GroundPlaneEstimator.cpp解读

转载于 2018-07-13 13:57:00 发布 · 238 阅读

本文详细介绍了GroundPlaneEstimator类中的compute函数实现过程。该函数作为核心处理流程，依次调用了compute_v_disparity_data、compute_v_disparity_image及estimate_ground_plane三个子函数，实现了从数据处理到地面平面估计的完整流程。

GroundPlaneEstimator域下的compute函数,就相当于整个cpp的主函数,也体现了整个调用过程,先执行compute_v_disparity_data,再compute_v_disparity_image,最后estimate_ground_plane

void GroundPlaneEstimator::compute()
{ 
    static int num_iterations = 0;
    static double cumulated_time = 0;

    const int num_iterations_for_timing = 50;
    const double start_wall_time = omp_get_wtime();

    compute_v_disparity_data();
    compute_v_disparity_image();
    estimate_ground_plane();


    // timing ---
    cumulated_time += omp_get_wtime() - start_wall_time;
    num_iterations += 1;

    if((num_iterations % num_iterations_for_timing) == 0)
    {
        printf("Average GroundPlaneEstimator::compute speed  %.2lf [Hz] (in the last %i iterations)\n",
               num_iterations_for_timing / cumulated_time, num_iterations_for_timing );
        cumulated_time = 0;
    }

    return;
}