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体验新版 GitCode,发现更多精彩内容 >>
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d0a2d855
编写于
4月 16, 2018
作者:
L
lichongchong16
提交者:
Qi Luo
4月 16, 2018
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
revise the pandora website
上级
f4557b5e
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
29 addition
and
30 deletion
+29
-30
docs/quickstart/apollo_2_0_hardware_system_installation_guide_v1.md
...start/apollo_2_0_hardware_system_installation_guide_v1.md
+2
-2
modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/cc_lane_post_processor.cc
..._process/cc_lane_post_processor/cc_lane_post_processor.cc
+26
-26
modules/perception/obstacle/lidar/object_filter/low_object_filter/BUILD
...tion/obstacle/lidar/object_filter/low_object_filter/BUILD
+1
-2
未找到文件。
docs/quickstart/apollo_2_0_hardware_system_installation_guide_v1.md
浏览文件 @
d0a2d855
...
...
@@ -265,7 +265,7 @@ The 40 line LiDAR system **Pandora** is available from Hesai Photonics Technolog
-
360° surrounding view with 4 mono cameras and long disatance front view with 1 color camera
![
online
](
images/online_icon.png
)
Webpage for Hesai Pandora:
[
http://www.hesaitech.com
](
http://www.hesaitech.com/pandora.html
)
[
http://www.hesaitech.com
/pandora.html
](
http://www.hesaitech.com/pandora.html
)
## Cameras
...
...
@@ -817,7 +817,7 @@ Each Pandora includes a cable bundle to connect the LiDAR to the power supply, t
!
[
Pandora_pin
](
images/Pandora_pinout_table.png
)
!
[
online_icon
](
images/online_icon.png
)
Pandora Manual can be found on this webpage:
[
http://www.hesaitech.com
](
http://www.hesaitech.com/pandora.html
)
[
http://www.hesaitech.com
/pandora.html
](
http://www.hesaitech.com/pandora.html
)
### Installing the Cameras
...
...
modules/perception/obstacle/camera/lane_post_process/cc_lane_post_processor/cc_lane_post_processor.cc
浏览文件 @
d0a2d855
...
...
@@ -349,11 +349,11 @@ bool CCLanePostProcessor::AddInstanceIntoLaneObjectImage(
lane_object
->
longitude_end
=
std
::
max
(
lane_object
->
pos
.
back
().
y
(),
lane_object
->
longitude_end
);
//
ADEBUG << " point " << lane_object->point_num << " = "
//
<< "(" << lane_object->pos.back()(0) << ", "
//
<< lane_object->pos.back()(1) << "), "
//
<< "(" << lane_object->image_pos.back()(0) << ", "
//
<< lane_object->image_pos.back()(1) << ")";
ADEBUG
<<
" point "
<<
lane_object
->
point_num
<<
" = "
<<
"("
<<
lane_object
->
pos
.
back
()(
0
)
<<
", "
<<
lane_object
->
pos
.
back
()(
1
)
<<
"), "
<<
"("
<<
lane_object
->
image_pos
.
back
()(
0
)
<<
", "
<<
lane_object
->
image_pos
.
back
()(
1
)
<<
")"
;
lane_object
->
point_num
++
;
}
...
...
@@ -370,17 +370,17 @@ bool CCLanePostProcessor::AddInstanceIntoLaneObjectImage(
lane_object
->
longitude_end
=
std
::
max
(
lane_object
->
pos
.
back
().
y
(),
lane_object
->
longitude_end
);
//
ADEBUG << " point " << lane_object->point_num << " = "
//
<< "(" << lane_object->pos.back()(0) << ", "
//
<< lane_object->pos.back()(1) << "), "
//
<< "(" << lane_object->image_pos.back()(0) << ", "
//
<< lane_object->image_pos.back()(1) << ")";
ADEBUG
<<
" point "
<<
lane_object
->
point_num
<<
" = "
<<
"("
<<
lane_object
->
pos
.
back
()(
0
)
<<
", "
<<
lane_object
->
pos
.
back
()(
1
)
<<
"), "
<<
"("
<<
lane_object
->
image_pos
.
back
()(
0
)
<<
", "
<<
lane_object
->
image_pos
.
back
()(
1
)
<<
")"
;
lane_object
->
point_num
++
;
i_prev
=
i
;
}
//
ADEBUG << "longitude_start = " << lane_object->longitude_start;
//
ADEBUG << "longitude_end = " << lane_object->longitude_end;
ADEBUG
<<
"longitude_start = "
<<
lane_object
->
longitude_start
;
ADEBUG
<<
"longitude_end = "
<<
lane_object
->
longitude_end
;
if
(
lane_object
->
point_num
!=
lane_object
->
pos
.
size
()
||
lane_object
->
point_num
!=
lane_object
->
orie
.
size
()
||
...
...
@@ -396,8 +396,8 @@ bool CCLanePostProcessor::AddInstanceIntoLaneObjectImage(
}
// fit polynomial model and compute lateral distance for lane object
//
ADEBUG << "max_size_to_fit_straight_line = "
//
<< options_.frame.max_size_to_fit_straight_line;
ADEBUG
<<
"max_size_to_fit_straight_line = "
<<
options_
.
frame
.
max_size_to_fit_straight_line
;
if
(
lane_object
->
point_num
<
3
||
lane_object
->
longitude_end
-
lane_object
->
longitude_start
<
options_
.
frame
.
max_size_to_fit_straight_line
)
{
...
...
@@ -437,9 +437,9 @@ bool CCLanePostProcessor::GenerateLaneInstances(const cv::Mat &lane_map) {
cv
::
Mat
lane_mask
;
if
(
lane_map
.
type
()
==
CV_32FC1
)
{
// confidence heatmap
//
ADEBUG << "confidence threshold = " << options_.lane_map_conf_thresh;
//
ADEBUG << "lane map size = "
//
<< "(" << lane_map.cols << ", " << lane_map.rows << ")";
ADEBUG
<<
"confidence threshold = "
<<
options_
.
lane_map_conf_thresh
;
ADEBUG
<<
"lane map size = "
<<
"("
<<
lane_map
.
cols
<<
", "
<<
lane_map
.
rows
<<
")"
;
lane_mask
.
create
(
lane_map
.
rows
,
lane_map
.
cols
,
CV_8UC1
);
lane_mask
.
setTo
(
cv
::
Scalar
(
0
));
for
(
int
h
=
0
;
h
<
lane_mask
.
rows
;
++
h
)
{
...
...
@@ -461,7 +461,7 @@ bool CCLanePostProcessor::GenerateLaneInstances(const cv::Mat &lane_map) {
vector
<
ConnectedComponentPtr
>
cc_list
;
cc_generator_
->
FindConnectedComponents
(
lane_mask
,
&
cc_list
);
//
ADEBUG << "number of connected components = " << cc_list.size();
ADEBUG
<<
"number of connected components = "
<<
cc_list
.
size
();
// 3. split CC and find inner edges
int
tot_inner_edge_count
=
0
;
...
...
@@ -537,7 +537,7 @@ bool CCLanePostProcessor::Process(const cv::Mat &lane_map,
bool
is_right_lane_found
=
false
;
for
(
auto
it
=
cur_lane_instances_
->
begin
();
it
!=
cur_lane_instances_
->
end
();
++
it
)
{
//
ADEBUG << "for lane instance " << it - cur_lane_instances_->begin();
ADEBUG
<<
"for lane instance "
<<
it
-
cur_lane_instances_
->
begin
();
if
(
is_left_lane_found
&&
is_right_lane_found
)
{
break
;
...
...
@@ -564,10 +564,10 @@ bool CCLanePostProcessor::Process(const cv::Mat &lane_map,
is_right_lane_found
=
true
;
}
//
ADEBUG << " lane object " << (*lane_objects)->back().GetSpatialLabel()
//
<< " has " << (*lane_objects)->back().pos.size() << " points: "
//
<< "lateral distance = "
//
<< (*lane_objects)->back().lateral_distance;
ADEBUG
<<
" lane object "
<<
(
*
lane_objects
)
->
back
().
GetSpatialLabel
()
<<
" has "
<<
(
*
lane_objects
)
->
back
().
pos
.
size
()
<<
" points: "
<<
"lateral distance = "
<<
(
*
lane_objects
)
->
back
().
lateral_distance
;
}
}
else
{
...
...
@@ -798,7 +798,7 @@ bool CCLanePostProcessor::Process(const cv::Mat &lane_map,
(
*
lane_objects
)
->
resize
(
valid_lane_objects
.
size
());
}
//
ADEBUG << "number of lane objects = " << (*lane_objects)->size();
ADEBUG
<<
"number of lane objects = "
<<
(
*
lane_objects
)
->
size
();
// if (options_.space_type != SpaceType::IMAGE) {
// if (!CompensateLaneObjects((*lane_objects))) {
// AERROR << "fail to compensate lane objects.";
...
...
@@ -807,7 +807,7 @@ bool CCLanePostProcessor::Process(const cv::Mat &lane_map,
// }
EnrichLaneInfo
((
*
lane_objects
));
//
ADEBUG << "use_lane_history_: " << use_history_;
ADEBUG
<<
"use_lane_history_: "
<<
use_history_
;
if
(
use_history_
)
{
// FilterWithLaneHistory(*lane_objects);
std
::
vector
<
bool
>
is_valid
(
generated_lanes_
->
size
(),
false
);
...
...
@@ -1098,7 +1098,7 @@ bool CCLanePostProcessor::CompensateLaneObjects(LaneObjectsPtr lane_objects) {
}
if
(
!
has_ego_lane_right
)
{
//
ADEBUG << "add virtual lane R_0 ...";
ADEBUG
<<
"add virtual lane R_0 ..."
;
if
(
ego_lane_left_idx
==
-
1
)
{
AERROR
<<
"failed to compensate right ego lane due to no left ego lane."
;
return
false
;
...
...
modules/perception/obstacle/lidar/object_filter/low_object_filter/BUILD
浏览文件 @
d0a2d855
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
_library
(
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
name
=
"low_object_filter"
,
...
...
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