apollo::perception::onboard 命名空间参考

类
struct	CameraFrame
class	CameraFrameMessage
class	Descriptor
struct	LaneDetection
class	LaneDetectionComponent
class	LidarFrameMessage
struct	MotionServiceComponent
class	MsgBuffer
class	MsgSerializer
class	SensorFrameMessage
struct	StampedTransform
class	TrafficDetectMessage
class	TransformCache
class	TransformWrapper

类型定义
typedef FunctionInfo< LaneDetectionComponent >	FunInfoType

枚举
enum class	ProcessStage {   LIDAR_PREPROCESS = 0 , LIDAR_DETECTION = 1 , LIDAR_RECOGNITION = 2 , STEREO_CAMERA_DETECTION = 3 ,   MONOCULAR_CAMERA_DETECTION = 4 , LONG_RANGE_RADAR_DETECTION = 5 , SHORT_RANGE_RADAR_DETECTION = 6 , ULTRASONIC_DETECTION = 7 ,   SENSOR_FUSION = 8 , UNKNOWN_STAGE = 9 , PROCESSSTAGE_COUNT = 10 }

函数
	DEFINE_bool (obs_enable_hdmap_input, true, "enable hdmap input for roi filter")
	DEFINE_bool (obs_enable_visualization, false, "whether to send message for visualization")
	DEFINE_string (obs_screen_output_dir, "./", "output dir. for saving visualization screenshots")
	DEFINE_bool (obs_benchmark_mode, false, "whether open benchmark mode, default false")
	DEFINE_bool (obs_save_fusion_supplement, false, "whether save fusion supplement data, default false")
	DEFINE_bool (start_visualizer, false, "Whether to start visualizer")
	DECLARE_bool (obs_enable_hdmap_input)
	DECLARE_bool (obs_enable_visualization)
	DECLARE_string (obs_screen_output_dir)
	DECLARE_bool (obs_benchmark_mode)
	DECLARE_bool (obs_save_fusion_supplement)
	DECLARE_bool (start_visualizer)
	DEFINE_int32 (obs_msg_buffer_size, 200, "buffer size for odometry_subscriber")
	DEFINE_double (obs_buffer_match_precision, 0.01, "match_precision for odometry_subscriber")
	DECLARE_int32 (obs_msg_buffer_size)
	DECLARE_double (obs_buffer_match_precision)
	DEFINE_string (obs_sensor2novatel_tf2_frame_id, "novatel", "sensor to novatel frame id")
	DEFINE_string (obs_novatel2world_tf2_frame_id, "world", "novatel to world frame id")
	DEFINE_string (obs_novatel2world_tf2_child_frame_id, "novatel", "novatel to world child frame id")
	DEFINE_double (obs_tf2_buff_size, 0.01, "query Cyber TF buffer size in second")
	DEFINE_double (obs_transform_cache_size, 1.0, "transform cache size in second")
	DEFINE_double (obs_max_local_pose_extrapolation_latency, 0.15, "max local pose extrapolation period in second")
	DEFINE_bool (obs_enable_local_pose_extrapolation, true, "use local pose extrapolation")
	DEFINE_bool (hardware_trigger, true, "camera trigger method")
Eigen::Quaterniond	Slerp (const Eigen::Quaterniond &source, const double &t, const Eigen::Quaterniond &other)
	DECLARE_string (obs_sensor2novatel_tf2_frame_id)
	DECLARE_string (obs_novatel2world_tf2_frame_id)
	DECLARE_string (obs_novatel2world_tf2_child_frame_id)
	DECLARE_double (obs_tf2_buff_size)
	DECLARE_bool (hardware_trigger)
	CYBER_REGISTER_COMPONENT (LaneDetectionComponent)

类型定义说明

FunInfoType

typedef FunctionInfo<LaneDetectionComponent> apollo::perception::onboard::FunInfoType

在文件 lane_detection_component.h 第 53 行定义.

枚举类型说明

ProcessStage

enum class apollo::perception::onboard::ProcessStage

strong

枚举值
LIDAR_PREPROCESS
LIDAR_DETECTION
LIDAR_RECOGNITION
STEREO_CAMERA_DETECTION
MONOCULAR_CAMERA_DETECTION
LONG_RANGE_RADAR_DETECTION
SHORT_RANGE_RADAR_DETECTION
ULTRASONIC_DETECTION
SENSOR_FUSION
UNKNOWN_STAGE
PROCESSSTAGE_COUNT

在文件 inner_component_messages.h 第 30 行定义.

                        {
  LIDAR_PREPROCESS = 0,
  LIDAR_DETECTION = 1,
  LIDAR_RECOGNITION = 2,
  STEREO_CAMERA_DETECTION = 3,
  MONOCULAR_CAMERA_DETECTION = 4,
  LONG_RANGE_RADAR_DETECTION = 5,
  SHORT_RANGE_RADAR_DETECTION = 6,
  ULTRASONIC_DETECTION = 7,
  SENSOR_FUSION = 8,
  UNKNOWN_STAGE = 9,
  PROCESSSTAGE_COUNT = 10
};

函数说明

CYBER_REGISTER_COMPONENT()

apollo::perception::onboard::CYBER_REGISTER_COMPONENT

(

LaneDetectionComponent

)

DECLARE_bool() [1/6]

apollo::perception::onboard::DECLARE_bool

(

hardware_trigger

)

DECLARE_bool() [2/6]

apollo::perception::onboard::DECLARE_bool

(

obs_benchmark_mode

)

DECLARE_bool() [3/6]

apollo::perception::onboard::DECLARE_bool

(

obs_enable_hdmap_input

)

DECLARE_bool() [4/6]

apollo::perception::onboard::DECLARE_bool

(

obs_enable_visualization

)

DECLARE_bool() [5/6]

apollo::perception::onboard::DECLARE_bool

(

obs_save_fusion_supplement

)

DECLARE_bool() [6/6]

apollo::perception::onboard::DECLARE_bool

(

start_visualizer

)

DECLARE_double() [1/2]

apollo::perception::onboard::DECLARE_double

(

obs_buffer_match_precision

)

DECLARE_double() [2/2]

apollo::perception::onboard::DECLARE_double

(

obs_tf2_buff_size

)

DECLARE_int32()

apollo::perception::onboard::DECLARE_int32

(

obs_msg_buffer_size

)

DECLARE_string() [1/4]

apollo::perception::onboard::DECLARE_string

(

obs_novatel2world_tf2_child_frame_id

)

DECLARE_string() [2/4]

apollo::perception::onboard::DECLARE_string

(

obs_novatel2world_tf2_frame_id

)

DECLARE_string() [3/4]

apollo::perception::onboard::DECLARE_string

(

obs_screen_output_dir

)

DECLARE_string() [4/4]

apollo::perception::onboard::DECLARE_string

(

obs_sensor2novatel_tf2_frame_id

)

DEFINE_bool() [1/7]

apollo::perception::onboard::DEFINE_bool	(	hardware_trigger	,
		true	,
		"camera trigger method"
	)

DEFINE_bool() [2/7]

apollo::perception::onboard::DEFINE_bool	(	obs_benchmark_mode	,
		false	,
		"whether open benchmark	mode,
		default false"
	)

DEFINE_bool() [3/7]

apollo::perception::onboard::DEFINE_bool	(	obs_enable_hdmap_input	,
		true	,
		"enable hdmap input for roi filter"
	)

DEFINE_bool() [4/7]

apollo::perception::onboard::DEFINE_bool	(	obs_enable_local_pose_extrapolation	,
		true	,
		"use local pose extrapolation"
	)

DEFINE_bool() [5/7]

apollo::perception::onboard::DEFINE_bool	(	obs_enable_visualization	,
		false	,
		"whether to send message for visualization"
	)

DEFINE_bool() [6/7]

apollo::perception::onboard::DEFINE_bool	(	obs_save_fusion_supplement	,
		false	,
		"whether save fusion supplement	data,
		default false"
	)

DEFINE_bool() [7/7]

apollo::perception::onboard::DEFINE_bool	(	start_visualizer	,
		false	,
		"Whether to start visualizer"
	)

DEFINE_double() [1/4]

apollo::perception::onboard::DEFINE_double	(	obs_buffer_match_precision	,
		0.	01,
		"match_precision for odometry_subscriber"
	)

DEFINE_double() [2/4]

apollo::perception::onboard::DEFINE_double	(	obs_max_local_pose_extrapolation_latency	,
		0.	15,
		"max local pose extrapolation period in second"
	)

DEFINE_double() [3/4]

apollo::perception::onboard::DEFINE_double	(	obs_tf2_buff_size	,
		0.	01,
		"query Cyber TF buffer size in second"
	)

DEFINE_double() [4/4]

apollo::perception::onboard::DEFINE_double	(	obs_transform_cache_size	,
		1.	0,
		"transform cache size in second"
	)

DEFINE_int32()

apollo::perception::onboard::DEFINE_int32	(	obs_msg_buffer_size	,
		200	,
		"buffer size for odometry_subscriber"
	)

DEFINE_string() [1/4]

apollo::perception::onboard::DEFINE_string	(	obs_novatel2world_tf2_child_frame_id	,
		"novatel"	,
		"novatel to world child frame id"
	)

DEFINE_string() [2/4]

apollo::perception::onboard::DEFINE_string	(	obs_novatel2world_tf2_frame_id	,
		"world"	,
		"novatel to world frame id"
	)

DEFINE_string() [3/4]

apollo::perception::onboard::DEFINE_string	(	obs_screen_output_dir	,
		"./"	,
		"output dir. for saving visualization screenshots"
	)

DEFINE_string() [4/4]

apollo::perception::onboard::DEFINE_string	(	obs_sensor2novatel_tf2_frame_id	,
		"novatel"	,
		"sensor to novatel frame id"
	)

Slerp()

Eigen::Quaterniond apollo::perception::onboard::Slerp	(	const Eigen::Quaterniond &	source,
		const double &	t,
		const Eigen::Quaterniond &	other
	)

在文件 transform_wrapper.cc 第 64 行定义.

                                                        {
  const double one = 1.0 - std::numeric_limits<double>::epsilon();
  double d = source.x() * other.x() + source.y() * other.y() +
             source.z() * other.z() + source.w() * other.w();
  double abs_d = std::abs(d);
 
  double scale0;
  double scale1;
 
  if (abs_d >= one) {
    scale0 = 1.0 - t;
    scale1 = t;
  } else {
    // theta is the angle between the 2 quaternions
    double theta = std::acos(abs_d);
    double sin_theta = std::sin(theta);
 
    scale0 = std::sin((1.0 - t) * theta) / sin_theta;
    scale1 = std::sin((t * theta)) / sin_theta;
  }
  if (d < 0) scale1 = -scale1;
 
  return Eigen::Quaterniond(scale0 * source.w() + scale1 * other.w(),
                            scale0 * source.x() + scale1 * other.x(),
                            scale0 * source.y() + scale1 * other.y(),
                            scale0 * source.z() + scale1 * other.z());
}