apollo::planning::BirdviewImgFeatureRenderer Class Reference

#include <birdview_img_feature_renderer.h>

Collaboration diagram for apollo::planning::BirdviewImgFeatureRenderer:

Public Member Functions
virtual	~BirdviewImgFeatureRenderer ()=default
	Destructor. More...
bool	Init (const PlanningSemanticMapConfig &config)
	initialize renderer More...
bool	RenderMultiChannelEnv (const LearningDataFrame &learning_data_frame, cv::Mat *img_feature)
	generate multi-channel img as input feature for certain model More...
bool	RenderBGREnv (const LearningDataFrame &learning_data_frame, cv::Mat *img_feature)
	generate bgr img as input feature for certain model More...
bool	RenderCurrentEgoStatus (const LearningDataFrame &learning_data_frame, cv::Mat *img_feature)
	generate a two channel img, one for cur box, one for cur point More...
bool	RenderCurrentEgoPoint (const LearningDataFrame &learning_data_frame, cv::Mat *img_feature)
	generate a single channel img More...
bool	RenderCurrentEgoBox (const LearningDataFrame &learning_data_frame, cv::Mat *img_feature)
	generate a single channel img More...

Constructor & Destructor Documentation

~BirdviewImgFeatureRenderer()

virtual apollo::planning::BirdviewImgFeatureRenderer::~BirdviewImgFeatureRenderer ( )

virtualdefault

Destructor.

Member Function Documentation

Init()

bool apollo::planning::BirdviewImgFeatureRenderer::Init

(

const PlanningSemanticMapConfig &

config

)

initialize renderer

Parameters

config

configuration

RenderBGREnv()

bool apollo::planning::BirdviewImgFeatureRenderer::RenderBGREnv	(	const LearningDataFrame &	learning_data_frame,
		cv::Mat *	img_feature
	)

generate bgr img as input feature for certain model

Parameters

learning_data_frame	a proto message containing info for renderering
img_feature	a pointer to opencv img to render on

RenderCurrentEgoBox()

bool apollo::planning::BirdviewImgFeatureRenderer::RenderCurrentEgoBox	(	const LearningDataFrame &	learning_data_frame,
		cv::Mat *	img_feature
	)

generate a single channel img

Parameters

learning_data_frame	a proto message containing info for renderering
img_feature	a pointer to opencv img to render on

RenderCurrentEgoPoint()

bool apollo::planning::BirdviewImgFeatureRenderer::RenderCurrentEgoPoint	(	const LearningDataFrame &	learning_data_frame,
		cv::Mat *	img_feature
	)

generate a single channel img

Parameters

learning_data_frame	a proto message containing info for renderering
img_feature	a pointer to opencv img to render on

RenderCurrentEgoStatus()

bool apollo::planning::BirdviewImgFeatureRenderer::RenderCurrentEgoStatus	(	const LearningDataFrame &	learning_data_frame,
		cv::Mat *	img_feature
	)

generate a two channel img, one for cur box, one for cur point

Parameters

learning_data_frame	a proto message containing info for renderering
img_feature	a pointer to opencv img to render on

RenderMultiChannelEnv()

bool apollo::planning::BirdviewImgFeatureRenderer::RenderMultiChannelEnv	(	const LearningDataFrame &	learning_data_frame,
		cv::Mat *	img_feature
	)

generate multi-channel img as input feature for certain model

Parameters

learning_data_frame	a proto message containing info for renderering
img_feature	a pointer to opencv img to render on

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

• modules/planning/learning_based/img_feature_renderer/birdview_img_feature_renderer.h