Apollo检测出的障碍物输出格式

Apollo检测出的障碍物输出格式如上图所示。

输出的注释写的是kitti数据集的格式，kitti只有16个值。这个比kitti还要多6个值。

 

./apollo/modules/perception/camera/app/debug_info.cc说明了每个值的含义。

（前16个是和kitti数据集格式一样）

  // 1    type         Describes the type of object: 'Car', 'Van', 'Truck',
  //                   'Pedestrian', 'Person_sitting', 'Cyclist', 'Tram',
  //                   'Misc' or 'DontCare'
  // 1    truncated    Float from 0 (non-truncated) to 1 (truncated), where
  //                   truncated refers to the object leaving image boundaries
  // 1    occluded     Integer (0,1,2,3) indicating occlusion state:
  //                   0 = fully visible, 1 = partly occluded
  //                   2 = largely occluded, 3 = unknown
  // 1    alpha        Observation angle of object, ranging [-pi..pi]
  // 4    bbox         2D bounding box of object in the image (0-based index):
  //                   contains left, top, right, bottom pixel coordinates
  // 3    dimensions   3D object dimensions: height, width, length (in meters)
  // 3    location     3D object location x,y,z in camera coordinates (in
  // meters) 1    rotation_y   Rotation ry around Y-axis in camera coordinates
  // [-pi..pi] 1  score        Only for results: Float, indicating confidence
  // in detection, needed for p/r curves, higher is better.

 

但细看代码，比kitti的类要少，只有car ,cyclist,pedestrian和pedestrian几个类。（但是我记得在其他的配置文件有别的类啊。。。）

for (const auto &obj : objects) {
    switch (obj->type) {
      case base::ObjectType::VEHICLE:
        outf << "Car";
        break;
      case base::ObjectType::BICYCLE:
        outf << "Cyclist";
        break;
      case base::ObjectType::PEDESTRIAN:
        outf << "Pedestrian";
        break;
      default:
        AERROR << "Unknown object type: " << static_cast<int>(obj->type);
        outf << "Unknown";
    }

然后可以看到截断和遮挡都设为了0.也就是认为完全没有截断，完全没有遮挡。

    //截断和遮挡
    outf << " 0 0 ";

    outf << obj->camera_supplement.alpha;
    outf << " " << obj->camera_supplement.box.xmin;
    outf << " " << obj->camera_supplement.box.ymin;
    outf << " " << obj->camera_supplement.box.xmax;
    outf << " " << obj->camera_supplement.box.ymax;
    outf << " " << obj->size[2];
    outf << " " << obj->size[1];
    outf << " " << obj->size[0];
    outf << " " << obj->center[0];
    outf << " " << obj->center[1];
    outf << " " << obj->center[2];
    outf << " " << obj->theta;
    outf << " " << obj->type_probs[static_cast<int>(obj->type)];

下面是比kitti数据集要多的几个值：分别是刹车灯，左转向和右转向灯是否可见？是否开启？

    outf << " " << obj->car_light.brake_visible;
    outf << " " << obj->car_light.brake_switch_on;
    outf << " " << obj->car_light.left_turn_visible;
    outf << " " << obj->car_light.left_turn_switch_on;
    outf << " " << obj->car_light.right_turn_visible;
    outf << " " << obj->car_light.right_turn_switch_on;