26 #include <unordered_set> 34 namespace perception {
39 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 _lr_parameters.resize(3, 4);
46 _lr_parameters.coeffRef(0, 0) = 0.0510903f;
47 _lr_parameters.coeffRef(0, 1) = -1.00989f;
48 _lr_parameters.coeffRef(0, 2) = -1.6537f;
49 _lr_parameters.coeffRef(0, 3) = 0.130055f;
50 _lr_parameters.coeffRef(1, 0) = 0.266469f;
51 _lr_parameters.coeffRef(1, 1) = -0.538964f;
52 _lr_parameters.coeffRef(1, 2) = -0.291611f;
53 _lr_parameters.coeffRef(1, 3) = -0.070701f;
54 _lr_parameters.coeffRef(2, 0) = 0.497949f;
55 _lr_parameters.coeffRef(2, 1) = -0.504843f;
56 _lr_parameters.coeffRef(2, 2) = -0.152141f;
57 _lr_parameters.coeffRef(2, 3) = -1.38024f;
63 float x_max = -std::numeric_limits<float>::max();
64 float y_max = -std::numeric_limits<float>::max();
65 float z_max = -std::numeric_limits<float>::max();
66 float x_min = std::numeric_limits<float>::max();
67 float y_min = std::numeric_limits<float>::max();
68 float z_min = std::numeric_limits<float>::max();
69 for (
size_t i = 0; i < cloud->size(); ++i) {
70 auto pt = (*cloud)[i];
71 x_min = std::min(x_min, pt.x);
72 x_max = std::max(x_max, pt.x);
73 y_min = std::min(y_min, pt.y);
74 y_max = std::max(y_max, pt.y);
75 z_min = std::min(z_min, pt.z);
76 z_max = std::max(z_max, pt.z);
79 Eigen::VectorXf response = fea.transpose() * _lr_parameters;
86 Eigen::MatrixXf _lr_parameters;
87 std::vector<std::string> _labels = {
"unknown",
"nonMot",
"pedestrian",
bool init()
Definition: lr_classifier.h:44
Eigen::Vector3f Vector3f
Definition: base_map_fwd.h:29
PlanningContext is the runtime context in planning. It is persistent across multiple frames...
Definition: atomic_hash_map.h:25
std::string GetLabel(base::PointFCloudConstPtr cloud)
Definition: lr_classifier.h:61
std::shared_ptr< const PointFCloud > PointFCloudConstPtr
Definition: point_cloud.h:483
Definition: lr_classifier.h:37
~LRClassifier()
Definition: lr_classifier.h:43