Function to produce the visible result from PointPillarsResult after calling run(). This is a helper function which can be ignored if you wants to process the PointPillarsResult using another method.
Prototype
void do_pointpillar_display(PointPillarsResult &res, int flag, DISPLAY_PARAM &dispp, cv::Mat &rgb_map, cv::Mat &bev_map, int width, int height, ANNORET &annoret)=0;Parameters
The following table lists the do_pointpillar_display function arguments.
| Type | Name | Description |
|---|---|---|
PointPillarsResult & |
res |
[input] PointPillarsResult from run().
|
| int | flag | [input] which visible result to produce. can be assigned to below values: E_BEV : only produce BEV picture E_RGB : only produce RGB picture E_BEV|E_RGB : produce both pictures |
DISPLAY_PARAM & |
dispp | [input] display parameter for the Points data. Refer to the readme in the overview for more detail. |
| cv::Mat & | rgb_map | [input|output] : original rgb picture for drawing detect result. It can be blank (cv::Mat{}), if only BEV is required |
| cv::Mat & | bev_map | [input|output] original bev picture for drawing detect result. It can be blank (cv::Mat{}), if only RGB required |
| int | width | [input] original rgb picture width. |
| int | height | [input] original rgb picture height. |
ANNORET & |
annoret | [output] return the annoret variable for accuracy calculation. |