apollo::perception Namespace Reference

apollo::perception More...

Namespaces
	base
	benchmark
	camera
	common
	fusion
	inference
	lib
	lidar
	map
	onboard
	radar

Classes
struct	EgoLane
class	EvaluatorManager
struct	LaneLineSimple
struct	LineSegment2Df
struct	VanishingPoint

Typedefs
typedef Eigen::Vector2i	Point2Di
typedef Eigen::Vector2f	Point2Df
typedef Eigen::Vector2d	Point2Dd

Enumerations
enum	KeyCode {   KEY_0 = 48, KEY_1 = 49, KEY_2 = 50, KEY_3 = 51,   KEY_4 = 52, KEY_5 = 53, KEY_6 = 54, KEY_7 = 55,   KEY_8 = 56, KEY_9 = 57, KEY_UPPER_A = 65, KEY_UPPER_B = 66,   KEY_UPPER_C = 67, KEY_UPPER_D = 68, KEY_UPPER_E = 69, KEY_UPPER_F = 70,   KEY_UPPER_G = 71, KEY_UPPER_H = 72, KEY_UPPER_I = 73, KEY_UPPER_J = 74,   KEY_UPPER_K = 75, KEY_UPPER_L = 76, KEY_UPPER_M = 77, KEY_UPPER_N = 78,   KEY_UPPER_O = 79, KEY_UPPER_P = 80, KEY_UPPER_Q = 81, KEY_UPPER_R = 82,   KEY_UPPER_S = 83, KEY_UPPER_T = 84, KEY_UPPER_U = 85, KEY_UPPER_V = 86,   KEY_UPPER_W = 87, KEY_UPPER_X = 88, KEY_UPPER_Y = 89, KEY_UPPER_Z = 90,   KEY_LOWER_A = 97, KEY_LOWER_B = 98, KEY_LOWER_C = 99, KEY_LOWER_D = 100,   KEY_LOWER_E = 101, KEY_LOWER_F = 102, KEY_LOWER_G = 103, KEY_LOWER_H = 104,   KEY_LOWER_I = 105, KEY_LOWER_J = 106, KEY_LOWER_K = 107, KEY_LOWER_L = 108,   KEY_LOWER_M = 109, KEY_LOWER_N = 110, KEY_LOWER_O = 111, KEY_LOWER_P = 112,   KEY_LOWER_Q = 113, KEY_LOWER_R = 114, KEY_LOWER_S = 115, KEY_LOWER_T = 116,   KEY_LOWER_U = 117, KEY_LOWER_V = 118, KEY_LOWER_W = 119, KEY_LOWER_X = 120,   KEY_LOWER_Y = 121, KEY_LOWER_Z = 122, KEY_LEFT = 65361, KEY_UP = 65362,   KEY_RIGHT = 65363, KEY_DOWN = 65364, KEY_SHIFT_LEFT = 130897, KEY_SHIFT_RIGHT = 130899,   KEY_CTRL_S = 262259, KEY_ALT_C = 524387, KEY_LEFT_NUM_LOCK_ON = 1113937, KEY_UP_NUM_LOCK_ON = 1113938,   KEY_RIGHT_NUM_LOCK_ON = 1113939, KEY_DOWN_NUM_LOCK_ON = 1113940, KEY_SHIFT_LEFT_NUM_LOCK_ON = 1179475, KEY_SHIFT_RIGHT_NUM_LOCK_ON = 1179473,   KEY_CTRL_S_NUM_LOCK_ON = 1310835, KEY_ALT_C_NUM_LOCK_ON = 1572963 }

Functions
	DECLARE_string (obs_sensor_intrinsic_path)
	DECLARE_string (obs_sensor_meta_path)
	DECLARE_bool (enable_base_object_pool)
	DECLARE_string (config_manager_path)
	DECLARE_string (work_root)
	DECLARE_int32 (gpu_id)
	DECLARE_string (pfe_torch_file)
	DECLARE_string (scattered_torch_file)
	DECLARE_string (backbone_torch_file)
	DECLARE_string (fpn_torch_file)
	DECLARE_string (bbox_head_torch_file)
	DECLARE_double (normalizing_factor)
	DECLARE_int32 (num_point_feature)
	DECLARE_bool (enable_ground_removal)
	DECLARE_double (ground_removal_height)
	DECLARE_bool (enable_downsample_beams)
	DECLARE_int32 (downsample_beams_factor)
	DECLARE_bool (enable_downsample_pointcloud)
	DECLARE_double (downsample_voxel_size_x)
	DECLARE_double (downsample_voxel_size_y)
	DECLARE_double (downsample_voxel_size_z)
	DECLARE_bool (enable_fuse_frames)
	DECLARE_int32 (num_fuse_frames)
	DECLARE_double (fuse_time_interval)
	DECLARE_bool (enable_shuffle_points)
	DECLARE_int32 (max_num_points)
	DECLARE_bool (reproduce_result_mode)
	DECLARE_double (score_threshold)
	DECLARE_double (nms_overlap_threshold)
	DECLARE_int32 (num_output_box_feature)
	DECLARE_string (mask_pfe_torch_file)
	DECLARE_string (mask_scattered_torch_file)
	DECLARE_string (mask_backbone_torch_file)
	DECLARE_string (mask_fpn_torch_file)
	DECLARE_string (mask_bbox_head_torch_file)
	DECLARE_string (onnx_obstacle_detector_model)
	DECLARE_string (onnx_test_input_path)
	DECLARE_string (onnx_test_input_name_file)
	DECLARE_string (onnx_prediction_image_path)
	DECLARE_int32 (num_classes)
	DECLARE_string (torch_detector_model)
	DECLARE_string (lidar_sensor_name)

Variables
constexpr float	kMaxFloat = std::numeric_limits<float>::max()
constexpr float	kLowestFloat = -std::numeric_limits<float>::max()
constexpr float	kMinAngle = kLowestFloat / 180.0f
constexpr float	kFloatEpsilon = 0.000001f
constexpr float	k45DegreeInRadian = static_cast<float>(45.0f * M_PI) / 180.0f
constexpr uint32_t	kMinLaneLineLengthForCIPV = 2
constexpr float	kAverageLaneWidthInMeter = 3.7f
constexpr float	kMaxVehicleWidthInMeter = 1.87f
constexpr float	kMarginVehicleToLane
constexpr float	kSingleVirtualEgolaneWidthInMeter
constexpr float	kHalfVehicleWidthInMeter = kMaxVehicleWidthInMeter / 2.0f
cv::Scalar	black_color = cv::Scalar(0, 0, 0)
cv::Scalar	white_color = cv::Scalar(255, 255, 255)
cv::Scalar	magenta_color = cv::Scalar(255, 0, 255)
cv::Scalar	purple_color = cv::Scalar(128, 0, 128)
cv::Scalar	teal_color = cv::Scalar(128, 128, 0)
cv::Scalar	violet_color = cv::Scalar(238, 130, 238)
cv::Scalar	pink_color = cv::Scalar(203, 192, 255)
cv::Scalar	beige_color = cv::Scalar(220, 245, 245)
cv::Scalar	ivory_color = cv::Scalar(240, 255, 255)
cv::Scalar	azure_color = cv::Scalar(255, 255, 240)
cv::Scalar	cyan_color = cv::Scalar(255, 255, 0)
cv::Scalar	sky_blue_color = cv::Scalar(235, 206, 135)
cv::Scalar	deep_sky_blue_color = cv::Scalar(255, 191, 0)
cv::Scalar	dodger_blue_color = cv::Scalar(255, 144, 30)
cv::Scalar	blue_color = cv::Scalar(255, 0, 0)
cv::Scalar	medium_blue_color = cv::Scalar(205, 0, 0)
cv::Scalar	dark_blue_color = cv::Scalar(139, 0, 0)
cv::Scalar	navy_color = cv::Scalar(128, 0, 0)
cv::Scalar	dark_green_color = cv::Scalar(0, 100, 0)
cv::Scalar	lime_color = cv::Scalar(0, 255, 0)
cv::Scalar	light_green_color = cv::Scalar(144, 238, 144)
cv::Scalar	olive_color = cv::Scalar(0, 128, 128)
cv::Scalar	green_color = cv::Scalar(0, 128, 0)
cv::Scalar	red_color = cv::Scalar(0, 0, 255)
cv::Scalar	coral_color = cv::Scalar(80, 127, 255)
cv::Scalar	salmon_color = cv::Scalar(144, 128, 250)
cv::Scalar	orange_color = cv::Scalar(0, 165, 255)
cv::Scalar	yellow_color = cv::Scalar(0, 255, 255)
cv::Scalar	maroon_color = cv::Scalar(0, 0, 128)
cv::Scalar	light_gray_color = cv::Scalar(100, 100, 100)
cv::Scalar	gray_color = cv::Scalar(128, 128, 128)
cv::Scalar	dark_gray_color = cv::Scalar(170, 170, 170)
cv::Scalar	silver_color = cv::Scalar(192, 192, 192)

Detailed Description

apollo::perception

Typedef Documentation

Point2Dd

typedef Eigen::Vector2d apollo::perception::Point2Dd

Point2Df

typedef Eigen::Vector2f apollo::perception::Point2Df

Point2Di

typedef Eigen::Vector2i apollo::perception::Point2Di

Enumeration Type Documentation

KeyCode

enum apollo::perception::KeyCode

Enumerator
KEY_0
KEY_1
KEY_2
KEY_3
KEY_4
KEY_5
KEY_6
KEY_7
KEY_8
KEY_9
KEY_UPPER_A
KEY_UPPER_B
KEY_UPPER_C
KEY_UPPER_D
KEY_UPPER_E
KEY_UPPER_F
KEY_UPPER_G
KEY_UPPER_H
KEY_UPPER_I
KEY_UPPER_J
KEY_UPPER_K
KEY_UPPER_L
KEY_UPPER_M
KEY_UPPER_N
KEY_UPPER_O
KEY_UPPER_P
KEY_UPPER_Q
KEY_UPPER_R
KEY_UPPER_S
KEY_UPPER_T
KEY_UPPER_U
KEY_UPPER_V
KEY_UPPER_W
KEY_UPPER_X
KEY_UPPER_Y
KEY_UPPER_Z
KEY_LOWER_A
KEY_LOWER_B
KEY_LOWER_C
KEY_LOWER_D
KEY_LOWER_E
KEY_LOWER_F
KEY_LOWER_G
KEY_LOWER_H
KEY_LOWER_I
KEY_LOWER_J
KEY_LOWER_K
KEY_LOWER_L
KEY_LOWER_M
KEY_LOWER_N
KEY_LOWER_O
KEY_LOWER_P
KEY_LOWER_Q
KEY_LOWER_R
KEY_LOWER_S
KEY_LOWER_T
KEY_LOWER_U
KEY_LOWER_V
KEY_LOWER_W
KEY_LOWER_X
KEY_LOWER_Y
KEY_LOWER_Z
KEY_LEFT
KEY_UP
KEY_RIGHT
KEY_DOWN
KEY_SHIFT_LEFT
KEY_SHIFT_RIGHT
KEY_CTRL_S
KEY_ALT_C
KEY_LEFT_NUM_LOCK_ON
KEY_UP_NUM_LOCK_ON
KEY_RIGHT_NUM_LOCK_ON
KEY_DOWN_NUM_LOCK_ON
KEY_SHIFT_LEFT_NUM_LOCK_ON
KEY_SHIFT_RIGHT_NUM_LOCK_ON
KEY_CTRL_S_NUM_LOCK_ON
KEY_ALT_C_NUM_LOCK_ON

Function Documentation

DECLARE_bool() [1/7]

apollo::perception::DECLARE_bool

(

enable_base_object_pool

)

DECLARE_bool() [2/7]

apollo::perception::DECLARE_bool

(

enable_ground_removal

)

DECLARE_bool() [3/7]

apollo::perception::DECLARE_bool

(

enable_downsample_beams

)

DECLARE_bool() [4/7]

apollo::perception::DECLARE_bool

(

enable_downsample_pointcloud

)

DECLARE_bool() [5/7]

apollo::perception::DECLARE_bool

(

enable_fuse_frames

)

DECLARE_bool() [6/7]

apollo::perception::DECLARE_bool

(

enable_shuffle_points

)

DECLARE_bool() [7/7]

apollo::perception::DECLARE_bool

(

reproduce_result_mode

)

DECLARE_double() [1/8]

apollo::perception::DECLARE_double

(

normalizing_factor

)

DECLARE_double() [2/8]

apollo::perception::DECLARE_double

(

ground_removal_height

)

DECLARE_double() [3/8]

apollo::perception::DECLARE_double

(

downsample_voxel_size_x

)

DECLARE_double() [4/8]

apollo::perception::DECLARE_double

(

downsample_voxel_size_y

)

DECLARE_double() [5/8]

apollo::perception::DECLARE_double

(

downsample_voxel_size_z

)

DECLARE_double() [6/8]

apollo::perception::DECLARE_double

(

fuse_time_interval

)

DECLARE_double() [7/8]

apollo::perception::DECLARE_double

(

score_threshold

)

DECLARE_double() [8/8]

apollo::perception::DECLARE_double

(

nms_overlap_threshold

)

DECLARE_int32() [1/7]

apollo::perception::DECLARE_int32

(

gpu_id

)

DECLARE_int32() [2/7]

apollo::perception::DECLARE_int32

(

num_point_feature

)

DECLARE_int32() [3/7]

apollo::perception::DECLARE_int32

(

downsample_beams_factor

)

DECLARE_int32() [4/7]

apollo::perception::DECLARE_int32

(

num_fuse_frames

)

DECLARE_int32() [5/7]

apollo::perception::DECLARE_int32

(

max_num_points

)

DECLARE_int32() [6/7]

apollo::perception::DECLARE_int32

(

num_output_box_feature

)

DECLARE_int32() [7/7]

apollo::perception::DECLARE_int32

(

num_classes

)

DECLARE_string() [1/20]

apollo::perception::DECLARE_string

(

obs_sensor_intrinsic_path

)

DECLARE_string() [2/20]

apollo::perception::DECLARE_string

(

obs_sensor_meta_path

)

DECLARE_string() [3/20]

apollo::perception::DECLARE_string

(

config_manager_path

)

DECLARE_string() [4/20]

apollo::perception::DECLARE_string

(

work_root

)

DECLARE_string() [5/20]

apollo::perception::DECLARE_string

(

pfe_torch_file

)

DECLARE_string() [6/20]

apollo::perception::DECLARE_string

(

scattered_torch_file

)

DECLARE_string() [7/20]

apollo::perception::DECLARE_string

(

backbone_torch_file

)

DECLARE_string() [8/20]

apollo::perception::DECLARE_string

(

fpn_torch_file

)

DECLARE_string() [9/20]

apollo::perception::DECLARE_string

(

bbox_head_torch_file

)

DECLARE_string() [10/20]

apollo::perception::DECLARE_string

(

mask_pfe_torch_file

)

DECLARE_string() [11/20]

apollo::perception::DECLARE_string

(

mask_scattered_torch_file

)

DECLARE_string() [12/20]

apollo::perception::DECLARE_string

(

mask_backbone_torch_file

)

DECLARE_string() [13/20]

apollo::perception::DECLARE_string

(

mask_fpn_torch_file

)

DECLARE_string() [14/20]

apollo::perception::DECLARE_string

(

mask_bbox_head_torch_file

)

DECLARE_string() [15/20]

apollo::perception::DECLARE_string

(

onnx_obstacle_detector_model

)

DECLARE_string() [16/20]

apollo::perception::DECLARE_string

(

onnx_test_input_path

)

DECLARE_string() [17/20]

apollo::perception::DECLARE_string

(

onnx_test_input_name_file

)

DECLARE_string() [18/20]

apollo::perception::DECLARE_string

(

onnx_prediction_image_path

)

DECLARE_string() [19/20]

apollo::perception::DECLARE_string

(

torch_detector_model

)

DECLARE_string() [20/20]

apollo::perception::DECLARE_string

(

lidar_sensor_name

)

Variable Documentation

azure_color

cv::Scalar apollo::perception::azure_color = cv::Scalar(255, 255, 240)

beige_color

cv::Scalar apollo::perception::beige_color = cv::Scalar(220, 245, 245)

black_color

cv::Scalar apollo::perception::black_color = cv::Scalar(0, 0, 0)

blue_color

cv::Scalar apollo::perception::blue_color = cv::Scalar(255, 0, 0)

coral_color

cv::Scalar apollo::perception::coral_color = cv::Scalar(80, 127, 255)

cyan_color

cv::Scalar apollo::perception::cyan_color = cv::Scalar(255, 255, 0)

dark_blue_color

cv::Scalar apollo::perception::dark_blue_color = cv::Scalar(139, 0, 0)

dark_gray_color

cv::Scalar apollo::perception::dark_gray_color = cv::Scalar(170, 170, 170)

dark_green_color

cv::Scalar apollo::perception::dark_green_color = cv::Scalar(0, 100, 0)

deep_sky_blue_color

cv::Scalar apollo::perception::deep_sky_blue_color = cv::Scalar(255, 191, 0)

dodger_blue_color

cv::Scalar apollo::perception::dodger_blue_color = cv::Scalar(255, 144, 30)

gray_color

cv::Scalar apollo::perception::gray_color = cv::Scalar(128, 128, 128)

green_color

cv::Scalar apollo::perception::green_color = cv::Scalar(0, 128, 0)

ivory_color

cv::Scalar apollo::perception::ivory_color = cv::Scalar(240, 255, 255)

k45DegreeInRadian

constexpr float apollo::perception::k45DegreeInRadian = static_cast<float>(45.0f * M_PI) / 180.0f

kAverageLaneWidthInMeter

constexpr float apollo::perception::kAverageLaneWidthInMeter = 3.7f

kFloatEpsilon

constexpr float apollo::perception::kFloatEpsilon = 0.000001f

kHalfVehicleWidthInMeter

constexpr float apollo::perception::kHalfVehicleWidthInMeter = kMaxVehicleWidthInMeter / 2.0f

kLowestFloat

constexpr float apollo::perception::kLowestFloat = -std::numeric_limits<float>::max()

kMarginVehicleToLane

constexpr float apollo::perception::kMarginVehicleToLane

Initial value:

=
    (kAverageLaneWidthInMeter - kMaxVehicleWidthInMeter) / 2.0f

kMaxFloat

constexpr float apollo::perception::kMaxFloat = std::numeric_limits<float>::max()

kMaxVehicleWidthInMeter

constexpr float apollo::perception::kMaxVehicleWidthInMeter = 1.87f

kMinAngle

constexpr float apollo::perception::kMinAngle = kLowestFloat / 180.0f

kMinLaneLineLengthForCIPV

constexpr uint32_t apollo::perception::kMinLaneLineLengthForCIPV = 2

kSingleVirtualEgolaneWidthInMeter

constexpr float apollo::perception::kSingleVirtualEgolaneWidthInMeter

Initial value:

=
    kMaxVehicleWidthInMeter + kMarginVehicleToLane

light_gray_color

cv::Scalar apollo::perception::light_gray_color = cv::Scalar(100, 100, 100)

light_green_color

cv::Scalar apollo::perception::light_green_color = cv::Scalar(144, 238, 144)

lime_color

cv::Scalar apollo::perception::lime_color = cv::Scalar(0, 255, 0)

magenta_color

cv::Scalar apollo::perception::magenta_color = cv::Scalar(255, 0, 255)

maroon_color

cv::Scalar apollo::perception::maroon_color = cv::Scalar(0, 0, 128)

medium_blue_color

cv::Scalar apollo::perception::medium_blue_color = cv::Scalar(205, 0, 0)

navy_color

cv::Scalar apollo::perception::navy_color = cv::Scalar(128, 0, 0)

olive_color

cv::Scalar apollo::perception::olive_color = cv::Scalar(0, 128, 128)

orange_color

cv::Scalar apollo::perception::orange_color = cv::Scalar(0, 165, 255)

pink_color

cv::Scalar apollo::perception::pink_color = cv::Scalar(203, 192, 255)

purple_color

cv::Scalar apollo::perception::purple_color = cv::Scalar(128, 0, 128)

red_color

cv::Scalar apollo::perception::red_color = cv::Scalar(0, 0, 255)

salmon_color

cv::Scalar apollo::perception::salmon_color = cv::Scalar(144, 128, 250)

silver_color

cv::Scalar apollo::perception::silver_color = cv::Scalar(192, 192, 192)

sky_blue_color

cv::Scalar apollo::perception::sky_blue_color = cv::Scalar(235, 206, 135)

teal_color

cv::Scalar apollo::perception::teal_color = cv::Scalar(128, 128, 0)

violet_color

cv::Scalar apollo::perception::violet_color = cv::Scalar(238, 130, 238)

white_color

cv::Scalar apollo::perception::white_color = cv::Scalar(255, 255, 255)

yellow_color

cv::Scalar apollo::perception::yellow_color = cv::Scalar(0, 255, 255)