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体验新版 GitCode,发现更多精彩内容 >>
提交
a1ac6069
编写于
2月 27, 2018
作者:
Z
zhujun08
提交者:
Liangliang Zhang
2月 28, 2018
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差异文件
fix bug in type.h for lane post-processing
上级
7ffea8ed
变更
7
展开全部
显示空白变更内容
内联
并排
Showing
7 changed file
with
30 addition
and
890 deletion
+30
-890
modules/perception/obstacle/base/BUILD
modules/perception/obstacle/base/BUILD
+1
-0
modules/perception/obstacle/base/object.h
modules/perception/obstacle/base/object.h
+2
-0
modules/perception/obstacle/camera/lane_post_process/common/BUILD
...perception/obstacle/camera/lane_post_process/common/BUILD
+15
-3
modules/perception/obstacle/camera/lane_post_process/common/connected_component.h
...cle/camera/lane_post_process/common/connected_component.h
+8
-9
modules/perception/obstacle/camera/lane_post_process/common/connected_components.cc
...e/camera/lane_post_process/common/connected_components.cc
+0
-874
modules/perception/obstacle/camera/lane_post_process/common/type.h
...erception/obstacle/camera/lane_post_process/common/type.h
+2
-2
modules/perception/obstacle/camera/lane_post_process/common/util.h
...erception/obstacle/camera/lane_post_process/common/util.h
+2
-2
未找到文件。
modules/perception/obstacle/base/BUILD
浏览文件 @
a1ac6069
...
...
@@ -22,6 +22,7 @@ cc_library(
"//modules/perception/lib/base"
,
"//modules/perception/lib/pcl_util"
,
"//modules/perception/proto:perception_proto"
,
"//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type"
,
"@eigen"
,
"@opencv2//:core"
,
],
...
...
modules/perception/obstacle/base/object.h
浏览文件 @
a1ac6069
...
...
@@ -30,6 +30,7 @@
#include "modules/perception/lib/pcl_util/pcl_types.h"
#include "modules/perception/obstacle/base/object_supplement.h"
#include "modules/perception/obstacle/base/types.h"
#include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
namespace
apollo
{
namespace
perception
{
...
...
@@ -113,6 +114,7 @@ struct SensorObjects {
SeqId
seq_num
=
0
;
std
::
vector
<
ObjectPtr
>
objects
;
Eigen
::
Matrix4d
sensor2world_pose
;
LaneObjectsPtr
lane_objects
;
};
}
// namespace perception
...
...
modules/perception/obstacle/camera/lane_post_process/common/BUILD
浏览文件 @
a1ac6069
...
...
@@ -3,7 +3,7 @@ load("//tools:cpplint.bzl", "cpplint")
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
name
=
"
lane
_type"
,
name
=
"
perception_obstacle_camera_lane_post_process_common
_type"
,
hdrs
=
[
"type.h"
],
deps
=
[
"//modules/common:log"
,
...
...
@@ -13,11 +13,23 @@ cc_library(
)
cc_library
(
name
=
"
lane
_util"
,
name
=
"
perception_obstacle_camera_lane_post_process_common
_util"
,
hdrs
=
[
"util.h"
],
deps
=
[
"//modules/common:log"
,
"//modules/perception/obstacle/camera/lane_post_process/common:lane_type"
,
"//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type"
,
],
)
cc_library
(
name
=
"perception_obstacle_camera_lane_post_process_common_connected_component_analysis"
,
srcs
=
[
"connected_component.cc"
],
hdrs
=
[
"connected_component.h"
],
deps
=
[
"//modules/common:log"
,
"//modules/perception/obstacle/camera/lane_post_process/common:perception_obstacle_camera_lane_post_process_common_type"
,
"@eigen//:eigen"
,
"@opencv2//:core"
,
],
)
...
...
modules/perception/obstacle/camera/lane_post_process/common/connected_component.h
浏览文件 @
a1ac6069
/******************************************************************************
* Copyright 201
7
The Apollo Authors. All Rights Reserved.
* Copyright 201
8
The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
...
...
@@ -14,8 +14,6 @@
* limitations under the License.
*****************************************************************************/
// @brief: connected component analysis for lane detection
#ifndef MODULES_PERCEPTION_OBSTACLE_CAMERA_LANE_POST_PROCESS_COMMON_CONNECTED_COMPONENT_H_
#define MODULES_PERCEPTION_OBSTACLE_CAMERA_LANE_POST_PROCESS_COMMON_CONNECTED_COMPONENT_H_
...
...
@@ -27,8 +25,8 @@
#include <Eigen/Core>
#include <opencv2/core/core.hpp>
//#include <cuda.h>
//#include <cuda_runtime.h>
//
#include <cuda.h>
//
#include <cuda_runtime.h>
#include "modules/common/log.h"
#include "modules/perception/obstacle/camera/lane_post_process/common/type.h"
...
...
@@ -346,7 +344,8 @@ class ConnectedComponentGenerator {
#endif
}
bool
FindCC
(
const
cv
::
Mat
&
lane_map
,
bool
FindConnectedComponents
(
const
cv
::
Mat
&
lane_map
,
std
::
vector
<
std
::
shared_ptr
<
ConnectedComponent
>>&
cc
);
private:
...
...
@@ -368,13 +367,13 @@ class ConnectedComponentGenerator {
#if CUDA_CC
int
*
labels_
;
cudaArray
*
img_array_
;
int
*
label_array_
;
#else
DisjointSet
labels_
;
std
::
vector
<
int
>
frame_label_
;
#endif
std
::
vector
<
int
>
root_map_
;
cudaArray
*
img_array_
;
int
*
label_array_
;
};
}
// namespace perception
...
...
modules/perception/obstacle/camera/lane_post_process/common/connected_components.cc
已删除
100644 → 0
浏览文件 @
7ffea8ed
此差异已折叠。
点击以展开。
modules/perception/obstacle/camera/lane_post_process/common/type.h
浏览文件 @
a1ac6069
/******************************************************************************
* Copyright 201
7
The Apollo Authors. All Rights Reserved.
* Copyright 201
8
The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
...
...
@@ -477,7 +477,7 @@ struct LaneObject {
new_lane_object
->
semantic
=
semantic
;
new_lane_object
->
is_compensated
=
is_compensated
;
for
(
size_t
i
=
0
;
i
<
new_lane_object
.
point_num
;
++
i
)
{
for
(
size_t
i
=
0
;
i
<
new_lane_object
->
point_num
;
++
i
)
{
new_lane_object
->
pos
.
push_back
(
pos
[
i
]);
new_lane_object
->
orie
.
push_back
(
orie
[
i
]);
new_lane_object
->
image_pos
.
push_back
(
image_pos
[
i
]);
...
...
modules/perception/obstacle/camera/lane_post_process/common/util.h
浏览文件 @
a1ac6069
/******************************************************************************
* Copyright 201
7
The Apollo Authors. All Rights Reserved.
* Copyright 201
8
The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
...
...
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