allowed = 0.0f

在文件 histogram_estimator.h 第 42 行定义.

hat_std_allowed

float apollo::perception::camera::HistogramEstimatorParams::hat_std_allowed = 0.0f

在文件 histogram_estimator.h 第 43 行定义.

histogram_mass_limit

uint32_t apollo::perception::camera::HistogramEstimatorParams::histogram_mass_limit = 0

在文件 histogram_estimator.h 第 45 行定义.

nr_bins_in_histogram

int apollo::perception::camera::HistogramEstimatorParams::nr_bins_in_histogram = 0

在文件 histogram_estimator.h 第 33 行定义.

smooth_kernel

std::vector<uint32_t> apollo::perception::camera::HistogramEstimatorParams::smooth_kernel = {}

在文件 histogram_estimator.h 第 38 行定义.

{};

smooth_kernel_radius

int apollo::perception::camera::HistogramEstimatorParams::smooth_kernel_radius = 0

在文件 histogram_estimator.h 第 40 行定义.

smooth_kernel_width

int apollo::perception::camera::HistogramEstimatorParams::smooth_kernel_width = 0

在文件 histogram_estimator.h 第 39 行定义.

step_bin

float apollo::perception::camera::HistogramEstimatorParams::step_bin = 0.0f

在文件 histogram_estimator.h 第 36 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/common/histogram_estimator.h
• modules/perception/common/lib/calibrator/common/histogram_estimator.cc