Apollo2.0自动驾驶之apollo/modules/perception/obstacle/base/object_supplement.h

/****************Apollo源码分析****************************

Copyright 2018 The File Authors & zouyu. All Rights Reserved.

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源码主要是c++实现的，也有少量python，git下载几百兆，其实代码不太多，主要是地图和数据了大量空间，主要程序
在apollo/modules目录中，

我们把它分成以下几部分（具体说明见各目录下的modules）：

感知：感知当前位置，速度，障碍物等等

Apollo/modules/perception

预测：对场景下一步的变化做出预测

Apollo/modules/prediction

规划：

(1) 全局路径规划：通过起点终点计算行驶路径

Apollo/modules/routing

(2) 规划当前轨道：通过感知，预测，路径规划等信息计算轨道

Apollo/modules/planning

(3) 规划转换成命令：将轨道转换成控制汽车的命令（加速，制动，转向等）

Apollo/modules/control

其它

(1) 输入输出

i. Apollo/modules/drivers 设备驱动

ii. Apollo/modules/localization 位置信息

iii. Apollo/modules/monitor 监控模块

iv. Apollo/modules/canbus 与汽车硬件交互

v. Apollo/modules/map 地图数据

vi. Apollo/modules/third_party_perception 三方感知器支持

(2) 交互

i. Apollo/modules/dreamview 可视化模块

ii. Apollo/modules/hmi 把汽车当前状态显示给用户

(3) 工具

i. Apollo/modules/calibration 标注工具

ii. Apollo/modules/common 支持其它模块的公共工具

iii. Apollo/modules/data 数据工具

iv. Apollo/modules/tools 一些Python工具

(4) 其它

i. Apollo/modules/elo 高精度定位系统，无源码，但有文档

ii. Apollo/modules/e2e 收集传感器数据给PX2,ROS

  自动驾驶系统先通过起点终点规划出整体路径（routing）；然后在行驶过程中感知（perception）当前环境
（识别车辆行人路况标志等），并预测下一步发展；然后把已知信息都传入规划模块（planning），规划出之后的轨道；
控制模块（control）将轨道数据转换成对车辆的控制信号，通过汽车交互模块（canbus）控制汽车．

我觉得这里面算法技术含量最高的是感知perception和规划planning，具体请见本博客中各模块的分析代码。

/****************************************************************************************

/******************************************************************************
 * Copyright 2018 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_BASE_OBJECT_SUPPLEMENT_H_
#define MODULES_PERCEPTION_OBSTACLE_BASE_OBJECT_SUPPLEMENT_H_

#include <boost/circular_buffer.hpp>
#include <opencv2/opencv.hpp>
#include <memory>
#include <string>
#include <vector>
#include "Eigen/Core"

#include "modules/perception/obstacle/base/types.h"

namespace apollo {
namespace perception {

struct alignas(16) RadarSupplement {
  RadarSupplement();
  ~RadarSupplement();
  RadarSupplement(const RadarSupplement& rhs);
  RadarSupplement& operator = (const RadarSupplement& rhs);
  void clone(const RadarSupplement& rhs);

  // distance
  float range = 0.0f;
  // x -> forward, y -> left
  float angle = 0.0f;
  float relative_radial_velocity = 0.0f;
  float relative_tangential_velocity = 0.0f;
  float radial_velocity = 0.0f;
};
typedef std::shared_ptr<RadarSupplement> RadarSupplementPtr;
typedef std::shared_ptr<const RadarSupplement> RadarSupplementConstPtr;

struct alignas(16) RadarFrameSupplement {
    RadarFrameSupplement();
    ~RadarFrameSupplement();
    RadarFrameSupplement(const RadarFrameSupplement& rhs);
    RadarFrameSupplement& operator = (const RadarFrameSupplement& rhs);
    void clone(const RadarFrameSupplement& rhs);
};

typedef std::shared_ptr<RadarFrameSupplement> RadarFrameSupplementPtr;
typedef std::shared_ptr<const RadarFrameSupplement>
        RadarFrameSupplementConstPtr;

struct alignas(16) CameraFrameSupplement {
  CameraFrameSupplement();
  ~CameraFrameSupplement();
  CameraFrameSupplement(const CameraFrameSupplement& rhs);
  CameraFrameSupplement& operator=(const CameraFrameSupplement& rhs);
  void clone(const CameraFrameSupplement& rhs);

  cv::Mat depth_map;
  cv::Mat label_map;
  cv::Mat lane_map;
  cv::Mat img_src;
  std::string source_topic;
};

typedef std::shared_ptr<CameraFrameSupplement> CameraFrameSupplementPtr;

typedef std::shared_ptr<const CameraFrameSupplement>
    CameraFrameSupplementConstPtr;

struct alignas(16) CameraSupplement {
  CameraSupplement();
  ~CameraSupplement();
  CameraSupplement(const CameraSupplement& rhs);
  CameraSupplement& operator=(const CameraSupplement& rhs);
  void clone(const CameraSupplement& rhs);

  // upper-left corner: x1, y1
  Eigen::Vector2d upper_left;
  // lower-right corner: x2, y2
  Eigen::Vector2d lower_right;
  // local track id
  int local_track_id = -1;

  // 2Dto3D, pts8.resize(16), x, y...
  std::vector<float> pts8;

  // front box upper-left corner: x1, y1
  Eigen::Vector2d front_upper_left;
  // front box  lower-right corner: x2, y2
  Eigen::Vector2d front_lower_right;

  // front box upper-left corner: x1, y1
  Eigen::Vector2d back_upper_left;
  // front box  lower-right corner: x2, y2
  Eigen::Vector2d back_lower_right;

  std::vector<float> object_feature;

  // this is `alpha` angle from KITTI: Observation angle of object,
  // ranging [-pi..pi]
  double alpha = 0.0;
};

typedef std::shared_ptr<CameraSupplement> CameraSupplementPtr;
typedef std::shared_ptr<const CameraSupplement> CameraSupplementConstPtr;

struct alignas(16) VehicleStatus {
  float yaw_rate;
  float velocity;
  float time_t;            // time stamp
  float time_d;            // time stamp difference in image
  Eigen::Matrix3f motion;  // Motion Matrix
};

typedef boost::circular_buffer<VehicleStatus> MotionBuffer;
typedef std::shared_ptr<MotionBuffer> MotionBufferPtr;
typedef std::shared_ptr<const MotionBuffer> MotionBufferConstPtr;

struct alignas(16) Vehicle3DStatus {
  float yaw_delta;  // azimuth angle change
  float pitch_delta;
  float roll_delta;
  float velocity_x;          // east
  float velocity_y;          // north
  float velocity_z;          // up
  float time_t;              // time stamp
  float time_d;              // time stamp difference in image
  Eigen::Matrix4f motion3d;  // 3-d Motion Matrix
};

typedef boost::circular_buffer<Vehicle3DStatus> Motion3DBuffer;
typedef std::shared_ptr<Motion3DBuffer> Motion3DBufferPtr;
typedef std::shared_ptr<const Motion3DBuffer> Motion3DBufferConstPtr;

}  // namespace perception
}  // namespace apollo

#endif  // MODULES_PERCEPTION_OBSTACLE_BASE_OBJECT_SUPPLEMENT_H_

/******************************************************************************

* Copyright 2018 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_BASE_OBJECT_SUPPLEMENT_H_

#define MODULES_PERCEPTION_OBSTACLE_BASE_OBJECT_SUPPLEMENT_H_

//这里定义了各种传感器的目标补偿，我的理解是

//无人驾驶汽车在行进的过程中，获得的数据会产生偏差，需要及时补偿差值

#include <boost/circular_buffer.hpp>

#include <opencv2/opencv.hpp>

#include <memory>

#include <string>

#include <vector>

#include "Eigen/Core"

#include "modules/perception/obstacle/base/types.h"

namespace apollo {

namespace perception {

struct alignas ( 16 ) RadarSupplement { //雷达补偿

RadarSupplement ();

~RadarSupplement ();

RadarSupplement ( const RadarSupplement & rhs);

RadarSupplement & operator = ( const RadarSupplement & rhs);

void clone ( const RadarSupplement & rhs);

// distance

float range = 0.0f ;

// x -> forward, y -> left

float angle = 0.0f ;

float relative_radial_velocity = 0.0f ;

float relative_tangential_velocity = 0.0f ;

float radial_velocity = 0.0f ;

};

typedef std::shared_ptr < RadarSupplement > RadarSupplementPtr;

typedef std::shared_ptr < const RadarSupplement > RadarSupplementConstPtr;

struct alignas ( 16 ) RadarFrameSupplement {

RadarFrameSupplement ();

~RadarFrameSupplement ();

RadarFrameSupplement ( const RadarFrameSupplement & rhs);

RadarFrameSupplement & operator = ( const RadarFrameSupplement & rhs);

void clone ( const RadarFrameSupplement & rhs);

};

typedef std::shared_ptr < RadarFrameSupplement > RadarFrameSupplementPtr;

typedef std::shared_ptr < const RadarFrameSupplement >

RadarFrameSupplementConstPtr;

struct alignas ( 16 ) CameraFrameSupplement { //摄像头补偿

CameraFrameSupplement ();

~CameraFrameSupplement ();

CameraFrameSupplement ( const CameraFrameSupplement & rhs);

CameraFrameSupplement & operator = ( const CameraFrameSupplement & rhs);

void clone ( const CameraFrameSupplement & rhs);

cv::Mat depth_map;

cv::Mat label_map;

cv::Mat lane_map;

cv::Mat img_src;

std::string source_topic;

};

typedef std::shared_ptr < CameraFrameSupplement > CameraFrameSupplementPtr;

typedef std::shared_ptr < const CameraFrameSupplement >

CameraFrameSupplementConstPtr;

struct alignas ( 16 ) CameraSupplement {

CameraSupplement ();

~CameraSupplement ();

CameraSupplement ( const CameraSupplement & rhs);

CameraSupplement & operator = ( const CameraSupplement & rhs);

void clone ( const CameraSupplement & rhs);

// upper-left corner: x1, y1

Eigen::Vector2d upper_left;

// lower-right corner: x2, y2

Eigen::Vector2d lower_right;

// local track id

int local_track_id = - 1 ;

// 2Dto3D, pts8.resize(16), x, y...

std::vector < float > pts8;

// front box upper-left corner: x1, y1

Eigen::Vector2d front_upper_left;

// front box lower-right corner: x2, y2

Eigen::Vector2d front_lower_right;

// front box upper-left corner: x1, y1

Eigen::Vector2d back_upper_left;

// front box lower-right corner: x2, y2

Eigen::Vector2d back_lower_right;

std::vector < float > object_feature;

// this is `alpha` angle from KITTI: Observation angle of object,

// ranging [-pi..pi]

double alpha = 0.0 ;

};

typedef std::shared_ptr < CameraSupplement > CameraSupplementPtr;

typedef std::shared_ptr < const CameraSupplement > CameraSupplementConstPtr;

struct alignas ( 16 ) VehicleStatus {

float yaw_rate;

float velocity;

float time_t ; // time stamp

float time_d; // time stamp difference in image

Eigen::Matrix3f motion; // Motion Matrix

};

typedef boost::circular_buffer < VehicleStatus > MotionBuffer;

typedef std::shared_ptr < MotionBuffer > MotionBufferPtr;

typedef std::shared_ptr < const MotionBuffer > MotionBufferConstPtr;

struct alignas ( 16 ) Vehicle3DStatus { //车辆的3D实时状态

float yaw_delta; // azimuth angle change

float pitch_delta;

float roll_delta;

float velocity_x; // east

float velocity_y; // north

float velocity_z; // up

float time_t ; // time stamp

float time_d; // time stamp difference in image

Eigen::Matrix4f motion3d; // 3-d Motion Matrix

};

typedef boost::circular_buffer < Vehicle3DStatus > Motion3DBuffer;

typedef std::shared_ptr < Motion3DBuffer > Motion3DBufferPtr;

typedef std::shared_ptr < const Motion3DBuffer > Motion3DBufferConstPtr;

} // namespace perception

} // namespace apollo

#endif // MODULES_PERCEPTION_OBSTACLE_BASE_OBJECT_SUPPLEMENT_H_

在上面分析的过程中，有很多的代码段不能与实际的运行联系起来，有很多地方不明白。如果熟悉的朋友请指教！！！