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体验新版 GitCode,发现更多精彩内容 >>
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eae167e7
编写于
12月 27, 2017
作者:
X
xiaohuitu
提交者:
Jiangtao Hu
12月 27, 2017
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差异文件
perception: remove dummy fusion
上级
7fa80055
变更
8
显示空白变更内容
内联
并排
Showing
8 changed file
with
22 addition
and
108 deletion
+22
-108
modules/perception/obstacle/fusion/dummy/BUILD
modules/perception/obstacle/fusion/dummy/BUILD
+0
-22
modules/perception/obstacle/fusion/dummy/dummy_algorithms.cc
modules/perception/obstacle/fusion/dummy/dummy_algorithms.cc
+0
-27
modules/perception/obstacle/fusion/dummy/dummy_algorithms.h
modules/perception/obstacle/fusion/dummy/dummy_algorithms.h
+0
-55
modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.cc
...ion/obstacle/lidar/type_fuser/sequence_type_fuser/util.cc
+14
-0
modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.h
...tion/obstacle/lidar/type_fuser/sequence_type_fuser/util.h
+7
-0
modules/perception/obstacle/onboard/BUILD
modules/perception/obstacle/onboard/BUILD
+0
-1
modules/perception/obstacle/onboard/obstacle_perception.cc
modules/perception/obstacle/onboard/obstacle_perception.cc
+0
-2
modules/perception/tool/offline_visualizer_tool/conf/offline_sequential_obstacle_perception_test.flag
...ool/conf/offline_sequential_obstacle_perception_test.flag
+1
-1
未找到文件。
modules/perception/obstacle/fusion/dummy/BUILD
已删除
100644 → 0
浏览文件 @
7fa80055
load
(
"//tools:cpplint.bzl"
,
"cpplint"
)
package
(
default_visibility
=
[
"//visibility:public"
])
cc_library
(
name
=
"perception_obstacle_fusion_dummy"
,
srcs
=
[
"dummy_algorithms.cc"
,
],
hdrs
=
[
"dummy_algorithms.h"
,
],
deps
=
[
"//modules/common:log"
,
"//modules/perception/obstacle/common:perception_obstacle_common"
,
"//modules/perception/obstacle/fusion/interface:perception_obstacle_fusion_interface"
,
"@eigen//:eigen"
,
"@pcl//:pcl"
,
],
)
cpplint
()
modules/perception/obstacle/fusion/dummy/dummy_algorithms.cc
已删除
100644 → 0
浏览文件 @
7fa80055
/******************************************************************************
* Copyright 2017 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.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/perception/obstacle/fusion/dummy/dummy_algorithms.h"
namespace
apollo
{
namespace
perception
{
bool
DummyFusion
::
Fuse
(
const
std
::
vector
<
SensorObjects
>
&
multi_sensor_objects
,
std
::
vector
<
ObjectPtr
>
*
fused_objects
)
{
return
result_detect_
;
}
}
// namespace perception
}
// namespace apollo
modules/perception/obstacle/fusion/dummy/dummy_algorithms.h
已删除
100644 → 0
浏览文件 @
7fa80055
/******************************************************************************
* Copyright 2017 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.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#ifndef MODULES_PERCEPTION_OBSTACLE_FUSION_DUMMY_DUMMY_ALGORITHMS_H_
#define MODULES_PERCEPTION_OBSTACLE_FUSION_DUMMY_DUMMY_ALGORITHMS_H_
#include <string>
#include <vector>
#include "modules/perception/obstacle/fusion/interface/base_fusion.h"
namespace
apollo
{
namespace
perception
{
class
DummyFusion
:
public
BaseFusion
{
public:
DummyFusion
()
:
BaseFusion
()
{}
~
DummyFusion
()
=
default
;
bool
Init
()
override
{
return
result_init_
;
}
bool
Fuse
(
const
std
::
vector
<
SensorObjects
>
&
multi_sensor_objects
,
std
::
vector
<
ObjectPtr
>
*
fused_objects
)
override
;
std
::
string
name
()
const
override
{
return
"DummyFusion"
;
}
private:
// for unit test
bool
result_init_
=
true
;
bool
result_detect_
=
true
;
DISALLOW_COPY_AND_ASSIGN
(
DummyFusion
);
};
REGISTER_FUSION
(
DummyFusion
);
}
// namespace perception
}
// namespace apollo
#endif // MODULES_PERCEPTION_OBSTACLE_FUSION_DUMMY_DUMMY_ALGORITHMS_H_
modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.cc
浏览文件 @
eae167e7
...
@@ -68,6 +68,20 @@ void NormalizeRow(Matrixd* prob) {
...
@@ -68,6 +68,20 @@ void NormalizeRow(Matrixd* prob) {
}
}
}
}
void
PrintProbability
(
const
std
::
vector
<
float
>&
prob
,
const
std
::
string
&
name
)
{
std
::
cout
<<
name
<<
": "
;
float
max_prob
=
-
DBL_MAX
;
std
::
size_t
max_id
=
0
;
for
(
std
::
size_t
i
=
0
;
i
<
prob
.
size
();
++
i
)
{
std
::
cout
<<
std
::
setprecision
(
3
)
<<
prob
[
i
]
<<
" "
;
if
(
prob
[
i
]
>
max_prob
)
{
max_prob
=
prob
[
i
];
max_id
=
i
;
}
}
std
::
cout
<<
" max_type: "
<<
max_id
<<
std
::
endl
;
}
bool
LoadSingleMatrix
(
std
::
ifstream
&
fin
,
Matrixd
*
matrix
)
{
bool
LoadSingleMatrix
(
std
::
ifstream
&
fin
,
Matrixd
*
matrix
)
{
for
(
std
::
size_t
row
=
0
;
row
<
VALID_OBJECT_TYPE
;
++
row
)
{
for
(
std
::
size_t
row
=
0
;
row
<
VALID_OBJECT_TYPE
;
++
row
)
{
for
(
std
::
size_t
col
=
0
;
col
<
VALID_OBJECT_TYPE
;
++
col
)
{
for
(
std
::
size_t
col
=
0
;
col
<
VALID_OBJECT_TYPE
;
++
col
)
{
...
...
modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser/util.h
浏览文件 @
eae167e7
...
@@ -77,6 +77,13 @@ void Normalize(Vectord* prob);
...
@@ -77,6 +77,13 @@ void Normalize(Vectord* prob);
*/
*/
void
NormalizeRow
(
Matrixd
*
prob
);
void
NormalizeRow
(
Matrixd
*
prob
);
/**
* @brief Print probability
* @param prob Probability to be printed
* @param name Name of probability to be printed
*/
void
PrintProbability
(
const
std
::
vector
<
float
>&
prob
,
const
std
::
string
&
name
);
/**
/**
* @brief Load a matrix from input file stream
* @brief Load a matrix from input file stream
* @param fin The input file stream
* @param fin The input file stream
...
...
modules/perception/obstacle/onboard/BUILD
浏览文件 @
eae167e7
...
@@ -44,7 +44,6 @@ cc_library(
...
@@ -44,7 +44,6 @@ cc_library(
"//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser:perception_obstacle_lidar_type_fuser_sequence_type_fuser"
,
"//modules/perception/obstacle/lidar/type_fuser/sequence_type_fuser:perception_obstacle_lidar_type_fuser_sequence_type_fuser"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer"
,
"//modules/perception/obstacle/lidar/visualizer/opengl_visualizer:perception_obstacle_lidar_opengl_visualizer"
,
"//modules/perception/obstacle/radar/dummy:perception_obstacle_radar_dummy"
,
"//modules/perception/obstacle/radar/dummy:perception_obstacle_radar_dummy"
,
"//modules/perception/obstacle/fusion/dummy:perception_obstacle_fusion_dummy"
,
"@eigen//:eigen"
,
"@eigen//:eigen"
,
"@gtest//:gtest"
,
"@gtest//:gtest"
,
"@ros//:ros_common"
,
"@ros//:ros_common"
,
...
...
modules/perception/obstacle/onboard/obstacle_perception.cc
浏览文件 @
eae167e7
...
@@ -23,7 +23,6 @@
...
@@ -23,7 +23,6 @@
#include "modules/perception/lib/base/timer.h"
#include "modules/perception/lib/base/timer.h"
#include "modules/perception/obstacle/radar/dummy/dummy_algorithms.h"
#include "modules/perception/obstacle/radar/dummy/dummy_algorithms.h"
#include "modules/perception/obstacle/radar/modest/modest_radar_detector.h"
#include "modules/perception/obstacle/radar/modest/modest_radar_detector.h"
#include "modules/perception/obstacle/fusion/dummy/dummy_algorithms.h"
#include "modules/perception/obstacle/fusion/probabilistic_fusion/probabilistic_fusion.h"
#include "modules/perception/obstacle/fusion/probabilistic_fusion/probabilistic_fusion.h"
DEFINE_string
(
obstacle_show_type
,
"fused"
,
DEFINE_string
(
obstacle_show_type
,
"fused"
,
...
@@ -105,7 +104,6 @@ bool ObstaclePerception::Init() {
...
@@ -105,7 +104,6 @@ bool ObstaclePerception::Init() {
void
ObstaclePerception
::
RegistAllAlgorithm
()
{
void
ObstaclePerception
::
RegistAllAlgorithm
()
{
RegisterFactoryDummyRadarDetector
();
RegisterFactoryDummyRadarDetector
();
RegisterFactoryDummyFusion
();
RegisterFactoryModestRadarDetector
();
RegisterFactoryModestRadarDetector
();
RegisterFactoryProbabilisticFusion
();
RegisterFactoryProbabilisticFusion
();
...
...
modules/perception/tool/offline_visualizer_tool/conf/offline_sequential_obstacle_perception_test.flag
浏览文件 @
eae167e7
...
@@ -22,7 +22,7 @@
...
@@ -22,7 +22,7 @@
# the fusion method for onboard
# the fusion method for onboard
# type: string
# type: string
# candidate:
DummyFusion,
ProbabilisticFusion
# candidate:
only
ProbabilisticFusion
--onboard_fusion=ProbabilisticFusion
--onboard_fusion=ProbabilisticFusion
# enable visualization
# enable visualization
...
...
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