apollo::perception::camera::Visualizer Class Reference

#include <visualizer.h>

Collaboration diagram for apollo::perception::camera::Visualizer:

Public Member Functions
bool	Init (const std::vector< std::string > &camera_names, TransformServer *tf_server)
bool	Init_all_info_single_camera (const std::vector< std::string > &camera_names, const std::string &visual_camera, const EigenMap< std::string, Eigen::Matrix3f > &intrinsic_map, const EigenMap< std::string, Eigen::Matrix4d > &extrinsic_map, const Eigen::Matrix4d &ex_lidar2imu, const double pitch_adj, const double yaw_adj, const double roll_adj, const int image_height, const int image_width)
bool	adjust_angles (const std::string &camera_name, const double pitch_adj, const double yaw_adj, const double roll_adj)
bool	SetDirectory (const std::string &path)
void	ShowResult (const cv::Mat &img, const CameraFrame &frame)
void	Draw2Dand3D (const cv::Mat &img, const CameraFrame &frame)
void	ShowResult_all_info_single_camera (const cv::Mat &img, const CameraFrame &frame, const base::MotionBufferPtr motion_buffer, const Eigen::Affine3d &world2camera)
void	Draw2Dand3D_all_info_single_camera (const std::string &camera_name, const cv::Mat &img, const CameraFrame &frame, const Eigen::Matrix3d &intrinsic, const Eigen::Matrix4d &extrinsic, const Eigen::Affine3d &world2camera, const base::MotionBufferPtr motion_buffer)
bool	DrawTrajectories (const base::ObjectPtr &object, const base::MotionBufferPtr motion_buffer)
cv::Point	world_point_to_bigimg (const Eigen::Vector2d &p)
cv::Point	world_point_to_bigimg (const Eigen::Vector4f &p)
Eigen::Vector2d	image2ground (const std::string &camera_name, cv::Point p_img)
cv::Point	ground2image (const std::string &camera_name, Eigen::Vector2d p_ground)
std::string	type_to_string (const apollo::perception::base::ObjectType type)
std::string	sub_type_to_string (const apollo::perception::base::ObjectSubType type)
Eigen::Matrix3d	homography_im2car (std::string camera_name)
void	Set_ROI (int input_offset_y, int crop_height, int crop_width)
bool	euler_to_quaternion (Eigen::Vector4d *quaternion, const double pitch_radian, const double yaw_radian, const double roll_radian)
bool	save_manual_calibration_parameter (const std::string &camera_name, const double pitch_adj_degree, const double yaw_adj_degree, const double roll_adj_degree)
bool	save_extrinsic_in_yaml (const std::string &camera_name, const Eigen::Matrix4d &extrinsic, const Eigen::Vector4d &quaternion, const double pitch_radian, const double yaw_radian, const double roll_radian)
double	regularize_angle (const double angle)
bool	copy_backup_file (const std::string &filename)
bool	key_handler (const std::string &camera_name, const int key)
bool	reset_key ()
void	draw_range_circle ()
void	draw_selected_image_boundary (const int width, int const height, cv::Mat *image)

Public Attributes
bool	write_out_img_ = false
bool	cv_imshow_img_ = true
std::map< std::string, Eigen::Matrix3d >	homography_image2ground_
std::map< std::string, Eigen::Matrix3d >	homography_ground2image_

Member Function Documentation

adjust_angles()

bool apollo::perception::camera::Visualizer::adjust_angles	(	const std::string &	camera_name,
		const double	pitch_adj,
		const double	yaw_adj,
		const double	roll_adj
	)

copy_backup_file()

bool apollo::perception::camera::Visualizer::copy_backup_file

(

const std::string &

filename

)

Draw2Dand3D()

void apollo::perception::camera::Visualizer::Draw2Dand3D	(	const cv::Mat &	img,
		const CameraFrame &	frame
	)

Draw2Dand3D_all_info_single_camera()

void apollo::perception::camera::Visualizer::Draw2Dand3D_all_info_single_camera	(	const std::string &	camera_name,
		const cv::Mat &	img,
		const CameraFrame &	frame,
		const Eigen::Matrix3d &	intrinsic,
		const Eigen::Matrix4d &	extrinsic,
		const Eigen::Affine3d &	world2camera,
		const base::MotionBufferPtr	motion_buffer
	)

draw_range_circle()

void apollo::perception::camera::Visualizer::draw_range_circle

(

)

draw_selected_image_boundary()

void apollo::perception::camera::Visualizer::draw_selected_image_boundary	(	const int	width,
		int const	height,
		cv::Mat *	image
	)

DrawTrajectories()

bool apollo::perception::camera::Visualizer::DrawTrajectories	(	const base::ObjectPtr &	object,
		const base::MotionBufferPtr	motion_buffer
	)

euler_to_quaternion()

bool apollo::perception::camera::Visualizer::euler_to_quaternion	(	Eigen::Vector4d *	quaternion,
		const double	pitch_radian,
		const double	yaw_radian,
		const double	roll_radian
	)

ground2image()

cv::Point apollo::perception::camera::Visualizer::ground2image	(	const std::string &	camera_name,
		Eigen::Vector2d	p_ground
	)

homography_im2car()

Eigen::Matrix3d apollo::perception::camera::Visualizer::homography_im2car ( std::string  camera_name )

inline

image2ground()

Eigen::Vector2d apollo::perception::camera::Visualizer::image2ground	(	const std::string &	camera_name,
		cv::Point	p_img
	)

Init()

bool apollo::perception::camera::Visualizer::Init	(	const std::vector< std::string > &	camera_names,
		TransformServer *	tf_server
	)

Init_all_info_single_camera()

bool apollo::perception::camera::Visualizer::Init_all_info_single_camera	(	const std::vector< std::string > &	camera_names,
		const std::string &	visual_camera,
		const EigenMap< std::string, Eigen::Matrix3f > &	intrinsic_map,
		const EigenMap< std::string, Eigen::Matrix4d > &	extrinsic_map,
		const Eigen::Matrix4d &	ex_lidar2imu,
		const double	pitch_adj,
		const double	yaw_adj,
		const double	roll_adj,
		const int	image_height,
		const int	image_width
	)

key_handler()

bool apollo::perception::camera::Visualizer::key_handler	(	const std::string &	camera_name,
		const int	key
	)

regularize_angle()

double apollo::perception::camera::Visualizer::regularize_angle

(

const double

angle

)

reset_key()

bool apollo::perception::camera::Visualizer::reset_key

(

)

save_extrinsic_in_yaml()

bool apollo::perception::camera::Visualizer::save_extrinsic_in_yaml	(	const std::string &	camera_name,
		const Eigen::Matrix4d &	extrinsic,
		const Eigen::Vector4d &	quaternion,
		const double	pitch_radian,
		const double	yaw_radian,
		const double	roll_radian
	)

save_manual_calibration_parameter()

bool apollo::perception::camera::Visualizer::save_manual_calibration_parameter	(	const std::string &	camera_name,
		const double	pitch_adj_degree,
		const double	yaw_adj_degree,
		const double	roll_adj_degree
	)

Set_ROI()

void apollo::perception::camera::Visualizer::Set_ROI ( int  input_offset_y, int  crop_height, int  crop_width  )

inline

SetDirectory()

bool apollo::perception::camera::Visualizer::SetDirectory

(

const std::string &

path

)

ShowResult()

void apollo::perception::camera::Visualizer::ShowResult	(	const cv::Mat &	img,
		const CameraFrame &	frame
	)

ShowResult_all_info_single_camera()

void apollo::perception::camera::Visualizer::ShowResult_all_info_single_camera	(	const cv::Mat &	img,
		const CameraFrame &	frame,
		const base::MotionBufferPtr	motion_buffer,
		const Eigen::Affine3d &	world2camera
	)

sub_type_to_string()

std::string apollo::perception::camera::Visualizer::sub_type_to_string

(

const apollo::perception::base::ObjectSubType

type

)

type_to_string()

std::string apollo::perception::camera::Visualizer::type_to_string

(

const apollo::perception::base::ObjectType

type

)

world_point_to_bigimg() [1/2]

cv::Point apollo::perception::camera::Visualizer::world_point_to_bigimg

(

const Eigen::Vector2d &

p

)

world_point_to_bigimg() [2/2]

cv::Point apollo::perception::camera::Visualizer::world_point_to_bigimg

(

const Eigen::Vector4f &

p

)

Member Data Documentation

cv_imshow_img_

bool apollo::perception::camera::Visualizer::cv_imshow_img_ = true

homography_ground2image_

std::map<std::string, Eigen::Matrix3d> apollo::perception::camera::Visualizer::homography_ground2image_

homography_image2ground_

std::map<std::string, Eigen::Matrix3d> apollo::perception::camera::Visualizer::homography_image2ground_

write_out_img_

bool apollo::perception::camera::Visualizer::write_out_img_ = false

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The documentation for this class was generated from the following file:

• modules/perception/camera/tools/offline/visualizer.h