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

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

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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 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/base/object_supplement.h"

namespace apollo {
namespace perception {

/**RadarFrameSupplement implementation*/
RadarFrameSupplement::RadarFrameSupplement() {}

RadarFrameSupplement::~RadarFrameSupplement() {}

RadarFrameSupplement::RadarFrameSupplement(const RadarFrameSupplement& rhs) {}

RadarFrameSupplement& RadarFrameSupplement::operator=(
    const RadarFrameSupplement& rhs) {
  return (*this);
}

void RadarFrameSupplement::clone(const RadarFrameSupplement& rhs) {}

/**CameraFrameSupplement implementation*/
CameraFrameSupplement::CameraFrameSupplement() {}

CameraFrameSupplement::~CameraFrameSupplement() {}

CameraFrameSupplement::CameraFrameSupplement(const CameraFrameSupplement& rhs) {
  rhs.depth_map.copyTo(depth_map);
  rhs.label_map.copyTo(label_map);
  rhs.lane_map.copyTo(lane_map);
}

CameraFrameSupplement& CameraFrameSupplement::operator=(
    const CameraFrameSupplement& rhs) {
  rhs.depth_map.copyTo(depth_map);
  rhs.label_map.copyTo(label_map);
  rhs.lane_map.copyTo(lane_map);
  return (*this);
}

void CameraFrameSupplement::clone(const CameraFrameSupplement& rhs) {
  rhs.depth_map.copyTo(depth_map);
  rhs.label_map.copyTo(label_map);
  rhs.lane_map.copyTo(lane_map);
}

/**RadarSupplement implementation*/
RadarSupplement::RadarSupplement() {}

RadarSupplement::~RadarSupplement() {}

RadarSupplement::RadarSupplement(const RadarSupplement& rhs) {
  range = rhs.range;
  angle = rhs.angle;
  relative_radial_velocity = rhs.relative_radial_velocity;
  relative_tangential_velocity = rhs.relative_tangential_velocity;
  radial_velocity = rhs.radial_velocity;
}

RadarSupplement& RadarSupplement::operator=(const RadarSupplement& rhs) {
  range = rhs.range;
  angle = rhs.angle;
  relative_radial_velocity = rhs.relative_radial_velocity;
  relative_tangential_velocity = rhs.relative_tangential_velocity;
  radial_velocity = rhs.radial_velocity;
  return (*this);
}

void RadarSupplement::clone(const RadarSupplement& rhs) {
  range = rhs.range;
  angle = rhs.angle;
  relative_radial_velocity = rhs.relative_radial_velocity;
  relative_tangential_velocity = rhs.relative_tangential_velocity;
  radial_velocity = rhs.radial_velocity;
}

/**CameraSupplement implementation*/
CameraSupplement::CameraSupplement() {}

CameraSupplement::~CameraSupplement() {}

CameraSupplement::CameraSupplement(const CameraSupplement& rhs) {
  upper_left = rhs.upper_left;
  lower_right = rhs.lower_right;
  local_track_id = rhs.local_track_id;
  alpha = rhs.alpha;
  pts8.assign(rhs.pts8.begin(), rhs.pts8.end());
  front_upper_left = rhs.front_upper_left;
  front_lower_right = rhs.front_lower_right;
  back_upper_left = rhs.back_upper_left;
  back_lower_right = rhs.back_lower_right;
}

CameraSupplement& CameraSupplement::operator=(const CameraSupplement& rhs) {
  upper_left = rhs.upper_left;
  lower_right = rhs.lower_right;
  local_track_id = rhs.local_track_id;
  alpha = rhs.alpha;
  pts8.assign(rhs.pts8.begin(), rhs.pts8.end());
  front_upper_left = rhs.front_upper_left;
  front_lower_right = rhs.front_lower_right;
  back_upper_left = rhs.back_upper_left;
  back_lower_right = rhs.back_lower_right;

  return (*this);
}

void CameraSupplement::clone(const CameraSupplement& rhs) {
  upper_left = rhs.upper_left;
  lower_right = rhs.lower_right;
  local_track_id = rhs.local_track_id;
  alpha = rhs.alpha;
  pts8.assign(rhs.pts8.begin(), rhs.pts8.end());
  front_upper_left = rhs.front_upper_left;
  front_lower_right = rhs.front_lower_right;
  back_upper_left = rhs.back_upper_left;
  back_lower_right = rhs.back_lower_right;
}

}  // namespace perception
}  // namespace apollo

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

* 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/base/object_supplement.h"

namespace apollo {

namespace perception {

/**RadarFrameSupplement implementation*/

RadarFrameSupplement::RadarFrameSupplement () {}

RadarFrameSupplement::~RadarFrameSupplement () {}

RadarFrameSupplement::RadarFrameSupplement ( const RadarFrameSupplement & rhs) {}

RadarFrameSupplement & RadarFrameSupplement:: operator = (

const RadarFrameSupplement & rhs) {

return ( * this );

}

void RadarFrameSupplement::clone ( const RadarFrameSupplement & rhs) {}

/**CameraFrameSupplement implementation*/

CameraFrameSupplement::CameraFrameSupplement () {}

CameraFrameSupplement::~CameraFrameSupplement () {}

CameraFrameSupplement::CameraFrameSupplement ( const CameraFrameSupplement & rhs) {

rhs. depth_map . copyTo (depth_map);

rhs. label_map . copyTo (label_map);

rhs. lane_map . copyTo (lane_map);

}

CameraFrameSupplement & CameraFrameSupplement:: operator = (

const CameraFrameSupplement & rhs) {

rhs. depth_map . copyTo (depth_map);

rhs. label_map . copyTo (label_map);

rhs. lane_map . copyTo (lane_map);

return ( * this );

}

void CameraFrameSupplement::clone ( const CameraFrameSupplement & rhs) {

rhs. depth_map . copyTo (depth_map);

rhs. label_map . copyTo (label_map);

rhs. lane_map . copyTo (lane_map);

}

/**RadarSupplement implementation*/

RadarSupplement::RadarSupplement () {}

RadarSupplement::~RadarSupplement () {}

RadarSupplement::RadarSupplement ( const RadarSupplement & rhs) {

range = rhs. range ;

angle = rhs. angle ;

relative_radial_velocity = rhs. relative_radial_velocity ;

relative_tangential_velocity = rhs. relative_tangential_velocity ;

radial_velocity = rhs. radial_velocity ;

}

RadarSupplement & RadarSupplement:: operator = ( const RadarSupplement & rhs) {

range = rhs. range ;

angle = rhs. angle ;

relative_radial_velocity = rhs. relative_radial_velocity ;

relative_tangential_velocity = rhs. relative_tangential_velocity ;

radial_velocity = rhs. radial_velocity ;

return ( * this );

}

void RadarSupplement::clone ( const RadarSupplement & rhs) {

range = rhs. range ;

angle = rhs. angle ;

relative_radial_velocity = rhs. relative_radial_velocity ;

relative_tangential_velocity = rhs. relative_tangential_velocity ;

radial_velocity = rhs. radial_velocity ;

}

/**CameraSupplement implementation*/

CameraSupplement::CameraSupplement () {}

CameraSupplement::~CameraSupplement () {}

CameraSupplement::CameraSupplement ( const CameraSupplement & rhs) {

upper_left = rhs. upper_left ;

lower_right = rhs. lower_right ;

local_track_id = rhs. local_track_id ;

alpha = rhs. alpha ;

pts8. assign (rhs. pts8 . begin (), rhs. pts8 . end ());

front_upper_left = rhs. front_upper_left ;

front_lower_right = rhs. front_lower_right ;

back_upper_left = rhs. back_upper_left ;

back_lower_right = rhs. back_lower_right ;

}

CameraSupplement & CameraSupplement:: operator = ( const CameraSupplement & rhs) {

upper_left = rhs. upper_left ;

lower_right = rhs. lower_right ;

local_track_id = rhs. local_track_id ;

alpha = rhs. alpha ;

pts8. assign (rhs. pts8 . begin (), rhs. pts8 . end ());

front_upper_left = rhs. front_upper_left ;

front_lower_right = rhs. front_lower_right ;

back_upper_left = rhs. back_upper_left ;

back_lower_right = rhs. back_lower_right ;

return ( * this );

}

void CameraSupplement::clone ( const CameraSupplement & rhs) {

upper_left = rhs. upper_left ;

lower_right = rhs. lower_right ;

local_track_id = rhs. local_track_id ;

alpha = rhs. alpha ;

pts8. assign (rhs. pts8 . begin (), rhs. pts8 . end ());

front_upper_left = rhs. front_upper_left ;

front_lower_right = rhs. front_lower_right ;

back_upper_left = rhs. back_upper_left ;

back_lower_right = rhs. back_lower_right ;

}

} // namespace perception

} // namespace apollo