region_output.h File Reference

#include <algorithm>
#include <map>
#include <memory>
#include <string>
#include <utility>
#include <vector>
#include "modules/perception/camera/proto/yolo.pb.h"
#include "modules/perception/base/blob.h"
#include "modules/perception/base/box.h"
#include "modules/perception/base/object.h"
#include "modules/perception/base/object_types.h"
#include "modules/perception/camera/common/math_functions.h"
#include "modules/perception/camera/common/util.h"

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Classes
struct	apollo::perception::camera::NormalizedBBox
struct	apollo::perception::camera::BBox3D
struct	apollo::perception::camera::AnchorBox
struct	apollo::perception::camera::NMSParam
struct	apollo::perception::camera::YoloBlobs
struct	apollo::perception::camera::MinDims

Namespaces
	apollo
	PlanningContext is the runtime context in planning. It is persistent across multiple frames.
	apollo::perception
	apollo::perception
	apollo::perception::camera

Functions
__host__ __device__ float	apollo::perception::camera::sigmoid_gpu (float x)
__host__ __device__ float	apollo::perception::camera::bbox_size_gpu (const float *bbox, const bool normalized)
__host__ __device__ float	apollo::perception::camera::jaccard_overlap_gpu (const float *bbox1, const float *bbox2)
template<typename T >
bool	apollo::perception::camera::sort_score_pair_descend (const std::pair< float, T > &pair1, const std::pair< float, T > &pair2)
void	apollo::perception::camera::get_max_score_index (const std::vector< float > &scores, const float threshold, const int top_k, std::vector< std::pair< float, int >> *score_index_vec)
float	apollo::perception::camera::get_bbox_size (const NormalizedBBox &bbox)
void	apollo::perception::camera::get_intersect_bbox (const NormalizedBBox &bbox1, const NormalizedBBox &bbox2, NormalizedBBox *intersect_bbox)
float	apollo::perception::camera::get_jaccard_overlap (const NormalizedBBox &bbox1, const NormalizedBBox &bbox2)
void	apollo::perception::camera::apply_nms (const bool *overlapped, const int num, std::vector< int > *indices)
void	apollo::perception::camera::apply_nms_gpu (const float *bbox_data, const float *conf_data, const std::vector< int > &origin_indices, const int bbox_step, const float confidence_threshold, const int top_k, const float nms_threshold, std::vector< int > *indices, base::Blob< bool > *overlapped, base::Blob< int > *idx_sm, const cudaStream_t &_stream)
void	apollo::perception::camera::compute_overlapped_by_idx_gpu (const int nthreads, const float *bbox_data, const float overlap_threshold, const int *idx, const int num_idx, bool *overlapped_data, const cudaStream_t &_stream)
int	apollo::perception::camera::get_objects_gpu (const YoloBlobs &yolo_blobs, const cudaStream_t &stream, const std::vector< base::ObjectSubType > &types, const NMSParam &nms, const yolo::ModelParam &model_param, float light_vis_conf_threshold, float light_swt_conf_threshold, base::Blob< bool > *overlapped, base::Blob< int > *idx_sm, const std::map< base::ObjectSubType, std::vector< int >> &indices, const std::map< base::ObjectSubType, std::vector< float >> &conf_scores)
void	apollo::perception::camera::get_objects_cpu (const YoloBlobs &yolo_blobs, const cudaStream_t &stream, const std::vector< base::ObjectSubType > &types, const NMSParam &nms, const yolo::ModelParam &model_param, float light_vis_conf_threshold, float light_swt_conf_threshold, base::Blob< bool > *overlapped, base::Blob< int > *idx_sm, std::vector< base::ObjectPtr > *objects)
void	apollo::perception::camera::apply_softnms_fast (const std::vector< NormalizedBBox > &bboxes, std::vector< float > *scores, const float score_threshold, const float nms_threshold, const int top_k, std::vector< int > *indices, bool is_linear, const float sigma)
void	apollo::perception::camera::apply_boxvoting_fast (std::vector< NormalizedBBox > *bboxes, std::vector< float > *scores, const float conf_threshold, const float nms_threshold, const float sigma, std::vector< int > *indices)
void	apollo::perception::camera::apply_nms_fast (const std::vector< NormalizedBBox > &bboxes, const std::vector< float > &scores, const float score_threshold, const float nms_threshold, const float eta, const int top_k, std::vector< int > *indices)
void	apollo::perception::camera::recover_bbox (int roi_w, int roi_h, int offset_y, std::vector< base::ObjectPtr > *objects)
void	apollo::perception::camera::filter_bbox (const MinDims &min_dims, std::vector< base::ObjectPtr > *objects)
void	apollo::perception::camera::fill_bbox3d (bool with_bbox3d, base::ObjectPtr obj, const float *bbox)
void	apollo::perception::camera::fill_frbox (bool with_frbox, base::ObjectPtr obj, const float *bbox)
void	apollo::perception::camera::fill_lights (bool with_lights, base::ObjectPtr obj, const float *bbox)
void	apollo::perception::camera::fill_ratios (bool with_ratios, base::ObjectPtr obj, const float *bbox)
void	apollo::perception::camera::fill_area_id (bool with_flag, base::ObjectPtr obj, const float *data)
void	apollo::perception::camera::fill_base (base::ObjectPtr obj, const float *bbox)
const float *	apollo::perception::camera::get_gpu_data (bool flag, const base::Blob< float > &blob)
int	apollo::perception::camera::get_area_id (float visible_ratios[4])

Variables
constexpr float	apollo::perception::camera::minExpPower = -10.0f
constexpr float	apollo::perception::camera::maxExpPower = 5.0f
constexpr int	apollo::perception::camera::anchorSizeFactor = 2
constexpr int	apollo::perception::camera::numScales = 3